Micro-part automatic aligning device and method based on multipath micro-vision

Abstract

The invention discloses a micro-part automatic aligning device and method based on multipath micro-vision. The micro-part automatic aligning device comprises a first micro-vision system, a second micro-vision system, a third micro-vision system, a first motion platform, a second motion platform and a computer. The micro-part automatic aligning method includes the following steps that firstly multiple relative motion of first micro-parts in a clear imaging plane is utilized to achieve calibration of the multipath micro-vision systems and the first motion platform, then multiple relative motion of second micro-parts in the clear imaging plane is utilized to achieve calibration of the multipath micro-vision systems and the second motion platform, lastly motion control of the first micro-parts and the second micro-parts is achieved by adopting the PD control law based on a calibrated image jacobian matrix, and therefore pose alignment of the first micro-parts and the second micro-parts is achieved. The micro-part automatic aligning device and the method based on the multipath micro-vision are convenient to operate, short in assembling time and high in assembling accuracy, achieve automatic alignment of millimeter-stage micro-parts of complex structures, and have wide application prospect and considerable social economic benefits.

Description

technical field [0001] The invention belongs to microscopic vision measurement and control in the field of micro-assembly technology, in particular to a device and method for automatic alignment of micro parts in three-dimensional space based on multi-channel microscopic vision. Background technique [0002] With the rapid development of micro-electro-mechanical systems, it often involves product assembly of different processing techniques, complex geometric shapes, and different processing materials. Advanced micro-miniature parts assembly technology can improve the manufacturing quality of micro-miniature products, shorten cycle times, and reduce product costs. It is of great significance, therefore, micro vision is widely used in the field of micro assembly. However, due to the small depth of field of the microscopic vision system, each microscopic vision has almost no common field of view, so it is difficult to form a traditional stereoscopic vision system, which makes t...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem of complex assembly process and low assembly efficiency of micro-parts in the prior art, the purpose of the present invention is to provide a micro-part three-dimensional space automatic alignment device and method based on multi-channel microscopic vision, which can meet the three-dimensional space requirements of micro-parts. Fast Auto-Alignment Requirements

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