CN218363204U

CN218363204U - Assembling equipment

Info

Publication number: CN218363204U
Application number: CN202222967993.2U
Authority: CN
Inventors: 焦正亮; 贺士虎; 李彦发; 梅思杨
Original assignee: Chengdu TD Tech Ltd
Current assignee: Chengdu TD Tech Ltd
Priority date: 2022-11-08
Filing date: 2022-11-08
Publication date: 2023-01-24
Anticipated expiration: 2032-11-08

Abstract

The application provides an assembly device. The assembling equipment comprises a first guide rail, a first vision device used for identifying outline information of a first component, a second vision device used for identifying outline information of a second component, a carrying device, a first bearing piece used for placing the first component and a second bearing piece used for placing the second component, wherein the second bearing piece is arranged on the first guide rail. The second visual device is opposite the second carrier with the second carrier in the first position. The first vision device is opposite to the second bearing member when the second bearing member is at the second position, the carrying device is used for carrying the first part to be opposite to the first vision device, the first vision device and the second vision device are both connected with the carrying device, and the carrying device is used for calibrating the relative positions of the first part and the second part according to the identified outline information. According to the scheme, the second vision device identifies the contour information of the second part in advance, so that the assembling time of the first part and the second part can be shortened, and the assembling efficiency is improved.

Description

Assembling equipment

Technical Field

The application relates to the technical field of assembling equipment, in particular to assembling equipment.

Background

With the development of electronic devices, the functions of the electronic devices are more and more abundant, and the design level and the process level of the electronic devices are continuously improved. Therefore, the assembly accuracy of each component of the electronic device is required to be higher.

In the prior art, in the assembling process of the middle frame and the screen of the mobile phone and the tablet computer, the screen needs to be stacked on the middle frame, and the screen is assembled on the middle frame through pressing. With the increase of the assembling precision of the middle frame and the screen, the assembling efficiency of the middle frame and the screen is lower and lower.

SUMMERY OF THE UTILITY MODEL

The application provides an equipment for solve among the prior art problem that electronic equipment's casing and screen packaging efficiency are low.

In one aspect, the present application provides an assembly apparatus comprising a first rail, a first vision device, a second vision device, a handling device, a first carrier, and a second carrier,

the first bearing piece is used for placing a first component; the second bearing piece is used for placing a second part and is movably arranged on the first guide rail; a second vision device opposite to the second bearing member with the second bearing member at the first position, the second vision device being for identifying contour information of the second component;

the first vision device is opposite to the second bearing part when the second bearing part is located at the second position, the carrying device is used for carrying the first part to be opposite to the first vision device, the first vision device is used for identifying outline information of the first part, the first vision device and the second vision device are both connected with the carrying device, and the carrying device is used for calibrating the relative positions of the first part and the second part according to the outline information identified by the first vision device and the second vision device.

In the above-provided assembling apparatus, the contour information of the second component on the second carrier at the second position may be recognized by the second vision device. And then under the condition that the second bearing piece moves to the first position, the second bearing piece is opposite to the first vision device, and the carrying device moves the first part to be opposite to the first vision device, so that the first part and the second part are pre-aligned. Contour information of the first part is then further identified by the first vision device to determine whether the first part is aligned with the second part. The handling device then assembles the first component to the second component with the first component aligned with the second component. In the case that the first part is misaligned with the second part, the handling device further adjusts the position of the first part to align the first part with the second part through the contour information recognized by the first vision device and the second vision device. According to the scheme, the outline information of the second part can be recognized in advance, so that the first visual device can be prevented from recognizing the outline information of the first part and the second visual device can be prevented from being influenced mutually, namely the first visual device and the second visual device can be used for recognizing the outline information of the first part and the second part in different groups synchronously, the assembly time is saved beneficially, and the working efficiency of assembly equipment is improved. Further, the first vision device may repeatedly recognize the contour information of the first member and perform the calibration of the relative position of the first member and the second member by the carrying device in the process of aligning the first member and the second member, which is further advantageous for improving the accuracy of assembling the first member and the second member.

In some further optional assembling apparatuses, the first part has a plurality of first recognition portions, the first vision device includes a plurality of first recognition cameras, and one first recognition camera is opposed to one first recognition portion in a case where the handling device handles the first part to be opposed to the first vision device.

In the assembling device provided by the above, the plurality of first recognition cameras in the first vision device can be respectively opposite to the plurality of first recognition parts, so that the positions of the plurality of first recognition parts can be recognized synchronously, the time for recognizing the contour information of the first component by the first device can be beneficially shortened, the assembling time can be beneficially saved, and the working efficiency of the assembling device can be improved. In addition, one first recognition camera in the first vision device is opposite to one first recognition part in the first component, namely the first vision device does not need to move relative to the first component in the process of carrying out the contour information of the first component, and therefore the situation that the movement error of the first vision device increases the alignment error of the first component and the second component can be avoided.

In some further optional assembling apparatuses, the assembling apparatus further comprises a first light source and a first backlight, the first light source is located at the first vision device, the first backlight is disposed at the second bearing member,

in a case where the handling device handles the first part to be opposed to the first vision device, at least a part of the first backlight is opposed to the first recognition portion, and at least a part of the first backlight exceeds an edge of the first part at the first recognition portion.

In the assembling device, the light source emits light to the backlight part and is reflected by the backlight part, so that the brightness of the edge of the first part can be enhanced, and the first recognition camera can be beneficial to recognizing the outline information of the first part more clearly.

In some further optional assembly apparatus, the first identification is a corner at which two adjacent edges in the first component meet;

in a case where the conveying device conveys the first member to be opposed to the first vision device, the first backlight exceeds two adjacent edges of the first member where the corner portions are formed.

In the assembling device provided by the above, each first recognition camera can respectively photograph and recognize the corner part of the first part or the second part, and then can respectively recognize the positions of two adjacent edges through one first recognition camera, which is beneficial to improving the accuracy of recognizing the outline information of the first part or the second part and reducing the number of the first recognition cameras.

In some further optional assembling apparatuses, the assembling apparatus further comprises a third driving member, the third driving member is connected to the first backlight, and the third driving member drives the first backlight to move between a third position and a fourth position,

with the first backlight in the third position and the handling device handling the first part opposite the first vision device, at least part of the first backlight is located between the first part and the second part;

under the condition that the first backlight is located at the fourth position and the carrying device carries the first part to be opposite to the first visual device, the projections of the first backlight and the first part in the direction perpendicular to the first backlight are arranged at intervals.

In the above embodiment, the first backlight component can be moved between the first component and the second component in the alignment process of the first component and the second component, and the second component can be effectively prevented from influencing the accuracy of the second visual device for identifying the profile of the first component due to the fact that the profile of the first component and the profile of the second component are distinguished, so that the accuracy of the first visual device for identifying the profile of the first component is improved.

In some further optional assembling apparatuses, the assembling apparatus further includes a second guide rail movably disposed on the third guide rail along a first direction, and a third guide rail disposed along a second direction, the second direction intersecting the first direction, the second vision device movably disposed on the second guide rail.

In the assembling device, the second vision device can move along the first direction and the second direction, so that one camera in the second vision device can recognize the profile information of a plurality of parts arranged in different directions of the second component, and the flexibility of recognizing the parts by the second vision device is improved.

In some further optional assembling apparatuses, the assembling apparatus includes a plurality of second visual devices, the second visual devices are arranged at intervals along the extending direction of the first guide rail, and the second visual devices are all located on the same side of the first visual device in the extending direction of the first guide rail.

In the above-described assembly apparatus, the time required for each second vision device to recognize the profile information of the second component on each second carrier is longer than the time required for the first vision device to recognize the profile information of the first component. A plurality of second vision devices are of value to the utilization ratio that improves first vision device and handling device, and then are of value to sparingly the equipment time, improve the work efficiency of equipment.

In some further optional assembling apparatuses, the assembling apparatus further comprises a plurality of positioning detecting members, a controller and a first driving member, the second bearing member has a positioning sensing portion,

the first driving piece is connected with the second bearing piece and used for driving the second bearing piece to move along the first guide rail;

the positioning detection pieces are arranged at intervals along the extending direction of the first guide rail, at least one positioning detection piece is opposite to the positioning sensing part under the condition that the second bearing piece moves to the first position or the second position, and the controller controls the position of the second bearing piece relative to the first guide rail according to the detection information of the positioning detection pieces.

In the above-mentioned assembly apparatus that provides, the controller can control the stop position of the carrier according to the detection information of the positioning detection piece, so that the carrier can stop at the preset position of the first guide rail. Specifically, the preset position may be a position corresponding to each station, for example: the second position corresponding to the first visual device and the first position corresponding to the second visual device.

In some further optional assembling apparatuses, the assembling apparatus further includes a pressing module located at a side of the first vision device facing away from the second vision device in the extending direction of the first guide rail,

under the condition that the second bearing piece moves to the pressing module along the first guide rail, the pressing module is opposite to the second bearing piece, and the pressing module is used for pressing the first part and the second part on the second bearing piece.

Among the above-mentioned equipment that provides, the pressfitting module can be with counterpoint complex first part and second part further pressfitting to improve the steadiness of first part and second part assembly.

In some further optional assembling devices, the pressing module includes a mounting frame, a pressing fixture and a second driving member, the second driving member is disposed on the mounting frame, and the second driving member is connected to the pressing fixture.

In the assembly equipment that above-mentioned provided, the second driving piece among the pressfitting module moves to the direction that is close to first part through drive pressfitting anchor clamps, and then extrudees first part and the laminating of second part, improves the steadiness of first part and the pressfitting of second part.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

FIG. 1 is a schematic view of an assembly apparatus in some alternative embodiments of the present application from a first perspective;

FIG. 2 is a schematic view of an assembly apparatus in a second perspective in some alternative embodiments of the present application;

FIG. 3 is a schematic view of an assembly apparatus in a third perspective in some alternative embodiments of the present application;

FIG. 4 is a schematic illustration of a first vision apparatus identifying first part contour information in some alternative embodiments of the present application;

FIG. 5 is a schematic view of a first component as opposed to a second component in some alternative embodiments of the present application;

FIG. 6 is a schematic illustration of a first component and a second component pre-bonded in accordance with some alternative embodiments of the present application;

fig. 7 is a schematic view of a second component placed on a second carrier in some alternative embodiments of the present application.

Description of reference numerals: 10-a first component; 11-a first identification portion; 20-a second component; 21-a second recognition portion; 100-a first guide rail; 200-a first visual device; 210-a first recognition camera; 300-a second vision device; 310-a second recognition camera; 400-a handling device; 410-an adsorption component; 420-auxiliary clamp; 430-a robotic arm; 500-a first carrier; 600-a second guide rail; 700-a third guide rail; 800-a first light source; 900-a first backlight; 1000-positioning the detecting element; 1100-a press-fit module; 1110-a mounting frame; 1120-a press-fit fixture; 1130-a second driving member; 1200-a second carrier; 1210-a second backlight; 1220-a positioning sensing portion; 1300-a third driver; 1400-mounting table; 1500-second light source.

With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

In the related art, the screen is attached to the middle frame of the electronic device, the screen and the middle frame of the electronic device need to be respectively identified, and then the screen and the middle frame of the electronic device are aligned and attached through the mobile platform according to the positions of the screen and the electronic device. Because the positions of the middle frames of the screen and the electronic equipment need to be photographed and operated for multiple times, the assembly efficiency of the middle frames and the screen is low.

To solve the above technical problem, an embodiment of the present application provides an assembling apparatus. The assembly device may be used to organize the first component and the second component. Specifically, the bearing part is movably arranged on the guide rail, and the bearing part is used for placing the second part, so that the bearing part can drive the second part to move between the stations. A first visual means for identifying profile information of the first component and a second visual means for identifying profile information of the second component on the carrier are provided. Under the condition that the bearing piece bearing the second component moves to the first vision device, the first component is moved to be opposite to the second component through the carrying device, and then the first component and the second component are pre-aligned. And identifying the contour information of the first part through the first vision device, so that the carrying device can calibrate the relative position of the first part and the second part by combining the contour information of the first part and the contour information of the second part, and the alignment precision of the first part and the second part is improved.

In the scheme, the first vision device identifies the contour information of the first part, the second vision device identifies the contour information of the second part, and the first vision device and the second vision device are independent from each other, namely in the process that the first vision device identifies the contour information of the first part, the second vision device can identify the contour information of the second part, so that the dwell time of the first vision device and the second vision device is favorably shortened, the assembly time is favorably saved, and the working efficiency of assembly equipment is improved. Moreover, the first vision device can recognize the contour information of the first component for multiple times, and the relative position between the first component and the second component can be calibrated, so that the assembly precision between the first component and the second component can be improved.

The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to fig. 1 to 7.

Referring to fig. 1 to 3, in some alternative embodiments, the assembly apparatus includes a first rail 100, a first vision device 200, a second vision device 300, a handling device 400, a first carrier 500, and a second carrier 1200. Wherein the first carrier 500 is used for placing the first component 10. The second carrier 1200 is used for placing the second component 20. The second vision device 300 is used to identify the contour information of the second part 20. The first vision device 200 is used to identify contour information of the first part 10.

Optionally, the second carrier 1200 is movably disposed on the first rail 100, and the second carrier 1200 is movable between a first position and a second position along the first rail 100. For example, in a case where the second carrier 1200 is located at the first position, the second vision device 300 is opposite to the second carrier 1200, so that the second vision device 300 can recognize the profile information of the second component 20. With the second carrier 1200 in the second position, the first vision device 200 is opposite to the second carrier 1200, and the handling device 400 is used to handle the first component 10 to be opposite to the first vision device 200. That is, the handling device 400 can handle the first component 10 from the first carrier 500 to be opposite to the first vision device 200, so that the first vision device 200 can identify the profile information of the first component 10.

Further, in the case that the second carrier 1200 is located at the second position and the carrying device 400 carries the first component 10 to be opposite to the first vision device 200, both the first component 10 and the second component 20 are opposite to the first vision device 200, that is, the first component 10 is opposite to the second component 20, so that the first component 10 and the second component 20 are pre-aligned.

Further alternatively, the first vision device 200 and the second vision device 300 are both connected to the handling device 400. Specifically, the first and

second vision devices

200 and 300 are each communicatively coupled to the handling device 400 such that the profile information of the first part 10 and the profile information of the second part 20 identified by the first vision device 200 can be directly or indirectly transmitted to the handling device 400 such that the handling device 400 can calibrate the relative positions of the first and

second parts

10 and 20 based on the profile information identified by the first and

second vision devices

200 and 300.

In the above embodiment, the second vision device 300 may identify the contour information of the second part 20 in advance, and thus, in the process of assembling the first part 10 and the second part 20, only the contour information of the first part 10 needs to be identified, so that the first part 10 and the second part 20 can be aligned by the contour information of the first part 10 and the contour information of the second part 20. Therefore, the above-described solution is beneficial to reduce the time required for assembling the first component 10 and the second component 20, and to improve the working efficiency of the assembling apparatus.

In addition, the assembling apparatus described in the above embodiment may also calibrate and adjust the position of the first part 10 multiple times by using the first vision device 200 and the handling device 400, so as to improve the accuracy of assembling the first part 10 and the second part 20. For example, in some alternative embodiments, in the case that the relative positions of the first part 10 and the second part 20 are adjusted by the first vision device 200 and the handling device 400 to reach a preset value, the abnormal first part 10 and/or second part 20 may be removed from the second carrier 1200 by the handling device 400.

In some alternative embodiments, the assembly plant further comprises an alarm unit, associated with the first vision device 200 and/or with the handling device 400, to alarm in the case where the number of times the first vision device 200 and the handling device 400 adjust the relative position of the first part 10 and the second part 20 reaches a preset value. Specifically, the alarm device may be, but is not limited to, an alarm indicator, a buzzer, a speaker, and/or the like.

In some alternative embodiments, the assembly apparatus includes several second carriers 1200 movably disposed on the first rail 100. In the process of assembling the first and

second parts

10 and 20, the second vision device 300 recognizes profile information of the second part 20 on the second carrier 1200 at the first position. The first vision device 200 identifies profile information of the second component 20 relative to the first component 10 on the second carrier 1200 at the second position.

Optionally, after the second vision device 300 recognizes the profile information of the second part 20, the profile information of the second part 20 is bound with the product code of the second part 20 and stored. When the second component 20 moves to the second position along with the second carrier 1200, the first vision device 200 recognizes the product code of the second component 20 to read the profile information of the second component 20, and thus the profile information of the second component 20 does not need to be recognized again when the second component 20 moves to the second position. Therefore, this embodiment is useful for shortening the time for assembling the first and

second components

10 and 20 at the second position and improving the efficiency of assembling the first and

second components

10 and 20.

Further alternatively, the product code of the second component 20 may be, but is not limited to, a bar code, a two-dimensional code.

In other alternative embodiments, each second carrier 1200 is provided with an identification code, and after the second vision device 300 identifies the profile information of the second component 20, the profile information of the second component 20 is bound with the identification code on the second carrier 1200 where the second component 20 is located and stored. Specifically, the identification code of the second carrier 1200 may be, but is not limited to, a bar code or a two-dimensional code. Further, after the second carrier 1200 moves to the first position and the second vision device 300 identifies the profile information of the second component 20 on the second carrier 1200, the profile information of the second component 20 bound with the identification code on the second carrier 1200 is updated.

In some optional embodiments, in the case that the second carrier 1200 moves to the second position, the first vision device 200 takes a picture relative to the second carrier 1200 and/or the second component 20 on the second carrier 1200 to recognize the product code of the second component 20 on the second carrier 1200, and then reads the profile information of the second component 20 bound with the product code of the second component 20. Further, the handling device 400 moves the first component 10 on the first carrier 500 to be opposite to the first vision device 200, so that the first vision device 200 can identify the profile information of the first component 10.

Further, in the case where the difference between the relative position between the first part 10 and the second part 20 and the preset assembling position is out of the error range, the handling apparatus 400 adjusts the position of the first part 10 according to the contour information of the first part 10 and the contour information of the second part 20 to adjust the contour information of the first part 10 and the second part 20 until the difference between the relative position between the first part 10 and the second part 20 and the preset assembling position is within the error range. Alternatively, in a case where the difference between the relative position between the first part 10 and the second part 20 and the preset assembling position is within the error range, the handling device 400 presses the first part 10 onto the second part 20 to assemble the first part 10 and the second part 20.

In some further optional embodiments, the second component 20 is provided with a first anchor point and a second anchor point, and further, the second vision device 300 identifies the first anchor point and the second anchor point after identifying the contour information of the second component 20, establishes a coordinate system according to the first anchor point and the second anchor point to obtain coordinates of the contour in the second component 20, and binds and stores the coordinate information with the product code of the second component 20. In the case where the second carrier 1200 is moved to the second position, the first vision device 200 may obtain position information of the outline of the second part 20 by recognizing coordinates of two anchor points. Further, by recognizing the contour information of the first component 10, the relative positions of the first component 10 and the second component 20 are obtained, so that the handling device 400 can calibrate the relative positions of the first component 10 and the second component 20 according to the contour information of the first component 10 and the contour information of the second component 20, thereby improving the assembling accuracy of the first component 10 and the second component 20.

Alternatively, the first and second anchor points may be, but are not limited to, positioning holes, raised structures or patterns on the second component 20.

In some further alternative embodiments, the handling device 400 includes a robotic arm 430 and a suction assembly 410. Illustratively, the suction assembly 410 is disposed on a robot arm 430, such that the robot arm 430 moves the suction assembly 410. In the process of transporting the first component 10 by the transporting apparatus 400, the robot 430 first moves the suction assembly 410 to be opposite to the first carrier 500, so that the suction assembly 410 can be opposite to the first component 10 on the first carrier 500. Further, the adsorption component 410 adsorbs the surface of the first component 10, so that the first component 10 is fixed to the adsorption component 410, and the mechanical arm 430 drives the adsorption component 410 to move, so as to drive the first component 10 on the adsorption component 410 to move. Illustratively, the suction assembly 410 includes a plurality of suction cups for suction-fixing the first member 10 to the suction cups with a negative pressure.

In some alternative embodiments, the assembly device described herein may be used for screen and housing assembly of an electronic device. Illustratively, the first component 10 may be a screen and the second component 20 may be a housing of an electronic device. Optionally, the electronic device described herein may be, but is not limited to, a mobile phone, a tablet computer, a notebook computer, a wearable device, and the like.

In some optional embodiments, the assembly apparatus further comprises a mounting station 1400. The mounting table 1400 is a basic structural member, and may provide a mounting base for the first rail 100, the first vision device 200, the second vision device 300, the carrying device 400, and the first carrier 500. Alternatively, the mounting table 1400 may be, but is not limited to, a work table, a floor, a support frame.

Further optionally, the first and/or

second viewing device

200, 300 is located on a side of the first rail 100 facing away from the ground in the vertical direction. The first vision device 200 and/or the second vision device 300 may be fixed to one side of the first rail 100 by a mounting bracket. For example, the vertical direction may be the direction shown by the z-axis in fig. 1-6. Optionally, the assembly apparatus includes a gantry mount, and the gantry mount spans the first rail 100, so that the first and

second vision devices

200 and 300 can be positioned directly above the first rail 100. Optionally, the first carrier 500 and the second carrier 1200 are both horizontally disposed, that is, the first component 10 placed on the first carrier 500 is horizontally disposed, and the second component 20 placed on the second carrier 1200 is horizontally disposed. This embodiment is beneficial to the viewing direction of the first vision device 200 being perpendicular to the first part 10, and is further beneficial to improve the accuracy of the first vision device 200 in identifying the contour information of the first part 10. For example, the viewing direction of the first vision device 200 may be the direction indicated by the z-axis in fig. 1 to 4. Similarly, the second visual device 300 is perpendicular to the second part 20, so that the accuracy of the second visual device 300 for identifying the contour information of the second part 20 can be improved. For example, the viewing direction of the second vision device 300 may be the direction indicated by the z-axis in fig. 1 to 4.

In some further alternative embodiments, the first carrier 500 is located on one side of the first rail 100. Illustratively, the first carrier 500 is close to the second position of the first rail 100 to facilitate the handling device 400 to handle the first component 10 to be opposite to the second component 20 on the second carrier 1200 in the second position. Further, the first carrier 500 is fixedly disposed at one side of the first rail 100, and further, the moving track of the carrying device 400 can be determined according to the positional relationship between the first carrier 500 and the first vision device 200, so that the carrying device 400 can carry the first component 10 on the first carrier 500 to be opposite to the first vision device 200.

In some alternative embodiments, the first carrier 500 is a positive fit with the first component 10 placed on the first carrier 500. With the second component 20 placed on the second carrier 1200, the second carrier 1200 is in a positive fit with the second component 20.

In the assembly apparatus provided in the above embodiment, the first carrier 500 is in limit fit with the first component 10, and the second carrier 1200 is in limit fit with the second component 20, so that when the second carrier 1200 moves to the second position, the relative position of the first component 10 and the second component 20 can be ensured to be fixed, which is beneficial to improving the precision of the pre-alignment of the first component 10 and the second component 20.

In some further alternative embodiments, the first carrier 500 is provided with a first positioning groove, and in the case that the first component 10 is placed on the first carrier 500, at least a portion of the first component 10 is located in the first positioning groove, so that the first carrier 500 can be positioned and matched with the first component 10 through the first positioning groove. In other alternative implementations, the first carrier 500 is provided with positioning protrusions. In a situation where the first carrier 500 is placed on the first part 10, at least a portion of the positioning protrusion abuts against the first part 10, so that the first carrier 500 can be positioned and matched with the first carrier 500 through the inner protrusion.

In some alternative embodiments, the second carrier 1200 is provided with a second positioning slot, and in the case that the second component 20 is placed in the second carrier 1200, at least a portion of the second component 20 is located in the second positioning slot, so that the second carrier 1200 can be positioned and matched with the second component 20 through the second positioning slot. In other alternative implementations, the second carrier 1200 is provided with positioning protrusions. With the second member 20 placed on the second carrier 1200, at least a portion of the positioning protrusion abuts against the second member 20, so that the second carrier 1200 can be positioned and matched with the second carrier 1200 by the inner positioning protrusion.

In some alternative embodiments, as shown in fig. 3 and 4, the first part 10 has a plurality of first recognizers 11, the first vision device 200 includes a plurality of first recognition cameras 210, and one first recognition camera 210 is opposite to one first recognizer 11 in a state that the first part 10 is carried to be opposite to the first vision device 200 by the carrying device 400. Alternatively, each of the first recognition cameras 210 is located directly above the corresponding first recognition part 11, i.e., the first recognition camera 210 and the corresponding first recognition part 11 overlap in the vertical direction.

In the above embodiment, one first recognition camera 210 is opposite to one first recognition portion 11, so that the photographing recognition can be performed on a plurality of first recognition portions 11 simultaneously, which is beneficial to shorten the time period required by the first vision device 200 to recognize the contour information of the first part 10, and is beneficial to improve the assembly efficiency of the first part 10 and the second part 20. In addition, one first recognition camera 210 is opposite to one first recognition part 11, which is beneficial to the first recognition camera 210 to vertically shoot the first recognition part 11, and is beneficial to improving the accuracy of the first vision device 200 in recognizing the contour information of the first component 10.

In some alternative embodiments, the number of the first recognition cameras 210 may be set according to the size or shape of the first part 10. Illustratively, the larger the size of the first part 10, the greater the number of the first recognition cameras 210, which is beneficial to improve the accuracy of the first vision device 200 in recognizing the contour information of the first part 10. In addition, the more complicated the shape of the first component 10, for example, the more sides of the first component 10, or the more curved edges the first component 10 has, the more the number of the first recognition cameras 210 is required. For this reason, the embodiment of the present application does not limit the specific number of the first recognition cameras 210 in the first vision device 200.

Referring to fig. 1 to 3, in some optional embodiments, the assembly apparatus further includes a first light source 800 and a first backlight 900, the first light source 800 is located at the first vision device 200, and the first backlight 900 is disposed on the second carrier 1200. In a case where the handling device 400 handles the first part 10 to be opposed to the first vision device 200, at least a part of the first backlight 900 is opposed to the first recognition part 11, and at least a part of the first backlight 900 is beyond an edge of the first part 10 at the first recognition part 11. That is, the first light source 800 is opposite to the corresponding first backlight 900 in the process of the first vision device 200 recognizing the profile information of the first part 10.

Illustratively, in the process of identifying the contour information of the first part 10 by the first vision device 200, light can be emitted to the first backlight 900 by the first light source 800 and reflected by the first backlight 900, so that the brightness of the first part 10 in the image formed by the first vision device 200 is less than that of the first backlight 900. This arrangement is therefore beneficial for improving the clarity of the contour of the first part 10 in the imaging of the first vision device 200, and thus for improving the accuracy of the first vision device 200 in identifying the contour information of the first part 10.

In some alternative implementations, the first identification feature 11 is a corner at which two adjacent edges of the first component 10 meet. In a case where the handling device 400 handles the first member 10 to be opposed to the first vision device 200, the first backlight 900 goes beyond two adjacent edges of the first member 10 where the corner portion is formed.

In the above embodiment, two adjacent edges may be identified by one first identification portion 11. In particular, two adjacent edge contours of the first component 10 can be recognized by one first recognition camera 210, which is beneficial to improve the accuracy with which the first recognition camera 210 recognizes the contour of the first component 10. Alternatively, the first member 10 may have a rectangular outline, and the first identification portion 11 may have a corner portion of the rectangular outline.

In some optional embodiments, the assembling apparatus further comprises a third driving member 1300, the third driving member 1300 is connected to the first backlight 900, and the third driving member 1300 drives the first backlight 900 to move between the third position and the fourth position. In some alternative embodiments, as shown in fig. 5, with the first backlight 900 in the third position and the handling device 400 handling the first part 10 opposite to the first vision device 200, at least part of the first backlight 900 is located between the first part 10 and the second part 20. As shown in fig. 6, in a case where the first backlight 900 is located at the fourth position and the carrying device 400 carries the first part 10 to be opposite to the first vision device 200, the first backlight 900 and the first part 10 are arranged at intervals in projection in a direction perpendicular to the first backlight 900. The direction perpendicular to the first backlight 900 may be the direction shown as the z-axis in fig. 4.

For example, during the process that the first part 10 is moved to be opposite to the first visual device 200, the first backlight 900 may be synchronously driven to move to the third position by the third driving member 1300, and thus, during the process that the first visual device 200 identifies the contour information of the first part 10, the definition of the contour of the first part 10 may be improved by the first backlight 900, which is beneficial to improving the precision of the contour information that the first visual device 200 identifies the first part 10.

Further alternatively, in the case that the difference between the relative position between the first member 10 and the second member 20 and the preset assembling position is within the error range, the third driving member 1300 drives the first backlight 900 to move to the fourth position to provide an escape space for the first member 10 to move towards the second member 20, and prevent the first backlight 900 from blocking the first member 10 from moving towards the second member 20.

Alternatively, the third driving member 1300 may be switched between the third position and the fourth position by driving the first backlight 900 to rotate and/or translate. Alternatively, the third driving member 1300 may be a telescopic mechanism. For example, the third driving member 1300 may be, but not limited to, an air cylinder, a hydraulic rod.

Alternatively, one first backlight 900 is opposite to one first recognition part 11. Further optionally, the first backlight unit 900 includes a first sub-portion and a second sub-portion, the first sub-portion is disposed along a first edge of the corresponding first recognition portion 11, the second sub-portion is disposed along a second edge of the corresponding first recognition portion 11, and the first sub-portion is connected to the second sub-portion. This implementation is beneficial to reduce the area of the overlapping portion of the first backlight 900 and the first part 10, and thus beneficial to move the first backlight 900 out between the first part 10 and the second part 20 after the first vision device 200 recognizes the first part 10, so as to avoid the first backlight 900 blocking the first part 10 from moving to the second part 20.

In some further optional embodiments, the assembling apparatus further comprises a second rail 600 and a third rail 700, the second rail 600 is movably disposed on the third rail 700 along a first direction, the third rail 700 is disposed along a second direction, the second direction intersects the first direction, and the second vision device 300 is movably disposed on the second rail 600. Optionally, the first direction is perpendicular to the second direction. In a further alternative embodiment, the assembling apparatus includes two third rails 700, the two third rails 700 are disposed on two sides of the first rail 100 in parallel, and the second rail 600 is slidably engaged with the two third rails 700 respectively. For example, the first direction may be the direction shown by the x-axis in fig. 1-6. The second direction is the direction indicated by the y-axis in fig. 1 to 6.

In the above embodiment, the second vision device 300 can move relative to the second carrier 1200 through the second rail 600 and the third rail 700, so as to identify the outlines of different portions of the second component 20. This embodiment is beneficial to reduce the number of second recognition cameras 310.

In addition, it is possible to make the second recognition camera 310 vertically photograph each portion of the second part 20 by moving the second vision device 300. As shown in fig. 7, in some alternative embodiments, the second member 20 has a plurality of second identification portions 21. Alternatively, the second identification portion 21 may be a corner portion formed by two adjacent edges of the second member 20. In the process of photographing the second recognized part 21, the accuracy of recognizing the contour information of the second part 20 by the second vision device 300 may be improved by moving the second vision device 300 such that the second recognition camera 310 is positioned directly above the corresponding second recognized part 21.

As an alternative embodiment, the second vision apparatus 300 includes a second recognition camera 310 to photograph the outline information of the second part 20 through the second recognition camera 310. Further alternatively, the anchor point and/or product code on the second part 20 may be identified by moving the second vision device 300 such that the second recognition camera 310 is opposite the anchor point and/or product code on the second part 20.

In some optional embodiments, the assembly apparatus further comprises a fourth driver and a fifth driver. Optionally, the fourth driving member is used for driving the second rail 600 to move along the third rail 700. The fifth driving member is used to drive the second vision device 300 to move along the second guide rail 600. Further alternatively, the fourth and fifth drivers may be, but are not limited to, electromagnetic drive mechanisms, pneumatic or hydraulic cylinders.

Referring to fig. 1 and 2, in some alternative embodiments, the assembly apparatus further includes a second light source 1500. Optionally, the second light source 1500 is disposed on the second vision device 300. Further optionally, a second backlight 1210 is disposed on the second carrier 1200. Optionally, in a case where the second part 20 is placed on the second carrier 1200, at least a portion of the second backlight 1210 is opposite to the second part 20, and at least a portion of the second backlight 1210 exceeds an edge of the second part 20 at the second recognition portion 21. Further, at least a portion of the second backlight 1210 exceeds two adjacent edges forming the second recognition part 21. When the second supporting member 1200 moves to the first position of the first guiding rail 100, the light emitted from the second light source 1500 irradiates the second backlight 1210 and is reflected by the second backlight 1210. This embodiment is beneficial to improve the definition of the edge of the second part 20 in the image of the second recognition camera 310, and thus the accuracy of the second vision device 300 for recognizing the contour information of the second part 20.

In some optional embodiments, the assembly apparatus further includes a plurality of second vision devices 300, the second vision devices 300 are disposed at intervals along the extending direction of the first rail 100, and the second vision devices 300 are all located on the same side of the first vision device 200 in the extending direction of the first rail 100.

The assembly apparatus in the above embodiment can identify the contour information of the second component 20 on the different second carriers 1200 simultaneously through the plurality of second vision devices 300, thereby being beneficial to improving the efficiency of identifying the contour information of the second component 20 by the assembly apparatus. In some alternative examples, the second vision apparatus 300 needs to identify not only the contour information of the second part 20, but also anchor point coordinates of the second part 20. And also binding the profile information of the second component 20 and the anchor point coordinates, and thus, a long time is required. This configuration is advantageous in that the plurality of second vision devices 300 are provided, thereby reducing the idle time of the first vision device 200 and the carrying device 400, improving the efficiency of assembling the first member 10 and the second member 20 while improving the utilization rate of the first vision device 200 and the carrying device 400.

In some optional implementations, as shown in fig. 1 and 4, the assembly apparatus further includes a plurality of positioning detection members 1000, a controller, and a first driving member, the second carrier 1200 has a positioning sensing portion 1220, the first driving member is connected with the second carrier 1200, and the first driving member is used for driving the second carrier 1200 to move along the first guide rail 100. The positioning detection members 1000 are provided at intervals along the extending direction of the first guide rail 100. In a case where the second carrier 1200 moves to the first position or the second position, the at least one positioning detection member 1000 is opposite to the positioning sensing part 1220, and the controller controls the position of the second carrier 1200 relative to the first guide rail 100 according to detection information of the positioning detection member 1000.

In the assembling apparatus described in the above embodiment, in the case that the positioning detection member 1000 detects the positioning sensing portion 1220, the first driving member may be controlled to stop driving the second carrier 1200 to move along the first guide rail 100, so as to enable the second carrier 1200 to stay at a preset position of the first guide rail 100, for example, stay at the first position or the second position of the first guide rail 100. Alternatively, the positioning detection member 1000 may be, but is not limited to, an infrared sensor, a hall sensor, or a travel switch.

In some optional implementations, the assembling apparatus further includes a pressing module 1100, the pressing module 1100 is located at a side of the first vision device 200 facing away from the second vision device 300 in the extending direction of the first guide rail 100, in a case that the second carrier 1200 moves to the pressing module 1100 along the first guide rail 100, the pressing module 1100 is opposite to the second carrier 1200, and the pressing module 1100 is used for pressing the first component 10 and the second component 20 on the second carrier 1200. Illustratively, the first component 10 and the second component 20 are pre-pressed by the handling device 400 to achieve assembly of the first component 10 and the second component 20. Further, the first component 10 and the second component 20 are further pressed by the pressing module 1100, so as to improve the assembling stability of the first component 10 and the second component 20.

Referring to fig. 1 to 3, in some alternative embodiments, the pressing module 1100 includes a mounting frame 1110, a pressing fixture 1120, and a second driving member 1130, the second driving member 1130 is disposed on the mounting frame 1110, and the second driving member 1130 is connected to the pressing fixture 1120. Alternatively, the second drive member 1130 may be a telescoping mechanism. For example, the second driver 1130 may be, but is not limited to, a hydraulic rod, an air cylinder.

For example, the second driving member 1130 is vertically disposed, so that the second driving member 1130 can drive the stitching fixture 1120 to move vertically upward or vertically downward. Specifically, in the case that the second carrier 1200 moves to the pressing module 1100 along the first guide rail 100, the second driving member 1130 drives the pressing fixture 1120 to move toward the second carrier 1200, so as to press the first component 10 and the second component 20 by the pressing fixture 1120, thereby improving the assembling stability of the first component 10 and the second component 20.

In some alternative embodiments, the assembly device described herein may be used for two-piece or block assembly. Alternatively, the first component 10 may be a screen and the second component 20 may be a housing of an electronic device.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. An assembly apparatus, characterized by comprising a first rail (100), a first vision device (200), a second vision device (300), a handling device (400), a first carrier (500) and a second carrier (1200),

the first carrier (500) is used for placing a first component (10); the second bearing piece (1200) is used for placing a second component (20), and the second bearing piece (1200) is movably arranged on the first guide rail (100); the second vision device (300) is opposite to the second carrier (1200) when the second carrier (1200) is located at the first position, and the second vision device (300) is used for identifying the profile information of the second component (20);

with the second carrier (1200) in the second position, the first vision device (200) is opposite to the second carrier (1200), the handling device (400) is used for handling the first component (10) to be opposite to the first vision device (200), the first vision device (200) is used for identifying contour information of the first component (10), the first vision device (200) and the second vision device (300) are both connected with the handling device (400), and the handling device (400) calibrates the relative positions of the first component (10) and the second component (20) according to the contour information identified by the first vision device (200) and the second vision device (300).

2. The assembly apparatus according to claim 1, wherein the first part (10) has a plurality of first recognition portions (11), the first vision device (200) includes a plurality of first recognition cameras (210), and one of the first recognition cameras (210) is opposed to one of the first recognition portions (11) in a state where a handling device (400) handles the first part (10) to be opposed to the first vision device (200).

3. The assembly apparatus of claim 2, further comprising a first light source (800) and a first backlight (900), the first light source (800) being located at the first vision device (200), the first backlight (900) being provided to the second carrier (1200),

in a case where a handling device (400) handles the first component (10) to be opposed to the first vision device (200), at least a part of the first backlight (900) is opposed to the first recognition portion (11), and at least a part of the first backlight (900) is beyond an edge of the first component (10) at the first recognition portion (11).

4. An assembly device according to claim 3, characterized in that the first identification (11) is a corner at the intersection of two adjacent edges in the first part (10);

the first backlight (900) extends beyond two adjacent edges of the first part (10) forming the corner, in a state where the handling device (400) handles the first part (10) to be opposite to the first vision device (200).

5. The assembly apparatus according to claim 3 or 4, further comprising a third driving member (1300), wherein the third driving member (1300) is connected to the first backlight (900), and wherein the third driving member (1300) drives the first backlight (900) to move between a third position and a fourth position,

with the first backlight (900) in the third position and a handling device (400) handling the first component (10) opposite the first vision device (200), at least part of the first backlight (900) is located between the first component (10) and the second component (20);

under the condition that the first backlight (900) is located at the fourth position and the carrying device (400) carries the first part (10) to be opposite to the first visual device (200), the first backlight (900) and the first part (10) are arranged at intervals in projection in a direction perpendicular to the first backlight (900).

6. The assembly apparatus according to any one of claims 1 to 4, further comprising a second rail (600) and a third rail (700), the second rail (600) being movably arranged to the third rail (700) along a first direction, the third rail (700) being arranged along a second direction, the second direction intersecting the first direction,

the second vision device (300) is movably disposed at the second rail (600).

7. The assembly apparatus according to any one of claims 1 to 4, comprising a plurality of said second vision devices (300), said second vision devices (300) being arranged at intervals along the extension direction of said first rail (100), and said second vision devices (300) being all located on the same side of said first vision device (200) in the extension direction of said first rail (100).

8. The assembly device according to any one of claims 1 to 4, further comprising a number of positioning detection members (1000), a controller and a first driving member, the second carrier member (1200) having a positioning sensing portion (1220),

the first driving part is connected with the second bearing part (1200), and the first driving part is used for driving the second bearing part (1200) to move along the first guide rail (100);

the positioning detection pieces (1000) are arranged at intervals along the extending direction of the first guide rail (100), when the second bearing piece (1200) moves to the first position or the second position, at least one positioning detection piece (1000) is opposite to the positioning sensing part (1220), and the controller controls the position of the second bearing piece (1200) relative to the first guide rail (100) according to the detection information of the positioning detection piece (1000).

9. Assembly device according to any one of claims 1 to 4, further comprising a stitching module (1100), the stitching module (1100) being located on a side of the first vision means (200) facing away from the second vision means (300) in the direction of extension of the first guide rail (100),

the stitching module (1100) is opposite to the second carrier (1200) when the second carrier (1200) moves along the first guide rail (100) to the stitching module (1100), and the stitching module (1100) is used for stitching the first component (10) and the second component (20) on the second carrier (1200).

10. The assembly apparatus according to claim 9, wherein the press-fit module (1100) comprises a mounting frame (1110), a press-fit fixture (1120), and a second driving member (1130), the second driving member (1130) is disposed on the mounting frame (1110), and the second driving member (1130) is connected to the press-fit fixture (1120).