CN209470666U - A kind of on-line detecting system applied to the micro- part automatic assembling of complicated multi-configuration - Google Patents
A kind of on-line detecting system applied to the micro- part automatic assembling of complicated multi-configuration Download PDFInfo
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- CN209470666U CN209470666U CN201920083400.1U CN201920083400U CN209470666U CN 209470666 U CN209470666 U CN 209470666U CN 201920083400 U CN201920083400 U CN 201920083400U CN 209470666 U CN209470666 U CN 209470666U
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Abstract
A kind of on-line detecting system applied to the micro- part automatic assembling of complicated multi-configuration provided by the utility model, it is related to micro- piece test technical field, including micro assemby level visual detection module, the vertical vision-based detection module of micro assemby, the vertical Photoelectric Detection module of micro assemby, heavily loaded portal frame and equipment workbench.Wherein, micro assemby level visual detection module includes level visual optical module, level visual moving parts, and level visual optical module is mounted on level visual moving parts, is detected to first direction.The vertical vision-based detection module of micro assemby includes vertical visual optics component, vertical visual movement component, and vertical visual optics component is mounted on vertical visual movement component, is detected to second direction.The vertical Photoelectric Detection module of micro assemby is mounted on vertical visual movement component, compact-sized, and space utilization rate is high, can be measured in real time from multi-faceted, multi-angle, is conducive to the assembly efficiency and assembly precision that improve micro- part.
Description
Technical field
The utility model relates to micro assemby detection technique fields, and it is micro- to be applied to complicated multi-configuration in particular to one kind
The on-line detecting system of part automatic assembling.
Background technique
In existing micro- component assembly, it can be related to there are more sizes, across scale, multiple types complex configuration, a variety of composition materials
Assembly between the miniature components of material, this kind of micro- part of complexity are difficult to be registrated by human eye, detect, and pass through eye-observation
Method it is difficult to ensure that micro- component assembly precision, it is also difficult to guarantee the consistency of the micro- component assembly precision of batch.
Existing assembly method is mainly realized by way of manual, also uses manual operation side to the assembly of micro- part
Formula, detection and assembly precision are difficult to meet production requirement, and it is not high to detect flexibility ratio.
Utility model content
The purpose of this utility model includes providing a kind of on-line checking applied to the micro- part automatic assembling of complicated multi-configuration
System, the vertical equal energy of Photoelectric Detection module of micro assemby level visual detection module, the vertical vision-based detection module of micro assemby, micro assemby
It realizes three axis free movements in spatial dimension, micro- part orientation of first direction and second direction, micro assemby can be detected simultaneously
Vertical vision-based detection module, the vertical Photoelectric Detection module of micro assemby are installed on vertical visual movement component, compact-sized, empty
Between utilization rate it is high.The on-line detecting system for being applied to the micro- part automatic assembling of complicated multi-configuration is carried out from multi-faceted, multi-angle
Real-time detection, on-line checking precision is high, is conducive to improve complicated multi-configuration, the assembly efficiency across the micro- part of scale and assembly essence
Degree.
It is that it is realized by adopting the following technical scheme that the utility model, which improves its technical problem,.
A kind of on-line detecting system applied to the micro- part automatic assembling of complicated multi-configuration provided by the utility model, including
Micro assemby level visual detection module, the vertical vision-based detection module of micro assemby, the vertical Photoelectric Detection module of micro assemby, heavily loaded gantry
Frame and equipment workbench.The heavy duty portal frame is mounted on the equipment workbench, and the micro assemby level visual detects mould
Block is installed on the workbench and is located at the side of the heavily loaded portal frame, the vertical vision-based detection module of the micro assemby and
The vertical Photoelectric Detection module of the micro assemby is mounted on the other side of the heavily loaded portal frame.
The micro assemby level visual detection module includes level visual optical module, level visual moving parts.It is described
Level visual moving parts are installed on the workbench, and the level visual optical module is mounted on the level visual movement
On component, for realizing the detection of first direction.
The vertical vision-based detection module of the micro assemby includes vertical visual optics component, vertical visual movement component, described
Vertical visual movement component is mounted on the heavily loaded portal frame, and the vertical visual optics component is mounted on the vertical vision
On moving parts, for realizing the detection of second direction.
The vertical visual optics component includes vertical direction micro-vision unit, vertical direction optics fixing seat and optics
Module bodies support frame.The optical module main bracing frame is mounted on the vertical visual movement component, the Vertical Square
It is mounted on the optical module main bracing frame to optics fixing seat, the vertical direction micro-vision unit is mounted on described
In vertical direction optics fixing seat.
The vertical visual movement component uses the precision positioning motion platform with X, Y, Z-direction freedom of motion, institute
Stating vertical visual movement component includes vertical X-direction kinematic axis, vertical Y direction kinematic axis, the first vertical Z axis side
To kinematic axis, the second vertical Z-direction kinematic axis.The vertical Y direction kinematic axis is mounted on the heavily loaded portal frame
On, the vertical X-direction kinematic axis is mounted on the vertical Y direction kinematic axis, the first vertical Z axis side
It is installed on the vertical X-direction kinematic axis to kinematic axis and the second vertical Z-direction kinematic axis, the light
Module bodies support frame is learned to be mounted on the first vertical Z-direction kinematic axis；Realize the vertical direction micro-vision
Automatic focusing, detection, plan-position adjustment and the detection station switching of unit.
The vertical Photoelectric Detection module of the micro assemby includes confocal displacement sensor and sensor aid in vertical direction
Tooling, the confocal displacement sensor are mounted in the sensor aid tooling, and the sensor aid tooling is mounted on institute
It states on the second vertical Z-direction kinematic axis.
Further, the level visual optical module includes the horizontal direction installed in optics fixing seat in the horizontal direction
Micro-vision unit, the horizontal direction micro-vision unit include horizontal zoom camera lens, horizontal CCD camera and horizontal fill-in light
Source.The horizontal zoom camera lens, the horizontal CCD camera and the horizontal secondary light source are all made of ring light combination backlight
Mode.The horizontal direction optics fixing seat is mounted on the level visual moving parts, realizes that the horizontal direction is micro-
Automatic focusing, detection, plan-position adjustment and the detection station switching of visual unit.
Further, the level visual moving parts use the precision positioning fortune with X, Y, Z-direction freedom of motion
Moving platform.The level visual moving parts include horizontal X-direction kinematic axis, horizontal Y direction kinematic axis, level
Z-direction kinematic axis and horizontal motion module substrate.The motion module substrate of the level is mounted on the equipment workbench
On, the X-direction kinematic axis of the level is mounted on the motion module substrate of the level, the Y direction fortune of the level
Moving axis is mounted on the X-direction kinematic axis of the level, and the Z-direction kinematic axis of the level is mounted on the Y of the level
On axis direction kinematic axis.The horizontal direction optics fixing seat is mounted on the Z-direction kinematic axis of the level.
Further, the vertical direction micro-vision unit includes vertical zoom camera lens, vertical CCD camera and vertical auxiliary
Light source is helped, the vertical zoom camera lens, the vertical CCD camera and the vertical secondary light source are all made of ring light combination backlight
The mode in source.
The vertical direction optics fixing seat is equipped with the fixed arc groove of optical lens and fixing seat datum level, in order to right
The vertical direction micro-vision cell location.The optical module main bracing frame includes front end fixed datum, hollow out branch
Support frame frame and rear end fixed datum.The front end fixed datum and the rear end fixed datum are respectively arranged on the hollow out
The both ends of braced frame.The front end fixed datum is connect with the fixing seat datum level, the rear end fixed datum with
The first vertical Z-direction moves axis connection.
Further, the sensor aid tooling includes sensor grip slipper, sensor aid lid, extends fixed vertical plate
And sensor main body support frame.The sensor main body support frame is mounted on the second vertical Z-direction kinematic axis, institute
It states extension fixed vertical plate to connect with the sensor main body support frame, the sensor grip slipper and the extension fixed vertical plate connect
It connects, sensor aid lid is fixedly connected with the sensor grip slipper, and described in the confocal displacement sensor is mounted on
Between sensor grip slipper and sensor aid lid.
Further, the confocal displacement sensor of the vertical direction includes sensor main body and sensor signal transmission tail
Fibre, the sensor signal transmission tail optical fiber are connect with the sensor main body.
The sensor grip slipper includes the fixed arc groove of sensor and sensor fixing seat datum level.The sensor adds
Holding lid includes the fixed arc groove in lid end and fixed counterbore slot position.The sensor main body is located in the fixed arc groove of the sensor
Between the fixed arc groove in the lid end.The sensor fixing seat datum level is connect with the extension fixed vertical plate.
Further, the extension fixed vertical plate includes upper fixed datum, resigning flex area and lower fixed datum；Institute
Resigning flex area is stated between fixed datum level and the lower fixed datum；The lower fixed datum with it is described
The connection of sensor fixing seat datum level.
The sensor main body support frame includes sensor front end fixed datum, sensor hollow out braced frame and sensing
Device rear end fixed datum.The sensor front end fixed datum and sensor rear end fixed datum are located at institute
State the both ends of sensor hollow out braced frame.The sensor front end fixed datum is connect with fixed datum level, institute
It states sensor rear end fixed datum and moves axis connection with the second vertical Z-direction.
Further, the vertical Photoelectric Detection module of the micro assemby includes that superhigh precision photoelectric sensing unit and lengthening formula pass
Sensor accommodates tooling.The superhigh precision photoelectric sensing unit includes superhigh precision sensor main body interconnected and superelevation essence
It spends sensor signal and transmits tail optical fiber；The lengthening formula sensor aid tooling includes lengthening formula sensor grip slipper, lengthening formula biography
Sensor aid lid lengthens extension fixed vertical plate and sensor main body support frame.
The superhigh precision sensor main body is located in the lengthening formula sensor grip slipper and the lengthening formula sensor
Between aid lid, the lengthening formula sensor grip slipper is mounted on the lengthening and extends in fixed vertical plate, and the lengthening extends solid
Determine riser to be fixed on the sensor main body support frame, the sensor main body support frame and the second vertical Z axis side
To movement axis connection.
Further, the heavily loaded portal frame includes: gantry support facade, gantry support upper planar table, gantry branch support group
Directrix plane and trigonometric expression gantry reinforcing rib.Gantry support facade is connect with the equipment workbench, gantry branch support group
Directrix plane is connect with described gantry support facade, is equipped with institute between gantry support datum plane and described gantry support facade
State trigonometric expression gantry reinforcing rib.
Further, gantry support facade is equipped with the adjustable installation in position close to one end of the equipment workbench
Slot.Described gantry supports the both ends of upper planar table to be symmetrically equipped with operation tooling mounting hole position.Described gantry supports datum plane
In flat, rectangular, it is installed on the upper surface that described gantry supports upper planar table, gantry support datum plane has superelevation
Surface planarity and installation accuracy, and described gantry support datum plane two sides be symmetrically equipped with detection module mounting hole
Position.
Detection device provided by the utility model have the following aspects the utility model has the advantages that
A kind of detection device provided by the utility model, First look detection module, the second vision-based detection module and photoelectricity
Detection module is able to achieve three axis free movements in spatial dimension, can detect micro- part of first direction and second direction simultaneously
Posture, Photoelectric Detection module and the second vision-based detection module are installed on the second moving parts, compact-sized, space utilization rate
It is high.The setting of portal frame improves the stability of first detection module, the second detection module and Photoelectric Detection module, testing result
It is accurate reliable.The detection device is measured in real time from multi-faceted, multi-angle, is conducive to the assembly efficiency and dress that improve micro- part
With precision.
Another kind detection device provided by the utility model, in the clamp assemblies of Photoelectric Detection module, in fixed vertical plate and
It is equipped with extension between grip slipper, so that fixed vertical plate extends, provides abundance for the installation and movement of photoelectric sensing unit
Operating space, flexibility is higher, and more comprehensively, detection confidence, accuracy are higher for detection.
Detailed description of the invention
It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described, it should be understood that the following drawings illustrates only some embodiments of the utility model, therefore should not be by
Regard the restriction to range as, for those of ordinary skill in the art, without creative efforts, may be used also
To obtain other relevant attached drawings according to these attached drawings.
Fig. 1 is the online inspection for being applied to the micro- part automatic assembling of complicated multi-configuration that the utility model specific embodiment provides
The overall structure diagram of examining system；
Fig. 2 is the online inspection for being applied to the micro- part automatic assembling of complicated multi-configuration that the utility model specific embodiment provides
The structural schematic diagram of the micro assemby level visual detection module of examining system；
Fig. 3 is the online inspection for being applied to the micro- part automatic assembling of complicated multi-configuration that the utility model specific embodiment provides
The structural schematic diagram of the vertical vision-based detection module of the micro assemby of examining system and the vertical Photoelectric Detection module of micro assemby；
Fig. 4 is the online inspection for being applied to the micro- part automatic assembling of complicated multi-configuration that the utility model specific embodiment provides
The structural schematic diagram of the vertical visual optics component of examining system；
Fig. 5 is the online inspection for being applied to the micro- part automatic assembling of complicated multi-configuration that the utility model specific embodiment provides
A kind of decomposition texture schematic diagram of the vertical Photoelectric Detection module of the micro assemby of examining system；
Fig. 6 is the online inspection for being applied to the micro- part automatic assembling of complicated multi-configuration that the utility model specific embodiment provides
Another decomposition texture schematic diagram of the vertical Photoelectric Detection module of the micro assemby of examining system；
Fig. 7 is the online inspection for being applied to the micro- part automatic assembling of complicated multi-configuration that the utility model specific embodiment provides
The structural schematic diagram of the heavily loaded portal frame of examining system；
Fig. 8 is the online inspection for being applied to the micro- part automatic assembling of complicated multi-configuration that the utility model specific embodiment provides
A kind of application scenarios structural schematic diagram of examining system；
Fig. 9 is the online inspection for being applied to the micro- part automatic assembling of complicated multi-configuration that the utility model specific embodiment provides
The structural schematic diagram of the pallet body of examining system.
Icon: 1 micro assemby level visual detection module；11 level visual optical modules；12 level visual moving parts；
11-1 horizontal direction micro-vision unit；11-2 horizontal direction optics fixing seat；The horizontal zoom camera lens of 11-11；11-12 is horizontal
CCD camera；The horizontal secondary light source of 11-13；The X-direction kinematic axis of 12-1 level；The Y direction kinematic axis of 12-2 level；12-
3 horizontal Z-direction kinematic axis；The motion module substrate of 12-4 level；The vertical vision-based detection module of 2 micro assembies；21 vertical views
Feel optical module；22 vertical visual movement components；21-1 vertical direction micro-vision unit；21-2 vertical direction optics is fixed
Seat；21-3 optical module main bracing frame；22-1 vertical X-direction kinematic axis；22-2 vertical Y direction kinematic axis；22-
3 the first vertical Z-direction kinematic axis；The second 22-4 vertical Z-direction kinematic axis；The vertical zoom camera lens of 21-11；21-12
Vertical CCD camera；The vertical secondary light source of 21-13；21-21 optical lens fixes arc groove；21-22 fixing seat datum level；21-31
Front end fixed datum；21-32 hollow out braced frame；The rear end 21-33 fixed datum；The vertical Photoelectric Detection module of 3 micro assembies；
31 confocal displacement sensors；32 sensors accommodate tooling；32-1 sensor grip slipper；32-2 sensor aid lid；32-3 extends
Fixed vertical plate；32-4 sensor main body support frame；31-1 sensor main body；31-2 sensor signal transmits tail optical fiber；32-11 sensing
Device fixes arc groove；32-12 sensor fixing seat datum level；Arc groove is fixed at 32-21 lid end；32-22 fixes counterbore slot position；
The upper fixed datum of 32-31；32-32 resigning flex area；Fixed datum under 32-33；32-41 sensor front end fixed reference
Face；32-42 sensor hollow out braced frame；32-43 sensor rear end fixed datum；33 superhigh precision photoelectric sensing units；
34, which lengthen formula sensor, accommodates tooling；33-1 superhigh precision sensor main body；33-2 superhigh precision sensor signal transmits tail optical fiber；
34-1 lengthens formula sensor grip slipper；34-2 lengthens formula sensor aid lid；34-3, which is lengthened, extends fixed vertical plate；4 heavily loaded gantry
Frame；41 gantry support facade；42 gantry support upper planar table；43 gantry support datum plane；44 trigonometric expression gantry reinforcing ribs；
41-1 mounting groove；42-1 operates tooling mounting hole position；43-1 detection module installs hole location；5 equipment workbench；100 quick change supporting plates
Module；110 pallet bodies；The pre- storage position of 6-1 small parts；The micro- part storage limit true edge of 6-2 strip；6-3 pressure
Fill storage position；6-4 press fitting storage limit benchmark；6-5 is pressed the pre- storage position of pedestal；6-6 glue box storage position；6-7 part
Negative pressure of vacuum fixed hole position；6-8 brush coating module storage position；Position is auxiliarily fixed in the micro- component assembly of 6-9 bar shaped；6-10 positioning pin
Nail；6-11 backlight installation fixing position；6-12 positive/negative-pressure passes stomata.
Specific embodiment
It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Usually here in attached drawing description and
The component of the utility model embodiment shown can be arranged and be designed with a variety of different configurations.
Therefore, requirement is not intended to limit to the detailed description of the embodiments of the present invention provided in the accompanying drawings below
The scope of the utility model of protection, but it is merely representative of the selected embodiment of the utility model.Based in the utility model
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, all
Belong to the range of the utility model protection.
In the description of the present invention, it should be understood that the orientation or positional relationship of the instructions such as term " on ", "lower"
For be based on the orientation or positional relationship shown in the drawings or the utility model product using when the orientation or position usually put
The orientation or positional relationship that relationship or those skilled in the art usually understand is merely for convenience of description the utility model
It is described with simplifying, rather than the equipment of indication or suggestion meaning or element must have a particular orientation, with specific orientation structure
It makes and operates, therefore should not be understood as limiting the present invention.
" first " of the utility model, " second " etc., are only used to distinguish between description, and contain not special
Justice.
In the description of the present invention, it should also be noted that, unless otherwise clearly defined and limited, term " is set
Set ", " installation " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
It, can also be indirectly connected through an intermediary to be to be connected directly.It for the ordinary skill in the art, can be specific
Situation understands the concrete meaning of above-mentioned term in the present invention.
Please refer to Fig. 1, a kind of on-line checking applied to the micro- part automatic assembling of complicated multi-configuration provided in this embodiment
System, including the vertical vision-based detection module 2 of micro assemby level visual detection module 1, micro assemby, the vertical Photoelectric Detection mould of micro assemby
Block 3, heavily loaded portal frame 4 and equipment workbench 5.Heavily loaded portal frame 4 is mounted on equipment workbench 5, the inspection of micro assemby level visual
Survey the side that module 1 is installed on the workbench and is located at heavily loaded portal frame 4, the vertical vision-based detection module 2 of micro assemby and micro assemby
Vertical Photoelectric Detection module 3 is mounted on the other side of heavily loaded portal frame 4.
Referring to figure 2., micro assemby level visual detection module 1 includes level visual optical module 11, level visual movement
Component 12, level visual moving parts 12 are mounted on equipment workbench 5, and level visual optical module 11 is mounted on level visual
On moving parts 12, for realizing the detection of first direction.Specifically, level visual optical module 11 includes being mounted on level side
Horizontal direction micro-vision unit 11-1, horizontal direction micro-vision unit 11-1 on optics fixing seat 11-2 include level
Zoom camera lens 11-11, horizontal CCD camera 11-12 and horizontal secondary light source 11-13.Horizontal zoom camera lens 11-11, horizontal CCD phase
Machine 11-12 and horizontal secondary light source 11-13 is all made of the mode of ring light combination backlight.
Preferably, level visual moving parts 12 are flat using the precision positioning motion with X, Y, Z-direction freedom of motion
Platform.Level visual moving parts 12 include horizontal X-direction kinematic axis 12-1, horizontal Y direction kinematic axis 12-2, level
Z-direction kinematic axis 12-3 and horizontal motion module substrate 12-4.Horizontal motion module substrate 12-4 is mounted on equipment
On workbench 5, horizontal X-direction kinematic axis 12-1 is mounted on horizontal motion module substrate 12-4, horizontal Y direction
Kinematic axis 12-2 is mounted on horizontal X-direction kinematic axis 12-1, and horizontal Z-direction kinematic axis 12-3 is mounted on horizontal
On Y direction kinematic axis 12-2；Horizontal direction optics fixing seat 11-2 is mounted on horizontal Z-direction kinematic axis 12-3.It is logical
The free precise motion of three axis of level visual moving parts 12 is crossed, realizes the automatic tune of horizontal direction micro-vision unit 11-1
Burnt, detection, plan-position adjustment and detection station switching, complete first direction, that is, horizontal direction Precision measurement.
Referring to figure 3., the vertical vision-based detection module 2 of micro assemby includes vertical visual optics component 21, vertical visual movement
Component 22.Vertical visual movement component 22 is mounted on heavily loaded portal frame 4, and vertical visual optics component 21 is mounted on vertical vision
On moving parts 22, for realizing the detection of second direction.
Specifically, vertical visual optics component 21 is solid including vertical direction micro-vision unit 21-1, vertical direction optics
Reservation 21-2 and optical module main bracing frame 21-3.Optical module main bracing frame 21-3 is mounted on vertical visual movement component
On 22, vertical direction optics fixing seat 21-2 is mounted on optical module main bracing frame 21-3, vertical direction micro-vision list
First 21-1 is mounted on vertical direction optics fixing seat 21-2.
Vertical visual movement component 22 uses the precision positioning motion platform with X, Y, Z-direction freedom of motion, vertically
Visual movement component 22 includes vertical X-direction kinematic axis 22-1, vertical Y direction kinematic axis 22-2, the first vertical Z
Axis direction kinematic axis 22-3, the second vertical Z-direction kinematic axis 22-4.Vertical Y direction kinematic axis 22-2 is mounted on weight
It carrying on portal frame 4, vertical X-direction kinematic axis 22-1 is mounted on vertical Y direction kinematic axis 22-2, and vertical first
Z-direction kinematic axis 22-3 and the second vertical Z-direction kinematic axis 22-4 are installed in vertical X-direction kinematic axis 22-1
On, and the first vertical Z-direction kinematic axis 22-3 and the second vertical Z-direction kinematic axis 22-4 are arranged in parallel.Light
Module bodies support frame 21-3 is learned to be mounted on the first vertical Z-direction kinematic axis 22-3.
Referring to figure 4., vertical direction micro-vision unit 21-1 includes vertical zoom camera lens 21-11, vertical CCD camera
21-12 and vertical secondary light source 21-13, vertical zoom camera lens 21-11, vertical CCD camera 21-12 and vertical secondary light source 21-
13 are all made of the mode of ring light combination backlight.
Vertical direction optics fixing seat 21-2 is equipped with the fixed arc groove 21-21 and fixing seat datum level 21- of optical lens
22, the fixed arc groove 21-21 of optical lens is for installing vertical direction micro-vision unit 21-1, in order to aobvious to vertical direction
Micro- visual unit 21-1 precise positioning.Optical module main bracing frame 21-3 includes front end fixed datum 21-31, hollow out support
Frame 21-32 and rear end fixed datum 21-33.Front end fixed datum 21-31 and rear end fixed datum 21-33 are set respectively
In the both ends of hollow out braced frame 21-32.Front end fixed datum 21-31 is connect with fixing seat datum level 21-22, and rear end is fixed
Datum level 21-33 is connect with the first vertical Z-direction kinematic axis 22-3.Pass through the high-precision three of vertical visual movement component 22
Automatic focusing, detection, plan-position adjustment and the detection work of vertical direction micro-vision unit 21-1 are realized in axis free movement
Position switching, completes the Precision measurement in second direction, that is, vertical direction.
The vertical Photoelectric Detection module 3 of micro assemby includes confocal displacement sensor 31 and sensor aid work in vertical direction
Fill 32, confocal displacement sensor 31 is mounted in sensor aid tooling 32, and sensor aid tooling 32 is mounted on vertical the
On two Z-direction kinematic axis 22-4.
Referring to figure 5., sensor aid tooling 32 includes sensor grip slipper 32-1, sensor aid lid 32-2, extends
Fixed vertical plate 32-3 and sensor main body support frame 32-4.Sensor main body support frame 32-4 is mounted on the second vertical Z axis side
To on kinematic axis 22-4, extend fixed vertical plate 32-3 connect with sensor main body support frame 32-4, sensor grip slipper 32-1 and
Extend fixed vertical plate 32-3 connection, sensor aid lid 32-2 is fixedly connected with sensor grip slipper 32-1, and confocal displacement passes
Sensor 31 is mounted between sensor grip slipper 32-1 and sensor aid lid 32-2.
Specifically, the confocal displacement sensor 31 of vertical direction includes that sensor main body 31-1 and sensor signal transmit tail
Fine 31-2, sensor signal transmission tail optical fiber 31-2 are connect with sensor main body 31-1.
Sensor grip slipper 32-1 includes the fixed arc groove 32-11 and sensor fixing seat datum level 32-12 of sensor.It passes
Sensor aid lid 32-2 includes lid end fixed arc groove 32-21 and fixed counterbore slot position 32-22.Sensor main body 31-1 is located in
Between the fixed arc groove 32-11 of sensor and the fixed arc groove 32-21 in lid end.Sensor fixing seat datum level 32-12 and extension
Fixed vertical plate 32-3 connection.It includes upper fixed datum 32-31, resigning flex area 32-32 and lower solid for extending fixed vertical plate 32-3
Determine datum level 32-33.Resigning flex area 32-32 between upper fixed datum 32-31 and lower fixed datum 32-33, under
Fixed datum 32-33 is connect with sensor fixing seat datum level 32-12.
Sensor main body support frame 32-4 includes sensor front end fixed datum 32-41, sensor hollow out braced frame
32-42 and sensor rear end fixed datum 32-43.The fixed base of sensor front end fixed datum 32-41 and sensor rear end
Quasi- face 32-43 is located at the both ends of sensor hollow out braced frame 32-42.Sensor front end fixed datum 32-41 with it is upper
Fixed datum 32-31 connection, sensor rear end fixed datum 32-43 connect with the second vertical Z-direction kinematic axis 22-4
It connects.
It should be noted that the vertical Photoelectric Detection module 3 of micro assemby is fixed by sensor main body support frame 32-4 installation
It is vertically solid by sensor aid tooling 32 on the second vertical Z-direction kinematic axis 22-4 of vertical visual movement module 22
It is fixed, so that the vertical Photoelectric Detection module 3 of light micro assemby vision-based detection module 2 vertical with micro assemby shares the same X-direction and Y
The kinematic axis of axis direction, i.e., vertical X-direction kinematic axis 22-1 and vertical Y direction kinematic axis 22-2.It designs so both
It can guarantee the determination of the vertical Photoelectric Detection module 3 of micro assemby 2 positional relationships of vision-based detection module vertical with micro assemby, while can
It saves space-efficient and utilizes each kinematic axis.The vertical Photoelectric Detection module 3 of micro assemby projects a beamwidth light by light source output head
The secondary color measurement light of spectrum is white, and light emission is reflected back to body surface and is sensed by spectrometer, to calculate tested
The distance value of part realizes the hyperfine pose on-line checking to small parts, guarantees the correctness of components assembly pose.
Optionally, the vertical Photoelectric Detection module 3 of micro assemby can also be arranged to other structures other than using the above structure
Form, as shown in fig. 6, the vertical Photoelectric Detection module 3 of micro assemby includes superhigh precision photoelectric sensing unit 33 and lengthening formula sensing
Device accommodates tooling 34.Superhigh precision photoelectric sensing unit 33 includes superhigh precision sensor main body 33-1 interconnected and superelevation
Accurate sensor signal transmits tail optical fiber 33-2.Lengthening formula sensor accommodate tooling 34 include lengthening formula sensor grip slipper 34-1,
Lengthening formula sensor aid lid 34-2, extension fixed vertical plate 34-3 and sensor main body support frame 32-4 is lengthened.
Superhigh precision sensor main body 33-1 is located in lengthening formula sensor grip slipper 34-1 and lengthens the aid of formula sensor
It covers between 34-2, achievees the purpose that fasten superhigh precision sensor main body 33-1.Lengthening formula sensor grip slipper 34-1 is mounted on
It lengthens and extends on fixed vertical plate 34-3, lengthen extension fixed vertical plate 34-3 and be fixed on sensor main body support frame 32-4, sense
Device main bracing frame 32-4 is connect with the second vertical Z-direction kinematic axis 22-4.It is set as superhigh precision photoelectric sensing in this way
The installation of unit 33 and it is mobile provide sufficient operating space, flexibility is higher, and detection is more comprehensively, detection confidence, accurate
Du Genggao.
By the three axis free movement of high-precision of vertical visual movement component 22, superhigh precision photoelectric sensing unit 33 is realized
To the hyperfine pose on-line checking of small parts, guarantee the correctness of components assembly pose.
Fig. 7 is please referred to, heavily loaded portal frame 4 is located on equipment workbench 5, for realizing to the vertical vision-based detection mould of micro assemby
The high intensity of the Photoelectric Detection module 3 vertical with micro assemby of block 2 stablizes fixed support function, and detects for micro assemby level visual
Module 1 provides the function in lower part detection space.
Heavily loaded portal frame 4 includes: gantry support facade 41, the upper planar table 42 of gantry support, gantry support datum plane 43
With trigonometric expression gantry reinforcing rib 44.Gantry support facade 41 is connect with equipment workbench 5, and gantry supports datum plane 43 and gantry
Facade 41 is supported to connect, gantry supports and is equipped with trigonometric expression gantry reinforcing rib 44 between datum plane 43 and gantry support facade 41.
Gantry supports facade 41 to be equipped with the adjustable mounting groove 41-1 in position close to one end of equipment workbench 5, and gantry supports upper planar table
42 both ends are symmetrically equipped with operation tooling mounting hole position 42-1.It is in flat, rectangular that gantry, which supports datum plane 43, is installed on
Gantry supports the upper surface of upper planar table 42, and gantry support datum plane 43 has the surface planarity and installation accuracy of superelevation,
And the two sides of gantry support datum plane 43 are symmetrically equipped with detection module installation hole location 43-1, are easy to implement flexible installation
With detection.
Fig. 8 and Fig. 9 are please referred to, optionally, quick change supporting board module 100, quick change supporting board module are additionally provided on equipment workbench 5
100 include pallet body 110, linear motion platform and turntable.Linear motion platform is mounted on equipment workbench 5, turntable peace
On linear motion platform, pallet body 110 is installed on a spinstand.By the movement along the y axis of linear motion platform and
The rotation in turntable direction about the z axis, may be implemented the precision positioning of pallet body 110.It is horizontal that pallet body 110 is set to micro assemby
The optical path detection range of the vertical vision-based detection module 2 of vision-based detection module 1, micro assemby Photoelectric Detection module 3 vertical with micro assemby
It is interior.The pre- storage position 6-1 of a variety of across scale complex multi-configuration small parts, the micro- part storage of strip on pallet body 110
Limit true edge 6-2, press fitting storage position 6-3, press fitting storage limit benchmark 6-4, the pre- storage position 6-5 of press fitting pedestal, glue box
Storage position 6-6, part negative pressure of vacuum fixed hole position 6-7, brush coating module storage position 6-8, the micro- component assembly auxiliary of bar shaped are solid
It positions 6-9, shop bolt 6-10, backlight installation fixing position 6-11 and positive/negative-pressure and passes stomata 6-12.Wherein, backlight installation is solid
Position 6-11, positive/negative-pressure passes the side that stomata 6-12 is set to pallet body 110.Positive/negative-pressure is passed stomata 6-12 and is convenient for being inhaled using vacuum
Fixation of the subsidiary formula formula to pallet body 110.Pressure tool component can be by being pressed storage position 6-3, freely quickly installation
On pallet body 110, for realizing the press fitting fixed function of micro- part, guarantee that micro- part completes the stable accuracy after assembly
Property.The vertical vision-based detection module 2 of micro assemby level visual detection module 1, micro assemby Photoelectric Detection module 3 vertical with micro assemby is used
In to micro- part, pressure tool component, press fitting storage position 6-3, the pre- storage position 6-5 of press fitting pedestal, glue on pallet body
Box storage position 6-6, part negative pressure of vacuum fixed hole position 6-12 etc. carry out on-line checking, improve the assembly precision of micro- part and steady
It is qualitative.
The on-line detecting system provided by the utility model for being applied to the micro- part automatic assembling of complicated multi-configuration, was installed
Journey and working principle are as follows:
During the automatic assembling of micro- part, drive of the level visual optical module 11 in level visual moving parts 12
Lower movement carries out the detection of horizontal direction to micro- part, micromodule.Vertical visual optics component 21 and micro assemby vertical light electric-examination
Module 3 is surveyed under the drive of vertical visual movement component 22, the detection of vertical direction is carried out to micro- part, micromodule, in conjunction with control
Molding block is measured in real time and adjusts to the part during micro assemby, it is ensured that and micro- component assembly efficiently, accurately carries out,
Improve assembling quality and efficiency.Heavily loaded portal frame 4 is located on equipment workbench 5, for realizing to the vertical vision-based detection of micro assemby
The high intensity of the Photoelectric Detection module 3 vertical with micro assemby of module 2 is stablized, is fixed, support function, and is micro assemby level visual
Detection module 1 provides the function in lower part detection space.
In conclusion the on-line detecting system provided by the utility model for being applied to the micro- part automatic assembling of complicated multi-configuration
It is with the following aspects the utility model has the advantages that
The on-line detecting system provided by the utility model for being applied to the micro- part automatic assembling of complicated multi-configuration, micro assemby water
The vertical vision-based detection module 2 of flat vision-based detection module 1, micro assemby, the vertical Photoelectric Detection module 3 of micro assemby are able to achieve space model
Enclose micro- part orientation of three interior axis free movements, energy while detection level direction and vertical direction, micro assemby vertical light electric-examination
It surveys vertical with the micro assemby vision-based detection module 2 of module 3 to be installed on vertical visual movement component 22, shares X, Y direction
Sports platform, i.e., vertical X-direction kinematic axis 22-1 and vertical Y direction kinematic axis 22-2, compact-sized, space utilization rate
Height, relative position are fixed accurate.It is vertical that the setting of heavily loaded portal frame 4 improves micro assemby level visual detection module 1, micro assemby
The stability of the vertical Photoelectric Detection module 3 of vision-based detection module 2, micro assemby, testing result are accurately reliable.It should be applied to complicated more
The micro- part automatic assembling of configuration on-line detecting system design simplify, structure optimization is compact, complete function is novel, it is stable can
Lean on, assembly precision it is excellent, real-time online detection can be carried out from multi-faceted, multi-angle, be conducive to the assembly effect for improving micro- part
Rate and assembly precision, market application prospect are wide.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, the utility model can have various changes, combination and variation.It is all the utility model spirit and
Within principle, any modification, equivalent replacement, improvement and so on be should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of on-line detecting system applied to the micro- part automatic assembling of complicated multi-configuration, which is characterized in that including micro assemby
The vertical Photoelectric Detection module (3) of level visual detection module (1), the vertical vision-based detection module of micro assemby (2), micro assemby, heavy duty
Portal frame (4) and equipment workbench (5)；The heavy duty portal frame (4) is mounted on the equipment workbench (5), micro- dress
The side of the heavily loaded portal frame (4) is mounted on the workbench (5) and is located at level visual detection module (1), it is described
The vertical vision-based detection module of micro assemby (2) and the vertical Photoelectric Detection module (3) of the micro assemby are mounted on the heavily loaded portal frame
(4) the other side；
The micro assemby level visual detection module (1) includes level visual optical module (11), level visual moving parts
(12), the level visual moving parts (12) are mounted on the equipment workbench (5), the level visual optical module
(11) it is mounted on the level visual moving parts (12), for realizing the detection of first direction；
The vertical vision-based detection module (2) of the micro assemby includes vertical visual optics component (21), vertical visual movement component
(22), the vertical visual movement component (22) is mounted on the heavily loaded portal frame (4), the vertical visual optics component
(21) it is mounted on the vertical visual movement component (22), for realizing the detection of second direction；
The vertical visual optics component (21) includes vertical direction micro-vision unit (21-1), vertical direction optics fixing seat
(21-2) and optical module main bracing frame (21-3), the optical module main bracing frame (21-3) are mounted on the vertical view
Feel on moving parts (22), the vertical direction optics fixing seat (21-2) is mounted on the optical module main bracing frame (21-
3) on, the vertical direction micro-vision unit (21-1) is mounted on the vertical direction optics fixing seat (21-2)；
The vertical visual movement component (22) is using the precision positioning motion platform with X, Y, Z-direction freedom of motion, institute
Stating vertical visual movement component (22) includes vertical X-direction kinematic axis (22-1), vertical Y direction kinematic axis (22-
2), the first vertical Z-direction kinematic axis (22-3), the second vertical Z-direction kinematic axis (22-4)；The vertical Y-axis
Direction kinematic axis (22-2) is mounted on the heavily loaded portal frame (4), and the vertical X-direction kinematic axis (22-1) is mounted on
On the vertical Y direction kinematic axis (22-2), the first vertical Z-direction kinematic axis (22-3) and it is described vertically
Second Z-direction kinematic axis (22-4) is installed on the vertical X-direction kinematic axis (22-1), the optical module master
Body support frame (21-3) is mounted on the first vertical Z-direction kinematic axis (22-3)；Realize that the vertical direction is micro-
Automatic focusing, detection, plan-position adjustment and the detection station switching of visual unit (21-1)；
The vertical Photoelectric Detection module (3) of the micro assemby includes that confocal displacement sensor (31) in vertical direction and sensor add
It holds tooling (32), the confocal displacement sensor (31) is mounted on sensor aid tooling (32), and the sensor adds
Tooling (32) is held to be mounted on the second vertical Z-direction kinematic axis (22-4).
2. the on-line detecting system according to claim 1 for being applied to the micro- part automatic assembling of complicated multi-configuration, feature
It is, the level visual optical module (11) includes that the horizontal direction installed in optics fixing seat (11-2) in the horizontal direction is shown
Micro- visual unit (11-1), the horizontal direction micro-vision unit (11-1) include horizontal zoom camera lens (11-11), level
CCD camera (11-12) and horizontal secondary light source (11-13), the horizontal zoom camera lens (11-11), the horizontal CCD camera
(11-12) and the horizontal secondary light source (11-13) are all made of the mode of ring light combination backlight；The horizontal direction optics
Fixing seat (11-2) is mounted on the level visual moving parts (12), realizes the horizontal direction micro-vision unit (11-
1) automatic focusing, detection, plan-position adjustment and detection station switching.
3. the on-line detecting system according to claim 2 for being applied to the micro- part automatic assembling of complicated multi-configuration, feature
It is, the level visual moving parts (12) are using the precision positioning motion platform with X, Y, Z-direction freedom of motion, institute
Stating level visual moving parts (12) includes horizontal X-direction kinematic axis (12-1), horizontal Y direction kinematic axis (12-
2), the motion module substrate (12-4) of horizontal Z-direction kinematic axis (12-3) and level；The motion module substrate of the level
(12-4) is mounted on the equipment workbench (5), and the X-direction kinematic axis (12-1) of the level is mounted on the level
On motion module substrate (12-4), the Y direction kinematic axis (12-2) of the level is mounted on the X-direction movement of the level
On axis (12-1), the Z-direction kinematic axis (12-3) of the level is mounted on the Y direction kinematic axis (12-2) of the level
On；The horizontal direction optics fixing seat (11-2) is mounted on the Z-direction kinematic axis (12-3) of the level.
4. the on-line detecting system according to claim 1 for being applied to the micro- part automatic assembling of complicated multi-configuration, feature
It is, the vertical direction micro-vision unit (21-1) includes vertical zoom camera lens (21-11), vertical CCD camera (21-12)
With vertical secondary light source (21-13), the vertical zoom camera lens (21-11), the vertical CCD camera (21-12) and it is described hang down
Straight secondary light source (21-13) is all made of the mode of ring light combination backlight；
The vertical direction optics fixing seat (21-2) is equipped with optical lens fixed arc groove (21-21) and fixing seat datum level
(21-22), in order to be positioned to the vertical direction micro-vision unit (21-1)；Optical module main bracing frame (the 21-
It 3) include front end fixed datum (21-31), hollow out braced frame (21-32) and rear end fixed datum (21-33)；Before described
End fixed datum (21-31) and the rear end fixed datum (21-33) are respectively arranged on the hollow out braced frame (21-32)
Both ends；The front end fixed datum (21-31) connect with the fixing seat datum level (21-22), the fixed base in the rear end
Quasi- face (21-33) connect with the first vertical Z-direction kinematic axis (22-3).
5. the on-line detecting system according to claim 1 for being applied to the micro- part automatic assembling of complicated multi-configuration, feature
It is, sensor aid tooling (32) includes sensor grip slipper (32-1), sensor aid lid (32-2), extends and fix
Riser (32-3) and sensor main body support frame (32-4)；The sensor main body support frame (32-4) is mounted on described vertical
On second Z-direction kinematic axis (22-4), the extension fixed vertical plate (32-3) and the sensor main body support frame (32-4)
Connection, the sensor grip slipper (32-1) connect with the extension fixed vertical plate (32-3), the sensor aid lid (32-
2) it is fixedly connected with the sensor grip slipper (32-1), and the confocal displacement sensor (31) is mounted on the sensor folder
It holds between seat (32-1) and sensor aid lid (32-2).
6. the on-line detecting system according to claim 5 for being applied to the micro- part automatic assembling of complicated multi-configuration, feature
It is, the confocal displacement sensor (31) of the vertical direction includes sensor main body (31-1) and sensor signal transmission tail optical fiber
(31-2), sensor signal transmission tail optical fiber (31-2) connect with the sensor main body (31-1)；
The sensor grip slipper (32-1) includes sensor fixed arc groove (32-11) and sensor fixing seat datum level (32-
12)；The sensor aid lid (32-2) includes lid end fixed arc groove (32-21) and fixes counterbore slot position (32-22)；It is described
Sensor main body (31-1) is located in the sensor fixed arc groove (32-11) and the lid end is fixed arc groove (32-21)
Between；The sensor fixing seat datum level (32-12) connect with the extension fixed vertical plate (32-3).
7. the on-line detecting system according to claim 6 for being applied to the micro- part automatic assembling of complicated multi-configuration, feature
It is, the extension fixed vertical plate (32-3) includes upper fixed datum (32-31), resigning flex area (32-32) and lower fixation
Datum level (32-33)；The resigning flex area (32-32) is located at fixed datum level (32-31) and the lower fixed base
Between quasi- face (32-33)；The lower fixed datum (32-33) connect with the sensor fixing seat datum level (32-12)；
The sensor main body support frame (32-4) includes sensor front end fixed datum (32-41), the support of sensor hollow out
Frame (32-42) and sensor rear end fixed datum (32-43)；The sensor front end fixed datum (32-41) and institute
State the both ends that sensor rear end fixed datum (32-43) is located at the sensor hollow out braced frame (32-42)；It is described
Sensor front end fixed datum (32-41) is connect with fixed datum level (32-31), the fixed base in the sensor rear end
Quasi- face (32-43) connect with the second vertical Z-direction kinematic axis (22-4).
8. the on-line detecting system according to claim 1 for being applied to the micro- part automatic assembling of complicated multi-configuration, feature
It is, the vertical Photoelectric Detection module (3) of the micro assemby includes superhigh precision photoelectric sensing unit (33) and lengthens formula sensor
It accommodates tooling (34)；The superhigh precision photoelectric sensing unit (33) includes superhigh precision sensor main body (33- interconnected
1) and superhigh precision sensor signal transmits tail optical fiber (33-2)；Lengthening formula sensor aid tooling (34) includes that lengthening formula passes
Sensor grip slipper (34-1) lengthens formula sensor aid lid (34-2), lengthens extension fixed vertical plate (34-3) and sensor main body
Support frame (32-4)；
The superhigh precision sensor main body (33-1) is located in the lengthening formula sensor grip slipper (34-1) and the lengthening
Between formula sensor aid lid (34-2), the lengthening formula sensor grip slipper (34-1) is mounted on the lengthening and extends fixed erect
On plate (34-3), the lengthening extends fixed vertical plate (34-3) and is fixed on the sensor main body support frame (32-4), described
Sensor main body support frame (32-4) is connect with the second vertical Z-direction kinematic axis (22-4).
9. the on-line detecting system according to claim 1 for being applied to the micro- part automatic assembling of complicated multi-configuration, feature
It is, the heavy duty portal frame (4) includes: gantry support facade (41), gantry support upper planar table (42), gantry support benchmark
Plane (43) and trigonometric expression gantry reinforcing rib (44)；Gantry support facade (41) connect with the equipment workbench (5), institute
It states gantry support datum plane (43) to connect with described gantry support facade (41), gantry support datum plane (43) and institute
It states and is equipped with described trigonometric expression gantry reinforcing rib (44) between gantry support facade (41).
10. the on-line detecting system according to claim 9 for being applied to the micro- part automatic assembling of complicated multi-configuration, feature
It is, gantry support facade (41) is equipped with the adjustable mounting groove (41- in position close to one end of the equipment workbench (5)
1)；Described gantry supports the both ends of upper planar table (42) to be symmetrically equipped with operation tooling mounting hole position (42-1)；Gantry branch
Support group directrix plane (43) is in flat, rectangular, is installed on the upper surface that described gantry supports upper planar table (42), gantry branch
Support group directrix plane (43) has the surface planarity and installation accuracy of superelevation, and the two of described gantry support datum plane (43)
Side is symmetrically equipped with detection module installation hole location (43-1).
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111595235A (en) * | 2020-04-10 | 2020-08-28 | 大连理工大学 | Six-degree-of-freedom visual pose relative error measuring device and measuring method |
| CN111912371A (en) * | 2020-06-15 | 2020-11-10 | 西安交通大学 | RV reducer planet carrier clamping ring groove machining precision measuring system and method |
| CN115079395A (en) * | 2022-07-06 | 2022-09-20 | 哈尔滨理工大学 | Operating device based on binocular microscopic visual servo |
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2019
- 2019-01-17 CN CN201920083400.1U patent/CN209470666U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN111595235A (en) * | 2020-04-10 | 2020-08-28 | 大连理工大学 | Six-degree-of-freedom visual pose relative error measuring device and measuring method |
| CN111595235B (en) * | 2020-04-10 | 2021-08-10 | 大连理工大学 | Six-degree-of-freedom visual pose relative error measuring device and measuring method |
| CN111912371A (en) * | 2020-06-15 | 2020-11-10 | 西安交通大学 | RV reducer planet carrier clamping ring groove machining precision measuring system and method |
| CN115079395A (en) * | 2022-07-06 | 2022-09-20 | 哈尔滨理工大学 | Operating device based on binocular microscopic visual servo |
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