A miniature parts automated assembly apparatus

Abstract

The present application relates to the technical field of automation assembly, and discloses a micro part automatic assembly equipment, which comprises an equipment platform and a tooling module, and is provided with a feeding module, a robot transplanting module, an insulating ring assembly module, a visual inspection module, an automatic assembly module, a detection and adjustment module, a dispensing module and a reverse detection module on the equipment platform. The time for completing the assembly of one product through the cooperation of the multiple modules is 287s. In actual production, the actions of different modules are completed in parallel, so the actual production process is higher than 287s. Through analysis, the demand of 100 pieces per day is met, and the assembly efficiency of micro parts is greatly improved. The specially designed tooling module is used for carrying micro parts, so that the micro parts are easy to grasp and the surface of the parts is not damaged during assembly. At the same time, the detection and adjustment module can quickly detect the assembly position of the micro parts, ensure the assembly quality of the parts, and greatly improve the yield.

Description

Technical Field

[0001] This invention relates to the field of automated assembly technology, and more specifically, to an automated assembly equipment for miniature parts. Background Technology

[0002] With the rapid development of industries such as electronics, medical devices, and optical components, an increasing number of products require the assembly of micro-parts. These parts are typically small in size, complex in shape, and lightweight, making traditional manual assembly unable to meet their high-precision and high-speed requirements. To address this issue, automated assembly technology has emerged, especially in the assembly of micro-parts, where precise positioning, assembly, and quality inspection have become core challenges. Traditional assembly methods are not only inefficient but also prone to assembly errors, leading to inconsistent product quality. Therefore, automated assembly equipment for micro-parts based on machine vision, precision robotic arms, automatic feeding, and sensing technologies has become an important means to improve production efficiency and product quality.

[0003] One of the products developed by our company involves a micro-part. Because the assembly relationship of the micro-part needs to be adjusted during the assembly process to ensure proper assembly, special testing is required. Therefore, existing assembly equipment cannot meet the needs of automated assembly of this micro-part. If it is assembled manually, not only will the assembly accuracy not be guaranteed, but the assembly efficiency will also be extremely low and the labor intensity will be very high. Therefore, our company has developed a device for automated assembly of this micro-part to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide an automated assembly equipment for micro parts, which solves the problems that existing equipment cannot automate the micro parts developed by our company; while manual assembly not only fails to guarantee assembly accuracy, but also has extremely low assembly efficiency and high labor intensity.

[0005] This invention is achieved through the following technical solution: an automated assembly equipment for micro parts, comprising an equipment chamber, an equipment platform disposed therein, and a tooling module for loading micro parts. The micro parts include an insulating ring, a cylindrical inner core, and a metal outer shell. The equipment platform is equipped with: The loading module is used to place tooling modules and miniature parts; The robot transfer module is used to grasp tooling modules and micro parts and transfer them. The insulating ring assembly module is used to assemble the insulating ring and the cylindrical inner core, as well as to adjust the position of the cylindrical inner core. The vision inspection module is used to detect the position and orientation of the cylindrical core and to adjust it in conjunction with the insulating ring assembly module; it is also used to detect the effect of dispensing the micro-parts after the dispensing is completed. An automated assembly module is used to assemble micro-parts onto the tooling module and to assemble the cylindrical inner core with the metal outer shell; The detection and adjustment module is used to detect and adjust the assembly position of the cylindrical inner core and the metal outer shell; The dispensing module is used to dispense adhesive onto assembled micro-parts. The reverse testing module is used to detect whether the micro parts are qualified after dispensing.

[0006] To better realize the present invention, the tooling module further includes an upper tooling and a lower tooling. The upper tooling includes a PCB board and a carrier. The PCB board is mounted on the carrier. The PCB board is provided with a tooling detection probe, a metal shell connecting probe, and a cylindrical inner core connecting probe. The lower tooling is provided with a reserved through hole. The upper tooling and the lower tooling are connected by a third connecting bolt. A spring disc is provided between the upper tooling and the lower tooling. The cylindrical inner core is mounted on the upper tooling by a second connecting bolt, and the metal shell is mounted on the lower tooling by a first connecting bolt.

[0007] To better realize the present invention, the feeding module further includes a support member, a lower tooling tray, an upper tooling tray, an insulating ring tray, a cylindrical inner core tray, and a metal outer shell tray. The lower tooling tray, the upper tooling tray, the insulating ring tray, the cylindrical inner core tray, and the metal outer shell tray are all mounted on the equipment platform through one of the support members. The insulating ring tray is provided with multiple guide cones, and the insulating ring is sleeved on the guide cones. The lower tooling tray, the upper tooling tray, the insulating ring tray, the cylindrical inner core tray, and the metal outer shell tray are all provided with anti-foolproof positioning pins or anti-foolproof positioning grooves.

[0008] To better realize the present invention, the robot transplanting module further includes a robot, an adapter flange, and a transplanting module. The robot is mounted on the equipment platform, and the transplanting module is connected to the robot through the adapter flange. The transplanting module includes a base, a first transplanting claw, a second transplanting claw, a third transplanting claw, and a fourth transplanting claw. The base is connected to the robot, and the first transplanting claw, the second transplanting claw, the third transplanting claw, and the fourth transplanting claw are all mounted on the base.

[0009] To better realize the present invention, the insulating ring assembly module further includes a first assembly linear module, a turntable module, a reverse test plate, a second assembly linear module, an assembly electric cylinder, an assembly gripper module, and an assembly fixture module. The first assembly linear module and the second assembly linear module are both mounted on the equipment platform. The turntable module and the reverse test plate are both mounted on the output end of the first assembly linear module. The assembly fixture module is mounted on the output end of the turntable module. The assembly electric cylinder is mounted on the output end of the second assembly linear module. The assembly gripper module is mounted on the output end of the assembly electric cylinder.

[0010] To better realize the present invention, the visual inspection module further includes a visual linear module, an area scan camera, and a light source. The light source is mounted on the device platform, and the visual linear module and the area scan camera are both mounted on the output end of the light source. The visual linear module and the area scan camera are located directly above the first assembled linear module.

[0011] To better realize the present invention, the automatic assembly module further includes a screw fastening mechanism and an assembly mechanism; the screw fastening mechanism includes a screw fastening machine, a first screw fastening linear module, and a second screw fastening linear module, the second screw fastening linear module being mounted on the equipment platform, the first screw fastening linear module being mounted on the output end of the second screw fastening linear module, and the screw fastening machine being mounted on the output end of the first screw fastening linear module; the assembly mechanism includes a first assembly linear module, a second assembly linear module, an assembly gripper module, a third assembly linear module, a temporary storage disk, a first assembly fixture module, and a second assembly fixture module, the first assembly linear module and the third assembly linear module being mounted on the equipment platform, the second assembly linear module being mounted on the output end of the first assembly linear module, the assembly gripper module being mounted on the output end of the second assembly linear module, and the temporary storage disk, the first assembly fixture module, and the second assembly fixture module being mounted on the output end of the third assembly linear module.

[0012] To better realize the present invention, the detection and adjustment module further includes a detection mechanism and an adjustment mechanism. The detection mechanism includes a detection rotation module and a detection positioning fixture module. The detection rotation module is mounted on the equipment platform, and the detection positioning fixture module is mounted on the output end of the detection rotation module. The detection positioning fixture module is used to clamp the tooling module and is also provided with a detection probe that contacts the tooling detection needle. The adjustment mechanism includes a detection linear module and an electric torque screwdriver. The detection linear module is mounted on the equipment platform, and the electric torque screwdriver is mounted on the output end of the detection linear module. The detection linear module is used to tighten the third connecting bolt.

[0013] To better realize the present invention, the dispensing module further includes a first dispensing linear module, a second dispensing linear module, a third dispensing linear module, a dispensing rotation module, a dispensing cylinder, a dispensing fixture module, and a dispensing needle. The first dispensing linear module and the dispensing fixture module are both mounted on the equipment platform. The third dispensing linear module is mounted on the output end of the first dispensing linear module. The second dispensing linear module is mounted on the output end of the third dispensing linear module. The dispensing rotation module is mounted on the output end of the second dispensing linear module. The dispensing cylinder is mounted on the output end of the dispensing rotation module. The dispensing needle is mounted on the dispensing cylinder.

[0014] To better realize the present invention, the dispensing cylinder further includes a cylinder body, an aluminum sleeve, and an electric heating element. The aluminum sleeve is sleeved around the cylinder body, and the electric heating element covers the outer periphery of the aluminum sleeve. The dispensing module further includes a preheating module, which is installed on the equipment platform.

[0015] To better realize the present invention, the dispensing module further includes a needle alignment module, which is provided with two opposing photoelectric sensors for detecting the deviation value of the dispensing needle.

[0016] To better realize the present invention, the reverse measurement module further includes a first reverse measurement rotation module, a second reverse measurement rotation module, and a reverse measurement fixture module. The first reverse measurement rotation module is installed on the device platform, the second reverse measurement rotation module is installed at the output end of the first reverse measurement rotation module, and the reverse measurement fixture module is installed at the output end of the second reverse measurement rotation module. The structure of the reverse measurement fixture module is the same as that of the detection and positioning fixture module.

[0017] Compared with the prior art, the present invention has the following advantages and beneficial effects: (1) The present invention completes one product in a total time of 287s by having multiple modules work together. In actual production, the actions of different modules will be completed in parallel, and the second product will not be assembled until the first product is fully assembled. Instead, the loading and assembly will be carried out according to the actual situation of the module actions. Therefore, the cycle time in actual production will be higher than 287s. After analysis, it meets the demand of 100 pieces per day, which greatly improves the assembly efficiency of micro parts. (2) The present invention uses a specially designed tooling module to mount micro parts, making the micro parts easy to grasp during the assembly process without damaging the surface of the parts; at the same time, the detection and adjustment module can quickly detect the assembly position of the micro parts, ensuring the assembly quality of the parts and greatly improving the yield rate. (3) This invention ensures accurate positional relationships and good dispensing quality of micro parts by performing various forms of reverse testing on the assembled micro parts; and improves the finished product quality of micro parts through strict reverse testing methods. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0019] Figure 2 This is a schematic diagram of a micro-part structure.

[0020] Figure 3 This is a schematic diagram of the material feeding module.

[0021] Figure 4 This is a schematic diagram of a structure where micro-components are distributed.

[0022] Figure 5 This is a schematic diagram of the robot transfer module.

[0023] Figure 6 This is a schematic diagram of the transplanting module structure.

[0024] Figure 7 This is a schematic diagram of the insulating ring assembly module and the vision inspection module.

[0025] Figure 8 for Figure 7 Enlarged view of the local structure at point a.

[0026] Figure 9 This is a schematic diagram of the automatic assembly module.

[0027] Figure 10 This is a schematic diagram of the assembly mechanism.

[0028] Figure 11 This is a schematic diagram of the detection and adjustment module.

[0029] Figure 12 This is a schematic diagram of the tooling module structure.

[0030] Figure 13 Exploded views of tooling modules and miniature parts.

[0031] Figure 14 This is an exploded view of the tooling module structure.

[0032] Figure 15 This is a schematic diagram of the dispensing module structure.

[0033] Figure 16 This is a cross-sectional view of the dispensing cylinder structure.

[0034] Figure 17 This is a schematic diagram of the reverse test module structure.

[0035] The module includes: 10-Feeding module; 20-Robot transfer module; 30-Insulating ring assembly module; 40-Vision inspection module; 50-Automatic assembly module; 60-Inspection and adjustment module; 70-Dispensing module; 80-Reverse testing module; 90-Tooling module; A-Miniature parts; A1-Insulating ring; A2-Cylindrical inner core; A3-Metal shell; 101-Support component; 102-Lower tooling tray; 103-Upper tooling tray; 104-Insulating ring tray; 105-Cylindrical inner core tray; 106-Metal shell tray; 107-Guide cone; 201-Robot; 202-Adapter flange; 2 03-Transplanting Module; 2031-Substrate; 2032-First Transplanting Claw; 2033-Second Transplanting Claw; 2034-Third Transplanting Claw; 2035-Fourth Transplanting Claw; 301-First Assembly Linear Module; 302-Turntable Module; 303-Reverse Measurement Plate; 304-Second Assembly Linear Module; 305-Assembly Electric Cylinder; 306-Assembly Pressure Claw Module; 307-Assembly Fixture Module; 401-Vision Linear Module; 402-Area Scan Camera; 403-Light Source; 501-Nail Locking Machine; 502-First Nail Locking Linear Module; 503-Second Nail Locking Linear Module; 504-First Final Assembly Linear module; 505-Second assembly linear module; 506-Assembly gripper module; 507-Third assembly linear module; 508-Scratch disk; 509-First assembly fixture module; 510-Second assembly fixture module; 601-Detection linear module; 602-Electric torque screwdriver; 603-Detection positioning fixture module; 604-Detection rotary module; 701-First dispensing linear module; 702-Second dispensing linear module; 703-Third dispensing linear module; 704-Dispensing rotary module; 705-Dispensing cylinder; 7051-Cylinder body; 7052-Aluminum sleeve; 7053- Electric heating element; 706-Dispensing fixture module; 707-Dispensing needle; 708-Needle alignment module; 709-Preheating module; 801-First reverse rotation module; 802-Second reverse rotation module; 803-Reverse fixture module; 901-Upper fixture; 9011-PCB board; 9012-Carrier; 902-Spring disc; 903-Lower fixture; 904-Fitting detection needle; 905-Metal shell connecting probe; 906-Cylindrical inner core connecting probe; 907-First connecting bolt; 908-Second connecting bolt; 909-Third connecting bolt; 910-Reserved through hole. Detailed Implementation

[0036] 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0037] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0038] Example 1:

[0039] This embodiment provides an automated assembly device for micro parts, specifically as follows: Figure 1 , Figure 2 As shown, the system includes an equipment room containing an equipment platform made of marble, approximately 1500mm x 1700mm x 160mm in size. It also includes a tooling module 90 for mounting a micro-part A. Micro-part A comprises an insulating ring A1, a cylindrical inner core A2, and a metal outer shell A3. In the assembled micro-part A, the insulating ring A1 is fitted onto the cylindrical inner core A2, and the cylindrical inner core A2 is embedded in the metal outer shell A3. For a qualified micro-part A, the central axis of the cylindrical inner core A2 should coincide with the central axis of the metal outer shell A3. This coincidence can be determined by detecting the electrical signal output value of the cylindrical inner core A2. The equipment platform is equipped with: The loading module 10 is used to place the tooling module 90 and the micro part A; Robot transfer module 20 is used to grasp tooling module 90 and micro part A and transfer the two; The insulating ring assembly module 30 is used to assemble the insulating ring A1 and the cylindrical inner core A2, and to adjust the position of the cylindrical inner core A2. The visual inspection module 40 is used to detect the position and orientation of the cylindrical inner core A2 and to adjust it in conjunction with the insulating ring assembly module 30; and to detect the effect of the micro part A after dispensing. The automatic assembly module 50 is used to assemble the micro part A onto the tooling module 90 and to assemble the cylindrical inner core A2 with the metal outer shell A3. The detection and adjustment module 60 is used to detect and adjust the assembly position of the cylindrical inner core A2 and the metal outer shell A3. The dispensing module 70 is used to dispense adhesive onto the assembled micro part A; The reverse testing module 80 is used to detect whether the micro part A is qualified after dispensing.

[0040] During operation, the insulating ring A1, cylindrical inner core A2, metal shell A3, and tooling module 90 are first manually placed onto the feeding module 10. After the equipment is started, the robot transfer module 20 first picks up the insulating ring A1 and cylindrical inner core A2 and places them onto the insulating ring assembly module 30. The vision inspection module 40 detects and adjusts the position of the cylindrical inner core A2, and then the insulating ring A1 is assembled onto the cylindrical inner core A2. At the same time, the robot transfer module 20 picks up the tooling module 90 and metal shell A3 and places them onto the automatic assembly module 50, and then assembles the cylindrical inner core A2 and metal shell A3 onto the tooling module 90. At this point, the micro part A and the tooling module 90 are integrated. Then, the robot transfer module 20 picks up the tooling module 90 and places it onto the detection and adjustment module 60. The detection and adjustment module 60 detects the micro part A and fine-tunes the cylindrical inner core A2 by detecting the electrical signal of the cylindrical inner core A2. The relative position of the metal casing A3 is adjusted until the desired position is achieved. Then, the robot transfer module 20 picks up the adjusted micro-part A and tooling module 90 and places them on the dispensing module 70. At this time, the dispensing module 70 begins to dispense adhesive into the annular gap between the cylindrical core A2 and the metal casing A3 and heats it to cure. Finally, the robot transfer module 20 picks up the micro-part A and tooling module 90 and places them on the backtesting module 80 to retest the electrical signal of the cylindrical core A2 and then perform an insulation value test. Then, it picks them up on the automatic assembly module 50, separates the tooling module 90 from the micro-part A, and performs depth detection on the cylindrical core A2 and the metal casing A3. Finally, the micro-part A is picked up on the vision inspection module 40, which observes the dispensing position and the relative angle between the cylindrical core A2 and the metal casing A3 to ensure that the desired effect is achieved. At this point, the entire automated assembly process of the micro-part A is completed.

[0041] Example 2:

[0042] This embodiment further extends the above embodiment, specifically as follows: Figures 12-14As shown, the tooling module 90 includes an upper tooling 901 and a lower tooling 903. The upper tooling 901 includes a PCB board 9011 and a carrier 9012. The PCB board 9011 is mounted on the carrier 9012. The PCB board 9011 is provided with a tooling detection pin 904, a metal shell connection probe 905, and a cylindrical inner core connection probe 906. The metal shell connection probe 905 contacts the metal shell A3, and the cylindrical inner core connection probe 906 contacts the contact point on the cylindrical inner core A2. The lower tooling 903 is provided with a reserved through hole 910. During assembly, the upper tooling 901 and the lower tooling 903 are connected by a third connecting bolt 909. A spring disc 902 is provided between the upper tooling 901 and the lower tooling 903. The cylindrical inner core A2 is mounted on the upper tooling 901 by a second connecting bolt 908, and the metal shell A3 is mounted on the lower tooling 903 by a first connecting bolt 907.

[0043] like Figures 3-4 As shown, the loading module 10 includes a support 101, a lower tooling tray 102, an upper tooling tray 103, an insulating ring tray 104, a cylindrical inner core tray 105, and a metal outer shell tray 106. The lower tooling tray 102, the upper tooling tray 103, the insulating ring tray 104, the cylindrical inner core tray 105, and the metal outer shell tray 106 are all mounted on the equipment platform via the support 101. The insulating ring tray 104 is provided with multiple non-metallic guide cones 107. The lower tooling tray 102, the upper tooling tray 103, the insulating ring tray 104, the cylindrical inner core tray 105, and the metal outer shell tray 106 are all provided with anti-foolproof positioning pins and / or anti-foolproof positioning grooves.

[0044] The lower tooling 903 is placed on the lower tooling tray 102, the upper tooling 901 is placed on the upper tooling tray 103, the insulating ring A1 is sleeved on the guide cone 107, and the guide cone 107 is provided with a retaining plate, which is used to limit the insulating ring A1 at the opening to prevent it from rotating; the cylindrical inner core A2 is placed on the cylindrical inner core tray 105, and the metal outer shell A3 is placed on the metal outer shell tray 106. The lower tooling tray 102, upper tooling tray 103, insulating ring tray 104, cylindrical inner core tray 105, and metal shell tray 106 all meet the requirement of uninterrupted feeding of 9 PCS products. The support component 101 is used to adjust the height of the tray it supports to avoid interference with other moving components. By setting the foolproof positioning pin and / or foolproof positioning groove, the upper tooling 901, lower tooling 903, insulating ring A1, cylindrical inner core A2, and metal shell A3 are given a basic angle to ensure the position of subsequent processes. At the same time, it ensures that the guide cone 107 can avoid the pins on the cylindrical inner core A2 during assembly to prevent interference.

[0045] Additionally, this embodiment is also equipped with a handheld wired barcode scanner for information entry during product loading.

[0046] like Figures 5-6 As shown, the robot transplanting module 20 includes a robot 201, an adapter flange 202, and a transplanting module 203. The robot 201 is mounted on the equipment platform, and the transplanting module 203 is connected to the robot 201 through the adapter flange 202. The transplanting module 203 includes a base 2031, a first transplanting claw 2032, a second transplanting claw 2033, a third transplanting claw 2034, and a fourth transplanting claw 2035. The base 2031 is connected to the robot 201, and the first transplanting claw 2032, the second transplanting claw 2033, the third transplanting claw 2034, and the fourth transplanting claw 2035 are all mounted on the base 2031.

[0047] The transfer module 203 and the robot 201 are quickly assembled and disassembled using the adapter flange 202. The fourth transfer claw 2035 is used to grip the lower tooling 903, the third transfer claw 2034 is used to grip the guide cone 107 (driving the insulating ring A1), the second transfer claw 2033 is used to grip the upper tooling 901, and the first transfer claw 2032 is used to grip the cylindrical inner core A2 and the metal outer shell A3. Multiple gripping claws are coupled together through the base 2031, which can avoid replacing the gripping claws and improve work efficiency.

[0048] like Figures 7-8 As shown, the insulating ring assembly module 30 includes a first assembly linear module 301, a turntable module 302, a reverse test plate 303, a second assembly linear module 304, an assembly electric cylinder 305, an assembly gripper module 306, and an assembly fixture module 307. The first assembly linear module 301 and the second assembly linear module 304 are both mounted on the equipment platform. The turntable module 302 and the reverse test plate 303 are both mounted on the output end of the first assembly linear module 301. The assembly fixture module 307 is mounted on the output end of the turntable module 302. The assembly electric cylinder 305 is mounted on the output end of the second assembly linear module 304. The assembly gripper module 306 is mounted on the output end of the assembly electric cylinder 305. The visual inspection module 40 includes a visual linear module 401, an area scan camera 402, and a light source 403. The visual linear module 401 is model MV-CHD0505-4GC, and the lens is W micro-parts ALK-PTL05519-C-VI. The light source 403 is mounted on the equipment platform. The visual linear module 401 and the area scan camera 402 are both mounted on the output end of the light source 403. The visual linear module 401 and the area scan camera 402 are located directly above the first assembled linear module 301.

[0049] After the robot transfer module 20 picks up the cylindrical inner core A2 and places it onto the assembly fixture module 307, the assembly fixture module 307 clamps the cylindrical inner core A2. Simultaneously, the first assembly linear module 301 moves the assembly fixture module 307 directly below the vision linear module 401. At the same time, the light source 403 drives the vision linear module 401 to descend. Then, the area scan camera 402 is activated to provide illumination. The vision linear module 401 acquires the position of the cylindrical inner core A2 and processes the acquired image of the upper surface of the cylindrical inner core A2. The five pins on the top surface are identified, and then a straight line is fitted using an algorithm to adjust the direction of the cylindrical inner core A2. At this time, the turntable module 302 is activated, driving the assembly fixture module 307 and the cylindrical inner core A2 to rotate until the cylindrical inner core A2 rotates to the predetermined position. Then, the light source 403 drives the vision linear module 401 to reset, and the first assembly linear module 301 drives the turntable module 302, the assembly fixture module 307, and the cylindrical inner core A2 to move to the assembly pressure claw module 306. Simultaneously, the robot transfer module 20 also grasps the insulating ring A1 at this location, placing the guide cone 107 on the cylindrical inner core A2. Then, the assembly cylinder 305 is activated, driving the assembly gripper module 306 to move to the guide cone 107. The assembly gripper module 306 then slowly tightens, making the distance between the two grippers smaller than the diameter of the insulating ring A1 but larger than the outer diameter of the guide cone 107. Then, the second assembly linear module 304 pushes the assembly cylinder 305 and the assembly gripper module 306 downwards. At this time, the grippers of the assembly gripper module 306 contact and press down on the insulating ring A1. The guide cone 107 causes the insulating ring A1 to expand outwards evenly. Then, the insulating ring A1 detaches from the guide cone 107 and slides onto the cylindrical inner core A2 until the insulating ring A1 contracts due to elasticity and is stuck in the correct position on the cylindrical inner core A2. At this time, the assembly of the insulating ring A1 and the cylindrical inner core A2 is completed. Then, the robot transfer module 20 grasps the guide cone 107 onto the insulating ring tray 104.

[0050] like Figures 9-10As shown, the automatic assembly module 50 includes a screw fastening mechanism and an assembly mechanism; the screw fastening mechanism includes a screw fastening machine 501, a first screw fastening linear module 502, and a second screw fastening linear module 503. The second screw fastening linear module 503 is mounted on the equipment platform, the first screw fastening linear module 502 is mounted on the output end of the second screw fastening linear module 503, and the screw fastening machine 501 is mounted on the output end of the first screw fastening linear module 502. The screw fastening machine 501 is existing equipment, model ECM-SD3-F50STO; the assembly mechanism includes a first assembly linear module 504 and a second assembly linear module 505. 5. Assembly gripper module 506, third assembly linear module 507, temporary storage disk 508, first assembly fixture module 509, and second assembly fixture module 510. The first assembly linear module 504 and the third assembly linear module 507 are both mounted on the equipment platform. The second assembly linear module 505 is mounted on the output end of the first assembly linear module 504. The assembly gripper module 506 is mounted on the output end of the second assembly linear module 505. The temporary storage disk 508, the first assembly fixture module 509, and the second assembly fixture module 510 are all mounted on the output end of the third assembly linear module 507.

[0051] The installation steps are as follows: The robot transfer module 20 uses itself to pick up the assembled insulating ring A1 and cylindrical inner core A2 and place them onto the first assembly fixture module 509. At this point, the first assembly fixture module 509 clamps the cylindrical inner core A2. Then, the robot transfer module 20 uses itself to pick up the upper tooling 901 and place it onto the temporary storage disk 508. Next, the first assembly linear module 504, the second assembly linear module 505, and the assembly gripper module 506 work together to pick up the upper tooling 901 from the temporary storage disk 508 and place it above the cylindrical inner core A2. Finally, the third assembly linear module 507 moves the first assembly fixture module 509. The device moves to a predetermined position, and then the nail-locking machine 501, the first nail-locking linear module 502, and the second nail-locking linear module 503 cooperate. The nail-locking machine 501 picks up the second connecting bolt 908 that pops out of the nail box, and then inserts the second connecting bolt 908 from the axis of the upper tooling 901 and locks it together with the cylindrical inner core A2. Then, the robot transfer module 20 uses the lower tooling 903 to grab onto the second assembly fixture module 510, which clamps the lower tooling 903. Then, the robot transfer module 20 grabs a metal shell A3 and places it above the lower tooling 903. The fastening machine 501 picks up the first connecting bolt 907 that pops out of the nail box, then inserts the first connecting bolt 907 from the metal casing A3 and locks it together with the lower fixture 903. Finally, the robot transfer module 20 picks up the upper fixture 901 assembled with the cylindrical inner core A2 and places the upper fixture 901 above the lower fixture 903. At this time, the second assembly fixture module 510 still maintains the clamping state on the lower fixture 903. Then, the fastening machine 501 picks up the third connecting bolt 909 that pops out of the nail box, then inserts the third connecting bolt 909 from the upper fixture 901 and locks it together with the lower fixture 903. When the three connecting bolts 909 are tightened, the depth detection mechanism on the screw mechanism also starts to work. In this embodiment, the depth detection mechanism uses a laser rangefinder sensor (model: Aotes CD2H-245M122). When the upper tooling 901 and the lower tooling 903 are assembled, it is located directly above the inner core A2 of the cylinder. The depth is adjusted by the value fed back by the sensor in conjunction with the nail-locking machine 501 until the depth reaches the set value. After the assembly of the upper tooling 901 and the lower tooling 903 is completed, the spring disc 902 remains in a compressed state.

[0052] like Figure 11As shown, the detection and adjustment module 60 includes a detection mechanism and an adjustment mechanism. The detection mechanism includes a detection rotation module 604 and a detection positioning fixture module 603. The detection rotation module 604 is mounted on the equipment platform, and the detection positioning fixture module 603 is mounted on the output end of the detection rotation module 604. The detection positioning fixture module 603 is used to clamp the tooling module 90 and is also provided with a detection probe that contacts the tooling detection needle 904. The adjustment mechanism includes a detection linear module 601 and an electric torque screwdriver 602. The detection linear module 601 is mounted on the equipment platform, and the electric torque screwdriver 602 is mounted on the output end of the detection linear module 601. The detection linear module 601 is used to tighten the third connecting bolt 909.

[0053] The robot transfer module 20 picks up the assembled tooling module 90 and places it onto the detection and positioning fixture module 603. The detection and positioning fixture module 603 then clamps the lower tooling 903. At this time, the detection probe on the detection and positioning fixture module 603 is inserted into the reserved through hole 910 and connects with the tooling detection needle 904 in the reserved through hole 910. The DC power supply (model: DH1718E) is connected to the detection probe. The detection probe provides current to the upper tooling 901 through the tooling detection needle 904 and transmits it to the micro part A. At this time, the electrical signal of the micro part A is transmitted to the tooling detection needle 904 through the metal shell connecting probe 905, the cylindrical inner core connecting probe 906, and then back to the detection probe on the detection and positioning fixture module 603. At this time, the electrical signal can be obtained by connecting the detection probe with a digital voltmeter (model: DEKTE 34465A (6½-bit)). The DC power supply and the digital voltmeter are located on the equipment platform.

[0054] If the detected electrical signal does not match the expectation, the detection rotation module 604 is driven by the electrical signal, causing the detection positioning fixture module 603 and the tooling module 90 to rotate 90 degrees in one go. At this time, the electrical signal is acquired by a digital voltmeter and the data is transmitted to the PLC control system. Then, the adjustment amount of the electric torque screw machine 602 is obtained through data matching and algorithm processing. Then, the detection linear module 601 drives the electric torque screw machine 602 to approach the corresponding third connecting bolt 909 and starts to tighten the third connecting bolt 909, so that the relative position of the upper tooling 901 and the lower tooling 903 is finely adjusted. At this time, the position of the cylindrical inner core A2 and the metal shell A3 will be finely adjusted synchronously. The spring disc 902 is used to keep the position between the upper tooling 901 and the lower tooling 903 stable. The above steps are repeated four times. When the perpendicularity of the cylindrical inner core A2 and the metal shell A3 reaches the requirement and the four-position roller meter outputs the micro part A, the gate state difference and swing state difference both meet the requirements (≤1mV). During the adjustment process, the detected data is stored by an industrial control computer to form a large database. The more data there is, the more efficient the adjustment becomes.

[0055] like Figure 15 As shown, the dispensing module 70 includes a first dispensing linear module 701, a second dispensing linear module 702, a third dispensing linear module 703, a dispensing rotation module 704, a dispensing cylinder 705, a dispensing fixture module 706, and a dispensing needle 707. The first dispensing linear module 701 and the dispensing fixture module 706 are both mounted on the equipment platform. The third dispensing linear module 703 is mounted on the output end of the first dispensing linear module 701. The second dispensing linear module 702 is mounted on the output end of the third dispensing linear module 703. The dispensing rotation module 704 is mounted on the output end of the second dispensing linear module 702. The dispensing cylinder 705 is mounted on the output end of the dispensing rotation module 704. The dispensing needle 707 is mounted on the dispensing cylinder 705.

[0056] After the micro-part A is adjusted at the detection and adjustment module 60, the robot transfer module 20 picks up the tooling module 90 and places it on the dispensing module 70. The tooling module 90 is then placed on the dispensing clamp module 706 and clamped in place. Then, through the coordination of the first dispensing linear module 701, the second dispensing linear module 702, the third dispensing linear module 703, and the dispensing rotation module 704, the dispensing cylinder 705 begins to move, and the dispensing needle 707 begins the dispensing operation. In this embodiment, the dispensing module 70 uses a "Musashi" dispensing machine, employing syringe pressure dispensing; input air pressure: 0.4-0.8 MPa for micro-part A; input power: 100-240V AC; dispensing position accuracy: ±0.03 mm.

[0057] like Figure 17 As shown, the reverse testing module 80 includes a first reverse testing rotation module 801, a second reverse testing rotation module 802, and a reverse testing fixture module 803. The first reverse testing rotation module 801 is mounted on the equipment platform, the second reverse testing rotation module 802 is mounted on the output end of the first reverse testing rotation module 801, and the reverse testing fixture module 803 is mounted on the output end of the second reverse testing rotation module 802. The structure of the reverse testing fixture module 803 is the same as that of the detection and positioning fixture module 603.

[0058] After the micro-part A is glued and cured, the robot transfer module 20 picks up the tooling module 90 and places it on the reverse testing module 80. The reverse testing fixture module 803 clamps the tooling module 90, and then the second reverse testing rotation module 802 rotates 90 degrees to measure the product with a digital voltmeter and transmits the data to the PLC control system. The rotation test is repeated 4 times. Then, the first reverse testing rotation module 801 rotates 180 degrees to measure the product with a digital voltmeter and transmits the data to the PLC control system. Finally, an insulation resistance tester (model: VICTOR 9600S) is used to test the insulation value of the metal shell A3 and the cylindrical inner core A2. Then, the robot transfer module 20 picks up the inspected micro-part A and tooling module 90, and places them on the backtesting plate 303. The first assembly linear module 301 moves them to below the vision linear module 401. At this time, the vision inspection module 40 again acquires images of the micro-part A and checks whether the relative angle between the cylindrical inner core A2 and the metal outer shell A3 is qualified. Then, the robot transfer module 20 picks it up and places it at the automatic assembly module 50. The upper tooling 901 and lower tooling 903 are disassembled using the locking machine 501 to obtain the assembled micro-part A. During disassembly, the depth detection mechanism re-measures the relative depth between the cylindrical inner core A2 and the metal outer shell A3. If all values ​​are OK, the product is unloaded to the OK section; if there are NG values, they are recorded and unloaded to the NG area. This completes the entire assembly process for the micro-part A.

[0059] The other parts of this embodiment are the same as those in the above embodiments, and will not be described again.

[0060] Example 3:

[0061] This embodiment further expands the dispensing module 70 based on the above embodiment, specifically as follows: Figure 15 , Figure 16 As shown, the dispensing cylinder 705 includes a cylinder body 7051, an aluminum sleeve 7052, and an electric heating element 7053. The aluminum sleeve 7052 is sleeved around the cylinder body 7051, and the electric heating element 7053 covers the outer periphery of the aluminum sleeve 7052. The dispensing module 70 also includes a preheating module 709, which is mounted on the equipment platform.

[0062] Heat is transferred to the aluminum sleeve 7052 via the electric heating element 7053, and then the aluminum sleeve 7052 evenly transfers the heat to the cylinder 7051. This makes the temperature of the adhesive in the cylinder 7051 higher than the outside temperature, but not reaching the curing temperature, thereby reducing the viscosity of the adhesive and ensuring smooth dispensing. Before each operation, the dispensing needle 707 is placed in the preheating module 709 to preheat the dispensing needle 707, reducing the viscosity of the adhesive in the needle and preventing clogging.

[0063] The dispensing module 70 also includes a needle alignment module 708, which has two opposing photoelectric sensors for detecting the deviation value of the dispensing needle 707. Since there is a deviation in the position of each new needle tip installed, the needle alignment module 708 is used to confirm the deviation value and thus perform needle tip position compensation.

[0064] Operating Principle: Two opposing photoelectric sensors are positioned at the needle tip alignment point. Through the cooperation of the first dispensing linear module 701, the second dispensing linear module 702, the third dispensing linear module 703, and the dispensing rotation module 704, the needle tip is brought into contact with the photoelectric sensors along the X-axis. The rising edge of the photoelectric signal records the position of the needle tip. The needle tip then moves in the opposite direction to contact the photoelectric sensors, and the rising edge signal from the reverse contact is also recorded. The two sets of data are added together and averaged to obtain the deviation value of the needle tip along the X-axis. The same operation is performed along the Y-axis and height Z-axis to obtain the corresponding deviation values. Dispensing accuracy is ensured by adjusting the balance deviation value.

[0065] The other parts of this embodiment are the same as those in the above embodiments, and will not be described again.

[0066] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. An automated assembly equipment for micro parts, comprising an equipment room, wherein an equipment platform is provided in the equipment room, characterized in that, It also includes a tooling module (90) for loading a micro-part (A), the micro-part (A) comprising an insulating ring (A1), a cylindrical inner core (A2), and a metal outer shell (A3), on which the equipment platform is mounted: The loading module (10) is used to place the tooling module (90) and the micro parts (A); Robot transfer module (20) is used to grasp tooling module (90) and micro part (A) and transfer them; An insulating ring assembly module (30) is used to assemble the insulating ring (A1) and the cylindrical inner core (A2), and to adjust the position of the cylindrical inner core (A2); The vision inspection module (40) is used to detect the position and orientation of the cylindrical inner core (A2) and to adjust it in conjunction with the insulating ring assembly module (30); and to detect the effect of the micro part (A) after dispensing. An automatic assembly module (50) is used to assemble micro parts (A) onto the tooling module (90) and to assemble the cylindrical inner core (A2) with the metal outer shell (A3); The detection and adjustment module (60) is used to detect and adjust the assembly position of the cylindrical inner core (A2) and the metal outer shell (A3); A dispensing module (70) is used to dispense adhesive onto the assembled micro-parts (A); The reverse testing module (80) is used to detect whether the micro part (A) after dispensing is qualified; The tooling module (90) includes an upper tooling (901) and a lower tooling (903). The upper tooling (901) includes a PCB board (9011) and a carrier (9012). The PCB board (9011) is mounted on the carrier (9012). The PCB board (9011) is provided with a tooling detection probe (904), a metal shell connection probe (905), and a cylindrical inner core connection probe (906). The lower tooling (903) includes an upper tooling (901), a lower tooling (903), and a lower tooling (904). A reserved through hole (910) is provided. The upper tooling (901) and the lower tooling (903) are connected by a third connecting bolt (909). A spring disc (902) is provided between the upper tooling (901) and the lower tooling (903). The cylindrical inner core (A2) is installed on the upper tooling (901) by a second connecting bolt (908). The metal outer shell (A3) is installed on the lower tooling (903) by a first connecting bolt (907).

2. The automated assembly equipment for micro parts according to claim 1, characterized in that: The loading module (10) includes a support (101), a lower tooling tray (102), an upper tooling tray (103), an insulating ring tray (104), a cylindrical inner core tray (105), and a metal outer shell tray (106). The lower tooling tray (102), the upper tooling tray (103), the insulating ring tray (104), the cylindrical inner core tray (105), and the metal outer shell tray (106) are all mounted on the equipment platform through a support (101). The insulating ring tray (104) is provided with multiple guide cones (107), and the insulating ring (A1) is sleeved on the guide cones (107). The lower tooling tray (102), the upper tooling tray (103), the insulating ring tray (104), the cylindrical inner core tray (105), and the metal outer shell tray (106) are all provided with anti-foolproof positioning pins or anti-foolproof positioning grooves.

3. The automated assembly equipment for micro parts according to claim 2, characterized in that: The robot transplanting module (20) includes a robot (201), an adapter flange (202), and a transplanting module (203). The robot (201) is mounted on the equipment platform, and the transplanting module (203) is connected to the robot (201) through the adapter flange (202). The transplanting module (203) includes a base (2031), a first transplanting claw (2032), a second transplanting claw (2033), a third transplanting claw (2034), and a fourth transplanting claw (2035). The base (2031) is connected to the robot (201), and the first transplanting claw (2032), the second transplanting claw (2033), the third transplanting claw (2034), and the fourth transplanting claw (2035) are all mounted on the base (2031).

4. The automated assembly equipment for micro parts according to claim 3, characterized in that: The insulating ring assembly module (30) includes a first assembly linear module (301), a turntable module (302), a reverse test plate (303), a second assembly linear module (304), an assembly electric cylinder (305), an assembly gripper module (306), and an assembly fixture module (307). The first assembly linear module (301) and the second assembly linear module (304) are both installed on the equipment platform. The turntable module (302) and the reverse test plate (303) are both installed at the output end of the first assembly linear module (301). The assembly fixture module (307) is installed at the output end of the turntable module (302). The assembly electric cylinder (305) is installed at the output end of the second assembly linear module (304). The assembly gripper module (306) is installed at the output end of the assembly electric cylinder (305).

5. The automated assembly equipment for micro parts according to claim 4, characterized in that: The visual inspection module (40) includes a visual linear module (401), an area scan camera (402), and a light source (403). The light source (403) is mounted on the device platform. The visual linear module (401) and the area scan camera (402) are both mounted on the output end of the light source (403). The visual linear module (401) and the area scan camera (402) are located directly above the first assembled linear module (301).

6. The automated assembly equipment for micro parts according to claim 5, characterized in that: The automatic assembly module (50) includes a screw fastening mechanism and an assembly mechanism; the screw fastening mechanism includes a screw fastening machine (501), a first screw fastening linear module (502), and a second screw fastening linear module (503), the second screw fastening linear module (503) is mounted on the equipment platform, the first screw fastening linear module (502) is mounted on the output end of the second screw fastening linear module (503), and the screw fastening machine (501) is mounted on the output end of the first screw fastening linear module (502); the assembly mechanism includes a first assembly linear module (504), a second assembly linear module (505), an assembly gripper module (506), and a third assembly linear module. The assembly includes a group (507), a temporary storage disk (508), a first assembly fixture module (509), and a second assembly fixture module (510). The first assembly linear module (504) and the third assembly linear module (507) are all installed on the equipment platform. The second assembly linear module (505) is installed at the output end of the first assembly linear module (504). The assembly gripper module (506) is installed at the output end of the second assembly linear module (505). The temporary storage disk (508), the first assembly fixture module (509), and the second assembly fixture module (510) are all installed at the output end of the third assembly linear module (507).

7. The automated assembly equipment for micro parts according to claim 6, characterized in that: The detection and adjustment module (60) includes a detection mechanism and an adjustment mechanism. The detection mechanism includes a detection rotation module (604) and a detection positioning fixture module (603). The detection rotation module (604) is installed on the equipment platform. The detection positioning fixture module (603) is installed at the output end of the detection rotation module (604). The detection positioning fixture module (603) is used to clamp the tooling module (90) and is also provided with a detection probe that contacts the tooling detection needle (904). The adjustment mechanism includes a detection linear module (601) and an electric torque screwdriver (602). The detection linear module (601) is installed on the equipment platform. The electric torque screwdriver (602) is installed at the output end of the detection linear module (601). The detection linear module (601) is used to tighten the third connecting bolt (909).

8. The automated assembly equipment for micro parts according to claim 7, characterized in that: The dispensing module (70) includes a first dispensing linear module (701), a second dispensing linear module (702), a third dispensing linear module (703), a dispensing rotation module (704), a dispensing cylinder (705), a dispensing fixture module (706), and a dispensing needle (707). The first dispensing linear module (701) and the dispensing fixture module (706) are both mounted on the equipment platform. The third dispensing linear module (703) is mounted on the output end of the first dispensing linear module (701). The second dispensing linear module (702) is mounted on the output end of the third dispensing linear module (703). The dispensing rotation module (704) is mounted on the output end of the second dispensing linear module (702). The dispensing cylinder (705) is mounted on the output end of the dispensing rotation module (704). The dispensing needle (707) is mounted on the dispensing cylinder (705).

9. The automated assembly equipment for micro parts according to claim 8, characterized in that: The dispensing cylinder (705) includes a cylinder body (7051), an aluminum sleeve (7052), and an electric heating element (7053). The aluminum sleeve (7052) is sleeved around the cylinder body (7051), and the electric heating element (7053) covers the aluminum sleeve (7052). The dispensing module (70) also includes a preheating module (709), which is installed on the equipment platform.

10. The automated assembly equipment for micro parts according to claim 8, characterized in that: The dispensing module (70) also includes a needle alignment module (708), which is equipped with two opposing photoelectric sensors for detecting the deviation value of the dispensing needle (707).

11. An automated assembly equipment for micro parts according to any one of claims 8-10, characterized in that: The backtesting module (80) includes a first backtesting rotation module (801), a second backtesting rotation module (802), and a backtesting fixture module (803). The first backtesting rotation module (801) is installed on the equipment platform, the second backtesting rotation module (802) is installed at the output end of the first backtesting rotation module (801), and the backtesting fixture module (803) is installed at the output end of the second backtesting rotation module (802). The structure of the backtesting fixture module (803) is the same as that of the detection and positioning fixture module (603).

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