A multi-micro-part assembly device and method

Abstract

The present application relates to the technical field of micro part assembling equipment, and in particular to a multi-micro part assembling device and method. The multi-micro part assembling device comprises a feeding disc, a feeding manipulator, a pressing mechanism and a welding mechanism. The feeding manipulator picks up micro parts from the feeding disc and transfers them to the pressing mechanism for pressing, and finally transfers the pressed part group to the welding mechanism for welding, thereby realizing automatic assembly of the micro parts.

Description

Technical Field

[0001] This invention relates to the technical field of micro-part assembly equipment, and more specifically, to a multi-micro-part assembly apparatus and method. Background Technology

[0002] With the rapid development of the precision manufacturing industry, micro-precision components are increasingly widely used in precision instruments, micro-medical devices, electronic components, micro-sensors, precision hardware accessories and other fields. These parts are mostly millimeter-level components with a diameter of less than 5 millimeters. They are tiny in size and have exquisite structures, and have extremely high requirements for subsequent assembly accuracy and finished product consistency.

[0003] Currently, the mainstream method for assembling such millimeter-scale micro-parts is still manual operation. However, due to the size limitations of the parts themselves, it is difficult to achieve precise alignment of parts by visual inspection during manual assembly. Furthermore, manual operation is subject to objective problems such as slight tremors and uneven force application. This not only results in extremely low assembly efficiency, which cannot meet the needs of industrial mass production, but also easily leads to problems such as part misalignment, bump damage, and substandard assembly tightness. The assembly accuracy and yield rate of finished products depend entirely on the operator's skill level, making it difficult to guarantee product stability under mass production. Labor costs remain high, making it unsuitable for the needs of large-scale and standardized industrial production.

[0004] To address the drawbacks of manual assembly, the industry has gradually attempted to automate assembly using mechanical equipment. However, existing conventional assembly equipment and general-purpose tooling fixtures are designed for standard-sized parts and cannot meet the assembly requirements of millimeter-sized micro-parts. On the one hand, the positioning and clamping mechanisms of existing equipment are too large, making it difficult to achieve stable clamping and precise alignment of micro-parts, and easily leading to problems such as part slippage and positioning misalignment. On the other hand, the overall operating accuracy and transmission accuracy of the equipment are limited, lacking a micrometer-level precise control structure, and the assembly stroke and assembly force cannot be precisely controlled, making it difficult to meet the high-precision assembly requirements of micro-parts.

[0005] Meanwhile, there is a significant technological gap in the market for dedicated assembly equipment for micro-parts with diameters of 5 millimeters or less. Existing devices generally suffer from insufficient positioning accuracy, easy damage to parts during clamping, poor operational stability, and limited adaptability, failing to achieve high-precision, high-efficiency, and batch automated assembly of micro-parts. This severely restricts the large-scale production and technological upgrading of the micro-precision parts industry. Therefore, developing a high-precision assembly device suitable for millimeter-level micro-parts to address the technical pain points of existing manual and mechanical assembly has become an urgent technical problem to be solved in this field. Summary of the Invention

[0006] The purpose of this invention is to provide a multi-micro-part assembly device that can conveniently process micro-parts with a diameter of less than 5 mm.

[0007] The embodiments of the present invention are achieved through the following technical solutions: A multi-micro component assembly device, comprising: The feeding tray has multiple feeding stations spaced circumferentially on its surface. Each feeding station is provided with a contour groove that matches the shape of the micro part. The depth of the contour groove is less than the height of the micro part, so that part of the micro part protrudes from the contour groove. A loading robot arm, located on one side of the loading tray, includes a joint assembly and a material gripper located at the end of the joint assembly; Both the pressing mechanism and the welding mechanism are located on the movement trajectory of the loading robot. The feeding tray is configured to rotate intermittently around its axis. When any feeding station rotates to the feeding point, the lower end face of the picking clamp and the upper end face of the contouring groove form an overlapping area along the Z-axis. When the picking clamp moves along the Z-axis within the overlapping area, the inner wall of the picking clamp and the inner wall of the contouring groove together form a closed geometric limiting space, locking the degrees of freedom of the micro part in the X and Y axes. The material handling clamp is configured to grip micro-parts and can be moved directly below the pressing mechanism and the welding mechanism.

[0008] Furthermore, the pressing mechanism includes a pressing head, a pressing table, and a positioning mechanism disposed on the pressing table; The positioning mechanism includes a positioning seat and a clamping member. The positioning seat is provided with a recess for placing the part, and the outer side wall of the positioning seat is also provided with a clamping hole communicating with the interior of the recess. The clamping member is telescopically disposed outside the clamping hole. The pressing head is vertically and vertically positioned directly above the pressing table. The pressing head is configured such that when the loading robot places the micro part into the recess of the positioning seat, the clamping member extends into the recess and clamps the micro part, and then the pressing head descends to complete the pressing.

[0009] Furthermore, the pressing mechanism also includes a pressing vision device; the pressing vision device includes a horizontal vision device and a vertical vision device; the horizontal vision device is located on the side of the pressing table to observe the vertical positional relationship of the parts to be assembled; the vertical vision device observes the positional relationship of the parts to be assembled in the horizontal plane from directly above the pressing table.

[0010] Furthermore, the vertical vision is also provided with a reflector that bends the light path by 90 degrees; the reflector is also provided with a drive mechanism that drives it to move in the horizontal plane, so that the reflector can be moved to or removed from directly above the pressing table; the vertical vision is horizontally positioned and cooperates with the reflector, so that the vertical vision observes the pressing table through the reflector.

[0011] Furthermore, it also includes a fixture library, which includes a rotary disk and a drive component for rotating it. The rotary disk is provided with several placement positions for placing material pickers. The fixture library is configured to cooperate with the loading robot so that the loading robot can change the material pickers at the placement positions. A quick-change interface is provided between the joint assembly and the material pickers.

[0012] Furthermore, the welding mechanism includes a welding table and a welding assembly that can be raised and lowered relative to the welding table, the welding assembly including a laser welding gun; The welding table includes a rotatable turntable with a positioning mechanism on it. The positioning mechanism is used to fix the assembled parts after pressing. The center line of the positioning mechanism is co-lined with the rotation axis of the turntable so that the assembled parts can rotate around its own axis when the turntable rotates.

[0013] Furthermore, the welding assembly also includes a welding vision system that observes the welding table vertically downwards, and the optical path of the welding vision system intersects with the light from the laser welding gun.

[0014] Furthermore, the inner wall of the material handling clamp is provided with an anti-adhesion structure, which includes several micro-protrusions distributed along the inner wall of the material handling clamp to prevent micro-parts from adhering to the inner wall of the material handling clamp.

[0015] A method for assembling multiple micro-parts, employing the multi-micro-parts assembly apparatus as described above, is characterized by comprising the following steps: S1: The loading tray rotates, moving the unloading station containing the micro parts to the loading point; S2: The loading robot moves above the loading point, and the joint assembly drives the picking clamp to descend, so that the picking clamp closes and picks up the micro part; S3: The loading robot transfers the micro parts to the pressing mechanism. After the micro parts are positioned by the positioning mechanism of the pressing mechanism, the pressing head completes the pressing. S4: Repeat steps S1 to S3 until the sequential pressing of multiple micro parts is completed; S5: The loading robot transfers the pressed parts assembly to the welding mechanism, where the welding mechanism completes the welding.

[0016] Furthermore, the pressing method in step S3 is as follows: S31: The reflector is moved directly above the pressing table and, in conjunction with vertical visual observation, the relative positions of the part to be pressed and the already pressed part in the horizontal plane are observed; the loading robot moves the part to be pressed along the horizontal plane so that it is directly opposite the already pressed part; S32: Horizontal visual observation of the relative position of the part to be pressed and the part already pressed in the vertical direction; the loading robot moves the part to be pressed vertically to the pressing position; S33: Remove the reflector and press it down with the pressing head to complete the pressing process.

[0017] The technical solutions of the embodiments of the present invention have at least the following advantages and beneficial effects: By arranging multiple feeding stations around the circumference of the feeding tray, each station has a contoured groove that matches the shape of the micro-part and is less than the height of the part. This allows the top of the part to protrude out of the groove, which not only prevents the part from shifting or tipping due to centrifugal force when the feeding tray rotates, but also reduces the contact area between the part and the groove wall to reduce the risk of adsorption. At the same time, it reserves space for the unloading clamp to grip without interference, effectively solving the industry problem of micro-parts being too small, difficult to feed stably, and easy to be adsorbed.

[0018] By controlling the feeding tray to rotate intermittently around its own axis with a fixed rotation angle and deviation controlled at the micrometer level, the feeding station is ensured to stop precisely at the feeding point. This provides a stable and repeatable positioning reference for the precise gripping of the feeding robot, avoiding gripping offset and part damage caused by rotation deviation. It is suitable for the extremely low tolerance rate of positioning deviation in the gripping of micro parts.

[0019] By creating a recess on the top of the positioning seat of the pressing table that matches the bottom of the micro part, and using a rounded transition design on the inner wall of the recess and spraying a nano anti-scratch coating, the part is prevented from being scratched by friction with the wall surface when placed. The coating's anti-adhesion effect also reduces the adhesion between the part and the recess, effectively solving the pain points of the fragile surface of micro parts, easy adhesion, and difficulty in removal and placement, thus achieving accurate initial positioning of the part.

[0020] By using a high-precision electric push rod with a round tube end and blunting the edge of the end, the part can be pushed into the tube cavity when pressed down, and the pressing force is applied only to the edge of the part, thus achieving non-destructive pressing of micro parts. This solves the problem of improper force control and easy damage to micro parts caused by conventional pressing equipment, and is suitable for the fragile core structure of micro parts.

[0021] By using a high-precision electric push rod for the clamping component and optimizing the clamping force, it is controlled within a range that does not damage the parts and can be stably fixed. Flexible clamping is achieved to address the easily deformable characteristics of micro parts, avoiding the deformation of parts caused by the hard clamping of conventional clamping structures. The recess is used to complete the secondary clamping and positioning of the parts, preventing the parts from shifting during the pressing process.

[0022] By equipping the press-fitting mechanism with a press-fitting vision component equipped with a micro-parts-specific recognition algorithm, horizontal and vertical vision work together to achieve a detection accuracy of 5 micrometers. This enables precise capture of minute offsets in micro-parts, compensating for the inability of the naked eye to observe minute vertical gaps and achieving precise alignment of parts in a two-dimensional plane. This solves the industry problem of conventional vision being unable to identify minute deviations in micro-parts, leading to inaccurate alignment.

[0023] By equipping the vertical vision system with a right-angle prism reflector and drive mechanism capable of micron-level fine adjustment along the X, Y, and Z axes, the right-angle prism utilizes 45-degree total internal reflection to achieve precise 90° bending of the optical path. This ensures both reflection accuracy and optical path stability, avoiding detection errors caused by optical path deviation. Furthermore, it can be precisely moved to the working position during detection and quickly moved out during pressing, avoiding the pressing head's running path. This optimizes equipment layout, reduces vertical space occupation, and achieves interference-free collaboration between detection and pressing, balancing detection accuracy and operational efficiency.

[0024] By linking welding vision with a laser welding gun and adopting a coaxial detection design, the welding vision can observe the weld position in real time and simultaneously capture the laser landing point. Once laser deviation is detected, it immediately provides feedback for fine adjustment, realizing real-time calibration of the welding process. This achieves a precise linkage effect that conventional welding vision cannot achieve, further improving the welding accuracy of welds in micro parts, eliminating welding deviation and missed welding problems, and ensuring the quality of finished products.

[0025] By setting micro-protrusions with a height of 5-8 micrometers and a diameter of 10-15 micrometers with a blunted surface, evenly distributed in a ring on the inner wall of the gripper, the contact area between the part and the inner wall of the gripper is minimized without affecting the gripper closure and part picking. This completely breaks the negative pressure adsorption effect and fundamentally solves the industry pain point that micro parts are easy to stick to the gripper, resulting in inaccurate material dropping and displacement, ensuring smooth and reliable gripping and unloading actions.

[0026] By controlling the timing and precision of each step, including feeding, clamping, pressing, and welding, automated assembly with high precision and no human intervention or damage to parts is achieved. This method is suitable for the mass production of micro parts with multiple specifications within 5 mm, and solves the defects of poor adaptability and insufficient precision of conventional automated assembly methods. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the planar layout of the multi-micro-part assembly device of the present invention.

[0028] Figure 2 This is a schematic diagram showing the cooperation between the loading robot and peripheral devices of the present invention.

[0029] Figure 3 This is a schematic diagram of the feeding tray of the present invention.

[0030] Figure 4 This is a schematic diagram of the fixture library.

[0031] Figure 5 This is a schematic diagram of the positioning mechanism.

[0032] Figure 6 This is a schematic diagram of the press-fitting mechanism.

[0033] Figure 7 for Figure 6 Enlarged view of point a in the middle.

[0034] Figure 8 A schematic diagram of the part being placed on the positioning mechanism by the pick-up clamp.

[0035] Figure 9 This is a schematic diagram of the welding mechanism.

[0036] Figure 10 This is a schematic diagram showing the cooperation between the rotating disk and the positioning mechanism.

[0037] Figure 11 for Figure 10 Enlarged view of point b in the middle.

[0038] Reference numerals: 1-Feeding tray, 2-Discharging station, 3-Pick-up clamp, 4-Pressure head, 5-Pressure table, 6-Positioning seat, 7-Securing component, 8-Securing hole, 9-Horizontal vision, 10-Vertical vision, 11-Reflector, 12-Rotating disk, 13-Turntable, 14-Laser welding gun, 15-Parts assembly, 16-Welding vision, 17-Weld seam, 18-Joint assembly, 19-Part, 20-Feeding robot, 21-Fixture library, 22-Welding mechanism. Detailed Implementation

[0039] like Figures 1-11 As shown, this embodiment addresses the pain points of existing technologies, such as low efficiency, poor precision, and susceptibility to damage in manual assembly of micro parts 19 with a diameter of less than 5 mm, insufficient adaptability of conventional mechanical equipment, and the technological gap in dedicated assembly equipment. It provides a multi-micro parts assembly device that uses conventional mechanical structures and components to organically combine throughout the process, eliminating complex non-standard components. This device can achieve high-precision automated assembly of micro parts 19, reduce equipment manufacturing costs and maintenance difficulties, and adapt to the needs of industrial mass production.

[0040] The feeding tray 1 of this device serves as the core component for feeding. Multiple feeding stations 2 are evenly spaced along the circumference of the tray surface. Each feeding station 2 has a contour groove that matches the shape of the micro-part 19. The depth of the contour groove is strictly less than the height of the micro-part 19, ensuring that the top of the micro-part 19 naturally protrudes from the upper surface of the groove after it is placed inside. This prevents the part 19 from shifting or tipping over during the rotation of the feeding tray 1, while also providing operating space for subsequent gripping operations. This solves the problem of unstable feeding of micro-parts 19 due to their small size. There are various types of micro-parts 19, and the feeding tray 1 has a unique feeding station 2 for each type. The feeding tray 1 operates by intermittently rotating around its own axis, with a fixed rotation angle each time. This ensures that any feeding station 2 pauses precisely when it reaches the feeding point, providing a stable position for the gripping action of the feeding robot 20.

[0041] A loading robot 20 is set on the side of the loading tray 1. The robot includes a joint assembly 18 and a picking clamp 3 installed at the end of the joint assembly 18. The joint assembly 18 integrates a three-axis linear motion mechanism of X, Y, and Z and three rotary adjustment axes of Rx, Ry, and Rz. The multi-axis linkage can flexibly and finely adjust the spatial position and deflection angle of the picking clamp 3 to adapt to different placement postures and different specifications of micro parts 19, overcoming the shortcomings of conventional robot arms with single motion and inability to adapt to the fine picking of micro parts 19. When the loading tray 1 delivers the unloading station 2 to the designated loading point, the lower end face of the picking clamp 3 and the upper end face of the contouring groove form an overlapping area along the Z-axis. The picking clamp 3 moves downward along the Z-axis within this overlapping area, approaching and enveloping the micro part 19. At this time, the inner wall of the picking clamp 3 and the inner wall of the contouring groove combine to form a closed geometric limiting space, completely locking all degrees of freedom of the micro part 19 in the X and Y axes, preventing the part 19 from shifting, slipping, or being damaged by impact during the clamping process, and perfectly solving the problems of uneven force application and inaccurate visual alignment during manual clamping. The picking clamp 3 has an opening and closing clamping function. After clamping the part 19, it can be flexibly moved under the joint assembly 18 to directly below the pressing mechanism and the welding mechanism 22, completing the entire process of part 19 transfer, assembly, and welding, and realizing automated continuous operation. Along the movement trajectory of the loading robot 20, in addition to the loading tray 1, a pressing mechanism and a welding mechanism 22 are also arranged to form a complete assembly line. Among them, the pressing mechanism is the core component for pressing and assembling part 19, including a pressing head 4, a pressing table 5, and a positioning mechanism on the pressing table 5. The positioning mechanism consists of a positioning seat 6 and a clamping member 7. The top of the positioning seat 6 has a recess for placing part 19. The size of the recess is adapted to the bottom of the micro part 19 to achieve the initial positioning of part 19. The outer wall of the positioning seat 6 has a clamping hole 8 that extends into the recess. The clamping member 7 is telescopically mounted on the outside of the clamping hole 8, which works with the recess to achieve secondary clamping and positioning of part 19 and prevent part 19 from shifting during the pressing process. The pressing table 5 adopts a portal frame support structure, which is stable and does not occupy assembly space. The pressing head 4 is fixedly installed above the pressing table 5 by another portal frame support, ensuring that the pressing head 4 is in a vertical lifting path. The pressing head 4 uses a high-precision electric push rod, which has stable power output and precise stroke control. The end of the push rod is designed as a round tube, so that only the edge of the micro part 19 is subjected to downward pressure during the pressing operation. The protruding part in the middle of the part 19 can extend into the internal cavity of the push rod, avoiding the pressing head 4 from directly pressing the core part of the part 19 and causing damage. This is suitable for the delicate and fragile characteristics of the micro part 19 and solves the problem of improper force control and easy damage to the part 19 by conventional pressing equipment. The clamping part 7 also adopts a high-precision electric push rod, which has precise and controllable extension and retraction action and gentle and uniform clamping force. It can firmly fix the part 19 without squeezing the part 19 and causing deformation, which meets the assembly requirements of the micro part 19. After the loading robot 20 smoothly places the micro part 19 into the recess of the positioning seat 6, the clamping member 7 extends into the recess along the clamping hole 8 and gently clamps the micro part 19 from the side to fix the position of the part 19. Then the pressing head 4 moves vertically downward to complete the precise pressing of the multi-layer parts 19, realize the tight splicing between the parts 19, and improve the assembly accuracy and the firmness of the finished product. To further improve pressing accuracy and eliminate deviations caused by manual alignment and blind mechanical assembly, the pressing mechanism is also equipped with a pressing vision component. The pressing vision consists of two parts: a horizontal vision component (9) and a vertical vision component (10). These two vision components work together to achieve comprehensive and accurate detection of the assembly position of part 19. The horizontal vision component (9) is installed on the side of the pressing table 5, with its lens facing the pressing table 5 station. It is mainly used to observe the relative positional relationship between the part to be assembled (19) and the already placed part (19) in the vertical direction, obtaining data such as vertical assembly gaps and alignment, thus compensating for the inability of the naked eye to observe minute vertical gaps. The vertical vision component (10) is located directly above the pressing table 5, with its line of sight pointing vertically downwards. It is used to observe the relative position of the part to be assembled (19) and the already pressed part (19) in the horizontal plane, capturing lateral and longitudinal offsets, achieving precise alignment in a two-dimensional plane, and solving the industry problem of the small size of the micro-parts (19) making precise alignment difficult.

[0042] To avoid interference between the vertical vision device 10 and the pressing path of the pressing head 4, and to ensure smooth pressing operations, the vertical vision device 10 is equipped with a reflector 11 that can bend the optical path. The reflector 11 is connected to a drive mechanism that drives it to move in the horizontal plane. The drive mechanism can make fine adjustments to the position of the reflector 11 in the X, Y, and Z axes. This allows the reflector 11 to be precisely moved above the pressing table 5 to receive the optical path of the vertical vision device 10 and change its direction. It also allows the reflector 11 to be quickly moved out of the pressure table 5 before pressing operations, leaving space for the pressing head 4 to press down. The vertical vision device 10 is horizontally positioned. Through the reflection of the optical path of the reflector 11, it indirectly obtains the position image of the part 19 above the pressing table 5. This ensures visual inspection accuracy, optimizes the overall layout of the equipment, reduces vertical space occupation, and avoids the problem of conflict between conventional vertically installed vision equipment and the pressing structure. The reflector 11 is a right-angled prism, shaped like an isosceles right triangle. The isosceles right-angled prism has two acute angles of 45 degrees. Light rays incident perpendicularly on the right-angled side undergo total internal reflection at the hypotenuse, resulting in a precise 90° bend in the light path. During alignment inspection, the reflector 11 moves to the working position, and the vertical vision system 10 clearly captures the position information of the part 19 through the reflector 11. After alignment calibration is completed, the reflector 11 quickly moves out, allowing the pressing head 4 to smoothly press down. The entire process is automated, requiring no manual intervention, balancing inspection accuracy and operational efficiency. To accommodate the use of various sizes of miniature parts 19, the device is further equipped with a fixture library 21. The fixture library 21 consists of a rotating disk 13 and a drive unit that rotates the rotating disk 13. Multiple placement positions for holding the pick-up clamps 3 are arranged around the outer periphery of the rotating disk 13. Each placement position can store pick-up clamps 3 of different sizes that are compatible with different parts 19. The fixture library 21 is located adjacent to the loading robot 20, facilitating quick fixture changes by the robot. A quick-change interface is added between the end of the joint assembly 18 and the pick-up clamp 3. The quick-change interface adopts a machine tool-standard automatic tool changer quick-change structure, a conventional and mature component. The replacement process is quick and secure, requiring no tools or machine downtime for disassembly, thus improving changeover efficiency. When faced with micro parts 19 of different sizes and shapes, the control system can instruct the rotary disk 13 to rotate and rotate the corresponding picking clamp 3 to the material changing position. The loading robot 20 completes the automatic replacement of the picking clamp 3 through the quick-change interface, adapting to the picking needs of various parts 19. This solves the defects of conventional assembly equipment that has limited adaptability and can only assemble parts 19 of a single specification, thus broadening the scope of application of the equipment. After press-fitting, the part assembly 15 needs to be fixed by welding to ensure the stability of the finished product structure. Therefore, the device is equipped with a welding mechanism 22, which includes a welding table and a welding component that can move up and down relative to the welding table. The core of the welding component uses a laser welding gun 14, which has high welding precision, small weld points, and a small heat-affected zone, and will not damage the micro-precision parts 19, making it suitable for precision assembly requirements. The welding table is equipped with a self-rotating turntable 13. A positioning mechanism for fixing the press-fitted part assembly 15 is installed on the turntable 13. The center line of the positioning mechanism is on the same straight line as the rotation axis of the turntable 13. When the turntable 13 rotates, it can drive the part assembly 15 to rotate uniformly around its own axis, and complete the all-round welding of the annular gap with the help of the laser welding gun 14. This arrangement eliminates the need for large-scale movement of the laser welding gun 14. Only the position of the welding gun needs to be fixed, and the part 19 can be rotated by the turntable 13 to complete the welding of one circle of weld seam 17, improving the welding uniformity and sealing performance, avoiding the problems of positioning deviation and uneven weld seam 17 of conventional welding equipment, and ensuring the consistency of finished product quality. To achieve precise welding and eliminate issues such as weld misalignment and missed welds, the welding assembly is equipped with a welding vision system 16. The lens of the welding vision system 16 is vertically downward, facing the welding station, and observes the position of the weld seam 17 on the part assembly 15 in real time. The optical path of the welding vision system 16 intersects with the laser beam of the laser welding gun 14, with the intersection point precisely falling on the annular gap to be welded. During operation, the position of the weld seam 17 is first locked using the welding vision system 16, and the positions of the turntable 13 and the welding gun are finely adjusted to ensure the laser beam is precisely aligned with the weld seam 17. Then, the turntable 13 drives the part assembly 15 to rotate at a uniform speed, and the laser welding gun 14 continuously emits light, completing the seamless welding of the entire annular weld seam 17. The entire process is monitored and calibrated in real time, further improving welding accuracy and solving the problem of the small and difficult-to-precise weld seam 17 on the micro-parts 19, thus ensuring the quality of the finished product assembly. Considering the tiny size and smooth surface of the micro part 19, when the pick-up clamp 3 grips the part 19, it is completely in contact with the surface of the part 19. When the pick-up clamp 3 opens, the instantaneous negative pressure between the two has an adsorption effect. However, the part 19 is relatively light, which makes it easy for the micro part 19 to stick to the inner wall of the pick-up clamp 3, resulting in inaccurate material placement and displacement of the part 19. This device adds an anti-adhesion structure to the inner wall of the pick-up clamp 3. This structure consists of several micro protrusions evenly distributed on the inner wall of the pick-up clamp 3. The micro protrusions are small in size and will not affect the closure of the gripper and the gripping of the part 19, nor will they scratch the surface of the part 19. By reducing the contact area between the part 19 and the inner wall of the pick-up clamp 3 through the micro protrusions, the vacuum adsorption effect is broken, and the part 19 is prevented from sticking to the inner wall of the gripper and being unable to fall off smoothly. This ensures that the gripping and unloading actions are smooth and reliable, and solves the problem that the micro part 19 is easy to stick to the fixture and affect the assembly process. Based on the aforementioned multi-micro-part assembly device, this embodiment also provides a multi-micro-part assembly method 15, which is fully automated, replacing manual operation and solving the problems of low efficiency, poor accuracy, and unstable yield of manual assembly, making it suitable for large-scale industrial production. First, the loading tray 1 is started, and controlled to perform intermittent rotation around its axis, precisely rotating the unloading station 2 loaded with micro-parts 19 to the loading point. The loading tray 1 then pauses rotation, waiting for the loading robot 20 to perform the gripping action. Subsequently, the loading robot 20 starts, and the joint assembly 18 is adjusted in conjunction, moving the picking clamp 3 directly above the loading point. Then, the picking clamp 3 is controlled to move vertically downwards along the Z-axis, aligning with the limiting space of the contour groove. The picking clamp 3 closes, firmly gripping the micro-part 19, locking the position of the part 19 throughout the process to prevent gripping deviation. After gripping, the joint assembly 18 moves the picking clamp 3 upwards, then horizontally above the pressing mechanism, placing the micro-part 19 stably inside the recess of the positioning seat 6 of the pressing table 5. Next, the positioning mechanism of the pressing mechanism is activated, and the clamping part 7 extends to clamp the part 19, completing the fixation of the part 19 and preparing for the pressing operation. The steps of feeding, clamping, transferring, and preliminary positioning are repeated to stack multiple micro parts 19 in sequence, completing the pressing of multiple parts 19, ensuring that the parts assembly 15 has clear layers and a tight fit. After all parts 19 are pressed and formed into a complete parts assembly 15, the feeding robot 20 operates again to smoothly transfer the pressed parts assembly 15 to the welding mechanism 22. The parts assembly 15 is fixed by the positioning mechanism of the welding table, and the laser welding gun 14 is activated to complete the welding fixation, forming the finished part 19, completing the entire assembly process. During the pressing process, a refined alignment pressing method is adopted to further improve assembly accuracy. First, the drive mechanism is controlled to move the reflector 11 precisely above the pressing table 5. The vertical vision 10 is activated, and the relative position of the part to be pressed 19 and the already pressed part 19 in the horizontal plane is clearly observed through the light reflection of the reflector 11, acquiring lateral and longitudinal offset data. Based on the detection data, the control system instructs the loading robot 20 to fine-tune its position, moving the part to be pressed 19 so that it is completely aligned with the already pressed part 19 below, completing precise horizontal alignment. Then, the horizontal vision 9 is activated to observe the relative position of the part to be pressed 19 and the already pressed part 19 in the vertical direction, controlling the vertical gap and fit. Based on the detection data, the loading robot 20 finely adjusts the height of the part to be pressed 19 in the vertical direction, moving the part 19 to the standard pressing position, achieving precise vertical alignment. After completing the bidirectional alignment calibration, the control drive mechanism quickly moves the reflector 11 out of the press table 5 to avoid the running path of the press head 4. Then, the press head 4 is started, and the electric push rod is controlled to move vertically downward to gently press down the edge of the part 19, completing the precise pressing of the multi-layer part 19. There is no hard extrusion or positional deviation throughout the process, which perfectly matches the high-precision assembly requirements of the micro part 19.

Claims

1. A multi-micro-part assembly device, characterized in that, include: The feeding tray has multiple feeding stations spaced circumferentially on its surface. Each feeding station is provided with a contour groove that matches the shape of the micro part. The depth of the contour groove is less than the height of the micro part, so that part of the micro part protrudes from the contour groove. A loading robot arm, located on one side of the loading tray, includes a joint assembly and a material gripper located at the end of the joint assembly; Both the pressing mechanism and the welding mechanism are located on the movement trajectory of the loading robot. The feeding tray is configured to rotate intermittently around its axis. When any feeding station rotates to the feeding point, the lower end face of the picking clamp and the upper end face of the contouring groove form an overlapping area along the Z-axis. When the picking clamp moves along the Z-axis within the overlapping area, the inner wall of the picking clamp and the inner wall of the contouring groove together form a closed geometric limiting space, locking the degrees of freedom of the micro part in the X and Y axes. The material handling clamp is configured to grip micro-parts and can be moved directly below the pressing mechanism and the welding mechanism.

2. The multi-micro component assembly device according to claim 1, characterized in that: The pressing mechanism includes a pressing head, a pressing table, and a positioning mechanism disposed on the pressing table; The positioning mechanism includes a positioning seat and a clamping member. The positioning seat is provided with a recess for placing the part, and the outer side wall of the positioning seat is also provided with a clamping hole communicating with the interior of the recess. The clamping member is telescopically disposed outside the clamping hole. The pressing head is vertically and vertically positioned directly above the pressing table. The pressing head is configured such that when the loading robot places the micro part into the recess of the positioning seat, the clamping member extends into the recess and clamps the micro part, and then the pressing head descends to complete the pressing.

3. The multi-micro component assembly device according to claim 2, characterized in that: The pressing mechanism also includes a pressing vision device; the pressing vision device includes a horizontal vision device and a vertical vision device; the horizontal vision device is located on the side of the pressing table to observe the vertical positional relationship of the parts to be assembled; the vertical vision device observes the positional relationship of the parts to be assembled in the horizontal plane from directly above the pressing table.

4. The multi-micro-part assembly device according to claim 3, characterized in that: The vertical vision system is also equipped with a reflector that bends the light path by 90 degrees; the reflector is also equipped with a drive mechanism that drives it to move in the horizontal plane, so that the reflector can be moved to or removed from directly above the pressing table; the vertical vision system is horizontally positioned and cooperates with the reflector, so that the vertical vision system observes the pressing table through the reflector.

5. The multi-micro-part assembly device according to claim 4, characterized in that: It also includes a fixture library, which includes a rotary disk and a drive unit for rotating the disk. The rotary disk is provided with several placement positions for placing material pickers. The fixture library is configured to cooperate with the loading robot so that the loading robot can change the material pickers at the placement positions. A quick-change interface is provided between the joint assembly and the material pickers.

6. The multi-micro-part assembly device according to claim 5, characterized in that: The welding mechanism includes a welding table and a welding assembly that can be raised and lowered relative to the welding table, the welding assembly including a laser welding gun; The welding table includes a rotatable turntable with a positioning mechanism on it. The positioning mechanism is used to fix the assembled parts after pressing. The center line of the positioning mechanism is co-lined with the rotation axis of the turntable so that the assembled parts can rotate around its own axis when the turntable rotates.

7. The multi-micro-part assembly device according to claim 6, characterized in that: The welding assembly also includes a welding vision system that observes the welding table vertically downwards, and the optical path of the welding vision system intersects with the light from the laser welding gun.

8. The multi-micro-part assembly device according to claim 7, characterized in that: The inner wall of the material handling gripper of the loading robot is provided with an anti-adhesion structure, which includes a number of micro protrusions distributed along the inner wall of the material handling gripper to prevent micro parts from sticking to the inner wall of the material handling gripper.

9. A method for assembling multiple micro-parts, employing the multiple micro-parts assembly apparatus as described in any one of claims 1 to 8, characterized in that, Includes the following steps: S1: The loading tray rotates, moving the unloading station containing the micro parts to the loading point; S2: The loading robot moves above the loading point, and the joint assembly drives the picking clamp to descend, so that the picking clamp closes and picks up the micro part; S3: The loading robot transfers the micro parts to the pressing mechanism. After the micro parts are positioned by the positioning mechanism of the pressing mechanism, the pressing head completes the pressing. S4: Repeat steps S1 to S3 until the sequential pressing of multiple micro parts is completed; S5: The loading robot transfers the pressed parts assembly to the welding mechanism, where the welding mechanism completes the welding.

10. The method for assembling multiple micro-parts according to claim 9, characterized in that: The pressing method in step S3 is as follows: S31: The reflector is moved directly above the pressing table and, in conjunction with vertical visual observation, the relative positions of the part to be pressed and the already pressed part in the horizontal plane are observed; the loading robot moves the part to be pressed along the horizontal plane so that it is directly opposite the already pressed part; S32: Horizontal visual observation of the relative position of the part to be pressed and the part already pressed in the vertical direction; the loading robot moves the part to be pressed vertically to the pressing position; S33: Remove the reflector and press it down with the pressing head to complete the pressing process.

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