A micro-assembly device and system

Abstract

This invention provides a micro-assembly device and system, relating to the field of electronic devices. The micro-assembly device includes a control module, a monitoring module, and a micro-assembly assembly component. The micro-assembly component includes a target platform and at least one gripping platform. The control module is connected to the control terminals of the target platform and the gripping platform. The monitoring module includes at least one target monitoring unit, which is parallel to the normal vector of the plane on which 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 gripping platform according to the monitoring data, so that the main body and base of the sample to be assembled are on the same horizontal plane. Both the target platform and the gripping platform include multiple displacement components corresponding to different directions of movement. Based on this, this invention can improve assembly flexibility, reduce operational complexity, and improve assembly accuracy while ensuring cost-effectiveness.

Description

Technical Field

[0001] This invention relates to the field of electronic devices, and more specifically, to a micro-assembly device and system. Background Technology

[0002] Micro-assembly technology is a technique for precisely positioning, manipulating, and assembling tiny components, and it is widely used in industries such as electronics, medical, and optics. However, with the development of technology, the demand for micro-assembly solutions is increasingly shifting towards higher precision, higher efficiency, and miniaturization.

[0003] Existing technologies include laser micro-assembly, ultrasonic assembly, and robotic arm assembly. Taking robotic arm assembly as an example, most of them suffer from 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] Therefore, there is an urgent need for a micro-assembly solution that can improve assembly flexibility, reduce operational complexity, and improve assembly accuracy while ensuring cost. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a micro-assembly device and system that can improve assembly flexibility, reduce operational complexity, and improve assembly accuracy while ensuring cost.

[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows:

[0007] In a first aspect, the present invention provides a micro-assembly device, including a control module, a monitoring module, and a micro-assembly component. The micro-assembly component includes at least two operating platforms, each of which includes a target platform and at least one grasping platform. The control module is connected to the control terminals of the target platform and the grasping platform. The monitoring module includes at least one target monitoring unit, which is disposed 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.

[0008] The target monitoring unit is used to monitor the position of the sample to be assembled on the target platform and obtain monitoring data.

[0009] The control module is used to adjust the position of the target platform and / or the gripping platform based on monitoring data so that the main body and the base of the sample to be assembled are on the same horizontal plane.

[0010] Both the target platform and the grasping platform include multiple displacement components corresponding to different movement directions.

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

[0012] The first displacement module includes at least two different directions of movement; the rotation module includes a rotation range within a preset range.

[0013] The support module is the base portion used to support 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 based on monitoring data, so as to adjust the position of the base part.

[0015] Optionally, the first displacement module includes multiple displacement components, which are stacked sequentially from top to bottom;

[0016] For any displacement component, with the top-to-bottom direction as the preset direction, the control module is used to adjust the relative displacement of the displacement component with the adjacent displacement components in the preset direction based on the monitoring data; wherein the movement directions of the adjacent displacement components are perpendicular to each other.

[0017] And / or control modules are also used to adjust the rotation degree of the rotation module based on monitoring data.

[0018] Optionally, when the first displacement module includes a first displacement component and a second displacement component, the first displacement component is disposed on top of the second displacement component; the rotation module is fixed on 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, the movement direction of the first displacement component is the horizontal axis, and the movement direction of the second displacement component is the vertical axis.

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

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

[0021] The gripping module is 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 gripping module based on monitoring data, so as to adjust the position of the main body.

[0023] Optionally, the second displacement module includes a first displacement unit and a second displacement unit; the gripping module is disposed on the surface of the second displacement unit near the target platform; the second displacement unit is disposed on the surface of the first displacement unit near 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 multiple displacement components; the displacement components are stacked sequentially from top to bottom.

[0025] For any displacement component, with the preset direction being from top to bottom, the control module is used to adjust the relative displacement of the displacement component with the adjacent displacement component in the preset direction based on the monitoring data; wherein the movement directions of the adjacent displacement components are perpendicular to each other.

[0026] And / or control modules are also used to adjust the rotation of the gripping module based on monitoring data.

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

[0028] In this system, a three-dimensional rectangular coordinate system is constructed with the normal vector of the plane where the base is located as the vertical axis. The movement direction of the third displacement component is the vertical axis, the movement direction of the fourth displacement component is the horizontal axis, and the movement direction of the fifth displacement component is the vertical axis.

[0029] Optionally, the monitoring module also includes multiple auxiliary monitoring units, each of which is set at a different preset angle in the environment of the sample to be assembled;

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

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

[0032] The micro-assembly device and system provided in this invention have the following beneficial effects:

[0033] The micro-assembly device of this invention includes a control module, a monitoring module, and a micro-assembly assembly component. The micro-assembly assembly component includes at least two operating platforms, each comprising a target platform and at least one gripping platform. The control module is connected to the control terminals of the target platform and the gripping platform. The monitoring module includes at least one target monitoring unit, which is positioned in the environmental area where the target platform is located and parallel to the normal vector of the plane on which the target platform is located. The target monitoring unit monitors the position of the sample to be assembled on the target platform and obtains monitoring data. The control module adjusts the position of the target platform and / or the gripping platform based on the monitoring data to ensure that the main body and base of the sample to be assembled are on the same horizontal plane. Both the target platform and the gripping platform include multiple displacement components corresponding to different directions of movement. Based on this, the present invention can improve assembly flexibility, reduce operational complexity, and improve assembly accuracy while ensuring cost-effectiveness.

[0034] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0035] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 A modular structure diagram of the micro-assembly device provided in an embodiment of the present invention is shown;

[0037] Figure 2 A modular structure diagram of the target platform in an 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 an embodiment of the present invention is shown;

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

[0041] Figure 6 A module structure diagram of the crawling platform in an embodiment of the present invention is shown;

[0042] Figure 7 A module structure diagram of the second displacement module in an embodiment of the present invention is shown;

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

[0044] Figure 9 This shows one of the structural schematic diagrams of the first displacement unit in an embodiment of the present invention;

[0045] Figure 10 This shows a second schematic diagram of the structure of the first displacement unit in an embodiment of the present invention;

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

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

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

[0049] Icons: 10-Micro assembly device; 101-Control module; 102-Monitoring module; 103-Micro assembly component; 201-Target platform; 202-Grasping platform; 203-Target monitoring unit; 204-Auxiliary monitoring unit; 301-Bearing module; 302-Rotation module; 303-First displacement module; 304-Displacement component; 401-First displacement component; 402-Second displacement component; 501-Grasping module; 502-Second displacement module; 601-First displacement unit; 602-Second displacement unit; 701-Third displacement component; 702-Fourth displacement component; 703-Fifth displacement component; 704-Sixth displacement component; 705-Seventh displacement component. Detailed Implementation

[0050] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0051] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0052] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0053] Existing technologies include laser micro-assembly, ultrasonic assembly, and robotic arm assembly. Taking robotic arm assembly as an example, most of them suffer from 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 scheme that improves assembly flexibility, reduces operational complexity, and improves assembly accuracy while ensuring cost.

[0055] The above micro-assembly scheme will be described in detail below.

[0056] Please refer to Figure 1 , Figure 1 This diagram illustrates the modular structure of a micro-assembly device provided in this embodiment. The micro-assembly device 10 includes a control module 101, a monitoring module 102, and a micro-assembly component 103. The micro-assembly component 103 includes at least two operating platforms, each including a target platform 201 and at least one grasping platform 202. The control module 101 is connected to the control terminals of the target platform 201 and the grasping platform 202. The monitoring module 102 includes at least one target monitoring unit 203, which is located in the environmental area where the target platform 201 is situated and is parallel to the normal vector of the plane on which the target platform 201 is situated.

[0057] The target platform and the grasping platform each include multiple displacement components corresponding to different movement 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 based on monitoring data so that the main body and the base of the sample to be assembled are on 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 control commands to the target platform and / or the gripping platform based on the position of the sample to be assembled on the target platform obtained by the target monitoring unit. This adjusts the positions of the target platform and the gripping platform so that the main body and base of the sample to be assembled are on the same horizontal plane, improving assembly efficiency. For example, the target platform supports the base of the sample to be assembled, and the gripping platform grips the main body of the sample. By receiving control commands from the control module, the target platform and / or the gripping platform move a predetermined distance to different positions to reach a designated position, thereby bringing the main body and base of the sample to be assembled on the same horizontal plane. Both the target platform and the gripping platform include multiple displacement components corresponding to different directions of movement, enabling them to perform multiple degrees of freedom operations simultaneously, improving assembly efficiency. Furthermore, combined with the control module's automation technology, human intervention is reduced, lowering operation time and costs.

[0061] This embodiment does not limit the module structure of the target platform and / or the capture platform and / or the monitoring module and / or the control module, as long as the corresponding module functions can be implemented.

[0062] In this embodiment, the monitoring module can be an integrated circuit chip with signal processing capabilities. It integrates a processor that generates corresponding control commands based on the monitoring data. These commands are used to adjust the position of the target platform and / or the gripping platform, ensuring that the main body and base of the sample to be assembled are on the same horizontal plane.

[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, or discrete hardware components.

[0064] In one possible implementation method, please Figure 1 Based on, refer to Figure 2 , Figure 2The diagram shows the modular structure of the target platform in this embodiment; the target platform 201 includes at least 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 connected to the control terminal of the first displacement module 303 and the control terminal of the rotation module 302 respectively; the target monitoring unit 203 is parallel to the normal of the plane where the bearing module 301 is located.

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

[0066] The support module is used to support 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, so as to adjust the position of the base part.

[0067] In this embodiment, please Figure 2 Based on, refer to Figure 3 , Figure 3 The diagram shows the module structure of the first displacement module 303 in this embodiment. The first displacement module 303 includes multiple displacement components 304, which are stacked sequentially from top to bottom. It should be noted that each displacement component corresponds to a direction of movement, that is, a degree of freedom, such as horizontal movement to the left or right, horizontal movement to the front or back, or horizontal movement to the back or forth.

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

[0069] And / or control modules are also used to adjust the rotation degree of the rotation module based on monitoring data.

[0070] In this embodiment, the rotation range of the rotation module satisfies (0, 360°). When it is necessary to rotate the first displacement module by a preset angle, the control module can send a control command to the rotation module to rotate the first displacement module to the preset angle.

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

[0072] In one possible implementation method, please Figure 3 Based on, refer to Figure 4 , Figure 4The diagram shows the module structure of the first displacement module in this embodiment. When the first displacement module 303 includes two displacement components 304, such as the first displacement component 401 and the second displacement component 402, the first displacement component 401 is disposed 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, refer to Figure 5 , Figure 5 The diagram shows the structure of the first displacement module in this embodiment. A three-dimensional rectangular coordinate system is constructed with the normal vector of the plane where the base part (set on the bearing module) is located as the vertical axis (Z-axis). The movement direction of the first displacement component is the horizontal axis (X-axis), and the movement direction of the second displacement component is the vertical axis (Y-axis).

[0074] In this embodiment, apart from the difference in the components carried by the sample to be assembled, the gripping platform has a much greater degree of freedom than the target platform. For example, when the target platform has 3 degrees of freedom, the gripping platform has at least 6 degrees of freedom.

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

[0076] The second displacement module includes at least three different directions of movement; the gripping module includes a preset range of rotation.

[0077] The gripping module is used to grip 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 gripping module according to the monitoring data, so as to adjust the position of the main body.

[0078] Similar to the previous embodiment, the grasping module also satisfies (0, 360°). When it is necessary to rotate the second displacement module by a preset angle, the control module can send a control command to the grasping module to rotate the second displacement module to the preset angle.

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

[0080] In one possible implementation method, please Figure 6 On this basis, Figure 7 The diagram shows the module structure of the second displacement module in this embodiment. The second displacement module 502 includes a first displacement unit 601 and a second displacement unit 602. The gripping module 501 is disposed on the surface of the second displacement unit 602 near the target platform. The second displacement unit 602 is disposed on the surface of the first displacement unit near 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 gripping module may include an end effector, which is disposed on the surface of the second displacement unit near the target platform, so as to perform the corresponding gripping and releasing functions through the end effector.

[0082] Please Figure 7 On this basis, Figure 8 The diagram shows the module structure of the first displacement unit 601 in this embodiment. The first displacement unit 601 includes multiple displacement components 304, which are stacked sequentially from top to bottom. For any displacement component 304, with a preset direction from top to bottom, the control module adjusts the relative displacement between the displacement component and adjacent displacement components in the preset direction based on monitoring data; wherein the movement directions of adjacent displacement components are perpendicular to each other; and / or the control module also adjusts the rotation of the gripping module based on monitoring data.

[0083] When the first displacement element has 3 degrees of freedom, please refer to... Figure 9 , Figure 9 The diagram shows the structure of the first displacement unit in this embodiment. 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 disposed on top of the fourth displacement component 702; the fourth displacement component 702 is disposed on top of the fifth displacement component 703; and the second displacement unit 602 is disposed on the surface of the third displacement component 701 near the target platform.

[0084] In this system, a three-dimensional rectangular coordinate system is constructed with the normal vector of the plane where the base is located as the vertical axis. The movement direction of the third displacement component is the vertical axis, the movement direction of the fourth displacement component is the horizontal axis, and the movement direction of the fifth displacement component is the vertical axis.

[0085] To better adjust the flexibility of the crawling platform, please refer to... Figure 10 , Figure 10The diagram shows the module structure of the first displacement unit 601 in this embodiment. The first displacement unit 601 also includes a rotation module 302, which is disposed on the surface of the third displacement component 701 near the target platform. Correspondingly, the gripping module 501 is disposed on the surface of the rotation module 302 near the target platform. In this embodiment, the rotation module 302 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 control commands from the control module 101 to adjust the first displacement unit 601 to the corresponding degree of rotation.

[0086] In this embodiment, when the second displacement element includes two degrees of freedom, please refer to... Figure 11 , Figure 11 The diagram shows the module structure of the second displacement unit in this embodiment. The second displacement unit 602 includes a sixth displacement component 704 and a seventh displacement component 705. The seventh displacement component 705 is disposed on the surface of the sixth displacement component 704 near the target platform. The gripping module 501 is disposed on the surface of the seventh displacement component 705 near the target platform.

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

[0088] The sixth displacement component 704 and the seventh displacement component 705 move in perpendicular directions to each other. In one possible implementation, a three-dimensional Cartesian coordinate system can be constructed with the normal vector of the plane on which the main body is located as the vertical axis, the movement direction of the sixth displacement component 704 as the horizontal axis, and the movement direction of the seventh displacement component 705 as the vertical axis.

[0089] In another possible implementation, a more flexible end effector can be used 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, and rotate by the corresponding angle according to the control command of the control module, with the fixed point of the end effector on the surface of the third displacement component close to the target platform as the center.

[0090] In this embodiment, please refer to Figure 12 , Figure 12 The diagram shows the module structure of the monitoring module in this embodiment. The monitoring module 102 also includes multiple auxiliary monitoring units 204, each of which is set at a different preset angle in the environment where the sample to be assembled is located.

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

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

[0093] In one possible implementation method, please refer to Figure 13 , Figure 13 A schematic diagram of the monitoring module in this embodiment is shown. To ensure the adjustment accuracy of the control module, the micro-assembly device may include two auxiliary monitoring units. One auxiliary monitoring unit has a first angle θ1 of 0° with the horizontal axis in the three-dimensional rectangular coordinate system, i.e., it is set in the horizontal axis direction of the three-dimensional rectangular coordinate system. The other auxiliary monitoring unit has a second angle θ2 of 45° with the horizontal axis in the three-dimensional rectangular coordinate system. Based on this, the micro-assembly device in this invention includes a control module, a monitoring module, and a micro-assembly component. The micro-assembly component includes at least two operating platforms, each including a target platform and at least one gripping platform. The control module is connected to the control terminals of the target platform and the gripping platform. The monitoring module includes at least one target monitoring unit, which 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 gripping platform according to the monitoring data so that the main body and the base of the sample to be assembled are on the same horizontal plane. The target platform and the gripping platform each include multiple displacement components corresponding to different movement directions. Based on this, the present invention can improve assembly flexibility, reduce operational complexity, and improve assembly accuracy while ensuring cost.

[0094] Following the same approach as in the previous embodiment, the present invention also provides a micro-assembly system, including the micro-assembly device described in any of the first aspects above, to improve assembly flexibility, reduce operational complexity, and improve assembly accuracy while ensuring cost.

[0095] In the several embodiments provided in this 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 independently, or two or more modules can be integrated to form an independent part.

[0096] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A micro-assembly device, characterized in that, The system includes a control module, a monitoring module, and a micro-assembly component. The micro-assembly component includes at least two operating platforms, each including a target platform and at least one grasping platform. The control module is connected to the control terminals of the target platform and the grasping platform. The monitoring module includes at least one target monitoring unit, which is located in the environmental area where the target platform is situated and is parallel to the normal vector of the plane on which the target platform is situated. 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 gripping platform according to the monitoring data, so that the main body and the base of the sample to be assembled are on the same horizontal plane. Both the target platform and the grasping platform include multiple displacement components corresponding to different movement directions; The target platform includes at least a load-bearing module, a rotation module, and a first displacement module; the load-bearing module is fixed on top of the rotation module; the rotation module is fixed on top of the first displacement module; the control module is connected to the control terminal of the first displacement module and the control terminal of the rotation module respectively; the target monitoring unit is parallel to the normal of the plane where the load-bearing module is located. The first displacement module includes at least two different directions of movement; the rotation module includes a rotation range within a preset range. The support module is used to support 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; The grasping platform includes at least a grasping module and a second displacement module; the grasping module is disposed on the surface of the second displacement module near the target platform; the control module is connected to the control terminal of the grasping module and the control terminal of the second displacement module respectively; The second displacement module includes at least three different movement directions; the grasping module includes a rotation range within a preset range. The grasping module is used to grasp 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 gripping module according to the monitoring data, so as to adjust the position of the main body part; The second displacement module includes a first displacement unit and a second displacement unit; the gripping module is disposed on the surface of the second displacement unit near the target platform; the second displacement unit is disposed on the surface of the first displacement unit near 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.

2. The micro-assembly device according to claim 1, characterized in that, The first displacement module includes multiple displacement components, which are stacked sequentially from top to bottom; For any of the displacement components, with a preset direction from top to bottom, the control module is used to adjust the relative displacement of the displacement component with respect to adjacent displacement components in the preset direction based on the monitoring data; wherein the movement directions of adjacent displacement components are perpendicular to each other; And / or the control module is further configured to adjust the rotation degree of the rotation module based on the monitoring data.

3. The micro-assembly device according to claim 2, characterized in that, When the first displacement module includes a first displacement component and a second displacement component, the first displacement component is disposed on top of the second displacement component; the rotation module is fixed on 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 movement direction of the first displacement component is the horizontal axis direction, and the movement direction of the second displacement component is the vertical axis direction.

4. The micro-assembly device according to claim 1, characterized in that, The first displacement unit includes multiple displacement components; each displacement component is stacked sequentially from top to bottom; For any of the displacement components, with the preset direction being from top to bottom, the control module is used to adjust the relative displacement of the displacement component with the adjacent displacement components in the preset direction based on the monitoring data; wherein the movement directions of the adjacent displacement components are perpendicular to each other; And / or the control module is further configured to adjust the rotation of the gripping module based on the monitoring data.

5. The micro-assembly device according to claim 4, characterized in that, The first displacement unit includes a third displacement component, a fourth displacement component, and a fifth displacement component. The third displacement component is disposed on top of the fourth displacement component; the fourth displacement component is disposed on top of the fifth displacement component; and the second displacement unit is disposed on the surface of the third displacement component near the target platform. 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. The movement direction of the third displacement component is the vertical axis, the movement direction of the fourth displacement component is the horizontal axis, and the movement direction of the fifth displacement component is the vertical axis.

6. The micro-assembly device according to claim 1, characterized in that, The monitoring module also includes multiple auxiliary monitoring units, each of which is set at a different preset angle in the environment of the sample to be assembled. 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, 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 of the three-dimensional rectangular coordinate system.

7. A micro-assembly system, characterized in that, Includes the micro-assembly device as described in any one of claims 1 to 6.

Images