CN103787269A - Automatic micro-assembling device with reconfigurable modularization characteristic - Google Patents

Abstract

The invention belongs to the technical field of mechanical manufacturing, and in particular relates to a modular assembly device. The technical solution of the automatic micro-assembly device with reconfigurable modular features is: it includes: an autonomous assembly unit (1), an assembly line auxiliary unit (2), and a loading and unloading unit (3); the autonomous assembly unit (1) Including: handling manipulator (5), micro gripper assembly (6), coaxial alignment detection assembly (7), micro motion platform assembly (8), support frame (9) and support column (14); assembly line auxiliary unit (2) Including: conveyor line module (10) and basic unit (11); loading and unloading unit (3) includes: automatic feeding mechanism (12) and handling robot (13); the whole assembly system of the present invention is provided with loading, assembly , detection, dispensing, packaging and blanking processes, can complete the batch high-precision assembly of non-silicon MEMS parts, and can also realize the assembly of single small batches of micro-miniature structural parts.

Description

Automated microassembly device with reconfigurable modular features

technical field

The invention belongs to the technical field of mechanical manufacturing, and in particular relates to a modular assembly device.

Background technique

Non-silicon MEMS devices have complex structures and graphics, and most of them are assembled from intermediate-scale parts on the order of microns to millimeters. Since there is no special assembly equipment, the assembly of non-silicon MEMS devices can only be carried out manually under a microscope. The precision generally requires micron level and the assembly process is extremely easy to damage. Manual assembly under a microscope has the following insurmountable problems:

(1) It cannot meet the accuracy requirements of non-silicon MEMS device assembly; it is difficult for human eyes to distinguish the micron-level position difference, and its position positioning ability is even worse when it cooperates with the hand for assembly operations, so it is necessary to achieve micron-level assembly alignment The accuracy is unrealistic, and the consistency after assembly is difficult to guarantee;

(2) It is difficult to meet the demand for reliable assembly without damage; due to the poor position positioning ability when the human eye and hand cooperate, it is difficult to ensure that there will be no collisions and scratches between the assembled parts during assembly, and for micro-miniature devices, especially For ammunition devices such as micro-miniature fuzes, slight damage may cause the device to fail during operation, and this is a problem that the ammunition device must try to avoid; in addition, errors in the manual assembly process make the ammunition device reliable. one of the main sources of sexual problems;

(3) The efficiency of manual assembly is extremely low; since manual assembly of micro-miniature devices such as non-silicon MEMS fuzes must be carried out under a microscope, operations such as clamping and alignment require close eye-hand coordination to complete, so compared with the assembly of larger structural devices Lower efficiency, unable to meet the needs of non-silicon MEMS device development and batch trial production;

At present, the development of micro-assembly systems at home and abroad is either a breakthrough in a single technology, and a micro-assembly system that can achieve mass production has not yet been formed, or the assembly accuracy is low and it is difficult to meet the assembly accuracy requirements of non-silicon MEMS, or the system lacks flexibility. , when the product is modified, it is difficult to upgrade the assembly system at a lower cost and faster speed. Therefore, there is an urgent need to develop a flexible automated micro-assembly system for mass production of non-silicon MEMS and capable of single-piece small-batch assembly.

Contents of the invention

The purpose of the present invention is to provide a high-precision micro-assembly device for mass production of non-silicon MEMS, and the system can be reconfigured according to assembly requirements;

The technical solution of the present invention is: an automatic micro-assembly device with reconfigurable modular features, which includes: an autonomous assembly unit, an assembly line auxiliary unit, and a loading and unloading unit;

The autonomous assembly unit includes: handling manipulator, micro gripper assembly, coaxial alignment detection assembly, micro motion platform assembly, support frame and support column;

The handling manipulator has two degrees of freedom of adjustment, vertical and horizontal;

The micro gripper assembly includes: body, connecting flange, vacuum suction head installed around the body, two-finger gripper, air bag gripper and dispenser; vacuum suction head is equipped with a force sensor; two-finger type The gripper includes: drive motor, strain-type spring piece, static block; the drive motor and the static block are installed on the body through the adapter plate, the strain-type spring piece is installed on the drive motor, and the strain-type spring piece is attached with a strain The airbag holder includes: a hollow adapter and an airbag; the hollow adapter connects the airbag and the body; the hollow adapter is provided with a trachea adapter; the connecting flange is installed on the body;

The coaxial alignment detection component includes: prism unit, camera adjustment mechanism, camera assembly, prism adjustment mechanism and prism entry and exit mechanism; the prism unit includes: beam splitting prism, light source and prism support frame; There is a light source; the camera adjustment mechanism can adjust pitch and azimuth; the prism adjustment mechanism has three adjustment degrees of freedom; the prism entry and exit mechanism includes: rodless cylinder, hydraulic buffer, taper pin positioning mechanism; one, respectively installed at both ends of the rodless cylinder; the taper pin positioning mechanism is installed on the slider of the rodless cylinder, and matches the pin hole on the support column; the prism unit is installed on the prism adjustment mechanism, and the prism adjustment mechanism is installed on the On the rodless cylinder of the prism entry and exit mechanism, the camera assembly is installed on the camera adjustment mechanism;

Micro-motion platform components include: micro-motion platform and auxiliary structure installed on it; micro-motion platform two one-dimensional motion platforms and a micro-motion turntable; auxiliary structure includes: four stepped screws, cylinder A, U-shaped top Block and cylinder support frame; Cylinder A is installed on the cylinder support frame, U-shaped top block is installed on the push rod of cylinder A, and four stepped screws are installed on the cylinder support frame;

The overall connection relationship of the autonomous assembly unit is: the support column is installed on the support frame, the handling manipulator is installed on the support column, the micro gripper assembly is installed on the front end of the handling manipulator through its connecting flange; the coaxial alignment detection component The prism entry and exit mechanism is installed on the support column, the camera adjustment mechanism in the coaxial alignment detection component is installed on the support frame; the micro-motion platform component is installed inside the support frame box structure;

Assembly line auxiliary units include: conveyor line modules and basic units;

The conveyor line module includes: push rod, push rod support unit, large stroke cylinder, guide rail, accompanying fixture and limit mechanism;

The push rod is equipped with a spring-type telescopic structure; the push rod support unit includes: rollers and roller fixing frames; the guide rail is provided with concave oil grooves, rubber rollers and dust-proof covers; the accompanying fixture includes: the fixture body and the fixture installed on the fixture body The lubricating belt on the lower surface; the push rod is connected with the large-stroke cylinder, the push rod support unit and the guide rail are installed on the support frame of the autonomous assembly unit, and the push rod is supported by the roller; the accompanying fixture is in contact with the guide rail through its lubricating belt; the push rod Push the accompanying fixture through its spring-type telescopic structure; the limit mechanism is installed on the dust cover of the guide rail;

The basic unit includes: an assembly line support table with a marble countertop;

The loading and unloading unit includes: automatic feeding mechanism and handling robot;

The automatic feeding mechanism is a feeding unit, which includes: a vibrating feeding tray, a linear feeder and a linear guide rail; the linear guide rail is connected to the outlet of the vibrating feeding tray, and the linear feeder is arranged under the linear guide rail to drive the workpiece on the linear guide rail the movement of

The handling robot is the unloading unit;

The autonomous assembly unit and the loading and unloading unit are arranged on the marble table of the auxiliary unit of the assembly line.

The beneficial effects of the present invention are: (1) The present invention can be reconfigured according to assembly requirements, and adapt to product modification requirements at a lower cost and faster. The comprehensive assembly alignment accuracy of the micro-assembly system can reach 3μm, the assembly cycle is 30 seconds/piece, and the entire assembly process does not require manual participation;

(2) The present invention includes an autonomous assembly unit, an assembly line auxiliary unit, and a loading and unloading unit. The entire assembly system is equipped with loading, assembly, testing, dispensing, packaging, and unloading processes, which can complete the batch production of non-silicon MEMS parts. Precision assembly can also realize the assembly of small structural parts in small batches;

(3) According to the assembly cycle requirements and the number of assembly object parts, the autonomous assembly unit can be reconfigured and flexibly assembled into a micro-assembly system that meets the functional efficiency requirements.

Description of drawings

Fig. 1 is a structural top view of the present invention;

Fig. 2 is a structural composition block diagram of the present invention;

Fig. 3 is a schematic structural view of an autonomous assembly unit of the present invention;

Fig. 4 is the structural representation of the micro-gripper assembly in the self-contained assembly unit of the present invention;

Fig. 5 is a schematic structural view of the coaxial alignment detection component in the autonomous assembly unit of the present invention;

Fig. 6 is a schematic structural view of the micro-movement platform assembly in the autonomous assembly unit of the present invention;

Fig. 7 is a schematic structural view of the assembly line auxiliary unit of the present invention;

Fig. 8 is a schematic structural view of the push rod support unit in the auxiliary unit of the assembly line of the present invention;

Fig. 9 is a schematic structural view of the guide rail in the auxiliary unit of the assembly line of the present invention;

Fig. 10 is a schematic structural view of the accompanying fixture in the auxiliary unit of the assembly line of the present invention;

Fig. 11 is a schematic structural view of the basic unit in the auxiliary unit of the assembly line of the present invention;

Fig. 12 is a schematic structural view of the automatic feeding mechanism in the loading and unloading unit of the present invention;

Among them, 1-autonomous assembly unit, 2-assembly line auxiliary unit, 3-loading and loading unit, 5-handling manipulator, 6-micro gripper assembly, 6-1 body, 6-2 connecting flange, 6-3 vacuum Adsorption head, 6-3-1 force sensor, 6-4 two-finger gripper, 6-4-1 drive motor, 6-4-2 strain spring, 6-4-3 static block, 6- 5 air bag holder, 6-5-1 hollow adapter, 6-5-2 air bag, 6-5-3 air pipe adapter, 6-6 dispensing machine, 7-coaxial alignment detection component, 7-1 Prism unit, 7-1-1 Dichroic prism, 7-1-2 Light source, 7-1-3 Prism support frame, 7-2 Camera adjustment mechanism, 7-3 Camera assembly, 7-4 Prism adjustment mechanism, 7-5 prism entry and exit mechanism, 7-5-1 rodless cylinder, 7-5-2 hydraulic buffer, 7-5-3 taper pin positioning mechanism, 8-micro-motion platform assembly, 8-1 micro-motion platform, 8 -2 auxiliary structure, 8-2-1 stepped screw, 8-2-2 cylinder A, 8-2-3U top block, 8-2-4 cylinder support frame, 9-support frame, 10-conveyor line module , 10-1 push rod, 10-2 push rod support unit, 10-2-1 roller, 10-2-2 fixed frame, 10-3 large stroke cylinder, 10-4 guide rail, 10-4-1 concave oil tank , 10-4-2 rubber roller, 10-4-3 dust cover, 10-5 accompanying fixture, 10-6 limit mechanism, 11-basic unit, 11-1 marble, 11-2 assembly line support table, 12 -Automatic feeding mechanism, 12-1 vibrating feeding tray, 12-2 linear feeder, 12-3 linear guide rail, 13-handling robot, 14-supporting column.

Detailed ways

See attached drawings 1 and 2, an automatic micro-assembly device with reconfigurable modular features. The entire assembly system is equipped with loading, assembly, testing, dispensing, packaging, and unloading processes, which can complete the batch production of non-silicon MEMS parts High-precision assembly can also realize the assembly of single-piece small-batch micro-miniature structural parts;

The whole assembly system includes unit level: autonomous assembly unit 1, assembly line auxiliary unit 2 and loading and unloading unit 3; The autonomous assembly unit 1 is reconfigurable and flexibly combined into a micro-assembly system that meets the functional efficiency requirements;

The following is a further introduction to the modular components in the autonomous assembly unit 1, the assembly line auxiliary unit 2 and the loading and unloading unit 3;

Referring to the accompanying drawing 3, the autonomous assembly unit 1 includes: a handling manipulator 5, a micro-gripper assembly 6, a coaxial alignment detection assembly 7, a micro-motion platform assembly 8, a support frame 9 and a support column 14;

The handling manipulator 5 has two degrees of freedom of adjustment, vertical and horizontal;

Referring to accompanying drawing 4, micro gripper assembly 6 comprises: body 6-1, connecting flange 6-2 and the vacuum adsorption head 6-3 that is installed around body 6-1, two-finger gripper 6-4, Air bag type gripper 6-5 and dispensing machine 6-6; Vacuum suction head 6-3 is provided with force sensor 6-3-1; Two-finger type gripper 6-4 includes: drive motor 6-4-1 , Strain type spring piece 6-4-2, stationary block 6-4-3; drive motor 6-4-1 and stationary block 6-4-3 are installed on the body 6-1 through the adapter plate, strain type The spring piece 6-4-2 is installed on the driving motor 6-4-1, and the strain gauge is attached to the strain type spring piece 6-4-2; the air bag type holder 6-5 includes: a hollow adapter 6- 5-1 and the air bag 6-5-2; the hollow adapter 6-5-1 connects the air bag 6-5-2 and the body 6-1; the hollow adapter 6-5-1 is also provided with a trachea transfer Joint 6-5-3; connecting flange 6-2 is installed on the connecting body;

Referring to accompanying drawing 5, coaxial alignment detection assembly 7 comprises: prism unit 7-1, camera adjustment mechanism 7-2, camera assembly 7-3, prism adjustment mechanism 7-4 and prism in and out mechanism 7-5; Prism unit 7 -1 includes: beam-splitting prism 7-1-1, light source 7-1-2 and prism support frame 7-1-3; beam-splitting prism 7-1-1 is installed on the prism support frame 7-1-3, which is set up and down There is a light source 7-1-2; the camera adjustment mechanism 7-2 has pitch adjustment and azimuth adjustment functions; the prism adjustment mechanism 7-4 has three adjustment degrees of freedom; the prism entry and exit mechanism 7-5 includes: rodless cylinder 7-5- 1. Hydraulic buffer 7-5-2, taper pin positioning mechanism 7-5-3; there are two hydraulic buffers 7-5-2, which are respectively installed at both ends of the rodless cylinder 7-5-1; The taper pin positioning mechanism 7-5-3 is installed on the slider of the rodless cylinder 7-5-1, and matches with the pin hole on the support column 14; the prism unit 7-1 is installed on the prism adjustment mechanism 7-4, The prism adjustment mechanism 7-4 is installed on the rodless cylinder 7-5-1 of the prism in and out mechanism 7-5, and the camera assembly 7-3 is installed on the camera adjustment mechanism 7-2;

Referring to accompanying drawing 6, micro-motion platform assembly 8 comprises: micro-motion platform 8-1 and auxiliary structure 8-2 installed on it; micro-motion platform 8-1 two one-dimensional motion platforms and a micro-motion turntable; auxiliary structure 8-2 includes: including four stepped screws 8-2-1, cylinder A8-2-2, U-shaped top block 8-2-3 and cylinder support frame 8-2-4; cylinder A8-2-2 installation On the cylinder support frame 8-2-4, the U-shaped top block 8-2-3 is installed on the push rod of the cylinder A8-2-2, and the four stepped screws 8-2-1 are installed on the cylinder support frame 8- 2-4 up;

The overall connection relationship of the autonomous assembly unit 1 is as follows: the support column 14 is installed on the support frame 9, the transport manipulator 5 is installed on the support column 14, and the micro gripper assembly 6 is installed on the transport manipulator 5 through its connecting flange 6-2. Front end; the prism entry and exit mechanism 7-5 in the coaxial alignment detection assembly 7 is installed on the support column 14, and the camera adjustment mechanism 7-2 in the coaxial alignment detection assembly 7 is installed on the support frame 9; the micro-motion platform The component 8 is installed inside the box structure of the support frame 9;

Referring to Figure 7, the assembly line auxiliary unit 2 includes: a conveyor line module 10 and a basic unit 11;

The conveyor line module 10 includes: a push rod 10-1, a push rod support unit 10-2, a large stroke cylinder 10-3, a guide rail 10-4, an accompanying clamp 10-5 and a limit mechanism 10-6;

Referring to accompanying drawings 8, 9, and 10, the push rod 10-1 is provided with a spring type telescopic structure; the push rod support unit 10-2 includes: a roller 10-2-1 and a fixed frame 10-2 for the roller 10-2-1 -2; guide rail 10-4 is provided with concave oil groove 10-4-1, rubber roller 10-4-2 and dust cover 10-4-3; accompanying fixture 10-5 includes: fixture body 10-5- 1 and the lubricating belt 10-5-2 installed on the lower surface of the fixture body; the push rod 10-1 is connected to the large-stroke cylinder 10-3, and the push rod support unit 10-2 and the guide rail 10-4 are installed on the autonomous assembly unit 1 On the support frame 9, the push rod 10-1 is supported by the roller 10-2-1; the accompanying fixture 10-5 contacts the guide rail 10-4 through its lubricating belt 10-5-2; the push rod 10-1 passes through its spring The telescopic structure pushes the accompanying fixture 10-5; the limit mechanism 10-6 is installed on the dust cover 10-4-3 of the guide rail 10-4; the push rod 10-1 adopts a multi-section structure, and pins are used between each section connection; the number of sections of the push rod 10-1 corresponds to the number of autonomous assembly units 1; the limit mechanism 10-6 adopts the cylinder B;

Referring to accompanying drawing 11, the base unit 11 includes: an assembly line support platform 11-2 whose countertop is marble 11-1;

Referring to accompanying drawing 12, loading and unloading unit 3 includes: automatic feeding mechanism 12 and handling robot 13;

The automatic feeding mechanism 12 is a feeding unit, which includes: a vibrating feeding tray 12-1, a linear feeder 12-2 and a linear guide rail 12-3; the linear guide rail 12-3 is connected with the outlet of the vibrating feeding tray 12-1, The linear feeder 12-2 is configured under the linear guide rail 12-3 to drive the movement of the workpiece on the linear guide rail 12-3;

The handling robot 13 is a blanking unit;

The overall connection relationship is as follows: the autonomous assembly unit 1 and the loading and unloading unit 3 are arranged on the marble 11-1 table of the auxiliary unit 2 of the assembly line.

When in use: the accompanying fixture 10-5 in the assembly line auxiliary unit 2 moves under the drive of the push rod 10-1 and the large-stroke cylinder 10-3 until it is limited by the limit mechanism 10-6, and the accompanying fixture 10-5 Clamp the base part to the assembly area; the auxiliary structure 8-2 in the micro-motion platform assembly 8 lifts the accompanying fixture 10-5 through the cylinder A8-2-2 and the U-shaped jacking block 8-2-3, so that the four steps The upper end of the type screw 8-2-1 snaps into the T-shaped groove on the lower surface of the accompanying fixture 10-5 to realize the connection between the micro-motion platform assembly 8 and the accompanying fixture 10-5; at the same time, the automatic feeding in the loading and unloading unit 3 The mechanism 12 places the parts to be assembled on the outlet of the vibrating feeding tray 12-1 according to a certain posture, and the handling manipulator 5 moves to the outlet of the vibrating feeding tray 12-1 and is clamped by the micro gripper assembly 6 to be assembled. accessories, then move to the assembly area;

The prism unit 7-1 in the coaxial alignment detection assembly 7 moves between the part to be assembled and the base part under the drive of the prism in-out mechanism 7-5, and realizes the prism through its taper pin positioning mechanism 7-5-3. Precise positioning of the unit 7-1; turn on the upper light source 7-1-2, collect the image information of the parts to be assembled through the camera component 7-3; turn off the upper light source 7-1-2, turn on the lower light source 7-1- 2 Collect the image information of the base part, detect the position deviation according to the image information of the base part and the parts to be assembled, and transmit the deviation information to the micro-motion platform component 8, which drives the accompanying fixture to realize the precise pose adjustment of the base part The prism unit 7-1 is moved out under the driving action of the prism in-out mechanism 7-5; the handling manipulator 5 and the micro-gripper assembly 6 move down to complete the assembly;

The automatic micro-assembly device with reconfigurable modular features is equipped with multiple autonomous assembly units 1 working at the same time, each autonomous assembly unit 1 completes 1-2 assembly processes, and selects vacuum suction heads 6-3 according to the settings , two-finger gripper 6-4, airbag gripper 6-5 and glue dispensing machine 6-6 to realize the assembly process of adsorption, clamping or dispensing; after the assembly process at this place is completed, the The accompanying jig 10-5 in the assembly line auxiliary unit 2 transports the base parts to the next autonomous assembly unit 1 to continue assembly until the assembly work is completed;

The accompanying jig 10-5 transports the assembled product to the unloading station, and the handling robot 13 performs unloading and storage.

In the above scheme, the handling robot 13 adopts ABB IRB120; the vacuum suction head 6-3 adopts the PAT-02 of Qilike Company; the glue dispenser 6-6 adopts AXXON D-510; the camera in the camera component 7-3 adopts POINT GRAY FL2G-50S5M/C, the lens adopts NAVITAR 12*ZOOM; the model of force sensor 6-3-1 is WM-5N.

Claims (3)

1. An automatic micro-assembly device with reconfigurable modular features, characterized in that it includes: an autonomous assembly unit (1), an assembly line auxiliary unit (2) and a loading and unloading unit (3); The autonomous assembly unit (1) includes: handling manipulator (5), micro-gripper assembly (6), coaxial alignment detection assembly (7), micro-motion platform assembly (8), support frame (9) and support column (14); The handling manipulator (5) has two degrees of freedom of adjustment, vertical and horizontal; The micro gripper assembly (6) includes: a body (6-1), a connecting flange (6-2), a vacuum suction head (6-3) installed around the body (6-1), a two-finger gripper device (6-4), air bag holder (6-5) and glue dispenser (6-6); the vacuum suction head (6-3) is equipped with a force sensor (6-3-1); two-finger type The holder (6-4) includes: drive motor (6-4-1), strain gauge spring (6-4-2), stationary block (6-4-3); drive motor (6-4- 1) Install the stationary block (6-4-3) on the body (6-1) through the adapter plate, and install the strain spring (6-4-2) on the drive motor (6-4-1) , a strain gauge is attached to the strain spring (6-4-2); the airbag holder (6-5) includes: a hollow adapter (6-5-1) and an airbag (6-5-2 ); the hollow adapter (6-5-1) connects the airbag (6-5-2) and the body (6-1); the hollow adapter (6-5-1) is provided with a trachea adapter ( 6-5-3); the connection flange (6-2) is installed on the connection body; The coaxial alignment detection component (7) includes: prism unit (7-1), camera adjustment mechanism (7-2), camera assembly (7-3), prism adjustment mechanism (7-4) and prism entry and exit mechanism (7 -5); the prism unit (7-1) includes: beam splitting prism (7-1-1), light source (7-1-2) and prism support frame (7-1-3); beam splitting prism (7-1- 1) It is installed on the prism support frame (7-1-3), and the light source (7-1-2) is arranged above and below; the camera adjustment mechanism (7-2) can adjust pitch and azimuth; the prism adjustment mechanism (7-1 -4) It has three degrees of freedom of adjustment; the prism entry and exit mechanism (7-5) includes: rodless cylinder (7-5-1), hydraulic buffer (7-5-2), taper pin positioning mechanism (7-5 -3); There are two hydraulic shock absorbers (7-5-2), which are respectively installed at both ends of the rodless cylinder (7-5-1); the taper pin positioning mechanism (7-5-3) is installed on The slider of the rodless cylinder (7-5-1) matches the pin hole on the support column (14); the prism unit (7-1) is installed on the prism adjustment mechanism (7-4), and the prism adjustment mechanism (7-4) is installed on the rodless cylinder (7-5-1) of the prism in and out mechanism (7-5), and the camera assembly (7-3) is installed on the camera adjustment mechanism (7-2); The micro-motion platform assembly (8) includes: the micro-motion platform (8-1) and the auxiliary structure (8-2) installed on it; the micro-motion platform (8-1) two one-dimensional motion platforms and a micro-motion turntable ; Auxiliary structure (8-2) includes: including four stepped screws (8-2-1), cylinder A (8-2-2), U-shaped top block (8-2-3) and cylinder support frame ( 8-2-4); Cylinder A (8-2-2) is installed on the cylinder support frame (8-2-4), U-shaped top block (8-2-3) is installed on the cylinder A (8-2- 2) On the push rod, four stepped screws (8-2-1) are installed on the cylinder support frame (8-2-4); The overall connection relationship of the autonomous assembly unit (1) is as follows: the support column (14) is installed on the support frame (9), the handling manipulator (5) is installed on the support column (14), and the micro gripper assembly (6) passes through it. The connecting flange (6-2) is installed on the front end of the handling manipulator (5); the prism entry and exit mechanism (7-5) in the coaxial alignment detection component (7) is installed on the support column (14), and the coaxial alignment The camera adjustment mechanism (7-2) in the detection component (7) is installed on the support frame (9); the micro-motion platform component (8) is installed inside the box structure of the support frame (9); The assembly line auxiliary unit (2) includes: a conveyor line module (10) and a basic unit (11); The conveyor line module (10) includes: push rod (10-1), push rod support unit (10-2), large stroke cylinder (10-3), guide rail (10-4), accompanying clamp (10-5) and Limiting mechanism (10-6); The push rod (10-1) is provided with a spring type telescopic structure; the push rod support unit (10-2) includes: the roller (10-2-1) and the fixing frame (10-2) of the roller (10-2-1) -2); guide rail (10-4) is provided with concave oil groove (10-4-1), rubber roller (10-4-2) and dust cover (10-4-3); accompanying fixture (10 -5) Including: the clamp body (10-5-1) and the lubricating belt (10-5-2) installed on the lower surface of the clamp body; the push rod (10-1) is connected with the large stroke cylinder (10-3), The push rod support unit (10-2) and the guide rail (10-4) are installed on the support frame (9) of the autonomous assembly unit (1), and the push rod (10-1) is held by the rollers (10-2-1). Support; the accompanying clamp (10-5) is in contact with the guide rail (10-4) through its lubricating belt (10-5-2); the push rod (10-1) pushes the accompanying clamp (10-5) through its spring type telescopic structure ;The limit mechanism (10-6) is installed on the dustproof cover (10-4-3) of the guide rail (10-4); The basic unit (11) includes: an assembly line support table (11-2) whose table top is marble (11-1); The loading and unloading unit (3) includes: an automatic feeding mechanism (12) and a handling robot (13); The automatic feeding mechanism (12) is a feeding unit, which includes: vibrating feeding tray (12-1), linear feeder (12-2) and linear guide rail (12-3); linear guide rail (12-3) and vibration feeding The discharge port of the disc (12-1) is connected, and the linear feeder (12-2) is arranged under the linear guide rail (12-3) to drive the movement of the workpiece on the linear guide rail (12-3); The handling robot (13) is the unloading unit; The autonomous assembly unit (1) and the loading and unloading unit (3) are arranged on the marble (11-1) countertop of the assembly line auxiliary unit (2). 2. The automatic micro-assembly device with reconfigurable modular features according to claim 1, characterized in that: the push rod (10-1) adopts a multi-section structure, and each section is connected by pins; The number of sections of the push rod (10-1) corresponds to the number of the autonomous assembly units (1). 3. The automatic micro-assembly device with reconfigurable modular features according to claim 1 or 2, characterized in that: the limit mechanism (10-6) adopts cylinder B.

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