Microassembling robot system based on microvision

Abstract

The present invention discloses micro assembly robot system based on microscopic vision sense and is composed of system control host unit, micro operating mechanical hand, vacuum microclamp, microscope with camera. Microoperating mechancal hand is composed of micromotion platform which has limit switch and zero position switch and is connected with servomotor having photoelectric coder, mechanical hand controller is composed of successively connected multi axle motion control clamp, transit board and driver the multiaxle motion control clamp is connected with host unit. The present invented system can conveniently and effectively proceed autoamtic and semi-autoamtic operation and assembly of submillimeter grade micro particle object.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a micro-assembly robot system based on microscopic vision, which is a micro-assembly robot system device capable of operating and assembling submillimeter objects. The system device consists of Composed of four parts: micro-manipulator, vacuum micro-clamp, micro-vision and controller, the system can be used for the selection, processing and assembly of sub-millimeter micro-targets, diamonds and various micro-parts. Background technique [0002] In recent years, some progress has been made in the experimental research of using robots to manipulate submillimeter particle objects abroad, such as the "Robot System for Grabbing and Manipulating Tasks at Submillimeter Scale" (1994), which was researched by R.A. Russell in Australia. The positioning accuracy of the experimental device is 0.05mm, and it can operate on targets ranging in size from 0.2mm to 2mm. "Adhesive micro...

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Problems solved by technology

[0003] Research on micro-manipulation robots in China includes micro-manipulation robots used for cell injection and transgene manipulation in biomedical engineering researched by Nankai University and Beijing University of Aeronautics and Astronautics, micro-manipulation robots researched by Guangdong University of Technology can be used for micro-machining, their The common features are high precision, small range of motion and few degrees of freedom, which cannot meet the requirements of micro-assembly

At the same time, there is still a lack of effective tools (micro clips) for micro-assembly in China. Most of them use manual operation and use very simple tools (such as electrostatic adsorption of micro-targets by animal hair) and micro-assembly with the help of a microscope. The operation is difficult. low reliability and efficiency

[0004] In short, although some progress has been made in the research of micro-manipulation robots at home and abroad, there are still the following problems: 1) Only focus on the research of a certain part of it rather than the whole system, such as micro-end effectors, active vision, micro-manipulators, etc. Dynamic analysis of the assembly process, operating principles and test methods, etc.; 2) There are two situations for system research, one is to use an existing robot and a device that one researches to form a system, and the other is to target a specific object Constructed systems, such as micro-manipulation robots for cell injection and transgene manipulation in biomedical engineering, micro-manipulation robots for micro-machining, etc.; Range of motion in three dimensions

The manipulator adopts a parallel mechanical structure, and its claws (micro-clamps) are located inside the parallel structure frame and cannot be stretched out. Therefore, it can only operate on the particulate objects placed on the table inside the frame, and the movement space is limited, and it cannot be connected with Microscopic vision coordination

Its manipulator adopts a spring tension structure and is driven by a stepping motor. Its pulse equivalent is 0.037mm, and the positioning accuracy of the system can only reach 0.05mm. Adhesive forces (including electrostatic force, van der Waals force and surface tension) between them, so it will be difficult to release particulate objects

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