Alignment and assembly device and method of microtubule and microsphere based on monocular microscopic vision

Abstract

The invention discloses a device and a method of assembly of a microtubule and a microsphere based on monocular microscopic vision. The device of the assembly of the microtubule and the microsphere based on the monocular microscopic vision comprises a motion platform, a manipulator, a clamping device, a translational motion platform, a microscopic vision system, a support frame and a vibration isolation platform, wherein the microscopic vision system is installed on the translational motion platform, the translational motion platform is installed on the support frame, the microtubule is installed on the manipulator through the clamping device, the microsphere is placed on the motion platform, and the support frame, the manipulator and the motion platform are installed on the vibration isolation platform. When the microtubule and the microsphere are assembled, the motion platform is adjusted so that the microsphere is enabled to enter a view of the microscopic vision system, the translational motion platform is adjusted so that an image of micropore formed in the microsphere is enabled to be clear, the microtubule is driven by the manipulator to enter the view of the microscopic vision system, the manipulator is adjusted till the tail end of the microtubule is clear, the manipulator drives the microtubule to conduct a three-dimensional motion, and the microtubule is driven to be align with and be inserted into the micropore. According to the alignment and assembly device and the method of the microtubule and the microsphere based on the monocular microscopic vision, the monocular microscopic system is utilized to achieve alignment and assembly of the microtubule and the microsphere without the need of repeated focusing of the microscopic vision system, and the application is convenient.

Description

technical field [0001] The invention belongs to the microscopic vision measurement and control in the technical field of robot micro-operation, in particular to a device and method for aligning and assembling microtubes and microspheres based on monocular microvision. Background technique [0002] At present, the commonly used micro-manipulation method is carried out under the guidance of microscopic vision. First, the position of the parts to be assembled in the plane is measured using microscopic vision; then, the control operator adjusts the position of one of the parts according to the relative positions of the parts to be assembled in order to achieve target alignment. Due to the small depth of field and small field of view of microscopic vision, a multi-channel microscopic vision system is required to observe the three-dimensional deviation between parts, but each microscopic vision system can only give 2-dimensional position deviation (see literature: X. Zeng, X.Huan...

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Problems solved by technology

[0003] In order to solve the problem that the alignment and assembly of microtubes and microspheres in the prior art requires two-way microscopic vision systems to detect three-dimensional deviations, micro parts need to enter and exit the field of view of the microscopic visio

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