Target ball adsorber
An adsorber and target ball technology, applied in metal processing, manipulators, metal processing equipment, etc., can solve the deformation and damage of the target ball or the clamping film, the complex device structure and operation, and the inability to detect the contact force between the target ball and the clamping film. and other problems to achieve the effect of avoiding deformation and damage
Inactive Publication Date: 2022-04-01
SUZHOU UNIV
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Problems solved by technology
The above method relies on dual optical path stereomicrovision to realize positioning, which makes the structure and operation of the whole device extremely complicated
In addition, the above-mentioned method is not equipped with a force feedback detector, and the contact force between the target ball and the clamping film cannot be detected. If the force exerted by the clamping film on the target ball is too large, it is very easy to cause damage to the target ball or the clamping film. deformation damage
Method used
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[0047]In order to make the above purpose, features and advantages of the present application more obvious and understandable, the specific implementation manners of the present application will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only some structures related to the present application are shown in the drawings but not all structures. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.
[0048] The terms "comprising" and "having" and any variations thereof in this application are intended to cover a non-exclusive inclusion. For example, a process, method, sy...
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A target ball adsorber comprises a base. A fixed seat; an adapter seat body; a rotating device; an adsorption device; a cylinder device; a sensor device; a negative pressure gas circuit is arranged in the base, the fixed seat and the adapter seat body and is connected with an adsorption needle of the adsorption device to realize adsorption of the target ball; the cylinder device limits all six degrees of freedom of the rotating device so as to adsorb the target ball, or the rotating device is set to have only one rotational degree of freedom, that is, the other five degrees of freedom are limited so as to assemble the target ball and detect the acting force; the sensor device and the adsorption device jointly form a lever mechanism through the rotating device to detect the stress condition of the target ball. According to the target ball adsorber provided by the invention, the target ball is subjected to nondestructive vacuum adsorption and assembly through the adsorption needle; an undamped rotating structure is arranged in the gas lubricating device and is used for gas lubrication of a gas path; the force sensor and the lever mechanism are combined to detect the stress condition of the target ball at the tail end of the adsorption needle, and the efficiency of adsorbing, moving and assembling the target ball is improved.
Description
technical field [0001] The invention relates to the field of micro-assembly robots, in particular to a target ball absorber. Background technique [0002] Micro-assembly robot is an effective tool to replace the manual implementation of precision micro-device assembly. As the end effector of the micro-assembly robot, the micro-gripper is mainly used to pick up, transport and release tiny objects, and complete certain assembly actions. [0003] As a microstructure, the target ball has the characteristics of small geometric size and low rigidity. In the prior art, the target ball is adsorbed by adsorption, guided by the horizontal microscopic vision dual optical path, transported to the clamping film for fixation, and then the adsorption needle is withdrawn to complete the target ball assembly task. The above method relies on dual optical path stereomicrovision to realize positioning, which makes the structure and operation of the whole device extremely complicated. In addi...
Claims
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IPC IPC(8): B23P19/00B25J15/06
CPCB25J15/0616B25J19/0062B25J19/0091
Inventor 陈涛贾惠斌倪克健李子义戴志伟刘艳广杨湛刘会聪王凤霞孙立宁
Owner SUZHOU UNIV