Flexible automatic assembling equipment and assembling method for micro components

Abstract

The invention discloses flexible automatic assembling equipment for a micro assembly and an assembling method of the flexible automatic assembling equipment. Comprising a feeding unit for providing components assembled by components in a classified manner, a cooperative mechanical arm unit for moving the components provided by the feeding unit to an AOI detection unit, the AOI detection unit for automatically shooting and detecting different side surfaces of the components, and a conveying unit for receiving the components subjected to AOI detection in a classified manner, and the assembling unit is used for moving the components of the conveying unit to the jig feeding and discharging unit. The invention provides a flexible automatic assembly scheme for components of micro components, which integrates feeding, precise detection, intelligent transfer and efficient assembly, can adapt to diversified production requirements, improves the production efficiency of automatic assembly of the micro components, improves the production precision and efficiency, and reduces the production cost. And the method has a wide application prospect in the production field of micro component assembly such as chip assembly and the like.

Description

Technical Field

[0001] The invention relates to a flexible automatic assembly device for micro-components and an assembly method thereof, belonging to an automated assembly line production technology for detecting and assembling micro-components. Background Art

[0002] Microchips are being used more and more widely in various fields, and the demand is increasing rapidly. Since microchip assembly involves multiple micro components, each component needs to be installed into an assembly according to the designed distribution position and then sent into a melting furnace for welding to ensure a firm combination of the various components of the chip.

[0003] Before assembling components, each component needs to be inspected for appearance. The initial means of component appearance inspection is done manually, and the appearance quality of the components is judged by manual visual inspection. The appearance inspection of micro components requires not only accurate identification of the model and specifications of the components, but also careful inspection of whether the coating is uniform and complete, and whether there are any minor defects such as scratches, cracks, stains, etc. on the surface. Due to the small size and complex structure of microchip components, manual inspection has the following problems:

[0004] 1. It is difficult for the human eye to accurately identify micron-level defects, which can easily lead to missed detection or misjudgment;

[0005] 2. Faced with large-scale production, the speed of manual inspection cannot meet the demand;

[0006] 3. The test results may be affected by factors such as the tester’s experience and status, and lack consistency

[0007] 4. Concentrating on fine work for a long time can easily lead to fatigue and affect the quality of inspection.

[0008] In addition, the subsequent manual assembly of multiple components of microchips requires the assistance of high-power microscopes, and the use of a variety of manual fixtures for fine operations and precise positioning and placement to ensure stable assembly. Since the dimensions of the components of microchips are mostly in the centimeter or even millimeter level, the entire process is complicated. This manual assembly also has the following problems:

[0009] 1. The extremely small size of micro components requires extremely high assembly precision, and the assembly process is complicated, involving the sequence and delicate operation of multiple components, which increases the difficulty of operation and the error rate;

[0010] 2. The speed of manual assembly is limited, which makes it difficult to meet the demand for efficient production in modern manufacturing. Especially in large-scale production environments, the efficiency of manual assembly is particularly prominent;

[0011] 3. Although operators need to have highly professional skills and rich experience, in actual operation, the control of clamping force is very likely to cause damage to fragile micro components. Summary of the invention

[0012] The technical problem solved by the present invention is: to provide a flexible automatic assembly device for micro-components and an assembly method thereof in view of the problem of low production efficiency in the existing manual assembly of small-sized components.

[0013] The present invention is implemented by the following technical solutions:

[0014] The present invention first discloses a flexible automatic assembly device for micro-components, comprising:

[0015] A feeding unit, which provides components for assembly by classification, including a plurality of flexible vibration plates arranged side by side, each of which provides components of the same type and separates and lays all components flat by vibration;

[0016] A collaborative robot arm unit, including a collaborative robot arm that moves components provided by the feeding unit to the AOI inspection unit;

[0017] The AOI inspection unit includes multiple groups of inspection cameras that shoot different sides of components. The common shooting area of ​​all inspection cameras is the target position where the collaborative robot arm moves the components for AOI inspection.

[0018] The conveying unit is used to receive the components that have passed the AOI inspection by classification, including a conveyor belt for conveying components that have passed the AOI inspection and a discarding box for collecting components that have failed the AOI inspection;

[0019] The assembly unit includes a three-dimensional coordinate moving system that moves components on the conveyor belt to the fixture loading and unloading unit;

[0020] The jig loading and unloading unit includes a jig belt for loading and unloading components from a jig for assembling and positioning components, a jig lifting mechanism for lifting and separating the jig from the jig belt, and a jig clamping mechanism for clamping and positioning the jig. The spatial three-coordinate moving system of the assembly unit moves the components on the conveyor belt to the clamped and positioned jig for assembly.

[0021] In the flexible automatic assembly equipment for micro-components of the present invention, further, the flexible vibration disk is provided with a feeding positioning camera for photographing the components in the disk, and the collaborative robot arm locates and grasps the components according to the model, posture and position information of the components after separation and flattening obtained by the feeding positioning camera.

[0022] In the flexible automatic assembly equipment of micro-components of the present invention, further, the AOI inspection unit includes five groups of fixed inspection cameras, and the five groups of inspection cameras respectively photograph and inspect the components from five viewing directions of the six viewing directions of the components, and the collaborative robot arm moves the components to the target position of AOI inspection from the sixth viewing direction.

[0023] In the flexible automatic assembly equipment for micro-components of the present invention, further, the collaborative robot arm unit includes two groups of collaborative robot arms, and the two groups of collaborative robot arms perform photography and detection of the components in the sixth viewing direction by flipping and grabbing the components.

[0024] In the flexible automatic assembly equipment for micro-components of the present invention, further, the assembly unit also includes an assembly positioning camera for photographing components on the conveyor belt, and the spatial three-coordinate moving system locates and grasps components based on the model, posture and position information of the components on the conveyor belt obtained by the assembly positioning camera.

[0025] In the flexible automatic assembly equipment for micro-components of the present invention, further, the conveying unit includes at least two parallel conveying belts, the conveying belts are transparent belts, and a backlight source is provided below the upper belt where the components are placed.

[0026] In the flexible automatic assembly equipment of micro-components of the present invention, further, the conveying unit also includes an assembly camera fixed upward to shoot the posture of the grasped components, and the grasping moving end of the spatial three-coordinate moving system is configured as a rotating head, and the rotating head rotates and adjusts the installation posture of the corresponding components assembled on the jig according to the real-time posture of the grasped components photographed by the assembly camera.

[0027] In the flexible automatic assembly equipment for micro-components of the present invention, further, the grabbing moving ends of the collaborative robot arm and the spatial three-coordinate moving system both use quick-change fixture heads, and the equipment also includes a fixture library unit for replacing different fixture heads for the collaborative robot arm and the spatial three-coordinate moving system respectively.

[0028] In the flexible automatic assembly equipment of micro-components of the present invention, further, the jig belts of the jig loading and unloading unit are two groups of parallelly arranged transmission belts, the two ends of the jig are placed on the two groups of transmission belts for transportation, the jig lifting mechanism adopts a linear lifting drive arranged between the two groups of transmission belts, the jig clamping mechanism includes a clamping block that clamps the jig, the clamping space of the clamping block is located above the linear lifting drive, and the clamping block is arranged on a plane moving alignment plate, and a jig positioning camera for positioning and photographing the clamped jig is provided above the jig clamping mechanism, and the plane moving alignment plate corrects the assembly position of the jig relative to the components according to the real-time position of the jig obtained by the jig positioning camera.

[0029] The present invention also discloses a flexible automatic assembly method for micro-components using the above-mentioned device, which specifically comprises the following steps:

[0030] Step 1: Components are fed and the components required for assembly are placed in a flexible vibration plate of a feeding unit. The flexible vibration plate separates and lays components of the same type in the plate flat by vibration.

[0031] Step 2: jig loading: placing the jig used for component assembly positioning on the jig belt of the jig loading and unloading unit, lifting the jig on the jig belt to the jig clamping mechanism through the jig lifting mechanism, and correcting the assembly position of the jig relative to the components;

[0032] Step 3: AOI inspection of components. The collaborative robot arm of the collaborative robot arm unit selects the corresponding fixture head from the fixture library unit according to the model of the component to be grasped in the flexible vibration plate, and then grasps the component from the flexible vibration plate according to the model, posture and position information of the component and moves it to the AOI inspection target position of the AOI inspection unit. Through the flip grasping between the collaborative robot arms, all sides of the component are photographed and inspected. The collaborative robot arm unit moves the components that pass the AOI inspection to the conveyor belt of the conveyor unit, and moves the components that fail the AOI inspection to the throwing box of the conveyor unit for classification and placement.

[0033] Step 4: Component alignment and assembly: the spatial three-coordinate mobile system of the assembly unit selects the corresponding fixture head from the fixture library unit according to the model of the component to be assembled on the conveyor belt, and then grabs the component from the conveyor belt according to the component model, posture and position information, corrects the installation posture of the component on the fixture, and then moves it to the fixture at the assembly position;

[0034] Step 5: Unloading and outputting the jig. After repeating step 4 to complete the assembly of all components on the jig, the jig clamping mechanism releases the jig at the assembly position, and the jig with all components assembled is lowered to the jig belt through the jig lifting mechanism. The jig with all components assembled is output through the jig belt for subsequent processing.

[0035] The present invention adopts the above technical solution to achieve the following beneficial effects:

[0036] (1) The flexible automatic assembly equipment of the present invention is used for classifying and loading tiny components for assembly of components through a feeding unit, thereby realizing subsequent AOI inspection and precise distribution of components by a conveying unit and an assembly unit. A jig loading and unloading unit is used to automatically position and match jigs for component assembly and positioning. Whether it is the grasping inspection and installation of components or the positioning of jigs, they can all be automatically realized, thereby improving the automated assembly efficiency of component assembly.

[0037] (2) The flexible automatic assembly equipment of the present invention adopts an advanced collaborative robot arm unit to assist the AOI inspection unit, integrating two sets of collaborative robots and five high-precision inspection cameras to achieve all-round visual inspection of components. Through the precise flipping and grasping of the two sets of collaborative robots, combined with the flexible operation of the collaborative robots, it can cover the appearance inspection of all six sides of the components. During the inspection process, the collaborative robot arm can dynamically adjust the inspection posture to achieve 360-degree comprehensive inspection of components, significantly improving the efficiency and accuracy of component quality inspection of assembly.

[0038] (3) In the flexible automated assembly process of micro-components, the present invention uses image acquisition technology to collect data on components and fixtures, whether it is loading and unloading of fixtures or automatic matching of components. Image processing technology is used to detect the surface quality of components, and adjust the position and posture of components and fixtures, thereby reducing the visual errors of manual detection and positioning.

[0039] (4) All the actuators for grasping components of the present invention adopt a quick-change head mechanism, which supports the rapid replacement of various fixture heads, and is equipped with a fixture library unit to store various types of fixtures, including but not limited to pneumatic fixture heads, mechanical fixture heads, contoured fixture heads, etc., combined with flexible vibration plate feeding and high-precision visual positioning technology, dual optimization of feeding and clamping mechanism, for various types of components with various shapes and small sizes, accurate and non-destructive grasping is achieved, which significantly improves the compatibility and operating efficiency of the equipment for complex components, and overall enhances the flexibility and applicability of the equipment.

[0040] In summary, the flexible automatic assembly equipment and assembly method of micro-components of the present invention provide a flexible automatic assembly solution for micro-components, integrating feeding, precision detection, intelligent transportation and efficient assembly, and can adapt to diversified production needs. There is no human intervention in the entire component assembly process, relying on high-precision robotic arms and automatic optical inspection (AOI) to ensure excellent assembly quality, improve the production efficiency of the automatic assembly of micro-components, and improve production accuracy and efficiency. It has broad application prospects in the field of micro-component assembly production such as chip assembly.

[0041] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is an external stereoscopic schematic diagram of the flexible automatic assembly equipment for tiny components of the first embodiment.

[0043] Figure 2 This is a schematic internal stereoscopic diagram of the flexible automatic assembly equipment for tiny components of the first embodiment.

[0044] Figure 3This is a top view of the flexible automatic assembly equipment for micro-components of Example 1.

[0045] Figure 4 This is a schematic diagram of the structure of the feeding unit in Example 1.

[0046] Figure 5 This is a schematic diagram of the structure of the AOI inspection unit and the collaborative robot arm unit in Example 1.

[0047] Figure 6 It is a schematic diagram of the structure of the transmission unit in the first embodiment.

[0048] Figure 7 Schematic diagram of the fixture library unit structure in Example 1.

[0049] Figure 8 Schematic diagram of the quick-change fixture head in Example 1.

[0050] Fig. 9 This is a schematic diagram of the assembly unit structure in Example 1.

[0051] Fig.10 It is a three-dimensional schematic diagram of the jig loading and unloading unit in the first embodiment.

[0052] Fig.11 This is the front view of the fixture loading and unloading unit in Example 1.

[0053] Fig.12 This is a schematic diagram of the components used for assembly in Example 2.

[0054] Fig.13 This is a schematic diagram of the process of flexible automatic assembly of a single component in Example 2.

[0055] Numbers in the figure:

[0056] 1-feeding unit, 101-frame, 102-feeding camera fixing plate, 103-feeding positioning camera, 104-square light source, 105-flexible vibration plate, 106-shock-absorbing bottom plate, 107-shock-absorbing base;

[0057] 2-AOI inspection unit, 201-inspection camera fixing plate, 202-inspection camera, 203-inspection light source;

[0058] 3-cooperative robot arm unit, 301-first cooperative robot arm, 302-quick change mechanism main plate, 303-second cooperative robot arm;

[0059] 4-transmission unit, 401-belt stand, 402-transmission belt, 403-throwing box, 404-driving motor, 405-driving wheel, 406-driven wheel, 407-backlight source, 408-assembly lower camera, 409-assembly lower light source;

[0060] 5-fixture library unit, 501-fixture fixing plate, 502-lifting bolt, 503-fixture head, 5031-tool tray, 5032-end fixture;

[0061] 6-assembly unit, 601-assembly bracket, 602-Y axis module, 603-Y axis rail, 604-X axis support plate, 605-X axis module, 606-Z axis vertical plate, 607-Z axis module, 608-rotating bracket, 609-assembly positioning camera, 6010-rotating motor, 6011-reducer, 6012-assembly chuck;

[0062] 7- jig loading and unloading unit, 701- jig belt vertical plate, 702- jig belt driven pulley, 703- jig belt, 704- alignment plate support, 705- first alignment plate, 706- Y-axis screw rod, 707- Y-axis guide rail, 708- second alignment plate, 709- X-axis screw rod, 7010- X-axis guide rail, 7011- third alignment plate, 7012- clamping cylinder assembly, 7013- clamping block, 7014- jig camera support, 7015- jig camera bracket, 7016- jig positioning camera, 7017- jig light source, 7018- loading and unloading motor, 7019- transmission belt, 7020- driving wheel group, 7021- lifting electric cylinder, 7022- electric cylinder support;

[0063] 8-equipment base plate; 9-machine base; 10-machine housing; 11-jig, 12-component assembly, 1201-first component, 1202-second component, 1203-third component, 1204-fourth component, 1205-fifth component, 1206-sixth component. DETAILED DESCRIPTION

[0064] Embodiment 1

[0065] See also Figure 1-3, the figure shows a specific implementation scheme of the flexible automatic assembly equipment of small components of the present invention, including a feeding unit 1, an AOI detection unit 2, a collaborative robot arm unit 3, a conveying unit 4, a fixture library unit 5, an assembly unit 6, a fixture loading and unloading unit 7, an equipment base 8, a machine base 9, and a machine casing 10, wherein the feeding unit 1, the AOI detection unit 2, the collaborative robot arm unit 3, the conveying unit 4, the fixture library unit 5, the assembly unit 6, and the fixture loading and unloading unit 7 are execution units for realizing automatic assembly of components, and the above units are all installed on the equipment base 8. The overall appearance of the equipment is a box-type structure, which is divided into two parts, a machine base 9 and a machine casing 10. The lower end surface of the equipment base 8 for installing the execution unit is directly fixedly connected to the frame 9, and the upper end surface is connected to the machine casing 10. The machine casing 10 is covered on the equipment base 8, and the various actuators arranged thereon are enclosed for automatic assembly and production of components to avoid interference with the assembly production process by the external environment.

[0066] The following is a detailed description of each execution unit in the micro-component flexible automatic assembly equipment of this embodiment.

[0067] On the equipment base plate 8 of the equipment, the feeding unit 1 is located on the left side of the equipment base plate, and is fixedly connected to the equipment base plate 8 through the frame 101. The shock-absorbing base 107 of the flexible vibration disk 105 is placed on the equipment base plate 8 and has no direct connection with the equipment base plate 8. The inspection cameras 202 of the AOI inspection unit 2 are all set on the equipment base plate 8 on the right side of the feeding unit 1 through the inspection camera fixing plate 201, of which four inspection camera mounting plates are installed on the upper end surface of the equipment base plate 8, and one inspection camera mounting plate 201 is vertically installed on the lower end surface of the equipment base plate 8; the two robotic arms of the collaborative robotic arm unit 3 are directly fixed to the equipment base plate 8 on both sides of the AOI inspection unit with bolts, and the conveying unit 4, assembly unit 6, and fixture loading and unloading unit 7 are all installed and fixed to the equipment base plate 8 on the right side of the AOI inspection unit in sequence with screws, and the positions are as shown in the figure. Figure 2 and Figure 3 As shown, the fixture magazine unit 5 is directly connected to the equipment base plate 8 via its own lifting bolts 502.

[0068] See also Figure 4 The feeding unit 1 in this embodiment is used to classify and provide components for assembly, and includes a plurality of flexible vibration plates 105 arranged side by side. Each of the flexible vibration plates 105 provides components of the same type and separates and lays all the components flat by vibration.

[0069] Specifically, the feeding unit 1 also includes a frame 101, a feeding camera fixing plate 102, a feeding positioning camera 103, a square light source 104, a shock-absorbing base plate 106 and a shock-absorbing base 107. The frame 101 is fixed to the equipment base plate 8 by bolts. The frame 101 provides support for the feeding positioning camera 103. The feeding positioning camera 103 and the square light source 104 are combined and fixed on the feeding camera fixing plate 102. The feeding camera fixing plate 102 is connected to the frame 101 by screws. The feeding unit of this embodiment is connected to a shock-absorbing base plate 106 with four shock-absorbing bases 107. Four groups of flexible vibration disks 105 are fixedly installed on a shock-absorbing base plate 106 by bolts. The lens of the feeding positioning camera 103 is facing the flexible vibration disk 105 to shoot the components on the flexible vibration disk below. The feeding unit 1 of this embodiment is equipped with a total of eight groups of feeding positioning cameras 103, square light sources 104 and flexible vibration disks 105. At most, chip components containing eight components can be assembled. The existence of the feeding positioning camera 103 provides a guide for the collaborative robot arm unit 3 to grasp the components. One flexible vibration disk 105 is equipped with a feeding positioning camera 103. During the feeding process, the feeding positioning camera 103 can take pictures of each component in the flexible vibration disk 105 in advance to obtain the model, posture and position information of the components, thereby ensuring the efficient and smooth progress of the clamping process.

[0070] The flexible vibration disk 105 used in this embodiment is a flexible feeding device with high flexibility, such as the ZF-120 flexible feeder, which is used to solve the problem of difficult feeding of workpieces caused by differences in size and shape of electronic components. It is widely used in the intelligent manufacturing field and automated production lines of industries such as electronic semiconductors, 3C electronics, automobiles and precision parts. The flexible vibration disk 105 contains two storage areas, namely the silo and the feed tray, in which a large number of electronic components can be stored in batches. During feeding, the silo starts to vibrate in frequency modulation, and the material is sent to the feed tray through vibration. The feed tray can orient, lay and separate the components according to the corresponding vibration frequency, so as to facilitate the subsequent collaborative robot arm to grab the corresponding components. The flexible vibration disk 105 is suitable for a variety of electronic components, suitable for complex geometric shapes, surface coatings that are afraid of scratches, thin sheets, special-shaped parts, etc., and has gentle feeding, strong compatibility and reduces the risk of surface damage and jamming. The eight groups of flexible feed trays 105 in this embodiment are all equipped with corresponding CCD cameras as feed positioning cameras 103. After the components separated into the feed trays are positioned by the CCD cameras, the component position and posture information is transmitted to the collaborative robot arm of the next workstation for grabbing and feeding. If more than eight types of components need to be assembled during the work process, two or more materials can be stored in a flexible vibration tray 105, and different types of components can be separated and detected by using different vibration frequencies in conjunction with the CCD camera to achieve feeding.

[0071] See also Figure 5 The collaborative robot arm unit 3 in this embodiment includes a collaborative robot arm that moves the components provided by the feeding unit 1 to the AOI inspection unit 2. The collaborative robot arm locates and grasps the components according to the model, posture and position information of the components in the flexible vibration plate 105 of the feeding positioning camera; the AOI inspection unit 2 is used to perform appearance quality inspection on the components grasped by the collaborative robot arm, including multiple groups of inspection cameras 202 for photographing different sides of the components. The common shooting area of ​​all the inspection cameras 202 is the target position where the collaborative robot arm moves the components for AOI inspection.

[0072] Specifically, the AOI inspection unit 2 in this embodiment includes five groups of inspection cameras 202, each of which can inspect one side of a component. The five inspection cameras 202 have the same structure and are all equipped with an inspection light source 203, but are placed in different positions. Each inspection camera 202 is fixedly mounted on the device bottom plate 8 through the inspection camera fixing plate 201. The inspection camera 202 and the inspection light source 203 are both installed and fixed on the inspection camera fixing plate 201. Four groups of inspection cameras 202 are installed on the upper end surface of the device bottom plate 8, and are respectively arranged in four directions from front, back, left and right. The common shooting area in the middle is the target area for AOI inspection of components. The four groups of inspection cameras 202 on the equipment base plate 8 shoot the four sides of the components in the middle shooting area, and another group of inspection cameras 202 is installed vertically upward on the lower end surface of the equipment base plate. A hollow is set on the equipment base plate corresponding to the middle area. This group of inspection cameras 202 shoots the bottom surface of the components in the shooting area from below. The five groups of inspection cameras 202 can shoot and inspect the five sides of the components at a time. After the collaborative robot arm flips and grabs the components, the remaining side of the component can be inspected, as well as the front, back, left and right sides of the component for a secondary inspection to ensure the integrity and accuracy of the inspection.

[0073] In practical applications, the five groups of inspection cameras of the AOI inspection unit 2 can also be arranged to photograph and inspect components from the other five viewing directions of the six viewing directions of the components, leaving the sixth viewing direction free for the collaborative robot arm to move the components to the target position for AOI inspection.

[0074] The collaborative robot arm unit 3 in this embodiment is composed of a combination of collaborative robot arms to grab components. The two groups of collaborative robot arms adopt multi-joint robot arms. The robot arm base is installed on the equipment bottom plate 8 by bolts. A quick-change mechanism main disk 302 is installed at the end of each group of collaborative robot arms. The quick-change mechanism main disk 302 cooperates with the quick-change mechanism sub-disk on the fixture head for grabbing components. The fixture head adapted according to the type of the grabbed components is grabbed. The two groups of collaborative robot arms are flipped through collaboration. The first collaborative robot arm 301 grabs the flexible vibration disk 1 of the feeding unit 1 05 After grabbing the components, it moves to the target position of the AOI inspection unit to take pictures and inspect the front, back, left, right and bottom sides of the components. Then, the second collaborative robot arm 303 flips and grabs the components grabbed by the first collaborative robot arm, and then moves the components to the target position of the AOI inspection unit to take pictures and inspect them again. At this time, the top and bottom surfaces of the components are flipped, and the AOI inspection unit completes the shooting and inspection of all sides of the components, optimizing the inspection process. Two inspections can complete the comprehensive inspection of the six end faces. The grabbing and moving end of the collaborative robot arm adopts a quick-change mechanism main disk, and the end fixture head that can be quickly replaced can grab various types of components, further improving the grabbing work efficiency of the collaborative robot arm unit.

[0075] See also Figure 7 In this embodiment, fixture library units 5 are fixedly arranged on the equipment bottom plate next to the two groups of collaborative robot arms of the collaborative robot arm unit 3. The fixture library unit 5 arranges a variety of fixture heads 503 that cooperate with the main plate 302 of the collaborative robot arm quick-change mechanism on the fixture fixing plate 501. Four lifting bolts 502 are connected below the fixture fixing plate 501. The entire fixture library unit 5 is installed and fixed on the equipment bottom plate 8 by the four lifting bolts 502. The entire device includes four fixture library units 5 in total. Figure 3 As shown, two fixture library units 5 provide fixture heads for two groups of collaborative robot arms, and two fixture library units 5 provide fixture heads for assembly unit 6. The existence of fixture library unit 5 provides a high-quality solution for the variable shapes of components in the assembly grasping process and the rapid changeover of assembly line products. By replacing fixtures with pneumatic devices, the time for fixture replacement can be reduced, further speeding up the entire assembly rate.

[0076] The specific fixture head quick replacement structure can refer to the tool quick replacement solution of CNC machine tools. Figure 8As shown, the quick-change mechanism main plate 302 is installed at the grabbing moving end of the collaborative robot arm, and the clamp head 503 includes a tool plate 5031 and an end clamp 5032. The quick-change mechanism main plate 302 and the tool plate 5031 can be automatically locked and separated by compressed air drive and solenoid valve control. There are circuit and air circuit connections between the main plate and the tool plate. After the tool plate 5031 and the quick-change mechanism main plate 302 are locked, they can be electrically connected to the collaborative robot arm, which is convenient for connecting the circuit and air circuit of the suction nozzle, the gripper cylinder and the cylinder sensor to the control system. The corresponding end clamp 5032 includes a suction nozzle, a gripper, a contouring end clamp and the like. The connection and control of various pneumatic clamps at the end of the robot arm through a quick-change mechanism are all mature grabbing robot arm technologies, and this embodiment does not elaborate on the specific connection control structure.

[0077] The conveying unit 4 is used to classify and receive components that have completed AOI inspection, including a conveyor belt 402 for conveying components that have passed AOI inspection and a discarding box 403 for collecting components that have failed AOI inspection.

[0078] See also Figure 6 The transmission unit 4 of this embodiment specifically includes a belt upright plate 401, a driving motor 404, a driving wheel 405, a driven wheel 406, a backlight source 407, an assembled lower camera 408, and an assembled lower light source 409. This embodiment uses two groups of parallel transmission belts 402. Four belt upright plates 401 are combined in pairs to form the support of two groups of transmission belts 402. The two belt upright plates 401 are connected by six driven wheels 406. The transmission belt 402 is wound between the two belt upright plates 401 and bypasses the six driven wheels 406. A backlight source 407 is installed at the lower right side of each group of transmission belts 402. A driving motor 404 is fixedly installed on the side of a belt upright plate 401. The output shaft of the driving motor 404 is connected to the driving wheel 405. The driving wheel 405 is in direct contact with the transmission belt 402 to drive the transmission belt 402. The entire conveying unit 4 is provided with two sets of conveying belt assemblies, a plurality of throwing boxes 403 are arranged between the two sets of conveying belt assemblies, and the assembled lower camera 408 and the assembled lower light source 409 are installed and fixed at the middle end of the two sets of conveying belt assemblies.

[0079] The conveying unit 4 of this embodiment is provided with two parallel conveying belts 402 to place the components to be assembled. The conveying belts 402 are transparent belts, and a backlight source 407 is provided under the upper belt where the components are placed. When the components on the conveying belts 402 are conveyed to the assembly grabbing position where the backlight source is located, the backlight source 407 illuminates the components from below through the conveying belts 402, thereby improving the positioning accuracy of the assembly unit 6 grabbing the components on the conveying belt and ensuring the success rate of material retrieval.

[0080] The assembly unit 6 of this embodiment includes a spatial three-coordinate moving system that moves the components on the conveyor belt to the fixture loading and unloading unit. Fig. 9 The spatial three-coordinate moving system of the assembly unit 6 specifically includes an assembly bracket 601, a Y-axis module 602, a Y-axis line rail 603, an X-axis support plate 604, an X-axis module 605, a Z-axis vertical plate 606, a Z-axis module 607, a rotating bracket 608, an assembly positioning camera 609, a rotating motor 6010, a reducer 6011 and an assembly chuck 6012. The two assembly brackets 601 are arranged separately, the Y-axis module 602 is fixedly mounted on one assembly bracket 601, and the Y-axis line rail 603 is fixed on the other assembly bracket 601 by screws; the X-axis support plate 604 is straddled on the two assembly brackets 601, one end of which is connected to the slider of the Y-axis module 602, and the other end is connected to the slider of the Y-axis line rail 603; the X-axis module 605 is fixed to the X-axis support plate 604 by bolts, and the slider of the X-axis module 605 is connected to the Z-axis vertical plate 606 by bolts. Vertical plate 606, Z-axis vertical plate 606 can slide along with the slider of X-axis module 605, and Z-axis module 607 is arranged vertically on Z-axis vertical plate 606; a rotating bracket 608 is installed on the slider of Z-axis module 607, and a rotating motor 6010 is fixedly installed on the rotating bracket 608. The assembly chuck 6012 is connected to the rotating motor 6010 through a reducer 6011, and an assembly positioning camera 609 is installed on the side of the rotating bracket 608 for positioning the assembly chuck 6012.

[0081] The entire assembly unit 6 realizes the three-coordinate linear movement of the spatial XYZ axis through the spatial three-coordinate moving system. The assembly bracket 601 connects the transmission unit 4 and the fixture loading and unloading unit 7. The X-axis support plate 604 is arranged across the assembly bracket 601. It is driven by the Y-axis module to move back and forth between the transmission unit 4 and the fixture loading and unloading unit 7, and the components are transferred from the transmission unit to the fixture loading and unloading unit for assembly. At the same time, the X-axis module and the Z-axis module cooperate to realize the grasping and assembly placement of components in different positions at any position in space. When the assembly positioning phase 609 of the assembly unit 6 moves to the top of the transmission unit, the components on the conveyor belt are photographed. The spatial three-coordinate moving system obtains the model, posture and position information of the components on the conveyor belt according to the assembly positioning camera to locate and grasp the components. The entire assembly uses the gantry three-axis as the drive of the assembly chuck 6012, and the three-axis linear module drive ensures the gripping accuracy, assembly precision and motion stability of the assembly chuck 6012.

[0082] The spatial three-coordinate moving system of the assembly unit 6 also has a rotation around the Z axis. After the assembly unit 6 grabs the components, it moves to the top of the assembly lower camera 408 of the conveying unit 4 to shoot the real-time posture of the grabbed components. The rotating motor drives the rotation of the assembly chuck at the grabbing moving end to adjust the installation posture of the corresponding components assembled on the fixture, thereby realizing the posture correction adjustment of the grabbed components.

[0083] The assembly chuck 6012 of the assembly unit 6 adopts the same quick-change mechanism main plate structure as the grabbing moving end of the collaborative robot arm unit 3, and is quickly replaced with the fixture head on the fixture library unit 5 configured by the spatial three-coordinate mobile system of the assembly mechanism 6. The fixture library units of the collaborative robot arm and the spatial three-coordinate mobile system are respectively located within the moving space range of the collaborative robot arm and the spatial three-coordinate mobile system.

[0084] The jig loading and unloading unit 7 loads and unloads the jig 11 for component assembly and positioning through the jig belt 703, lifts and separates the jig 11 from the jig belt through the jig lifting mechanism, clamps and positions the jig lifted by the jig lifting mechanism through the jig clamping mechanism, and moves the components on the conveyor belt to the clamped and positioned jig by the spatial three-coordinate moving system of the assembly unit 6, and assembles them according to the assembly sequence.

[0085] See also Fig.10 and Fig.11 The jig loading and unloading unit 7 of this embodiment specifically includes a jig belt vertical plate 701, a jig belt driven pulley 702, a jig belt 703, an alignment plate support 704, a first alignment plate 705, a Y-axis screw rod 706, a Y-axis guide rail 707, a second alignment plate 708, an X-axis screw rod 709, an X-axis guide rail 7010, a third alignment plate 7011, a clamping cylinder assembly 7012, a clamping block 7013, a jig camera support 7014, a jig camera bracket 7015, a jig positioning camera 7016, a jig light source 7017, a loading and unloading motor 7018, a transmission belt 7019, a driving wheel group 7020, a lifting electric cylinder 7021 and an electric cylinder support 7022.

[0086] The jig belt 703 is wound around the jig belt driven wheel 702 and the driving wheel group 7020 to form a jig belt transmission device. The two jig belts are arranged in parallel and side by side. The two jig belts are synchronously combined by relying on the driving wheel group 7020 to realize the synchronous transmission of the two jig belts. The two ends of the jig 11 are placed on the two sets of transmission belts for translational transmission. The driving wheel group 7020 is connected to the loading and unloading motor 7018 through the transmission belt 7019. The loading and unloading motor 7018 is fixedly installed on the equipment bottom plate 8 by bolts to provide power for the transmission of the jig belt. A vertically arranged lifting cylinder 7021 is set between the two jig belts. The lifting cylinder 7021 is an electrically driven linear lifting drive. It is used as a jig lifting mechanism that lifts the fixture from the jig belt in this embodiment. In actual applications, linear lifting drives with other driving forms can also be used, such as electric screws, cylinders, etc. The lifting electric cylinder 7021 is fixedly mounted on the lower end surface of the equipment base plate 8 through the electric cylinder support 7022, and the conveying device of the jig belt is mounted on the equipment base plate through the jig belt vertical plate 701.

[0087] A planar movable alignment plate consisting of a first alignment plate 705, a second alignment plate 708 and a third alignment plate 7011 is arranged in sequence above the jig belt, wherein the first alignment plate 705 is fixed on the equipment bottom plate 8 through two alignment plate supports 704 below it, a Y-axis screw rod 706 and a Y-axis guide rail 707 parallel to each other are installed above the first alignment plate 705, and the second alignment plate 708 is connected to the moving block of the Y-axis screw rod 706 and the slider of the Y-axis guide rail 707 below, and the second alignment plate 708 can move along the Y-axis direction under the action of the Y-axis screw rod 706; an X-axis screw rod 709 and an X-axis guide rail 7010 parallel to each other are installed above the second alignment plate 708, and the lower end face of the third alignment plate 7011 is connected to the moving block of the X-axis screw rod 709 and the slider of the X-axis guide rail 7010, and the third alignment plate 7011 can move in the X-axis direction on the second alignment plate 708. The Y axis of the second alignment plate 708 and the X axis of the third alignment plate 7011 constitute a plane coordinate system in a horizontal plane perpendicular to the vertical moving direction of the lifting cylinder 7021. The fixture clamping mechanism of the fixture loading and unloading unit 7 is arranged on the third alignment plate 7011. The fixture clamped by the correction fixture clamping mechanism is translated to the assembly position of the components in a plane perpendicular to the lifting direction of the fixture. In addition, a hollow part is provided on the first alignment plate 705, the second alignment plate 708 and the third alignment plate 7011 for the lifting cylinder to lift the fixture to the third alignment plate.

[0088] The fixture clamping mechanism is a clamping cylinder assembly 7012 arranged relatively around the hollow part of the third alignment plate 7011. The front end of the clamping cylinder assembly 7012 is connected to a clamping block 7013. When the fixture reaches the clamping space between the clamping blocks 7013, the clamping cylinder assembly 7012 drives all the clamping blocks 7013 to work simultaneously to clamp the fixture.

[0089] A jig camera support 7014 is provided on the fixed first alignment plate 705, and a jig positioning camera 7016 and a jig light source 7017 are installed on the top of the jig camera support 7014 through a jig camera bracket 7015 to position and photograph the jig clamped by the clamping block below. After the jig 11 is clamped by the clamping block, the plane moving alignment plate compares the real-time position of the jig obtained by the jig positioning camera with the set target assembly position, and controls the second alignment plate 708 and the third alignment plate 7011 to move the clamped jig in the plane, and the correction jig is moved to the set assembly position. Then, the various components are moved in sequence to the jig at the assembly position through the assembly unit for assembly.

[0090] Embodiment 2

[0091] In this embodiment, the flexible automatic assembly equipment for small components in the first embodiment is used to Fig.12The method for automatically assembling the component assembly 12 in the embodiment of the present invention is specifically described.

[0092] like Fig.12 As shown, the component assembly 12 is assembled in sequence from a first component 1201, a second component 1202, a third component 1203, a fourth component 1204, a fifth component 1205 and a sixth component 1206, as shown in FIG. Fig.13 As shown, the device in Example 1 is automatically assembled according to the following steps.

[0093] Step 1: Component feeding: The components required for assembling the component assembly 12 are placed in a classified manner on the flexible vibration plate 105 of the feeding unit 1 . The flexible vibration plate 105 separates and lays out the components of the same type in the plate by vibration.

[0094] Specifically, the required model components are transferred to the supply tray of the vibration tray through the vibration of the flexible vibration tray 105, the supply tray separates and spreads the components, and the feeding positioning camera 103 is equipped with a square light source 104 to collect information on the components in the tray. The collected image is corrected by the control host of the equipment and matched with the model template of the component. The corrected image information obtains the component position posture and real physical coordinates through edge detection, feature extraction and center of mass recognition, wherein the model information is used to verify whether the components are fed correctly and provide the corresponding fixture head information for the collaborative robot arm, and the posture and position information provide posture and path planning for the collaborative robot arm to grasp.

[0095] Step 2: jig loading. Place the jig 11 used for component assembly positioning on the jig belt 703 of the jig loading and unloading unit 7, lift the jig 11 on the jig belt to the jig clamping mechanism through the jig lifting mechanism, and calibrate the assembly position of the jig relative to the components.

[0096] Specifically, when the equipment starts working, the corresponding jig 11 can be placed on the jig belt 703 of the jig loading and unloading unit 7 in sequence by manual or automatic loading machine, and the loading and unloading motor 7018 drives the jig belt 703 to transfer the jig 11 to the bottom of the first alignment plate 705. At this time, the jig positioning camera 7016 detects that the jig has reached the loading and unloading position, and transmits the signal to the loading and unloading motor 7018 and the lifting cylinder 7021. The loading and unloading motor 7018 stops rotating, and the lifting cylinder 7021 starts to be energized to lift the jig up to the clamping block 7013. The clamping space between the two ends; the clamping cylinder assembly 7012 starts to work, and the four clamping blocks 7013 shrink toward the middle to clamp the fixture 11; the lifting cylinder 7021 returns to the initial position, and the fixture light source 7017 cooperates with the fixture positioning camera 7016 to locate the position of the fixture 11. After positioning, the real-time position information of the fixture is transmitted to the X-axis screw rod 7010 and the Y-axis screw rod 706. Driven by the X-axis screw rod 7010 and the Y-axis screw rod 706, the second alignment plate 708 and the third alignment plate 7011 start to move to move the fixture to the set assembly position.

[0097] Step 2 and step 1 can be performed simultaneously.

[0098] Step 3: AOI inspection of components. The collaborative robot arm of the collaborative robot arm unit 3 selects the corresponding fixture head from the fixture library unit 5 according to the model of the component to be grasped in the flexible vibration disk, and then grasps the component from the flexible vibration disk according to the model, posture and position information of the component and moves it to the AOI inspection target position of the AOI inspection unit 2. Through the flipping and grasping between the collaborative robot arms, all sides of the component are photographed and inspected. The collaborative robot arm unit 3 moves the components that pass the AOI inspection to the conveyor belt 402 of the conveyor unit 4, and the components that fail the AOI inspection are moved to the throwing box 403 of the conveyor unit 4 for classification and placement.

[0099] Specifically, the collaborative robot arm moves to the fixture library unit 5 according to the component model to replace the corresponding fixture head 503. After the replacement is completed, it moves to the position of the component in the flexible vibration disk according to the planned path and adjusts the grasping posture to grasp the component. First, the first collaborative robot arm 301 grasps the component and enters the AOI detection unit 2. The five detection cameras 202 in the AOI detection unit 2 work simultaneously with the five detection light sources 203 to quickly capture the components from five directions. The captured images are transmitted to the control host for detection and processing; after the first acquisition, the first collaborative robot arm 301 and the second collaborative robot arm 301 are accurately docked to realize the flipping and grasping of the components. The second collaborative robot arm 303 sends the flipped components to the AOI detection unit 2 again, repeats the above detection process, and ensures that all surfaces of the components are strictly inspected. The control host automatically analyzes the image data captured by the camera through the image processing algorithm, accurately identifies the defect type of the component and generates the detection result. If a defect is detected in the component, the second collaborative robot arm 303 will immediately execute the preset path and transfer the component to the throwing box 403 of the transmission unit 4. On the contrary, components that pass the inspection will be safely placed on the conveyor belt 402 of the conveyor unit 4 and transported to the assembly area at the end.

[0100] Step 4: Component alignment and assembly. The spatial three-coordinate mobile system of the assembly unit 6 selects the corresponding fixture head from the fixture library unit 5 according to the model of the component to be assembled on the conveyor belt 402, and then grabs the component from the conveyor belt 402 according to the component model, posture and position information, corrects the installation posture of the component on the fixture, and then moves it to the fixture at the assembly position.

[0101] In step three, the defect-free components are transported to the shooting position of the assembly positioning camera 609 of the assembly unit 6 via the conveyor belt 402, the drive motor 404 corresponding to the conveyor belt 402 stops rotating, and the Y-axis module 602 and the X-axis module 605 in the assembly unit 6 start to move, and the assembly positioning camera 609 is moved above the components to capture the component model, position and placement posture. After obtaining the component model, the model information is transmitted to the control host of the equipment. The control host controls the Y-axis module 602 and the X-axis module 605 in the assembly unit 6 to start moving, and drives the assembly chuck 6012 to the fixture library unit 5 to assemble the fixture head 503 of the corresponding component; after the assembly of the fixture head 503 is completed, the control host drives the Y-axis module 602, the X-axis module 605 and the Z-axis module 607 to move the assembly chuck 6012 to grab the component according to the posture and position information of the component. The assembly chuck 6012 grabs the component and first moves to the photo taking position of the assembly camera 408. The assembly camera 408 cooperates with the assembly light source 409 to collect the posture of the component on the assembly chuck 6012. The component posture information is transmitted to the equipment control host. The control host processes the image data through the image processing algorithm and drives the rotating motor 6010 to correct the posture of the grabbed component. After the components grasped by the assembly unit 6 complete the posture correction and alignment, the Y-axis module 602, the X-axis module 605 and the Z-axis module 607 are driven to drive the assembly chuck 6012 to grasp the components and move them to the assembly position of the fixture. The fixture positioning camera 7016 cooperates with the fixture light source 7017 to collect the assembly position of the fixture and locate the mounting position of the components on the fixture. The control host transmits the position signal to the Y-axis module 602 and the X-axis module 605. The two modules position the grasped components directly above the corresponding mounting position of the fixture. The Z-axis module 607 drives the assembly chuck 603 to fall to the component mounting position of the fixture 11. The assembly chuck 603 releases the components and returns to the transmission unit driven by the Y-axis module 602, the X-axis module 605 and the Z-axis module 607 to prepare to grasp the next component, thereby completing the assembly of a component.

[0102] Step 5: Unloading and outputting the jig. After repeating step 4 to complete the assembly of all components on the jig 11, the jig clamping mechanism releases the jig 11 at the assembly position, and the jig with all components assembled is lowered to the jig belt 703 through the jig lifting mechanism, and the jig with all components assembled is output through the jig belt 703 for subsequent processing.

[0103] In step 2, after the jig reaches the set assembly position, the assembly unit 6 starts to position the jig and fill it with components. The assembly unit 6 first loads the first component 1201 into the jig according to the assembly sequence, and then loads the second component 1202, and all six components are filled in sequence. After all the components on the jig are assembled, driven by the X-axis screw rod 7010 and the Y-axis screw rod 706 of the loading and unloading unit 7, the second alignment plate 708 and the third alignment plate 7011 start to move, and the jig 11 with the components assembled is moved to the loading and unloading position. The lifting cylinder 7021 moves upward to hold the jig, and the clamping cylinder assembly 7012 starts to drive all the clamping blocks 7013 to contract and release the jig. The lifting cylinder 7021 moves the jig downward, transports the jig to the jig belt 703, and then returns to the initial lifting position. The jig 11 with all the components assembled is driven by the loading and unloading motor 7018 through the jig belt 703 to the next position, and then the new jig is transported to the loading and unloading position through the jig belt 703 to repeat the above component assembly steps. Until the batch of products is assembled.

[0104] The above embodiments only illustrate the flexible automatic assembly equipment structure and assembly process of tiny components. As for acquiring the model, posture and position information of the corresponding components by capturing images of components with cameras, this is a mature visual image acquisition and processing technology. Those skilled in the art can design corresponding algorithms based on the image features of different component parts, which will not be elaborated in this embodiment.

[0105] In this document, the directions or positional relationships indicated by terms such as "up", "down", "front", "back", "left", "right", "top", "bottom", "inside", "outside", "vertical", and "horizontal" are based on the directions or positional relationships shown in the accompanying drawings and are only for the clarity of expressing the technical solutions and the convenience of description, and therefore should not be understood as limitations of the present invention.

[0106] In this document, the terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of elements other than those listed and may also include additional elements not expressly listed.

[0107] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. Flexible automatic assembly equipment for small components, characterized by: include: A feeding unit, which provides components for assembly by classification, including a plurality of flexible vibration plates arranged side by side, each of which provides components of the same type and separates and lays all components flat by vibration; A collaborative robot arm unit, including a collaborative robot arm that moves components provided by the feeding unit to the AOI inspection unit; The AOI inspection unit includes multiple groups of inspection cameras that shoot different sides of components. The common shooting area of ​​all inspection cameras is the target position where the collaborative robot moves the components for AOI inspection. The conveying unit is used to receive the components that have passed the AOI inspection by classification, including a conveyor belt for conveying components that have passed the AOI inspection and a discarding box for collecting components that have failed the AOI inspection; The assembly unit includes a three-dimensional coordinate moving system that moves components on the conveyor belt to the fixture loading and unloading unit; The jig loading and unloading unit includes a jig belt for loading and unloading components from a jig for assembling and positioning components, a jig lifting mechanism for lifting and separating the jig from the jig belt, and a jig clamping mechanism for clamping and positioning the jig. The spatial three-coordinate moving system of the assembly unit moves the components on the conveyor belt to the clamped and positioned jig for assembly.

2. The micro-component flexible automatic assembly equipment according to claim 1 is characterized in that: The flexible vibration plate is provided with a feeding positioning camera for photographing the components in the plate, and the collaborative robot arm locates and grasps the components according to the model, posture and position information of the components after separation and tiling obtained by the feeding positioning camera.

3. The micro-component flexible automatic assembly equipment according to claim 1 is characterized in that: The AOI inspection unit includes five groups of fixed inspection cameras, which respectively photograph and inspect components from five viewing directions of the six viewing directions of the components, and the collaborative robot moves the components to the target position of the AOI inspection from the sixth viewing direction.

4. The micro-component flexible automatic assembly equipment according to claim 3 is characterized in that: The collaborative robot arm unit includes two groups of collaborative robot arms. The two groups of collaborative robot arms flip and grasp the components and perform photography and detection on the components in the sixth viewing direction.

5. The micro-component flexible automatic assembly equipment according to claim 1 is characterized in that: The assembly unit also includes an assembly positioning camera for photographing components on the conveyor belt, and the spatial three-coordinate mobile system locates and grabs components based on the model, posture and position information of the components on the conveyor belt obtained by the assembly positioning camera.

6. The micro-component flexible automatic assembly equipment according to claim 5 is characterized in that: The conveying unit comprises at least two parallel conveying belts, wherein the conveying belts are transparent belts, and a backlight source is arranged below the upper belt where the components are placed.

7. The flexible automatic assembly equipment for micro-components according to claim 6 is characterized in that: The conveying unit also includes an assembly camera that is fixed upward to shoot the posture of the grasped components, and the grasping moving end of the spatial three-coordinate moving system is configured as a rotating head, which rotates and adjusts the installation posture of the corresponding components assembled on the jig according to the real-time posture of the grasped components photographed by the assembly camera.

8. The flexible automatic assembly equipment for micro-components according to claim 1 is characterized in that: The grabbing moving ends of the collaborative robot arm and the spatial three-coordinate mobile system both use quick-change fixture heads, and the equipment also includes a fixture library unit used for replacing different fixture heads for the collaborative robot arm and the spatial three-coordinate mobile system respectively.

9. The flexible automatic assembly equipment for micro-components according to claim 1 is characterized in that: The jig belts of the jig loading and unloading unit are two groups of transmission belts arranged in parallel, and the two ends of the jig are placed on the two groups of transmission belts for transportation. The jig lifting mechanism adopts a linear lifting drive arranged between the two groups of transmission belts, and the jig clamping mechanism includes a clamping block that clamps the jig, and the clamping space of the clamping block is located above the linear lifting drive, and the clamping block is arranged on a plane moving alignment plate. A jig positioning camera for positioning and photographing the clamped jig is provided above the jig clamping mechanism, and the plane moving alignment plate corrects the assembly position of the jig relative to the components according to the real-time position of the jig obtained by the jig positioning camera.

10. A flexible automatic assembly method for micro-components, characterized in that: The device according to any one of claims 1 to 9 comprises the following steps: Step 1: Components are fed and the components required for assembly are placed in a flexible vibration plate of a feeding unit. The flexible vibration plate separates and lays components of the same type in the plate flat by vibration. Step 2: jig loading: placing the jig used for component assembly positioning on the jig belt of the jig loading and unloading unit, lifting the jig on the jig belt to the jig clamping mechanism through the jig lifting mechanism, and correcting the assembly position of the jig relative to the components; Step 3: AOI inspection of components. The collaborative robot arm of the collaborative robot arm unit selects the corresponding fixture head from the fixture library unit according to the model of the component to be grasped in the flexible vibration plate, and then grasps the component from the flexible vibration plate according to the model, posture and position information of the component and moves it to the AOI inspection target position of the AOI inspection unit. Through the flip grasping between the collaborative robot arms, all sides of the component are photographed and inspected. The collaborative robot arm unit moves the components that pass the AOI inspection to the conveyor belt of the conveyor unit, and moves the components that fail the AOI inspection to the throwing box of the conveyor unit for classification and placement. Step 4: Component alignment and assembly: the spatial three-coordinate mobile system of the assembly unit selects the corresponding fixture head from the fixture library unit according to the model of the component to be assembled on the conveyor belt, and then grabs the component from the conveyor belt according to the component model, posture and position information, corrects the installation posture of the component on the fixture, and then moves it to the fixture at the assembly position; Step 5: Unloading and outputting the jig. After repeating step 4 to complete the assembly of all components on the jig, the jig clamping mechanism releases the jig at the assembly position, and the jig with all components assembled is lowered to the jig belt through the jig lifting mechanism. The jig with all components assembled is output through the jig belt for subsequent processing.

Images