CN103386679B - Multi-micro part coplane adjusting platform and method based on microscopic vision depth of field - Google Patents

Abstract

The invention discloses a multi-micro parts coplanar adjustment work platform based on single-channel microscopic vision and a corresponding method. The platform includes: a motion platform A, a motion platform B, a microscopic vision system, a holder base, a pitch platform, a holder, micro parts and a computer. The method includes the following steps: firstly adjust the microscopic vision system to the maximum field of view, and adjust each tiny part to move into the field of view, so that each part can be clearly imaged on the image; then process the image to obtain the position of each part in the image , calculate the amount of movement required to move each part to the gripper at the center of the field of view; finally move a tiny part to the center of the field of view, adjust the vision system to the minimum field of view to precisely focus on the part; then move each part to the field of view in turn Center, so that each tiny part can get a clear image under the vision system. The invention achieves the coplanar adjustment precision of micron level, is simple and easy to implement, and has high execution efficiency.

Description

A coplanar adjustment platform and method for multi-miniature parts based on microscopic vision depth of field

technical field

The invention belongs to microscopic vision measurement and control in the field of micro-assembly technology, in particular to a coplanar adjustment platform and method for multi-miniature parts based on microscopic vision depth of field.

Background technique

With the rapid development of micro-electro-mechanical systems, the assembly process tends to become more complicated, often involving the coplanar adjustment of multiple tiny parts in a certain two-dimensional plane. The advanced coplanar adjustment technology of multiple micro-parts is of great significance for shortening the production cycle of micro-miniature products and reducing costs. At the same time, microscopic vision is widely used in micro-assembly. Based on the particularity of the fiber vision system, this invention utilizes the characteristics of the small depth of field of the microscopic vision system, and proposes a brand-new multi-part coplanar adjustment platform and method, which realizes micron-level coplanar adjustment accuracy and can meet the needs of micro-assembly system requirements.

Contents of the invention

In order to solve the problem of coplanar adjustment of multiple tiny parts in the micro-assembly process, the purpose of the present invention is to provide a platform and method that can meet the requirements of fast coplanar adjustment of tiny parts in a two-dimensional plane. The present invention utilizes the characteristics of small depth of field in microscopic vision, that is, a large field of view with a small magnification corresponds to a large depth of field, and a small field of view with a large magnification corresponds to a small depth of field, but all parts cannot be seen under a small field of view, so the adjustment method of the present invention is divided into There are two steps of coarse tuning and fine tuning.

In order to achieve the above object, according to one aspect of the present invention, a coplanar adjustment work platform for multi-miniature parts based on microscopic vision depth of field is provided, the platform includes: motion platform A, motion platform B, microscopic vision system, gripper A base, a tilting platform, a gripper, a micropart secured to the clamping end of the gripper, and a computer, wherein:

The motion platform A has one translational degree of freedom in the vertical direction and is fixed on the vibration isolation platform;

The microscopic vision system includes a CCD camera and a microscope lens, and the CCD camera is fixed on the moving platform A; the microscope lens is installed on the CCD camera;

The motion platform B has 3 translational degrees of freedom and is fixed on the vibration isolation platform; the holder base is installed on the motion platform B and is located directly below the microscope lens; the pitch platform is fixed on the holder base; the holder is fixed on the pitch platform; the micro parts are fixed on the clamping end of the holder;

The computer is connected with the CCD camera for reading images from the CCD camera;

When the platform is working, focus on the reference micro-parts by moving the motion platform A, move each micro-part under the microscope lens in turn by moving the motion platform B, and focus on the micro-parts moving under the microscope lens by adjusting the pitch platform.

According to another aspect of the present invention, there is also provided a method for coplanar adjustment of multi-tiny parts based on the platform and based on the depth of field of microscopic vision, the method includes the following steps:

Step S1: Install each tiny part on the clamping end of the corresponding holder, and move the motion platform B so that all the tiny parts are within the field of view of the microscopic vision system;

Step S2: Adjust the degree of freedom of the pitch angle of the clamping end where each tiny part is located, so that each tiny part is in a plane;

Step S3: adjusting the microscopic vision system to the maximum field of view, focusing on the tiny parts, and obtaining a clear image of the tiny parts;

Step S4: Adjust the degree of freedom of the pitch angle of the clamping end of the holder where the tiny parts that have not obtained a clear image are adjusted, so that all the tiny parts are clearly imaged, and all the tiny parts can be seen in a large field of view.

In the coarse adjustment stage, the present invention rationally uses a large field of view to obtain the position of each tiny part, and realizes preliminary leveling; The degree of freedom of the pitch angle of the clamping end of the holder corresponding to each tiny part is adjusted to realize precise focusing on each tiny part. Through the above steps, the coplanar adjustment of many tiny parts can be realized quickly and automatically, and high adjustment accuracy can be achieved, thereby improving the operation efficiency.

The beneficial effects of the present invention are: 1) realize the automatic coplanar adjustment of multi-miniature parts on a two-dimensional plane; Level coplanar adjustment accuracy; 3) The method is simple and easy to implement, and the execution efficiency is high.

Description of drawings

Fig. 1 is a schematic diagram of the structure of the multi-miniature parts coplanar adjustment work platform based on the microscopic vision depth of field of the present invention.

FIG. 2 is a flow chart of the method for coplanar adjustment of multiple tiny parts based on microscopic vision depth of field in the present invention.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

Please refer to the schematic diagram of the structure of the multi-miniature parts coplanar adjustment working platform based on the microscopic vision depth of field of the present invention shown in Fig. 1. As shown in Fig. 1, the working platform includes: a motion platform A, a motion platform B, and a microscopic vision system , a gripper base, a tilting platform, a gripper, micro parts fixed on the clamping end of the gripper, and a computer, wherein:

The motion platform A has one translational degree of freedom in the vertical direction and is fixed on the vibration isolation platform;

The microscopic vision system includes a CCD camera and a microscope lens, and the CCD camera is fixed on the moving platform A; the microscope lens is installed on the CCD camera;

The motion platform B has 3 translational degrees of freedom and is fixed on the vibration isolation platform; the holder base is installed on the motion platform B and is located directly below the microscope lens; the pitch platform is fixed On the holder base; the holder is fixed on the pitching platform; the micro parts are fixed on the clamping end of the holder; wherein, the pitching platform and the holder The number of depends on the number of microparts requiring coplanar adjustment;

The computer is connected with the CCD camera for reading images from the CCD camera.

Based on the above platform, the distance between the micro parts and the microscope lens can be adjusted by moving the moving platform A, moving platform B and tilting platform until a clearly focused image is obtained in the CCD camera.

When the platform is working, focus on the reference micro-parts by moving the motion platform A, move each micro-part under the microscope lens in turn by moving the motion platform B, and focus on the micro-parts moving under the microscope lens by adjusting the pitch platform.

Please refer to the flow chart of the present invention shown in FIG. 2 based on the microscopic vision depth of field based on the microscopic vision depth of field of the present invention. As shown in FIG. 2, the method includes the following steps:

Step S1: Install each tiny part on the clamping end of the corresponding holder, and move the motion platform B so that all the tiny parts are within the field of view of the microscopic vision system;

Step S2: Adjust the degree of freedom of the pitch angle of the clamping end where each tiny part is located, so that each tiny part is in a plane;

Step S3: adjusting the microscopic vision system to the maximum field of view, focusing on the tiny parts, and obtaining a clear image of the tiny parts;

Step S4: Adjust the degree of freedom of the pitch angle of the clamping end of the holder where the tiny parts that have not obtained a clear image are adjusted, so that all the tiny parts are clearly imaged, and all the tiny parts can be seen in a large field of view;

Step S5: Obtain the position of each tiny part in the image through the clearly imaged image of the tiny part, and calculate the movement amount of the motion platform B required to move each tiny part to the center of the field of view of the microscopic vision system;

Step S6: Adjust the microscopic vision system to the maximum magnification, and appropriately increase the exposure time as exposure compensation;

Step S7: Make the microscopic vision system focus on a certain tiny part by moving the motion platform A to obtain a clear image;

Step S8: The microscopic vision system remains fixed, and each tiny part is moved to the center of the field of view of the microscopic vision system in turn, and each tiny part is clearly focused by adjusting the degree of freedom of the pitch angle of the clamping end where each tiny part is located , that is to say, only this part can be seen under the maximum magnification at this time, and the rest of the parts are out of view;

In practice, steps S1 to S4 are rough adjustment processes. Through steps S1 to S4, the coplanar accuracy of each tiny part can be limited within the maximum depth of field of the microscopic vision system. If the assembly requirements are met at this time, then fine The adjustment step can be omitted; step S5 to step S8 is a fine adjustment process, because the microscopic vision system cannot see all the tiny parts in a small field of view, so it is necessary to extract the position of each tiny part in the image, so that each tiny part can be sequentially The part moves to the center of the field of view, and through the fine adjustment process, the accuracy of the coplanar adjustment can be limited to the minimum depth of field of the vision system.

It can be seen that the present invention can quickly and effectively realize the coplanar adjustment of multiple tiny parts under the guidance of microscopic vision.

The specific embodiments described above have further described the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (5)

1. the coplanar adjustment workbench of the many micro parts based on the micro-vision depth of field, it is characterized in that, this workbench comprises: motion platform A, motion platform B, micro-vision system, holder seat, pitching platform, clamper, the micro-part being fixed on gripper end and computer, wherein:

Described motion platform A has 1 translation freedoms of vertical direction, is fixed on vibration-isolating platform;

Described micro-vision system comprises ccd video camera and microlens, and described ccd video camera is fixed on described motion platform A; Described microlens is arranged on described ccd video camera;

Described motion platform B has 3 translation freedoms, is fixed on vibration-isolating platform; Described holder seat is arranged on described motion platform B, and is positioned at immediately below described microlens; Described pitching platform is fixed on described holder seat; Described clamper is fixed on described pitching platform; Described micro-part is fixed on the bare terminal end of described clamper;

Described computer is connected with described ccd video camera, for reading images from described ccd video camera;

During described workbench work, by moving movement platform A, the micro-part of benchmark is focused on, under each micro-part being moved to microlens successively by moving movement platform B, by adjustment pitching platform, the micro-part moved under microlens is focused on.

2. workbench according to claim 1, is characterized in that, the number of described pitching platform and clamper depends on the number of micro-part of the coplanar adjustment of needs.

3. based on the micro-vision depth of field, many micro parts are carried out to a method for coplanar adjustment, the method adopts workbench according to claim 1, it is characterized in that, the method comprises the following steps:

Step S1: be installed to by each micro parts on the bare terminal end of respective clamp device, moving movement platform B, make all micro parts all be positioned at micro-vision system within sweep of the eye;

Step S2: the angle of pitch free degree adjusting each micro parts place bare terminal end, makes each micro parts be in a plane;

Step S3: micro-vision system is adjusted to absolute visual field, focuses on described micro parts, obtains the picture rich in detail of described micro parts;

Step S4: the angle of pitch free degree adjusting the bare terminal end of the micro parts place clamper do not got a distinct image, makes the equal blur-free imaging of all micro parts, can see all micro parts under absolute visual field.

4. method according to claim 3, is characterized in that, if also do not meet matching requirements for the adjustment of described micro parts, then described method is further comprising the steps of:

Step S5: by each micro parts of micro parts Image Acquisition position in the picture of blur-free imaging, and calculate the amount of exercise of the motion platform B required for the central region each micro parts being moved to micro-vision system;

Step S6: micro-vision system is adjusted to maximum amplification times yield;

Step S7: by moving movement platform A, described micro-vision system is focused to some micro parts, get a distinct image;

Step S8: described micro-vision system keeps maintaining static, and successively each micro parts is moved to the central region of micro-vision system, by adjusting the angle of pitch free degree of each micro parts place bare terminal end, makes the clear focusing respectively of each micro parts.

5. method according to claim 4, is characterized in that, described step S6 also comprises increases the step of time for exposure as exposure compensating.