CN109595239B - Multi-sensor integrated complex multi-configuration micro-part automatic micro-assembly equipment - Google Patents
Multi-sensor integrated complex multi-configuration micro-part automatic micro-assembly equipment Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
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Abstract
The invention provides multi-sensor-fused complex multi-configuration micro-part automatic micro-assembly equipment, which relates to the technical field of automatic micro-assembly equipment. The micro-assembly online detection system is used for carrying out real-time online detection on the cross-scale complex multi-configuration micro parts. The micro-assembly conveying main shaft and the supporting plate quick-change system are used for realizing the pre-storage, the position positioning, the station transferring, the assembly standard providing and the solidification storage after the assembly is completed. The micro-assembly manipulator and the hand-changing system are used for achieving pick-up, pose adjustment, gluing operation, part assembly and the like of micro parts. The multi-sensor integrated complex multi-configuration automatic micro-assembly equipment has the advantages of simple design, compact structure optimization, complete functions and excellent assembly precision, and can realize automatic high-standard consistent micro-assembly.
Description
Technical Field
The invention relates to the technical field of automatic micro-assembly equipment, in particular to multi-sensor-fused complex multi-configuration micro-part automatic micro-assembly equipment.
Background
Micro-operation and micro-assembly technology is one of the key technologies in the advanced manufacturing field, and has been widely applied to the fields of micro-electromechanical systems, nano-manufacturing, precision optoelectronic engineering, bioengineering, medicine and the like. The assembly of micro devices is an important link in precision manufacturing, and the quality of micro assembly operation has an important influence on the performance of products.
In the technical field of micro assembly, particularly for micro part assembly with cross-scale complex multi-configuration characteristics, the assembly problem of micro parts among different sizes, configurations and scales is considered, and even the assembly problem among millimeter-scale, micron-scale and submicron-scale multi-scale parts exists. Because the micro-assembly operation object is tiny and has high precision requirement, the precision and consistency are difficult to ensure in view of low manual precision assembly operation efficiency, and the manual operation cannot meet the requirement.
In view of the above, the invention provides a multi-sensor fused complex multi-configuration micro-part automatic micro-assembly device to solve the technical problem of micro-assembly of cross-scale multi-configuration micro-parts.
Disclosure of Invention
The invention aims to provide multi-sensor-fused complex multi-configuration micro-part automatic micro-assembly equipment so as to solve the technical problem of micro-assembly of cross-scale complex multi-configuration micro-parts and realize micro-assembly of complex multi-configuration micro-part assemblies with high automation, excellent assembly precision and high standard consistency.
The invention improves the technical problems by adopting the following technical proposal.
The invention provides multi-sensor-fused complex multi-configuration automatic micro-assembly equipment which comprises an equipment workbench, a micro-assembly on-line detection system, a micro-assembly conveying main shaft and supporting plate quick-change system, a micro-assembly manipulator and hand-change system and an electrical control and visual monitoring system, wherein the micro-assembly on-line detection system, the micro-assembly conveying main shaft and supporting plate quick-change system, the micro-assembly manipulator and hand-change system are arranged on the equipment workbench.
The micro-assembly online detection system comprises a visual detection module, a force sense detection module and a photoelectric detection module; the micro-assembly online detection system is used for carrying out real-time online detection on micro parts with complex cross-scale and multi-configuration.
The micro-assembly conveying main shaft and supporting plate quick-change system comprises a conveying main shaft module, a supporting plate quick-change module and a hand-change bracket module. The conveying main shaft module is arranged on the equipment workbench, and the supporting plate quick-change module and the hand-change bracket module are both arranged on the conveying main shaft module. The micro-assembly conveying main shaft and the supporting plate quick-change system are used for realizing pre-storage, position positioning, station transferring, assembly standard providing and solidification storage after assembly of the trans-scale complex multi-configuration micro parts.
The micro-assembly manipulator and the hand-changing system comprise a multi-arm motion module, an assembly manipulator, a quick-change module and a press-mounting manipulator module. The assembling manipulator, the quick-change module and the press-fit manipulator module are respectively arranged on the multi-arm motion module; the micro-assembly manipulator and the hand-changing system are used for achieving the picking, pose adjustment, gluing operation, accurate positioning of assembly positions, part assembly, quick manipulator replacement, press-fitting picking and press-fitting accurate placement of the trans-scale complex multi-configuration micro parts.
The electric control and visual monitoring system comprises an industrial personal computer control system, a subsystem driver module and an upper computer software operating system. The electric control and visual monitoring system is used for realizing automatic control and monitoring of the sensor, the mechanical motion shaft, the corresponding controller, the driver and the power supply.
Further, the micro-assembly on-line detection system further comprises a heavy-duty portal frame, wherein the heavy-duty portal frame is arranged on the equipment workbench, and the visual detection module comprises a horizontal visual detection module and a vertical visual detection module; the horizontal visual detection module is arranged on the lower side of the heavy-duty portal frame, and the vertical visual detection module is arranged on the upper side of the heavy-duty portal frame.
The horizontal vision detection module comprises a path of horizontal microscopic vision system, and the horizontal microscopic vision system is arranged on the first positioning motion platform; the microscopic vision system in the horizontal direction comprises a horizontal zoom lens, a horizontal CCD camera and a horizontal auxiliary light source. The first positioning motion platform has X, Y, Z degrees of freedom of triaxial movement and is used for realizing automatic focusing, plane position adjustment and station switching of the horizontal vision detection module.
The vertical vision detection module comprises a path of vertical microscopic vision system which is arranged on the second positioning motion platform; the microscopic vision system in the vertical direction comprises a vertical zoom lens, a vertical CCD camera and a vertical auxiliary light source. The second positioning motion platform has X, Y, Z degrees of freedom of triaxial movement and is used for realizing automatic focusing, plane position adjustment and station switching of the vertical vision detection module.
Further, the force sense detection module comprises a micro force sense displacement sensor in the Z-axis direction; the force sense detection module is arranged at the execution end of the assembly manipulator and the quick-change module, and the in-place information in the assembly process of the micro-assembly part is judged in real time through a Z-axis direction feedback force signal.
Further, the photoelectric detection module comprises a confocal displacement sensor in a vertical direction; the second positioning platform comprises a first Z-axis direction moving shaft and a second Z-axis direction moving shaft which are arranged in parallel, the vertical vision detection module is mounted on the first Z-axis direction moving shaft, and the photoelectric detection module is fixedly mounted on the second Z-axis direction moving shaft through a fixing plate. The photoelectric detection module and the vertical visual detection module share the same X-axis direction movement axis and the same Y-axis direction movement axis.
Further, the conveying main shaft module comprises a linear precise conveying moving table in the Y-axis direction and a precise rotating table in the theta-z-axis direction, the linear precise conveying moving table in the Y-axis direction is arranged on the equipment workbench, the precise rotating table in the theta-z-axis direction is arranged on the linear precise conveying moving table in the Y-axis direction, and the supporting plate quick-change module and the hand-change support module are arranged on the precise rotating table in the theta-z-axis direction. The conveying main shaft module is used for realizing the transportation and conveying of cross-scale complex multi-configuration tiny parts and the fine adjustment of positions and postures.
Further, the supporting plate quick-change module comprises a supporting plate main body, a pressure tool assembly, a rubber box module, a part positioning tool, a quick-change module and a quick-change air transfer plate.
The supporting plate main body comprises a plurality of pre-storing positions, a press-fit storing position, a press-fit base pre-storing position, a glue box storing position, a part vacuum negative pressure fixing hole position and a positioning pin for various trans-scale complex multi-configuration tiny parts.
The part positioning tool is matched with part positioning pins on the supporting plate main body for use, so that position and posture of various cross-scale complex multi-configuration tiny parts are determined, and consistency of each part placement is ensured.
The pressure tool assembly is arranged at the press-fit storage position and used for realizing the press-fit fixing function of various cross-scale complex multi-configuration tiny parts and ensuring the precision stability of the micro parts after the micro parts are assembled.
The glue box module is arranged at the glue box storage position and is used for realizing the gluing and gluing functions of various cross-scale complex multi-configuration tiny parts.
The quick-change module comprises a support plate locating pin on the support plate main body and a support plate quick-change main disc on the quick-change air transmission plate; the quick-change air delivery plate is combined with the quick-change module to realize the functions of quick installation and fixation of the supporting plate main body and air delivery and air supply.
Further, the hand-changing support module is provided with a plurality of hand-changing stations, and the hand-changing stations are used for placing and fixing various micro-assembly manipulators; the hand-changing support module has special auxiliary positioning grooves and vacuum adsorption fixing functions so as to realize that different micro-assembly manipulators are smoothly and indiscriminately placed in the hand-changing station.
Further, the multi-arm motion module comprises a linear precise arm motion platform in the Y-axis direction, a linear precise arm motion platform in the X-axis direction, a first linear precise arm motion platform in the Z-axis direction and a second linear precise arm motion platform in the Z-axis direction.
The linear precise arm motion platform in the Y-axis direction is installed on the equipment workbench, the linear precise arm motion platform in the X-axis direction is installed on the linear precise arm motion platform in the Y-axis direction, and the first Z-axis direction linear precise arm motion platform and the second Z-axis direction linear precise arm motion platform are both installed on the linear precise arm motion platform in the X-axis direction. The multi-arm motion module is used for realizing motion control and positioning of the operation manipulator.
Further, the assembly manipulator and the quick-change module are installed on the first Z-axis direction straight line precision arm motion platform, and the assembly manipulator and the quick-change module comprise a first assembly manipulator, a second assembly manipulator, a third assembly manipulator, a fourth assembly manipulator, a manipulator quick-change main module, a quick-change force sense conversion block and an assembly arm.
One end of the assembly arm is fixedly arranged on the first Z-axis direction straight line precision arm motion table, the other end of the assembly arm is connected with the force sense detection module, the force sense detection module is connected with the quick-change force sense switching block, the quick-change force sense switching block is connected with the manipulator quick-change main module, and the manipulator quick-change main module is selectively connected with the first assembly manipulator, the second assembly manipulator, the third assembly manipulator and the fourth assembly manipulator.
Further, the press mounting manipulator module is mounted on the second Z-axis direction linear precise arm motion table and used for achieving pick-up and assembly operations of the pressure tool assembly.
The press-mounting manipulator module comprises a press-mounting manipulator body and a press-mounting arm, wherein the press-mounting arm is arranged on a second Z-axis direction straight line precise arm movement table, the press-mounting manipulator body is connected with the press-mounting arm, and the press-mounting manipulator body is used for clamping the pressure tool assembly.
The multi-sensor fused complex multi-configuration micro part automatic micro assembly equipment provided by the invention has the following beneficial effects:
The invention provides multi-sensor-fused complex multi-configuration automatic micro-assembly equipment which comprises an equipment workbench, a micro-assembly online detection system, a micro-assembly conveying main shaft and supporting plate quick-change system, a micro-assembly manipulator and hand-change system and an electrical control and visual monitoring system. The micro-assembly online detection system is used for carrying out real-time online detection on the cross-scale complex multi-configuration micro parts. The micro-assembly conveying main shaft and supporting plate quick-change system is used for realizing pre-storage, position positioning, station transfer, assembly standard providing and solidification storage after assembly of cross-scale complex multi-configuration micro parts. The micro-assembly manipulator and the hand-changing system are used for achieving the picking, pose adjustment, gluing operation, accurate positioning of assembly positions, part assembly, quick manipulator replacement, press-fitting picking and press-fitting accurate placement of cross-scale complex multi-configuration micro parts. The electric control and visual monitoring system is used for realizing automatic control and monitoring of the sensor, the mechanical motion shaft, the corresponding controller, the driver and the power supply. The multi-sensor integrated complex multi-configuration micro part automatic micro assembly equipment has the advantages of simple design, compact structure optimization, complete and novel functions, stable and reliable operation and excellent assembly precision, and can realize the micro assembly of automatic and high-standard-consistency cross-scale complex multi-configuration micro parts.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic structural diagram of a multi-sensor fused complex multi-configuration micro-part automatic micro-assembly device according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a micro-assembly on-line detection system of a multi-sensor fused complex multi-configuration micro-part automatic micro-assembly device according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a micro-assembly conveying spindle and pallet quick-change system of a multi-sensor fused complex multi-configuration micro-part automatic micro-assembly device according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a pallet quick-change module and a hand-change bracket module of a multi-sensor fused complex multi-configuration micro-part automatic micro-assembly device according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an exploded view of a pallet quick-change module of a multi-sensor fused complex multi-configuration micro-part automatic micro-assembly device according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a micro-assembly manipulator and a hand-change system of a multi-sensor fused complex multi-configuration micro-part automatic micro-assembly device according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of an assembly manipulator of a multi-sensor-fused complex multi-configuration micro-part automatic micro-assembly device and each assembly manipulator in a quick-change module according to an embodiment of the present invention;
Fig. 8 is a schematic structural diagram of a press-mounting manipulator module of a multi-sensor fusion complex multi-configuration micro-part automatic micro-assembly device according to an embodiment of the present invention.
Icon: 1 a micro-assembly on-line detection system; 2 micro-assembling a conveying main shaft and a supporting plate quick-change system; 3 micro-assembly manipulator and hand-changing system; 4, an electrical control and visual monitoring system; 5, a device workbench; 11 a visual detection module; a force sense detection module; 13 a photoelectric detection module; 14 heavy-load portal frames; 11-1 a horizontal visual detection module; 11-2 vertical visual detection module; 11-11 microscopic vision system in horizontal direction; 11-12 horizontal zoom lenses; 11-13 horizontal CCD cameras; 11-14 horizontal auxiliary light sources; an axis of motion in the X-axis direction at 11-15 levels; 11-16 horizontal Y-axis direction motion axes; 11-17 horizontal Z axis direction movement axis; 11-21 microscopy vision system in vertical direction; 11-22 vertical zoom lenses; 11-23 vertical CCD cameras; 11-24 vertical auxiliary light sources; an X axis direction movement axis which is 11-25 vertical; 11-26, a Y-axis direction motion axis perpendicular to the axis; 11-27, a first Z axis direction movement axis perpendicular to the first Z axis direction; 11-28 a second Z axis direction motion axis perpendicular to the first Z axis direction motion axis; 32, assembling a manipulator and a quick-change module; 13-1 confocal displacement sensor; 13-2 fixing plates; 21 a conveying spindle module; 22 a pallet quick-change module; 23 a handoff stand module; a linear large-range precise conveying motion table in the direction of a 21-1Y axis; a precise rotary table in the 21-2 theta z axis direction; 22-1 pallet body; 22-2 pressure tool assembly; 22-3 glue box modules; 22-4 parts positioning fixture; 22-5 quick-change modules; 22-6 quick-change air transfer plates; 22-11 pre-storing positions; 22-12 press-fitting storage positions; 22-13 press mounting the pre-storing position of the base; 22-14 glue boxes; vacuum negative pressure fixing hole site of 22-15 parts; 22-16 positioning pins; 22-21, press fitting a center shaft; 22-22 press fitting the sleeve; 22-31 pure liquid glue storage areas; 22-32 cylindrical hollow nano-sponge sol areas; 22-33 square nano sponge sol areas; 22-51 pallet locating pins; 22-52 supporting plates are used for quickly replacing a main disc; 23-1 auxiliary positioning grooves; 23-2 hand-off stations; 31 multi-arm motion modules; 32, assembling a manipulator and a quick-change module; 33, press-fitting the manipulator module; 31-1Y axis direction linear range precision arm motion table; 31-2X axis direction linear range precision arm motion table; 31-3 a first Z-axis direction straight line precision arm motion stage; 31-4 a second Z-axis direction straight line precision arm motion stage; 32-1 a first assembly robot; 32-2 a second assembly robot; 32-3 a third assembly robot; 32-4 fourth assembly robot; 32-5 the manipulator quick-changes the main module; 32-6 quick change force sense switching blocks; 32-7 arm assembly; 32-11 hole-shaped hollow vacuum adsorption heads; 32-12 a first fitting hand body; 32-13 a first quick change module; 32-21 pore-shaped heterogeneous reticular vacuum adsorption heads; 32-22 a second fitting hand body; 32-23 second quick-change modules; 32-31 micropore vacuum adsorption heads; 32-32 a third fitting hand body; 32-33 third quick-change modules; 32-41 strip-shaped long vacuum cavity adsorption heads; 32-42 a fourth fitting hand body; 32-43 fourth quick-change module; 33-1 press mounting the manipulator body; 33-2 press fitting arms; 33-11 two-finger paw; 33-12 electric holding hands; 33-4, three-finger press fitting of a gripper body; 33-41 three-finger paw; 33-42 three-finger electric hand-holding device; 33-43, press-fitting arms.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the azimuth or positional relationship indicated by the terms "upper", "lower", etc. are based on the azimuth or positional relationship shown in the drawings, or the azimuth or positional relationship conventionally put in use of the product of the present invention, or the azimuth or positional relationship conventionally understood by those skilled in the art, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present invention.
The terms "first", "second", and the like, are used merely for distinguishing the description and have no special meaning.
In the description of the present invention, it should also be noted that, unless explicitly stated and limited otherwise, the terms "disposed" and "mounted" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Fig. 1 is a schematic structural view of a view angle of a multi-sensor-fused complex multi-configuration micro-component automatic micro-assembly device according to an embodiment of the present invention, please refer to fig. 1.
The multi-sensor-fused cross-scale multi-configuration automatic micro-assembly device for micro parts in the embodiment, as shown in fig. 1, comprises a micro-assembly online detection system 1, a micro-assembly conveying main shaft and supporting plate quick-change system 2, a micro-assembly manipulator and hand-change system 3, an electrical control and visual monitoring system 4 and a device workbench 5.
The micro-assembly on-line detection system 1 is positioned on the equipment workbench 5 and is used for carrying out real-time on-line detection on micro parts with complex cross-scale and multi-configuration. As shown in fig. 2 and 6, the micro-assembly in-line detection system 1 includes: the device comprises a visual detection module 11, a force sense detection module 12, a photoelectric detection module 13 and a heavy-duty portal frame 14.
As shown in fig. 2, the vision inspection module 11 includes a horizontal vision inspection module 11-1 and a vertical vision inspection module 11-2. The heavy-duty portal frame 14 is installed on the equipment workbench 5, the horizontal visual detection module 11-1 is arranged on the lower side of the heavy-duty portal frame 14, and the vertical visual detection module 1-2 is arranged on the upper side of the heavy-duty portal frame 14.
The horizontal vision detection module 11-1 comprises a path of horizontal microscopic vision system 11-11, and the horizontal microscopic vision system 11-11 is arranged on the first positioning motion platform. The horizontal microscopic vision system 11-11 comprises a horizontal zoom lens 11-12, a horizontal CCD camera 11-13 and a horizontal auxiliary light source 11-14, and the horizontal microscopic vision system 11-11 adopts a mode of combining annular light with a backlight source. Specifically, the first positioning moving platform comprises a horizontal X-axis direction moving axis 11-15, a horizontal Y-axis direction moving axis 11-16 and a horizontal Z-axis direction moving axis 11-17. The horizontal X-axis direction moving shaft 11-15 is arranged on the equipment workbench 5, the horizontal Y-axis direction moving shaft 11-16 is arranged on the horizontal X-axis direction moving shaft 11-15, the horizontal Z-axis direction moving shaft 11-17 is arranged on the horizontal Y-axis direction moving shaft 11-16, and under the control of the precise positioning movement of the first positioning movement platform, the horizontal zoom lens 11-12, the horizontal CCD camera 11-13 and the horizontal auxiliary light source 11-14 have the freedom degree of X, Y, Z three-axis direction movement, and are used for realizing automatic focusing, plane position adjustment and station switching of the horizontal visual detection module.
The vertical vision detection module 11-2 is integrally mounted on the heavy-duty portal frame 14 and comprises a path of microscopic vision system 11-21 in the vertical direction, and the microscopic vision system 11-21 in the vertical direction is mounted on the second positioning motion platform. The vertical microscopic vision system 11-21 comprises a vertical zoom lens 11-22, a vertical CCD camera 11-23 and a vertical auxiliary light source 11-24, and the vertical microscopic vision system adopts a mode of combining annular light with a backlight source. Specifically, the second positioning moving platform comprises a vertical X-axis direction moving axis 11-25, a vertical Y-axis direction moving axis 11-26, a vertical first Z-axis direction moving axis 11-27, and a vertical second Z-axis direction moving axis 11-28. The vertical Y-axis direction moving axis 11-26 is mounted on the heavy-duty portal frame 14, the vertical X-axis direction moving axis 11-25 is mounted on the vertical Y-axis direction moving axis 11-26, and the vertical first Z-axis direction moving axis 11-27 and the vertical second Z-axis direction moving axis 11-28 are mounted on the vertical X-axis direction moving axis 11-25. The vertical microscopic vision system is fixedly arranged on a vertical first Z-axis direction movement axis 11-27, and under the control of the precise positioning movement of the second positioning movement platform, the vertical zoom lens 11-22, the vertical CCD camera 11-23 and the vertical auxiliary light source 11-24 have the freedom degree of X, Y, Z three-axis direction movement, so that the automatic focusing, the plane position adjustment and the station switching of the vertical vision detection module 11-2 are realized.
The force sense detection module 12 includes a micro force sense displacement sensor in the Z-axis direction. The force sense detection module 12 is installed at the execution end of the assembly manipulator and the quick-change module 32, and determines in-place information in the assembly process of the micro-assembly part in real time through a Z-axis direction feedback force signal, so that on-line monitoring is realized and corresponding control is performed.
The photodetection module 13 includes a vertically oriented confocal displacement sensor 13-1. The photoelectric detection module 13 is fixedly arranged on the vertical second Z-axis direction moving shaft 11-28 and is vertically fixed by the extension fixing plate 13-2, so that the photoelectric detection module 13 and the vertical visual detection module 11-12 share the same vertical X-axis direction moving shaft 11-25 and the same vertical Y-axis direction moving shaft 11-26, and the arrangement can ensure the determination of the relation between the photoelectric detection module 13 and the vertical visual detection module 11-12, and simultaneously save space and efficiently utilize each moving shaft. The photoelectric detection module 13 emits a beam of complex-color measuring light with a wide spectrum to be white through the light source output head, the light irradiates the surface of an object to be reflected back and is sensed by the spectrometer, so that the distance value of a measured part is calculated, the ultra-fine pose on-line detection of the micro part is realized, and the correctness of the assembly pose of the part is ensured.
As shown in fig. 3, the micro-assembly conveying main shaft and the pallet quick-change system 2 are used for realizing the functions of pre-storage, position positioning, station transferring, assembly reference providing, solidification storage after assembly and the like of cross-scale complex multi-configuration micro parts. The micro-assembly conveying spindle and pallet quick-change system 2 comprises a conveying spindle module 21, a pallet quick-change module 22 and a hand-change bracket module 23. The transport spindle module 21 is mounted on the equipment table 5.
The conveying main shaft module 21 comprises a linear large-range precise conveying moving table 21-1 in the Y-axis direction and a precise rotating table 21-2 in the theta-z-axis direction, and is used for realizing large-range high-precision conveying and conveying of cross-scale complex multi-configuration tiny parts and fine adjustment of positions and postures. The linear large-scale precise conveying moving table 21-1 in the Y-axis direction is mounted on the equipment workbench 5, the precise rotating table 21-2 in the theta-z-axis direction is mounted on the linear large-scale precise conveying moving table 21-1 in the Y-axis direction, and the supporting plate quick-change module 22 and the hand-change bracket module 23 are respectively mounted on the precise rotating table 21-2 in the theta-z-axis direction.
As shown in fig. 3 to 5, the pallet quick-change module 22 includes a pallet body 22-1, a pressure tool assembly 22-2, a glue box module 22-3, a part positioning tool 22-4, a quick-change module 22-5, a quick-change air transfer plate 22-6, and the like. The supporting plate main body 22-1 comprises a plurality of pre-storing positions 22-11, a press-fit storing position 22-12, a press-fit base pre-storing position 22-13, a glue box storing position 22-14, a part vacuum negative pressure fixing hole position 22-15 and a positioning pin 22-16 of various cross-scale complex multi-configuration tiny parts.
Specifically, the part positioning tool 22-4 is used in cooperation with the part positioning pins 22-16 on the supporting plate main body 22-1 to realize the position and posture determination of various micro parts, so that the consistency of each part placement is ensured. The pressure tool assembly 22-2 can be freely and quickly arranged on the supporting plate main body 22-1 through the press-fitting storage position 22-12, so that the purpose of quick taking and placing is realized. The pressure tool assembly 22-2 comprises a press-fit center shaft 22-21 and a press-fit sleeve 22-22, and is used for realizing the press-fit fixing function of the micro parts and ensuring the precision stability of the micro parts after the micro parts are assembled. The glue box module 22-3 can be freely and quickly arranged on the supporting plate main body 22-1 through the glue box storage position 22-14, so that the purpose of quick change is realized.
The glue box module 22-3 comprises a pure liquid glue storage area 22-31, a cylindrical hollow nano-sponge sol area 22-32 and a square nano-sponge sol area 22-33, and is used for realizing the glue spreading and gluing functions of micro parts. The quick-change module 22-5 comprises four pallet locating pins 22-51 on the pallet body 22-1 and four pallet quick-change main disks 22-52 on the quick-change air transfer plate 22-6. The quick-change air transfer plate 22-6 is used for realizing the quick installation and fixation of the support plate main body 22-1 and the functions of air transfer and air supply by combining the quick-change module 22-5.
As shown in fig. 4, the handoff support module 23 is provided with a plurality of handoff stations for placing and securing a variety of micro-assembly robots. The hand-changing support module 23 has special auxiliary positioning grooves 23-1 and vacuum adsorption fixing functions, so that different assembly hands can be smoothly and indiscriminately placed in the hand-changing station 23-2, the hand-changing station 23-2 is provided with four positions, a plurality of different types of manipulators can be stored in advance, and the quick hand-changing function can be respectively realized. Of course, the number of the hand-off stations 23-2 is not limited thereto, and may be three, five or other values, and is not particularly limited herein.
As shown in fig. 6, the micro-assembly manipulator and the hand-changing system 3 are located on the equipment workbench 5, and are used for achieving the picking, pose adjustment, gluing operation, accurate positioning of assembly positions, part assembly, quick replacement of the manipulator, press-fitting picking, press-fitting accurate placement and the like of cross-scale complex multi-configuration micro parts. The micro-assembly manipulator and hand-changing system 3 comprises a multi-arm motion module 31, an assembly manipulator and quick-change module 32 and a press-mounting manipulator module 33.
The multi-arm motion module 31 comprises a linear large-range precise arm motion platform 31-1 in the Y-axis direction, a linear large-range precise arm motion platform 31-2 in the X-axis direction, a first Z-axis direction linear precise arm motion platform 31-3 and a second Z-axis direction linear precise arm motion platform 31-4, and is used for realizing large-stroke high-precision motion control and positioning of the operation manipulator. The linear-motion precise arm motion stage 31-1 in the Y-axis direction is mounted on the equipment table 5, the linear-motion precise arm motion stage 31-2 in the X-axis direction is mounted on the linear-motion precise arm motion stage 31-1 in the Y-axis direction, and the first Z-axis-direction linear-motion precise arm motion stage 31-3 and the second Z-axis-direction linear-motion precise arm motion stage 31-4 are mounted on the linear-motion precise arm motion stage 31-2 in the X-axis direction, respectively.
As shown in fig. 7, the assembling manipulator and quick-change module 32 is mounted on the first Z-axis direction linear precise arm motion stage 31-3, and is used for realizing the operation of the assembled object, and the quick-change of each manipulator is realized by matching with multiple manipulators on the hand-change support module 23, so as to realize the operations of picking up, assembling and the like of multiple cross-scale complex multi-configuration tiny parts. The assembly manipulator and quick-change module 32 comprises a first assembly manipulator 32-1, a second assembly manipulator 32-2, a third assembly manipulator 32-3, a fourth assembly manipulator 32-4, a manipulator quick-change main module 32-5, a quick-change force sense conversion block 32-6, a force sense detection module 12 and an assembly arm 32-7.
One end of the assembling arm 32-7 is fixedly arranged on the first Z-axis direction straight line precise arm moving table 31-3, the other end of the assembling arm 32-7 is connected with the force sense detection module 12, the force sense detection module 12 is connected with the quick-change force sense switching block 32-6, the quick-change force sense switching block 32-6 is connected with the manipulator quick-change main module 32-5, and the manipulator quick-change main module 32-5 is selectively connected with the first assembling manipulator 32-1, the second assembling manipulator 32-2, the third assembling manipulator 32-3 and the fourth assembling manipulator 32-4.
The first assembling robot 32-1 includes a hole-shaped hollow vacuum adsorbing head 32-11, a first assembling robot body 32-12, and a first quick-change module 32-13. The hole-shaped hollow vacuum adsorption head 32-11 is connected with the first assembling hand main body 32-12, the first assembling hand main body 32-12 is connected with the first quick-change module 32-13, and the first quick-change module 32-13 is connected with the manipulator quick-change main module 32-5.
The second assembling robot 32-2 includes: the vacuum adsorption head 32-21, the second assembling hand body 32-22 and the second quick-change module 32-23 are in a porous heterogeneous net shape. The hole-shaped heterogeneous reticular vacuum adsorption head 32-21 is connected with the second assembly hand main body 32-22, the second assembly hand main body 32-22 is connected with the second quick-change module 32-23, and the second quick-change module 32-23 is connected with the manipulator quick-change main module 32-5.
The third assembling robot 32-3 includes: the vacuum adsorption head 32-31, the third assembly hand body 32-32 and the third quick-change module 32-33. The microporous vacuum adsorption head 32-31 is connected with the third assembling hand main body 32-32, the third assembling hand main body 32-32 is connected with the third quick-change module 32-33, and the third quick-change module 32-33 is connected with the manipulator quick-change main module 32-5.
The fourth assembling robot 32-4 includes: the strip-shaped long vacuum cavity adsorption head 32-41, the fourth assembly hand body 32-42 and the fourth quick-change module 32-43. The strip-shaped long vacuum cavity adsorption head 32-41 is connected with the fourth assembling hand main body 32-42, the fourth assembling hand main body 32-42 is connected with the fourth quick-change module 32-43, and the fourth quick-change module 32-43 is connected with the manipulator quick-change main module 32-5.
As shown in fig. 8, the press-fit manipulator module 33 is mounted on the second Z-axis direction linear precision arm motion stage 31-4, and is used for performing pick-up and assembly operations on the pressure tool assembly 22-2, and performing press-fit operations on an assembled object by cooperating with the pressure tool assembly 22-2. The press-fit manipulator module 33 includes a press-fit manipulator body 33-1 and a press-fit arm 33-2. The press-fit arm 33-2 is mounted on the second Z-axis direction linear precise arm motion stage 31-4, the press-fit manipulator body 33-1 is connected with the press-fit arm 33-2, and the press-fit manipulator body 33-1 is used for clamping and picking up the pressure tool assembly 22-2 to perform micro-assembly operation.
Optionally, the press-fit manipulator body 33-1 includes two-finger jaws 33-11 and an electric hand 33-12. The electric clamping hand 33-12 is connected with the press-fit arm 33-2, and the two-finger claw 33-11 is arranged at the end part of the electric clamping hand 33-12, and the two-finger claw 33-11 is used for picking up and assembling the pressure tool assembly 22-2.
It should be noted that, the press-fitting manipulator body 33-1 includes, but is not limited to, a two-finger grip scheme, and may be designed as a three-finger press-fitting manipulator body 33-4 scheme, for example, the three-finger press-fitting manipulator body 33-4 includes three-finger grips 33-41, three-finger electric hand-holding hands 33-42, and three-finger press-fitting arms 33-43. The three-finger press-fit arm 33-43 is mounted on the second Z-axis direction linear precise arm motion table 31-4, the three-finger electric clamping hand 33-42 is connected with the three-finger press-fit arm 33-43, the three-finger claw 33-41 is connected with the three-finger electric clamping hand 33-42, and the three-finger claw 33-41 is used for picking up and assembling the pressure tool assembly 22-2.
The electrical control and visual monitoring system 4 is located beside the equipment workbench 5, and the electrical control and visual monitoring system 4 comprises an industrial personal computer control system, a subsystem driver module and an upper computer software operating system and is used for realizing automatic control and monitoring of various sensors, mechanical motion shafts, corresponding controllers, drivers, power supplies and the like.
The invention provides a multi-sensor fused complex multi-configuration automatic micro-assembly device, which has the following working principle:
Before automatic micro assembly of the cross-scale complex multi-configuration micro parts is started, firstly, all precision motion tables on the equipment workbench 5 are sequentially zeroed according to a fixed logic relationship through the electric control and visual monitoring system 4, after zeroing is completed, various cross-scale complex multi-configuration micro parts are placed on the micro assembly conveying main shaft and the support plate quick-change module 22 of the support plate quick-change system 2, and according to different micro part shapes, the micro parts are placed on different pre-storage positions 22-11. The pallet quick-change module 22 can be freely replaced and fixed. The micro-assembly on-line detection system 1 can detect the position and the gesture of the part according to the position where the part is placed, under the guidance of a plurality of sensors of the micro-assembly on-line detection system 1, the corresponding micro-assembly manipulator is automatically selected by the assembly arm 32-7 in the micro-assembly manipulator and the hand-changing system 3 according to the shape and the size of the micro-part to be assembled, and the quick replacement and the fixation of the manipulator are completed through the manipulator quick-change main module 32-5. After the replacement of the micro-assembly manipulator is completed, the multi-arm movement module 31 moves the micro-assembly manipulator to the pre-storing position 22-11 of the micro-parts to be assembled, and the micro-parts are subjected to lossless and efficient picking, transferring, gluing, registering and assembling in a vacuum adsorption mode. Through the assembly operation of the plurality of manipulators on different micro parts, the automatic micro assembly of a plurality of cross-scale complex multi-configuration micro parts is realized.
Because the micro parts or the micro part components are adhered and fixed through special glue solution, certain deformation can occur in the glue solution curing process, the assembled components can be pressed and assembled through designing the specific pressure tool component 22-2, and the pressure tool component 22-2 can be automatically picked up, registered and assembled by adopting the pressing and assembling manipulator module 33, so that high-precision pressing and assembling are realized. The assembled micro-component assembly can be quickly removed from the apparatus along with the pallet quick change module 22 and transferred to a curing storage area, and the assembled finished part can be removed after the curing time has been reached.
In summary, the multi-sensor fused complex multi-configuration micro-part automatic micro-assembly device provided by the invention has the following beneficial effects:
The multi-sensing fusion complex multi-configuration automatic micro-assembly equipment provided by the invention can solve the problem of simultaneous assembly of various micro-parts with different sizes ranging from submicron to decimeter, and the parts comprise metal, engineering plastic, powder synthetic materials and the like; the structural shape relates to a cylinder, a hemispherical shape, a thin wafer, an elongated sheet and an irregular shape. The assembly precision is better than 5 mu m, the purposes of high precision, high consistency and high efficiency micro assembly are realized, the technical problem of the prior cross-scale complex multi-configuration micro assembly is solved, and the manual assembly operation can be effectively replaced. The multi-sensor integrated complex multi-configuration micro part automatic micro assembly equipment has the advantages of simple design, compact structure optimization, complete and novel functions, stable and reliable operation and excellent assembly precision, and can realize the micro assembly of automatic and high-standard-consistency cross-scale complex multi-configuration micro parts.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications, combinations and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The multi-sensor integrated complex multi-configuration micro-part automatic micro-assembly device is characterized by comprising a device workbench (5), a micro-assembly on-line detection system (1), a micro-assembly conveying main shaft and supporting plate quick-change system (2), a micro-assembly manipulator and hand-change system (3), an electrical control and visual monitoring system (4) and a second positioning motion platform, wherein the micro-assembly on-line detection system (1), the micro-assembly conveying main shaft and supporting plate quick-change system (2) are arranged on the device workbench (5);
The micro-assembly online detection system (1) comprises a visual detection module (11), a force sense detection module (12) and a photoelectric detection module (13); the micro-assembly online detection system (1) is used for carrying out real-time online detection on cross-scale complex multi-configuration micro parts;
The visual detection module (11) comprises a horizontal visual detection module (11-1) and a vertical visual detection module (11-2); the photoelectric detection module (13) comprises a confocal displacement sensor (13-1) in the vertical direction; the second positioning motion platform comprises a first Z-axis direction motion shaft (11-27) and a second Z-axis direction motion shaft (11-28) which are arranged in parallel, a vertical visual detection module (11-2) is arranged on the first Z-axis direction motion shaft (11-27), and a photoelectric detection module (13) is fixedly arranged on the second Z-axis direction motion shaft (11-28) through a fixed plate (13-2); the photoelectric detection module (13) and the vertical visual detection module (11-2) share the same movement axis in the X-axis direction and the same movement axis in the Y-axis direction;
the photoelectric detection module (13) emits a beam of broad-spectrum complex-color measuring light to be white through the light source output head, the light is emitted to the surface of an object to be reflected back and sensed by the spectrometer, so that the distance value between the light source output head and a measured part is calculated, the ultra-fine pose on-line detection of the micro part is realized, and the correctness of the assembly pose of the part is ensured;
the micro-assembly conveying main shaft and supporting plate quick-change system (2) comprises a conveying main shaft module (21), a supporting plate quick-change module (22) and a hand-change bracket module (23); the conveying main shaft module is arranged on the equipment workbench (5), and the supporting plate quick-change module (22) and the hand-change bracket module (23) are arranged on the conveying main shaft module (21); the micro-assembly conveying main shaft and supporting plate quick-change system (2) is used for realizing pre-storage, position positioning, station transferring, assembly reference providing and solidification storage after assembly of the cross-scale complex multi-configuration micro parts;
The support plate quick-change module (22) comprises a support plate main body (22-1), a pressure tool assembly (22-2), a rubber box module (22-3), a part positioning tool (22-4), a quick-change module (22-5) and a quick-change air transfer plate (22-6); the supporting plate main body (22-1) comprises a plurality of trans-scale complex multi-configuration tiny parts pre-storing positions (22-11), a press-fit storing position (22-12), a press-fit base pre-storing position (22-13), a glue box storing position (22-14), part vacuum negative pressure fixing hole sites (22-15) and positioning pins (22-16); the part positioning tool (22-4) is matched with part positioning pins (22-16) on the supporting plate main body (22-1) for use, so that the position and the posture of various cross-scale complex multi-configuration tiny parts are determined, and the consistency of each part placement is ensured; the pressure tool assembly (22-2) comprises a press-fit center shaft (22-21) and a press-fit sleeve (22-22), wherein the press-fit sleeve (22-22) is arranged at the press-fit storage position (22-12) and is used for realizing the press-fit fixing function of various cross-scale complex multi-configuration tiny parts and guaranteeing the precision stability of the micro parts after the micro parts are assembled; the glue box module (22-3) is arranged at the glue box storage position (22-14) and is used for realizing the gluing function of various cross-scale complex multi-configuration tiny parts; the quick-change module (22-5) comprises a pallet locating pin (22-51) on the pallet main body (22-1) and a pallet quick-change main disc (22-52) on the quick-change air delivery plate (22-6); the quick-change air delivery plate (22-6) is combined with the quick-change module (22-5) to realize the functions of quick installation and fixation of the supporting plate main body (22-1) and air delivery and air supply;
The micro-assembly manipulator and hand-changing system (3) comprises a multi-arm motion module (31), an assembly manipulator and quick-change module (32) and a press-fit manipulator module (33); the assembling manipulator, the quick-change module (32) and the press-fit manipulator module (33) are respectively arranged on the multi-arm motion module (31); the micro-assembly manipulator and the hand-changing system (3) are used for achieving the picking, pose adjustment, gluing operation, accurate positioning of assembly positions, part assembly, manipulator quick change, press-fitting picking and press-fitting accurate placement of the trans-scale complex multi-configuration micro parts;
The electrical control and visual monitoring system (4) comprises an industrial personal computer control system, a subsystem driver module and an upper computer software operating system; the electric control and visual monitoring system (4) is used for realizing automatic control and monitoring of the sensor, the mechanical motion shaft, the corresponding controller, the driver and the power supply.
2. The multi-sensor fused complex multi-configuration micro-part automatic micro-assembly device according to claim 1, wherein the micro-assembly on-line detection system (1) further comprises a heavy-duty portal frame (14), the heavy-duty portal frame (14) is installed on the device workbench (5), the horizontal visual detection module (11-1) is arranged on the lower side of the heavy-duty portal frame (14), and the vertical visual detection module (11-2) is arranged on the upper side of the heavy-duty portal frame (14);
The horizontal vision detection module (11-1) comprises a path of microscopic vision system (11-11) in the horizontal direction, and the microscopic vision system (11-11) in the horizontal direction is arranged on the first positioning motion platform; the microscopic vision system (11-11) in the horizontal direction comprises a horizontal zoom lens (11-12), a horizontal CCD camera (11-13) and a horizontal auxiliary light source (11-14); the first positioning motion platform has X, Y, Z degrees of freedom of triaxial motion and is used for realizing automatic focusing, plane position adjustment and station switching of the horizontal vision detection module (11-1);
the vertical vision detection module (11-2) comprises a path of microscopic vision system (11-21) in the vertical direction, and the microscopic vision system (11-21) in the vertical direction is arranged on the second positioning motion platform; the vertical microscopic vision system (11-21) comprises a vertical zoom lens (11-22), a vertical CCD camera (11-23) and a vertical auxiliary light source (11-24); the second positioning motion platform has X, Y, Z degrees of freedom of triaxial movement and is used for realizing automatic focusing, plane position adjustment and station switching of the vertical vision detection module (11-2).
3. The multi-sensor fused complex multi-configuration micro-part automatic micro-assembly device of claim 2, wherein the force sense detection module (12) comprises a Z-axis micro force sense displacement sensor; the force sense detection module (12) is arranged at the execution end of the assembly manipulator and the quick-change module (32), and the in-place information in the assembly process of the micro assembly part is judged in real time through a Z-axis direction feedback force signal.
4. The multi-sensor-fused complex multi-configuration micro-part automatic micro-assembly device according to claim 1, wherein the conveying main shaft module (21) comprises a linear precise conveying moving table (21-1) in the Y-axis direction and a precise rotating table (21-2) in the theta z -axis direction, the linear precise conveying moving table (21-1) in the Y-axis direction is mounted on the device workbench (5), the precise rotating table (21-2) in the theta z -axis direction is mounted on the linear precise conveying moving table (21-1) in the Y-axis direction, and the supporting plate quick-change module (22) and the hand-change bracket module (23) are mounted on the precise rotating table (21-2) in the theta z -axis direction; the conveying main shaft module (21) is used for realizing the transportation and conveying of cross-scale complex multi-configuration tiny parts and the fine adjustment of positions and postures.
5. The multi-sensor-fused complex multi-configuration micro-part automatic micro-assembly device according to claim 4, wherein the hand-changing support module (23) is provided with a plurality of hand-changing stations (23-2), and the hand-changing stations (23-2) are used for placing and fixing various micro-assembly manipulators; the hand-changing support module (23) has special auxiliary positioning grooves (23-1) and vacuum adsorption fixing functions so as to realize that different micro-assembly manipulators are smoothly and indiscriminately placed in the hand-changing station (23-2).
6. The multi-sensor-fused complex multi-configuration micro-part automatic micro-assembly device according to claim 1, wherein the multi-arm motion module (31) comprises a Y-axis linear precision arm motion stage (31-1), an X-axis linear precision arm motion stage (31-2), a first Z-axis linear precision arm motion stage (31-3) and a second Z-axis linear precision arm motion stage (31-4);
The linear precise arm motion table (31-1) in the Y-axis direction is mounted on the equipment workbench (5), the linear precise arm motion table (31-2) in the X-axis direction is mounted on the linear precise arm motion table (31-1) in the Y-axis direction, and the first linear precise arm motion table (31-3) in the Z-axis direction and the second linear precise arm motion table (31-4) in the Z-axis direction are mounted on the linear precise arm motion table (31-2) in the X-axis direction; the multi-arm motion module (31) is used for realizing motion control and positioning of the operation manipulator.
7. The multi-sensor-fused complex multi-configuration micro part automatic micro assembly device according to claim 6, wherein the assembly manipulator and quick-change module (32) is installed on the first Z-axis direction straight line precision arm motion table (31-3), and the assembly manipulator and quick-change module (32) comprises a first assembly manipulator (32-1), a second assembly manipulator (32-2), a third assembly manipulator (32-3), a fourth assembly manipulator (32-4), a manipulator quick-change main module (32-5), a quick-change force sense adapter block (32-6) and an assembly arm (32-7);
One end of the assembly arm (32-7) is fixedly arranged on the first Z-axis direction straight line precise arm motion table (31-3), the other end of the assembly arm (32-7) is connected with the force sense detection module (12), the force sense detection module (12) is connected with the quick-change force sense transfer block (32-6), the quick-change force sense transfer block (32-6) is connected with the manipulator quick-change main module (32-5), and the manipulator quick-change main module (32-5) is selectively connected with the first assembly manipulator (32-1), the second assembly manipulator (32-2), the third assembly manipulator (32-3) and the fourth assembly manipulator (32-4).
8. The multi-sensor fused complex multi-configuration micro-part automatic micro-assembly device according to claim 6, wherein the press-fit manipulator module (33) is mounted on the second Z-axis direction linear precision arm motion stage (31-4) for realizing the pick-up and assembly operation of the pressure tool assembly (22-2);
the press-fit manipulator module (33) comprises a press-fit manipulator body (33-1) and a press-fit arm (33-2), the press-fit arm (33-2) is arranged on a second Z-axis direction straight line precision arm motion table (31-4), the press-fit manipulator body (33-1) is connected with the press-fit arm (33-2), and the press-fit manipulator body (33-1) is used for clamping the pressure tool assembly (22-2).
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| CN115307711A (en) * | 2022-08-04 | 2022-11-08 | 北京计算机技术及应用研究所 | Special equipment for integrated inspection of complex parts |
| CN117054446B (en) * | 2023-08-16 | 2024-11-05 | 迈沐智能科技(南京)有限公司 | Photovoltaic cell screen comprehensive detection device |
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