Micro-assembly device and system

Abstract

The invention provides a micro-assembly device and system, and relates to the field of electronic devices. The micro-assembly device comprises a control module, a monitoring module and a micro-assembly assembly, the micro-assembly assembly comprises a target platform and at least one grabbing platform, and the control module is connected with the control ends of the target platform and the grabbing platform; the monitoring module at least comprises a target monitoring unit, and the target monitoring unit is parallel to the normal vector of the plane where the target platform is located. The target monitoring unit is used for monitoring the position of a to-be-assembled sample on the target platform to obtain monitoring data; the control module is used for adjusting the position of the target platform and / or the grabbing platform according to the monitoring data, so that the main body part and the base part of the to-be-assembled sample are located on the same horizontal plane; the target platform and the grabbing platform each comprise a plurality of displacement assemblies corresponding to different moving directions. Therefore, on the basis of ensuring the cost, the assembling flexibility can be improved, the operation complexity can be reduced, and meanwhile, the assembling precision can be improved.

Description

Technical Field

[0001] The present invention relates to the field of electronic devices, and in particular to a micro-assembly device and system. Background Art

[0002] Micro-assembly technology is usually a technology for accurately positioning, operating and assembling tiny components, and is widely used in industries such as electronics, medical, and optics. However, with the development of science and technology, micro-assembly solutions are increasingly tending towards high precision, high efficiency, and miniaturization.

[0003] The existing technologies include laser micro-assembly solutions, ultrasonic assembly solutions and robotic arm assembly solutions. Taking the robotic arm assembly solution as an example, most of them have problems such as insufficient assembly precision, complex operation and high cost. Moreover, most solutions often lack flexibility and are difficult to adapt to the assembly requirements of different types of components.

[0004] Based on this, there is an urgent need for a micro-assembly solution that can improve assembly flexibility, reduce operational complexity, and improve assembly accuracy while ensuring costs. Summary of the invention

[0005] In view of this, an object of the present invention is to provide a micro-assembly device and system, which can improve assembly flexibility, reduce operation complexity and improve assembly accuracy while ensuring costs.

[0006] In order to achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows:

[0007] In a first aspect, the present invention provides a microassembly device, including a control module, a monitoring module and a microassembly component, wherein the microassembly component includes at least two operating platforms, wherein the at least two operating platforms include a target platform and at least one grabbing platform, wherein the control module is connected to the control ends of the target platform and the grabbing platform; the monitoring module includes at least one target monitoring unit, wherein the target monitoring unit is arranged in an environment area where the target platform is located and is parallel to a normal vector of a plane where the target platform is located;

[0008] A target monitoring unit, used to monitor the position of the sample to be assembled on the target platform and obtain monitoring data;

[0009] A control module, used for adjusting the position of the target platform and / or the gripping platform according to the monitoring data so that the main body part and the base part of the sample to be assembled are at the same horizontal plane;

[0010] The target platform and the grasping platform both include a plurality of displacement components corresponding to different moving directions.

[0011] Optionally, the target platform at least includes a bearing module, a rotation module, and a first displacement module; the bearing module is fixed on the top of the rotation module; the rotation module is fixed on the top of the first displacement module; the control module is respectively connected to the control end of the first displacement module and the control end of the rotation module; the target monitoring unit is parallel to the normal line of the plane where the bearing module is located;

[0012] Wherein, the first displacement module includes at least two different movement directions; the rotation module includes a preset range of rotation degrees;

[0013] A carrying module, used for carrying the base portion of the sample to be assembled;

[0014] The control module is used to adjust the displacement distance of the first displacement module in a preset direction and / or the rotation degree of the rotation module according to the monitoring data, so as to adjust the position of the base part.

[0015] Optionally, the first displacement module includes a plurality of displacement components, and the displacement components are stacked in sequence from top to bottom;

[0016] For any displacement component, with the preset direction from top to bottom, the control module is used to adjust the relative displacement between the displacement component and the adjacent displacement component in the preset direction according to the monitoring data; wherein the moving directions of the adjacent displacement components are perpendicular to each other;

[0017] and / or control module, and is further used to adjust the rotation degree of the rotation module according to the monitoring data.

[0018] Optionally, when the first displacement module includes a first displacement assembly and a second displacement assembly, the first displacement assembly is arranged on the top of the second displacement assembly; the rotation module is fixed on the top of the first displacement assembly; wherein, a three-dimensional rectangular coordinate system is constructed with the normal vector of the plane in which the base part is located as the vertical axis direction, the moving direction of the first displacement assembly is the horizontal axis direction, and the moving direction of the second displacement assembly is the longitudinal axis direction.

[0019] Optionally, the grabbing platform at least includes a grabbing module and a second displacement module; the grabbing module is arranged on a surface of the second displacement module close to the target platform; the control module is connected to a control end of the grabbing module and a control end of the second displacement module respectively;

[0020] Wherein, the second displacement module includes at least three different movement directions; the grasping module includes a preset range of rotation degrees;

[0021] A gripping module, used to grip the main body of the sample to be assembled;

[0022] The control module is used to adjust the displacement distance of the second displacement module in a preset direction and / or the rotation degree of the grasping module according to the monitoring data, so as to adjust the position of the main body part.

[0023] Optionally, the second displacement module includes a first displacement unit and a second displacement unit; the grasping module is arranged on the surface of the second displacement unit close to the target platform; the second displacement unit is arranged on the surface of the first displacement unit close to the target platform; the number of degrees of freedom of the first displacement unit is greater than the number of degrees of freedom of the second displacement unit.

[0024] Optionally, the first displacement unit includes a plurality of displacement components; the displacement components are stacked in sequence from top to bottom;

[0025] For any displacement component, when the preset direction is from top to bottom, the control module is used to adjust the relative displacement between the displacement component and the adjacent displacement component in the preset direction according to the monitoring data; wherein the moving directions of the adjacent displacement components are perpendicular to each other;

[0026] and / or control module, and is further used to adjust the rotation degree of the grasping module according to the monitoring data.

[0027] Optionally, the first displacement unit includes a third displacement component, a fourth displacement component and a fifth displacement component, the third displacement component is arranged on the top of the fourth displacement component; the fourth displacement component is arranged on the top of the fifth displacement component; the second displacement unit is arranged on the surface of the third displacement component close to the target platform;

[0028] Among them, a three-dimensional rectangular coordinate system is constructed with the normal vector of the plane where the base part is located as the vertical axis direction, the moving direction of the third displacement component is the vertical axis direction, the moving direction of the fourth displacement component is the horizontal axis direction, and the moving direction of the fifth displacement component is the longitudinal axis direction.

[0029] Optionally, the monitoring module further includes a plurality of auxiliary monitoring units, each of which is arranged in the environment of the sample to be assembled according to a different preset angle;

[0030] Among them, a three-dimensional rectangular coordinate system is constructed with the normal vector of the plane where the base part is located as the vertical axis direction, and the position of the sample to be assembled is taken as the center of the circle. The preset angle is used to characterize the angle between the line segment between any auxiliary monitoring module and the center of the circle and the horizontal axis direction in the three-dimensional rectangular coordinate system.

[0031] In a second aspect, the present invention further provides a micro-assembly system, comprising the micro-assembly device described in any one of the first aspects above.

[0032] A micro-assembly device and system provided by an embodiment of the present invention have the following beneficial effects:

[0033] The micro-assembly device in the present invention includes a control module, a monitoring module and a micro-assembly component. The micro-assembly component includes at least two operating platforms. The at least two operating platforms include a target platform and at least one grabbing platform. The control module is connected to the control ends of the target platform and the grabbing platform. The monitoring module includes at least one target monitoring unit. The target monitoring unit is arranged in the environment area where the target platform is located and is parallel to the normal vector of the plane where the target platform is located. The target monitoring unit is used to monitor the position of the sample to be assembled on the target platform and obtain monitoring data. The control module is used to adjust the position of the target platform and / or the grabbing platform according to the monitoring data so that the main body part and the base part of the sample to be assembled are in the same horizontal plane. The target platform and the grabbing platform both include multiple displacement components corresponding to different moving directions. Based on this, the present invention can improve assembly flexibility, reduce operation complexity, and improve assembly accuracy while ensuring cost.

[0034] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0036] Figure 1 A module structure diagram of a microassembly device provided by an embodiment of the present invention is shown;

[0037] Figure 2 The module structure diagram of the target platform in the embodiment of the present invention is shown;

[0038] Figure 3 One of the module structure diagrams of the first displacement module in an embodiment of the present invention is shown;

[0039] Figure 4 The second module structure diagram of the first displacement module in the embodiment of the present invention is shown;

[0040] Figure 5 A schematic structural diagram of a first displacement module in an embodiment of the present invention is shown;

[0041] Figure 6 The module structure diagram of the grabbing platform in the embodiment of the present invention is shown;

[0042] Figure 7 shows a module structure diagram of a second displacement module in an embodiment of the present invention;

[0043] Figure 8 A schematic diagram of a module of a first displacement unit in an embodiment of the present invention is shown;

[0044] Fig. 9 One of the structural schematic diagrams of the first displacement unit in an embodiment of the present invention is shown;

[0045] Fig.10 The second structural schematic diagram of the first displacement unit in the embodiment of the present invention is shown;

[0046] Fig.11 A schematic diagram of the structure of a second displacement unit in an embodiment of the present invention is shown;

[0047] Fig.12 A schematic diagram of a monitoring module in an embodiment of the present invention is shown;

[0048] Fig.13 A schematic diagram of the structure of a monitoring module in an embodiment of the present invention is shown.

[0049] Icons: 10-microassembly device; 101-control module; 102-monitoring module; 103-microassembly component; 201-target platform; 202-grabbing platform; 203-target monitoring unit; 204-auxiliary monitoring unit; 301-carrying module; 302-rotation module; 303-first displacement module; 304-displacement assembly; 401-first displacement assembly; 402-second displacement assembly; 501-grabbing module; 502-second displacement module; 601-first displacement unit; 602-second displacement unit; 701-third displacement assembly; 702-fourth displacement assembly; 703-fifth displacement assembly; 704-sixth displacement assembly; 705-seventh displacement assembly. DETAILED DESCRIPTION

[0050] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0051] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0052] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0053] The existing technologies include laser micro-assembly solutions, ultrasonic assembly solutions and robotic arm assembly solutions. Taking the robotic arm assembly solution as an example, most of them have problems such as insufficient assembly precision, complex operation and high cost. Moreover, most solutions often lack flexibility and are difficult to adapt to the assembly requirements of different types of components.

[0054] Based on this, the present invention provides a micro-assembly solution, which improves assembly flexibility, reduces operation complexity and improves assembly accuracy while ensuring costs.

[0055] The above-mentioned microassembly scheme will be described in detail below.

[0056] Please refer to Figure 1 , Figure 1 A module structure diagram of a microassembly device provided in this embodiment is shown; the microassembly device 10 includes a control module 101, a monitoring module 102 and a microassembly component 103, the microassembly component 103 includes at least two operating platforms, the at least two operating platforms include a target platform 201 and at least one grasping platform 202, the control module 101 is connected to the control ends of the target platform 201 and the grasping platform 202; the monitoring module 102 includes at least one target monitoring unit 203, the target monitoring unit 203 is arranged in the environment area where the target platform 201 is located, and is parallel to the normal vector of the plane where the target platform 201 is located.

[0057] Among them, the target platform and the grasping platform both include multiple displacement components corresponding to different moving directions.

[0058] The target monitoring unit is used to monitor the position of the sample to be assembled on the target platform and obtain monitoring data.

[0059] The control module is used to adjust the position of the target platform and / or the gripping platform according to the monitoring data so that the main body part and the base part of the sample to be assembled are in the same horizontal plane.

[0060] Based on this, the micro-assembly device in this embodiment includes a target platform, a gripping platform and a control module. The control module sends a control instruction to the target platform and / or the gripping platform according to the position of the sample to be assembled on the target platform obtained by the target monitoring unit, so as to adjust the position of the target platform and the gripping platform, so that the main body part and the base part of the sample to be assembled are in the same horizontal plane, thereby improving the installation efficiency. For example, the target platform is used to carry the base part of the sample to be assembled, and correspondingly, the gripping platform is used to grip the main body part of the sample to be assembled. By receiving the control instruction of the control module, the target platform and / or the gripping platform move to different positions by a predetermined distance respectively, arrive at the designated position, and then make the main body part and the base part of the sample to be assembled in the same horizontal plane. Among them, the target platform and the gripping platform both include a plurality of displacement components corresponding to different moving directions, which can enable the target platform and the gripping platform to complete operations with multiple degrees of freedom at the same time, thereby improving the assembly efficiency. At the same time, combined with the control module based on automation technology, it reduces human interference and reduces operation time and cost.

[0061] In this embodiment, the module structure of the target platform and / or the grasping platform and / or the monitoring module and / or the control module is not limited, as long as the corresponding module functions can be realized.

[0062] In this embodiment, the monitoring module may be an integrated circuit chip with signal processing capability, on which a processor is integrated, and the processor can generate corresponding control instructions according to the monitoring data, so as to adjust the position of the target platform and / or the gripping platform through the control instructions, so that the main body and the base of the sample to be assembled are at the same level.

[0063] The processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0064] In one possible implementation, Figure 1 Based on the reference Figure 2 , Figure 2The module structure diagram of the target platform in this embodiment is shown; the target platform 201 at least includes a bearing module 301, a rotation module 302, and a first displacement module 303; the bearing module 301 is fixed on the top of the rotation module 302; the rotation module 302 is fixed on the top of the first displacement module 303; the control module 101 is respectively connected to the control end of the first displacement module 303 and the control end of the rotation module 302; the target monitoring unit 203 is parallel to the normal of the plane where the bearing module 301 is located.

[0065] Wherein, the first displacement module includes at least two different movement directions; the rotation module includes a preset range of rotation degrees.

[0066] The carrying module is used to carry the base part of the sample to be assembled; the control module is used to adjust the displacement distance of the first displacement module in a preset direction and / or the rotation degree of the rotation module according to the monitoring data to adjust the position of the base part.

[0067] In this embodiment, please Figure 2 Based on the reference Figure 3 , Figure 3 The module structure diagram of the first displacement module in this embodiment is shown, and the first displacement module 303 includes a plurality of displacement components 304, and each displacement component is stacked in sequence from top to bottom. It should be noted that each displacement component corresponds to a movement direction, that is, corresponds to a degree of freedom, for example, horizontal plane movement left and right, horizontal plane movement back and forth, or horizontal plane movement up and down.

[0068] For any displacement component, with top to bottom as the preset direction, the control module is used to adjust the relative displacement between the displacement component and the adjacent displacement component in the preset direction according to the monitoring data; wherein the moving directions of adjacent displacement components are perpendicular to each other.

[0069] and / or control module, and is further used to adjust the rotation degree of the rotation module according to the monitoring data.

[0070] In this embodiment, the rotation range of the rotation module satisfies (0, 360°). When the first displacement module needs to be rotated to a preset angle, a control instruction can be sent to the rotation module through the control module to rotate the first displacement module to the preset angle.

[0071] Among them, for the moving part, the preset distance can be moved in a preset direction by stacking displacement components from top to bottom. It should be noted that the preset distance in this embodiment refers to the relative displacement between the corresponding displacement component and the adjacent displacement component in the preset direction.

[0072] In one possible implementation, Figure 3 Based on the reference Figure 4 , Figure 4The module structure diagram of the first displacement module in this embodiment is shown; when the first displacement module 303 includes two displacement components 304, such as a first displacement component 401 and a second displacement component 402, the first displacement component 401 is arranged on the top of the second displacement component 402; the rotation module 302 is fixed on the top of the first displacement component 401.

[0073] Among them, please Figure 4 Based on the reference Figure 5 , Figure 5 A schematic structural diagram of the first displacement module in this embodiment is shown, and a three-dimensional rectangular coordinate system is constructed with the normal vector of the plane in which the base part (arranged on the supporting module) is located as the vertical axis (Z axis) direction. The moving direction of the first displacement component is the horizontal axis (X axis) direction, and the moving direction of the second displacement component is the longitudinal axis (Y axis) direction.

[0074] In this embodiment, in addition to the difference in carrying sample components to be assembled between the grasping platform and the target platform, the degree of freedom of the grasping platform is much greater than that of the target platform. For example, when the degree of freedom of the target platform is 3, the degree of freedom of the grasping platform is at least 6.

[0075] In this embodiment, please Figure 2 On the basis of Figure 6 The module structure diagram of the grasping platform in this embodiment is shown, and the grasping platform 202 at least includes a grasping module 501 and a second displacement module 502; the grasping module 501 is arranged on the surface of the second displacement module 502 close to the target platform; the control module 101 is connected to the control end of the grasping module 501 and the control end of the second displacement module 502 respectively.

[0076] Wherein, the second displacement module includes at least three different movement directions; the grasping module includes a rotation degree within a preset range.

[0077] The grabbing module is used to grab the main body part of the sample to be assembled; the control module is used to adjust the displacement distance of the second displacement module in a preset direction and / or the rotation degree of the grabbing module according to the monitoring data to adjust the position of the main body part.

[0078] Similar to the previous embodiment, the grasping module also corresponds to (0, 360°). When the second displacement module needs to be rotated to a preset angle, a control instruction can be sent to the grasping module through the control module to rotate the second displacement module to the preset angle.

[0079] Similarly, for the moving part, the displacement components can be stacked from top to bottom and moved a preset distance in a preset direction. It should be noted that the preset distance in this embodiment refers to the relative displacement between the corresponding displacement component and the adjacent displacement group in the preset direction.

[0080] In one possible implementation, Figure 6 On the basis of Figure 7 The module structure diagram of the second displacement module in this embodiment is shown, and the second displacement module 502 includes a first displacement unit 601 and a second displacement unit 602; the grasping module 501 is arranged on the surface of the second displacement unit 602 close to the target platform; the second displacement unit 602 is arranged on the surface of the first displacement unit close to the target platform; the number of degrees of freedom of the first displacement unit is greater than the number of degrees of freedom of the second displacement unit.

[0081] In this embodiment, the grasping module may include an end effector, that is, the end effector is arranged on the surface of the second displacement unit close to the target platform, so that the corresponding grasping and placing functions are performed by the end effector.

[0082] Please Figure 7 On the basis of Figure 8 The module structure diagram of the first displacement unit in this embodiment is shown. In this embodiment, the first displacement unit 601 includes a plurality of displacement components 304; each displacement component 304 is stacked in sequence from top to bottom. For any displacement component 304, when the preset direction is from top to bottom, the control module is used to adjust the relative displacement between the displacement component and the adjacent displacement component in the preset direction according to the monitoring data; wherein the moving directions between the adjacent displacement components are perpendicular to each other; and / or the control module is also used to adjust the rotation degree of the grasping module according to the monitoring data.

[0083] When the first displacement element includes 3 degrees of freedom, please refer to Fig. 9 , Fig. 9 A schematic structural diagram of the first displacement unit in this embodiment is shown, wherein the first displacement unit 601 includes a third displacement component 701, a fourth displacement component 702 and a fifth displacement component 703, the third displacement component 701 is arranged on the top of the fourth displacement component 702; the fourth displacement component 702 is arranged on the top of the fifth displacement component 703; the second displacement unit 602 is arranged on the surface of the third displacement component 701 close to the target platform.

[0084] Among them, a three-dimensional rectangular coordinate system is constructed with the normal vector of the plane where the base part is located as the vertical axis direction, the moving direction of the third displacement component is the vertical axis direction, the moving direction of the fourth displacement component is the horizontal axis direction, and the moving direction of the fifth displacement component is the longitudinal axis direction.

[0085] To better adjust the flexibility of the crawling platform, please refer to Fig.10 , Fig.10The module structure diagram of the first displacement unit 601 in this embodiment is shown. The first displacement unit 601 also includes a rotation module 302. The rotation module 302 is arranged on the surface of the third displacement component 701 close to the target platform. Correspondingly, the gripping module 501 is arranged on the surface of the rotation module 302 close to the target platform. The rotation module 302 in this embodiment has the same structure and function as the rotation module 302 in the target platform 201 in the previous embodiment, that is, it is used to receive the control instruction of the control module 101 to adjust the first displacement unit 601 to the corresponding rotation degree.

[0086] In this embodiment, when the second displacement unit includes 2 degrees of freedom, please refer to Fig.11 , Fig.11 The module structure diagram of the second displacement unit in this embodiment is shown, wherein the second displacement unit 602 includes a sixth displacement component 704 and a seventh displacement component 705; the seventh displacement component 705 is arranged on the surface of the sixth displacement component 704 close to the target platform; and the grasping module 501 is arranged on the surface of the seventh displacement component 705 close to the target platform.

[0087] In this embodiment, the control module is used to adjust the relative displacement of the sixth displacement assembly and the seventh displacement assembly in a preset direction according to the monitoring data. And / or the control module is also used to adjust the rotation degree of the end effector according to the monitoring data.

[0088] The moving directions of the sixth displacement component 704 and the seventh displacement component 705 are perpendicular to each other. In a possible implementation, the normal vector of the plane where the main body is located can be the vertical axis direction to construct a three-dimensional rectangular coordinate system, the moving direction of the sixth displacement component 704 is the horizontal axis direction, and the moving direction of the seventh displacement component 705 is the longitudinal axis direction.

[0089] In another possible implementation method, a more flexible end effector can be selected to achieve rotation and movement, that is, the end effector can be flexibly set on the surface of the third displacement component close to the target platform, with the fixed point of the end effector on the surface of the third displacement component close to the target platform as the center of the circle, and rotate to the corresponding angle according to the control instruction of the control module.

[0090] In this embodiment, please refer to Fig.12 , Fig.12 The module structure diagram of the monitoring module in this embodiment is shown. The monitoring module 102 also includes a plurality of auxiliary monitoring units 204. Each auxiliary monitoring unit 204 is arranged in the environment where the sample to be assembled is located according to a different preset angle.

[0091] Among them, the normal vector of the plane where the base part is located is the vertical axis direction, and a three-dimensional rectangular coordinate system is constructed, and the position of the sample to be assembled is the center of the circle. The preset angle is used to characterize the angle between the line segment between any auxiliary monitoring module and the center of the circle and the horizontal axis direction in the three-dimensional rectangular coordinate system. In this embodiment, the angle θ satisfies [0°, 90°). In order to ensure the detection accuracy, the distances from each auxiliary monitoring unit and the target monitoring unit to the center of the circle are equal in this embodiment.

[0092] In this embodiment, the target monitoring unit and / or the auxiliary monitoring unit may use a high-resolution industrial camera. Correspondingly, a high-magnification zoom lens is provided on the industrial camera to improve the clarity of the monitoring data, thereby improving the adjustment accuracy of the control module.

[0093] In one possible implementation, please refer to Fig.13 , Fig.13 The structural schematic diagram of the monitoring module in this embodiment is shown; in order to ensure the adjustment accuracy of the control module, the micro-assembly device may include two auxiliary monitoring units, wherein the first angle θ1 between one of the auxiliary monitoring units and the horizontal axis direction in the three-dimensional rectangular coordinate system is 0°, that is, it is set in the horizontal axis direction in the three-dimensional rectangular coordinate system. The second angle θ2 between the other auxiliary monitoring unit and the horizontal axis direction in the three-dimensional rectangular coordinate system is 45°. Based on this, the micro-assembly device in the present invention includes a control module, a monitoring module and a micro-assembly component, the micro-assembly component includes at least two operating platforms, the at least two operating platforms include a target platform and at least one grabbing platform, the control module is connected to the control end of the target platform and the grabbing platform; the monitoring module includes at least one target monitoring unit, the target monitoring unit is set in the environmental area where the target platform is located, and is parallel to the normal vector of the plane where the target platform is located. The target monitoring unit is used to monitor the position of the sample to be assembled on the target platform and obtain monitoring data; the control module is used to adjust the position of the target platform and / or the grabbing platform according to the monitoring data, so that the main body part and the base part of the sample to be assembled are in the same horizontal plane; the target platform and the grabbing platform both include multiple displacement components corresponding to different moving directions. Based on this, the present invention can improve assembly flexibility, reduce operation complexity and improve assembly accuracy while ensuring costs.

[0094] With the same idea as in the previous embodiment, the present invention also provides a micro-assembly system, comprising the micro-assembly device described in any one of the first aspects above, so as to improve assembly flexibility, reduce operation complexity and improve assembly accuracy while ensuring cost.

[0095] In the several embodiments provided in the present application, it should be understood that the functional modules in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part.

[0096] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A micro-assembly device, characterized in that: The system comprises a control module, a monitoring module and a micro-assembly component, wherein the micro-assembly component comprises at least two operating platforms, wherein the at least two operating platforms comprise a target platform and at least one grabbing platform, wherein the control module is connected to the control ends of the target platform and the grabbing platform; wherein the monitoring module comprises at least one target monitoring unit, wherein the target monitoring unit is arranged in the environment area where the target platform is located and is parallel to the normal vector of the plane where the target platform is located; The target monitoring unit is used to monitor the position of the sample to be assembled on the target platform to obtain monitoring data; The control module is used to adjust the position of the target platform and / or the gripping platform according to the monitoring data so that the main body part and the base part of the sample to be assembled are in the same horizontal plane; The target platform and the grabbing platform both include a plurality of displacement components corresponding to different moving directions.

2. The micro-assembly device according to claim 1, characterized in that: The target platform at least includes a bearing module, a rotation module, and a first displacement module; the bearing module is fixed on the top of the rotation module; the rotation module is fixed on the top of the first displacement module; the control module is respectively connected to the control end of the first displacement module and the control end of the rotation module; the target monitoring unit is parallel to the normal line of the plane where the bearing module is located; Wherein, the first displacement module includes at least two different movement directions; the rotation module includes a preset range of rotation degrees; The carrying module is used to carry the base portion of the sample to be assembled; The control module is used to adjust the displacement distance of the first displacement module in a preset direction and / or the rotation degree of the rotation module according to the monitoring data, so as to adjust the position of the base part.

3. The micro-assembly device according to claim 2, characterized in that: The first displacement module includes a plurality of displacement components, and each of the displacement components is stacked in sequence from top to bottom; For any of the displacement components, with the preset direction from top to bottom, the control module is used to adjust the relative displacement between the displacement component and the adjacent displacement component in the preset direction according to the monitoring data; wherein the moving directions of the adjacent displacement components are perpendicular to each other; And / or the control module is further used to adjust the rotation degree of the rotation module according to the monitoring data.

4. The micro-assembly device according to claim 3, characterized in that: When the first displacement module includes a first displacement component and a second displacement component, the first displacement component is arranged on the top of the second displacement component; the rotation module is fixed on the top of the first displacement component; wherein, a three-dimensional rectangular coordinate system is constructed with the normal vector of the plane where the base part is located as the vertical axis direction, the moving direction of the first displacement component is the horizontal axis direction, and the moving direction of the second displacement component is the longitudinal axis direction.

5. The micro-assembly device according to claim 1, characterized in that: The grabbing platform at least includes a grabbing module and a second displacement module; the grabbing module is arranged on a surface of the second displacement module close to the target platform; the control module is respectively connected to a control end of the grabbing module and a control end of the second displacement module; Wherein, the second displacement module includes at least three different movement directions; the gripping module includes a preset range of rotation degrees; The grabbing module is used to grab the main body of the sample to be assembled; The control module is used to adjust the displacement distance of the second displacement module in a preset direction and / or the rotation degree of the grasping module according to the monitoring data, so as to adjust the position of the main body part.

6. The micro-assembly device according to claim 5, characterized in that: The second displacement module includes a first displacement unit and a second displacement unit; the grasping module is arranged on the surface of the second displacement unit close to the target platform; the second displacement unit is arranged on the surface of the first displacement unit close to the target platform; the number of degrees of freedom of the first displacement unit is greater than the number of degrees of freedom of the second displacement unit.

7. The micro-assembly device according to claim 6, characterized in that: The first displacement unit includes a plurality of displacement components; each of the displacement components is stacked in sequence from top to bottom; For any of the displacement components, when the preset direction is from top to bottom, the control module is used to adjust the relative displacement between the displacement component and the adjacent displacement component in the preset direction according to the monitoring data; wherein the moving directions of the adjacent displacement components are perpendicular to each other; And / or the control module is further used to adjust the rotation degree of the grabbing module according to the monitoring data.

8. The micro-assembly device according to claim 7, characterized in that: The first displacement unit includes a third displacement assembly, a fourth displacement assembly and a fifth displacement assembly, wherein the third displacement assembly is arranged on the top of the fourth displacement assembly; the fourth displacement assembly is arranged on the top of the fifth displacement assembly; and the second displacement unit is arranged on the surface of the third displacement assembly close to the target platform; Among them, a three-dimensional rectangular coordinate system is constructed with the normal vector of the plane where the base part is located as the vertical axis direction, the moving direction of the third displacement component is the vertical axis direction, the moving direction of the fourth displacement component is the horizontal axis direction, and the moving direction of the fifth displacement component is the longitudinal axis direction.

9. The micro-assembly device according to claim 1, characterized in that: The monitoring module further comprises a plurality of auxiliary monitoring units, each of which is arranged in the environment of the sample to be assembled at a different preset angle; Among them, a three-dimensional rectangular coordinate system is constructed with the normal vector of the plane where the base part is located as the vertical axis direction, and the position of the sample to be assembled is taken as the center of the circle. The preset angle is used to characterize the angle between the line segment between any auxiliary monitoring module and the center of the circle and the horizontal axis direction in the three-dimensional rectangular coordinate system.

10. A micro-assembly system, characterized in that: A micro-assembly device comprising any one of claims 1 to 9.

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