CN210731548U - Assembling equipment - Google Patents

Abstract

The utility model provides an assembly equipment is provided with assembly robot and shooting device in the assembly equipment, and assembly robot is including assembling arm and adsorption equipment, and adsorption equipment is including adsorbing the dish and shooting the portion, and when using, the adsorption equipment of accessible assembly robot adsorbs the work piece to remove the work piece through assembling arm, on assembling the product with the work piece, thereby can realize automatic assembly, improve production efficiency. Moreover, to products such as display screen, when the assembly, the accessible is shot the lamp plate on the device shooting adsorption disc to obtain the concrete position of lamp plate, and shoot the box through the shooting portion among the assembly robot, with the concrete position that obtains the box, can further obtain the relative position of lamp plate and box like this, thereby can make the assembly arm drive the lamp plate and move to the position that corresponds with the box, accomplish accurate assembly. Therefore, the scheme can realize accurate positioning, improve assembly power, avoid reassembly and improve production efficiency.

Description

Assembling equipment

Technical Field

The utility model relates to an automated production technical field particularly, relates to an assembly equipment.

Background

In the production of display screen, there is one process to assemble lamp plate (also called module) to the box on, has the socket on the box, has the slot on the lamp plate, need correspond the socket position of the slot position of lamp plate and the socket position of box accurate during the assembly, then peg graft. All be manual operation during the assembly among the prior art, production efficiency is low, moreover, because the size of socket and slot is less, difficult correspondence accuracy, need the operation many times can assemble sometimes, further influenced production efficiency.

SUMMERY OF THE UTILITY MODEL

The utility model provides an assembly equipment to solve the problem that product assembly efficiency is low among the prior art.

In order to solve the above problem, the utility model provides an assembly equipment, include: 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 move the adsorption device according to the image information so as to assemble the workpiece adsorbed by the adsorption disc on a product.

Further, the assembling apparatus further includes: the processing part is used for receiving and processing image information shot by the shooting part and the shooting device; the assembling mechanical arm can receive the image information processed by the processing part and adjust the relative position of the workpiece adsorbed by the adsorption disc and the product according to the image information processed by 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 the workpiece and arranged on the upright post, and a shooting area of the first camera is positioned in the moving range of the assembling mechanical arm; the first annular light source is arranged on the stand column and surrounds the first camera.

Further, the assembling apparatus further includes: the transfer chain, the transfer chain is used for carrying the product, and the portion of shooing is used for shooing the product that is located the transfer chain.

Further, the assembling apparatus further includes: and the feeding machine is arranged on one side of the assembling robot and is used for supplying workpieces to the assembling robot.

Further, the photographing section includes: a second camera for photographing the product; a second annular light source disposed around the second camera.

Further, the adsorption device further comprises: the adsorption mounting seat is connected with the assembling 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 outwards along the radial direction of the adsorption disc to form a low-pressure area; under the condition that the adsorption disc blowing outside is close to the 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 adsorbed by the adsorption disc; adsorb spacing portion, set up on adsorbing the mount pad, adsorb spacing portion and have and adsorb spacing face, adsorb spacing face and the terminal surface interval setting of adsorption end, and adsorb one side that deviates from the adsorption mount pad of the terminal surface that spacing face is located the adsorption end, adsorb spacing face be used for with the work piece butt that is sucked up to make work piece and adsorption end keep the predetermined distance.

Further, adsorb spacing portion and include: the adsorption connecting piece is arranged on the adsorption mounting seat; adsorb the locating part, set up in the one end of adsorbing the connecting piece of keeping away from and adsorbing the mount pad, adsorb the locating part and have and adsorb spacing face.

Further, the adsorption connecting piece is made of a metal material, and the adsorption limiting piece is made of conductive rubber.

Further, the adsorption device further comprises: and the pressure sensor is arranged on the adsorption mounting seat and used for detecting the value of the pressure applied to the workpiece by the adsorption limiting part.

Use the technical scheme of the utility model, be provided with assembly robot and shooting device in the rigging equipment, wherein, assembly robot is including assembly arm and adsorption equipment, adsorption equipment is including adsorbing the dish and shooting the portion, it is used for adsorbing the work piece to adsorb the dish, shooting the position that the portion is used for shooting the product with the at least partly structure of confirming the product, the assembly arm can drive adsorption equipment and remove, it is used for shooting the adsorbed work piece of adsorption dish to shoot the device, with the relative adsorption equipment's of the at least partly structure position of confirming the work piece, the assembly arm can be according to shooting the image removal adsorption equipment of shooting portion and shooting device, in order to assemble the adsorbed work piece of adsorption dish on the product. Like this accessible assembly robot's adsorption equipment adsorbs the work piece to remove the work piece through assembly mechanical arm, with on assembling the product with the work piece, thereby can realize automatic assembly, improve production efficiency. Moreover, to products such as display screen, when the assembly, the accessible is shot the lamp plate on the device shooting adsorption disc to obtain the concrete position of lamp plate, and shoot the box through the shooting portion among the assembly robot, with the concrete position that obtains the box, can further obtain the relative position of lamp plate and box like this, thereby can make the assembly arm drive the lamp plate and move to the position that corresponds with the box, accomplish accurate assembly. Therefore, the scheme can realize accurate positioning, improve assembly power and avoid reassembly, thereby further improving production efficiency.

Further, because the adsorption end of the adsorption disc blows gas outwards along the radial direction, a low-pressure area is formed in the area near the adsorption end, the pressure of the low-pressure area is smaller than the external air pressure, when the adsorption disc is close to the workpiece, the downward pressure of the gas in the low-pressure area on the workpiece is smaller than the upward pressure of the gas below the workpiece on 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, namely the preset pressure difference is reached, the workpiece is adsorbed by the adsorption disc. Through adsorbing spacing portion and the work piece butt of being sucked up, can make work piece and adsorption end keep the predetermined distance, can avoid like this influencing the formation in low pressure region because of work piece and adsorption end are too close to satisfy the condition that the both sides formed sufficient pressure differential about the work piece, thereby guarantee that the work piece is sucked up reliably to the adsorption disc. Compared with the existing adsorption device, the scheme does not need to be in contact with the surface of the workpiece, so that the adsorption device can be suitable for the workpiece with holes or gaps on the surface, and is wide in application range.

Drawings

The accompanying drawings, which form a part of the present application, 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 and not to limit the invention. In the drawings:

fig. 1 shows a schematic structural diagram of an assembling apparatus provided by an embodiment of the present invention;

FIG. 2 shows a top view of the mounting apparatus of FIG. 1;

FIG. 3 shows a schematic view of the structure of the photographing apparatus of FIG. 1;

FIG. 4 shows a schematic view of the adsorption apparatus of FIG. 1;

fig. 5 shows a side view of the adsorption device of fig. 4.

Wherein the figures include the following reference numerals:

4110. an adsorption mounting seat; 4111. adsorbing the mounting disc; 4112. adsorbing a connecting block; 4120. an adsorption tray; 4130. an adsorption limiting part; 4131. adsorbing the connecting piece; 4132. adsorbing a limiting part; 4133. a connecting rod; 4134. a connecting plate; 4140. a pressure sensor; 4150. a camera mount; 4151. avoiding holes; 4160. a shooting part; 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. a feeding machine.

Detailed Description

The technical solution 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 is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

As shown in fig. 1 to 5, an embodiment of the present invention provides an assembling apparatus, including: an assembling robot comprising an assembling robot arm 4170 and an adsorption device provided on the assembling robot arm 4170, the adsorption device comprising an adsorption tray 4120 and a photographing part 4160, the adsorption 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 adsorption device to move; a photographing device 4200, the photographing device 4200 is used for photographing the workpiece adsorbed by the adsorption disk 4120 to determine the position of at least a part of the structure of the workpiece on the adsorption device; the mounting robot 4170 may acquire image information photographed by the photographing part 4160 and the photographing device 4200 and move the suction device according to the image information to mount the workpiece sucked by the suction tray 4120 to the product.

With the technical solution of the present embodiment, an assembling robot and a camera 4200 are provided in the assembling apparatus, wherein the assembling robot includes an assembling robot arm 4170 and a suction device, the suction device includes a suction tray 4120 and a camera 4160, the suction tray 4120 is used for sucking a workpiece, the camera 4160 is used for shooting a product to determine a position of at least a part of a structure of the product, the assembling robot arm 4170 can move the suction device, the camera 4200 is used for shooting the workpiece sucked by the suction tray 4120 to determine a position of at least a part of the structure of the workpiece relative to the suction device, and the assembling robot arm 4170 can move the suction device according to the shot images of the camera 4160 and the camera 4200 to assemble the workpiece sucked by the suction tray 4120 to the product. Thus, the workpiece can be adsorbed by the adsorption device of the assembling robot, and the workpiece can be assembled on the product by moving the assembling mechanical arm 4170, so that automatic assembly can be realized, and the production efficiency can be improved. Moreover, for products such as display screens, when assembling, the lamp panel on the adsorption plate 4120 can be shot by the shooting device 4200 to obtain the specific position of the lamp panel, and the box body can be shot by the shooting part 4160 in the assembling robot to obtain the specific position of the box body, so that the relative position of the lamp panel and the box body can be further obtained, and the assembling mechanical arm 4170 can drive the lamp panel to move to the position corresponding to the box body to complete accurate assembling. Therefore, the scheme can realize accurate positioning, improve assembly power and avoid reassembly, thereby further improving production efficiency.

In this embodiment, the assembling apparatus further includes: a processing section to which the mounting robot 4170, the photographing section 4160, and the photographing device 4200 are electrically connected, for receiving and processing the photographed image information of the photographing section 4160 and the photographing device 4200; the assembling robot 4170 may receive the processed image information of the processing portion and adjust the relative position of the workpiece adsorbed by the adsorption tray 4120 and the product according to the processed image information of the processing portion to assemble the workpiece to the product. Thus, the processing unit can receive the image information captured by the image capturing unit 4160 and the image capturing device 4200, the positional relationship between the workpiece and the product can be obtained by processing the image information, and the assembling robot 4170 can adjust the relative position between the workpiece and the product adsorbed by the adsorbing disk 4120 according to the image information processed by the processing unit, thereby accurately assembling the workpiece to the product.

As shown in fig. 3, the photographing device 4200 includes: a column 4210 fixedly arranged; a first camera 4220 for photographing a workpiece, the first camera 4220 being provided on the column 4210, a photographing region of the first camera 4220 being located within a moving range of the assembled robot arm 4170; and a first ring light source 4230 arranged on the column 4210, wherein the first ring light source 4230 is arranged around the first camera 4220. During shooting, the assembling 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 ring-shaped 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 is uniformly distributed, and the image quality is improved.

Optionally, the photographing device 4200 further includes a code scanning unit 4240, the code scanning unit 4240 is disposed on the column 4210, and the code scanning unit 4240 is configured to scan a barcode or two-dimensional code information on the workpiece, so as to perform material identification and management, thereby facilitating automation. The code scanning portion 4240 is arranged on the upright column 4210, so that the workpiece can be scanned by the code scanning portion 4240 in the process of photographing by using the first camera 4220, and thus, the operation time can be prolonged by independent operation, and the production efficiency can be improved.

In this embodiment, the assembling apparatus further includes: the transfer chain, the transfer chain is used for carrying the product, and shooting portion 4160 is used for shooing the product that is located on the transfer chain. The product can be conveyed through the conveying line, and automatic production is convenient to realize. Before assembly, the product is stopped at a predetermined position on the conveyor line, but after the stop, position errors are inevitable. The assembling robot 4170 brings the adsorption apparatus close to the product, so that the product on the conveyor line can be photographed by the photographing part 4160 on the adsorption apparatus, and the precise position of the product can be known by processing the photographed image information. Then, the assembling robot 4170 drives the workpiece to move, and adjusts the relative position between the workpiece and the product, thereby corresponding the workpiece to the assembling portion of the product and realizing the assembling.

In this embodiment, the assembling apparatus further includes: and a feeder 4300 provided at one side of the assembling robot, the feeder 4300 being for supplying workpieces to the assembling robot. The workpieces are supplied to the assembly robot through the feeding machine 4300, so that the production continuity can be realized, and the automatic production is realized. The feeder 4300 may store a plurality of workpieces therein, and transport the workpieces one by one to a fixed position, and then assemble a robot to take the workpieces to the fixed position.

As shown in fig. 4 and 5, in the present embodiment, the imaging section 4160 includes: a second camera 4161 for photographing the 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-shaped 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 can be uniformly distributed, and the shooting effect is improved.

In this embodiment, the adsorption apparatus further includes: an adsorption mounting base 4110 connected to the mounting robot 4170, and the adsorption tray 4120 and the imaging unit 4160 are both disposed on the adsorption mounting base 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 outwards along the radial direction of the adsorption disc 4120 to form a low-pressure area; under the condition that the adsorption disk 4120 blowing air to the outside is close to the workpiece within the 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 adsorbed by the adsorption disk 4120; adsorb spacing portion 4130, the setting is on adsorbing mount pad 4110, adsorbs spacing portion 4130 has the spacing face of absorption, adsorbs spacing face and the terminal surface interval setting of adsorption end, and adsorbs one side that deviates from adsorbing mount pad 4110 that spacing face is located the terminal surface of adsorption end, adsorbs spacing face be used for with the work piece butt of being sucked up to make work piece and adsorption end keep predetermined distance.

By this means, since the adsorption end blows the gas radially outward, the area near the adsorption end forms a low pressure area whose pressure is lower than the external air pressure, and when the adsorption disk 4120 is close to the workpiece, the downward pressure of the gas in the low pressure area to the workpiece is lower than the upward pressure of the gas below the workpiece to the workpiece, and when the pressure difference between the upper and lower sides of the workpiece is greater than the self-gravity of the workpiece, that is, when a predetermined pressure difference is reached, the workpiece is sucked up by the adsorption disk 4120. The suction limiting part 4130 abuts against the sucked workpiece, so that the workpiece and the suction end can keep a preset distance, the phenomenon that the low-pressure area is influenced due to the fact that the distance between the workpiece and the suction end is too close is avoided, the condition that enough pressure difference is formed on the upper side and the lower side of the workpiece is met, and the workpiece is reliably sucked by the suction disc 4120. Compared with the existing adsorption device, the scheme does not need to be in contact with the surface of the workpiece, so that the adsorption device can be suitable for the workpiece with holes or gaps on the surface, and is wide in application range. For example, a lamp panel with a plurality of LED lamps on the surface of the panel can be used for attaching a display screen.

Alternatively, in the present embodiment, the adsorption disk 4120 has a columnar structure. Adsorption disk 4120's absorption end can set up to have a plurality of air outlets, and a plurality of air outlets set up along the circumference interval of absorption end, from a plurality of positions air-out like this, are convenient for form great low pressure region near absorption end to improve adsorption effect. Or the adsorption end of the adsorption disk 4120 may be provided with an annular air outlet, and different circumferential positions of the annular air outlet all output air outwards.

In the present embodiment, the adsorption restricting portion 4130 includes: the adsorption connector 4131 is arranged on the adsorption mounting seat 4110; the adsorption limiting part 4132 is disposed at an end of the adsorption connector 4131 away from the adsorption mounting base 4110, and the adsorption limiting part 4132 has an adsorption limiting surface. Wherein, adsorb the connecting piece 4131 and be used for playing the connection effect, adsorb locating part 4132 and be used for spacing to the work piece. Optionally, the absorbing connector 4131 and the absorbing position-limiting member 4132 are both of a cylindrical structure, and the cross-sectional area of the absorbing position-limiting member 4132 is larger than that of the absorbing connector 4131, so that the contact area between the absorbing position-limiting member 4132 and the workpiece can be increased, and the workpiece can be prevented from being damaged.

Optionally, the adsorption connector 4131 is movably disposed on the adsorption mounting base 4110, so as to drive the adsorption limiting member 4132 to move through the adsorption connector 4131, so as to adjust a 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 a conductive rubber. Thus, the adsorption restricting portion 4130 can function as a conductive member. In the production of display screen, the lamp plate can produce static at the in-process that removes and assemble, and the lamp plate is probably damaged to the static is too much. Therefore, after the lamp plate is adsorbed by the adsorption device, static electricity on the lamp plate can be eliminated through the contact between the lamp plate and the adsorption limiting part 4132, and the lamp plate is protected. The same effect can be achieved for other electronic products.

Optionally, the end of the absorbing connector 4131 has a plurality of grooves, the end of the absorbing position-limiting member 4132 away from the absorbing position-limiting surface has a plurality of protrusions, and the plurality of protrusions of the absorbing position-limiting member 4132 are connected with the plurality of grooves of the absorbing connector 4131 in a matching manner. Through the above arrangement, the adsorption limiting part 4132 and the adsorption connecting part 4131 can be mutually limited, and the connection reliability can be improved. Also, the contact area of the adsorption stopper 4132 and the adsorption connector 4131 can be increased.

Alternatively, the suction connector 4131 includes a connection rod 4133 and a connection plate 4134 disposed at one end of the connection rod 4133, the connection rod 4133 is screwed with the suction mounting base 4110, the plurality of grooves of the suction connector 4131 are located on the connection plate 4134, the suction limiting member 4132 is a plate-shaped structure, and the connection plate 4134 is adhered to the suction limiting member 4132. The connecting rod 4133 is in threaded connection with the adsorption mounting base 4110, so that the assembly of the connecting rod 4133 and the adsorption mounting base 4110 is facilitated, and the distance between the adsorption limiting surface and the end surface of the adsorption end can be conveniently adjusted. The connection plate 4134 is bonded to the adsorption restriction member 4132, so that the assembly is facilitated, and the adsorption restriction member 4132 can be supported by the connection plate 4134. The engagement of the plurality of grooves and the plurality of protrusions can improve the bonding strength between the connection plate 4134 and the adsorption stopper 4132.

In the present embodiment, the suction stopper 4130 is provided in plurality, and the plurality of suction stoppers 4130 are provided at intervals in the circumferential direction of the suction disk 4120. Therefore, the workpiece can be limited by the adsorption limiting parts 4130, so that the stress distribution of the workpiece is uniform. In the present embodiment, the low pressure region formed by blowing air from the suction disk 4120 is located in the vicinity of the region surrounded by the plurality of suction restricting portions 4130.

In this embodiment, the adsorption apparatus further includes: the pressure sensor 4140 is provided in the suction mount 4110, and the pressure sensor 4140 detects a value of a pressure applied to the workpiece by the suction stopper 4130. When the detected pressure is too high, measures can be taken in time to avoid pressing the ring workpiece. For example, adsorption equipment is used for assembling the lamp plate to the box of display screen, has the slot on the lamp plate, has the socket on the box, and the socket is pegged graft with the slot. When the operation, adsorption equipment drives the lamp plate that adsorbs and removes, corresponds the slot of lamp plate and the socket of box, then presses the lamp plate towards the box to assemble lamp plate and box. When pressing the lamp plate, accessible pressure sensor detects the value of adsorbing spacing portion 4130 to the pressure that the lamp plate was applyed to in time make feedback and adjustment, too big and damage the lamp plate in order to avoid the pressure to the lamp plate.

Optionally, suction mount 4110 includes: the adsorption mounting disc 4111, the adsorption disc 4120 and the adsorption limiting part 4130 are all mounted on the adsorption mounting disc 4111, and one side of the pressure sensor 4140 is connected with one side, which is far away from the adsorption disc 4120, of the adsorption mounting disc 4111; adsorb connecting block 4112, with adsorbing mounting disc 4111 interval setting, pressure sensor 4140's opposite side is connected with adsorbing connecting block 4112. That is, the pressure sensor 4140 is disposed between the suction mounting plate 4111 and the suction connecting block 4112, so that the pressure sensor 4140 is in contact with 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 plate 4111 and the end surface area of the suction connecting block 4112. Two end surfaces of the pressure sensor 4140 abut against an end surface of the suction mounting plate 4111 and an end surface of the suction connecting block 4112, respectively. In this embodiment, the pressure sensor 4140 may be connected to the suction mounting plate 4111 or the suction connection block 4112 by a screw connection.

Optionally, the suction mounting base 4110 further includes a suction connection plate, the suction tray 4120 is disposed on one side of the suction connection plate, and the other side of the suction connection plate is connected to the suction mounting tray 4111, so as to facilitate assembly of the suction tray 4120.

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, the adsorption device can adsorb workpieces and also can shoot so as to facilitate the assembly of the workpieces.

Specifically, the camera mount 4150 has an escape hole 4151, the second camera 4161 is disposed at the escape hole 4151 of the camera mount 4150, a photographing direction of the second camera 4161 is disposed along an axis of the escape 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 escape hole 4151. By providing the avoiding hole 4151, the second camera 4161 can be prevented from being shielded for photographing.

By applying the technical scheme of the embodiment, the workpiece can be adsorbed by the adsorption device of the assembling robot, and the workpiece can be moved by the assembling mechanical arm 4170 to assemble the workpiece on a product, so that automatic assembly can be realized, and the production efficiency can be improved. Moreover, for products such as display screens, when assembling, the lamp panel on the adsorption plate 4120 can be shot by the shooting device 4200 to obtain the specific position of the lamp panel, and the box body can be shot by the shooting part 4160 in the assembling robot to obtain the specific position of the box body, so that the relative position of the lamp panel and the box body can be further obtained, and the assembling mechanical arm 4170 can drive the lamp panel to move to the position corresponding to the box body to complete accurate assembling. Therefore, the scheme can realize accurate positioning, improve assembly power and avoid reassembly, thereby further improving production efficiency.

Further, since the suction end of the suction disk blows gas radially outward, the area near the suction end forms a low pressure area having a pressure lower than the external air pressure, and when the suction disk 4120 is close to the workpiece, the downward pressure of the gas in the low pressure area to the workpiece is lower than the upward pressure of the gas below the workpiece to the workpiece, and when the pressure difference between the upper and lower sides of the workpiece is greater than the self-gravity of the workpiece, that is, when a predetermined pressure difference is reached, the workpiece is sucked up by the suction disk 4120. The suction limiting part 4130 abuts against the sucked workpiece, so that the workpiece and the suction end can keep a preset distance, the phenomenon that the low-pressure area is influenced due to the fact that the distance between the workpiece and the suction end is too close is avoided, the condition that enough pressure difference is formed on the upper side and the lower side of the workpiece is met, and the workpiece is reliably sucked by the suction disc 4120. Compared with the existing adsorption device, the scheme does not need to be in contact with the surface of the workpiece, so that the adsorption device can be suitable for the workpiece with holes or gaps on the surface, and is wide in application range.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. An assembly apparatus, comprising:

an assembling robot, the assembling robot comprises an assembling mechanical arm (4170) and an adsorption device arranged on the assembling mechanical arm (4170), 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 the 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 photographing device (4200), wherein the photographing device (4200) is used for photographing the workpiece adsorbed by the adsorption disc (4120) to determine the position of at least one part of the structure of the workpiece on the adsorption device;

the assembling robot arm (4170) may acquire image information photographed by the photographing part (4160) and the photographing device (4200) and move the adsorption device according to the image information to assemble the work adsorbed by the adsorption tray (4120) to the product.

2. The fitting apparatus according to claim 1, characterized in that the fitting apparatus further comprises:

a processing section to which the assembling robot arm (4170), the photographing section (4160) and the photographing device (4200) are electrically connected, the processing section receiving and processing image information photographed by the photographing section (4160) and the photographing device (4200);

the assembling robot arm (4170) may receive the processed image information of the processing part and adjust a relative position of the workpiece adsorbed by the adsorption plate (4120) and the product according to the processed image information of the processing part to assemble the workpiece to the product.

3. The assembling apparatus according to claim 2, wherein said shooting means (4200) comprises:

a column (4210) fixedly arranged;

a first camera (4220) for photographing the workpiece, the first camera (4220) being provided on the column (4210), a photographing region of the first camera (4220) being located within a moving range of the assembled robot arm (4170);

a first ring light source (4230) disposed on the upright (4210), the first ring light source (4230) disposed around the first camera (4220).

4. The fitting apparatus according to claim 1, characterized in that the fitting apparatus further comprises:

a conveying line for conveying the product, the photographing section (4160) for photographing the product located on the conveying line.

5. The fitting apparatus according to claim 1, characterized in that the fitting apparatus further comprises:

a feeder (4300) provided at one side of the assembling robot, the feeder (4300) for supplying the workpiece to the assembling robot.

6. The assembling apparatus according to claim 1, wherein said photographing part (4160) comprises:

a second camera (4161) for photographing the product;

a second ring-shaped light source (4162), the second ring-shaped light source (4162) disposed around the second camera (4161).

7. The rigging apparatus according to claim 1, wherein the suction device further comprises:

an adsorption mounting base (4110) connected to the mounting robot arm (4170), wherein the adsorption tray (4120) and the imaging unit (4160) are both disposed on the adsorption mounting base (4110);

one end of the adsorption disc (4120) far away from the adsorption mounting seat (4110) is an adsorption end which is used for blowing air outwards along the radial direction of the adsorption disc to form a low-pressure area; under the condition that the adsorption disc (4120) blowing air to the outside is close to the workpiece within a preset distance range, the two sides of the workpiece generate a preset pressure difference under the action of the low-pressure area and the external air pressure and are 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 and the end surface of the adsorption end are arranged at intervals, the adsorption limiting surface is located on one side, deviating from the adsorption mounting seat (4110), of the end surface of the adsorption end, and the adsorption limiting surface is used for being abutted against the sucked workpiece so that the workpiece and the adsorption end can keep a preset distance.

8. The assembling apparatus according to claim 7, wherein said adsorption limiting portion (4130) comprises:

a suction connector (4131) disposed on the suction mount (4110);

and the adsorption limiting part (4132) is arranged at one end, far away from the adsorption mounting seat (4110), of the adsorption connecting piece (4131), and the adsorption limiting part (4132) is provided with the adsorption limiting surface.

9. The assembling apparatus according to claim 8, wherein said adsorption connector (4131) is made of a metal material, and said adsorption stopper (4132) is made of a conductive rubber.

10. The rigging apparatus according to claim 7, wherein the suction device further comprises:

and a pressure sensor (4140) provided on the suction mount (4110), the pressure sensor (4140) being configured to detect a value of a pressure applied to the workpiece by the suction stopper (4130).

Images