CN103707058B - A kind of fusion target vital part automatic precision mounting plate - Google Patents
A kind of fusion target vital part automatic precision mounting plate Download PDFInfo
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- CN103707058B CN103707058B CN201310698051.1A CN201310698051A CN103707058B CN 103707058 B CN103707058 B CN 103707058B CN 201310698051 A CN201310698051 A CN 201310698051A CN 103707058 B CN103707058 B CN 103707058B
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- 230000004927 fusion Effects 0.000 title claims abstract description 13
- 239000008188 pellet Substances 0.000 claims abstract description 159
- 238000003745 diagnosis Methods 0.000 claims abstract description 76
- 238000001000 micrograph Methods 0.000 claims abstract description 24
- 239000000758 substrate Substances 0.000 claims abstract description 20
- 125000006850 spacer group Chemical group 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 20
- 239000000203 mixture Substances 0.000 description 22
- 238000000605 extraction Methods 0.000 description 5
- 150000001875 compounds Chemical class 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/002—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units stationary whilst being composed
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Abstract
A kind of fusion target vital part automatic precision mounting plate, it relates to a kind of igniting target vital part mounting plate, adopt semi-automatic assembling device to solve the assembling of existing igniting target vital part, assembling process is complicated, complicated operation, and add up error is many, the problem of poor stability.Diagnosis ring just locating and clamping apparatus, pellet clamping and positioning device, upper external member clamping and positioning device, vertical MIcrosope image feedback device, diagnosis ring fine positioning clamping device, horizontal microscope image feedback device and cup lid group clamping and positioning device are arranged on substrate upper surface by sorting counterclockwise, pellet clamping and positioning device is arranged on diagnosis ring just between locating and clamping apparatus and upper external member clamping and positioning device, vertical MIcrosope image feedback device is arranged between diagnosis ring fine positioning clamping device and upper external member clamping and positioning device, horizontal microscope image feedback device is arranged between diagnosis ring fine positioning clamping device and cup lid group clamping and positioning device.The present invention is used for the assembling of fusion target vital part.
Description
Technical field
The present invention relates to a kind of igniting target vital part mounting plate, belong to laser fusion target mounting technology field, be specifically related to a kind of fusion target vital part automatic precision mounting plate.
Background technology
Igniting target is the one of laser fusion target, vital part comprises: pellet, diagnosis ring, upper cover member arms and member arms of trapping, the precision positioning of matching requirements pellet is in diagnosis ring center, docking in diagnosis ring by being socketed up and down again, is the igniting target assembly parts of the high accuracy assembling that satisfied igniting requires needs steady in a long-term a large amount of.At present, domestic igniting target vital part assembling adopts traditional manual to install, low precision, efficiency are low, and external semi-automatic assembling device redundant degree of freedom causes assembling process complexity, complicated operation more, involves great expense, and add up error is many, poor rigidity, the artificial composition that participates in causes poor stability, efficiency low more.For satisfied igniting requirement, mounting plate needs better stability, ease for operation, ensures higher precision and efficiency.Therefore for igniting target vital part mounting plate, adopt that automaticity is high, rigidity is strong, simple to operate stable, promote the key that precision and efficiency are igniting target Assembly of the parts.
Summary of the invention
The object of the invention is to adopt semi-automatic assembling device for solving the assembling of existing igniting target vital part, redundant degree of freedom is many, assembling process is complicated, complicated operation, and add up error is many, poor rigidity, have and manually participate in composition, cause poor stability, inefficient problem, and a kind of fusion target vital part automatic precision mounting plate is provided.
Of the present inventionly to be achieved through the following technical solutions:
Fusion target vital part automatic precision mounting plate comprises substrate, diagnosis ring just locating and clamping apparatus, diagnosis ring fine positioning clamping device, pellet clamping and positioning device, upper external member clamping and positioning device, cup lid group clamping and positioning device, vertical MIcrosope image feedback device and horizontal microscope image feedback device, diagnosis ring just locating and clamping apparatus, pellet clamping and positioning device, upper external member clamping and positioning device, vertical MIcrosope image feedback device, diagnosis ring fine positioning clamping device, horizontal microscope image feedback device and cup lid group clamping and positioning device are arranged on substrate upper surface by sorting counterclockwise, diagnosis ring just locating and clamping apparatus is oppositely arranged on the upper surface of substrate with the transverse axis diagnosing ring fine positioning clamping device along substrate, and the first location sucker on the first locating and clamping apparatus of diagnosis ring and the fine positioning sucker on diagnosis ring fine positioning clamping device are just to setting, upper external member clamping and positioning device and cup lid group clamping and positioning device are oppositely arranged on the upper surface of substrate along the longitudinal axis of substrate, and the central point of lower diagnosis annular distance on the central point of upper diagnosis annular distance on upper external member clamping and positioning device and cup lid group clamping and positioning device is on the longitudinal axis, pellet clamping and positioning device is arranged on diagnosis ring just between locating and clamping apparatus and upper external member clamping and positioning device, vertical MIcrosope image feedback device is arranged between diagnosis ring fine positioning clamping device and upper external member clamping and positioning device, horizontal microscope image feedback device is arranged between diagnosis ring fine positioning clamping device and cup lid group clamping and positioning device,
Diagnosis ring just locating and clamping apparatus comprises pellet support member, first positioning clamping suction nozzle, just locate suction pipe, first locating piece, first location L shape briquetting, rotary magnet, baffle plate, horizontal end plate, two L shaped plates, first positioning linear motor, swingle, first alignment pin, adapter, second alignment pin, 3rd alignment pin and rotatable positioning member, the longitudinal centre line of two L shaped plates linearly motor is symmetricly set on the both sides of just positioning linear motor upper surface, and the interior angle of two L shaped plates is oppositely arranged, horizontal end plate is arranged on the upper surface of two L shaped plates, first alignment pin and the second alignment pin are arranged on the upper surface of horizontal end plate along same straight line, first locating piece is arranged on the upper surface of horizontal end plate, first locating piece is fixed by just locating L shape briquetting, first locating piece is provided with swingle installing hole, rotary magnet is arranged on first locating piece, swingle is arranged in swingle installing hole, the rear end of swingle is connected with rotary magnet by adapter, the front end of swingle is connected with pellet support member through rotatable positioning member, and supporting spring on pellet support member and direction parallel with the spacer on rotatable positioning member is arranged on the contrary, the upper surface of supporting spring is provided with pellet locating pin, rotatable positioning member is by the 3rd alignment pin location, 3rd alignment pin is arranged on the front end face of just locating piece, baffle plate is arranged on the rear end of rotary magnet, first location suction pipe and swingle be arranged in parallel, the rear end of first location suction pipe is through first locating piece, the front end of first location suction pipe is connected with first positioning clamping suction nozzle, the front end face of first positioning clamping suction nozzle is provided with just locates arcwall face, first positioning clamping suction nozzle is provided with and the first location sucker of just locating suction pipe and communicating, the front end of first positioning clamping suction nozzle is provided with positioned edge, first positioning clamping suction nozzle is arranged on pellet support member,
Diagnosis ring fine positioning clamping device comprises fine positioning suction nozzle, 4th alignment pin, fine positioning suction pipe, fine positioning backstay, fine positioning L shape briquetting, 5th alignment pin, fine positioning elbow, 6th alignment pin, 7th alignment pin, fine positioning connecting plate, fine setting platform, upper junction plate, fine positioning linear electric motors, lower connecting plate and fine positioning stepper motor, upper junction plate, fine positioning linear electric motors and lower connecting plate are successively set on the upper surface of fine positioning stepper motor from top to bottom, and fine positioning connecting plate is with on fine setting platform, under be arranged on above upper junction plate, 5th alignment pin and the 7th alignment pin are arranged on along same straight line on the upper surface of fine positioning connecting plate, fine positioning backstay is arranged on fine positioning connecting plate, 6th alignment pin is arranged on the rear end of fine positioning backstay, fine positioning backstay is fixed by fine positioning L shape briquetting, fine positioning elbow is arranged on the tail end of the upper surface of fine positioning backstay, the rear end of fine positioning suction pipe is through fine positioning backstay, the front end of fine positioning suction pipe is connected with fine positioning suction nozzle, the front end face of fine positioning suction nozzle is provided with fine positioning arcwall face, fine positioning suction nozzle is provided with the fine positioning sucker communicated with fine positioning suction pipe, 4th alignment pin is arranged on fine positioning suction nozzle
Pellet clamping and positioning device comprises pellet suction nozzle, pellet clamping suction pipe, pellet clamping position bar, 8th alignment pin, pellet clamping L shape briquetting, 9th alignment pin, pellet clamping elbow, pellet adapter, vertical lifting motor, first pellet clamping stepper motor and the second pellet clamping stepper motor, first pellet clamping stepper motor is arranged on the upper surface of the second pellet clamping stepper motor, pellet adapter and vertical lifting motor setting up and down first pellet clamping stepper motor on, 8th alignment pin and the 9th alignment pin are arranged on along same straight line on the upper surface of pellet adapter, pellet clamping position bar is arranged on pellet adapter, pellet clamping position bar clamps L shape briquetting by pellet and fixes, pellet clamping elbow is arranged on the tail end of the upper surface of pellet clamping position bar, the rear end of pellet clamping suction pipe is through pellet clamping position bar, the front end of pellet clamping suction pipe is connected with pellet suction nozzle, pellet suction nozzle is provided with the pellet sucker clamping suction pipe with pellet and communicate, the front end of pellet suction nozzle is provided with pellet positioned edge,
Upper external member clamping and positioning device comprises external member clamper, connector, upper external member location manual fine-tuning platform, upper external member fine setting platform mount pad, upper external member force sensor, upper external member location cantilever, upper external member first positioning linear motor, upper external member L shape connecting plate, upper external member second positioning linear motor and upper external member clamping position base, upper external member first positioning linear motor is vertical with upper external member second positioning linear motor to be arranged, upper external member first positioning linear motor is arranged on the front end face of external member L shape connecting plate, upper external member L shape connecting plate is arranged on external member second positioning linear motor, upper external member second positioning linear motor is arranged on external member clamping position base, one end of upper external member location cantilever is packed on the front end face of external member first positioning linear motor, the other end of upper external member location cantilever is provided with external member clamper from the bottom to top successively, connector, upper external member location manual fine-tuning platform, upper external member fine setting platform mount pad and upper external member force sensor,
Cup lid group clamping and positioning device comprises cup lid group clamper, switching keeper, upper external member location manual fine-tuning platform, cup lid group fine setting platform mount pad, upper external member force sensor, cup lid group location cantilever, cup lid group first positioning linear motor, cup lid group L shape connecting plate and cup lid group second positioning linear motor, cup lid group first positioning linear motor is vertical with cup lid group second positioning linear motor to be arranged, cup lid group first positioning linear motor is arranged on the front end face of cup lid group L shape connecting plate, cup lid group L shape connecting plate is arranged on cup lid group second positioning linear motor, one end of cup lid group location cantilever is packed on the front end face of cup lid group first positioning linear motor, the other end of cup lid group location cantilever is provided with cup lid group clamper from top to bottom successively, switching keeper, upper external member location manual fine-tuning platform and cup lid group fine setting platform mount pad,
Vertical MIcrosope image feedback device comprises vertical microscope, vertical imageing sensor, vertical fixture, vertical connector, vertical linking arm, vertical stepper motor and vertical fixed mount, vertical stepper motor is arranged on vertical fixed mount, one end of vertical linking arm is packed on the front end face of vertical stepper motor, the other end of vertical linking arm is connected with vertical connector, vertical connector is provided with vertical connector half slot, vertical fixture is provided with the vertical fixture half slot relative with vertical connector half slot, vertical fixture and vertical connector fasten and arrange, vertical connector half slot and vertical fixture half slot form vertical microscope installing hole, vertical microscope is arranged in vertical microscope installing hole, vertical imageing sensor is arranged on vertical microscopical upper end,
Horizontal microscope image feedback device comprises horizontal microscope, horizontal image sensor, horizontal fixed members, horizontal connector, level connection joint arm, horizontal fixed mount, horizontal step motor, horizontal fixed mount is arranged in horizontal step motor, one end of level connection joint arm is packed on horizontal fixed mount, the other end of level connection joint arm is connected with horizontal connector, horizontal connector is provided with horizontal connector half slot, horizontal fixed members is provided with the horizontal fixed members half slot relative with horizontal connector half slot, horizontal fixed members and horizontal connector fasten and arrange, horizontal connector half slot and horizontal fixed members half slot form horizontal microscope installing hole, horizontal microscope is arranged in horizontal microscope installing hole, horizontal image sensor setting is in the upper end of horizontal microscope.
The present invention compared with prior art has following beneficial effect:
The present invention utilizes diagnosis ring just locating and clamping apparatus, diagnosis ring fine positioning clamping device, pellet clamping and positioning device, upper external member clamping and positioning device and cup lid group clamping and positioning device assemble igniting target vital part, and by the positioned edge on diagnosis ring just locating and clamping apparatus, alignment pin fixed target part position attitude on each device, vertical MIcrosope image feedback device, horizontal microscope image feedback device realizes IMAQ, feature information extraction is carried out by host computer procedure, and control assembling process, decrease equipment adjustment process and equidirectional not redundancy assembling free degree mode, reduce system complexity, whole assembling process does not manually participate in composition, thus add system rigidity and stability, improve assembly precision and efficiency, positioning precision high (can reach ± 0.2 μm), efficiency is high (comprises the front set-up procedure of assembling, consuming time only less than 2 hours).
Accompanying drawing explanation
Fig. 1 is overall structure top perspective view of the present invention;
Fig. 2 is the stereogram of the first locating and clamping apparatus 2 of diagnosis ring;
Fig. 3 is the stereogram of just positioning clamping suction nozzle 2-2;
Fig. 4 is the stereogram of pellet support member 2-1;
Fig. 5 is the stereogram of diagnosis ring fine positioning clamping device 3;
Fig. 6 is the stereogram of fine positioning suction nozzle 3-1;
Fig. 7 is the stereogram of pellet clamping and positioning device 4;
Fig. 8 is the stereogram of pellet suction nozzle 4-1;
Fig. 9 is the stereogram of upper external member clamping and positioning device 5;
Figure 10 is the face upwarding stereogram of upper external member clamper 5-1;
Figure 11 is the face upwarding stereogram upper external member clamper 5-1 being provided with external member 9-3;
Figure 12 is the stereogram of cup lid group clamping and positioning device 6;
Figure 13 is the top perspective view of cup lid group clamper 6-1;
Figure 14 is top perspective view cup lid group clamper 6-1 being provided with external member 9-3;
Figure 15 is the stereogram of vertical MIcrosope image feedback device 7;
Figure 16 is the stereogram of horizontal microscope image feedback device 8;
Figure 17 is the stereogram of igniting target vital part 9;
Figure 18 is the exploded perspective view of igniting target vital part 9.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1, Figure 16 and Figure 17 illustrates present embodiment, the fusion target vital part automatic precision mounting plate of present embodiment comprises substrate 1, diagnosis ring just locating and clamping apparatus 2, diagnosis ring fine positioning clamping device 3, pellet clamping and positioning device 4, upper external member clamping and positioning device 5, cup lid group clamping and positioning device 6, vertical MIcrosope image feedback device 7 and horizontal microscope image feedback device 8, diagnosis ring just locating and clamping apparatus 2, pellet clamping and positioning device 4, upper external member clamping and positioning device 5, vertical MIcrosope image feedback device 7, diagnosis ring fine positioning clamping device 3, horizontal microscope image feedback device 8 and cup lid group clamping and positioning device 6 are arranged on substrate 1 upper surface by sorting counterclockwise, diagnosis ring just locating and clamping apparatus 2 is oppositely arranged on the upper surface of substrate 1 with the transverse axis X-X diagnosing ring fine positioning clamping device 3 along substrate 1, and the first location sucker 2-2-2 on the first locating and clamping apparatus 2 of diagnosis ring and the fine positioning sucker 3-1-2 on diagnosis ring fine positioning clamping device 3 is just to setting, upper external member clamping and positioning device 5 and cup lid group clamping and positioning device 6 are oppositely arranged on the upper surface of substrate 1 along the longitudinal axis Y-Y of substrate 1, and the central point of lower diagnosis annular distance 6-1-1-3 on the central point of upper diagnosis annular distance 5-1-1-3 on upper external member clamping and positioning device 5 and cup lid group clamping and positioning device 6 is on longitudinal axis Y-Y, pellet clamping and positioning device 4 is arranged on diagnosis ring just between locating and clamping apparatus 2 and upper external member clamping and positioning device 5, vertical MIcrosope image feedback device 7 is arranged between diagnosis ring fine positioning clamping device 3 and upper external member clamping and positioning device 5, horizontal microscope image feedback device 8 is arranged between diagnosis ring fine positioning clamping device 3 and cup lid group clamping and positioning device 6, igniting target vital part 9 is by pellet 9-1, diagnosis ring 9-2, upper external member 9-3 and cup lid group 9-4 composition, diagnosis ring just locating and clamping apparatus 2 coordinates with vertical MIcrosope image feedback device 7, diagnoses the X-direction of ring 9-2 and pellet 9-1 automatically just to locate by host computer procedure control realization, diagnosis ring just locating and clamping apparatus 2, pellet clamping and positioning device 4 coordinates with vertical MIcrosope image feedback device 7, horizontal microscope image feedback device 8 and diagnoses the X of ring 9-2 and pellet 9-1 and Y-direction automatically to adjust location by host computer procedure control realization, upper external member clamping and positioning device 5, cup lid group clamping and positioning device 6 coordinate with vertical MIcrosope image feedback device 7, horizontal microscope image feedback device 8, by the automatic location of external member 9-3 and cup lid group 9-4X, Y, Z-direction on host computer procedure control realization.
Detailed description of the invention two: composition graphs 2 and Fig. 3 illustrate present embodiment, the first locating and clamping apparatus 2 of diagnosis ring of present embodiment comprises pellet support member 2-1, first positioning clamping suction nozzle 2-2, first location suction pipe 2-3, first locating piece 2-4, first location L shape briquetting 2-5, rotary magnet 2-6, baffle plate 2-7, horizontal end plate 2-8, two L shaped plate 2-9, first positioning linear motor 2-10, swingle 2-11, first alignment pin 2-12, adapter 2-13, second alignment pin 2-14, 3rd alignment pin 2-15 and rotatable positioning member 2-16, the longitudinal centre line of two L shaped plate 2-9 linearly motor 2-10 is symmetricly set on the both sides of just positioning linear motor 2-10 upper surface, and the interior angle of two L shaped plate 2-9 is oppositely arranged, horizontal end plate 2-8 is arranged on the upper surface of two L shaped plate 2-9, first alignment pin 2-12 and the second alignment pin 2-14 is arranged on the upper surface of horizontal end plate 2-8 along same straight line, first locating piece 2-4 is arranged on the upper surface of horizontal end plate 2-8, locating piece 2-4 is located by the first alignment pin 2-12 and the second alignment pin 2-14, first locating piece 2-4 fixes by just locating L shape briquetting 2-5, first locating piece 2-4 is provided with swingle installing hole 2-4-1, rotary magnet 2-6 is arranged on first locating piece 2-4, swingle 2-11 is arranged in swingle installing hole 2-4-1, the rear end of swingle 2-11 is connected with rotary magnet 2-6 by adapter 2-13, the front end of swingle 2-11 is connected with pellet support member 2-1 through rotatable positioning member 2-16, swingle 2-11 and rotatable positioning member 2-16 is screwed, and supporting spring 2-1-1 on pellet support member 2-1 and direction parallel with the spacer 2-16-1 on rotatable positioning member 2-16 is arranged on the contrary, the upper surface of supporting spring 2-1-1 is provided with pellet locating pin 2-1-2, rotatable positioning member 2-16 is located by the 3rd alignment pin 2-15, 3rd alignment pin 2-15 is arranged on the front end face of just locating piece 2-4, rotated by rotary magnet 2-6, stop that rotatable positioning member 2-16 locates by alignment pin 2-15, baffle plate 2-7 is arranged on the rear end of rotary magnet 2-6, first location suction pipe 2-3 and swingle 2-11 be arranged in parallel, the rear end of first location suction pipe 2-3 is through first locating piece 2-4, the front end of first location suction pipe 2-3 is connected with first positioning clamping suction nozzle 2-2, first positioning clamping suction nozzle 2-2 with just locate suction pipe 2-3 and sealed by tight fit connection blend compounds, the front end face of first positioning clamping suction nozzle 2-2 is provided with just location arcwall face 2-2-1, first positioning clamping suction nozzle 2-2 is provided with and the first location sucker 2-2-2 just locating suction pipe 2-3 and communicate, the front end of first positioning clamping suction nozzle 2-2 is provided with positioned edge 2-2-3, diagnosis ring 9-2 is adsorbed in first location arcwall face 2-2-1 by just locating sucker 2-2-2, positioned edge 2-2-3 is used for diagnosing ring 9-2 to locate, first positioning clamping suction nozzle 2-2 is arranged on pellet support member 2-1, pellet 9-1 is fixed by the pellet locating pin 2-1-2 on supporting spring 2-1-1, diagnosis ring 9-2 is fixing by just location sucker 2-2-2 absorption, located by positioned edge 2-2-3.First positioning linear motor 2-10 adopts the piezoelectric motor of PMT105-50-LM model.Other composition and annexation identical with detailed description of the invention one.
The operation principle of the first locating and clamping apparatus 2 of diagnosis ring: rotary magnet 2-6 drives front end to rotate by motor driver, rotary magnet 2-6 and adapter 2-13 is screwed, rotary magnet 2-6 rotates and drives adapter 2-13 to rotate, adapter 2-13 and swingle are screwed, adapter 2-13 rotates and drives swingle 2-11 to rotate, swingle 2-11 is connected by screw with pellet support member 2-1 and rotatable positioning member 2-16, swingle 2-11 rotating band moving-target ball support member 2-1 and rotatable positioning member 2-16 rotates, rotatable positioning member 2-16 is stopped by the 3rd alignment pin 2-15, stop that rotary magnet 2-6 rotates.First positioning clamping suction nozzle 2-2 with just locate suction pipe 2-3 inside and be connected external vacuum and adsorb tracheae.
Detailed description of the invention three: composition graphs 4 and Fig. 5 illustrate present embodiment, the diagnosis ring fine positioning clamping device 3 of present embodiment comprises fine positioning suction nozzle 3-1, 4th alignment pin 3-2, fine positioning suction pipe 3-3, fine positioning backstay 3-4, fine positioning L shape briquetting 3-5, 5th alignment pin 3-6, fine positioning elbow 3-7, 6th alignment pin 3-8, 7th alignment pin 3-9, fine positioning connecting plate 3-10, fine setting platform 3-11, upper junction plate 3-12, fine positioning linear electric motors 3-13, lower connecting plate 3-14 and fine positioning stepper motor 3-15, upper junction plate 3-12, fine positioning linear electric motors 3-13 and lower connecting plate 3-14 is successively set on the upper surface of fine positioning stepper motor 3-15 from top to bottom, on fine positioning connecting plate 3-10 and fine setting platform 3-11, under be arranged on above upper junction plate 3-12, 5th alignment pin 3-6 and the 7th alignment pin 3-9 is arranged on along same straight line on the upper surface of fine positioning connecting plate 3-10, fine positioning backstay 3-4 is arranged on fine positioning connecting plate 3-10, fine positioning backstay 3-4 is by the 5th alignment pin 3-6, 6th alignment pin 3-8 and the 7th alignment pin 3-9 locates, 6th alignment pin 3-8 is arranged on the rear end of fine positioning backstay 3-4, fine positioning backstay 3-4 is fixed by fine positioning L shape briquetting 3-5, fine positioning elbow 3-7 is arranged on the tail end of the upper surface of fine positioning backstay 3-4, the rear end of fine positioning suction pipe 3-3 is through fine positioning backstay 3-4, the front end of fine positioning suction pipe 3-3 is connected with fine positioning suction nozzle 3-1, two ends and the fine positioning suction nozzle 3-1 and fine positioning backstay 3-4 of location suction pipe 3-3 are sealed by tight fit connection blend compounds, the front end face of fine positioning suction nozzle 3-1 is provided with fine positioning arcwall face 3-1-1, fine positioning suction nozzle 3-1 is provided with the fine positioning sucker 3-1-2 communicated with fine positioning suction pipe 3-3, 4th alignment pin 3-2 is arranged on fine positioning suction nozzle 3-1.Fine setting platform 3-11 adopts the manual fine-tuning platform of AIS-60B model, and fine positioning linear electric motors 3-13 adopts the piezoelectric motor of MT105-LM model, and fine positioning stepper motor 3-15 adopts the stepper motor of KS102-70 model.Diagnosis ring 9-2 is adsorbed in fine positioning arcwall face 3-1-1 by fine positioning sucker 3-1-2, and is located by the 4th alignment pin 3-2.Other composition and annexation identical with detailed description of the invention one or two.
The operation principle of diagnosis ring fine positioning clamping device 3: fine positioning stepper motor 3-15 is by connecting driver drives rectilinear movement, precision stepper motor 3-15 moves and drives lower connecting plate 3-14 to move, lower connecting plate 3-14 moves and drives fine positioning linear electric motors 3-13 to move, fine positioning linear electric motors 3-13 is by connecting the rectilinear movement of driver drives perpendicular to fine positioning stepper motor 3-15 moving direction, fine positioning linear electric motors 3-13 moves and drives upper junction plate 3-12 to move, upper junction plate 3-12 moves and drives fine setting platform 3-11 to move, fine setting platform 3-11 is by manual adjustments vertically movement, fine setting platform 3-11 moves and drives fine positioning connecting plate 3-10 to move, fine positioning connecting plate 3-10 moves and drives fine positioning backstay 3-4 to move, fine positioning backstay 3-4 moves and drives fine positioning suction pipe 3-3 to move, fine positioning suction pipe 3-3 drives fine positioning suction nozzle 3-1 and the 4th alignment pin 3-2 to move, fine positioning suction nozzle 3-1 and fine positioning suction pipe 3-3, fine positioning backstay 3-4, fine positioning elbow 3-7 inside communicates, fine positioning elbow 3-7 connects vacuum suction tracheae.
Detailed description of the invention four: composition graphs 6 and Fig. 7 illustrate present embodiment, the pellet clamping and positioning device 4 of present embodiment comprises pellet suction nozzle 4-1, pellet clamping suction pipe 4-2, pellet clamping position bar 4-3, 8th alignment pin 4-4, pellet clamping L shape briquetting 4-5, 9th alignment pin 4-6, pellet clamping elbow 4-7, pellet adapter 4-8, vertical lifting motor 4-9, first pellet clamping stepper motor 4-10 and the second pellet clamping stepper motor 4-11, first pellet clamping stepper motor 4-10 is arranged on the upper surface of the second pellet clamping stepper motor 4-11, pellet adapter 4-8 and vertical lifting motor 4-9 is setting up and down on the first pellet clamping stepper motor 4-10, 8th alignment pin 4-4 and the 9th alignment pin 4-6 is arranged on along same straight line on the upper surface of pellet adapter 4-8, pellet clamping position bar 4-3 is arranged on pellet adapter 4-8, pellet clamping position bar 4-3 is located by the 8th alignment pin 4-4 and the 9th alignment pin 4-6, pellet clamping position bar 4-3 clamps L shape briquetting 4-5 by pellet and fixes, pellet clamping elbow 4-7 is arranged on the tail end of the upper surface of pellet clamping position bar 4-3, the rear end of pellet clamping suction pipe 4-2 is through pellet clamping position bar 4-3, the front end of pellet clamping suction pipe 4-2 is connected with pellet suction nozzle 4-1, two ends and the pellet suction nozzle 4-1 and pellet clamping position bar 4-3 of pellet clamping suction pipe 4-2 are sealed by tight fit connection blend compounds, pellet suction nozzle 4-1 is provided with the pellet sucker 4-1-1 clamping suction pipe 4-2 with pellet and communicate, the front end of pellet suction nozzle 4-1 is provided with pellet positioned edge 4-1-2, pellet 9-1 adsorbs fixing by pellet sucker 4-1-1, located by pellet positioned edge 4-1-2.Vertical lifting motor 4-9 adopts the motor of SGSP60-5ZF model, and the first pellet clamping stepper motor 4-10 adopts the stepper motor of SGSP20-20 model, and the second pellet clamping stepper motor 4-11 adopts the stepper motor of SGSP20-20 model.Other composition and annexation identical with detailed description of the invention three.
The operation principle of pellet clamping and positioning device 4: the second pellet clamping stepper motor 4-11 drives rectilinear movement by connecting motor driver, second pellet clamping stepper motor 4-11 moves drive first pellet clamping stepper motor 4-10 and moves, first pellet clamping stepper motor 4-10 drives by connecting motor driver the rectilinear motion clamping stepper motor 4-11 direction perpendicular to pellet, first pellet clamping stepper motor 4-10 moves and drives vertical lifting motor 4-9 to move, vertical lifting motor 4-9 is by connecting motor driver vertically movement, vertical lifting motor 4-9 moving belt moving-target ball adapter 4-8 moves, pellet adapter 4-8 moving belt moving-target ball clamping position bar 4-3 moves, pellet clamping position bar 4-3 moving belt moving-target ball clamping suction pipe 4-2 moves, pellet clamping suction pipe 4-2 moving belt moving-target ball suction nozzle 4-1 moves.Pellet suction nozzle 4-1 and pellet clamp suction pipe 4-2, pellet clamping position bar 4-3, pellet clamps elbow 4-7 inside and communicates, and pellet clamping elbow 4-7 connects vacuum suction suction pipe.
Detailed description of the invention five: composition graphs 8 illustrates present embodiment, the upper external member clamping and positioning device 5 of present embodiment comprises external member clamper 5-1, connector 5-2, upper external member location manual fine-tuning platform 5-3, upper external member fine setting platform mount pad 5-4, upper external member force sensor 5-5, upper external member location cantilever 5-6, upper external member first positioning linear motor 5-7, upper external member L shape connecting plate 5-8, upper external member second positioning linear motor 5-9 and upper external member clamping position base 5-10, upper external member first positioning linear motor 5-7 is vertical with upper external member second positioning linear motor 5-9 to be arranged, upper external member first positioning linear motor 5-7 is arranged on the front end face of external member L shape connecting plate 5-8, upper external member L shape connecting plate 5-8 is arranged on external member second positioning linear motor 5-9, upper external member second positioning linear motor 5-9 is arranged on external member clamping position base 5-10, one end of upper external member location cantilever 5-6 is packed on the front end face of external member first positioning linear motor 5-7, the other end of upper external member location cantilever 5-6 is provided with external member clamper 5-1 from the bottom to top successively, connector 5-2, upper external member location manual fine-tuning platform 5-3, upper external member fine setting platform mount pad 5-4 and upper external member force sensor 5-5.Upper external member location manual fine-tuning platform 5-3 adopts the manual fine-tuning platform of KKD-25C model.Upper external member force sensor 5-5 adopts the force sensor of NANO43 model, and upper external member force sensor 5-5 realizes assembly force by host computer procedure central axis hole assembly force control method and controls, and completes assembling, and improves the success rate of assembling.Upper external member first positioning linear motor 5-7 adopts the piezoelectric motor of 2-10MT105-2LM model.Upper external member second positioning linear motor 5-9 adopts the piezoelectric motor of KDT108-LM model.Other composition and annexation identical with detailed description of the invention four.
The operation principle of upper external member clamping and positioning device 5: upper external member second positioning linear motor 5-9 drives rectilinear movement by connecting motor driver, upper external member second positioning linear motor 5-9 moves and drives upper external member L shape connecting plate 5-8 to move, upper external member L shape connecting plate 5-8 moves and drives upper external member first positioning linear motor 5-7 to move, upper external member first positioning linear motor 5-7 drives vertical mobile by connecting motor driver, upper external member first positioning linear motor 5-7 moves and drives upper external member location cantilever 5-6 to move, upper external member location cantilever 5-6 moves and drives upper external member force sensor 5-5 to move, upper external member force sensor 5-5 moves and drives upper external member fine setting platform mount pad 5-4 to move, upper external member fine setting platform mount pad 5-4 moves and drives upper external member location manual fine-tuning platform 5-3 to move, upper external member location manual fine-tuning platform 5-3 is by manual adjustments vertically movement, upper external member location manual fine-tuning platform 5-3 moving belt movement connector 5-2 moves, connector 5-2 moves and drives upper external member clamper 5-1 to move.
Detailed description of the invention six: composition graphs 9 and Figure 10 illustrate present embodiment, the upper external member clamper 5-1 of present embodiment comprises external member grip slipper 5-1-1, external member alignment pin 5-1-2 on first, external member alignment pin 5-1-4 on external member alignment pin 5-1-3 and the 3rd on second, the lower surface of upper external member grip slipper 5-1-1 is provided with external member bothrium 5-1-1-1, external member sucker 5-1-1-2 is provided with in upper external member bothrium 5-1-1-1, upper external member grip slipper 5-1-1 is provided with the external sucker 5-1-1-4 of upper external member communicated with upper external member sucker 5-1-1-2, the external sucker 5-1-1-4 of upper external member is connected with vacuum suction suction pipe, upper external member grip slipper 5-1-1 is provided with diagnosis annular distance 5-1-1-3, on first, on external member alignment pin 5-1-2 and second, external member alignment pin 5-1-3 is symmetricly set on the both sides of external member bothrium 5-1-1-1, on 3rd, on external member alignment pin 5-1-4 and second, external member alignment pin 5-1-3 is arranged on homonymy, on 3rd, on external member alignment pin 5-1-4 and second, external member alignment pin 5-1-3 is arranged along same straight line.Upper external member 9-3 is gripped by upper external member sucker 5-1-1-2 and upper external member bothrium 5-1-1-1, is located by external member alignment pin 5-1-4 on external member alignment pin 5-1-3 and the 3rd on external member alignment pin 5-1-2, second on first.Other composition and annexation identical with detailed description of the invention five.
Detailed description of the invention seven: present embodiment is described in conjunction with Figure 11, the cup lid group clamping and positioning device 6 of present embodiment comprises cup lid group clamper 6-1, switching keeper 6-2, upper external member location manual fine-tuning platform 6-3, cup lid group fine setting platform mount pad 6-4, upper external member force sensor 6-5, cup lid group location cantilever 6-6, cup lid group first positioning linear motor 6-7, cup lid group L shape connecting plate 6-8 and cup lid group second positioning linear motor 6-9, cup lid group first positioning linear motor 6-7 is vertical with cup lid group second positioning linear motor 6-9 to be arranged, cup lid group first positioning linear motor 6-7 is arranged on the front end face of cup lid group L shape connecting plate 6-8, cup lid group L shape connecting plate 6-8 is arranged on cup lid group second positioning linear motor 6-9, one end of cup lid group location cantilever 6-6 is packed on the front end face of cup lid group first positioning linear motor 6-7, the other end of cup lid group location cantilever 6-6 is provided with cup lid group clamper 6-1 from top to bottom successively, switching keeper 6-2, upper external member location manual fine-tuning platform 6-3 and cup lid group fine setting platform mount pad 6-4.Upper external member location manual fine-tuning platform 6-3 adopts the manual fine-tuning platform of KKD-25C model.Upper external member force sensor 6-5 adopts the force sensor of NANO43 model, and upper external member force sensor 6-5 realizes assembly force by host computer procedure central axis hole assembly force control method and controls, and completes assembling, and improves the success rate of assembling.Cup lid group first positioning linear motor 6-7 adopts the piezoelectric motor of MT105-2LM model.Cup lid group second positioning linear motor 6-9 adopts the piezoelectric motor of KDT108-LM model.Other composition and annexation and detailed description of the invention one, two, four or six identical.
The operation principle of cup lid group clamping and positioning device 6: cup lid group second positioning linear motor 6-9 drives rectilinear movement by connecting motor driver, cup lid group second positioning linear motor 6-9 moves and drives cup lid group L shape connecting plate 6-8 to move, cup lid group L shape connecting plate 6-8 moves and drives cup lid group first positioning linear motor 6-7 to move, cup lid group first positioning linear motor 6-7 drives vertical mobile by connecting motor driver, cup lid group first positioning linear motor 6-7 moves and drives cup lid group location cantilever 6-6 to move, cup lid group location cantilever 6-6 moves and drives upper external member force sensor 6-5 to move, upper external member force sensor 6-5 moves and drives cup lid group fine setting platform mount pad 6-4 to move, cup lid group fine setting platform mount pad 6-4 moves and drives upper external member location manual fine-tuning platform 6-3 to move, upper external member location manual fine-tuning platform 6-3 is by manual adjustments vertically movement, upper external member location manual fine-tuning platform 6-3 moves and drives switching keeper 6-2 to move, switching keeper 6-2 moves and drives cup lid group clamper 6-1 to move.
Detailed description of the invention eight: present embodiment is described in conjunction with Figure 12 and Figure 13, the cup lid group clamper 6-1 of present embodiment comprises cup lid group grip slipper 6-1-1, first cup lid group alignment pin 6-1-2, second cup lid group alignment pin 6-1-3 and the 3rd cup lid group alignment pin 6-1-4, the upper surface of cup lid group grip slipper 6-1-1 is provided with cup lid group bothrium 6-1-1-1, cup lid group sucker 6-1-1-2 is provided with in cup lid group bothrium 6-1-1-1, cup lid group grip slipper 6-1-1 is provided with the external sucker 6-1-1-4 of cup lid group communicated with cup lid group sucker 6-1-1-2, the external sucker 6-1-1-4 of cup lid group is connected with vacuum suction suction pipe, cup lid group grip slipper 6-1-1 is provided with lower diagnosis annular distance 6-1-1-3, first cup lid group alignment pin 6-1-2 and the second cup lid group alignment pin 6-1-3 is symmetricly set on the both sides of cup lid group bothrium 6-1-1-1, 3rd cup lid group alignment pin 6-1-4 and the second cup lid group alignment pin 6-1-3 is arranged on homonymy, 3rd cup lid group alignment pin 6-1-4 and the second cup lid group alignment pin 6-1-3 is arranged along same straight line.Cup lid group 9-4 is gripped by cup lid group sucker 6-1-1-2 and cup lid group bothrium 6-1-1-1, is located by the first cup lid group alignment pin 6-1-2, the second cup lid group alignment pin 6-1-3 and the 3rd cup lid group alignment pin 6-1-4.Other composition and annexation identical with detailed description of the invention seven.
Detailed description of the invention nine: present embodiment is described in conjunction with Figure 14, the vertical MIcrosope image feedback device 7 of present embodiment comprises vertical microscope 7-1, vertical imageing sensor 7-2, vertical fixture 7-3, vertical connector 7-4, vertical linking arm 7-5, vertical stepper motor 7-6 and vertical fixed mount 7-7, vertical stepper motor 7-6 is arranged on vertical fixed mount 7-7, vertical stepper motor 7-6 moves up and down along vertical fixed mount 7-7, one end of vertical linking arm 7-5 is packed on the front end face of vertical stepper motor 7-6, the other end of vertical linking arm 7-5 is connected with vertical connector 7-4, vertical connector 7-4 is provided with vertical connector half slot 7-4-1, vertical fixture 7-3 is provided with the vertical fixture half slot 7-3-1 relative with vertical connector half slot 7-4-1, vertical fixture 7-3 and vertical connector 7-4 fastens and arranges, vertical connector half slot 7-4-1 and vertical fixture half slot 7-3-1 forms vertical microscope installing hole, vertical microscope 7-1 is arranged in vertical microscope installing hole, vertical imageing sensor 7-2 is arranged on the upper end of vertical microscope 7-1.Other composition and annexation and detailed description of the invention one, two, four, six or eight identical.
The operation principle of vertical MIcrosope image feedback device 7: vertically stepper motor 7-6 drives vertical mobile by connecting motor driver, vertical stepper motor 7-6 moves and drives vertical linking arm 7-5 to move, vertical linking arm 7-5 moves and drives vertical connector 7-4 to move, vertical connector 7-4 and vertical fixture 7-3 fixes 7-1 by screw, vertical connector 7-4 moves and drives vertical microscope 7-1 to move, vertical microscope 7-1 moves and drives vertical imageing sensor 7-2 to move, and vertical imageing sensor 7-2 connects host computer.
Detailed description of the invention ten: present embodiment is described in conjunction with Figure 15, the horizontal microscope image feedback device 8 of present embodiment comprises horizontal microscope 8-1, horizontal image sensor 8-2, horizontal fixed members 8-3, horizontal connector 8-4, level connection joint arm 8-5, horizontal fixed mount 8-6, horizontal step motor 8-7, horizontal step motor 8-7 is along substrate 1 horizontal movement, horizontal fixed mount 8-6 is arranged on horizontal step motor 8-7, one end of level connection joint arm 8-5 is packed on horizontal fixed mount 8-6, the other end of level connection joint arm 8-5 is connected with horizontal connector 8-4, horizontal connector 8-4 is provided with horizontal connector half slot 8-4-1, horizontal fixed members 8-3 is provided with the horizontal fixed members half slot 8-3-1 relative with horizontal connector half slot 8-4-1, horizontal fixed members 8-3 and horizontal connector 8-4 fastens and arranges, horizontal connector half slot 8-4-1 and horizontal fixed members half slot 8-3-1 forms horizontal microscope installing hole, horizontal microscope 8-1 is arranged in horizontal microscope installing hole, horizontal image sensor 8-2 is arranged on the upper end of horizontal microscope 8-1.Other composition and annexation identical with detailed description of the invention nine.
The operation principle of horizontal microscope image feedback device 8: horizontal step motor 8-7 drives rectilinear movement by connecting motor driver, horizontal step motor 8-7 moves the horizontal fixed mount 8-6 of drive and moves, horizontal fixed mount 8-6 moves and drives level connection joint arm 8-5 to move, level connection joint arm 8-5 moves and drives horizontal connector 8-4 to move, horizontal connector 8-4 and horizontal fixed members 8-3 is by screw fixing horizontal microscope 8-1, horizontal connector 8-4 moves and drives horizontal microscope 8-1 to move, horizontal microscope 8-1 moves and drives horizontal image sensing 8-2 to move, horizontal image sensing 8-2 connects host computer.
The automatic assembling process of igniting target vital part automatic precision mounting plate is:
Step one, diagnosis ring just locating and clamping apparatus 2 will diagnose ring 9-2 and pellet 9-1 by pc control procedure clamping movement in vertical MIcrosope image feedback device 7 and horizontal microscope image feedback device 8 scope;
Step 2, diagnosis ring fine positioning clamping device 3 control automatically to move to by host computer procedure to be diagnosed near ring 9-2, and the image gathered by vertical MIcrosope image feedback device 7 carries out feature information extraction and the fine positioning suction nozzle 3-1 controlled on diagnosis ring fine positioning clamping device 3 holds the diagnosis ring 9-2 on first positioning clamping suction nozzle 2-2;
Step 3, pellet clamping and positioning device 4 control automatically to move near pellet 9-1 by host computer procedure, the image gathered by vertical MIcrosope image feedback device 7 and horizontal microscope image feedback device 8 is carried out feature information extraction and controls the pellet suction nozzle 4-1 on pellet clamping and positioning device 4, locates and draws pellet 9-1;
Rotary magnet 2-6 auto-breaking on step 4, the first locating and clamping apparatus 2 of diagnosis ring, pellet support member 2-1 rotates the support of withdrawing pellet 9-1, automatically turns off the absorption gas circuit of just positioning clamping suction nozzle 2-2 simultaneously.After completing, diagnosis ring just locating and clamping apparatus 2 recalls initial position.
Step 5, the image gathered by vertical MIcrosope image feedback device 7 and horizontal microscope image feedback device 8 carry out feature information extraction calculation of position errors, and control diagnosis ring fine positioning clamping device 3 and pellet clamping and positioning device 4 carries out precision positioning;
Upper external member 9-3, cup lid group 9-4 are moved to diagnosis ring 9-2 both sides by step 6, upper external member clamping and positioning device 5 and cup lid group clamping and positioning device 6 simultaneously, gather image by vertical MIcrosope image feedback device 7 and horizontal microscope image feedback device 8, carry out feature information extraction and calculate the upper external member 9-3 on the upper external member clamping and positioning device 5 of control and the cup lid group 9-4 perpendicular alignmnet diagnosis ring 9-2 on cup lid group clamping and positioning device 6;
Step 7, upper external member clamping and positioning device 5 and cup lid group clamping and positioning device 6 are to diagnosis ring 9-2 docking motion, in conjunction with the upper external member force sensor 5-5 in upper external member the clamping and positioning device 5 and upper external member force sensor 6-5 in cup lid group clamping and positioning device 6, control above external member clamping and positioning device 5 and cup lid group clamping and positioning device 6 by the force control method of the peg-in-hole assembly model of host computer and adjust position, the butt seam being detected upper external member 9-3 and cup lid group 9-4 by horizontal microscope image feedback device 8 completes assembling until gap is less than rated value.
Claims (3)
1. a fusion target vital part automatic precision mounting plate, described mounting plate comprises substrate (1), diagnosis ring just locating and clamping apparatus (2), diagnosis ring fine positioning clamping device (3), pellet clamping and positioning device (4), upper external member clamping and positioning device (5), cup lid group clamping and positioning device (6), vertical MIcrosope image feedback device (7) and horizontal microscope image feedback device (8), diagnosis ring just locating and clamping apparatus (2), pellet clamping and positioning device (4), upper external member clamping and positioning device (5), vertical MIcrosope image feedback device (7), diagnosis ring fine positioning clamping device (3), horizontal microscope image feedback device (8) and cup lid group clamping and positioning device (6) are arranged on substrate (1) upper surface by sorting counterclockwise, diagnose the first locating and clamping apparatus (2) of ring and diagnose ring fine positioning clamping device (3) to be oppositely arranged on the upper surface of substrate (1) along the transverse axis (X-X) of substrate (1), and first location sucker (2-2-2) on the first locating and clamping apparatus (2) of diagnosis ring and the fine positioning sucker (3-1-2) in diagnosis ring fine positioning clamping device (3) are just to setting, upper external member clamping and positioning device (5) and cup lid group clamping and positioning device (6) are oppositely arranged on the upper surface of substrate (1) along the longitudinal axis (Y-Y) of substrate (1), and the central point of lower diagnosis annular distance (6-1-1-3) on the central point of upper diagnosis annular distance (5-1-1-3) on upper external member clamping and positioning device (5) and cup lid group clamping and positioning device (6) is on the longitudinal axis (Y-Y), pellet clamping and positioning device (4) is arranged on diagnosis ring just between locating and clamping apparatus (2) and upper external member clamping and positioning device (5), vertical MIcrosope image feedback device (7) is arranged between diagnosis ring fine positioning clamping device (3) and upper external member clamping and positioning device (5), horizontal microscope image feedback device (8) is arranged between diagnosis ring fine positioning clamping device (3) and cup lid group clamping and positioning device (6), it is characterized in that: described diagnosis ring just locating and clamping apparatus (2) comprises pellet support member (2-1), first positioning clamping suction nozzle (2-2), just locate suction pipe (2-3), first locating piece (2-4), first location L shape briquetting (2-5), rotary magnet (2-6), baffle plate (2-7), horizontal end plate (2-8), two L shaped plates (2-9), first positioning linear motor (2-10), swingle (2-11), first alignment pin (2-12), adapter (2-13), second alignment pin (2-14), 3rd alignment pin (2-15) and rotatable positioning member (2-16), the longitudinal centre line of two L shaped plates (2-9) linearly motor (2-10) is symmetricly set on the both sides of just positioning linear motor (2-10) upper surface, and the interior angle of two L shaped plates (2-9) is oppositely arranged, horizontal end plate (2-8) is arranged on the upper surface of two L shaped plates (2-9), first alignment pin (2-12) and the second alignment pin (2-14) are arranged on along same straight line on the upper surface of horizontal end plate (2-8), first locating piece (2-4) is arranged on the upper surface of horizontal end plate (2-8), first locating piece (2-4) is fixed by just locating L shape briquetting (2-5), first locating piece (2-4) is provided with swingle installing hole (2-4-1), rotary magnet (2-6) is arranged on first locating piece (2-4), swingle (2-11) is arranged in swingle installing hole (2-4-1), the rear end of swingle (2-11) is connected with rotary magnet (2-6) by adapter (2-13), the front end of swingle (2-11) is connected with pellet support member (2-1) through rotatable positioning member (2-16), and supporting spring (2-1-1) on pellet support member (2-1) and direction parallel with the spacer (2-16-1) on rotatable positioning member (2-16) is arranged on the contrary, the upper surface of supporting spring (2-1-1) is provided with pellet locating pin (2-1-2), rotatable positioning member (2-16) is located by the 3rd alignment pin (2-15), 3rd alignment pin (2-15) is arranged on the front end face of just locating piece (2-4), baffle plate (2-7) is arranged on the rear end of rotary magnet (2-6), just locate suction pipe (2-3) to be arranged in parallel with swingle (2-11), just locate the rear end of suction pipe (2-3) through first locating piece (2-4), the front end of just locating suction pipe (2-3) is connected with first positioning clamping suction nozzle (2-2), the front end face of first positioning clamping suction nozzle (2-2) is provided with just locates arcwall face (2-2-1), first positioning clamping suction nozzle (2-2) is provided with and first location sucker (2-2-2) of just locating suction pipe (2-3) and communicating, the front end of first positioning clamping suction nozzle (2-2) is provided with positioned edge (2-2-3), first positioning clamping suction nozzle (2-2) is arranged on pellet support member (2-1), described diagnosis ring fine positioning clamping device (3) comprises fine positioning suction nozzle (3-1), 4th alignment pin (3-2), fine positioning suction pipe (3-3), fine positioning backstay (3-4), fine positioning L shape briquetting (3-5), 5th alignment pin (3-6), fine positioning elbow (3-7), 6th alignment pin (3-8), 7th alignment pin (3-9), fine positioning connecting plate (3-10), fine setting platform (3-11), upper junction plate (3-12), fine positioning linear electric motors (3-13), lower connecting plate (3-14) and fine positioning stepper motor (3-15), upper junction plate (3-12), fine positioning linear electric motors (3-13) and lower connecting plate (3-14) are successively set on the upper surface of fine positioning stepper motor (3-15) from top to bottom, in fine positioning connecting plate (3-10) and fine setting platform (3-11), under be arranged on above upper junction plate (3-12), 5th alignment pin (3-6) and the 7th alignment pin (3-9) are arranged on along same straight line on the upper surface of fine positioning connecting plate (3-10), fine positioning backstay (3-4) is arranged on fine positioning connecting plate (3-10), 6th alignment pin (3-8) is arranged on the rear end of fine positioning backstay (3-4), fine positioning backstay (3-4) is fixed by fine positioning L shape briquetting (3-5), fine positioning elbow (3-7) is arranged on the tail end of the upper surface of fine positioning backstay (3-4), the rear end of fine positioning suction pipe (3-3) is through fine positioning backstay (3-4), the front end of fine positioning suction pipe (3-3) is connected with fine positioning suction nozzle (3-1), the front end face of fine positioning suction nozzle (3-1) is provided with fine positioning arcwall face (3-1-1), fine positioning suction nozzle (3-1) is provided with the fine positioning sucker (3-1-2) communicated with fine positioning suction pipe (3-3), 4th alignment pin (3-2) is arranged on fine positioning suction nozzle (3-1), described pellet clamping and positioning device (4) comprises pellet suction nozzle (4-1), pellet clamping suction pipe (4-2), pellet clamping position bar (4-3), 8th alignment pin (4-4), pellet clamping L shape briquetting (4-5), 9th alignment pin (4-6), pellet clamping elbow (4-7), pellet adapter (4-8), vertical lifting motor (4-9), first pellet clamping stepper motor (4-10) and the second pellet clamping stepper motor (4-11), first pellet clamping stepper motor (4-10) is arranged on the upper surface of the second pellet clamping stepper motor (4-11), pellet adapter (4-8) and vertical lifting motor (4-9) setting up and down on the first pellet clamping stepper motor (4-10), 8th alignment pin (4-4) and the 9th alignment pin (4-6) are arranged on along same straight line on the upper surface of pellet adapter (4-8), pellet clamping position bar (4-3) is arranged on pellet adapter (4-8), pellet clamping position bar (4-3) clamps L shape briquetting (4-5) by pellet and fixes, pellet clamping elbow (4-7) is arranged on the tail end of the upper surface of pellet clamping position bar (4-3), the rear end of pellet clamping suction pipe (4-2) is through pellet clamping position bar (4-3), the front end of pellet clamping suction pipe (4-2) is connected with pellet suction nozzle (4-1), pellet suction nozzle (4-1) is provided with the pellet sucker (4-1-1) clamping suction pipe (4-2) with pellet and communicate, the front end of pellet suction nozzle (4-1) is provided with pellet positioned edge (4-1-2), described upper external member clamping and positioning device (5) comprises external member clamper (5-1), connector (5-2), upper external member location manual fine-tuning platform (5-3), upper external member fine setting platform mount pad (5-4), upper external member force sensor (5-5), upper external member location cantilever (5-6), upper external member first positioning linear motor (5-7), upper external member L shape connecting plate (5-8), upper external member second positioning linear motor (5-9) and upper external member clamping position base (5-10), upper external member first positioning linear motor (5-7) is vertical with upper external member second positioning linear motor (5-9) to be arranged, upper external member first positioning linear motor (5-7) is arranged on the front end face of external member L shape connecting plate (5-8), upper external member L shape connecting plate (5-8) is arranged on external member second positioning linear motor (5-9), upper external member second positioning linear motor (5-9) is arranged on external member clamping position base (5-10), one end of upper external member location cantilever (5-6) is packed on the front end face of external member first positioning linear motor (5-7), the other end of upper external member location cantilever (5-6) is provided with external member clamper (5-1) from the bottom to top successively, connector (5-2), upper external member location manual fine-tuning platform (5-3), upper external member fine setting platform mount pad (5-4) and upper external member force sensor (5-5), described cup lid group clamping and positioning device (6) comprises cup lid group clamper (6-1), switching keeper (6-2), upper external member location manual fine-tuning platform (6-3), cup lid group fine setting platform mount pad (6-4), upper external member force sensor (6-5), cup lid group location cantilever (6-6), cup lid group first positioning linear motor (6-7), cup lid group L shape connecting plate (6-8) and cup lid group second positioning linear motor (6-9), cup lid group first positioning linear motor (6-7) is vertical with cup lid group second positioning linear motor (6-9) to be arranged, cup lid group first positioning linear motor (6-7) is arranged on the front end face of cup lid group L shape connecting plate (6-8), cup lid group L shape connecting plate (6-8) is arranged on cup lid group second positioning linear motor (6-9), one end of cup lid group location cantilever (6-6) is packed on the front end face of cup lid group first positioning linear motor (6-7), the other end of cup lid group location cantilever (6-6) is provided with cup lid group clamper (6-1) from top to bottom successively, switching keeper (6-2), upper external member location manual fine-tuning platform (6-3) and cup lid group fine setting platform mount pad (6-4), described vertical MIcrosope image feedback device (7) comprises vertical microscope (7-1), vertical imageing sensor (7-2), vertical fixture (7-3), vertical connector (7-4), vertical linking arm (7-5), vertical stepper motor (7-6) and vertical fixed mount (7-7), vertical stepper motor (7-6) is arranged on vertical fixed mount (7-7), one end of vertical linking arm (7-5) is packed on the front end face of vertical stepper motor (7-6), the other end of vertical linking arm (7-5) is connected with vertical connector (7-4), vertical connector (7-4) is provided with vertical connector half slot (7-4-1), vertical fixture (7-3) is provided with the vertical fixture half slot (7-3-1) relative with vertical connector half slot (7-4-1), vertical fixture (7-3) and vertical connector (7-4) fasten and arrange, vertical connector half slot (7-4-1) and vertical fixture half slot (7-3-1) form vertical microscope installing hole, vertical microscope (7-1) is arranged in vertical microscope installing hole, vertical imageing sensor (7-2) is arranged on the upper end of vertical microscope (7-1), described horizontal microscope image feedback device (8) comprises horizontal microscope (8-1), horizontal image sensor (8-2), horizontal fixed members (8-3), horizontal connector (8-4), level connection joint arm (8-5), horizontal fixed mount (8-6), horizontal step motor (8-7), horizontal fixed mount (8-6) is arranged in horizontal step motor (8-7), one end of level connection joint arm (8-5) is packed on horizontal fixed mount (8-6), the other end of level connection joint arm (8-5) is connected with horizontal connector (8-4), horizontal connector (8-4) is provided with horizontal connector half slot (8-4-1), horizontal fixed members (8-3) is provided with the horizontal fixed members half slot (8-3-1) relative with horizontal connector half slot (8-4-1), horizontal fixed members (8-3) and horizontal connector (8-4) fasten and arrange, horizontal connector half slot (8-4-1) and horizontal fixed members half slot (8-3-1) form horizontal microscope installing hole, horizontal microscope (8-1) is arranged in horizontal microscope installing hole, horizontal image sensor (8-2) is arranged on the upper end of horizontal microscope (8-1).
2. a kind of fusion target vital part automatic precision mounting plate according to claim 1, it is characterized in that: described upper external member clamper (5-1) comprises external member grip slipper (5-1-1), external member alignment pin (5-1-2) on first, external member alignment pin (5-1-4) on external member alignment pin (5-1-3) and the 3rd on second, the lower surface of upper external member grip slipper (5-1-1) is provided with external member bothrium (5-1-1-1), external member sucker (5-1-1-2) is provided with in upper external member bothrium (5-1-1-1), upper external member grip slipper (5-1-1) is provided with the external sucker of upper external member (5-1-1-4) communicated with upper external member sucker (5-1-1-2), upper external member grip slipper (5-1-1) is provided with diagnosis annular distance (5-1-1-3), on first, on external member alignment pin (5-1-2) and second, external member alignment pin (5-1-3) is symmetricly set on the both sides of external member bothrium (5-1-1-1), on 3rd, on external member alignment pin (5-1-4) and second, external member alignment pin (5-1-3) is arranged on homonymy, on 3rd, on external member alignment pin (5-1-4) and second, external member alignment pin (5-1-3) is arranged along same straight line.
3. a kind of fusion target vital part automatic precision mounting plate according to claim 1 or 2, it is characterized in that: described cup lid group clamper (6-1) comprises cup lid group grip slipper (6-1-1), first cup lid group alignment pin (6-1-2), second cup lid group alignment pin (6-1-3) and the 3rd cup lid group alignment pin (6-1-4), the upper surface of cup lid group grip slipper (6-1-1) is provided with cup lid group bothrium (6-1-1-1), cup lid group sucker (6-1-1-2) is provided with in cup lid group bothrium (6-1-1-1), cup lid group grip slipper (6-1-1) is provided with the external sucker of cup lid group (6-1-1-4) communicated with cup lid group sucker (6-1-1-2), cup lid group grip slipper (6-1-1) is provided with lower diagnosis annular distance (6-1-1-3), first cup lid group alignment pin (6-1-2) and the second cup lid group alignment pin (6-1-3) are symmetricly set on the both sides of cup lid group bothrium (6-1-1-1), 3rd cup lid group alignment pin (6-1-4) and the second cup lid group alignment pin (6-1-3) are arranged on homonymy, 3rd cup lid group alignment pin (6-1-4) and the second cup lid group alignment pin (6-1-3) are arranged along same straight line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310698051.1A CN103707058B (en) | 2013-12-18 | 2013-12-18 | A kind of fusion target vital part automatic precision mounting plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310698051.1A CN103707058B (en) | 2013-12-18 | 2013-12-18 | A kind of fusion target vital part automatic precision mounting plate |
Publications (2)
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| CN105115419B (en) * | 2015-07-17 | 2017-08-25 | 哈尔滨工业大学 | A kind of automatic tracking monitoring system based on machine vision and the pellet using system realization, the assembling monitoring method of gas tube |
| CN105149897B (en) * | 2015-07-28 | 2017-05-03 | 哈尔滨工业大学 | Automatic precise assembly platform for conisphere cavity micro parts and assembly method |
| CN106312640B (en) * | 2016-09-29 | 2018-09-04 | 天津大学 | A kind of microballoon clamping and localization method |
| CN106312641B (en) * | 2016-09-29 | 2018-09-04 | 天津大学 | A kind of flexible dispersion micro Ball clamping and positioning device |
| CN110977285B (en) * | 2019-12-04 | 2021-07-23 | 杜方萍 | Auxiliary device for welding between pipeline and joint |
| CN111070720B (en) * | 2019-12-31 | 2021-12-17 | 中国人民解放军国防科技大学 | Fiber position control device and method for fiber reinforced composite material |
| CN113096831B (en) * | 2021-03-19 | 2023-02-24 | 哈尔滨工业大学 | Automatic target changing device for inertial confinement fusion |
| CN113319757B (en) * | 2021-04-30 | 2023-03-17 | 安徽加文汽车零部件有限公司 | Tubular part positioning mechanism |
| CN114453878B (en) * | 2022-01-13 | 2023-04-11 | 科德汽车零部件(武汉)有限公司 | Mechanical group levelling frock with accomodate function |
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| CN100590381C (en) * | 2008-07-07 | 2010-02-17 | 哈尔滨工业大学 | Bundle target coupling sensor |
| US8393066B2 (en) * | 2009-02-26 | 2013-03-12 | Lawrence Livermore National Security, Llc | Method and system for assembling miniaturized devices |
| CN102486941B (en) * | 2010-12-06 | 2014-03-26 | 中国科学院西安光学精密机械研究所 | Simulating target positioning device |
| CN203156342U (en) * | 2013-03-25 | 2013-08-28 | 浙江工业大学 | Valve body ceramic chip positioning device based on machine vision |
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