Micro-assembly robot system

Abstract

The invention discloses a micro-assembly robot system which comprises an industrial personal computer, a motion controller, a vacuum system, a feedback system, a mechanical arm and a tail end holder, wherein the feedback system is used for perceiving current positions and gestures of a to-be-assembled part and feeding back the positions and the gestures to the industrial personal computer, the industrial personal computer calculates quantity, needing to be adjusted, of the to-be-assembled part and sends a motion command to the motion controller to drive the mechanical arm to conduct adjustment of displacement and / or angles, the vacuum system is used for executing the command of the industrial personal computer and achieving output of a positive pressure gas path and / or a negative pressure gas path so as to drive clamping and releasing motion of the corresponding tail end holder, and the tail end holder is used for clamping the to-be-assembled part and / or a dispensing machine. The micro-assembly robot system can execute three-dimensional precise location adjustment on more than two micro parts at the same time, bear various tail end holders and dispensing machines, and finish assembly tasks of small assemblies which are complex in structure.

Description

technical field [0001] The invention belongs to the technical field of micro-assembly robots. Specifically, it relates to a micro-assembly robot system integrating microscopic vision and multiple sets of macro-micro combination manipulators, which can simultaneously perform high positioning accuracy on multiple tiny parts to reach the sub-micron level. operate. The robot system can be used to assemble and process microstructures with complex structures. Background technique [0002] Micro-assembly technology has been paid more and more attention by people, and there are more and more related research literatures. Domestic scientific research institutes engaged in micro-assembly technology research include Tsinghua University, Beijing University of Aeronautics and Astronautics, Guangdong University of Technology, Huazhong University of Science and Technology, Harbin Institute of Technology, Xi'an Jiaotong University, etc. The micro-assembly patent documents that can be retri...

AI Technical Summary

Problems solved by technology

[0003] The following problems exist in the existing literature and patents related to micro-assembly: 1) only focus on a certain part of the field of micro-assembly operation robot rather than the whole system, such as micro-end effectors, micro-visual feedback, etc.; 2) it is about The whole system, but only for special directions, such as biology, medicine, etc.; 3) It is about the whole system of micro-assembly, but it can only be aimed at the assembly of two parts at the same time, and cannot handle complex micro-assembly that needs to perform operations on multiple micro-parts at the same time

In the assembly process of some micro-mechanisms, it is necessary to adjust the position or dispensing operation of multiple (more than 3) tiny special-shaped parts at the same time, that is to say, the assembly process of each part is not serial, so the existing It is difficult for technology to solve this problem

In addition, in the process of micro-assembly, sometimes it is necessary to adjust the position and attitude of certain parts with high precision multiple times, and the clamping of these parts also requires different clamping methods, which is also a problem that is difficult to solve in the prior art

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