CN108581469B - A kind of locking device and assembly method for micro parts automatic assembling - Google Patents

A kind of locking device and assembly method for micro parts automatic assembling Download PDF

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Publication number
CN108581469B
CN108581469B CN201810466445.7A CN201810466445A CN108581469B CN 108581469 B CN108581469 B CN 108581469B CN 201810466445 A CN201810466445 A CN 201810466445A CN 108581469 B CN108581469 B CN 108581469B
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clamp
unit
locking
clamping frame
mechanical arm
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CN108581469A (en
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王晓东
张志勇
任同群
罗怡
郇岩强
牛文婷
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Dalian University of Technology
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Dalian University of Technology
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00Machines 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines 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
    • B23P19/001Article feeders for assembling machines

Abstract

The invention belongs to precision assembly technology fields, propose a kind of locking device and assembly method for micro parts automatic assembling.The covering device is made of flexible unit, mechanical arm unit, clamp locking unit;Flexible unit and clamp locking unit are mainly used for the flexible locking after micro parts assembly;Mechanical arm unit and clamp locking unit by automatic changing-over realization in the pickup, carrying and assembling process of micro parts to the automatically lock of micro parts.Flexible unit, mechanical arm unit and clamp locking unit realize the automatic assembling of micro parts by coordinated.Locking device according to the present invention, flexible locking have certain buffering and balanced action for the unbalanced coupling mechanism force generated in assembling process, to play a certain protective role to the holding of part relative pose after micro parts itself and assembly;Automatically lock avoids manual intervention, realizes full-automatic assembly, improves assembly efficiency, is suitable for mass, automatic production line.

Description

A kind of locking device and assembly method for micro parts automatic assembling
Technical field
The invention belongs to precision assembly technology fields, are related to a kind of locking device and dress for micro parts automatic assembling Method of completing the square.
Background technique
With the rise of MEMS (Microelectromechanical Systems, MEMS), precision assembly skill Art is widely used to the numerous areas such as space flight, biology, medicine, semiconductor integrated circuit.For the precision assembly of micro devices, Its size, material, structure constantly tend to miniaturization, diversification, complicate, and assembly precision requirement is also higher and higher, and accurate dress It is not standardized yet with device, needs to handle special-shaped part, all more stringent requirements are proposed to the development of precision assembly technology for these.
The assembling quality and assembly efficiency of micro devices can be effectively improved by researching and developing advanced precision assembly technology, for micro- The precision assembly of gadget, acquired research achievement is focused primarily on the following aspects at present: innovation clamp is designed and is grabbed Take strategy, working cell design and automation, self-assembling technique and the mounting technology based on virtual reality.It is contemplated that future Precision assembly technology is by the side constantly towards system-level integrated and automatic factory's architecture and based on internet collaborative assembly To development.The developed countries such as the U.S., Germany, Japan are more early to the research development of precision assembly technology, have been able to achieve precision assembly Semi-automation, automation.The precision assembly technical research starting in China relatively late, while obtaining certain achievement, is gone back There are the degree of automation not high, assembly precision and the more low problems of efficiency.
For the precision assembly of small inertia device, such as accelerometer, as the important component of inertial navigation system, Be a kind of typical microminiature electronic product, rely primarily on manually complete under the microscope at present, production efficiency it is low and assemble after Homogeneity of product is poor, and the development of full-automatic assembly system is the effective technical way for improving its assembly efficiency and assembling quality.
Liu Liping, contact control and error analysis [D] in micro part precision assembly, Dalian University of Technology, 2012. It is kept for the pose after component assembly and the damage of part is avoided to have developed a set of special fixture, it is mainly by bottom on fixture Plate, lower plate, mechanical clamp forceps, depth of parallelism adjusting pin and locking member composition.Two are devised according to the characteristics of micro part Miniature mechanical clamp forceps simultaneously integrate it with fixture upper plate, and the closure of two clamps is needed by can be manually rotated three A lock-screw realizes the clamping of micro part.The sleeve clamp structure is relative complex, requires manual intervention simultaneously, assembly efficiency It is not high, it is unfavorable for the realization of full-automatic assembly.
Chinese patent " a kind of assembly method of micro part ", Publication No. CN103862281A discloses a kind of use In the assembly method of micro part.The method improve traditional assembly strategies, the first lesser part of fitted position, then The biggish part of fitted position, the lesser part position of the size assembled after effectively avoiding are not fixed easily and generate vulnerable to power The problem of disturbance deformation.The holding of the final pose of part needs to adsorb fixture by manually screwing off goods of furniture for display rather than for use adjustment pressing plate after assembly Block, micro part and pedestal are fixed on assembling jig unit together and realize, to prevent its disturbance deformation, improve Assembly precision.But this assembly method introduces manual operation, reduces assembly efficiency, it is difficult to be suitable for mass, automation Production line.
Hao Biao, microminiature accelerometer magnetic steel component automatic assembly equipment development [D], Dalian University of Technology, 2016. disclosures A kind of locking device for magnetic steel component.Pressure plate structure one end of the device is machined with convenient for manually operated hand-held part Point, pressing plate is inserted into pressing plate fixing seat after the assembly is completed, can be tightened behind portion of the handle inside and the contact of pressing plate fixing seat Fastening screw.This flexible structure of thin rubber sheet is introduced in locking device, still can guarantee when pressing plate slightly tilts reliable Ground compresses shell, and pressing plate and shell is protected not to be damaged to a certain extent, flexible with certain locking.But the device is It is specially designed for magnetic steel component, versatility is lower;Simultaneously manual operation has also been introduced, be unfavorable for assembly efficiency raising and The realization of full-automation assembly.
In view of the above-mentioned problems, the present invention relates to a kind of locking device and assembly method for micro parts automatic assembling, Applied to full-automatic assembling line.The flexible unit of locking device, mechanical arm unit and clamp locking unit pass through collaboration The automatic assembling of micro parts is realized in cooperation, flexible with certain assembly, is improved assembly efficiency and assembly precision, is suitable for Mass, automatic production line.
Summary of the invention
In order to adapt to automatic assembly production line, micro parts assembly efficiency and assembling quality are improved, the present invention relates to one Kind is used for the locking device and assembly method of micro parts automatic assembling, is applied to full-automatic assembling line.
Technical scheme is as follows:
A kind of locking device for micro parts automatic assembling, including flexible unit, mechanical arm unit and clamp locking Unit;Flexible unit and clamp locking unit are mainly used for the flexible locking after micro parts assembly;Mechanical arm unit and clamp Locking unit by automatic changing-over realize in the pickup, carrying and assembling process of micro parts to the automatic lock of micro parts Tightly.Flexible unit, mechanical arm unit folder and pincers locking unit realize the automatic assembling of micro parts by coordinated.
The flexible unit is made of gapless rotary connecting device with assembling jig;Assembling jig includes clamp lock Fixed board, fixture mounting seat, base part mounting blocks, base part L-type block, pedestal are fastened, base part mounting blocks are fixed In in fixture mounting seat, pedestal and base part L-type block are fixed on base part mounting blocks, are turned for connecting gapless It moves attachment device and provides reference for assembling for be installed replace the spare parts;Gapless rotary connecting device includes rotation upper junction plate, rotation Spring leaf, vertical rotation spring piece, rotation lower connecting plate, wherein fixture mounting seat and rotation lower connecting plate are connected by screw thread It connects, rotation spring piece and vertical rotation spring piece quadrature arrangement, is installed between rotation upper junction plate and rotation lower connecting plate, turns Reed of moving is fixed with rotation upper junction plate and rotation lower connecting plate respectively by two spring bearer plates, and vertical rotation spring piece is straight It connects and is fixed with rotation upper junction plate and rotation lower connecting plate center vertical side, rotate and pass through screw thread and fixture above upper junction plate The plate that is locked is connected, and the two sides of fixture locking fixed plate one end are equipped with the groove of U-shaped structure, convenient for clamp locking unit into Row changing-over and locking;Gapless rotary connecting device is a kind of flexible apparatus, for the unbalanced locking generated in assembling process Power has the function of certain buffering and balance;
Mechanical arm unit is made of clamp assemblies and gas circuit component;Gas circuit component include vacuum chuck, front end fixed frame, Gas path integrated block composition, vacuum chuck are connected with the gas channels of front end fixed frame, transmit for vacuum suction gas;Clamping group Part includes compressing blend stop, path bearing, the left fixed plate of path bearing, the right fixed plate of path bearing, minitype cylinder, moving left positioning Block moves right locating piece, guiding axis;Two of them compress blend stop and are fixed on the top with front end fixed frame by screw thread;Path The left fixed plate of bearing is connected by screw thread with front end fixed frame with the right fixed plate of path bearing, be respectively used to fixed path bearing and Minitype cylinder, move left locating piece with move right locating piece and be connected respectively with guiding axis, under the action of minitype cylinder piston rod, It realizes extension and retracts;
Clamp locking unit is made of clamping frame component with clamp;Clamping frame component includes clamping frame transverse slat, spring, pressure Tight frame guiding axis, washer, circlip;Clamping frame transverse slat both ends have symmetrical step structure, realize and move left locating piece With the cooperation for moving right locating piece step surface, clamping frame guiding axis is located in the symmetrical step clearance hole in its both ends, spring It covers in the outside of clamping frame guiding axis, under compressive forces, spring one end acts on washer, and the other end acts on compression On the step surface in frame transverse slat step clearance hole;Clamping frame component is by realizing moving certainly for clamp with mechanical arm unit coordinated It connects;Clamp is connected through a screw thread with clamping frame transverse slat.
Further, two on the spacing at two compression blend stop centers in above-mentioned mechanical arm unit and clamp locking unit The spacing that clamping frame is oriented to axis center is consistent, in assembling process, compresses the lower end surface of blend stop and the upper surface of clamping frame guiding axis Cooperated, is realized to further compression of the spring.
Further, the shape of above-mentioned clamp can be designed according to actual size, the structure of micro parts to be assembled, folder Pincers are internal is equipped with multipath gas channel, for transmit vacuum suction gas, it can be achieved that different shape, size micro part Absorption.After the automatic changing-over of clamp, the stomata of clamp upper surface is aligned with vacuum chuck, and vacuum suction gas is passed to clamp, Realization mechanical structure couples with gas circuit.
A kind of above-mentioned assembly method for micro parts automatic assembling locking device, includes the following steps:
Step 1: the automatic changing-over (pickup) of clamp locking unit and mechanical arm unit: mechanical arm unit is firstly moved to Expect device designated position, the compression blend stop of mechanical arm unit is located at the surface of clamping frame guiding axis at this time, and it is miniature to open control Then the solenoid valve of cylinder, left and right running fix block extension control mechanical arm unit along Z axis and are slowly drop down to designated position, this When spring further compressed under the action of compressing blend stop, the washer of clamping frame guiding axis lower end and fixture feeding fixed plate Lower end surface separation, while clamp upper surface is bonded with the concave surface at the fixed frame vacuum chuck of front end, vacuum chuck and clamp upper end The stomata in face is aligned, and realization mechanical structure couples with gas circuit.Disconnect the solenoid valve of control minitype cylinder, left and right running fix Block retracts, and there are minim gaps for the step surface of the step surface of left and right running fix block and clamping frame transverse slat at this time;Slowly lifting machine Tool arm unit continues to be lifted mechanical arm until the step surface of left and right running fix block and the step surface of clamping frame transverse slat fit closely Unit is to certain position, and the lower end surface of clamping frame transverse slat is separated with the upper surface of fixture feeding fixed plate at this time, and fixture feeding There is also certain interval, the mechanical arm unit of control is transported along Y-direction for the lower end surface of fixed plate and the washer of clamping frame guiding axis lower end It is dynamic, the U-shaped groove of fixture feeding fixed plate is exited, clamp locking unit is completed at this time and the automatic changing-over of mechanical arm unit (is picked up It takes).
Step 2: the absorption and clamping of micro part: after the automatic changing-over of clamp, mechanically moving arm unit is to small The surface of component controls mechanical arm unit and is slowly declined to certain position, at this time the lower end surface of clamp and small component upper end Face fits closely, and opens the solenoid valve of control vacuum suction gas, and gas is inhaled by gas path integrated block, front end fixed frame, vacuum Disk forms negative pressure of vacuum at the lower end stomata of clamp and small component absorption is got up, complete the absorption of small component to clamp With clamping.
Step 3: the pose measurement of micro part and feature extraction: acquiring small component and soft respectively by vision system Property unit base image, extract for small component and base part assembly posture information.
Step 4: the plane positioning of micro part: carrying out the positioning in plane according to the characteristic information of extraction first, control It makes mechanical arm unit and is moved to rigging position, clamping frame guiding axis has been located in the U-shaped groove of fixture locking fixed plate at this time, folder Having the upper surface of plate that is locked has certain interval, the lower end surface of fixture locking fixed plate and pressure with the lower end surface of clamping frame transverse slat The washer of tight frame guiding axis lower end also has certain interval, and clamp locking unit is not separated with mechanical arm unit.
Step 5: it is slow along Z axis with clamp locking unit the automatic assembling locking of micro part: to control mechanical arm unit Slow decline, the first small component and base contacts of clamp absorption, later pedestal, clamp locking unit reaction force under it is right Spring further compresses, and the step surface of the step surface and clamping frame transverse slat that make left and right running fix block generates minim gap, until The upper surface of clamp is fitted closely with the concave surface at the fixed frame vacuum chuck of front end again, and mechanical arm unit stops decline at this time. The solenoid valve of control vacuum suction gas is disconnected, the solenoid valve of control minitype cylinder is opened, left and right running fix block protracts, this When control mechanical arm unit be slowly lifted, clamping frame guiding axis also under the effect of spring force with mechanical arm unit slowly together Lifting, but the upper surface of clamping frame guiding axis is still fitted closely with the lower end surface for compressing blend stop, is not separated, until clamping frame is led To the washer of axis lower end and the lower end face contact of fixture locking fixed plate, at this time the rotation spring piece of gapless rotary connecting device And vertical rotation spring piece will generate effect, during balancing machine arm unit continues lifting, press from both sides under spring force effect The unbalanced active force that pincers locking unit generates small component, until mechanical arm unit divides completely with clamp locking unit From flexible unit and clamp locking unit interact and be automatically performed the guarantor of flexible locking and assembly precision to small component It holds.Mechanical arm unit rapid uplift, be moved to designated position, so far completes clamp locking unit and moves certainly with machinery arm unit Connect the automatically lock of (release) and small component.
Beneficial effects of the present invention: mechanical arm unit and clamp locking unit are realized by automatic changing-over to micro parts To the automatically lock of micro parts in pickup, carrying and assembling process, this process does not need manual intervention, improves assembly effect Rate realizes full-automatic assembly;The interaction of flexible unit and clamp locking unit generates the micro parts after assembly Flexible locking, this has certain buffering and balanced action for the unbalanced coupling mechanism force generated in assembling process, thus to micro- The holding of part relative pose plays a certain protective role after small part itself and assembly.
Detailed description of the invention
Fig. 1 locking device schematic diagram.
Fig. 2 gapless rotary connecting device schematic diagram.
Fig. 3 clamp locking unit schematic diagram.
Fig. 4 mechanical arm cell schematics.
Fig. 5 feeding device schematic diagram.
Fig. 6 clamp locking unit and the mechanical automatic changing-over of arm unit (pickup) schematic diagram afterwards
In figure: 1 gas path integrated block;2 front end fixed frames;The 3 right fixed plates of path bearing;4 path bearings;5 compress blend stop;6 Move right locating piece;7 clamps;8 circlips;9 washers;10 springs;11 clamping frame transverse slats;12 fixture locking fixed plates;13 turns Dynamic upper junction plate;14 vertical rotation spring pieces;15 rotation lower connecting plates;16 spring bearer plates;17 fixture mounting seats;18 pedestals zero Part mounting blocks;19 pedestals;20 base part L-type blocks;21 move left locating piece;The 22 left fixed plates of path bearing;23 miniature gas Cylinder;24 rotation spring pieces;25 clamping frame guiding axis;26 guiding axis;27 vacuum chucks;28 fixture feeding fixed plates;On 29 components Expect seat.
Specific embodiment
By taking the automatic assembling of a certain small component as an example, combination technology scheme and attached drawing describe specific implementation step of the present invention
Step 1: mechanical arm unit is firstly moved to feeding device designated position P1, feeding device is placed with small respectively Component and clamp locking unit, small component are placed in component feeding seat 29, the clamping frame transverse slat 11 and folder of clamp locking unit Tool feeding fixed plate 28 is realized clamping and is fixed under the action of spring 10.The compression blend stop 5 of mechanical arm unit is located at pressure at this time The surface of tight frame guiding axis 25, opens the solenoid valve of control minitype cylinder 23, moves left locating piece 21 and move right locating piece 6 Extension, touches the microswitch of 2 front end of front end fixed frame, it is ensured that cylinder movement in place, later mechanical arm unit along Z axis it is slow under It is down to position P2, spring 10 is further compressed under the action of compressing blend stop 5 at this time, the washer of 25 lower end of clamping frame guiding axis 9 separate with the lower end surface of fixture feeding fixed plate 28, at the same 7 upper surface of clamp with it is recessed at 2 vacuum chuck 27 of front end fixed frame Face paste is closed, and vacuum chuck 27 is aligned with the stomata of 7 upper surface of clamp, and realization mechanical structure couples with gas circuit.
Step 2: disconnect the solenoid valve of control minitype cylinder 23, move left locating piece 21 and move right the retraction of locating piece 6, Moving left locating piece 21 at this time, there are minim gaps with the step surface and the step surface of clamping frame transverse slat 11 that move right locating piece 6; It is slowly lifted mechanical arm unit, until moving left locating piece 21 and moving right the step surface of locating piece 6 and the platform of clamping frame transverse slat 11 Terrace fits closely, and continues to be lifted mechanical arm unit to certain position, at this time the lower end surface of clamping frame transverse slat 11 and fixture feeding The upper surface of fixed plate 28 separates, and the washer 9 of the lower end surface of fixture feeding fixed plate 28 and 25 lower end of clamping frame guiding axis is also There are certain intervals, control mechanical arm unit and move along Y-direction, exit the groove of fixture feeding fixed plate 28, complete folder at this time Clamp the automatic changing-over (pickup) of locking unit and mechanical arm unit.
Step 3: after the automatic changing-over of clamp, the surface of mechanically moving arm unit to small component controls mechanical arm Unit is slowly declined to certain position, and the lower end surface of clamp 7 is fitted closely with small component upper surface at this time, opens control vacuum The solenoid valve of adsorbed gas, gas arrives clamp 7 by gas path integrated block 1, front end fixed frame 2, vacuum chuck 27, in clamp 7 Negative pressure of vacuum is formed at the stomata of lower end small component absorption is got up, complete the absorption and clamping of small component.
Step 4: acquiring the image of small component and flexible unit pedestal 19 respectively by vision system, extract for micro- The posture information that widgets and base part 19 assemble.
Step 5: controlling mechanical arm unit according to the posture information of extraction and being moved to rigging position P3, clamping frame is led at this time It is had been located in axis 25 in the groove of fixture locking fixed plate 12, upper surface and the clamping frame transverse slat 11 of fixture locking fixed plate 12 There is certain interval in lower end surface, and the lower end surface of fixture locking fixed plate 12 and the washer 9 of 25 lower end of clamping frame guiding axis also have centainly Gap, and clamp locking unit is not separated with mechanical arm unit.
Slowly decline with clamp locking unit along Z axis step 6: controlling mechanical arm unit, clamp 7 adsorbs micro- first Widgets are contacted with pedestal 19, later pedestal 19, clamp locking unit reaction force under to spring 10 further compress, make It moves left locating piece 21 and the step surface of the step surface and clamping frame transverse slat 11 that move right locating piece 6 generates minim gap, until The upper surface of clamp 7 is fitted closely with the concave surface at 2 vacuum chuck 27 of front end fixed frame again, under mechanical arm unit stops at this time Drop.
Step 7: disconnecting the solenoid valve of control vacuum suction gas, the solenoid valve of control minitype cylinder 23 is opened, is moved left Locating piece 21 and move right locating piece 6 extension, touch the microswitch of 2 front end of front end fixed frame, it is ensured that cylinder movement in place, this When control mechanical arm unit be slowly lifted, clamping frame guiding axis 25 is also slow with mechanical arm unit under the action of 10 elastic force of spring Lifting, but the upper surface of clamping frame guiding axis 25 is still fitted closely with the lower end surface for compressing blend stop 5, is not separated, until compressing The lower end face contact of the washer 9 of 25 lower end of frame guiding axis and fixture locking fixed plate 12, at this time gapless rotary connecting device Rotation spring piece 24 and vertical rotation spring piece 14 will generate effect, during balancing machine arm unit continues lifting, clamp The unbalanced active force that locking unit generates small component, until mechanical arm unit is kept completely separate with clamp locking unit, Flexible unit and the interaction of clamp locking unit are automatically performed the holding to the flexible locking and assembly precision of small component.
Step 8: mechanical arm unit rapid uplift, is moved to position P4, clamp locking unit and mechanical arm list are so far completed The automatically lock of automatic changing-over (release) and small component of member.

Claims (4)

1. a kind of locking device for micro parts automatic assembling, which is characterized in that including flexible unit, mechanical arm unit and Clamp locking unit;
The flexible unit is made of gapless rotary connecting device with assembling jig;Assembling jig includes clamp lock fastening Fixed board (12), fixture mounting seat (17), base part mounting blocks (18), base part L-type block (20), pedestal (19), bottom Seat part mounting blocks are fixed in fixture mounting seat, and pedestal and base part L-type block are fixed on base part mounting blocks, For connecting gapless rotary connecting device and providing reference for assembling for be installed replace the spare parts;Gapless rotary connecting device includes turning Dynamic upper junction plate (13), rotation spring piece (24), vertical rotation spring piece (14), rotation lower connecting plate (15), wherein fixture peace Dress pedestal (17) is connected through a screw thread with rotation lower connecting plate (15), and rotation spring piece (24) and vertical rotation spring piece (14) are just Arrangement is handed over, is installed between rotation upper junction plate (13) and rotation lower connecting plate (15), rotation upper junction plate (13) passes through above Screw thread is connected with fixture locking fixed plate (12), and the two sides of fixture locking fixed plate (12) one end are equipped with the groove of U-shaped structure, just In carrying out changing-over and locking with clamp locking unit;
Mechanical arm unit is made of clamp assemblies and gas circuit component;Gas circuit component includes vacuum chuck (27), front end fixed frame (2), gas path integrated block (1) forms, and vacuum chuck (27) is connected with the gas channels of front end fixed frame (2), is used for vacuum suction Gas transmitting;Clamp assemblies include compressing blend stop (5), path bearing (4), the left fixed plate of path bearing (22), the path bearing right side Fixed plate (3), minitype cylinder (23) move left locating piece (21), move right locating piece (6), guiding axis (26);Two of them pressure Tight blend stop (5) is fixed on the top with front end fixed frame (2) by screw thread;The left fixed plate of path bearing (22) and path bearing are right Fixed plate (3) is connected by screw thread with front end fixed frame (2), and fixed path bearing (4) and minitype cylinder (23) are respectively used to, left Running fix block (21) with move right locating piece (6) and be connected respectively with guiding axis (26), in the work of minitype cylinder (23) piston rod Under, realizes extension and retract;
Clamp locking unit is made of clamping frame component with clamp;Clamping frame component includes clamping frame transverse slat (11), spring (10), clamping frame guiding axis (25), washer (9), circlip (8);Clamping frame transverse slat (11) both ends have symmetrical Step-edge Junction Structure is realized and is moved left locating piece (21) and moves right the cooperation of locating piece (6) step surface, clamping frame guiding axis (25) difference position In the symmetrical step clearance hole in its both ends, spring (10) is covered in the outside of clamping frame guiding axis (25), in the effect of compressing force Under, spring (10) one end acts on washer (9), and the other end acts on the step surface in clamping frame transverse slat (11) step clearance hole On;Clamping frame component passes through the automatic changing-over with mechanical arm unit coordinated realization clamp;Clamp (7) and clamping frame transverse slat (11) it is connected through a screw thread.
2. a kind of locking device for micro parts automatic assembling according to claim 1, which is characterized in that mechanical arm In the spacing and clamp locking unit at two compression blend stop (5) centers in unit between two clamping frame guiding axis (25) centers Away from consistent, in assembling process, the upper surface of the lower end surface and clamping frame guiding axis (25) that compress blend stop (5) is cooperated, realization Further compression to spring (10).
3. a kind of locking device for micro parts automatic assembling according to claim 1 or 2, which is characterized in that folder Pincers are internal to be equipped with multipath gas channel, for transmitting vacuum suction gas;After the automatic changing-over of clamp, the stomata of clamp upper surface with Vacuum suction gas is passed to clamp by vacuum chuck alignment, and realization mechanical structure couples with gas circuit.
4. the assembly in -3 described in any claim for the locking device of micro parts automatic assembling according to claim 1 Method, which comprises the steps of:
Step 1: pick-up operation;The automatic changing-over of clamp locking unit and mechanical arm unit: mechanical arm unit is firstly moved to Expect device designated position, the compression blend stop of mechanical arm unit is located at the surface of clamping frame guiding axis at this time, and it is miniature to open control Then the solenoid valve of cylinder, left and right running fix block extension control mechanical arm unit along Z axis and are slowly drop down to designated position, this When spring further compressed under the action of compressing blend stop, the washer of clamping frame guiding axis lower end and fixture feeding fixed plate Lower end surface separation, while clamp upper surface is bonded with the concave surface at the fixed frame vacuum chuck of front end, vacuum chuck and clamp upper end The stomata in face is aligned, and realization mechanical structure couples with gas circuit;Disconnect the solenoid valve of control minitype cylinder, left and right running fix Block retracts, and there are minim gaps for the step surface of the step surface of left and right running fix block and clamping frame transverse slat at this time;Slowly lifting machine Tool arm unit continues to be lifted mechanical arm until the step surface of left and right running fix block and the step surface of clamping frame transverse slat fit closely Unit is to certain position, and the lower end surface of clamping frame transverse slat is separated with the upper surface of fixture feeding fixed plate at this time, and fixture feeding There is also certain interval, the mechanical arm unit of control is transported along Y-direction for the lower end surface of fixed plate and the washer of clamping frame guiding axis lower end It is dynamic, the U-shaped groove of fixture feeding fixed plate is exited, completes the automatic changing-over of clamp locking unit and mechanical arm unit at this time;
Step 2: the absorption and clamping of micro part: after the automatic changing-over of clamp, mechanically moving arm unit to small component Surface, control mechanical arm unit and be slowly declined to certain position, the lower end surface of clamp and small component upper surface are tight at this time Closely connected conjunction, opens the solenoid valve of control vacuum suction gas, and gas is arrived by gas path integrated block, front end fixed frame, vacuum chuck Clamp forms negative pressure of vacuum at the lower end stomata of clamp and small component absorption is got up, completes absorption and the folder of small component It holds;
Step 3: the pose measurement of micro part and feature extraction: acquiring small component and flexible list respectively by vision system The image of first pedestal extracts the posture information for small component and base part assembly;
Step 4: the plane positioning of micro part: carrying out the positioning in plane according to the characteristic information of extraction first, controls machine Tool arm unit is moved to rigging position, and clamping frame guiding axis has been located in the U-shaped groove of fixture locking fixed plate at this time, clamp lock There are certain interval, the lower end surface of fixture locking fixed plate and clamping frame in the lower end surface of the upper surface and clamping frame transverse slat that fasten fixed board The washer of guiding axis lower end also has certain interval, and clamp locking unit is not separated with mechanical arm unit;
Step 5: the locking of the automatic assembling of micro part: control mechanical arm unit with clamp locking unit along Z axis it is slow under Drop, first clamp absorption small component and base contacts, later pedestal, clamp locking unit reaction force under to spring The step surface of further compression, the step surface and clamping frame transverse slat that make left and right running fix block generates minim gap, until clamp Upper surface fitted closely again with the concave surface at the fixed frame vacuum chuck of front end, mechanical arm unit stops decline at this time;It disconnects The solenoid valve of vacuum suction gas is controlled, the solenoid valve of control minitype cylinder, left and right running fix block extension, this time control are opened It makes mechanical arm unit to be slowly lifted, clamping frame guiding axis is also lifted with mechanical arm unit slowly together under the effect of spring force It rises, but the upper surface of clamping frame guiding axis is still fitted closely with the lower end surface for compressing blend stop, is not separated, until clamping frame is oriented to The lower end face contact of the washer of axis lower end and fixture locking fixed plate, at this time the rotation spring piece of gapless rotary connecting device and Vertical rotation spring piece will generate effect, during balancing machine arm unit continues lifting, act on lower clamp in spring force The unbalanced active force that locking unit generates small component, until mechanical arm unit is kept completely separate with clamp locking unit, Flexible unit and the interaction of clamp locking unit are automatically performed the holding to the flexible locking and assembly precision of small component;Machine Tool arm unit rapid uplift, is moved to designated position, so far complete clamp locking unit and mechanical arm unit automatic changing-over and The automatically lock of small component.
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CN111070141A (en) * 2020-01-03 2020-04-28 大连理工大学 Automatic assembling clamp for micro parts and automatic locking method

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