Micro device assembly system

Abstract

The application belongs to the technical field of electronic device assembly, and discloses a micro device assembly system, which comprises a base, a copper strip cutting and feeding mechanism, a base body feeding mechanism, a first bending mechanism, a film cutting and feeding mechanism, an assembly mechanism and a manipulator, which are all arranged on the base; the base is provided with a terminal feeding position, a base body feeding position, a first bending position and an assembly position; the copper strip cutting and feeding mechanism is used for cutting terminals from a material strip and feeding the terminals to the terminal feeding position; the base body feeding mechanism is used for feeding base bodies to the base body feeding position; the first bending mechanism is arranged at the first bending position and is used for bending the terminals upward; the film cutting and feeding mechanism is used for cutting films from a film material strip and feeding the cut films to the assembly position; and the manipulator is used for feeding the terminals to the first bending position and feeding the base bodies and the bent terminals to the assembly position.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of electronic device assembly, and particularly relates to a micro device assembly system. BACKGROUND

[0002] Electronic products are usually assembled by multiple parts, and in some electronic products, such as micro patch inductors, the parts, such as terminals, that constitute the products are thin and small in size. At present, such products are assembled by manual work with simple tools or jigs, and the assembly efficiency is low and the assembly precision is unstable. Therefore, it is necessary to develop an assembly system for such micro devices. SUMMARY

[0003] In order to solve the above problems existing in the prior art, the present application aims to provide a micro device assembly system, and the technical scheme adopted by the present application is as follows:

[0004] The micro device assembly system comprises a base and a copper strip cutting and feeding mechanism, a substrate feeding mechanism, a first bending mechanism, a film cutting and feeding mechanism, an assembly mechanism and a manipulator, which are all arranged on the base; the base is provided with a terminal feeding position, a substrate feeding position, a first bending position and an assembly position; the copper strip cutting and feeding mechanism is used for cutting terminals from a strip and feeding the terminals to the terminal feeding position; the substrate feeding mechanism is used for feeding substrates to the substrate feeding position; the first bending mechanism is arranged at the first bending position and is used for bending the terminals upward; the assembly mechanism is arranged at the assembly position and comprises a positioning carrier, a pressing component, a bending knife, an indexing mechanism for intermittently rotating and indexing the positioning carrier around a vertical shaft, a first driving mechanism for driving the bending knife to reciprocate along the vertical direction, and a second driving mechanism for driving the first driving mechanism to reciprocate along the radial direction of the positioning carrier; the top surface of the positioning carrier is provided with a positioning hole for positioning the outer circle of the substrate, and the hole wall of the positioning hole is provided with a plurality of radially penetrating terminal avoiding holes for avoiding the bending knife and the terminals wrapped outside the substrate; the pressing component has a first position and a second position and is connected with a third driving mechanism for driving the pressing component to reciprocate between the first position and the second position; the pressing component comprises a sliding component, a pressing block, a pressing rod, an elastic element arranged between the pressing block and the sliding component, a fourth driving mechanism for driving the sliding component to reciprocate along the vertical direction, and a fifth driving mechanism for driving the pressing rod to reciprocate along the vertical direction; the pressing block is connected to the sliding component in a vertical sliding manner, and the pressing block is provided with a through hole for slidingly cooperating with the pressing rod in the vertical direction; the elastic element drives the pressing block to move downward; when the pressing component is located at the second position, the pressing block and the pressing rod are located directly above the positioning hole; the film cutting and feeding mechanism is used for cutting films from a film strip and feeding the cut films to the positioning hole; and the manipulator is used for feeding the terminals to the first bending position and feeding the substrates and the bent terminals to the positioning hole.

[0005] Further, the film cutting and feeding mechanism comprises a moving part; the moving part has a third position and a fourth position, and is connected with a sixth driving mechanism for driving the moving part to reciprocate between the third position and the fourth position;

[0006] The moving part comprises a film feeding assembly, a waste recycling assembly, and a cutting assembly arranged between the film feeding assembly and the waste recycling assembly; the cutting assembly comprises a cutting lower knife, a stripping rod, a cutting upper knife matched with the cutting lower knife, a seventh driving mechanism for driving the cutting upper knife to reciprocate vertically, and an eighth driving mechanism for driving the stripping rod to reciprocate vertically; the cutting upper knife is vertically provided with a through stripping hole, and the stripping hole is in sliding fit with the stripping rod; the cutting lower knife is vertically provided with a through cutting hole, and the cutting hole is matched with the cutting upper knife; when the moving part is located at the fourth position, the cutting hole and the cutting upper knife are located directly above the positioning hole.

[0007] Further, the cutting lower knife is connected with a ninth driving mechanism for driving the cutting lower knife to reciprocate vertically.

[0008] Further, the cutting lower knife is provided with a horizontal through material belt groove, an upper side wall of the material belt groove is provided with a matching hole in sliding fit with the cutting upper knife, and a lower side wall of the material belt groove is provided with the cutting hole, and the matching hole is opposite to the cutting hole.

[0009] Further, the cutting and feeding mechanism comprises a cutting die, a terminal feeding part, and a material belt feeding mechanism for feeding the material belt to the cutting die; the cutting die is used for cutting the terminal from the material belt and feeding the terminal to directly below the cutting die; the terminal feeding part is connected with a tenth driving mechanism for driving the terminal feeding part to reciprocate between directly below the cutting die and a terminal feeding position; the terminal feeding part comprises a suction head, a suction hole is provided on a top surface of the suction head, and the suction hole is connected with a vacuum generator; when the terminal feeding part is located at a fifth position, the suction head is located directly below the terminal in the cutting die.

[0010] Further, the cutting die comprises a cutting upper die and a cutting lower die arranged in sequence from top to bottom; the cutting lower die is provided with a horizontal through material groove, an upper side wall of the material groove is respectively provided with a finished product knife hole and a waste knife hole, and a lower side wall of the material groove is respectively provided with a finished product material falling hole and a waste material falling hole; the finished product knife hole, the waste knife hole, the finished product material falling hole, and the waste material falling hole all vertically penetrate, and the finished product knife hole is opposite to the finished product material falling hole, and the waste knife hole is opposite to the waste material falling hole; the cutting upper die comprises an upper die seat, a finished product cutting knife, a waste cutting knife, a stripping spring, a twelfth driving mechanism for driving the upper die seat to reciprocate vertically, and a stripping block; upper ends of the finished product cutting knife and the waste cutting knife are connected to the upper die seat, and lower ends of the finished product cutting knife and the waste cutting knife are respectively in sliding fit with the finished product knife hole and the waste knife hole; the stripping block is in a stepped shape with a large upper end and a small lower end, and the small end of the stripping block extends downward to the material groove; two ends of the stripping spring are respectively abutted to the upper end of the stripping block and the upper die seat.

[0011] Further, the terminal feeding component further comprises an eleventh driving mechanism for driving the suction head to reciprocate vertically, the eleventh driving mechanism is used for driving the suction head to move upwardly into the finished product blanking hole, and the suction head is matched with the finished product cutting knife to convey the cut terminals to the position directly below the cutting die.

[0012] Further, the first bending mechanism comprises a bending upper die and a bending lower die arranged in sequence from top to bottom; the bending lower die has a fifth position and a sixth position, and is connected with a thirteenth driving mechanism for driving the bending lower die to reciprocate between the fifth position and the sixth position; the bending upper die comprises a bending upper knife and a fourteenth driving mechanism for driving the bending upper knife to reciprocate vertically; the bending lower die comprises a moving component, a floating support block, a plurality of bending lower knives arranged around the floating support block, and a compression spring arranged between the moving component and the floating support block; the plurality of bending lower knives are connected to the moving component; the moving component is connected to the thirteenth driving mechanism, and the moving component is provided with a guide hole in the vertical direction; the floating support block is in sliding fit with the guide hole, the top surface of the floating support block is provided with a suction hole, and the suction hole is connected with a vacuum device; when the bending lower die is located at the fifth position, the floating support block is located directly below the bending upper die; the two ends of the compression spring are respectively abutted to the bottom of the floating support block and the moving component.

[0013] Further, the positioning mechanism comprises a cavity and a protrusion in positioning fit with the cavity.

[0014] Further, the visual detection assembly is arranged between the copper strip cutting and feeding mechanism and the first bending mechanism, the visual detection assembly comprises a light source, a lens and a CCD camera arranged in sequence from top to bottom, the light source and the CCD camera are connected to the base, and the lens is connected with the CCD camera.

[0015] The beneficial effects of the present application are as follows:

[0016] Action A: the robot sends the terminal separated from the material belt to the first bending position, and uses the first bending mechanism to bend the three legs of the terminal upward by 90°, and then sends the bent terminal to the positioning hole, and then places the base between the three legs of the terminal; Action B: the fourth driving mechanism drives the sliding component to move downward, the elastic element drives the pressing block to press the base, the first driving mechanism drives the bending knife to move upward to bend one of the legs by 90°, the second driving mechanism drives the bending knife to move toward the base to adjust the bending angle, and the fourth driving mechanism drives the pressing rod to move downward to press the second-bent leg to correct the bending angle again; Action C: the film cutting and feeding mechanism cuts the film from the film material belt and sends it to the assembly position, and then pastes the film to the second-bent leg; Action D: the indexing mechanism drives the positioning carrier to rotate, and sequentially aligns each leg of the terminal with the bending knife, and repeats Action B and Action C; the assembly of the center body is completed. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a structural schematic diagram of the micro device assembly system of the present application; Figure 2 is Figure 1 is a schematic diagram of the copper belt cutting and feeding mechanism in the micro device assembly system shown in Figure 3 is Figure 1 is an exploded schematic diagram of the upper cutting die in the micro device assembly system shown in Figure 4 is Figure 1 is a schematic diagram of the lower cutting die in the micro device assembly system shown in Figure 5 is Figure 1 is a schematic diagram of the terminal feeding component in the micro device assembly system shown in Figure 6 is Figure 1 is a schematic diagram of the suction head in the micro device assembly system shown in

[0018] Figure 7 is Figure 1 is a schematic diagram of the floating support block in the micro device assembly system shown in Figure 8 is Figure 1 is a schematic diagram of the first bending mechanism and the visual detection assembly in the micro device assembly system shown in Figure 9 is Figure 8 is an enlarged structural schematic diagram of area A in Figure 10 is Figure 1 is an exploded schematic diagram of the lower bending die in the micro device assembly system shown in Figure 11 is Figure 1 is a schematic diagram of the assembly mechanism and the film cutting and feeding mechanism in the micro device assembly system shown in Figure 12 is Figure 1 is a schematic diagram of the film cutting and feeding mechanism in the micro device assembly system shown in

[0019] Figure 13 is a schematic view of a material feeding tensioning assembly in the micro device assembly system shown in Figure 1 Figure 14 is a schematic view of a film feeding assembly in the micro device assembly system shown in Figure 1 Figure 15 is a schematic view of a stripper bar and an eighth driving mechanism in the micro device assembly system shown in Figure 1 Figure 16 is a schematic view of a cutting assembly in the micro device assembly system shown in Figure 1 Figure 17 is a schematic view of an indexing mechanism in the micro device assembly system shown in Figure 1 Figure 18 is a schematic view of a positioning carrier in the micro device assembly system shown in Figure 1 Figure 19 is a schematic view of a pressing component in the micro device assembly system shown in Figure 1 Figure 20 is an exploded schematic view of a pressing component in the micro device assembly system shown in Figure 1 Figure 21 is a schematic view of a bending knife, a first driving mechanism and a second driving mechanism in the micro device assembly system shown in Figure 1 Figure 22 is a schematic view of a robot in the micro device assembly system shown in Figure 1 Figure 23 is a schematic view of a B area in the micro device assembly system shown in Figures 22

[0020] ​​​​​​​​​​​In the figure: 1000 - base; 2000 - copper strip cutting and feeding mechanism; 2100 - cutting die; 2110 - cutting upper die; 2111 - upper die seat; 2112 - finished product cutting knife; 2113 - waste cutting knife; 2114 - ejection spring; 2115 - twelfth driving mechanism; 2116 - ejection block; 2120 - cutting lower die; 2121 - material groove; 2122 - finished product knife hole; 2123 - waste knife hole; 2124 - finished product blanking hole; 2200 - terminal feeding component; 2201 - suction head; 22011 - suction hole; 2300 - material strip feeding mechanism; 2400 - tenth driving mechanism; 2500 - eleventh driving mechanism; 3000 - base feeding mechanism; 4000 - first bending mechanism; 4100 - bending upper die; 4101 - bending upper knife; 4102 - fourteenth driving mechanism; 4103 - protruding block; 4200 - bending lower die; 4201 - moving component; 4202 - floating support block; 42021 - suction hole; 4203 - bending lower knife; 4204 - compression spring; 4205 - cavity; 4300 - thirteenth driving mechanism; 5000 - film cutting and feeding mechanism; 5100 - moving component; 5110 - film feeding assembly; 5111 - feeding roller; 5112 - rotating roller; 5113 - first tensioning roller; 5114 - second tensioning roller; 5115 - rotating arm; 5116 - first spring; 5120 - waste recovery assembly; 5121 - material collecting roller; 5122 - torque motor; 5123 - pressing roller; 5124 - feeding roller; 5125 - rotating arm; 5126 - second spring; 5127 - rotating driving component; 5130 - cutting assembly; 5131 - cutting lower knife; 51311 - cutting hole; 51312 - material strip groove; 5132 - ejection rod; 5133 - cutting upper knife; 5134 - seventh driving mechanism; 5135 - eighth driving mechanism; 5136 - ninth driving mechanism; 5200 - sixth driving mechanism; 6000 - assembling mechanism; 6100 - positioning carrier; 6101 - positioning hole; 6102 - terminal avoiding hole; 6200 - pressing component; 6201 - sliding component; 6202 - pressing block; 6203 - pressing rod; 6204 - fourth driving mechanism; 6205 - fifth driving mechanism; 6206 - elastic element; 6300 - bending knife; 6400 - indexing mechanism; 6500 - first driving mechanism; 6600 - second driving mechanism; 6700 - third driving mechanism; 7000 - mechanical hand; 7100 - multi-axis mechanical arm; 7200 - suction disc; 8000 - visual detection assembly; 8100 - light source; 8200 - lens; 8300 - CCD camera. DETAILED DESCRIPTION

[0021] The following will describe in detail the technical solutions provided by the present invention through embodiments with reference to the accompanying drawings. The description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention. The "horizontal", "vertical", "upper" and "downer" referred to herein are all the orientations of the micro-device assembly system under normal use.

[0022] like Figures 1 to 23 As shown, the micro device assembly system of this embodiment includes: a base 1000, and a copper strip cutting and feeding mechanism 2000, a substrate loading mechanism 3000, a one-time bending mechanism 4000, a film cutting and feeding mechanism 5000, an assembly mechanism 6000 and a manipulator 7000, all of which are arranged on the base 1000; a terminal feeding position, a substrate feeding position, a one-time bending position and an assembly position are distributed on the base 1000; the copper strip cutting and feeding mechanism 2000 is used to cut the terminals from the material strip and feed the terminals to the terminal feeding position; the substrate loading mechanism 3000 is used to feed the substrate to the substrate feeding position; the one-time bending machine The structure 4000 is set at the primary bending position and is used to bend the terminal upward; the assembly mechanism 6000 is set at the assembly position, and the assembly mechanism 6000 includes: a positioning carrier 6100, a pressing component 6200, a bending knife 6300, an indexing mechanism 6400 that drives the positioning carrier 6100 to intermittently rotate and index around the vertical axis, a first driving mechanism 6500 that drives the bending knife 6300 to reciprocate vertically, and a second driving mechanism 6600 that drives the first driving mechanism 6500 to reciprocate along the radial direction of the positioning carrier 6100; the top surface of the positioning carrier 6100 is provided with a positioning mechanism that cooperates with the outer circle of the base. The hole 6101 is provided with a plurality of radially penetrating terminal avoidance holes 6102 on the wall of the positioning hole 6101. The terminal avoidance holes 6102 are used to avoid the bending knife 6300 and the terminal wrapped outside the base. The pressing component 6200 has a first position and a second position, and is connected to a third driving mechanism 6700 that drives it to reciprocate between the first position and the second position. The pressing component 6200 includes: a sliding component 6201, a pressing block, a pressing rod, an elastic element 6206 arranged between the pressing block and the sliding component 6201, and a fourth driving mechanism 6200 that drives the sliding component 6201 to reciprocate vertically. 4. The fifth driving mechanism 6205 drives the pressure rod to reciprocate vertically. The pressing block is connected to the sliding component 6201 along the vertical sliding direction. The pressing block is provided with a through hole along the vertical direction for sliding cooperation with the pressure rod. The elastic element 6206 drives the pressing block to move downward. When the pressing component 6200 is in the second position, the pressing block and the pressure rod are both located directly above the positioning hole 6101; the film cutting and feeding mechanism 5000 is used to cut the film from the film strip and send the cut film to the positioning hole 6101; the robot 7000 is used to send the terminal to the primary bending position and send the base and the bent terminal to the positioning hole 6101.

[0023] The indexing mechanism 6400 can be implemented using existing servo motors, cam dividers, direct drive motors, etc.

[0024] In a preferred embodiment, the bottom of the positioning hole 6101 is provided with a suction hole connected to a vacuum generator so that the terminal and substrate placed in the positioning hole 6101 can be vacuum-sucked to prevent the terminal and substrate from being distorted or even carried away by the robot 7000. The first drive mechanism 6500 drives the bending knife 6300 to move upward, performing a secondary bend on the terminal legs so that the terminal wraps around the substrate, that is, bending the terminal legs into a horizontal U-shape. The second drive mechanism 6600 then drives the first drive mechanism 6500 and the bending knife 6300 to move in the radial direction of the positioning carrier 6100 to correct the angle of the secondary bend.

[0025] The elastic element 6206 can be realized by using existing technologies such as cylindrical helical compression spring 4204. The elastic force of the elastic element 6206 is transmitted to the terminal in the positioning hole 6101 through the clamping block, thereby clamping the terminal before the secondary bending. The specific movement process is: after the manipulator 7000 places the terminal that has completed one bending into the positioning hole 6101, and then places the base into the positioning hole 6101, the third driving device drives the clamping component 6200 to move to the second position, and then the fourth driving component drives the sliding component 6201, the clamping block and the elastic element 6206 to move downward. After the clamping block contacts the base, the sliding component 6201 continues to move downward, so that the elastic force of the elastic element 6206 is transmitted. The pressure is transferred to the terminal in the positioning hole 6101 through the clamping block, and then the above-mentioned secondary bending action is performed. The fifth driving mechanism 6205 drives the pressure rod to move downward, and the angle of the primary bending is adjusted; then the fourth driving component drives the sliding component 6201, the clamping block and the elastic element 6206 to move upward. At the same time, the fifth driving mechanism 6205 drives the pressure rod to move upward, and then the film cutting and feeding mechanism 5000 cuts out the film, and sends the cut film to the positioning hole 6101, and makes the film stick to the upper surface of the leg after the secondary bending; then the dividing mechanism 6400 drives the positioning carrier 6100 to rotate a certain angle, and performs secondary bending on the next leg of the terminal, and so on.

[0026] In a preferred embodiment, the second drive mechanism 6600 is implemented using a servo motor ball screw structure, so that after the adjusted angle is fed back to the servo motor, the servo motor can correct the displacement of the bending knife 6300 along the radial direction of the positioning carrier 6100 with higher precision. On this basis, the second drive mechanism 6600 can be connected to a servo motor ball screw structure to drive the bending knife 6300 to move along the tangential direction of the positioning carrier 6100, ensuring that the bending knife 6300 is precisely aligned with the bent leg.

[0027] The substrate feeding mechanism 3000 can be realized by using a vibrating disc, a flexible feeder or other existing technologies.

[0028] The cutting feeding mechanism can be realized by using existing technologies, such as the center needle insertion mechanism in the Chinese utility model patent with the publication number CN208944622U and the name of a power interface assembly test equipment.

[0029] In a preferred embodiment, the cutting feeding mechanism comprises a cutting die 2100, a terminal feeding component 2200 and a tape feeding mechanism 2300 for feeding the tape to the cutting die 2100; the cutting die 2100 is used to cut terminals from the tape and feed the terminals to the position directly below the cutting die 2100; the terminal feeding component 2200 is connected with a tenth driving mechanism 2400 for driving the terminal feeding component 2200 to reciprocate between the position directly below the cutting die 2100 and a terminal feeding position; the terminal feeding component 2200 comprises a suction head 2201, the top surface of the suction head 2201 is provided with a suction hole 22011, and the suction hole 22011 is connected with a vacuum generator; when the terminal feeding component 2200 is located at the fifth position, the suction head 2201 is located directly below the terminal in the cutting die 2100.

[0030] The tape feeding mechanism 2300 can be realized by using existing roller feeding machines for stamping, pneumatic feeding machines for stamping or other similar structures, such as the Chinese invention patent with the publication number CN102801074A and the name of a terminal feeding device; for example, the terminal tray rack in the terminal feeding and cutting mechanism and the tape conveying unit arranged in connection with the terminal tray rack in the Chinese utility model patent with the publication number CN210156703U; and the like.

[0031] The terminal is cut by the cutting die 2100, and the precision is higher. The cutting die 2100 can be realized by adopting a structure similar to that of the existing cutting die 2100. In a preferred embodiment, the cutting die 2100 comprises a cutting upper die 2110 and a cutting lower die 2120 arranged in sequence from top to bottom; the cutting lower die 2120 is provided with a material groove 2121 penetrating in the horizontal direction, the upper side wall of the material groove 2121 is respectively provided with a finished product knife hole 2122 and a waste knife hole 2123, the lower side wall of the material groove 2121 is respectively provided with a finished product blanking hole 2124 and a waste blanking hole, the finished product knife hole 2122, the waste knife hole 2123, the finished product blanking hole 2124 and the waste blanking hole all penetrate in the vertical direction, and the finished product knife hole 2122 is opposite to the finished product blanking hole 2124, and the waste knife hole 2123 is opposite to the waste blanking hole; the cutting upper die 2110 comprises an upper die seat 2111, a finished product cutting knife 2112, a waste cutting knife 2113, a material ejection spring 2114, a twelfth driving mechanism 2115 for driving the upper die seat 2111 to reciprocate in the vertical direction, and a material ejection block 2116; the upper ends of the finished product cutting knife 2112 and the waste cutting knife 2113 are connected to the upper die seat 2111, and the lower ends of the finished product cutting knife 2112 and the waste cutting knife 2113 are respectively in sliding fit with the finished product knife hole 2122 and the waste knife hole 2123; the material ejection block 2116 is in the shape of a step with the upper part larger than the lower part, and the small end of the material ejection block 2116 extends downward to the material groove 2121; the two ends of the material ejection spring 2114 are respectively abutted to the upper end of the material ejection block 2116 and the upper die seat 2111.

[0032] The finished product knife hole 2122 and the finished product blanking hole 2124 are formed on one part, which is more conducive to ensuring the precision of the finished product cutting knife 2112 and the finished product blanking hole 2124, and is more suitable for cutting thin-walled terminals. The material belt after cutting the terminals is cut into small sections by the waste blanking hole and the waste cutting knife 2113, which is more conducive to recycling waste materials.

[0033] The material ejection block 2116 is in sliding fit with the cutting lower die 2120, the elastic force of the material ejection spring 2114 is transmitted to the material belt through the material ejection block 2116, so that the material belt is pressed tightly before the finished product cutting knife 2112 and the waste cutting knife 2113 cut the terminals and waste materials respectively, thereby ensuring cutting and reducing deformation and improving precision; at the same time, the material belt sticks to the finished product cutting knife 2112 and the waste cutting knife 2113 when the finished product cutting knife 2112 and the waste cutting knife 2113 move upward. The material ejection block 2116 is in the shape of a step with the upper part larger than the lower part, and the step of the material ejection block 2116 can limit the material ejection block 2116. On the one hand, it avoids the material ejection block 2116 from falling and obstructing the movement of the material belt in the material groove 2121; on the other hand, the distance between the step of the material ejection block 2116 and the bottom of the material ejection block 2116 can be limited to ensure that multiple material ejection blocks 2116 contact the material belt at the same time, thereby ensuring uniform pressing force.

[0034] Based on the preferred embodiment of the cutting die 2100 described above, the terminal feeding component 2200 further comprises an eleventh driving mechanism 2500 for driving the suction head 2201 to move vertically reciprocally, the eleventh driving mechanism 2500 is used to drive the suction head 2201 to move upwardly into the finished product dropping hole 2124, and make the suction head 2201 cooperate with the finished product cutting knife 2112 to deliver the cut terminals to the position right below the cutting die 2100.

[0035] The tape feeding mechanism 2300 moves one step distance to the direction of the material groove 2121, so that one terminal is located right below the finished product cutting knife 2112, then the eleventh driving mechanism 2500 drives the suction head 2201 to move upwardly into the finished product dropping hole 2124, and make the top surface of the suction head 2201 not higher than the bottom surface of the terminal on the tape, a certain gap, for example, 0.1mm, can be left, then the twelfth driving mechanism 2115 drives the cutting upper die 2110 to move downwardly, the material removing block 2116 presses the tape, then the finished product cutting knife 2112 cuts the tape, the vacuum generator provides vacuum to the suction hole 22011 to suck the terminal, at the same time, the finished product cutting knife 2112 and the suction head 2201 continue to move downwardly, until the terminal is completely separated from the tape, then the twelfth driving mechanism 2115 drives the cutting upper die 2110 to move upwardly, the eleventh driving mechanism 2500 drives the suction head 2201 to move downwardly to the position right below the cutting lower die 2120, finally, the tenth driving mechanism 2400 drives the suction head 2201 and the eleventh driving mechanism 2500 to move to the terminal feeding position, and wait for the mechanical hand 7000 to grab the terminal.

[0036] The film cutting feeding mechanism 5000 can be realized by using the existing technology, for example, the film is cut from the film tape first, then the film is delivered to the assembly position by using a mechanical arm cooperating with a vibrating disc or a flexible feeding mechanism, etc.

[0037] In a preferred embodiment, the film cutting and feeding mechanism 5000 comprises a moving component 5100; the moving component 5100 has a third position and a fourth position, and is connected with a sixth driving mechanism 5200 that drives the moving component 5100 to reciprocate between the third position and the fourth position; the moving component 5100 comprises a film feeding assembly 5110, a waste recycling assembly 5120, and a cutting assembly 5130 arranged between the film feeding assembly 5110 and the waste recycling assembly 5120; the cutting assembly 5130 comprises a cutting lower knife 5131, a stripper rod 5132, a cutting upper knife 5133 matched with the cutting lower knife 5131, a seventh driving mechanism 5134 that drives the cutting upper knife 5133 to reciprocate vertically, and an eighth driving mechanism 5135 that drives the stripper rod 5132 to reciprocate vertically; the cutting upper knife 5133 is vertically provided with a through stripper hole matched with the stripper rod 5132 in sliding manner; the cutting lower knife 5131 is vertically provided with a through cutting hole 51311 matched with the cutting upper knife 5133; when the moving component 5100 is located at the fourth position, the cutting hole 51311 and the cutting upper knife 5133 are both located directly above the positioning hole 6101.

[0038] The film feeding assembly 5110 and the waste recycling assembly 5120 can be implemented by using the existing technology, for example, the unwinding and winding of the bottom film in the bottom film automatic assembly equipment disclosed in the Chinese utility model patent CN204160158U, or the feeding and winding of the bottom film in the protective film feeding device and feeding method disclosed in the Chinese invention patent application CN112477095A.

[0039] In the embodiment, the film feeding assembly 5110 comprises a feeding roller 5111, a feeding tension assembly, the waste recovery assembly 5120 comprises a film feeding assembly, a take-up roller 5121, and a torque motor 5122 for driving the take-up roller 5121 to rotate; the feeding roller 5111 and the take-up roller 5121 are rotatably supported on the moving frame, the feeding tension assembly and the film feeding assembly tension the film material, and the film material between the feeding tension assembly and the film feeding assembly is in a horizontal state, and the film feeding assembly is further used for conveying the film material along the length direction of the film material. Specifically, the feeding tension assembly comprises a plurality of rotating rollers 5112 rotatably supported on the moving frame, and a tension roller set, the tension roller set comprises a first tension roller 5113 rotatably supported on the moving frame, a second tension roller 5114 opposite to the first tension roller 5113, and a rotating arm 5115 hinged to the moving frame, one end of the rotating arm 5115 is rotatably connected with the second tension roller 5114, and the other end of the rotating arm 5115 is provided with a first spring 5116 with the moving frame, so that the outer circumferential surface of the second tension roller 5114 presses the outer circumferential surface of the first tension roller 5113. The film feeding assembly comprises a pressing roller 5123 rotatably supported on the moving frame, a feeding roller 5124 opposite to the pressing roller 5123, and a rotating arm 5125 having one end rotatably connected with the pressing roller 5123; the other end of the rotating arm 5125 is provided with a second spring 5126 with the moving frame, so that the outer circumferential surface of the pressing roller 5123 presses the outer circumferential surface of the feeding roller 5124; the feeding roller 5124 is connected with a rotating driving member 5127 for driving the feeding roller 5124 to rotate, and the rotating driving member 5127 can be realized by using an existing technology such as a motor; the film material roll is sleeved on the feeding roller 5111, and then the material head on the outer surface of the film material roll is sequentially fixed to the take-up roller 5121 after passing through between the rotating roller 5112, the first tension roller 5113 and the second tension roller 5114, between the upper cutting knife 5133 and the lower cutting knife 5131, and between the pressing roller 5123 and the feeding roller 5124.

[0040] The sixth driving mechanism 5200 drives the moving part 5100 to move to the fourth position, i.e., the assembling position, and meanwhile, the rotary driving part 5127 drives the feeding roller 5124 to rotate by a certain angle, so that the film strip moves by a certain distance along the length direction thereof; then the seventh driving mechanism 5134 drives the cutting upper knife 5133 to move downward, so that the cutting upper knife 5133 and the cutting lower knife 5131 cooperate to separate the film from the film strip and send the film into the positioning hole 6101, and then the eighth driving mechanism 5135 drives the stripping rod 5132 to move downward and make the bottom of the stripping rod 5132 abut against the top surface of the film, the seventh driving mechanism 5134 drives the cutting upper knife 5133 to move upward, so that the film is separated from the cutting upper knife 5133 and avoids being adhered to the bottom of the cutting upper knife 5133; since the contact area between the bottom of the stripping rod 5132 and the top surface of the film is very small, the film is extremely difficult to be adhered to the bottom of the stripping rod 5132. A third spring can be arranged at the connecting part between the stripping rod 5132 and the eighth driving mechanism 5135, so as to avoid that the output force of the eighth driving mechanism 5135 is too large to cause the stripping rod 5132 to be broken.

[0041] In a preferred embodiment, the cutting lower knife 5131 is connected with a ninth driving mechanism 5136 for driving the cutting lower knife 5131 to move vertically and reciprocally, when cutting the film from the film strip, the ninth driving mechanism 5136 drives the cutting lower knife 5131 to move upward, so that the cutting lower knife 5131 is used for supporting the film strip; after the cutting is completed and the film is sent into the positioning hole 6101, the ninth driving mechanism 5136 drives the cutting lower knife 5131 to move downward, so that the film strip is separated from the cutting lower knife 5131, which avoids that the film strip and the cutting lower knife 5131 rub against each other when the film strip is fed, and the surface of the film strip is damaged.

[0042] In a preferred embodiment, the cutting lower knife 5131 is provided with a strip groove 51312 penetrating through in the horizontal direction, the upper side wall of the strip groove 51312 is provided with a matching hole for slidingly matching with the cutting upper knife 5133, and the lower side wall of the strip groove 51312 is provided with a cutting hole 51311, and the matching hole is opposite to the cutting hole 51311. Similarly to the above cutting terminal, the matching hole and the cutting hole 51311 are simultaneously formed in one part, which has higher precision, improves the matching precision between the cutting upper knife 5133 and the cutting hole 51311, and further improves the cutting precision, reduces the cutting burr and improves the cutting quality. The ninth driving mechanism 5136 drives the cutting lower knife 5131 to move upward, so that the lower side wall of the strip groove 51312 contacts with the bottom surface of the film strip and supports the film strip; after the cutting is completed and the film is sent into the positioning hole 6101, the ninth driving mechanism 5136 drives the cutting lower knife 5131 to move downward, so that the film strip is separated from the lower side wall of the strip groove 51312.

[0043] In a preferred embodiment, the primary bending mechanism 4000 includes a bending upper die 4100 and a bending lower die 4200 arranged in sequence from top to bottom; the bending lower die 4200 has a fifth position and a sixth position, and is connected to a thirteenth driving mechanism 4300 that drives it to reciprocate between the fifth position and the sixth position; the bending upper die 4100 includes a bending upper knife 4101, and a fourteenth driving mechanism 4102 that drives the bending upper knife 4101 to slide back and forth vertically; the bending lower die 4200 includes a moving part 4201, a floating support block 4202, a plurality of bending lower knives 4203 arranged around the floating support block 4202, and a plurality of bending lower knives 4203 arranged around the moving part 42 01 and the floating support block 4202; a plurality of bending lower knives 4203 are all connected to the moving part 4201; the moving part 4201 is connected to the thirteenth driving mechanism 4300, and the moving part 4201 is provided with a guide hole in the vertical direction; the floating support block 4202 slides with the guide hole, and a suction hole 42021 is provided on the top surface of the floating support block 4202, and the suction hole 42021 is connected to a vacuum device; when the bending lower mold 4200 is in the fifth position, the floating support block 4202 is located directly below the bending upper mold 4100; the two ends of the compression spring 4204 respectively touch the bottom of the floating support block 4202 and the moving part 4201.

[0044] The manipulator 7000 places the terminal on the bending lower die 4200 at the sixth position, and the vacuum device provides vacuum for the suction hole 42021 to suck the terminal to prevent the terminal from sticking to the manipulator 7000 and being distorted or even taken away by the manipulator 7000. Then the thirteenth driving mechanism 4300 drives the bending lower die 4200 to move to the bottom of the bending upper die 4100, and the fourteenth driving mechanism 4102 drives the bending upper die 4100 to move downward. After the bending upper die 4100 contacts the terminal, the elastic force of the compression spring 4204 is transmitted to the terminal through the floating support block 4202, thereby pressing the terminal through the bending upper die 4100 and the floating support block 4202, and the bending upper die 4100 is pressed. 00 continues to move downward, and the terminal moves downward relative to the multiple bending lower knives 4203, thereby bending the multiple legs of the terminal upward by 90 degrees. It can be understood that the number of bending lower knives 4203 is equal to the number of legs of the terminal; after the multiple legs of the terminal are bent, the fourteenth driving mechanism 4102 drives the bending upper mold 4100 to move upward, and the floating support block 4202 also moves upward under the action of the compression spring 4204; finally, the thirteenth driving mechanism 4300 drives the bending lower mold 4200 to move from directly below the bending upper mold 4100 to the sixth position, that is, from the fifth position to the sixth position, waiting for the robot arm 7000 to grab the terminal after bending once.

[0045] In a preferred embodiment, a positioning mechanism is arranged between the bending upper die 4100 and the bending lower die 4200, and the positioning mechanism comprises a vertical cavity 4205 and a protrusion 4103 which is positioned and matched with the cavity 4205. When the bending lower die 4200 moves downward, the protrusion 4103 is firstly inserted into the cavity 4205, so as to ensure the relative position between the bending upper die 4100 and the bending lower die 4200, avoid the dislocation between the bending upper die 4101 and the floating support block 4202, and further improve the bending precision.

[0046] The first driving mechanism 6500, the second driving mechanism 6600, the third driving mechanism 6700, the fourth driving mechanism 6204, the fifth driving mechanism 6205, the sixth driving mechanism 5200, the seventh driving mechanism 5134, the eighth driving mechanism 5135, the ninth driving mechanism 5136, the tenth driving mechanism 2400, the eleventh driving mechanism 2500, the twelfth driving mechanism 2115, the thirteenth driving mechanism 4300, and the fourteenth driving mechanism 4102 can be realized by using a cylinder, an electric cylinder, a crank slider mechanism, a gear and rack mechanism or other existing technologies.

[0047] In a preferred embodiment, a visual detection assembly 8000 is arranged between the copper strip cutting and feeding mechanism 2000 and the first bending mechanism 4000, and the visual detection assembly 8000 comprises a light source 8100, a lens 8200 and a CCD camera 8300 arranged from top to bottom. The light source 8100 and the CCD camera 8300 are connected to a base 1000, and the lens 8200 is connected to the CCD camera 8300. The visual detection assembly 8000 can be used to detect the position of the terminal on the mechanical hand 7000, so as to ensure that the mechanical hand 7000 accurately places the terminal on the floating support block 4202. Meanwhile, the visual detection assembly 8000 can also be used to detect the position of the terminal which has been bent once on the mechanical hand 7000, so as to ensure that the mechanical hand 7000 accurately places the terminal in the positioning hole 6101.

[0048] The mechanical hand 7000 can comprise a multi-axis mechanical arm 7100 and a suction cup 7200 installed at the output end of the multi-axis mechanical arm 7100. The suction cup 7200 can be installed in multiple numbers, so as to grasp multiple terminals.

[0049] The present application is not limited to the above-mentioned optional embodiments, and anyone can derive other various forms of products under the inspiration of the present application. Regardless of any changes in shape or structure, any technical solutions falling within the scope defined by the claims of the present application fall within the protection scope of the present application.

Claims

1. A micro device assembly system, characterized by, The application relates to a terminal and substrate assembling device. The device comprises a base, a copper strip cutting and feeding mechanism, a substrate feeding mechanism, a first bending mechanism, a film cutting and feeding mechanism, an assembling mechanism and a manipulator, which are all arranged on the base. The base is provided with a terminal feeding position, a substrate feeding position, a first bending position and an assembling position. The copper strip cutting and feeding mechanism is used for cutting terminals from a material strip and feeding the terminals to the terminal feeding position. The substrate feeding mechanism is used for feeding substrates to the substrate feeding position. The first bending mechanism is arranged at the first bending position and is used for bending the terminals upward. The assembling mechanism is arranged at the assembling position and comprises a positioning carrier, a pressing component, a bending knife, a indexing mechanism for driving the positioning carrier to rotate intermittently and index around a vertical shaft, a first driving mechanism for driving the bending knife to move reciprocally along the vertical direction, and a second driving mechanism for driving the first driving mechanism to move reciprocally along the radial direction of the positioning carrier. The top surface of the positioning carrier is provided with a positioning hole matched with the outer circle of the substrate, and a plurality of terminal avoiding holes penetrating the hole wall of the positioning hole in the radial direction are arranged on the hole wall, which are used for avoiding the bending knife and the terminals wrapped outside the substrate. The pressing component has a first position and a second position and is connected with a third driving mechanism for driving the pressing component to move reciprocally between the first position and the second position. The pressing component comprises a sliding component, a pressing block, a pressing rod, an elastic element arranged between the pressing block and the sliding component, a fourth driving mechanism for driving the sliding component to move reciprocally along the vertical direction, and a fifth driving mechanism for driving the pressing rod to move reciprocally along the vertical direction.

2. The micro device assembly system of claim 1, wherein The pressing block is slidably connected to the sliding component along the vertical direction and is provided with a through hole matched with the pressing rod along the vertical direction. The elastic element drives the pressing block to move downward. When the pressing component is located at the second position, the pressing block and the pressing rod are located directly above the positioning hole.

3. The micro device assembly system of claim 2, wherein The film cutting and feeding mechanism is used for cutting films from a film material strip and feeding the cut films to the positioning hole.

4. The micro device assembly system according to claim 2 or 3, wherein The manipulator is used for feeding the terminals to the first bending position and feeding the substrates and the bent terminals to the positioning hole. The film cutting and feeding mechanism comprises a moving component. The moving component has a third position and a fourth position and is connected with a sixth driving mechanism for driving the moving component to move reciprocally between the third position and the fourth position. The moving component comprises a film feeding assembly, a waste recycling assembly and a cutting assembly arranged between the film feeding assembly and the waste recycling assembly. The cutting assembly comprises a cutting lower knife, a stripping rod, a cutting upper knife matched with the cutting lower knife, a seventh driving mechanism for driving the cutting upper knife to move reciprocally along the vertical direction, and an eighth driving mechanism for driving the stripping rod to move reciprocally along the vertical direction. The cutting upper knife is provided with a stripping hole penetrating along the vertical direction, and the stripping hole is slidably matched with the stripping rod. The cutting lower knife is provided with a cutting hole penetrating along the vertical direction, and the cutting hole is matched with the cutting upper knife. When the moving component is located at the fourth position, the cutting hole and the cutting upper knife are located directly above the positioning hole. The cutting lower knife is connected with a ninth driving mechanism for driving the cutting lower knife to move reciprocally along the vertical direction. The cutting lower knife is provided with a material strip groove penetrating along the horizontal direction. The upper side wall of the material strip groove is provided with a matched hole slidably matched with the cutting upper knife. The lower side wall of the material strip groove is provided with the cutting hole, and the matched hole is opposite to the cutting hole.

5. The micro device assembly system of claim 1, wherein The cutting feeding mechanism comprises a cutting die, a terminal feeding component and a tape feeding mechanism for feeding the tape to the cutting die; The cutting die is used for cutting terminals from the tape and feeding the terminals to the position directly below the cutting die; The terminal feeding component is connected with a tenth driving mechanism for driving the terminal feeding component to reciprocate between the position directly below the cutting die and a terminal feeding position; the terminal feeding component comprises a suction head, the top surface of the suction head is provided with a suction hole, and the suction hole is connected with a vacuum generator; when the terminal feeding component is located at the fifth position, the suction head is located directly below the terminal in the cutting die.

6. The micro device assembly system of claim 5, wherein, The cutting die comprises a cutting upper die and a cutting lower die arranged in sequence from top to bottom; The cutting lower die is provided with a material groove penetrating in the horizontal direction, the upper side wall of the material groove is provided with a finished product cutter hole and a waste cutter hole respectively, the lower side wall of the material groove is provided with a finished product material falling hole and a waste material falling hole respectively, the finished product cutter hole, the waste cutter hole, the finished product material falling hole and the waste material falling hole all penetrate in the vertical direction, and the finished product cutter hole and the finished product material falling hole are opposite to each other, and the waste cutter hole and the waste material falling hole are opposite to each other; The cutting upper die comprises an upper die seat, a finished product cutting cutter, a waste cutting cutter, a material falling spring, a twelfth driving mechanism for driving the upper die seat to reciprocate in the vertical direction, and a material falling block; the upper ends of the finished product cutting cutter and the waste cutting cutter are connected to the upper die seat, and the lower ends of the finished product cutting cutter and the waste cutting cutter are slidably matched with the finished product cutter hole and the waste cutter hole respectively; the material falling block is in the shape of a step with the top larger than the bottom, and the small end of the material falling block extends downward to the material groove; the two ends of the material falling spring are respectively abutted to the upper end of the material falling block and the upper die seat.

7. The micro device assembly system of claim 6, wherein The terminal feeding component further comprises an eleventh driving mechanism for driving the suction head to reciprocate in the vertical direction, and the eleventh driving mechanism is used for driving the suction head to move upward into the finished product material falling hole and enabling the suction head to cooperate with the finished product cutting cutter to feed the cut terminals to the position directly below the cutting die.

8. The micro device assembly system of claim 1, wherein, The first bending mechanism comprises a bending upper die and a bending lower die arranged in sequence from top to bottom; the bending lower die has a fifth position and a sixth position and is connected with a thirteenth driving mechanism for driving the bending lower die to reciprocate between the fifth position and the sixth position; The bending upper die comprises a bending upper cutter and a fourteenth driving mechanism for driving the bending upper cutter to reciprocate in the vertical direction; The bending lower die comprises a moving component, a floating support block, a plurality of bending lower cutters arranged around the floating support block, and a compression spring arranged between the moving component and the floating support block; the plurality of bending lower cutters are connected to the moving component; the moving component is connected to the thirteenth driving mechanism and is provided with a guide hole in the vertical direction; the floating support block is slidably matched with the guide hole, the top surface of the floating support block is provided with a suction hole, and the suction hole is connected with a vacuum device; when the bending lower die is located at the fifth position, the floating support block is located directly below the bending upper die; the two ends of the compression spring are respectively abutted to the bottom of the floating support block and the moving component.

9. The micro device assembly system of claim 8, wherein, The positioning structure is arranged between the bending upper die and the bending lower die, and comprises a cavity provided in the vertical direction and a protrusion matched with the cavity.

10. The micro device assembly system according to claim 8 or 9, wherein The visual detection assembly is arranged between the copper strip cutting and feeding mechanism and the one-time bending mechanism, and comprises, from top to bottom, a light source, a lens and a CCD camera, the light source and the CCD camera are connected to the base, and the lens is connected to the CCD camera.

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