Nine-shaft series connection type macro-micro combined assembly robot system

Abstract

The invention discloses a nine-axis series connection type macro-micro combined assembly robot system which comprises a six-degree-of-freedom macro-motion robot, a three-degree-of-freedom micro-motion robot, an adapter plate, a three-dimensional microscopic vision module and a force sensing module. The six-degree-of-freedom macro-motion robot is fixed to the vibration isolation table through bolts, and the three-degree-of-freedom micro-motion robot is installed at the tail end of the macro-motion robot through the adapter plate. The six-degree-of-freedom macro-moving robot adopts a series collaborative robot; the tail end of the three-degree-of-freedom micro-motion robot is provided with a tail end micro-manipulator through an adapter plate; the tail end micro-manipulator is driven by four piezoelectric ceramic drivers, and a force sensing module is pasted on a clamping jaw of the tail end manipulator and used for detecting clamping force and contact force generated in the assembling process. And the three-dimensional microscopic vision module is used for observing the pose state of a part grabbed by a tail end micromanipulator of the nine-axis macro-micro combined assembly robot in all directions.

Description

technical field [0001] The invention belongs to the field of micro-manipulation robots, in particular to a nine-axis serial macro-micro combined assembly robot system. Background technique [0002] With the wide application of precision micro-devices in national defense, social life and medical equipment and other industries, higher and higher requirements are also placed on the precision and complexity of micro-devices, and the requirements for micro-manufacturing technology are also getting higher and higher. Micro-miniature devices are usually assembled from multiple components with different materials and structures through micro-assembly technology. The positioning accuracy and operation accuracy of the micro-assembly robot itself are the keys that affect the assembly accuracy of micro-devices. Therefore, the development of a high-precision micro-assembly robot plays a vital role in the development of the micro-assembly field. In the field of micro-assembly robot techn...

AI Technical Summary

Problems solved by technology

In the field of micro-assembly robot technology, although domestic and foreign scholars and companies have developed a variety of different micro-assembly robots, the existing micro-assembly robots lack versatility. In addition, the current micro-assembly robot technology has not yet solved the problem of large travel and high flexibility. The contradiction between high precision and high positioning accuracy cannot meet the growing demand for high-precision micro-device products

Images