An automated assembly device for a biochip

Abstract

The present invention discloses an automatic assembly device for a biochip, which includes a Tray loader, a glass laminator, a plastic part loader, a plastic part laminator, and a product unloader. Among them, the laminator uses a nozzle with a quick-release design, a servo motor, a high-precision motion platform, a motion control card, a precision fixture, a programmable logic controller, and a vacuum generator. The Tray loader uses a screw-motor combination as a motion module, and a servo motor is paired with a suction cup to form a grasping robot arm to grasp and move the Tray. The device's laminating lifting Z-axis and laminating rotating U-axis are both driven by servo motors. The automatic assembly device of the present invention uses a nozzle with a quick-release design in cooperation with a feeder with four heads, a servo motor, a high-precision motion platform, a motion control card, a precision fixture, a programmable logic controller, a vacuum generator, and a feeder material taking program, which can improve production efficiency and reduce labor costs.

Description

Technical Field

[0001] The present invention relates to the technical field of chip assembly, and in particular to an automatic assembly device for a biochip. Background Art

[0002] For the traditional hard bonding machine for stripping and bonding, a structure with a Z-axis cooperating with a nozzle up and down for adsorption is adopted, a conveyor belt mechanism is used as the transmission method, and manual loading and unloading operations are performed. For this traditional hard bonding machine for stripping and bonding, there are certain limitations in the feeding method: the accuracy of the bonding machine cannot meet the requirements of high-precision products; for the traditional hard bonding machine, manual film tearing is required for loading, and then it flows into the next process. The material after the film is torn is exposed to the air, which is prone to contamination and the generation of flying screens; the feeding method requires manual feeding, with low efficiency and high labor costs. Summary of the Invention

[0003] In view of the defects and improvement requirements of the prior art, the present invention provides an automatic assembly device for a biochip, which is a hard bonding device that controls movement through a PLC and takes materials by visual positioning and photographing. It consists of a nozzle with a quick-release design, a feeder with four heads, a servo motor, a high-precision motion platform, a motion control card, a precision jig, a programmable logic controller (PLC), a vacuum generator, and a feeder material-taking program, achieving the improvement of production efficiency, reduction of labor costs, and improvement of quality, and having a wider applicability.

[0004] An automatic assembly device for a biochip includes a Tray loader, a glass bonding machine, a plastic part loader, a plastic part bonding machine, and a product unloader. Among them,

[0005] The inside of the Tray loader includes a suction cup assembly, a horizontal X-axis, and a loading module. The top of the suction cup assembly is connected to the horizontal X-axis and can move on the horizontal X-axis. The bottom of the suction cup assembly is used to grab the Tray and drive the Tray to move in the horizontal X-axis direction. A servo motor is installed on the horizontal X-axis to control the movement of the suction cup assembly; the loading module includes a driving motor and a driving lead screw controlled by the driving motor to move. One end of the driving lead screw is connected to the tray of the Tray. The driving motor drives the tray of the Tray to move up and down by controlling the driving lead screw, so as to realize the rising during Tray feeding and the falling during replenishment.

[0006] Inside the glass laminating machine, there are U-axis components, X-axis of the laminating machine, Y-axis of the laminating machine, attaching tooling components, and feeder components. The U-axis components are mounted on the X-axis of the laminating machine to adsorb the materials on the Tray loader. The X-axis of the laminating machine uses a linear motor as the power and a guide rail as the guide to drive the U-axis components to move, providing movement in the X direction for the U-axis components. The Y-axis of the laminating machine provides movement in the Y direction for the U-axis components; on one side of the attaching tooling components is a fixed rodless cylinder, and on the other side above is a material placing platform. Limit adjustment blocks are installed around the material placing platform. The suction cup components grab the Tray, and after moving to the material placing platform of the attaching tooling components through the horizontal X-axis of the Tray loader, the limit adjustment blocks determine the position, and the rodless cylinder expands and contracts to drive the attaching tooling components to send the materials to the feeder components; the feeder components are used for the laminating work of the materials;

[0007] The glass laminating machine is connected to the working position of the plastic part laminating machine through a belt line - motor. After the glass laminating machine places the materials on the feeder components, it sends a movement signal of the feeder components to the belt line - motor, and the motor drives the materials to move to the working position of the plastic part laminating machine and sends a material in - place signal;

[0008] The plastic part loader includes a belt line component and a cooperating mechanism of the belt line component. The cooperating mechanism includes a guide rail, a hand - tightened handle, a clamping seat, and a conveying motor. Among them, the guide rail is used to transport the placed Tray through the belt to a specified position. The hand - tightened handle is used to adjust the distance between the guide rails. The clamping seat is used to support the falling Tray and separate the bottom - most Tray from other Trays. The conveying motor is used to output torque to drive the assembly line to operate and perform the transportation work of the belt line component. The belt line component includes a material incoming blocking piece, a lifting mechanism, and a lead screw. Among them, the material incoming blocking piece is used to separate the distance between two adjacent Trays and stack them one by one. The lifting mechanism is used to lift the stacked Trays and cooperate with the clamping seat to complete the stacking work. The lead screw is used to adjust the distance between the two guide rails through the output of the connected motor;

[0009] The product unloader is used to stack the Trays and trigger an alarm after reaching a corresponding height.

[0010] A further technical solution of the present invention is that the suction cup components grab the Tray by four suction nozzles on the bottom plate.

[0011] A further technical solution of the present invention is that the lifting mechanism uses a cylinder as the power and a slider as the carrier, and moves back and forth through the guide rail to control the tray support bar to catch or release the Tray.

[0012] A further technical solution of the present invention is as follows: An operation panel, an emergency stop switch, and an indicator light are provided outside the Tray loader. Among them, the operation panel is used to control the electrical components of the Tray loader; the emergency stop switch is used to terminate the operation of the machine in case of an emergency; the indicator light is used to emit different light colors according to different conditions of the device.

[0013] A further technical solution of the present invention is as follows: The loading module further includes a loading module bottom plate, a transmission guide rail, a Tray tray support plate, and a sensor. Among them, the loading module bottom plate is used to carry the mechanical structure of the loading module; the transmission guide rail is mounted on the loading module bottom plate and is used to guide the Tray tray support plate; the Tray tray support plate is used to carry the stacked Tray trays; the sensor is used to detect whether there is a material tray above the Tray tray support plate.

[0014] A further technical solution of the present invention is as follows: A control panel, a digital display switch, and a filter regulating valve are provided outside the glass laminating machine. Among them, the control panel is used to control the electrical components of the glass laminating machine; the digital display switch is a high-precision controller integrating pressure measurement, display, and control, and is used to display the pressure value in real time; the filter regulating valve is used to control the air pressure in the air circuit and realizes the functions of pressure reduction and voltage stabilization through the opening and closing of the pilot valve.

[0015] A further technical solution of the present invention is as follows: The feeder assembly includes a feeder roller assembly, a feeder track, a feeder peeling knife, and a feeder non-stick plate. The feeder roller assembly includes a roller and a feeder retaining plate, and is used to carry the material roll loaded with materials. The feeder roller assembly uses an electric motor as the power to provide materials for the operation of the feeder assembly; the feeder track is used to ensure the smoothness and non-deviation of the material strip; the feeder peeling knife is provided with small holes above to separate the material and the material strip; the feeder non-stick plate is used to temporarily place the material peeled from the material tape and provides a working space for the feeder assembly.

[0016] A further technical solution of the present invention is as follows: The U-axis assembly includes a vacuum generator, a U-axis Z-direction adjustment belt, a U-axis motor, a nozzle connecting rod, an upper light source, an upper camera, and a terminal block. Among them, the vacuum generator provides an adsorption effect for the nozzle; the U-axis Z-direction adjustment belt is used to drive the U-axis to move up and down; the U-axis motor is used to drive the nozzle to perform circular motion through a coupling to correct and attach the offset material; the nozzle connecting rod is used to adapt to different types of nozzles and perform attachment work on different types of materials; the upper light source is used to provide light for the upper camera; the upper camera is used to take pictures of the material and compare it with the template pre-saved in the program, and only after passing the inspection can the attachment be carried out; the terminal block is used to transmit electrical signals and conduct electricity.

[0017] An automatic assembly device for a biochip provided by the present invention has the following beneficial effects:

[0018] An automatic assembly device for a biochip includes a Tray loader, a glass laminator, a plastic part loader, a plastic part laminator, and a product unloader. Among them, the laminator adopts a nozzle with a quick-release design, a servo motor, a high-precision motion platform, a motion control card, a precision fixture, a programmable logic controller (PLC), and a vacuum generator. The Tray loader uses a screw-motor combination as a motion module, and the servo motor is paired with a suction cup to form a grasping robotic arm to grasp and move the Tray. The device's laminating lifting Z-axis and laminating rotating U-axis are both driven by servo motors, with fast response and high precision. The upper camera uses a 500M camera, with efficient and clear imaging. The combination of the two can quickly fine-tune the sucked materials. The vacuum generator with high response and high negative pressure can reach a vacuum value of -80Kpa at 0.3Mpa, and the switching time of the suction and break valves is within 12ms. Sensors are used to connect the conveying mechanisms of each device, ensuring the smoothness of production and the unity of the production line. The Y-axis and X-axis both adopt flat linear motors for single-drive, with high motion precision and the ability to provide a huge linear motion energy in a short time. The workbench is fixed, and the laminating head moves in the X, Y, and Z-axis directions to achieve high-precision, high-speed, and multi-angle lamination of the product. The U-axis is quickly and accurately sent to the specified position through the high-precision motion platform. The product is fixed by the high-precision fixture and the limit structure to ensure that the product does not deviate from its position during movement.

[0019] In summary, the device of the present invention has a wider applicability, high production efficiency, convenient use, reliable stability, and can meet the mass production of microfluidic chip products. It is a hard laminating device that controls motion through PLC and takes materials by visual positioning and photographing. It consists of a nozzle with a quick-release design, a feeder with four heads, a servo motor, a high-precision motion platform, a motion control card, a precision fixture, a programmable logic controller (PLC), a vacuum generator, and a feeder material-taking program, achieving the improvement of production efficiency and the reduction of labor costs. It solves the traditional manual feeding method, uses a fast-response module to stabilize production efficiency, and uses the high-precision motion of the module to ensure good product quality. A device that controls motion through PLC and takes materials by visual positioning and photographing has the applicability to a variety of material accessories, high production efficiency, reliable stability, excellent product quality, and can meet the large-scale and stable production of products. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the automatic assembly device for the biochip according to the embodiment of the present invention;

[0021] Figure 2 It is an external view of the Tray loader according to the embodiment of the present invention;

[0022] Figure 3 Internal view of the Tray loader according to an embodiment of the present invention;

[0023] Figure 4 Structural diagram of the Tray loading module according to an embodiment of the present invention;

[0024] Figure 5 External schematic diagram of the glass laminator according to an embodiment of the present invention;

[0025] Figure 6 Structural diagram of the X-Y component of the glass laminator according to an embodiment of the present invention;

[0026] Figure 7 Schematic structural diagram of the U-axis component according to an embodiment of the present invention;

[0027] Figure 8 Schematic structural diagram of the plastic part loader according to an embodiment of the present invention;

[0028] Figure 9 Schematic structural diagram of the belt line component according to an embodiment of the present invention;

[0029] The description of the reference numerals in the drawings: 1, Tray loader; 2, glass laminator; 3, plastic part loader; 4, plastic part laminator; 5, product unloader; 6, upper door combination; 7, fan opening; 8, lower door combination; 9, operation panel; 10, emergency stop switch; 11, display touch screen; 12, indicator light; 13, suction cup assembly; 14, horizontal X-axis; 15, loading module; 16, loading module bottom plate; 17, driving lead screw; 18, driving motor; 19, driving guide rail; 20, Tray tray support plate; 21, sensor; 22, display; 23, control panel; 24, digital display switch; 25, keyboard support; 26, power switch; 27, filter regulating valve; 28, laminator-X axis; 29, U-axis component; 30, attaching tooling component; 31, feeder roller assembly; 32, feeder-rail; 33, feeder-peeling knife; 34, feeder-non-stick plate; 35, laminator-Y axis; 36, vacuum generator; 37, U-axis Z-direction adjustment belt; 38, U-axis motor; 39, nozzle connecting rod; 40, upper light source; 41, upper camera; 42, terminal block; 43, guide rail; 44, hand-tightening handle; 45, clamping seat; 46, conveying motor; 47, incoming material blocking piece; 48, lifting mechanism; 49, lead screw. Detailed implementation manners

[0030] To make the objectives, technical solutions and advantages of the present invention more clear and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. In the present invention, unless otherwise stated, the orientation terms such as "inside, outside" generally refer to the inside and outside of the contour of the corresponding object. The orientation terms such as "up and down, left and right, front and back, top and bottom" generally refer to the up and down, left and right, front and back, top and bottom of the corresponding object.

[0031] See Figure 1 , an automatic assembly device for a biochip, including a Tray loader 1, a glass laminator 2, a plastic part loader 3, a plastic part laminator 4 and a product unloader 5, wherein,

[0032] See Figure 3 , Figure 4 , the inside of the Tray loader 1 includes a suction cup assembly 13, a horizontal X-axis 14 and a loading module 15. The top of the suction cup assembly 13 is connected to the horizontal X-axis 14 and can move on the horizontal X-axis 14. The bottom of the suction cup assembly 13 is used to grab the Tray and drive the Tray to move in the direction of the horizontal X-axis 14. A servo motor is installed on the horizontal X-axis 14 to control the movement of the suction cup assembly 13; the loading module 15 includes a driving motor 18 and a driving lead screw 17 controlled by the driving motor to move. One end of the driving lead screw 17 is connected to the tray 20 of the Tray. The driving motor 18 drives the tray 20 of the Tray to move up and down by controlling the driving lead screw 17, so as to realize the rising during Tray feeding and the falling during replenishment;

[0033] See Figures 1 - 6 , the inside of the glass laminator 2 includes a U-axis assembly 29, a laminator X-axis 28, a laminator Y-axis 35, an attaching tooling assembly 30 and a feeder assembly (not shown in the figure). The U-axis assembly 29 is carried on the laminator X-axis 28 to adsorb the materials of the Tray loader. The laminator X-axis 28 is powered by a linear motor and guided by a guide rail to drive the U-axis assembly 29 to move, providing the U-axis assembly 29 with movement in the X direction. The laminator Y-axis 35 provides the U-axis assembly 29 with movement in the Y direction; one side of the attaching tooling assembly 30 is a fixed rodless cylinder, and a feeding platform is fixed above the other side. Limiting and adjusting blocks are installed around the feeding platform. After the suction cup assembly 13 grabs the Tray and moves to the feeding platform of the attaching tooling assembly 30 through the horizontal X-axis 14 of the Tray loader 1, the limiting and adjusting blocks determine the position, and the rodless cylinder expands and contracts to drive the attaching tooling assembly 30 to send the materials to the feeder assembly; the feeder assembly is used for the laminating work of the materials;

[0034] See Figures 1 - 6, the glass laminating machine 2 is connected to the working position of the plastic part laminating machine 4 through a belt line - motor. After the glass laminating machine 2 places the material on the feeder assembly, it sends a movement signal of the feeder assembly to the belt line - motor, and the motor drives the material to move to the working position of the plastic part laminating machine and sends a material in - place signal;

[0035] See Figure 8 、 Figure 9 , the plastic part loader 3 includes a belt line assembly and a matching mechanism of the belt line assembly. The matching mechanism includes a guide rail 43, a hand - tightened handle 44, a clamping seat 45, and a conveying motor 46. Among them, the guide rail 43 is used to transport the placed Tray tray to a specified position through a belt, the hand - tightened handle 44 is used to adjust the distance between the guide rails, the clamping seat 45 is used to support the falling Tray tray and separate the lowermost Tray tray from other Tray trays, the conveying motor is used to output torque to drive the assembly line to operate and perform the transportation work of the belt line assembly. The belt line assembly includes a material incoming blocking piece 47, a lifting mechanism 48, and a lead screw 49. Among them, the material incoming blocking piece 47 is used to separate the distance between two adjacent Tray trays and stack them one by one, the lifting mechanism 48 is used to lift the stacked Tray trays and cooperate with the clamping seat 45 to complete the stacking work, and the lead screw 49 is used to adjust the distance between the two guide rails through the output of the connected motor;

[0036] The product unloader 5 is used to stack the Tray trays and trigger an alarm after reaching a corresponding height.

[0037] See Figure 3 , the suction cup assembly 13 grabs the Tray tray with four suction nozzles on the bottom plate.

[0038] See Figure 8 、 Figure 9 , the lifting mechanism 48 uses a cylinder as the power and a slider as the carrier, and moves back and forth through the guide rail 43 to control the tray support bar to catch or release the Tray tray.

[0039] See Figure 2 , the outside of the Tray loader 1 is provided with an operation panel 9, an emergency stop switch 10, and an indicator light 12. Among them, the operation panel 9 is used to control each electrical component of the device, the emergency stop switch 10 is used to terminate the operation of the machine in case of an emergency, and the indicator light 12 is used to emit different light colors according to different conditions of the device.

[0040] See Figure 4, the loading module 15 further includes a loading module base plate 16, a transmission guide rail 19, a Tray tray support plate 20, and a sensor 21. Among them, the loading module base plate 16 is used to carry the mechanical structure of the loading module 15; the transmission guide rail 19 is mounted on the loading module base plate 16 and is used to guide the Tray tray 20, and the Tray tray support plate 20 is used to carry the stacked Tray trays; the sensor 21 is used to detect whether there is a material tray above the Tray tray support plate 20.

[0041] See Figure 5 , outside the glass laminating machine 2, there are a control panel 23, a digital display switch 24, and a filter regulating valve 27. Among them, the control panel 23 is used to control the various electrical components of the device; the digital display switch 24 is a high-precision controller integrating pressure measurement, display, and control, and is used to display the pressure value in real time; the filter regulating valve 27 is used to control the air pressure in the air circuit and realizes the functions of pressure reduction and stabilization through the opening and closing of the pilot valve.

[0042] See Figure 6 , the feeder assembly includes a feeder roller assembly 31, a feeder track 32, a feeder stripping knife 33, and a feeder non-stick plate 34. The feeder roller assembly 31 includes a roller and a feeder retaining plate, and is used to carry the material roll loaded with materials. The feeder roller assembly 31 uses a motor as the power to provide materials for the operation of the feeder assembly; the feeder track 32 is used to ensure the smoothness and non-deviation of the material strip; the feeder stripping knife 33 has small holes above it for separating the material and the material strip; the feeder non-stick plate 34 is used to temporarily place the material peeled off from the material tape and provides a working space for the feeder assembly.

[0043] See Figure 7 , the U-axis assembly includes a vacuum generator 36, a U-axis Z-direction adjustment belt 37, a U-axis motor 38, a nozzle connecting rod 39, an upper light source 40, an upper camera 41, and a terminal block 42. Among them, the vacuum generator 36 provides an adsorption effect for the nozzle; the U-axis Z-direction adjustment belt 37 is used to drive the U-axis to move up and down; the U-axis motor 38 is used to drive the nozzle to perform a circular motion through a coupling to correct and attach the offset material; the nozzle connecting rod 39 is used to adapt to different types of nozzles and perform the attachment work on different types of materials; the upper light source 40 is used to provide light for the upper camera; the upper camera 41 is used to take pictures of the material and compare it with the template pre-saved in the program, and only after passing the comparison can the attachment be carried out; the terminal block 42 is used to transmit electrical signals and conduct electricity.

[0044] In some specific embodiments, such as Figure 2As shown, when the upper-opening combination 6 closes this door, the machine operates normally and can be observed through the acrylic door panel; opening this door allows for internal maintenance; the fan opening 7 is used to install a fan for cooling the lower electrical control panel; the lower-opening combination 8 is used to add Tray trays to the feeding mechanism from here; the operation panel 9 controls the various electrical components of the device. There are 4 buttons, namely "Start", "Stop", "Pause", and "Reset", which control the start, stop, pause of the industrial computer and the device program, and the power-on of the device main body; the emergency stop switch 10 is used to terminate the operation of the machine in case of an emergency. The display touch screen 11 and the indicator light 12 emit different light colors according to the different conditions of the device to indicate the working condition of the device at this time.

[0045] In some specific embodiments, such as Figure 3 As shown, the Tary tray loader - suction cup assembly 13 is a component used to grasp the Tray tray and move the Tray tray. Four suction nozzles on the bottom plate grasp the Tray tray, and it moves through the X-axis connection at the back; the Tary tray loader - X-axis 14 has a servo motor as the main body and realizes the auxiliary movement function for the suction cup assembly; the Tary tray - feeding module 15 is mainly composed of a stepping motor and a lead screw. The other end of the lead screw is connected to the tray of the Tray tray. The up and down movement of the Tray tray is controlled by the motor to realize the upward movement of the tray during feeding and the downward movement during replenishment.

[0046] In some specific embodiments, such as Figure 4 As shown, the bottom plate 16 of the feeding module is the base of the feeding module and is used to carry the mechanical structure of the module; the transmission lead screw 17 cooperates with the transmission motor to carry the tray and the stacked Tray trays for up and down operation; the transmission motor 18 is used for the power output of the feeding mechanism; the transmission guide rail 19 is used to be mounted on the bottom plate and plays a guiding role for carrying the tray, etc.; the Tray tray 20 is used to carry the stacked Tray trays; the sensor 21 is used to detect whether there is still a material tray above the tray.

[0047] In some specific embodiments, such as Figure 5 As shown, the display 22 is the display of the industrial computer and can be used to operate the device in cooperation with the keyboard and mouse; the control panel 23 controls the various electrical components of the device. There are six buttons, namely "Start", "Stop", "Pause", "Power", "Lighting", and "Computer", which control the start, stop, pause of the lights, computer, and the device program, and the power-on of the device main body; the digital display switch 24 is a high-precision controller integrating pressure measurement, display, and control, which can display the pressure value in real time and has an overpressure alarm function to ensure the device pressure; the keyboard bracket 25 is used to place the keyboard and mouse and cooperate with the display to debug the device; the power switch 26 is the power-on switch of the main circuit of the device; the filter regulating valve 27 controls the air pressure in the air circuit and realizes the function of pressure reduction and stabilization through the opening and closing of the pilot valve.

[0048] In some specific embodiments, such as Figure 6 shown, the laminator - X axis 28 is powered by a linear motor and guided by a guide rail to drive the U - axis assembly to move, providing the U - axis assembly with movement in the X direction; the laminator - U axis assembly 29 is mounted on the X axis and can adsorb materials, and the equipped camera can achieve the function of visual positioning and taking pictures, ensuring the accuracy and repeatability of the attachment; on one side of the attachment tooling assembly 30 is a fixed rodless cylinder, and on the other side above is a feeding platform, and limit adjustment blocks are installed around the feeding platform. After the material is placed on the platform, the limit blocks determine the position, and the rodless cylinder expands and contracts to drive the assembly to send the material to the working position; the feeder roller assembly 31 is mainly composed of a roller and a feeder retaining plate, used to carry the material roll containing the material, and powered by a motor to provide materials for the feeder to work; the feeder - track 32 can ensure the stability of the material strip, without deviation, reducing the wrong material throwing caused by the material reason, and improving the quality and accuracy of the attachment; the feeder - stripping knife 33 is a tool for separating the material from the material strip, and the small holes on it can tightly attach the material strip to the surface under vacuum, facilitating the separation of the material and the material strip; the feeder - non - sticking plate 34 is used to temporarily place the material peeled off from the material tape, ensuring its cleanliness and providing a working space for the feeder; the laminator - Y axis 35 is powered by a linear motor and guided by a guide rail to drive the Y - axis to move, providing the U - axis assembly with movement in the Y direction.

[0049] In some specific embodiments, such as Figure 7 shown, the vacuum generator 36 generates a vacuum environment to provide an adsorption effect for the suction nozzle; the U - axis Z - direction adjustment belt 37 rotates by the torque output of the motor on the back of the bottom plate, driving the U - axis to move up and down to achieve the adsorption effect; the U - axis motor 38 drives the suction nozzle to perform a circular motion through a coupling, used to correct and attach the offset material; the suction nozzle connecting rod 39 adapts to different types of suction nozzles to perform the attachment work on different types of materials; the upper light source 40 provides light for the upper camera, making the captured image on the display clear and helping with the contrast of the image; the upper camera 41 takes pictures of the material and compares it with the template pre - saved in the program, and can only perform the attachment after passing the inspection; the terminal block 42 plays a connecting role in transmitting electrical signals and conducting electricity, incorporating the electricity in the upper part of the machine into the main circuit to complete the transfer of the air circuit and the circuit.

[0050] In some specific embodiments, such as Figure 8As shown in the figure, the belt line - guide rail 43 is mainly made of profiles and is equipped with a motor, synchronous pulley, idler pulley, belt line, etc. It can transport the lowered Tray trays to the designated position through the belt; the belt line - hand - tightened handle 44 adjusts the distance between the guide rails. By turning the handle, the lead screw nut moves back and forth on the lead screw for width adjustment; the belt line - clamping seat 45 is used to support the falling Tray trays, separating the bottom - most Tray tray from the other Tray trays. Powered by a cylinder and with a slider as the carrier, it moves back and forth through the guide rail to control the tray support bar to catch or release the Tray tray; the belt line - conveyor motor 46 outputs torque to drive the assembly line to operate for belt transportation work.

[0051] In some specific embodiments, as Figure 9 shown, the belt line - incoming material blocking piece 47 separates adjacent two Tray trays by a certain distance for stacking one by one; the lifting mechanism 48 lifts the stacked Tray trays and cooperates with the clamping seat to complete the stacking work; the belt line - lead screw 49 adjusts the distance between the two guide rails through the output of the connected motor.

[0052] The following gives a specific operation example for the entire device:

[0053] Step 1: Perform "equipment reset" on each device of the production line and adjust the device to the standby state;

[0054] Step 2: Load the tape onto the roller assembly of the feeder and start the motor to rotate the roller, sending the material to the non - stick plate for work waiting.

[0055] Step 3: After the equipment reset, after the loading module of the Tray tray loader receives the loading signal from the glass laminating machine, it lifts the Tray tray to the top, and the suction cup module grabs the Tray tray and moves it to the loading platform of the laminating tool assembly of the laminating machine through the X - axis of the loader.

[0056] Step 4: After the Tray tray reaches the loading platform, it is laterally pushed and locked. Driven by the rodless cylinder, it is transported to the working position and then sends out the laminating signal for work waiting.

[0057] Step 5: When the glass laminating machine receives the laminating signal, the equipment retrieves the pre - set adsorption coordinates in the program, and the suction nozzle on the U - axis sucks up the glass material on the Tray tray.

[0058] Step 6: The upper camera moves through the X - axis and Y - axis to obtain the value of the material placement position, and calculates the laminating coordinates through the program.

[0059] Step 7: After determining the laminating coordinates, the suction nozzle goes to the designated position for laminating work.

[0060] Step 8. After the attachment work is completed, the empty tray return signal is issued, the material discharge platform returns to the material waiting position, the side push is released, and the suction cup assembly sucks it back to the empty tray recovery position.

[0061] Step 9: Performed simultaneously with step 8, after the glass laminating machine places the material on the feeder, it sends a feeder movement signal to the belt line-motor, and the motor drives the material to the working position of the plastic parts laminating machine and sends a material arrival signal.

[0062] Step 10: Performed simultaneously with Step 1 to Step 8, after the plastic parts laminating machine sends out a plate request signal, the lifting mechanism of the plastic parts loader rises, drags the tray plate and then descends a certain distance. The tray support bars on the clamping seats on both sides of the track are driven by the cylinder to hold the remaining tray plates that are not in contact with the lifting mechanism, so that they do not descend. Then the bottom tray plate descends to the track of the belt line together with the descent of the lifting cylinder.

[0063] Step 11: Performed simultaneously with step 1 to step 9, the lifting mechanism of the plastic parts loader descends, and the sensor sheet on the side descends to the sensor position. After being triggered, the motor starts, and the fixture plate on the track is transported by the belt line to the belt line of the plastic parts laminating machine.

[0064] Step 12 is carried out simultaneously with step 1 to step 9. After the jig plate enters the plastic parts bonding machine, it flows through the sensor, the blocking cylinder rises, and the jig plate is blocked in the working position. The lifting cylinder lifts and fixes the jig plate, sends out an attachment signal, and waits for work.

[0065] Step 13: After the plastic parts laminating machine receives the waiting work signal and the material arrival signal from the jig plate, the upper camera first takes a picture of the Mark point on the jig plate, compares it with the template set in the program, and determines the approximate direction of the jig plate.

[0066] Step 14. Determine the position of the jig plate. The nozzle of the plastic parts laminating machine sucks up the material on the feeder and moves it to the lower camera for taking pictures. The program compares it with the template. If the calculation is qualified, proceed to the next step. Otherwise, it is discarded in the waste box, and the material of the next coordinate is sucked again, and the comparison calculation is repeated.

[0067] Step 15: When the sucked material is qualified, it is compared with the template set in the program, and a comparative calculation is performed to obtain the attached compensation.

[0068] Step 16: After compensation, the attachment work is completed, and the suction nozzle returns to the feeder to pick up the material and wait for the next work signal.

[0069] Step 17, the lifting mechanism and the blocking mechanism are reset at the same time, the fixture plate returns to the belt line, and driven by the motor, flows into the assembly line of the finished product receiving machine, triggering the sensor and sending a plate entry signal.

[0070] Step 18: After the finished product receiving machine receives the board feeding signal, the motor runs to drive the fixture board to the position of the lifting mechanism.

[0071] Step 19: The cylinder of the blanking machine rises to stack the Tray trays. When the corresponding height is reached, an alarm is triggered, and the operator empties and stores them.

[0072] In summary, an automated assembly device for a biochip provided by the present invention includes a Tray loader, a glass laminator, a plastic part loader, a plastic part laminator, and a product unloader. Among them, the laminator uses a nozzle with a quick-release design, a servo motor, a high-precision motion platform, a motion control card, a precision fixture, a programmable logic controller (PLC), and a vacuum generator. The Tray loader uses a screw-motor combination as a motion module, and the servo motor is paired with a suction cup to form a grasping robotic arm to grasp and move the Tray trays. The device's laminating lifting Z-axis and laminating rotating U-axis are both driven by servo motors, with fast response and high precision. The upper camera uses a 500M camera, with efficient and clear imaging. The combination of the two can quickly fine-tune the sucked materials; a vacuum generator with high response and high negative pressure can reach a vacuum value of -80Kpa at 0.3Mpa, and the switching time of the suction and breaking valves is within 12ms; sensors are used to connect the conveying mechanisms of each device to ensure the smoothness of production and the unity of the production line. The Y-axis and X-axis both use a flat linear motor for single drive, with high motion precision and the ability to provide a large linear motion energy in a short time. The workbench is fixed, and the laminating head moves in the X, Y, and Z-axis directions to achieve high-precision, high-speed, and multi-angle lamination of the product; the U-axis is quickly and accurately sent to the specified position through the high-precision motion platform. The product is fixed by the high-precision fixture and the limiting structure to ensure that the product does not deviate from its position during movement.

[0073] The device of the present invention has a wider applicability, high production efficiency, convenient use, reliable stability, and can meet the mass production of microfluidic chip products. It is a hard laminating device that controls motion through PLC and performs vision positioning, photographing, and material picking. It consists of a nozzle with a quick-release design, a feeder with four heads, a servo motor, a high-precision motion platform, a motion control card, a precision fixture, a programmable logic controller (PLC), a vacuum generator, and a feeder material picking program, achieving improved production efficiency and reduced labor costs. It solves the traditional method of manual feeding, uses a fast-response module to stabilize production efficiency, and uses the high-precision motion of the module to ensure good product quality. A device that controls motion through PLC, performs vision positioning, photographing, and material picking has the applicability to a variety of material accessories, high production efficiency, reliable stability, excellent product quality, and can meet the large-scale and stable production of products.

[0074] In this article, the terms "including", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, such that a step or method including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such step or method.

[0075] The above content is a further detailed description of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific implementation of the present invention is only limited to these descriptions. For those of ordinary skill in the technical field to which the present invention pertains, without departing from the concept of the present invention, several simple deductions or substitutions can still be made, which should all be regarded as falling within the protection scope of the present invention.

Claims

1. An automated assembly device for a biochip, characterized in that, The device includes a Tray loader, a glass laminator, a plastic part loader, a plastic part laminator, and a product unloader. Among them, The Tray loader internally includes a suction cup assembly, a horizontal X-axis, and a loading module. The top of the suction cup assembly is connected to the horizontal X-axis and can move on the horizontal X-axis. The bottom of the suction cup assembly is used to grasp the Tray and drive the Tray to move in the direction of the horizontal X-axis. A servo motor is installed on the horizontal X-axis to control the movement of the suction cup assembly; the loading module includes a driving motor and a driving lead screw controlled by the driving motor to move. One end of the driving lead screw is connected to the tray of the Tray. The driving motor drives the tray of the Tray to move up and down by controlling the driving lead screw, so as to realize the rising during Tray feeding and the falling during replenishment; The glass laminator internally includes a U-axis assembly, a laminator X-axis, a laminator Y-axis, an attaching tooling assembly, and a feeder assembly. The U-axis assembly is mounted on the laminator X-axis to adsorb the materials of the Tray loader. The laminator X-axis uses a linear motor as the power and a guide rail as the guide to drive the U-axis assembly to move, providing the U-axis assembly with movement in the X direction. The laminator Y-axis provides the U-axis assembly with movement in the Y direction; on one side of the attaching tooling assembly is a fixed rodless cylinder, and a material placing platform is fixed above the other side. Limit adjustment blocks are installed around the material placing platform. After the suction cup assembly grasps the Tray and moves to the material placing platform of the attaching tooling assembly through the horizontal X-axis of the Tray loader, the limit adjustment blocks determine the position, and the rodless cylinder expands and contracts to drive the attaching tooling assembly to send the materials to the feeder assembly; the feeder assembly is used for the laminating work of the materials; The glass laminator is connected to the working position of the plastic part laminator through a belt line - motor. After the glass laminator places the materials on the feeder assembly, it sends a movement signal of the feeder assembly to the belt line - motor, and the motor drives the materials to move to the working position of the plastic part laminator and sends a material in place signal; The plastic part loader includes a belt line assembly and a matching mechanism of the belt line assembly. The matching mechanism includes a guide rail, a hand-tightening handle, a clamping seat, and a conveying motor. Among them, the guide rail is used to transport the placed Tray to a specified position through a belt. The hand-tightening handle is used to adjust the distance between the guide rails. The clamping seat is used to support the falling Tray and separate the bottommost Tray from other Trays. The conveying motor is used to output torque to drive the assembly line to operate and perform the transportation work of the belt line assembly. The belt line assembly includes a material incoming blocking piece, a lifting mechanism, and a lead screw. Among them, the material incoming blocking piece is used to separate the distance between two adjacent Trays and stack them one by one. The lifting mechanism is used to lift the stacked Trays and cooperate with the clamping seat to complete the stacking work. The lead screw is used to adjust the distance between the two guide rails through the output of the connected motor; The product blanking machine is used to stack Tray trays and trigger an alarm when a corresponding height is reached; The feeder assembly includes a feeder roller assembly, a feeder track, a feeder stripping knife, and a feeder non-stick plate. The feeder roller assembly includes a roller and a feeder retaining plate, and is used to carry a coil loaded with materials. The feeder roller assembly uses a motor as power to provide materials for the operation of the feeder assembly. The feeder track is used to ensure the smooth and non-displaced movement of the strip. The feeder stripping knife has small holes on it to separate the materials from the strip. The feeder non-stick plate is used to temporarily place the materials peeled off from the strip and provide a working space for the feeder assembly; The U-axis assembly includes a vacuum generator, a U-axis Z-direction adjustment belt, a U-axis motor, a nozzle connecting rod, an upper light source, an upper camera, and a terminal block. Among them, the vacuum generator provides an adsorption effect for the nozzle. The U-axis Z-direction adjustment belt is used to drive the U-axis to move up and down. The U-axis motor is used to drive the nozzle to perform a circular motion through a coupling to correct and attach offset materials. The nozzle connecting rod is used to adapt to different types of nozzles to perform attachment work on different types of materials. The upper light source is used to provide illumination for the upper camera. The upper camera is used to take pictures of the materials and compare them with the templates pre-saved in the program, and perform attachment after passing the inspection. The terminal block is used to transmit electrical signals and conduct electricity.

2. The automated assembly device for a biochip according to claim 1, characterized in that The suction cup assembly grabs the Tray tray with four suction cups on the bottom plate.

3. The automated assembly device for a biochip according to claim 1, wherein, The lifting mechanism uses a cylinder as power and a slider as a carrier, and moves back and forth through the guide rail to control the tray support bar to catch or release the Tray tray.

4. An automated assembly device for a biochip according to claim 1, characterized in that, The outside of the Tray loader is provided with an operation panel, an emergency stop switch, and an indicator light. Among them, the operation panel is used to control the electrical components of each part of the Tray loader. The emergency stop switch is used to terminate the operation of the machine in case of an emergency. The indicator light is used to emit different light colors according to different conditions of the device.

5. An automated assembly device for a biochip according to claim 1, characterized in that, The loading module further includes a loading module bottom plate, a transmission guide rail, a Tray tray support plate, and a sensor. Among them, the loading module bottom plate is used to carry the mechanical structure of the loading module. The transmission guide rail is mounted on the loading module bottom plate and is used to guide the Tray tray support plate. The Tray tray support plate is used to carry the stacked Tray trays. The sensor is used to detect whether there is a material tray above the Tray tray support plate.

6. An automated assembly device for a biochip according to claim 1, wherein, The outside of the glass laminator is provided with a control panel, a digital display switch, and a filter regulating valve. Among them, the control panel is used to control the electrical components of each part of the glass laminator. The digital display switch is a controller that integrates pressure measurement, display, and control, and is used to display the pressure value in real time. The filter regulating valve is used to control the air pressure in the air circuit and achieve the functions of pressure reduction and stabilization through the opening and closing of the pilot valve.

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