CN108406248A - A kind of system structure of micro devices assembly equipment - Google Patents
A kind of system structure of micro devices assembly equipment Download PDFInfo
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- CN108406248A CN108406248A CN201810117093.4A CN201810117093A CN108406248A CN 108406248 A CN108406248 A CN 108406248A CN 201810117093 A CN201810117093 A CN 201810117093A CN 108406248 A CN108406248 A CN 108406248A
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- module
- guide rail
- axis guide
- vision measurement
- assembly
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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
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Abstract
The invention discloses a kind of system structures of micro devices assembly equipment, belong to precision assembly technology field.Assembling work module and vision measurement module all have 3 linear DOFs, and bench top module has 1 rotary freedom, therefore entire assembly system structure possesses 7 freedom of motion, can complete the task of the position and attitude detection and assembly of part；Assembling work module, vision measurement module and bench top module can be independent and cooperate, and the module placement in working space can be designed according to specific fittage.System structure has certain versatility, in the application of automatic assembly line, can update reset system according to specific assembly object, shorten the R＆D cycle, reduce input cost.
Description
Technical field
The invention belongs to precision assembly technology fields, are related to a kind of system structure of micro devices assembly equipment.
Background technology
Complicated micro devices (such as inertial acceleration meter, micro-fluidic chip, the microbarn system for inertial confinement fusion)
It is widely used in the fields such as space flight and aviation, biologic medical, nuclear industry and communication.The manufacture of micro devices relates to a variety of different
Processing technology and material mainly use precision assembly system by different part groups at present it is difficult to be realized by monomer processing technology
The mode for dressing up high performance device completes last production.Accurate part pose detection is the important of decision systems assembly precision
One ring, and micro assemby field at home and abroad, the mode of widely used machine vision feed back the posture information of assembly object.Both at home and abroad
Scientific research institution have developed a variety of assembly systems for being applied to assemble a certain specific micro devices.
One kind 5 is devised in document " key technology research of automatic microassembly system " (Wu Chaoyang University Of Chongqing, 2013)
The automatic microassembly system of degree of freedom.The system by with tri- linear movement degree of freedom of xyz manipulator, with z-axis direction
Linear movement degree of freedom and a rotary motion degree of freedom around z-axis workbench and automatic focusing system composition.Workbench
It can be used to change the pose to be installed to replace the spare parts on workbench, manipulator is responsible for depositing to be installed replace the spare parts that micro-clamp is clamped from part
Storage area is transported to assembly section and adjusts the pose to be installed that replaces the spare parts, and stereoscopic vision feedback is carried out using binocular vision microscopic system.It should
System structure is disadvantageous in that Machine Vision Detection is located above workbench, cannot cover entire working space, and structure lacks
Few flexibility and versatility.
Document " the semi-automatic microassembly system development of millimeter device " (Wu Wenrong, remaining sea, Qiu Zurong, wait sensors with it is micro-
System, 2013,32 (1):The semi-automatic assembly system of micro element being made of three-dimensional micro-operation hand is devised in 83-86.).This is
System is using three hand coordinations, multiple degrees of freedom micromotion platform, micro-image and the micro- on-line detecting system of confocal laser two-way, target
The micro- grasping system composition of part, includes 21 electronic axles altogether, has assembling process target part position on-line monitoring, three dimensions appearance
The functions such as state adjusts, target part automatically delivers.The system structure is complicated, feature-rich, for common only one-dimensional posture essence
Degree requires part, assembles DOF (degree of freedom) redundance, less efficient.
Invention content
The technical problem to be solved by the present invention is under the premise of meeting micro devices assembly precision and efficiency, propose one
The system structure of kind micro devices assembly equipment, this system structure can be applied to a variety of different micro devices assembly, tool
There is certain versatility, on the one hand can shorten the R＆D cycle of assembly system, is on the other hand convenient for the transformation weight of assembly system
It sets, it is cost-effective.
Technical scheme of the present invention：
A kind of system structure of micro devices assembly equipment, including workbench 1, assembling work module 2, vision measurement mould
4 four part of block 3 and bench top module；
The assembling work module 2 includes power tool 5, operation module Z axis guide rail 6,7 and of operation module Y-axis guide rail
Operation module X-axis guide rail 8, operation module Z axis guide rail 6, operation module Y-axis guide rail 7 and operation module X-axis guide rail 8 constitute 3 lines
Free love degree；
The vision measurement module 3 includes vision measurement element 9, vision measurement module Z axis guide rail 10, vision measurement mould
Block Y-axis guide rail 11 and vision measurement module X-axis guide rail 12, vision measurement module Z axis guide rail 10, vision measurement module Y-axis guide rail
11 and vision measurement module X-axis guide rail 12 constitute 3 linear DOFs；
The bench top module 4 includes bench top module part clamp 13 and bench top module motion platform 14, work
Platform module part fixture 13 is located on bench top module motion platform 14；
The assembling work module and vision measurement module all has 3 linear DOFs, and bench top module has 1
Rotary freedom, therefore whole system structure possesses 7 freedom of motion, can complete the position and attitude detection and assembly of part
Task.
Assembling work module is made of three linear motion guide rails and power tool, and the pickup of part may be implemented, carry
With assembly etc., homework type can be changed by replacing different power tools；Vision measurement module is moved along a straight line by three
Guide rail and vision measurement element composition, the position and attitude that can complete part on object plane in space measure；Bench top module by
Part clamp and rotary motion platform composition, wherein fixture can be customized according to part, which can complete part with respect to appearance
The adjustment of state.
Assembling work module, vision measurement module and bench top module can be independent and cooperate, in working space
Module placement can be designed according to specific fittage.
The effect and benefit of the present invention：Micro devices are assembled, the requirement of assembly precision and efficiency can be reached；Vision
There are three linear DOFs for measurement module tool, can provide the posture information of part in entire working space；Assembling work module
With bench top module tool there are four freedom of motion, it is fixed in pose adjustment and three dimensions of the part in one-dimensional face to complete
The task of position；System structure is simple, and building form is flexible, has certain versatility, applies in automatic assembly line, Ke Yiyi
Reset system is updated according to specific assembly object, the R＆D cycle is shortened, reduces input cost.
Description of the drawings
Fig. 1 is schematic structural view of the invention.
In figure：1 workbench；2 assembling work modules；3 vision measurement modules；4 bench top modules；5 power tools；6 make
Industry module Z axis guide rail；7 operation module Y-axis guide rails；8 operation module X-axis guide rails；9 vision measurement elements；10 vision measurement module Z
Axis rail；11 vision measurement module Y-axis guide rails；12 vision measurement module X-axis guide rails；13 bench top module part clamps；14 works
Make platform block motion platform.
Specific implementation mode
Below in conjunction with technical solution and attached drawing, the specific embodiment of the invention is described.
The first step：Discharge position in vision measurement block motion to part is detected the position and posture of part.
Second step：The information movement that the assembling work module foundation first step obtains passes through work at the upper discharge position of part
Industry tool picks up part.
Third walks：Image is acquired above vision measurement block motion to the part that picks up, again to the position of part and
Posture is identified.
4th step：Above vision measurement block motion to bench top module, the image of base part and progress are assembled in acquisition
Feature recognition obtains position and the posture feature of assembly base part.
5th step：The part orientation information that bench top module is obtained by vision measurement module, fine motion adjustment assembly matrix
Part, to meet the requirement of the assembly depth of parallelism.
6th step：The part picked up is transported to specific bit by assembling work module according to the location information of two parts
It sets, luggage of going forward side by side is matched.After the completion of assembly, assembling work block motion to default position prepares the assembly of next part.
Claims (1)
1. a kind of system structure of micro devices assembly equipment, which is characterized in that the system of the micro devices assembly equipment
Structure includes workbench (1), (4) four part of assembling work module (2), vision measurement module (3) and bench top module；
The assembling work module (2) includes power tool (5), operation module Z axis guide rail (6), operation module Y-axis guide rail
(7) and operation module X-axis guide rail (8), operation module Z axis guide rail (6), operation module Y-axis guide rail 7 and operation module X-axis guide rail
(8) 3 linear DOFs are constituted；
The vision measurement module (3) includes vision measurement element (9), vision measurement module Z axis guide rail (10), vision measurement
Module Y-axis guide rail (11) and vision measurement module X-axis guide rail (12), vision measurement module Z axis guide rail (10), vision measurement module
Y-axis guide rail (11) and vision measurement module X-axis guide rail (12) constitute 3 linear DOFs；
The bench top module (4) includes bench top module part clamp (13) and bench top module motion platform (14), work
Make platform module part fixture (13) to be located on bench top module motion platform (14)；
Assembling work module (2), vision measurement module (3) and bench top module (4) are independent and cooperate, in working space
Intermodule layout is designed according to specific fittage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810117093.4A CN108406248A (en) | 2018-02-06 | 2018-02-06 | A kind of system structure of micro devices assembly equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810117093.4A CN108406248A (en) | 2018-02-06 | 2018-02-06 | A kind of system structure of micro devices assembly equipment |
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| CN108406248A true CN108406248A (en) | 2018-08-17 |
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| CN201810117093.4A Pending CN108406248A (en) | 2018-02-06 | 2018-02-06 | A kind of system structure of micro devices assembly equipment |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109595239A (en) * | 2019-01-17 | 2019-04-09 | 中国工程物理研究院激光聚变研究中心 | The automatic micro assemby equipment of the micro- part of complicated multi-configuration of multi-sensor fusion |
| CN110369986A (en) * | 2019-07-12 | 2019-10-25 | 大连理工大学 | One kind being used for small screw thread pair automatic assembling apparatus |
| CN111618548A (en) * | 2020-05-09 | 2020-09-04 | 大连理工大学 | System of automatic assembling equipment for tiny parts convenient for interactive operation |
| CN114260708A (en) * | 2022-02-16 | 2022-04-01 | 安徽岳泉泵业制造有限公司 | Automatic assembly production line for water pump |
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| CN102873523A (en) * | 2012-09-13 | 2013-01-16 | 中国科学院自动化研究所 | Device for detecting micro-devices on line during assembly based on micro-vision |
| CN103341750A (en) * | 2013-07-12 | 2013-10-09 | 中国科学院自动化研究所 | Assembling system and method for flexible micro part |
| CN106342220B (en) * | 2010-08-19 | 2014-02-19 | 中国航空工业第六一八研究所 | A kind of accelerometer module automatic setup system and method |
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| US5956134A (en) * | 1997-07-11 | 1999-09-21 | Semiconductor Technologies & Instruments, Inc. | Inspection system and method for leads of semiconductor devices |
| CN1923466A (en) * | 2006-10-13 | 2007-03-07 | 北京理工大学 | Macrography/microcosmic association 12 freedom degree micro assembly system |
| CN106342220B (en) * | 2010-08-19 | 2014-02-19 | 中国航空工业第六一八研究所 | A kind of accelerometer module automatic setup system and method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109595239A (en) * | 2019-01-17 | 2019-04-09 | 中国工程物理研究院激光聚变研究中心 | The automatic micro assemby equipment of the micro- part of complicated multi-configuration of multi-sensor fusion |
| 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 |
| CN109595239B (en) * | 2019-01-17 | 2024-04-26 | 中国工程物理研究院激光聚变研究中心 | Multi-sensor integrated complex multi-configuration micro-part automatic micro-assembly equipment |
| CN110369986A (en) * | 2019-07-12 | 2019-10-25 | 大连理工大学 | One kind being used for small screw thread pair automatic assembling apparatus |
| CN111618548A (en) * | 2020-05-09 | 2020-09-04 | 大连理工大学 | System of automatic assembling equipment for tiny parts convenient for interactive operation |
| CN114260708A (en) * | 2022-02-16 | 2022-04-01 | 安徽岳泉泵业制造有限公司 | Automatic assembly production line for water pump |
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