CN103350333A - Tiny component assembling device and method - Google Patents

Tiny component assembling device and method Download PDF

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Publication number
CN103350333A
CN103350333A CN2013102170407A CN201310217040A CN103350333A CN 103350333 A CN103350333 A CN 103350333A CN 2013102170407 A CN2013102170407 A CN 2013102170407A CN 201310217040 A CN201310217040 A CN 201310217040A CN 103350333 A CN103350333 A CN 103350333A
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CN
China
Prior art keywords
assembling
transition
block
clamp
micro parts
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Application number
CN2013102170407A
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Chinese (zh)
Inventor
王晓东
罗怡
辛明哲
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大连理工大学
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Application filed by 大连理工大学 filed Critical 大连理工大学
Priority to CN2013102170407A priority Critical patent/CN103350333A/en
Publication of CN103350333A publication Critical patent/CN103350333A/en

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Abstract

The invention relates to the technical field of precision assembly, in particular to a tiny component assembling device and method. The tiny component assembling device is characterized by consisting of a feeding clamp unit, combined adsorbing clamp unit and an assembling clamp unit, wherein the combined adsorbing clamp unit comprises a connecting block, a U-shaped pneumatic connecting block, a sucking disc connecting post, a left clamp finger, a right clamp finger, a sucking disc, a transitional adsorbing block, a positioning block and a pneumatic clamp; the transitional adsorbing block is designed to have a series of different sizes and structures and is used for adsorbing tiny components with various structural characteristics, so that the shift function of a clamp is achieved and the universality of the clamp is improved; the transitional adsorbing block adsorbs, moves and assembles the tiny components in the assembling process, and fixes an assembly after completion of the assembling process, thus ensuring that the assembly precision is not damaged, and achieving precision assembly of the tiny components. The tiny component assembling device and method are applicable to clamping adsorption, movement, assembly and fixation of tiny mechanical components.

Description

A kind of assembling device of micro parts and assembly method
Technical field
The invention belongs to accurate mounting technology field, relate to a kind of assembling device of micro parts.
Background technology
The mounting technology of micro parts is different from the assembly method of traditional part, usually needs microactrator that micro parts is carried out microoperation.Micro-clamp is as a kind of typical microactrator, can finish micro part clamping, transport and the operation such as placement, in the fields such as processing, assembling, biomedical engineering and optics of micromechanical parts good application prospect is arranged all.
Disclosed Combined Micro-gripper towards microoperation of Harbin Institute of Technology's journal the 6th phase of 38 volumes in 2006, it is based on the design philosophy of grand little combination, design a kind of Combined Micro-gripper, adopt linear micro motor to realize the grade motion, adopt the micron-sized micromotion of bimorph cantilever winding machine, have compact conformation, the operating space is large.The characteristics that precision is high.But this combined type micro-clamp is take the clamping part as main, and the part thin and brittle for the edge can not carry out clamping.
Disclosed a kind of modularized vacuum absorption type built-up jig of manufacturing technology and lathe the 3rd phase in 2010, the clamping that can be used for the slice work-piece of sizes, this anchor clamps module is designed with positioner simultaneously, can finish the clamping of grade precision part, this anchor clamps strong adaptability, working (machining) efficiency height.These anchor clamps are applicable to larger-size part, are that the micron order part does not have application for precision, and this kind clamp structure slightly complicated can not satisfy the hi-Fix requirement.
Application number is the patent of CN200620034859.5, introduces a kind of vacuum adsorption fixture that is applicable to small items, mainly is made of vacuum tube and top adsorption head, and the adsorption head suction inlet is that plane or indent cylinder are planar, can adsorb the given shape small items.Application number is the patent of CN200610155252.7, a kind of assembly method of assemblied guide rail is disclosed, it is characterized in that first guide-rail plate being fixed on carrying out leveling on the clamp body, then guide-rail plate and clamp body are assembled as a whole, remove again clamp body after guide-rail plate and pedestal is fixing.Structural design is exquisite, and assembly method is novel, but restricted application, versatility is relatively poor.
Part difficult problem in above-mentioned various device and the assembly method solution micro parts assembling process in various degree, but in the clamping of micro parts, location, all there is limitation.Existing modular fixture all can't be realized absorption, carrying and the assembling for multiple micro parts.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of assembling device that assembles multiple micro parts, discloses simultaneously a kind of assembly method that improves the micro parts assembly precision.
Technical scheme of the present invention is as follows:
Assembling device of the present invention comprises material loading fixture unit, combined type absorption nipper units and assembling jig unit.
The material loading fixture unit is used for putting the part that assembling process needs clamping and absorption.Combined type absorption nipper units is used for absorption, carrying and the assembling of micro parts.The assembling jig unit is used for the assembly after fixing assembling is finished.
The core of this assembling device is combined type absorption nipper units, comprises contiguous block, gas circuit transmitting assembly and power clamp assemblies.Wherein contiguous block is used for being connected of absorption nipper units and manipulator motion mechanism; The gas circuit transmitting assembly is used for vacuum suction gas and transmits, and is made of locating piece, transition Attraction block, U-shaped joint block of gas channel, sucker joint pin and sucker; The power clamp assemblies is used for clamping transition Attraction block, referred to refer to consist of with the right folder of clamp by pneumatic gripping, the left folder of clamp, the upper surface of pneumatic gripping is connected with contiguous block, and the lower surface of pneumatic gripping is connected with locating piece, and the left folder of front end connecting clamp of pneumatic gripping refers to refer to the right folder of clamp.U-shaped joint block of gas channel is fixed on the contiguous block, simultaneously be provided with gas channels at U-shaped joint block of gas channel forearm positions place, sucker one end stretches in the sucker joint pin, one end passes locating piece lower end circular hole and realizes docking with the upper surface of transition Attraction block, and joint block of gas channel, sucker joint pin, sucker are connected to one and realize the gas circuit transmission like this; The left folder of clamp refers to refer to clamping transition Attraction block with the right folder of clamp, and locating piece is close in its upper surface, and the upper surface pore is aimed at sucker, realizes that gas transfer is to the transition Attraction block.
The locating piece front end has through hole, vision system is not formed block, and helps it to gather image.The transition Attraction block becomes bikini absorption, and the transition Attraction block can adopt the plurality of specifications structure, is used for adsorbing the sheet parts of different contour structures.
Effect of the present invention and benefit are this micro parts assembling device can be realized the micro parts of multiple low-intensity and little rigidity by the transition Attraction block of different size and structure absorption, carrying, assemblings and fixing.Combined type absorption nipper units is as a functional module independently, and can be installed on the several work mechanical arm and cooperate vision system to realize that the IMAQ of micro parts measures, and part absorption, carrying and assembling; The assembly method that cooperates this assembling device to use can make the absorption when assembling of transition Attraction block, carrying and assembling micro parts, and play fixation to being assembled part after assembling finishes, thereby guarantee assembly precision.
Description of drawings
Fig. 1 micro parts assembling device structural representation.
Fig. 2 combined type absorption nipper units structural representation.
Fig. 3 material loading fixture unit schematic diagram.
Fig. 4 is the load module schematic diagram fixedly.
The transition Attraction block schematic diagram of Fig. 5 different structure.
Among the figure: 1 contiguous block; 2 pneumatic grippings; 3 locating pieces; 4 right compression knobs; 5 fixation clips; The 6 right axis of guides; 7 assembling jig bases; 8 pedestals; 9 transition Attraction blocks; The 10 left axis of guides; 11 left compression knobs; 12 left clamp folders refer to; 13 U-shaped joint block of gas channels; 14 sucker joint pins; 15 right clamp folders refer to; 16 suckers; 17 joint block of gas channel pores; 18 material loading clamp base; 19 part material loading bases; 20 micro parts; 21 transition Attraction block material loading bases.
The specific embodiment
Be described in detail specific embodiments of the invention below in conjunction with technical scheme and accompanying drawing.
The first step: combined type absorption nipper units is fixed on the movable machinery arm by contiguous block 1.The contour structure size of the micro parts 20 of assembling is selected corresponding transition Attraction block 9 as required.Transition Attraction block 9 is fixed on first above the transition Attraction block material loading base 21, micro parts 20 to be assembled is fixed on above the part material loading base 19, transition Attraction block material loading base 21 and the part material loading base 19 fixed are fixed on the material loading clamp base 18, as shown in Figure 4 together.
Second step: combined type absorption nipper units moves to assigned address, and the magnetic valve of control pneumatic gripping power gas is opened, and pneumatic gripping 2 begins action, by left clamp folder refer to 12, right clamp folder refers to that 15 clamp transition Attraction block 9.Transition Attraction block 9 both sides have step surface, and left and right sides clamp folder refers to that 12 and 15 also have corresponding step surface and cooperate with it, and transition Attraction block 9 upper surfaces are designed to stepped form and cooperate the location with locating piece 3.Realized that like this clamping of transition Attraction block 9 is with fixing.
The 3rd step: behind the pneumatic gripping 2 clamping transition Attraction blocks 9, combined type absorption nipper units moves to the material loading position of micro parts 20.Open the magnetic valve of control vacuum suction gas this moment, gas arrives transition Attraction block 9 by the pore 17 on the joint block of gas channel 13, sucker joint pin 14, sucker 16, forms negative pressure of vacuum part is adsorbed, and finishes absorption and the clamping of micro parts 20.
The 4th step: change assembling jig base 7.Vision system can pass the image that U-shaped joint block of gas channel 13 gathers micro parts 20 1 ends, also can gather in transition Attraction block 9 front positions the other end image of micro parts 20, and position and the attitude of micro parts 20 are identified.
The 5th step: combined type absorption nipper units is being adsorbed micro parts 20 and is being moved to assigned address, finishes the fittage with pedestal 8.Assembling is installed in fixation clip 5 on the right axis of guide 6 and the left axis of guide 10 first, and is fixed with right compression knob 4 and left compression knob 11 after finishing.
The 6th step: close vacuum suction gas control magnetic valve, discharge micro parts 20.Close the gas control magnetic valve of pneumatic gripping 2, discharge transition Attraction block 9.Transition Attraction block 9 can play the position of micro parts 20 and the maintenance effect of attitude like this, is pressed on one with pedestal 8.
The 7th step: take off assembling jig base 7, micro parts 20 and pedestal 8 are carried out adhesive fix, take off afterwards transition Attraction block 9, be not destroyed to guarantee assembly precision, thereby realized the precision assembling of micro parts 20 and pedestal 8 and fixing.

Claims (3)

1. the assembling device of a micro parts is characterized in that, this assembling device comprises material loading fixture unit, combined type absorption nipper units and assembling jig unit;
The material loading fixture unit is used for putting the part that assembling process needs clamping and absorption; The assembling jig unit is used for the assembly after fixing assembling is finished;
Combined type absorption nipper units is used for absorption, carrying and the assembling of micro parts, comprises contiguous block, gas circuit transmitting assembly and power clamp assemblies; Wherein contiguous block is used for being connected of absorption nipper units and manipulator motion mechanism; The gas circuit transmitting assembly is used for vacuum suction gas and transmits, and is made of locating piece, transition Attraction block, U-shaped joint block of gas channel, sucker joint pin and sucker; The power clamp assemblies is used for clamping transition Attraction block, referred to refer to consist of with the right folder of clamp by pneumatic gripping, the left folder of clamp, the upper surface of pneumatic gripping is connected with contiguous block, and the lower surface of pneumatic gripping is connected with locating piece, and the left folder of front end connecting clamp of pneumatic gripping refers to refer to the right folder of clamp; U-shaped joint block of gas channel is fixed on the contiguous block, simultaneously be provided with gas channels at U-shaped joint block of gas channel forearm positions place, sucker one end stretches in the sucker joint pin, one end passes locating piece lower end circular hole and realizes docking with the upper surface of transition Attraction block, and joint block of gas channel, sucker joint pin, sucker are connected to one and realize the gas circuit transmission; The left folder of clamp refers to refer to clamping transition Attraction block with the right folder of clamp, and locating piece is close in its upper surface, and the upper surface pore is aimed at sucker, realizes that gas transfer is to the transition Attraction block.
2. assembling device according to claim 1 is characterized in that, the transition Attraction block is designed to a series of plurality of specifications structure and adopts bikini absorption, is used for adsorbing the micro parts of different contour structures.
3. carry out the method for micro parts assembling with claim 1 or 2 described assembling devices, it is characterized in that,
The first step: when using combined type absorption nipper units to carry out the micro parts assembling, the contour structure size of the micro parts of assembling is selected corresponding transition Attraction block as required;
Second step: combined type absorption nipper units moves to transition Attraction block material loading position, opens pneumatic gripping clamping transition Attraction block; The combined type absorption nipper units of clamping transition Attraction block, move to micro parts material loading position, gas arrives the transition Attraction block by the pore on the U-shaped joint block of gas channel, sucker joint pin, sucker, form negative pressure of vacuum at transition Attraction block adsorption hole place part is adsorbed, finish the absorption of micro parts;
The 3rd step: change the assembling jig base; Combined type absorption nipper units is being adsorbed micro parts and is being moved to assigned address, finishes the fittage with pedestal; Assembling is installed in fixation clip on the left and right axis of guide first, and is fixed with left and right compression knob after finishing;
The 4th step: close vacuum suction gas, discharge micro parts; Then close pneumatic gripping, discharge the transition Attraction block; After assembling finishes, together be fixed on the assembling jig unit as the transition Attraction block, micro parts and the pedestal that keep anchor clamps, the transition Attraction block can play the position of micro parts and the maintenance effect of attitude like this, is pressed on one with pedestal;
The 5th step: take off the assembling jig base, micro parts and pedestal are carried out gluingly connecing fixingly, take off afterwards the transition Attraction block, be not destroyed to guarantee assembly precision, thereby the precision that has realized micro parts and pedestal is assembled.
CN2013102170407A 2013-06-03 2013-06-03 Tiny component assembling device and method CN103350333A (en)

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Cited By (14)

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Publication number Priority date Publication date Assignee Title
CN103862281A (en) * 2014-03-11 2014-06-18 大连理工大学 Assembly method for miniature parts
CN103862255A (en) * 2014-03-11 2014-06-18 大连理工大学 Switching type micro-gripper for assembling tiny components
CN104400404A (en) * 2014-10-20 2015-03-11 华南理工大学 Multifunctional assembly claw and method for assembling parts by using same
CN105234646A (en) * 2014-07-07 2016-01-13 上海上飞飞机装备制造有限公司 Aircraft component rapid assembly tool with assigned track
CN107901068A (en) * 2017-11-24 2018-04-13 大连理工大学 A kind of more parts adsorb the adsorption structure and method of pickup at the same time
CN107962381A (en) * 2017-11-28 2018-04-27 济宁学院 A kind of lipstick upper cover automatic assembling apparatus
CN108058184A (en) * 2017-11-09 2018-05-22 大连理工大学 A kind of electromagnetic adsorption type transition apparatus for clamp changing-over
CN108388159A (en) * 2018-04-10 2018-08-10 大连理工大学 A kind of design architecture of micro parts automatic setup system control software
CN108581469A (en) * 2018-05-10 2018-09-28 大连理工大学 A kind of locking device and assembly method for micro parts automatic assembling
CN108673473A (en) * 2018-06-06 2018-10-19 大连理工大学 A kind of flexible mechanical arm configuration
CN109352302A (en) * 2018-11-28 2019-02-19 合肥常青机械股份有限公司 A kind of the image recognition assembly system and method for micro parts
CN111070141A (en) * 2020-01-03 2020-04-28 大连理工大学 Automatic assembling clamp for micro parts and automatic locking method
CN111098252A (en) * 2020-01-07 2020-05-05 大连理工大学 Height-adjustable's small-size frame subassembly modular fixture
CN112051527A (en) * 2020-08-11 2020-12-08 大连理工大学 Clamping-detecting integrated device and matching method for micro magnetic steel

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Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103862255A (en) * 2014-03-11 2014-06-18 大连理工大学 Switching type micro-gripper for assembling tiny components
CN103862281A (en) * 2014-03-11 2014-06-18 大连理工大学 Assembly method for miniature parts
CN103862281B (en) * 2014-03-11 2016-03-02 大连理工大学 A kind of assembly method of micro part
CN105234646A (en) * 2014-07-07 2016-01-13 上海上飞飞机装备制造有限公司 Aircraft component rapid assembly tool with assigned track
CN104400404A (en) * 2014-10-20 2015-03-11 华南理工大学 Multifunctional assembly claw and method for assembling parts by using same
CN108058184B (en) * 2017-11-09 2020-09-29 大连理工大学 Electromagnetic adsorption type switching device for clamp switching
CN108058184A (en) * 2017-11-09 2018-05-22 大连理工大学 A kind of electromagnetic adsorption type transition apparatus for clamp changing-over
CN107901068B (en) * 2017-11-24 2020-11-03 大连理工大学 Adsorption structure and method for simultaneously adsorbing and picking multiple parts
CN107901068A (en) * 2017-11-24 2018-04-13 大连理工大学 A kind of more parts adsorb the adsorption structure and method of pickup at the same time
CN107962381B (en) * 2017-11-28 2019-10-01 济宁学院 A kind of lipstick upper cover automatic assembling apparatus
CN107962381A (en) * 2017-11-28 2018-04-27 济宁学院 A kind of lipstick upper cover automatic assembling apparatus
CN108388159A (en) * 2018-04-10 2018-08-10 大连理工大学 A kind of design architecture of micro parts automatic setup system control software
CN108581469A (en) * 2018-05-10 2018-09-28 大连理工大学 A kind of locking device and assembly method for micro parts automatic assembling
CN108673473A (en) * 2018-06-06 2018-10-19 大连理工大学 A kind of flexible mechanical arm configuration
CN108673473B (en) * 2018-06-06 2021-03-26 大连理工大学 Flexible mechanical arm structure
CN109352302A (en) * 2018-11-28 2019-02-19 合肥常青机械股份有限公司 A kind of the image recognition assembly system and method for micro parts
CN111070141A (en) * 2020-01-03 2020-04-28 大连理工大学 Automatic assembling clamp for micro parts and automatic locking method
CN111098252A (en) * 2020-01-07 2020-05-05 大连理工大学 Height-adjustable's small-size frame subassembly modular fixture
CN112051527A (en) * 2020-08-11 2020-12-08 大连理工大学 Clamping-detecting integrated device and matching method for micro magnetic steel

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Application publication date: 20131016