Micro-assembly flexible automatic assembly equipment and assembly method thereof

Abstract

The application discloses a kind of micro-assembly flexible automatic assembly equipment and its assembly method, comprising: the component assembly of classified providing component supply unit, the component of cooperation mechanical arm unit provided by component supply unit is moved to AOI detection unit, the AOI detection unit of different side of component is automatically photographed and detected, the component of classified receiving AOI detection is completed and is transferred to unit, the component of assembly unit is moved to jig up and down unit by transfer unit, and jig up and down unit.The application provides a kind of micro-assembly component flexible automatic assembly scheme, set supply, precision detection, intelligent transfer and efficient assembly in one, can adapt to diversified production demand, improve the production efficiency of micro-assembly automatic assembly, improve production precision and efficiency, in chip assembly and other micro-assembly assembly production field has wide application prospect.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of micro assembly flexible automatic assembly equipment and its assembly method, belong to micro component detection and assembly of automated assembly line production technology. BACKGROUND

[0002] Micro chip is more and more widely used in various fields, and the demand is rapidly increasing, since micro chip assembly involves multiple micro components, each component needs to be installed into an assembly according to the design distribution position and then sent into a melting furnace for fusion welding, so that each component of the chip is firmly combined.

[0003] Before assembling components, each component needs to be visually inspected, and the initial component visual inspection method is completed by manual, and the appearance quality of the component is judged by manual visual inspection. Micro component visual inspection not only needs to accurately identify the model and specification of the component, but also needs to carefully check whether the plating layer is uniform and complete, and whether there are any small defects such as scratches, cracks and stains on the surface. Since the micro chip components are small in size and complex in structure, manual detection has the following problems:

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

[0005] 2. In the face of large-scale production, manual detection speed is difficult to meet the demand;

[0006] 3. The detection result may be affected by the experience, state and other factors of the detector, and lacks consistency

[0007] 4. Long time concentration on fine work may lead to fatigue, affecting the detection quality.

[0008] In addition, the subsequent manual assembly process of multiple components of micro chip, since the size of each component of micro chip is mostly centimeter level or even millimeter level, assembly needs to be assisted by high-power microscope, and multiple hand clamps are used for fine operation according to different component shapes and materials, precise positioning and placement to ensure stable assembly. The whole process is complex, and 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 complex, involving the sequence and fine operation of multiple components, increasing the operation difficulty and error rate;

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

[0011] 3. The operator needs to have highly professional skills and rich experience, and in actual operation, the control of the clamping force is likely to cause damage to the fragile micro components. SUMMARY

[0012] The technical problem solved by the present application is to provide a flexible automatic assembly equipment for micro components and an assembly method thereof to solve the problem of low production efficiency of existing artificial assembly of small-size components.

[0013] The present application adopts the following technical solutions:

[0014] The present application discloses a flexible automatic assembly equipment for micro components, comprising:

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

[0016] The cooperative robot arm unit includes a cooperative robot arm that moves the components provided by the feeding unit to the AOI detection unit;

[0017] The AOI detection unit includes a plurality of detection cameras that capture different sides of the components, and the common capture area of all detection cameras is the target position for AOI detection of the components moved by the cooperative robot arm;

[0018] The conveying unit receives the components that have completed AOI detection, including a conveying belt that conveys the qualified components and a material collection box that collects unqualified components;

[0019] The assembly unit includes a spatial three-coordinate movement system that moves the components on the conveying belt to the jig loading and unloading unit;

[0020] The jig loading and unloading unit includes a jig belt that loads and unloads the jig for component assembly positioning, a jig lifting mechanism that lifts and separates the jig from the jig belt, and a jig clamping mechanism that clamps and positions the jig, and the spatial three-coordinate movement system of the assembly unit moves the components on the conveying belt to the clamped and positioned jig for assembly.

[0021] In the flexible automatic assembly equipment for micro components of the present application, further, the flexible vibration disc is provided with a feeding positioning camera that captures the components in the disc, and the cooperative robot arm positions and grabs the components according to the model, posture and position information of the separated and laid components obtained by the feeding positioning camera.

[0022] In the micro-assembly flexible automatic assembly equipment, further, the AOI detection unit comprises five fixed detection cameras, the five detection cameras respectively detect the components from five view directions of six views, and the collaborative robot moves the components to the target position of the AOI detection from the sixth view direction.

[0023] In the micro-assembly flexible automatic assembly equipment, further, the collaborative robot unit comprises two collaborative robots, the two collaborative robots detect the components from the sixth view direction by turning and grabbing the components.

[0024] In the micro-assembly flexible automatic assembly equipment, further, the assembly unit further comprises an assembly positioning camera for photographing the components on the conveying belt, and the spatial three-coordinate movement system positions and grabs the components according to the model, posture and position information of the components on the conveying belt obtained by the assembly positioning camera.

[0025] In the micro-assembly flexible automatic assembly equipment, further, the conveying unit comprises at least two parallel conveying belts, the conveying belts are transparent belts, and a backlight source is arranged below the upper conveying belt on which the components are placed.

[0026] In the micro-assembly flexible automatic assembly equipment, further, the conveying unit further comprises an assembly lower camera for photographing the posture of the grabbed components upward, and the grabbing movement end of the spatial three-coordinate movement system is provided as a rotating head, the rotating head rotates and adjusts the mounting posture of the corresponding components on the jig according to the real-time posture of the grabbed components photographed by the assembly lower camera.

[0027] In the micro-assembly flexible automatic assembly equipment, further, the grabbing movement end of the collaborative robot and the spatial three-coordinate movement system adopts a quick-change clamp head, and the equipment further comprises a clamp library unit for replacing different clamp heads of the collaborative robot and the spatial three-coordinate movement system.

[0028] In the micro-assembly flexible automatic assembly equipment, further, the jig belt of the jig feeding and discharging unit is two groups of parallel conveying belts, the jig is conveyed by being clamped on the two groups of conveying belts, the jig lifting mechanism adopts a linear lifting driver arranged between the two groups of conveying belts, the jig clamping mechanism comprises a clamping block for clamping the jig, the clamping space of the clamping block is located above the linear lifting driver, the clamping block is arranged on a plane moving alignment plate, a jig positioning camera for positioning and photographing the clamped jig is arranged 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 application also discloses a flexible automatic assembly method for micro components using the device.

[0030] Step one, component supply feeding, components required for assembly of the component are classified and placed in the flexible vibration disc of the feeding unit, and the same type of components in the disc are separated and laid flat through vibration;

[0031] Step two, jig feeding, jigs used for positioning of the components are placed on the jig belt of the jig feeding and discharging unit, the jigs on the jig belt are lifted to the jig clamping mechanism through the jig lifting mechanism, and the assembly position of the jigs relative to the components is corrected;

[0032] Step three, component AOI detection, the collaborative robot of the collaborative robot unit selects the corresponding clamp head from the clamp library unit according to the component model to be grabbed in the flexible vibration disc, and then moves the component to the AOI detection target position of the AOI detection unit according to the component model, posture and position information, and detects all sides of the component through the flipping and grabbing between the collaborative robots, and the collaborative robot unit moves the components that pass the AOI detection to the conveying belt of the conveying unit, and moves the components that fail the AOI detection to the material throwing box of the conveying unit for classification.

[0033] Step four, component alignment assembly, the spatial three-coordinate movement system of the assembly unit selects the corresponding clamp head from the clamp library unit according to the component model to be assembled on the conveying belt, and then grabs the component from the conveying belt according to the component model, posture and position information, and moves the component to the jig in the assembly position after correcting the mounting posture of the component on the jig.

[0034] Step five, jig discharging output, after the assembly of all components on the jig is completed through repeating step four, the jig clamping mechanism releases the jig in the assembly position, the jig with all components assembled is lowered to the jig belt through the jig lifting mechanism, and the jig with all components assembled is output through the jig belt for subsequent processing.

[0035] The application has the following beneficial effects by adopting the above technical scheme:

[0036] (1) The flexible automatic assembly device of the application realizes accurate distribution of components by the subsequent AOI detection, conveying unit and assembly unit, and automatically matches the jigs for component assembly positioning through the jig feeding and discharging unit, so that the component grabbing, detection, mounting and jig positioning can be automatically realized, and the automatic assembly efficiency of component assembly is improved.

[0037] (2) The flexible automatic assembly equipment of the present application adopts advanced collaborative robot unit to assist AOI detection unit, integrates two sets of collaborative robot and five high-precision detection cameras, realizes omnibearing visual detection of components and devices. Through the precise overturning and grabbing of the two sets of collaborative robot, combined with the flexible operation of the collaborative robot, the appearance detection of all six sides of the components and devices can be covered, and during the detection process, the collaborative robot can dynamically adjust the detection pose to realize 360-degree comprehensive detection of the components and devices, significantly improving the quality detection efficiency and accuracy of the component assembly.

[0038] (3) In the flexible automatic assembly process of the micro components, whether it is the feeding and discharging of the jig or the automatic matching of the components, image acquisition technology is used to collect data of the components and the jig, and image processing technology is used to realize surface quality detection of the components, position and attitude adjustment and positioning of the components and the jig, thereby reducing visual errors of manual detection and positioning.

[0039] (4) All the components for grabbing the components in the present application adopt quick-change head mechanism, support quick replacement of various clamp heads, and are equipped with clamp library unit to store various types of clamps, including but not limited to pneumatic clamp head, mechanical clamp head, and profiled clamp head, etc. Combined with flexible vibration disc feeding and high-precision visual positioning technology, the feeding and clamping mechanism is double-optimized, which realizes accurate and non-destructive grabbing of various components with various types, different shapes and small sizes, significantly improves the compatibility and operation 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 for micro components and the assembly method thereof provide a flexible automatic assembly scheme for micro components, which integrates feeding, precise detection, intelligent transfer and efficient assembly, can adapt to diversified production needs, has no manual intervention in the whole component assembly process, relies on high-precision robot and automatic optical detection (AOI), ensures excellent assembly quality, improves the production efficiency of automatic assembly of micro components, improves the production precision and efficiency, and has broad application prospects in the field of chip assembly and other micro component assembly production.

[0041] The present application will be further described below in combination with the drawings and specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 It is an external perspective view of the flexible automatic assembly equipment for micro components of embodiment one.

[0043] Figure 2 It is an internal perspective view of the flexible automatic assembly equipment for micro components of embodiment one.

[0044] Figure 3Top view of flexible automatic assembly equipment for micro-assembly of example one.

[0045] Figure 4 Structure diagram of feeding unit in example one.

[0046] Figure 5 Structure diagram of AOI detection unit and collaborative robot unit in example one.

[0047] Figure 6 Structure diagram of conveying unit in example one.

[0048] Figure 7 Structure diagram of clamp library unit in example one.

[0049] Figure 8 Schematic diagram of quick-change clamp head in example one.

[0050] Figure 9 Structure diagram of assembly unit in example one.

[0051] Figure 10 Perspective view of jig feeding and unloading unit in example one.

[0052] Figure 11 Front view of jig feeding and unloading unit in example one.

[0053] Figure 12 Schematic diagram of each component of the assembly for assembly in example two.

[0054] Figure 13 Flowchart of flexible automatic assembly of a single assembly in example two.

[0055] Reference numerals in the drawings:

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

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

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

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

[0060] 5-Clamp library unit, 501-Clamp fixing plate, 502-Lifting bolt, 503-Clamp head, 5031-Tool disc, 5032-End clamp;

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

[0062] 7-Jig feeding and discharging unit, 701-Jig belt vertical plate, 702-Jig belt driven wheel, 703-Jig belt, 704-Alignment plate support, 705-First alignment plate, 706-Y-axis lead screw, 707-Y-axis guide rail, 708-Second alignment plate, 709-X-axis lead screw, 7010-X-axis guide rail, 7011-Third alignment plate, 7012-Closing cylinder assembly, 7013-Closing block, 7014-Jig camera support, 7015-Jig camera support, 7016-Jig positioning camera, 7017-Jig light source, 7018-Feeding and discharging motor, 7019-Transmission belt, 7020-Driven wheel set, 7021-Lifting cylinder, 7022-Cylinder support;

[0063] 8-Equipment bottom plate; 9-Frame; 10-External shell; 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] Example one

[0065] Reference Figures 1-3, Fig. 1 is a specific embodiment of the flexible automatic assembly equipment for micro-assembly of the present application, which comprises a feeding unit 1, an AOI detection unit 2, a collaborative robot arm unit 3, a conveying unit 4, a jig library unit 5, an assembly unit 6, a jig loading and unloading unit 7, an equipment base plate 8, a machine base 9, and a machine shell 10. The feeding unit 1, the AOI detection unit 2, the collaborative robot arm unit 3, the conveying unit 4, the jig library unit 5, the assembly unit 6, and the jig loading and unloading unit 7 are execution units for realizing automatic assembly of components. Each of the above units is mounted on the equipment base plate 8. The overall shape of the equipment is a box structure, which is divided into two parts, the machine base 9 and the machine shell 10. The lower end surface of the equipment base plate 8 for mounting the execution units is directly fixedly connected with the machine base 9, and the upper end surface is connected with the machine shell 10. The machine shell 10 is mounted on the equipment base plate 8, enclosing each execution mechanism provided thereon to perform automatic assembly production of components, thereby avoiding interference of the external environment with the assembly production process.

[0066] The following describes each execution unit in the flexible automatic assembly equipment for micro-assembly of the present 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, which is fixedly connected with the equipment base plate 8 through a frame 101. The shock-absorbing base 107 of the flexible vibration disc 105 is placed on the equipment base plate 8 without direct connection with the equipment base plate 8. The detection cameras 202 of the AOI detection unit 2 are all arranged on the equipment base plate 8 on the right side of the feeding unit 1 through detection camera fixing plates 201. Four detection camera mounting plates are mounted on the upper end surface of the equipment base plate 8, and one detection camera mounting plate 201 is mounted vertically on the lower end surface of the equipment base plate 8. The two robot arms of the collaborative robot arm unit 3 are directly fixedly mounted on the equipment base plate 8 on both sides of the AOI detection unit. The conveying unit 4, the assembly unit 6, and the jig loading and unloading unit 7 are all fixedly mounted on the equipment base plate 8 on the right side of the AOI detection unit in sequence through screws. The positions are as shown in Figs. 2 and 3. The jig library unit 5 is directly connected with the equipment base plate 8 through its own lifting bolts 502. Figure 2 and Figure 3

[0068] Referring to Fig. 1, Figure 4 The feeding unit 1 in the present embodiment is used for providing components for assembly of components. It comprises a plurality of flexible vibration discs 105 arranged side by side. Each flexible vibration disc 105 provides the same type of components and separates all components by vibration.

[0069] ​Specifically, the feeding unit 1 further comprises a frame 101, a feeding camera fixing plate 102, a feeding positioning camera 103, a square light source 104, a shock-absorbing bottom plate 106 and a shock-absorbing base 107. The frame 101 is fixed on the equipment bottom plate 8 by bolts, and 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, and the feeding camera fixing plate 102 is connected with the frame 101 by screws. The feeding unit of the embodiment connects one shock-absorbing bottom plate 106 with four shock-absorbing bases 107. Four groups of flexible vibration discs 105 are fixed and installed on one shock-absorbing bottom plate 106 by bolts. The lens of the feeding positioning camera 103 faces the flexible vibration disc 105, and the components on the lower flexible vibration disc are photographed. The feeding unit 1 of the embodiment is provided with eight groups of feeding positioning cameras 103, square light sources 104 and flexible vibration discs 105, and can assemble chip assemblies containing up to eight components. The presence of the feeding positioning camera 103 provides guidance for the cooperative mechanical arm unit 3 to grab the components. One flexible vibration disc 105 is provided with one feeding positioning camera 103. During the feeding process, the feeding positioning camera 103 can photograph each component in the flexible vibration disc 105 in advance to obtain the model, posture and position information of the component, so as to ensure the efficient and smooth progress of the grabbing process.

[0070] The flexible vibration disc 105 used in the embodiment is a flexible feeding device with high flexibility, such as a ZF-120 flexible feeder, which is used to solve the problem of difficult feeding of workpieces caused by size and shape differences of electronic components, and is widely used in intelligent manufacturing fields and automatic production lines of electronic semiconductor, 3C electronics, automobiles and precision parts industries. The flexible vibration disc 105 contains two storage areas, namely a stock bin and a feeding disc. A large number of electronic components can be batch stored in the stock bin. During feeding, the stock bin starts to vibrate at a certain frequency, and the material is sent to the feeding disc through vibration. The feeding disc can orient, lay flat and separate the components according to the corresponding vibration frequency, so as to facilitate the cooperative mechanical arm to grab the corresponding components. The flexible vibration disc 105 is suitable for various electronic components, complex geometries, surface plating afraid to scratch, sheet type, special-shaped parts, etc., and has the advantages of gentle feeding, strong compatibility, and reduction of surface damage and jamming risk. The eight groups of flexible feeding discs 105 in the embodiment are each provided with a corresponding CCD camera as a feeding positioning camera 103. After the components separated to the feeding disc are positioned by the CCD camera, the position and posture information of the components is transmitted to the cooperative mechanical arm of the next station for grabbing and feeding. If more than eight components are faced during the work process, two or more materials can be stored in one flexible vibration disc 105. Different vibration frequencies are used to cooperate with the CCD camera to detect and separate different types of components to realize feeding.

[0071] Referring toFigure 5 The cooperative robot arm unit 3 in the embodiment includes a cooperative robot arm that moves the components provided by the feeding unit 1 to the AOI detection unit 2, and the cooperative robot arm positions and grabs the components according to the model, posture and position information of the components in the feeding positioning camera flexible vibration disc 105; the AOI detection unit 2 is used for appearance quality detection of the components grabbed by the cooperative robot arm, including multiple groups of detection cameras 202 for shooting different sides of the components, and the common shooting area of all the detection cameras 202 is the target position of the cooperative robot arm for moving the components for AOI detection.

[0072] Specifically, the AOI detection unit 2 in the embodiment includes five groups of detection cameras 202, each detection camera 202 can detect one side of the component, the five detection cameras 202 are consistent in structure and are all equipped with detection light sources 203, but are placed in different positions, each detection camera 202 is fixedly installed on the equipment bottom plate 8 through the detection camera fixing plate 201, and the detection camera 202 and the detection light source 203 are both fixedly installed on the detection camera fixing plate 201, four groups of detection cameras 202 are installed on the upper end face of the equipment bottom plate 8 and are oppositely arranged from the front, back, left and right, the common shooting area in the middle is the target position of the components for AOI detection, the four groups of detection cameras 202 on the equipment bottom plate 8 shoot the front, back, left and right sides of the components in the middle shooting area, and the other group of detection cameras 202 is vertically upwardly installed on the lower end face of the equipment bottom plate, the equipment bottom plate corresponding to the middle area is provided with an opening, and the group of detection cameras 202 shoot the bottom surface of the components in the shooting area from below, the five groups of detection cameras 202 can shoot and detect five sides of the components at a time, and after the cooperative robot arm flips the grabbed components, the other side of the components can be detected, and the front, back, left and right sides of the components can be detected twice, so that the completeness and accuracy of detection are ensured.

[0073] In actual application, the five groups of detection cameras of the AOI detection unit 2 can also be arranged to shoot and detect the components from the other five view directions of the six-view of the components, and the sixth view direction is left for the cooperative robot arm to move the components to the target position for AOI detection.

[0074] The cooperative mechanical arm unit 3 in this embodiment is used to pick up components by combining two sets of cooperative mechanical arms. The two sets of cooperative mechanical arms are multi-joint mechanical arms, and the mechanical arm bases are bolted to the equipment base plate 8. The end of each set of cooperative mechanical arms is equipped with a quick-change mechanism master disc 302, which cooperates with the quick-change mechanism slave disc on the gripper head that picks up components. The gripper head is adapted to pick up components according to the type of components. The two sets of cooperative mechanical arms are turned over cooperatively. The first cooperative mechanical arm 301 moves to the target position of the AOI detection unit after picking up components from the flexible vibrating disc 105 of the feeding unit 1 to detect the front, back, left, right and bottom side of the components. Then, the second cooperative mechanical arm 303 picks up the components picked up by the first cooperative mechanical arm and moves them to the target position of the AOI detection unit for re-detection. At this time, the top and bottom surfaces of the components are turned over. The AOI detection unit completes the detection of all sides of the components. The detection process is optimized, and the six surfaces can be detected by two detections. The end of the cooperative mechanical arm for picking up and moving is equipped with a quick-change mechanism master disc, and the end gripper head can be quickly replaced to pick up various types of components, further improving the picking efficiency of the cooperative mechanical arm unit.

[0075] Referring to Figure 7 , the fixture library unit 5 is fixedly arranged on the equipment base plate beside the two sets of cooperative mechanical arms of the cooperative mechanical arm unit 3. The fixture library unit 5 is arranged with various gripper heads 503 that cooperate with the quick-change mechanism master disc 302 of the cooperative mechanical arm 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 base plate 8 by the four lifting bolts 502. As shown in Figure 3 , two fixture library units 5 provide gripper heads for the two sets of cooperative mechanical arms, and two fixture library units 5 provide gripper heads for the assembly unit 6. The existence of the fixture library unit 5 provides a high-quality solution for the variable shape of components during assembly and the rapid change of assembly line products. The replacement of the gripper by the pneumatic device can reduce the time for replacing the gripper, further accelerating the entire assembly rate.

[0076] The specific structure of the quick-change gripper head can refer to the quick-change tool structure of a numerical control machine tool. The gripper head 503 in the fixture library unit 5 and the quick-change mechanism master disc 302 of the cooperative mechanical arm are as shown in Figure 8As shown, the quick-change mechanism main disc 302 is installed at the grabbing moving end of the cooperative mechanical arm, the clamp head 503 includes a tool disc 5031 and an end clamp 5032, the quick-change mechanism main disc 302 and the tool disc 5031 can be automatically locked and separated through compressed air driving and electromagnetic valve control, and an electric circuit and a gas circuit are connected between the main disc and the tool disc. After the tool disc 5031 and the quick-change mechanism main disc 302 are locked, the electrical connection with the cooperative mechanical arm can be completed, and the circuit and the gas circuit of the suction nozzle, the clamping jaw cylinder and the cylinder sensor can be conveniently connected to the control system. The corresponding end clamp 5032 includes a suction nozzle, a clamping jaw, a profiling end clamp and the like. The connection and control of various pneumatic clamps by the quick-change mechanism at the end of the mechanical arm belong to mature grabbing mechanical arm technology, and the specific connection and control structure is not described herein.

[0077] The conveying unit 4 is used for classifying received components that have completed AOI detection, and includes a conveying belt 402 for conveying AOI detection qualified components and a material throwing box 403 for collecting AOI detection unqualified components.

[0078] Referring to Figure 6 The conveying unit 4 of the embodiment further includes a belt vertical plate 401, a driving motor 404, a driving wheel 405, a driven wheel 406, a backlight source 407, an assembly lower camera 408 and an assembly lower light source 409. Two groups of parallel conveying belts 402 are adopted in the embodiment, and four belt vertical plates 401 are combined in two groups to form supports for the two groups of conveying belts 402. Six driven wheels 406 are connected between two belt vertical plates 401, the conveying belt 402 is wound between the two belt vertical plates 401 and passes through the six driven wheels 406. Each group of conveying belts 402 is provided with a backlight source 407 below the right side, and the driving motor 404 is fixed on the side surface of a belt vertical plate 401. The output shaft of the driving motor 404 is connected to the driving wheel 405, and the driving wheel 405 directly contacts and drives the conveying belt 402. Two groups of conveying belt combinations are provided in the whole conveying unit 4, and a plurality of material throwing boxes 403 are arranged in the middle of the two groups of conveying belt combinations. The assembly lower camera 408 and the assembly lower light source 409 are fixedly installed at the end of the middle of the two groups of conveying belt combinations.

[0079] The conveying unit 4 of the embodiment is provided with two parallel conveying belts 402 for placing components to be assembled. The conveying belt 402 adopts a transparent belt, and a backlight source 407 is arranged below the upper belt for placing components. When the components on the conveying belt 402 are conveyed to the assembly grabbing position of the backlight source, the backlight source 407 shines the components from below through the conveying belt 402, improves the positioning accuracy of the assembly unit 6 for grabbing the components on the conveying belt, and ensures the success rate of material taking.

[0080] The assembly unit 6 of the embodiment includes a space three-coordinate moving system for moving components on the conveying belt to the jig loading and unloading unit. Referring to Figure 9 The space three-coordinate moving system of the assembly unit 6 specifically includes assembly supports 601, a Y-axis module 602, a Y-axis linear 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 support 608, an assembly positioning camera 609, a rotating motor 6010, a reducer 6011, and an assembly chuck 6012. Two assembly supports 601 are arranged separately, the Y-axis module 602 is fixedly installed on one assembly support 601, and the Y-axis linear rail 603 is fixed on the other assembly support 601 by screws; the X-axis support plate 604 is arranged across the two assembly supports 601, one end of the X-axis support plate 604 is connected to the slider of the Y-axis module 602, and the other end of the X-axis support plate 604 is connected to the slider of the Y-axis linear rail 603; the X-axis module 605 is fixed on the X-axis support plate 604 by bolts, the slider of the X-axis module 605 is connected to the Z-axis vertical plate 606 by bolts, the Z-axis vertical plate 606 can slide with the slider of the X-axis module 605, and the Z-axis module 607 is vertically arranged on the Z-axis vertical plate 606; the slider of the Z-axis module 607 is provided with the rotating support 608, the rotating motor 6010 is fixedly installed on the rotating support 608, the assembly chuck 6012 is connected to the rotating motor 6010 through the reducer 6011, and the rotating support 608 is provided with the assembly positioning camera 609 on the side surface of the rotating support 608 for positioning the assembly chuck 6012.

[0081] The entire assembly unit 6 realizes three-coordinate linear movement of the space XYZ axes through the space three-coordinate moving system, the assembly supports 601 are connected to the conveying unit 4 and the jig loading and unloading unit 7, the X-axis support plate 604 is arranged across the assembly supports 601, and the X-axis support plate 604 is driven by the Y-axis module to move back and forth between the conveying unit 4 and the jig loading and unloading unit 7 to move components from the conveying unit to the jig loading and unloading unit for assembly, and the X-axis module and the Z-axis module are cooperated to realize grabbing and assembling of components at any position in space. The assembly positioning camera 609 of the assembly unit 6 is used to shoot components on the conveying belt when moving above the conveying unit, and the space three-coordinate moving system positions and grabs components according to the model, posture, and position information of the components on the conveying belt obtained by the assembly positioning camera. The entire assembly adopts a gantry three-axis as the drive of the assembly chuck 6012, and the three-axis linear module drive ensures the accuracy of the assembly chuck 6012, the assembly precision, and the motion stability.

[0082] The space three-coordinate moving system of the assembly unit 6 also has a rotation around the Z axis, after the assembly unit 6 grabs components, moves above the assembly lower camera 408 of the conveying unit 4, shoots the real-time posture of the grabbed components, drives the rotation of the moving end assembly chuck by the rotating motor, adjusts the mounting posture of the corresponding components on the jig, and realizes the adjustment of the posture correction of the grabbed components.

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

[0084] The jig loading and unloading unit 7 loads and unloads the jig 11 positioned by the jig assembly 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, moves the components on the conveying belt to the clamped and positioned jig by the spatial three-coordinate movement system of the assembly unit 6, and assembles according to the assembly sequence.

[0085] Referring to Figure 10 and Figure 11 , the jig loading and unloading unit 7 of the embodiment specifically includes a jig belt vertical plate 701, a jig belt driven wheel 702, a jig belt 703, a positioning plate support 704, a first positioning plate 705, a Y-axis lead screw 706, a Y-axis guide rail 707, a second positioning plate 708, an X-axis lead screw 709, an X-axis guide rail 7010, a third positioning 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 set 7020, a lifting and conveying cylinder 7021, and a cylinder support 7022.

[0086] The jig belt 703 forms a conveying device of the jig belt around the jig belt driven wheel 702 and the driving wheel set 7020. The two jig belts are arranged in parallel, are combined synchronously by the driving wheel set 7020, realize synchronous conveying of the two jig belts, and are conveyed in translation with the two ends of the jig 11 clamped on the two sets of conveying belts. The driving wheel set 7020 is connected with the loading and unloading motor 7018 through the transmission belt 7019, and the loading and unloading motor 7018 is fixedly installed on the equipment base plate 8 by bolts to provide power for the conveying of the jig belt. A lifting and conveying cylinder 7021 vertically arranged between the two jig belts is a kind of electrically driven linear lifting driver, which is used as the jig lifting mechanism for lifting the jig from the jig belt in the embodiment, and other driving forms of linear lifting drivers such as electric lead screws and air cylinders can also be used in actual application. The lifting and conveying cylinder 7021 is fixedly installed on the lower end face of the equipment base plate 8 through the cylinder support 7022, and the conveying device of the jig belt is installed on the equipment base plate through the jig belt vertical plate 701.

[0087] A planar moving alignment plate is arranged above the jig belt in sequence and is composed of a first alignment plate 705, a second alignment plate 708 and a third alignment plate 7011. The first alignment plate 705 is fixed on the equipment base plate 8 by two alignment plate supports 704 below the first alignment plate 705. A Y-axis screw rod 706 and a Y-axis guide rail 707 are installed above the first alignment plate 705 and are parallel to each other. The second alignment plate 708 is connected with the moving block of the Y-axis screw rod 706 and the sliding block of the Y-axis guide rail 707 below the second alignment plate 708. 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 are installed above the second alignment plate 708 and are parallel to each other. The lower end surface of the third alignment plate 7011 is connected with the moving block of the X-axis screw rod 709 and the sliding block of the X-axis guide rail 7010. 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 planar coordinate system in the horizontal plane perpendicular to the vertical moving direction of the lifting cylinder 7021. The jig clamping mechanism of the jig feeding and discharging unit 7 is arranged on the third alignment plate 7011. The jig clamped by the jig clamping mechanism is translated in the plane perpendicular to the jig lifting direction to the assembly position of the component. In addition, a hollow part is formed in the first alignment plate 705, the second alignment plate 708 and the third alignment plate 7011 for lifting the jig to the third alignment plate by the lifting cylinder.

[0088] The jig clamping mechanism is a clamping cylinder assembly 7012 arranged around the hollow part of the third alignment plate 7011. The front ends of the clamping cylinder assemblies 7012 are connected with a clamping block 7013. When the jig reaches the clamping space between the clamping blocks 7013, the clamping cylinder assemblies 7012 drive all the clamping blocks 7013 to clamp the jig.

[0089] A jig camera support 7014 is arranged on the fixed first alignment plate 705. 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 support 7015. The jig clamped by the clamping blocks is positioned and photographed. After the jig 11 is clamped by the clamping blocks, the planar moving alignment plate compares the real-time position of the jig obtained by the jig positioning camera with the set target assembly position. The clamped jig is moved in the plane by controlling the second alignment plate 708 and the third alignment plate 7011. The jig is corrected and moved to the set assembly position. Then, each component is moved to the jig at the assembly position in sequence by the assembly unit for assembly.

[0090] Embodiment Two

[0091] The micro-assembly flexible automatic assembly equipment in Embodiment One is used to assemble the component Figure 12The method for automatically assembling the component 12 in the device is described in detail.

[0092] As shown in Figure 12 The component 12 is assembled by the first component 1201, the second component 1202, the third component 1203, the fourth component 1204, the fifth component 1205 and the sixth component 1206 in sequence, as shown in Figure 13 The device in the first embodiment is automatically assembled according to the following steps.

[0093] Step one, component supply. The components required for assembling the component 12 are classified and placed in the flexible vibration disc 105 of the supply unit 1, and the flexible vibration disc 105 separates and lays the same type of components in the disc by vibration.

[0094] Specifically, the required components are transferred to the supply disc of the vibration disc by the hopper vibration of the flexible vibration disc 105, the supply disc separates and lays the components, the supply positioning camera 103 carries the square light source 104 to collect information of the components in the disc, the collected image is corrected by the control host of the device, the model template of the components is matched, the corrected image information obtains the position and attitude of the components and the real physical coordinates through edge detection, feature extraction and centroid recognition, wherein the model information is used to check whether the component supply is correct and to provide the corresponding clamp head information for the collaborative robot arm, and the attitude and position information provides the attitude and path planning for the collaborative robot arm to grasp.

[0095] Step two, jig loading. The jig 11 used for component assembly positioning is placed on the jig belt 703 of the jig loading and unloading unit 7, the jig 11 on the jig belt is lifted to the jig clamping mechanism by the jig lifting mechanism, and the assembly position of the jig relative to the components is corrected.

[0096] Specifically, when the device starts working, the corresponding jig 11 can be placed on the jig belt 703 of the jig feeding and discharging unit 7 by manual or automatic feeding machine. The jig feeding and discharging motor 7018 drives the jig belt 703 to convey the jig 11 to the position directly below the first alignment plate 705. At this time, the jig positioning camera 7016 detects that the jig reaches the feeding and discharging position, and transmits a signal to the jig feeding and discharging motor 7018 and the lifting cylinder 7021. The jig feeding and discharging motor 7018 stops rotating, and the lifting cylinder 7021 starts to be energized to lift the jig upward to the clamping space between the clamping blocks 7013. The clamping cylinder assembly 7012 starts to work, and the four clamping blocks 7013 shrink to the middle to clamp the jig 11. The lifting cylinder 7021 returns to the initial position. The jig light source 7017 works with the jig positioning camera 7016 to position the position of the jig 11. After positioning, the real-time position information of the jig is transmitted to the X-axis lead screw 7010 and the Y-axis lead screw 706. Under the drive of the X-axis lead screw 7010 and the Y-axis lead screw 706, the second alignment plate 708 and the third alignment plate 7011 start to move, and the jig is moved to the set assembly position.

[0097] Steps two and one can be performed simultaneously.

[0098] Step three, component AOI detection. The collaborative robot of the collaborative robot unit 3 selects the corresponding clamp head from the clamp library unit 5 according to the type of the component to be grabbed in the flexible vibration disc, and then moves the component to the AOI detection target position of the AOI detection unit 2 according to the type, posture and position information of the component. Through the flipping of the collaborative robots, all sides of the component are detected. The collaborative robot unit 3 moves the AOI detection qualified component to the conveying belt 402 of the conveying unit 4, and moves the AOI detection unqualified component to the throwing box 403 of the conveying unit 4 for classification and placement.

[0099] Specifically, the collaborative robot arm moves to the jig library unit 5 according to the component model to replace the corresponding jig head 503, and after the replacement is completed, it moves to the position of the component in the flexible vibration disc according to the planned path and adjusts the grabbing posture to grab the component. First, the first collaborative robot arm 301 grabs the component into the AOI detection unit 2, and the five detection cameras 202 in the AOI detection unit 2 work with the five detection light sources 203 at the same time to quickly collect images of the component from five directions. The collected images are transmitted to the control host for detection and processing; after the first collection is completed, the first collaborative robot arm 301 and the second collaborative robot arm 301 are precisely docked to realize the flip grabbing of the component, and the second collaborative robot arm 303 sends the flipped component into the AOI detection unit 2 again, repeating the above detection process to ensure that all surfaces of the component are strictly detected. The control host automatically analyzes the image data captured by the camera through the image processing algorithm, accurately identifies the component defect type, and generates a detection result. If a defect is detected in the component, the second collaborative robot arm 303 will immediately execute the preset path to transfer the component to the material throwing box 403 of the conveying unit 4. Conversely, for the qualified component, it will be safely placed on the conveying belt 402 of the conveying unit 4 and conveyed to the end assembly area.

[0100] Step four, component alignment assembly. The space three-coordinate movement system of the assembly unit 6 selects the corresponding jig head from the jig library unit 5 according to the component model to be assembled on the conveying belt 402, and then grabs the component from the conveying belt 402 according to the component model, posture and position information, corrects the installation posture of the component on the jig, and then moves and places it on the jig in the assembly position.

[0101] The non-defective components in step three are transported to the shooting position of the assembly positioning camera 609 of the assembly unit 6 by the conveying belt 402. The corresponding driving motor 404 of the conveying belt 402 stops rotating, and the Y-axis module 602 and the X-axis module 605 in the assembly unit 6 start moving to move the assembly positioning camera 609 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, and the control host controls the Y-axis module 602 and the X-axis module 605 in the assembly unit 6 to start moving to drive the assembly chuck 6012 to the chuck head 503 corresponding to the assembled components in the assembly unit 5; after the chuck head 503 is assembled, 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 components, and the assembly chuck 6012 grabs the components and first moves to the shooting position of the assembly lower camera 408. The assembly lower camera 408 cooperates with the assembly lower light source 409 to collect the posture of the components 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 components. After the components grabbed by the assembly unit 6 are corrected and positioned, 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 move the grabbed components to the assembly position of the jig, the jig positioning camera 7016 cooperates with the jig light source 7017 to collect the assembly position of the jig and position the mounting position of the components on the jig. The control host transmits the position signal to the Y-axis module 602 and the X-axis module 605, and the two modules position the grabbed components above the corresponding mounting position of the jig. The Z-axis module 607 drives the assembly chuck 603 to fall into the mounting position of the components of the jig 11, the assembly chuck 603 releases the components, and the Y-axis module 602, the X-axis module 605 and the Z-axis module 607 are driven to return to the conveying unit to grab the next components, thereby completing the assembly of one component.

[0102] Step five, jig discharging. After repeating step four to complete the assembly of all components on the jig 11, the jig clamping mechanism releases the jig 11 in the assembly position, and the jig lifting mechanism lowers the jig on which all components are assembled to the jig belt 703, and the jig on which all components are assembled is output by the jig belt 703 for subsequent processing.

[0103] After the jig reaches the set assembly position in step two, the assembly unit 6 starts to fill the jig with components. The assembly unit 6 fills the jig with the first component 1201 first, and then fills the jig with the second component 1202, and so on until all six components are filled. After all the components are assembled on the jig, the second alignment plate 708 and the third alignment plate 7011 start to move under the drive of the X-axis lead screw 7010 and the Y-axis lead screw 706 of the feeding and discharging unit 7, and move the jig 11 that has completed component assembly to the feeding and discharging 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 shrink and release the jig. The lifting cylinder 7021 moves downward with the jig, and then the jig is transported to the jig belt 703 and returns to the lifting initial position. The jig 11 that has completed component assembly is conveyed to the next position by the jig belt 703 under the drive of the feeding motor 7018, and then a new jig is conveyed to the feeding and discharging position by the jig belt 703 to repeat the above component assembly steps. Until the batch of products is completed.

[0104] The above embodiments only describe the flexible automatic assembly equipment structure and assembly process of micro components. The image acquisition of components by a camera to obtain the model, posture and position information of the corresponding component belongs to mature visual image acquisition and processing technology. Those skilled in the art can design corresponding algorithms according to the image characteristics of different component images, and the present embodiment will not be described here.

[0105] In this document, the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inner", "outer", "vertical", "horizontal", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of expressing the technical solution clearly and conveniently, and therefore cannot be understood as a limitation on the present application.

[0106] In this document, the terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, in addition to including the listed elements, other elements not explicitly listed can also be included.

[0107] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A flexible automatic assembly device for micro-assembly, characterized in that, The application relates to a component assembly system, which comprises the following units: a feeding unit for providing components of the same type and separating all the components flatly through vibration; a collaborative robot unit for moving the components provided by the feeding unit to an AOI detection unit; the AOI detection unit comprises multiple groups of detection cameras for shooting different sides of the components, and the common shooting area of all the detection cameras is the target position for the collaborative robot to move the components for AOI detection; the AOI detection unit comprises five groups of fixed detection cameras, the five groups of detection cameras respectively shoot the components from five view directions of six view directions of the components, the collaborative robot moves the components from the sixth view direction to the target position for AOI detection, the collaborative robot unit comprises two groups of collaborative robots, the two groups of collaborative robots shoot the components from the sixth view direction through component flipping and grabbing; a conveying unit for receiving the components after AOI detection, which comprises a conveying belt for conveying the qualified components after AOI detection and a throwing box for collecting the unqualified components after AOI detection; an assembly unit comprising a spatial three-coordinate moving system for moving the components on the conveying belt to a jig loading and unloading unit; the jig loading and unloading unit comprises a jig belt for loading and unloading the jig for component assembly positioning, 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, and the spatial three-coordinate moving system of the assembly unit moves the components on the conveying belt to the clamped and positioned jig for assembly. The flexible vibration disc is provided with a feeding positioning camera for shooting the components in the disc, the collaborative robot positions and grabs the components according to the model, posture and position information of the components after separation and flat laying obtained by the feeding positioning camera. The assembly unit further comprises an assembly positioning camera for shooting the components on the conveying belt, and the spatial three-coordinate moving system positions and grabs the components according to the model, posture and position information of the components on the conveying belt obtained by the assembly positioning camera. The conveying unit comprises at least two parallel conveying belts, the conveying belts are transparent belts, and a backlight source is arranged below the upper conveying belt for placing the components. The conveying unit further comprises an assembly lower camera for shooting the posture of the grabbed components, and the grabbing and moving end of the spatial three-coordinate moving system is provided as a rotating head, the rotating head rotates and adjusts the mounting posture of the corresponding components on the jig according to the real-time posture of the grabbed components shot by the assembly lower camera. The grabbing and moving end of the collaborative robot and the spatial three-coordinate moving system adopts a quick-change clamp head, and the device further comprises a clamp library unit for replacing different clamp heads for the collaborative robot and the spatial three-coordinate moving system respectively. ​ 2. The micro-assembly flexible automatic assembly apparatus according to claim 1, wherein: ​ 3. The micro-assembly flexible automatic assembly apparatus according to claim 1, wherein: ​ 4. The micro-assembly flexible automatic assembly apparatus according to claim 3, wherein: ​ 5. The micro-assembly flexible automatic assembly apparatus according to claim 4, wherein: ​ 6. The micro-assembly flexible automatic assembly apparatus according to claim 1, wherein: ​ 7. The micro-assembly flexible automatic assembly apparatus according to claim 1, wherein: The jig belt of the jig feeding and discharging unit is two groups of parallel transmission belts, the jig is transported by being clamped on the two groups of transmission belts, the jig lifting mechanism adopts a linear lifting driver arranged between the two groups of transmission belts, the jig clamping mechanism includes a clamping block for clamping the jig, the clamping space of the clamping block is located above the linear lifting driver, and the clamping block is arranged on a planar moving alignment plate, a jig positioning camera is arranged above the jig clamping mechanism to position and shoot the clamped jig, and the planar moving alignment plate corrects the assembly position of the jig relative to the component according to the real-time position of the jig obtained by the jig positioning camera.

8. A method for flexible automatic assembly of micro-assembly, characterized in that: The device of any one of claims 1-7, specifically comprising the following steps: Step one, component feeding, components required for assembly of the assembly are classified and placed in the flexible vibration disc of the feeding unit, and the same type of components in the disc are separated and laid flat by vibration; Step two, jig feeding, the jig for component assembly positioning is placed on the jig belt of the jig feeding and discharging unit, the jig on the jig belt is lifted to the clamping mechanism by the jig lifting mechanism, and the assembly position of the jig relative to the component is corrected; Step three, component AOI detection, the collaborative robot of the collaborative robot unit selects the corresponding clamp head according to the type of the component to be grabbed from the clamp library unit, and then moves the component to the AOI detection target position of the AOI detection unit according to the type, posture and position information of the component, and detects all sides of the component by flipping and grabbing between the collaborative robots, and the collaborative robot unit moves the qualified components after AOI detection to the conveying belt of the conveying unit, and the unqualified components after AOI detection are moved to the throwing box of the conveying unit for classification; Step four, component alignment and assembly, the spatial three-coordinate moving system of the assembly unit selects the corresponding clamp head according to the type of the component to be assembled from the clamp library unit, and then moves the component to the assembly position of the jig after correcting the mounting posture of the component on the jig; Step five, jig discharging and output, after completing the assembly of all components on the jig by repeating step four, the jig clamping mechanism releases the jig on the assembly position, the jig with all components assembled is lowered to the jig belt by the jig lifting mechanism, and the jig with all components assembled is output for subsequent processing by the jig belt.

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