CN106271587A - A kind of micro element space angle assembling device - Google Patents
A kind of micro element space angle assembling device Download PDFInfo
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- CN106271587A CN106271587A CN201610924612.9A CN201610924612A CN106271587A CN 106271587 A CN106271587 A CN 106271587A CN 201610924612 A CN201610924612 A CN 201610924612A CN 106271587 A CN106271587 A CN 106271587A
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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
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
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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
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Abstract
The invention discloses a kind of micro element space angle assembling device, for the space angle assembling of micron order filament with cylindricality micro element.This device includes: control main frame, two-dimensional quadrature micro-vision observation device, cylindricality micro element device for adjusting posture, filament pose adjusting apparatus, wherein, cylindricality micro element device for adjusting posture includes 3 rotary freedoms, and make three rotary shafts meet at a bit by structure design, cylindricality micro element geometric center is in three rotary shaft intersection points, when ensureing to adjust cylindricality micro element attitude, micro element is in micro-vision within sweep of the eye all the time, realize cylindricality micro element any attitude in three dimensions to adjust, meet various space angle matching requirements；Filament pose guiding mechanism includes 5 degree of freedom, for realizing the spatial pose location of micron order filament, coordinates assembling.The present invention can realize the high-precision spatial angle assembling of micron order filament and cylindricality micro element, and assembly precision is up to 0.3 °.
Description
Technical field
The invention belongs to micro assemby technical field, be specifically related to a kind of micro element space angle assembling device, for micro-
Meter level filament assembles with the space angle of cylindricality micro element.
Background technology
Along with the development of MEMS, micro parts assembling is had higher requirement.Guide based on micro-vision
The Space configuration that micro assemby robot system is micro parts provide effective solution.
What Wuhan University of Technology and University Of Science and Technology Of Hunan developed assembles device online towards what the micro-part of submillimeter level assembled
(Hu little Ping, Chen Guoliang, sun little Yan, Li Jun. micro-manipulating robot micro-vision system research, instrument and meter for automation, 2007,28
(2): 5-9.), use the stereomicroscopy vision prescription that orthogonal manner is formed, form the three-dimensional supervision to three-dimensional micro assemby space,
Complete the Butt Assembling task of the micro-part of submillimeter level.But it is mainly used in the Butt Assembling of two same size cylindrical parts, no
It is applicable to the space angle assembling compared with big and that angle of assembling is various micron order filament with cylindricality micro element of the two size difference.
The Central China University of Science and Technology develop micro assemby robot (the gold zone Chinese. micro assemby robot system research with realization, Central China
University of Science and Technology's journal, 2011,39(supplementary issues II): 418-422), by microoperation mechanical hand, micro-vision and micro clamping device 3 part
Constitute, use three mechanical hands to work in coordination with operation, it is possible to realize the fine registration to submillimeter part and assemble, there is certain applicable model
Enclose.But this system is less to part angle pose adjustment degree of freedom, it is impossible to realize micro-multivariant attitude of part wide-angle and adjust
Whole, it is impossible to meet micro element space angle matching requirements.
Micro element assembling designed by the patent of Institute of Automation Research of CAS's Application No. 201210340154.6
On-line measuring device, by controlling main frame, the three orthogonal micro-vision system in road, visual system attitude-adjusting system, micro element clamping
Device, micro element Attitude control mechanism, light-source system sum printed words machine composition, can realize the high-precision flat of two micro elements
Face Butt Assembling, precision is up to 3-5um.But it cannot carry out clamping and pick and place and wide-angle adjustment micron order filament, can not
Cylindricality micro element is carried out multiple degrees of freedom any attitude adjustment, it is impossible to meet the requirement to spacial multi-angle assembling.
Although it can be seen that have made some progress in terms of micro parts assembling at present, but the system developed is most
Assembling for planar alignment, angle assembling is less；Additionally assembling device degree of freedom is less, to angle pose adjustment degree of freedom not
Enough；In microassembly system, the research for the assembling of three dimensions angle is less.
Summary of the invention
The technical problem to be solved is to provide a kind of micro element space angle assembling device.
The micro element space angle assembling device of the present invention, is characterized in, described assembling device includes: control main frame,
Two-dimensional quadrature micro-vision observation device, cylindricality micro element device for adjusting posture, filament pose adjusting apparatus；Micron order filament is solid
Being scheduled in filament pose adjusting apparatus, cylindricality micro element is fixed on cylindricality micro element device for adjusting posture, around arranges described
Two-dimensional quadrature micro-vision observation device；Two-dimensional quadrature micro-vision observation device observation micron order filament and cylindricality micro element
The picture signal of collection also is fed back to control on main frame by spatial pose, controls main frame and carries out angle detection coupling and send control
Signal is to cylindricality micro element device for adjusting posture and filament pose adjusting apparatus, cylindricality micro element device for adjusting posture and filament position
Appearance adjusting apparatus adjusts the pose of cylindricality micro element and micron order filament respectively, until micron order filament and the sky of cylindricality micro element
Between angle meet assembly precision requirement, and use the fixing micron order filament of splicing and cylindricality micro element；
Described two-dimensional quadrature micro-vision observation device includes visual observation assembly, and visual observation assembly is by micro-vision assembly
I, micro-vision assembly II is constituted, and described micro-vision assembly I is positioned on horizontal plane, and micro-vision assembly II is positioned at vertically
In plane, micro-vision assembly I is 90 ° with the optical axis included angle of micro-vision assembly II；
Described two-dimensional quadrature micro-vision observation device also includes that observation controls device, and observation controls device by micro-vision position
Putting adjusting apparatus I, micro-vision position regulator II composition, described micro-vision assembly I is fixed on micro-vision position
In adjusting apparatus I, micro-vision assembly II is fixed on micro-vision position regulator II；Described micro-vision position is adjusted
Engagement positions I and micro-vision position regulator II all have three degree of freedom, it is achieved micro-vision in the X, Y, Z direction accurate
Location；
Described filament pose adjusting apparatus includes filament clamper and filament pose guiding mechanism, and micron order filament passes through filament
Clamper is fixed on filament pose guiding mechanism, and described filament clamper clamps micron order filament by the mode of sticking, real
Freely adjusting and coarse positioning of existing micron order filament attitude；Described filament pose guiding mechanism comprises 5 degree of freedom, it is achieved micro-
Meter level filament X, Y, Z-direction be accurately positioned with in θ x, the angle adjustment in θ y direction；
Described cylindricality micro element device for adjusting posture includes cylindricality micro element clamper and cylindricality micro element attitude-adjusting system,
Cylindricality micro element is fixed on cylindricality micro element attitude-adjusting system by cylindricality micro element clamper；Described cylindricality micro element
Attitude-adjusting system includes 3 rotary freedoms, and three rotary shafts meet at a bit, it is achieved any tune of cylindricality micro element attitude
Whole, meet any space angle matching requirements；Described cylindricality micro element clamper uses mechanical grip mode, facilitates part
Freely pick and place, and can ensure that cylindricality micro element geometric center overlaps with the rotary shaft intersection point of cylindricality micro element attitude-adjusting system,
Position deviation controls at-20um ~+20um, it is ensured that during pose adjustment, cylindricality micro element is all the time at micro-vision within sweep of the eye.
Built-in optical element respectively in described micro-vision assembly I, micro-vision assembly II, after external point source, interior
Put optical element in lens barrel, produce axis light, be respectively used to micro-vision assembly I, micro-vision assembly II in observation process
Illumination.
The end of described micron order filament and the angle rigging error of cylindricality micro element are less than or equal to 0.3 °.
The workflow of the micro element space angle assembling device of the present invention is as follows:
First, micron order filament and cylindricality micro element are separately mounted to described filament clamper and cylindricality micro element clamper
On, now, micron order filament is apart from each other with cylindricality micro element.
Then, the micro-vision assembly I described in adjustment and the amplification of micro-vision assembly II.And pass through micro-vision
Position regulator I and micro-vision position regulator II adjust micro-vision assembly I and micro-vision assembly II respectively
Locus, makes cylindricality micro element be presented within sweep of the eye.By controlling the picture signal that main frame receives, detection cylindricality is micro-
Device angles attitude, afterwards by controlling main frame transmission cylindricality micro element pose adjustment signal, adjusts cylindricality micro element attitude, directly
Matching requirements station is reached to cylindricality micro element angle.
Again, adjust described filament pose adjusting apparatus, make micron order filament ends be presented within sweep of the eye, by control
The picture signal that main frame processed receives, detects micron order filament axial angle, afterwards by controlling main frame transmission filament pose tune
Entire signal, adjusts micron order filament pose, until micron order filament and cylindricality micro element angle meet assembly precision, completes micron
Level filament and the assembling of cylindricality micro element, carry out a glue, fixing micron order filament and cylindricality micro element.
The present invention micro element space angle assembling device disclosure satisfy that micro element space angle assembling during to micron
Level filament pose is monitored with the real-time of cylindricality micro element attitude, and can realize the registration of both angles, assemble and glued joint, and has
The advantage of convenience and high-efficiency.
Accompanying drawing explanation
Fig. 1 is the micro element space angle assembling apparatus structure schematic diagram of the present invention；
Fig. 2 is the pose adjustment position angle schematic diagram of the micron order filament in the present invention and cylindricality micro element；
Fig. 3 is the workflow diagram of the micro element space angle assembling device of the present invention.
In figure, 1. micro-vision assembly I 2. micro-vision assembly II 3. micro-vision position regulator I 4. is micro-
Visual position adjusting apparatus II 5. filament clamper 6. filament pose guiding mechanism 7. cylindricality micro element clamper 8. cylindricality
Micro element attitude-adjusting system.
Detailed description of the invention
The present invention is described in detail below in conjunction with the accompanying drawings with embodiment.
As it is shown in figure 1, the micro element space angle assembling device of the present invention includes: control main frame, two-dimensional quadrature is micro-regards
Feel observation device, cylindricality micro element device for adjusting posture, filament pose adjusting apparatus；Micron order filament is fixed on filament pose and adjusts
In engagement positions, cylindricality micro element is fixed on cylindricality micro element device for adjusting posture, and around the two-dimensional quadrature described in layout is micro-
Visual observation device, for the observation to micron order filament Yu cylindricality micro element spatial pose, sees two-dimensional quadrature micro-vision
The picture signal surveying device collection feeds back on described control main frame, carries out angle detection coupling, controls main frame transmission and controls
Signal, to cylindricality micro element device for adjusting posture and filament pose adjusting apparatus, adjusts micron order filament and cylindricality micro element position
Appearance, until the space angle of micron order filament and cylindricality micro element meets assembly precision requirement, and uses splicing fixing；
Described two-dimensional quadrature micro-vision observation device includes visual observation assembly, and visual observation assembly is by micro-vision assembly
I 1, micro-vision assembly II 2 is constituted, and described micro-vision assembly I 1 is positioned on horizontal plane, and micro-vision assembly II 2 is positioned at
On perpendicular, micro-vision assembly I 1 is 90 ° with the optical axis included angle of micro-vision assembly II 2；
Described two-dimensional quadrature micro-vision observation device also includes that observation controls device, and observation controls device by micro-vision position
Put adjusting apparatus I 3, micro-vision position regulator II 4 is constituted, and described micro-vision assembly I 1 is fixed on micro-vision position
Putting in adjusting apparatus I 3, micro-vision assembly II 2 is fixed on micro-vision position regulator II 4；Described micro-vision
Position regulator I 3 and micro-vision position regulator II 4 all have three degree of freedom, it is achieved micro-vision is in X, Y, Z-direction
On be accurately positioned；
Described filament pose adjusting apparatus includes filament clamper 5 and filament pose guiding mechanism 6, and micron order filament is by thin
Silk clamper 5 is fixed on filament pose guiding mechanism 6, and it is thin that described filament clamper 5 clamps micron order by the mode of sticking
Silk, it is achieved freely adjusting and coarse positioning of micron order filament attitude；Described filament pose guiding mechanism 6 comprises 5 degree of freedom,
Realize micron order filament X, Y, Z-direction be accurately positioned with in θ x, the angle adjustment in θ y direction；
Described cylindricality micro element device for adjusting posture includes cylindricality micro element clamper 7 and cylindricality micro element attitude-adjusting system
8, cylindricality micro element is fixed on cylindricality micro element attitude-adjusting system 8 by cylindricality micro element clamper 7；Described cylindricality is micro-
Device attitude-adjusting system 8 includes 3 rotary freedoms, and three rotary shafts meet at a bit, it is achieved cylindricality micro element attitude
Arbitrarily adjust, meet any space angle matching requirements；Described cylindricality micro element clamper 7 uses mechanical grip mode, side
Just freely the picking and placeing of part, and can ensure that the rotary shaft of cylindricality micro element geometric center and cylindricality micro element attitude-adjusting system 8
Intersection point overlaps, and position deviation controls at-20um ~+20um, it is ensured that during pose adjustment, cylindricality micro element is all the time in the micro-vision visual field
In the range of.
Built-in optical element respectively in described micro-vision assembly I 1, micro-vision assembly II 2, after external point source,
Built-in optical element produces axis light in lens barrel, is respectively used to micro-vision assembly I 1, micro-vision assembly II 2 was being observed
Illumination in journey.
The end of described micron order filament and the angle rigging error of cylindricality micro element are less than or equal to 0.3 °.
Embodiment 1
In embodiment 1, described micro-vision assembly I 1, micro-vision assembly II 2 are by the TXG50C of Baumer company of Switzerland
The zoom microlens of CCD and Navitar company of the U.S. is constituted.Described micro-vision position adjusting mechanism I and micro-vision
Position adjusting mechanism II all has the electrical position adjustor along tri-directions of X, Y, Z, is respectively used to micro-vision assembly I 1 with aobvious
Micro-visual component II 2 along optical axis direction focal position adjust and along X, Y, Z axis to position adjustment.As in figure 2 it is shown, it is described
Filament pose guiding mechanism 6 has 5 degree of freedom, is respectively along the three-D electric position regulator in X, Y, Z axis direction and around X, Y-axis
Two-dimentional electronic rotation adjustor.The three-D electric that described cylindricality micro element attitude-adjusting system 8 comprises around X, Y, Z axis rotates
Adjustor.Described micro-vision position adjusting mechanism I 3, micro-vision position adjusting mechanism II 4, filament pose guiding mechanism
6, cylindricality micro element attitude-adjusting system 8 all uses the electric precise platform of SURGUA company of Japan, and resolution is 1 μm.
In the present embodiment, micron order filament is cylindrical thread part, length about 5mm, and external diameter is about 50 μm, the micro-device of cylindricality
Part external diameter is about 2mm, and assembling index is that micron order filament axes is at 45 ° with cylindricality micro element axis, angular error 0.3 ° with
In, and micron order filament axes, cylindricality micro element axis are with support bar axis the most at grade.
Workflow is as shown in Figure 3:
Step 1: system initialization, controls each electrical position adjustor and returns to initial position；
Step 2:
2a. cylindricality micro element clamping, is arranged on cylindricality micro element on cylindricality micro element clamper 7；
2b. adjusts micro-vision position adjusting mechanism I 3 and micro-vision position adjusting mechanism II 4 by controlling main frame, makes cylindricality
Micro element moves within sweep of the eye and focuses on, and gathers image；
2c. by control main frame receive micro-vision assembly I 1, the picture signal of micro-vision assembly II 2, micro-to cylindricality
Device space angle detects；
2d., according to testing result, sends cylindricality micro element pose adjustment signal by controlling main frame, controls cylindricality micro element attitude
Guiding mechanism 8, adjusts cylindricality micro element attitude.
2e. repeats step 2c, 2d, until cylindricality micro element space angle arrives matching requirements station；
Step 3:
3a. micron order filament clamping, is arranged on micron order filament on filament clamper 5；
3b. adjusts filament pose guiding mechanism 6 by controlling main frame, makes micron order filament move within sweep of the eye, gathers figure
Picture；
3c. by control main frame receive micro-vision assembly I 1, the picture signal of micro-vision assembly II 2, to micron order
Filaments space angle and position are detected；
3d. information according to the observation, sends filament pose adjustment signal by controlling main frame, controls filament pose guiding mechanism 6, adjust
Whole micron order filament pose.
3e. repeats step 3c, 3d, until micron order filament and cylindricality micro element space angle meet assembly precision requirement；
Step 4:
Micron order filament has registrated with cylindricality micro element space angle, carries out micron order filament with cylindricality micro element contact point
Point glue, fixing micron order filament ends and cylindricality micro element.
Particular embodiments described above, has been carried out the purpose of the present invention, technical scheme and beneficial effect the most in detail
Describe in detail bright, be it should be understood that the specific embodiment that the foregoing is only the present invention, be not limited to the present invention, all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. done, should be included in the guarantor of the present invention
Within the scope of protecting.
Claims (2)
1. a micro element space angle assembling device, it is characterised in that: described assembling device includes: control main frame, two dimension
Orthogonal micro-vision observation device, cylindricality micro element device for adjusting posture, filament pose adjusting apparatus；Micron order filament is fixed on
In filament pose adjusting apparatus, cylindricality micro element is fixed on cylindricality micro element device for adjusting posture, around two described in layout
Orthogonal dimension micro-vision observation device；Two-dimensional quadrature micro-vision observation device observation micron order filament and cylindricality micro element space
The picture signal of collection also is fed back to control on main frame by pose, controls main frame and carries out angle detection coupling and send control signal
To cylindricality micro element device for adjusting posture and filament pose adjusting apparatus, cylindricality micro element device for adjusting posture is adjusted with filament pose
Engagement positions adjusts the pose of cylindricality micro element and micron order filament respectively, until micron order filament and the Space Angle of cylindricality micro element
Degree meets assembly precision requirement, and uses the fixing micron order filament of splicing and cylindricality micro element；
Described two-dimensional quadrature micro-vision observation device includes visual observation assembly, and visual observation assembly is by micro-vision assembly
I (1), micro-vision assembly II (2) is constituted, and described micro-vision assembly I (1) is positioned on horizontal plane, micro-vision assembly
II (2) is positioned on perpendicular, and micro-vision assembly I (1) is 90 ° with the optical axis included angle of micro-vision assembly II (2)；
Described two-dimensional quadrature micro-vision observation device also includes that observation controls device, and observation controls device by micro-vision position
Put adjusting apparatus I (3), micro-vision position regulator II (4) is constituted, and described micro-vision assembly I (1) is fixed on micro-
In visual position adjusting apparatus I (3), micro-vision assembly II (2) is fixed on micro-vision position regulator II (4)；Institute
Micro-vision position regulator I (3) and the micro-vision position regulator II (4) stated all has oneself of tri-directions of X, Y, Z
By spending；
Described filament pose adjusting apparatus includes filament clamper (5) and filament pose guiding mechanism (6), and micron order filament leads to
Cross filament clamper (5) to be fixed on filament pose guiding mechanism (6)；Described filament clamper (5) is pressed from both sides by the mode of sticking
Hold micron order filament；Described filament pose guiding mechanism (6) comprises five direction degree of freedom of X, Y, Z, θ x, θ y；
Described cylindricality micro element device for adjusting posture includes cylindricality micro element clamper (7) and cylindricality micro element pose adjustment machine
Structure (8), cylindricality micro element is fixed in cylindricality micro element attitude-adjusting system (8) by cylindricality micro element clamper (7)；Described
Cylindricality micro element attitude-adjusting system (8) include 3 rotary freedoms, and three rotary shafts meet at a bit；Described cylindricality
Micro element clamper (7) uses mechanical grip mode, cylindricality micro element geometric center and cylindricality micro element attitude-adjusting system (8)
Rotary shaft intersection point overlap, position deviation scope is-20um ~+20um.
A kind of micro element space angle assembling device the most according to claim 1, it is characterised in that: described micro-vision
Difference built-in optical element in assembly I (1), micro-vision assembly II (2), after external point source, built-in optical element is at lens barrel
Interior generation axis light, is respectively used to micro-vision assembly I (1), the micro-vision assembly II (2) illumination in observation process.
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108972557A (en) * | 2018-08-16 | 2018-12-11 | 中国科学院自动化研究所 | Micro- part pose automatic alignment apparatus and its method |
| CN109108613A (en) * | 2018-11-12 | 2019-01-01 | 中国工程物理研究院激光聚变研究中心 | Device is matched in a kind of makeup of axis hole parts batch |
| CN109514537A (en) * | 2019-01-17 | 2019-03-26 | 中国工程物理研究院激光聚变研究中心 | The complicated automatic microoperation arm-and-hand system of the micro- part of multi-configuration |
| CN109539989A (en) * | 2019-01-17 | 2019-03-29 | 中国工程物理研究院激光聚变研究中心 | A kind of on-line detecting system applied to the micro- part automatic assembling of complicated multi-configuration |
| CN109538591A (en) * | 2019-01-17 | 2019-03-29 | 中国工程物理研究院激光聚变研究中心 | The High Precision Automatic micro assemby equipment of micro-sized metal silk based on the monitoring of micro- pretightning force |
| CN110238649A (en) * | 2019-06-19 | 2019-09-17 | 北京理工大学 | A kind of reconfigurable man-machine coordination assembly system for aero-engine |
| CN110280989A (en) * | 2019-06-24 | 2019-09-27 | 大连理工大学 | A kind of filament automatic takeup that tensile force is controllable and method |
| CN110450072A (en) * | 2019-08-26 | 2019-11-15 | 上海大学 | A kind of mutual positioning and clamping method in micro-nano end based on three-dimensional imaging feedback |
| CN112676889A (en) * | 2020-12-31 | 2021-04-20 | 苏州大学 | Operating system for microassembly |
| CN115673707A (en) * | 2022-10-26 | 2023-02-03 | 中国工程物理研究院激光聚变研究中心 | Automatic micro-part feeding device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972557A (en) * | 2018-08-16 | 2018-12-11 | 中国科学院自动化研究所 | Micro- part pose automatic alignment apparatus and its method |
| CN109108613B (en) * | 2018-11-12 | 2023-08-15 | 中国工程物理研究院激光聚变研究中心 | Shaft hole part batch assembly device |
| CN109108613A (en) * | 2018-11-12 | 2019-01-01 | 中国工程物理研究院激光聚变研究中心 | Device is matched in a kind of makeup of axis hole parts batch |
| CN109514537A (en) * | 2019-01-17 | 2019-03-26 | 中国工程物理研究院激光聚变研究中心 | The complicated automatic microoperation arm-and-hand system of the micro- part of multi-configuration |
| CN109539989A (en) * | 2019-01-17 | 2019-03-29 | 中国工程物理研究院激光聚变研究中心 | A kind of on-line detecting system applied to the micro- part automatic assembling of complicated multi-configuration |
| CN109538591A (en) * | 2019-01-17 | 2019-03-29 | 中国工程物理研究院激光聚变研究中心 | The High Precision Automatic micro assemby equipment of micro-sized metal silk based on the monitoring of micro- pretightning force |
| CN109538591B (en) * | 2019-01-17 | 2024-04-16 | 中国工程物理研究院激光聚变研究中心 | Micron-sized metal wire high-precision automatic micro-assembly equipment based on micro-pretightening force monitoring |
| CN109539989B (en) * | 2019-01-17 | 2024-04-16 | 中国工程物理研究院激光聚变研究中心 | Online detection system applied to automatic assembly of complex multi-configuration micro parts |
| CN109514537B (en) * | 2019-01-17 | 2024-04-05 | 中国工程物理研究院激光聚变研究中心 | Automatic micromanipulation manipulator system for complex multi-configuration micro-parts |
| CN110238649B (en) * | 2019-06-19 | 2020-09-25 | 北京理工大学 | Reconfigurable man-machine cooperative assembly system for aircraft engine |
| CN110238649A (en) * | 2019-06-19 | 2019-09-17 | 北京理工大学 | A kind of reconfigurable man-machine coordination assembly system for aero-engine |
| CN110280989B (en) * | 2019-06-24 | 2021-02-19 | 大连理工大学 | Automatic tensioning device and method for tension-controllable filaments |
| CN110280989A (en) * | 2019-06-24 | 2019-09-27 | 大连理工大学 | A kind of filament automatic takeup that tensile force is controllable and method |
| CN110450072A (en) * | 2019-08-26 | 2019-11-15 | 上海大学 | A kind of mutual positioning and clamping method in micro-nano end based on three-dimensional imaging feedback |
| CN112676889A (en) * | 2020-12-31 | 2021-04-20 | 苏州大学 | Operating system for microassembly |
| CN112676889B (en) * | 2020-12-31 | 2022-02-01 | 苏州大学 | Operating system for microassembly |
| WO2024027826A1 (en) * | 2022-08-04 | 2024-02-08 | Lin Ta Chin | Microscopic operating device |
| CN115673707A (en) * | 2022-10-26 | 2023-02-03 | 中国工程物理研究院激光聚变研究中心 | Automatic micro-part feeding device and method |
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