CN103787269A - Automatic micro-assembling device with reconfigurable modularization characteristic - Google Patents
Automatic micro-assembling device with reconfigurable modularization characteristic Download PDFInfo
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Abstract
The invention belongs to the technical field of mechanical manufacturing, and particularly relates to a modularized assembling device. According to the technical scheme, an automatic micro-assembling device comprises an autonomous assembling unit (1), an assembly line auxiliary unit (2) and a feeding and discharging unit (3), wherein the autonomous assembling unit (1) comprises a carrying manipulator (5), a micro gripper assembly (6), a coaxial counter-point detection assembly (7), a micro-positioning platform assembly (8), a supporting frame (9) and a vertical supporting pillar (14); the assembly line auxiliary unit (2) comprises a conveyor line module (10) and a basic unit (11); the feeding and discharging unit (3) comprises an automatic feeding mechanism (12) and a conveying robot (13). According to the device, a whole assembling system has feeding, assembling, detecting, dispensing, packaging and blanking processes, so that the high-precision in-batch assembling of non-silicon MEMS (Micro-electro-Mechanical System) parts can be implemented, and the assembling of single and small-batch microminiature structural members also can be implemented.
Description
Technical field
The invention belongs to machinery manufacturing technology field, be specifically related to a kind of modular assembling device.
Background technology
Non-silicon MEMS device architecture figure complexity, mostly by assembling to the medium scale parts of millimeter magnitude in micron, owing to there is no special assembly equipment, the non-silicon MEMS device assembling of developing can only be carried out under the microscope by hand, and its assembly precision General Requirements micron order and assembling process are very easily damaged.There is the following problem that is difficult to overcome in hand assembled under the microscope:
(1) cannot meet the required precision that non-silicon MEMS device assembles; People's eyes range estimation is difficult to differentiate micron-sized position difference, when coordinates while carrying out assembly manipulation its position location capability poorer with palmistry, is unpractical so will reach micron order assembling aligning accuracy, and after assembling, uniformity is also difficult to assurance;
(2) be difficult to meet the reliable demand of assembling of not damaged; During due to human eye and palmistry cooperation, position location capability is poor, when assembling, be difficult to guarantee do not bump and scratch between assembly, and concerning microminiature device, the particularly bullet device such as microminiature fuse, trickle damage just likely makes device lose efficacy in the time of work, and this is the problem that bullet device must be avoided as possible; In addition, the human error in hand assembled process is one of main source of bullet device reliability problem;
(3) hand assembled efficiency is very low; Because the microminiature devices such as the non-silicon MEMS of hand assembled fuse must carry out under the microscope, the action need eye hand close fit such as its clamping, contraposition just can complete, so compared with lower compared with macrostructure device efficiency of assembling, cannot meet non-silicon MEMS device development and manufacture experimently in batches Production requirement;
At present both at home and abroad for the exploitation of microassembly system or be to break through for single technology, not yet form the microassembly system that can realize batch production, it is the lower assembly precision requirement that is difficult to meet current non-silicon MEMS of assembly precision, or be that system lacks flexibility, in the time that product is retrofited, the upgrading of be difficult at lower cost, fast speed realizing assembly system.Therefore, urgent need will be researched and developed for non-silicon MEMS mass production and possess the flexible automation microassembly system of single and mini-batch production assemble ability.
Summary of the invention
The object of the invention is: provide a kind of micro-assembling device of high accuracy towards non-silicon MEMS mass production, and this system can be carried out according to assembling demand reconfigurable;
Technical scheme of the present invention is: have automatic micro-assembling device of reconfigurable modular characteristics, it comprises: autonomous type assembly unit, assembly line auxiliary unit and loading and unloading unit;
Autonomous type assembly unit comprises: conveying robot, micro clamping device assembly, coaxial alignment detection components, micromotion platform assembly, bracing frame and support post;
Conveying robot possesses vertical and two adjustment frees degree of level;
Micro clamping device assembly comprises: body, adpting flange and be arranged on vacuum suction head, two finger formula clampers, gasbag-type clamper and the point gum machine of body surrounding; Vacuum suction head is provided with power sensor; Two finger formula clampers comprise: drive motors, strain-type spring leaf, static catch; Drive motors and static catch are installed on body by keyset, and strain-type spring leaf is installed on drive motors, post foil gauge at strain-type spring leaf; Gasbag-type clamper comprises: hollow type adapter and air bag; Hollow type adapter connects air bag and body; Hollow type adapter is provided with tracheae adapter; Connect on body adpting flange is installed;
Coaxial alignment detection components comprises: prism unit, camera adjusting mechanism, photomoduel, prismatic adjustment mechanism and prism inlet/outlet mechanism; Prism unit comprises: Amici prism, light source and prism bracing frame; Amici prism is arranged on prism bracing frame, and it is setting up and down light source; Camera adjusting mechanism can carry out pitch regulation and orientation regulates; Prismatic adjustment mechanism has three and adjusts the free degree; Prism inlet/outlet mechanism comprises: Rodless cylinder, hydraulic bjuffer, taper pin positioning mechanism; The quantity of hydraulic bjuffer has two, is installed on respectively the two ends of Rodless cylinder; Taper pin positioning mechanism is installed on the slide block of Rodless cylinder, matches with the pin-and-hole on support post; Prism unit is installed in prismatic adjustment mechanism, and prismatic adjustment mechanism is installed on the Rodless cylinder of prism inlet/outlet mechanism, and photomoduel is installed on camera adjusting mechanism;
Micromotion platform assembly comprises: micromotion platform and supplementary structure mounted thereto; Two motion in one dimension platforms of micromotion platform and a fine motion turntable; Supplementary structure comprises: comprise four staged screws, cylinder A, U-shaped jacking block and cylinder supports frame; Cylinder A is installed on cylinder supports frame, and U-shaped jacking block is installed on the push rod of cylinder A, and four staged screws are installed on cylinder supports frame;
Autonomous type assembly unit integrated connection closes: support post is installed on bracing frame, and conveying robot is installed on support post, and micro clamping device assembly is installed on the front end of conveying robot by its adpting flange; Prism inlet/outlet mechanism in coaxial alignment detection components is installed on support post, camera adjusting mechanism in coaxial alignment detection components, is installed on bracing frame; Micromotion platform assembly is installed on bracing frame body structure inside;
Assembly line auxiliary unit comprises: transfer line module and base unit;
Transfer line module comprises: push rod, push rod support unit, large stroke cylinder, guide rail, pallet and position-limit mechanism;
Push rod is provided with spring stretching structure; Push rod support unit comprises: the fixed mount of roller and roller; Guide rail is provided with spill oil groove, rubber roll and dust cover; Pallet comprises: chuck body and be installed on the lubrication belt of chuck body lower surface; Push rod is connected with large stroke cylinder, and push rod support unit and guide rails assembling are on the bracing frame of autonomous type assembly unit, and push rod is supported by roller; Pallet contacts with guide rail by its lubrication belt; Push rod promotes pallet by its spring stretching structure; Position-limit mechanism is installed on the dust cover of guide rail;
Base unit comprises: table top is marmorean assembly line brace table;
Loading and unloading unit comprises: automatic feed mechanism and transfer robot;
Automatic feed mechanism is feeding unit material, and it comprises: vibrations feed table, straight line feeder and line slideway; Line slideway is connected with the discharging opening of vibrations feed table, and straight line feeder is disposed at the below of line slideway for driving the movement of workpiece on line slideway;
The artificial blanking unit of conveying robot;
Autonomous type assembly unit, loading and unloading cell location are on the marble countertop of assembly line auxiliary unit.
The invention has the beneficial effects as follows: (1) the present invention can carry out according to assembling demand reconfigurable, at lower cost, fast speed adapts to the remodeling demand of product.This microassembly system comprehensively assembles aligning accuracy can reach 3 μ m, 30 seconds/part of assembling beat, and whole assembling process is without artificial participation;
(2) the present invention includes autonomous type assembly unit, assembly line auxiliary unit, loading and unloading unit, whole assembly system is provided with material loading, assembling, detection, some glue, encapsulation and blanking procedure, can complete the mass high accuracy assembling of non-silicon MEMS part, also can realize the assembling of single and mini-batch production micro-miniature structures part;
(3) require according to assembling beat and the difference of assembling object number of parts can be carried out autonomous type assembly unit reconfigurablely, flexible combination becomes to meet the microassembly system of functional efficiency demand.
Accompanying drawing explanation
Fig. 1 is structure top view of the present invention;
Fig. 2 is structure composition frame chart of the present invention;
Fig. 3 is the structural representation of autonomous type assembly unit of the present invention;
Fig. 4 is the structural representation of micro clamping device assembly in autonomous type assembly unit of the present invention;
Fig. 5 is the structural representation of coaxial alignment detection components in autonomous type assembly unit of the present invention;
Fig. 6 is the structural representation of micromotion platform assembly in autonomous type assembly unit of the present invention;
Fig. 7 is the structural representation of assembly line auxiliary unit of the present invention;
Fig. 8 is the structural representation of push rod support unit in assembly line auxiliary unit of the present invention;
Fig. 9 is the structural representation of assembly line auxiliary unit middle guide of the present invention;
Figure 10 is the structural representation of pallet in assembly line auxiliary unit of the present invention;
Figure 11 is the structural representation of base unit in assembly line auxiliary unit of the present invention;
Figure 12 is the structural representation of automatic feed mechanism in loading and unloading of the present invention unit;
Wherein, 1-autonomous type assembly unit, 2-assembly line auxiliary unit, 3-loading and unloading unit, 5-conveying robot, 6-micro clamping device assembly, 6-1 body, 6-2 adpting flange, 6-3 vacuum suction head, 6-3-1 power sensor, 6-4 two finger formula clampers, 6-4-1 drive motors, 6-4-2 strain-type spring leaf, the static catch of 6-4-3, 6-5 gasbag-type clamper, 6-5-1 hollow type adapter, 6-5-2 air bag, 6-5-3 tracheae adapter, 6-6 point gum machine, 7-coaxial alignment detection components, 7-1 prism unit, 7-1-1 Amici prism, 7-1-2 light source, 7-1-3 prism bracing frame, 7-2 camera adjusting mechanism, 7-3 photomoduel, 7-4 prismatic adjustment mechanism, 7-5 prism inlet/outlet mechanism, 7-5-1 Rodless cylinder, 7-5-2 hydraulic bjuffer, 7-5-3 taper pin positioning mechanism, 8-micromotion platform assembly, 8-1 micromotion platform, 8-2 supplementary structure, 8-2-1 staged screw, 8-2-2 cylinder A, 8-2-3U type jacking block, 8-2-4 cylinder supports frame, 9-bracing frame, 10-transfer line module, 10-1 push rod, 10-2 push rod support unit, 10-2-1 roller, 10-2-2 fixed mount, the large stroke cylinder of 10-3, 10-4 guide rail, 10-4-1 spill oil groove, 10-4-2 rubber roll, 10-4-3 dust cover, 10-5 pallet, 10-6 position-limit mechanism, 11-base unit, 11-1 marble, 11-2 assembly line brace table, 12-automatic feed mechanism, 12-1 shakes feed table, 12-2 straight line feeder, 12-3 line slideway, 13-transfer robot, 14-support post.
The specific embodiment
Referring to accompanying drawing 1,2, there is automatic micro-assembling device of reconfigurable modular characteristics, whole assembly system is provided with material loading, assembling, detection, some glue, encapsulation and blanking procedure, can complete the mass high accuracy assembling of non-silicon MEMS part, also can realize the assembling of single and mini-batch production micro-miniature structures part;
Whole assembly system comprise cell level other: autonomous type assembly unit 1, assembly line auxiliary unit 2 and loading and unloading unit 3; Each unit is again by multiple modular module compositions; Require and the difference of assembling object number of parts can be carried out autonomous type assembly unit 1 reconfigurablely according to assembling beat, flexible combination becomes to meet the microassembly system of functional efficiency demand;
Below the assembly of autonomous type assembly unit 1, assembly line auxiliary unit 2 and loading and unloading unit 3 internal mold blockings is described further;
Referring to accompanying drawing 3, autonomous type assembly unit 1 comprises: conveying robot 5, micro clamping device assembly 6, coaxial alignment detection components 7, micromotion platform assembly 8, bracing frame 9 and support post 14;
Conveying robot 5 possesses vertical and two adjustment frees degree of level;
Referring to accompanying drawing 4, micro clamping device assembly 6 comprises: body 6-1, adpting flange 6-2 and be arranged on a vacuum suction 6-3, two finger formula clamper 6-4, gasbag-type clamper 6-5 and the point gum machine 6-6 of body 6-1 surrounding; A vacuum suction 6-3 is provided with power sensor 6-3-1; Two finger formula clamper 6-4 comprise: drive motors 6-4-1, strain-type spring leaf 6-4-2, static catch 6-4-3; It is upper that drive motors 6-4-1 and static catch 6-4-3 are installed on body 6-1 by keyset, and it is upper that strain-type spring leaf 6-4-2 is installed on drive motors 6-4-1, and at strain-type spring leaf, 6-4-2 posts foil gauge; Gasbag-type clamper 6-5 comprises: hollow type adapter 6-5-1 and air bag 6-5-2; Hollow type adapter 6-5-1 connects air bag 6-5-2 and body 6-1; On hollow type adapter 6-5-1, be also provided with tracheae adapter 6-5-3; Connect on body adpting flange 6-2 is installed;
Referring to accompanying drawing 5, coaxial alignment detection components 7 comprises: prism unit 7-1, camera adjusting mechanism 7-2, photomoduel 7-3, the 7-4 of prismatic adjustment mechanism and prism inlet/outlet mechanism 7-5; Prism unit 7-1 comprises: Amici prism 7-1-1, light source 7-1-2 and prism bracing frame 7-1-3; It is upper that Amici prism 7-1-1 is arranged on prism bracing frame 7-1-3, and it is setting up and down light source 7-1-2; Camera adjusting mechanism 7-2 has pitch regulation and orientation regulatory function; The 7-4 of prismatic adjustment mechanism has three and adjusts the free degree; Prism inlet/outlet mechanism 7-5 comprises: Rodless cylinder 7-5-1, hydraulic bjuffer 7-5-2, taper pin positioning mechanism 7-5-3; The quantity of hydraulic bjuffer 7-5-2 has two, is installed on respectively the two ends of Rodless cylinder 7-5-1; Taper pin positioning mechanism 7-5-3 is installed on the slide block of Rodless cylinder 7-5-1, matches with the pin-and-hole on support post 14; Prism unit 7-1 is installed on the 7-4 of prismatic adjustment mechanism, and the 7-4 of prismatic adjustment mechanism is installed on the Rodless cylinder 7-5-1 of prism inlet/outlet mechanism 7-5, and photomoduel 7-3 is installed on camera adjusting mechanism 7-2;
Referring to accompanying drawing 6, micromotion platform assembly 8 comprises: micromotion platform 8-1 and supplementary structure 8-2 mounted thereto; Two motion in one dimension platforms of micromotion platform 8-1 and a fine motion turntable; Supplementary structure 8-2 comprises: comprise four staged screw 8-2-1, cylinder A8-2-2, U-shaped jacking block 8-2-3 and cylinder supports frame 8-2-4; It is upper that cylinder A8-2-2 is installed on cylinder supports frame 8-2-4, and U-shaped jacking block 8-2-3 is installed on the push rod of cylinder A8-2-2, and four staged screw 8-2-1 are installed on cylinder supports frame 8-2-4;
Autonomous type assembly unit 1 integrated connection closes and is: support post 14 is installed on bracing frame 9, and conveying robot 5 is installed on support post 14, and micro clamping device assembly 6 is installed on the front end of conveying robot 5 by its adpting flange 6-2; Prism inlet/outlet mechanism 7-5 in coaxial alignment detection components 7 is installed on support post 14, camera adjusting mechanism 7-2 in coaxial alignment detection components 7, is installed on bracing frame 9; Micromotion platform assembly 8 is installed on bracing frame 9 body structure inside;
Referring to accompanying drawing 7, assembly line auxiliary unit 2 comprises: transfer line module 10 and base unit 11;
Referring to accompanying drawing 8,9,10, push rod 10-1 is provided with spring stretching structure; Push rod support unit 10-2 comprises: the fixed mount 10-2-2 of roller 10-2-1 and roller 10-2-1; Guide rail 10-4 is provided with spill oil groove 10-4-1, rubber roll 10-4-2 and dust cover 10-4-3; Pallet 10-5 comprises: chuck body 10-5-1 and be installed on the lubrication belt 10-5-2 of chuck body lower surface; Push rod 10-1 is connected with large stroke cylinder 10-3, and push rod support unit 10-2 and guide rail 10-4 are installed on the bracing frame 9 of autonomous type assembly unit 1, and push rod 10-1 is supported by roller 10-2-1; Pallet 10-5 contacts with guide rail 10-4 by its lubrication belt 10-5-2; Push rod 10-1 promotes pallet 10-5 by its spring stretching structure; Position-limit mechanism 10-6 is installed on the dust cover 10-4-3 of guide rail 10-4; Push rod 10-1 adopts multi-section structure, adopts pin to connect between every joint structure; The joint number of push rod 10-1 is corresponding with the quantity of autonomous type assembly unit 1; Position-limit mechanism 10-6 adopts cylinder B;
Referring to accompanying drawing 11, base unit 11 comprises: table top is the assembly line brace table 11-2 of marble 11-1;
Referring to accompanying drawing 12, loading and unloading unit 3 comprises: automatic feed mechanism 12 and transfer robot 13;
Integrated connection closes: autonomous type assembly unit 1, loading and unloading unit 3 are disposed on the marble 11-1 table top of assembly line auxiliary unit 2.
When use: the pallet 10-5 in assembly line auxiliary unit 2 moves under the driving of push rod 10-1 and large stroke cylinder 10-3, until the limited 10-6 of mechanism institute is spacing, pallet 10-5 clamping matrix part arrives assembly section; Supplementary structure 8-2 in micromotion platform assembly 8 by cylinder A8-2-2 and U-shaped jacking block 8-2-3 by pallet 10-5 jack-up, make the upper end of four staged screw 8-2-1 snap in the T-slot of pallet 10-5 lower surface, realize being connected of micromotion platform assembly 8 and pallet 10-5; Meanwhile, automatic feed mechanism 12 in loading and unloading unit 3 is placed in accessory to be installed the discharging opening of vibrations feed table 12-1 according to certain attitude, conveying robot 5 moves to the discharging opening of vibrations feed table 12-1 and clamps accessory to be installed by micro clamping device assembly 6, moves to subsequently assembly section;
Prism unit 7-1 in coaxial alignment detection components 7 moves between accessory to be installed and matrix part under the driving effect of prism inlet/outlet mechanism 7-5, and realizes the accurate location of prism unit 7-1 by its taper pin positioning mechanism 7-5-3; Open the light source 7-1-2 of top, gather the image information of accessory to be installed by photomoduel 7-3; Close the light source 7-1-2 of top, the light source 7-1-2 that opens below gathers the image information of matrix part, carry out position deviation detection according to the image information of matrix part and accessory to be installed, deviation information is delivered to micromotion platform assembly 8, and micromotion platform assembly 8 drives pallet to realize the accurate pose adjustment of matrix part; Prism unit 7-1 shifts out under the driving effect of prism inlet/outlet mechanism 7-5; Conveying robot 5 and micro clamping device assembly 6 move down, and complete assembling;
Automatic micro-assembling device with reconfigurable modular characteristics is furnished with multiple autonomous type assembly units 1 of simultaneously working, each autonomous type assembly unit 1 completes 1-2 assembly process, select a vacuum suction 6-3, two finger formula clamper 6-4, gasbag-type clamper 6-5 and point gum machine 6-6 according to setting, realize the assembly process of absorption, clamping or some glue; After the assembly process at this place completes, the pallet 10-5 in the assembly line auxiliary unit 2 at this place is transported to next autonomous type assembly unit 1 place by matrix part and proceeds assembling, until assembly work all completes;
Assembling finished product is transported to blanking station by pallet 10-5, carries out blanking storage by transfer robot 13.
In such scheme, transfer robot 13 adopts ABB IRB120; A vacuum suction 6-3 adopts the PAT-02 of gas Leco Corporation; Point gum machine 6-6 adopts AXXON D-510; Camera in photomoduel 7-3 adopts POINT GREY FL2G-50S5M/C, and camera lens adopts NAVITAR 12*ZOOM; The model of power sensor 6-3-1 is WM-5N.
Claims (3)
1. automatic micro-assembling device with reconfigurable modular characteristics, is characterized in that: it comprises: autonomous type assembly unit (1), assembly line auxiliary unit (2) and loading and unloading unit (3);
Autonomous type assembly unit (1) comprising: conveying robot (5), micro clamping device assembly (6), coaxial alignment detection components (7), micromotion platform assembly (8), bracing frame (9) and support post (14);
Conveying robot (5) possesses vertical and two adjustment frees degree of level;
Micro clamping device assembly (6) comprising: body (6-1), adpting flange (6-2) and be arranged on vacuum suction head (6-3), two finger formula clampers (6-4), gasbag-type clamper (6-5) and the point gum machine (6-6) of body (6-1) surrounding; Vacuum suction head (6-3) is provided with power sensor (6-3-1); Two finger formula clampers (6-4) comprising: drive motors (6-4-1), strain-type spring leaf (6-4-2), static catch (6-4-3); Drive motors (6-4-1) is installed on body (6-1) above with static catch (6-4-3) by keyset, and it is upper that strain-type spring leaf (6-4-2) is installed on drive motors (6-4-1), posts foil gauge at strain-type spring leaf (6-4-2); Gasbag-type clamper (6-5) comprising: hollow type adapter (6-5-1) and air bag (6-5-2); Hollow type adapter (6-5-1) connects air bag (6-5-2) and body (6-1); Hollow type adapter (6-5-1) is provided with tracheae adapter (6-5-3); Connect on body adpting flange (6-2) is installed;
Coaxial alignment detection components (7) comprising: prism unit (7-1), camera adjusting mechanism (7-2), photomoduel (7-3), prismatic adjustment mechanism (7-4) and prism inlet/outlet mechanism (7-5); Prism unit (7-1) comprising: Amici prism (7-1-1), light source (7-1-2) and prism bracing frame (7-1-3); It is upper that Amici prism (7-1-1) is arranged on prism bracing frame (7-1-3), and it is setting up and down light source (7-1-2); Camera adjusting mechanism (7-2) can carry out pitch regulation and orientation regulates; Prismatic adjustment mechanism (7-4) has three and adjusts the free degree; Prism inlet/outlet mechanism (7-5) comprising: Rodless cylinder (7-5-1), hydraulic bjuffer (7-5-2), taper pin positioning mechanism (7-5-3); The quantity of hydraulic bjuffer (7-5-2) has two, is installed on respectively the two ends of Rodless cylinder (7-5-1); Taper pin positioning mechanism (7-5-3) is installed on the slide block of Rodless cylinder (7-5-1), matches with the pin-and-hole on support post (14); Prism unit (7-1) is installed in prismatic adjustment mechanism (7-4), and prismatic adjustment mechanism (7-4) is installed on the Rodless cylinder (7-5-1) of prism inlet/outlet mechanism (7-5), and photomoduel (7-3) is installed on camera adjusting mechanism (7-2);
Micromotion platform assembly (8) comprising: micromotion platform (8-1) and supplementary structure (8-2) mounted thereto; Two motion in one dimension platforms of micromotion platform (8-1) and a fine motion turntable; Supplementary structure (8-2) comprising: comprise four staged screws (8-2-1), cylinder A(8-2-2), U-shaped jacking block (8-2-3) and cylinder supports frame (8-2-4); Cylinder A(8-2-2) to be installed on cylinder supports frame (8-2-4) upper, U-shaped jacking block (8-2-3) is installed on cylinder A(8-2-2) push rod on, four staged screws (8-2-1) are installed on cylinder supports frame (8-2-4);
Autonomous type assembly unit (1) integrated connection closes: support post (14) is installed on bracing frame (9), it is upper that conveying robot (5) is installed on support post (14), and micro clamping device assembly (6) is installed on the front end of conveying robot (5) by its adpting flange (6-2); It is upper that prism inlet/outlet mechanism (7-5) in coaxial alignment detection components (7) is installed on support post (14), camera adjusting mechanism (7-2) in coaxial alignment detection components (7), is installed on bracing frame (9); Micromotion platform assembly (8) is installed on bracing frame (9) body structure inside;
Assembly line auxiliary unit (2) comprising: transfer line module (10) and base unit (11);
Transfer line module (10) comprising: push rod (10-1), push rod support unit (10-2), large stroke cylinder (10-3), guide rail (10-4), pallet (10-5) and position-limit mechanism (10-6);
Push rod (10-1) is provided with spring stretching structure; Push rod support unit (10-2) comprising: the fixed mount (10-2-2) of roller (10-2-1) and roller (10-2-1); Guide rail (10-4) is provided with spill oil groove (10-4-1), rubber roll (10-4-2) and dust cover (10-4-3); Pallet (10-5) comprising: chuck body (10-5-1) and be installed on the lubrication belt (10-5-2) of chuck body lower surface; Push rod (10-1) is connected with large stroke cylinder (10-3), and push rod support unit (10-2) is upper with the bracing frame (9) that guide rail (10-4) is installed on autonomous type assembly unit (1), and push rod (10-1) is supported by roller (10-2-1); Pallet (10-5) contacts with guide rail (10-4) by its lubrication belt (10-5-2); Push rod (10-1) promotes pallet (10-5) by its spring stretching structure; Position-limit mechanism (10-6) is installed on the dust cover (10-4-3) of guide rail (10-4);
Base unit (11) comprising: table top is the assembly line brace table (11-2) of marble (11-1);
Loading and unloading unit (3) comprising: automatic feed mechanism (12) and transfer robot (13);
Automatic feed mechanism (12) is feeding unit material, and it comprises: vibrations feed tablies (12-1), straight line feeder (12-2) and line slideway (12-3); Line slideway (12-3) is connected with the discharging opening of vibrations feed tablies (12-1), and the below that straight line feeder (12-2) is disposed at line slideway (12-3) is used for driving the above movement of workpiece of line slideway (12-3);
Transfer robot (13) is blanking unit;
Autonomous type assembly unit (1), loading and unloading unit (3) are disposed on marble (11-1) table top of assembly line auxiliary unit (2).
2. automatic micro-assembling device with reconfigurable modular characteristics as claimed in claim 1, is characterized in that: described push rod (10-1) adopts multi-section structure, adopts pin to connect between every joint structure; The joint number of described push rod (10-1) is corresponding with the quantity of described autonomous type assembly unit (1).
3. automatic micro-assembling device with reconfigurable modular characteristics as claimed in claim 1 or 2, is characterized in that: described position-limit mechanism (10-6) adopts cylinder B.
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| CN107438357A (en) * | 2016-05-25 | 2017-12-05 | 富泰华工业（深圳）有限公司 | Automatic assembling device |
| CN111993423A (en) * | 2020-08-17 | 2020-11-27 | 北京理工大学 | Modular intelligent assembling system |
| CN112543592A (en) * | 2020-12-07 | 2021-03-23 | 合肥高地创意科技有限公司 | Quick installation component for mobile terminal chip |
| CN114260143A (en) * | 2021-12-28 | 2022-04-01 | 廊坊展翔精密机械有限公司 | Special automatic glue dispenser for Stirling refrigerator |
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| CN202690788U (en) * | 2012-07-31 | 2013-01-23 | 山东迅捷精密设备有限公司 | Full-automatic assembling machine for micro bearing |
| CN103232024A (en) * | 2013-04-08 | 2013-08-07 | 苏州大学 | Automated bonding device used in long glass column anodic bonding |
| CN103447807A (en) * | 2013-08-28 | 2013-12-18 | 深圳市海目星激光科技有限公司 | Automatic assembling method and device of silica-gel soft nails |
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| CN111993423A (en) * | 2020-08-17 | 2020-11-27 | 北京理工大学 | Modular intelligent assembling system |
| CN112543592A (en) * | 2020-12-07 | 2021-03-23 | 合肥高地创意科技有限公司 | Quick installation component for mobile terminal chip |
| CN112543592B (en) * | 2020-12-07 | 2022-04-12 | 深圳市朗帅科技有限公司 | Quick installation component for mobile terminal chip |
| CN114260143A (en) * | 2021-12-28 | 2022-04-01 | 廊坊展翔精密机械有限公司 | Special automatic glue dispenser for Stirling refrigerator |
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