Symmetrical micro-operation device and use method
By using a symmetrical micro-manipulation device, a multi-dimensional pose adjustment component, and a microscopic vision system, the problems of welding point occlusion and fine control during the welding of precision components such as endoscope cameras have been solved, achieving high-precision automated welding and improving welding quality and efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-28
- Publication Date
- 2026-03-10
AI Technical Summary
Existing technologies make it difficult to achieve fully automated welding of precision components such as endoscope cameras. In particular, the welding quality is unstable due to the problem of welding point obstruction and the lack of fine control during the welding process, and the vision system is inadequate.
A symmetrical micro-manipulation device is adopted, in which two sets of manipulators hold two rows of welding points of the camera respectively. Combined with a multi-dimensional pose adjustment component and a microscopic vision system, symmetrical micro-manipulation is achieved, avoiding the problem of occlusion during welding. The installation direction of the microscopic vision is optimized by a reflective prism to ensure real-time monitoring and high precision of the welding process.
It enables high-precision automated welding of precision components such as endoscope cameras, avoids obstruction of welding points during the welding process, ensures stable welding quality, and improves production efficiency and welding quality.
Smart Images
Figure CN121624641A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of electronic component assembly, and in particular to a symmetrical micro-operation device and a use method. BACKGROUND
[0002] There are various types of electronic components, and the assembly process often involves a series of precise processing operations. For example, a key step in the manufacturing process of a precision device represented by an endoscope camera is to weld a data line at the pin of the camera. Such welding work has the characteristics of high precision requirement, narrow operation space, and sensitive process parameters, and belongs to the typical category of precision machining / assembly. If manual welding is used, not only is the work intensity high and the efficiency low, but it is also difficult to ensure the consistency and reliability of the welding points on micro devices. At the same time, the operator needs to perform high-precision operations under a microscope for a long time, which can easily lead to visual fatigue and even permanent damage to the eyes. Therefore, the development of a special device that can replace manual work and achieve high-precision automatic welding is an inevitable demand to improve product quality and production efficiency.
[0003] To realize the mechanized processing of such precision devices, the core is to build an automatic system that works collaboratively with precision machinery, sensing vision, and intelligent control. As shown in the processing scene of Figure 1 , the system first fixes the data line and the camera body respectively through special clamping tools. The clamping tools are installed on a high-precision pose adjustment assembly, which dynamically adjusts the position and angle of the workpiece in three-dimensional space according to the positioning information provided by the vision system, to ensure that the data line and the camera are accurately aligned with the focal point of the laser welding machine.
[0004] In the entire processing flow, two links are crucial. First, a high-sensitivity operation hand mechanism is needed to stably press the data line against the camera welding point at the moment of welding. This continuous pressing state is the key to avoiding virtual welding, missed welding, and continuous welding. Second, a high-resolution microscopic vision system must be integrated. This system is not only used for initial position calibration and guidance, but also needs to monitor the micron-level displacement and pose of the data line during the pressing process in real time, to ensure that it is always in an ideal state of adhesion with the welding surface, thereby fundamentally guaranteeing the stability and reliability of the welding quality.
[0005] However, the end of the camera is provided with two rows of welding points. One row of welding points will block the operation hand from clamping the other row of welding points after completion of welding, thereby causing difficulty in operation. The existing technology still has obvious shortcomings in this field. The general industrial robots on the market are difficult to meet the fine control required in micro welding. At the same time, there is also a lack of targeted vision systems. The lack of special operation hands and microscopic vision systems restricts the realization of full automation and high-quality welding of precision devices such as endoscope cameras. SUMMARY
[0006] The purpose of this invention is to provide a symmetrical micromanipulation device and its usage method, which enables observation of the welding process through microscopic vision during welding and is not obstructed by the data cable after welding.
[0007] The embodiments of the present invention are achieved through the following technical solutions: A symmetrical micro-manipulation device includes two sets of manipulators arranged opposite each other on both sides of a welding station. Each manipulator includes a flexible gripper, a support arm, and a position adjustment component. The flexible gripper is equipped with a drive component to clamp or open. The flexible gripper is located at the front end of the support arm. The end of the support arm is connected to the position adjustment component, allowing the relative position and angle between the flexible gripper and the welding station to be adjusted by the position adjustment component. The welding points of the camera are divided into two rows, with each set of manipulators corresponding to one row of welding, avoiding the inconvenience of operating the later-welded row due to obstruction by the earlier-welded row.
[0008] Furthermore, the pose adjustment component includes a coarse adjustment component and a fine adjustment component; the coarse adjustment component includes a Y-axis drive component for coarsely adjusting the distance between the flexible gripper and the welding station; the fine adjustment component includes three sets of adjustment components that drive the X, Y, and Z axes respectively, and an Ry-axis adjustment component that drives rotation around the Y-axis.
[0009] Furthermore, it also includes a micro-vision component; the micro-vision component includes a horizontal microscopic vision and a vertical microscopic vision with mutually perpendicular observation directions; the vertical microscopic vision observes the welding state from above the welding station, and the horizontal microscopic vision observes the welding state from the side of the welding station with the observation direction parallel to the support arm. Observing from two perpendicular directions allows for accurate determination of the data cable's movement and welding status.
[0010] Furthermore, the lateral microscopic vision device is equipped with a reflecting prism, which bends the light from the welding station by 90 degrees after passing through the reflecting prism; the reflecting prism is located at the front end of the support arm. This allows the lateral microscopic vision device to be installed on one side without interfering with the support arm due to installation parallel to it.
[0011] Furthermore, each of the support arms is equipped with a reflecting prism at its front end; the lateral microscope also has a Y-axis adjustment mechanism, allowing it to move along the Y-axis and be positioned to face the two reflecting prisms at different times. This enables the lateral microscope to align with different reflecting prisms by changing its position, thus allowing for observation from different directions at different times. This allows one group of operators to perform welding while another group observes the welding process from the other side of the welding station. A single lateral microscope can achieve bidirectional observation, making it a multi-purpose device.
[0012] Furthermore, the vertical microscope is also equipped with a reflecting prism to bend the light from the welding station by 90 degrees after passing through the reflecting prism; the vertical microscope is equipped with a mounting arm; the reflecting prism is positioned on the mounting arm and directly in front of the vertical microscope. This allows the vertical microscope to avoid affecting the laser welding machine that emits laser light from top to bottom without having to observe from above.
[0013] Furthermore, the vertical microscopic vision is also provided with a pose adjustment component, so that the pose adjustment component can adjust the position and pitch angle of the vertical vision.
[0014] A method for using a symmetrical micromanipulation device involves controlling the movement of a lateral microscopic vision device and a first set of manipulators. The lateral microscopic vision device observes the welding status through the reflecting prism of the first set of manipulators. Simultaneously, a second set of manipulators is controlled to grip and move a data cable using its flexible jaws. After welding on one side is completed, the lateral microscopic vision device and the second set of manipulators are moved again, allowing the lateral microscopic vision device to observe the welding status through the reflecting prism of the second set of manipulators. Simultaneously, the first set of manipulators is controlled to grip and move the data cable using its flexible jaws. Each set of manipulators is responsible for welding on one side, preventing a single manipulator from obstructing the flexible jaws after welding on one side and affecting welding on the other side. This also allows for the reuse of a single lateral microscopic vision device.
[0015] Furthermore, the cross-section of the reflecting prism is an isosceles right triangle.
[0016] The technical solutions of the embodiments of the present invention have at least the following advantages and beneficial effects: The camera's solder joints are divided into two rows, with each group of operators corresponding to one row. They enter the soldering area from the side to perform the soldering, avoiding the inconvenience of the later-to-be-soldered row being blocked by the earlier-to-be-soldered row. The micro-vision component observes from two vertical directions to accurately determine the movement and soldering status of the data cable. Both the horizontal and vertical micro-vision systems bend the light path by 90 degrees using reflecting prisms, allowing them to be installed away from surrounding components. Attached Figure Description
[0017] Figure 1 This is an axonometric view of an application scenario for the symmetrical micromanipulation device of the present invention.
[0018] Figure 2 This is a front view of an application scenario for the symmetrical micro-manipulation device of the present invention.
[0019] Figure 3 This is a top view showing the application scenario of the symmetrical micro-manipulation device of the present invention.
[0020] Figure 4 for Figure 3Enlarged view of point a in the middle.
[0021] Figure 5 This is a schematic diagram of vertical microscopic vision.
[0022] Figure 6 This is a schematic diagram showing the interaction between a set of operators and posture adjustment components.
[0023] Figure 7 This is a schematic diagram of the operator.
[0024] Figure 8 This is a schematic diagram of a flexible gripper.
[0025] Reference numerals: 1-Flexible gripper, 2-Support arm, 4-Fixed part, 5-Moving part, 6-Fixed block, 7-Moving block, 9-Horizontal microscopic vision, 10-Vertical microscopic vision, 11-Reflecting prism, 12-Y-axis adjustment mechanism, 13-Mounting arm, 14-Position adjustment component, 15-Data cable, 16-Camera, 17-Laser welding machine. Detailed Implementation
[0026] like Figures 1-8 As shown, this invention provides a symmetrical micro-manipulation device and its usage method. This symmetrical micro-manipulation device is specifically designed for automated welding of dual-line solder joints of precision components such as endoscope cameras 16. It solves problems such as occlusion interference and insufficient precision in traditional welding by using two sets of relatively positioned manipulators and a multi-dimensional collaboratively adjustable pose adjustment component 14. The welding station is actually a clamping device used to hold the data cable 15 and the camera 16, enabling them to complete initial positioning. Finally, the flexible gripper 1 clamps and pulls the data cable 15 against the welding points of the camera 16 to complete the welding. The two rows of welding points of the camera 16 constitute the welding station. Two sets of manipulators are respectively arranged on both sides of the welding station, corresponding one-to-one with the two rows of welding points of the camera 16. Each set of manipulators corresponds to two or more welding points in one row, ensuring that the flexible gripper 1 is not blocked by the welded data cable 15 after one row of welding points is completed, thus preventing the other row of welding points from being unable to be clamped and pulled. This fundamentally avoids the operational problem of a single manipulator blocking the other row of welding points after welding one row.
[0027] Each operating unit consists of a flexible gripper 1, a support arm 2, and a position adjustment component 14. The flexible gripper 1 is equipped with a drive component, which can be driven by a piezoelectric precision motor. By controlling the opening and closing of the flexible gripper 1, it achieves stable clamping and release of the data cable 15, ensuring that the data cable 15 does not shift during the welding process. Specifically... Figure 7 and Figure 8As shown, the flexible gripper 1 includes a fixed part 4 and a movable part 5, with the connecting part between them being thin and flexible. When the movable part 5 moves towards the tip of the flexible gripper 1, the tip of the flexible gripper 1 opens; conversely, when the movable part 5 moves away from the tip of the flexible gripper 1, the tip of the flexible gripper 1 closes to achieve a clamping effect. The drive assembly includes a fixed block 6 connected to the fixed part 4 and a movable block 7 connected to the movable part 5. The fixed block 6 is also connected to the end of the support arm 2; the movable block 7 is slidably connected to the fixed block 6. The movable block 7 can be driven by a micro cylinder or a precision motor to control the clamping and releasing of the clamping plates.
[0028] The end of the support arm 2 is rigidly connected to the posture adjustment component 14. The posture adjustment component 14 can flexibly adjust the spatial position and angle of the flexible gripper 1 relative to the welding station, so that the data cable 15 can be accurately aligned with the end face to be welded corresponding to the camera 16, laying the foundation for subsequent high-precision welding.
[0029] The pose adjustment component 14 is further subdivided into a coarse adjustment component and a fine adjustment component, forming a two-level adjustment mechanism to balance adjustment efficiency and accuracy. The coarse adjustment component includes a Y-axis drive, which can be a high-precision linear module. Through a motor-driven ball screw transmission, it achieves rapid coarse adjustment of the distance between the flexible gripper 1 and the welding station, shortening equipment preparation time. The fine adjustment component consists of four sets of adjustment components. Three sets correspond to linear adjustment in the X, Y, and Z axes, respectively, and the other set is an Ry-axis adjustment component that rotates around the Y-axis. Each set of adjustment components uses a piezoelectric ceramic actuator with a resolution of 0.5μm, enabling micron-level precise correction of the position and orientation of the flexible gripper 1, ensuring that the data line 15 and the welding surface achieve an ideal fit. In practice, the Y-axis drive of the coarse adjustment component and the linear adjustment in the Y-axis direction of the fine adjustment component use the same mechanism.
[0030] To achieve real-time and accurate monitoring of the welding process, the device also integrates a micro-vision component, which consists of a horizontal micro-vision device 9 and a vertical micro-vision device 10. Their observation directions are perpendicular to each other, forming a three-dimensional observation system. The vertical micro-vision device 10 acquires images of the welding area from above the welding station. The horizontal micro-vision device 9 observes from the side of the welding station, its observation direction parallel to the support arm 2. It can clearly capture the micron-level displacement and attitude changes of the data cable 15 during the clamping process, providing real-time feedback signals to the posture adjustment component 14 to ensure that the data cable 15 remains stably attached to the welding surface. The micro-vision component is used to monitor the formation state of the weld joint during the welding process and to detect defects such as incomplete welds and overflow welds. It is also used to observe the welding process and guide the operator in performing clamping and data cable 15 pulling actions.
[0031] Considering that the lateral microscope 9 might interfere with the support arm 2 if installed directly parallel to it, a reflecting prism 11 is provided for the lateral microscope 9. The cross-section of the reflecting prism 11 is an isosceles right triangle. Figure 7 As shown by the dotted line, the light from the welding station can be bent 90 degrees after passing through the reflecting prism 11, allowing the lateral microscopic vision 9 to be installed on one side of the equipment without having to maintain the same installation direction as the support arm 2, effectively avoiding structural interference problems.
[0032] Each support arm 2 has a fixed reflective prism 11 mounted on its front end. The lateral microscopic vision device 9 is equipped with a Y-axis adjustment mechanism 12, which drives the lateral microscopic vision device 9 to translate along the Y-axis, allowing it to be aligned with the reflective prisms 11 on both support arms 2 at different times. When a group of operators is performing welding operations, the lateral microscopic vision device 9 can observe the welding status through the reflective prism 11 on the other side, achieving real-time monitoring of the welding process. This eliminates the need for an additional set of lateral microscopic vision devices 9, achieving bidirectional observation functionality for a single component, simplifying the equipment structure and reducing manufacturing costs.
[0033] The vertical microscopic vision system 10 is also equipped with a reflecting prism 11, the cross-section of which is also an isosceles right triangle. The light from the welding station is refracted by the reflecting prism 11 and bent at 90 degrees, so that the vertical microscopic vision system 10 does not need to be directly above the welding station. The vertical microscopic vision system 10 is fixed by the mounting arm 13, and the reflecting prism 11 is installed at the front end of the mounting arm 13 and located directly in front of the vertical microscopic vision system 10. This layout avoids spatial interference between the vertical microscopic vision system 10 and the laser welding machine 17 that emits laser light from top to bottom, ensuring that the laser welding operation and visual monitoring can be carried out simultaneously without affecting each other.
[0034] To further enhance the observation flexibility of the vertical microscope vision 10, it is also equipped with an independent pose adjustment component 14. This pose adjustment component 14 has the same structure as the operator's pose adjustment component 14, and also includes coarse adjustment and fine adjustment components. Through this pose adjustment component 14, the spatial position and observation angle of the vertical microscope vision 10 can be flexibly adjusted, enabling it to accurately align with different areas of the welding station. Whether for initial position calibration or real-time monitoring during the welding process, clear and accurate image information can be obtained, providing a reliable basis for judging welding quality.
[0035] The method of using this symmetrical micro-manipulation device is as follows: Before the welding operation begins, the initial positioning and calibration of the welding station is completed by the vertical microscopic vision 10 to clarify the specific positions of the two rows of welding points. Then, the horizontal microscopic vision 9 is controlled to move along the Y-axis adjustment mechanism 12 so that it faces the reflecting prism 11 on the first set of operator support arms 2. A clear image of the first row of welding point area is obtained through the reflecting prism 11. At the same time, the drive component of the second set of operators is controlled to move so that the flexible gripper 1 clamps the data cable 15. Under the drive of the posture adjustment component 14, the data cable 15 is precisely moved to the corresponding position of the second row of welding points to complete the positioning and clamping. After the laser welding machine 17 completes the welding of the second row of weld points, the lateral microscopic vision 9 is controlled to move along the Y-axis adjustment mechanism 12 to face the reflecting prism 11 on the second set of operator support arms 2. The area of the first row of weld points is observed through the reflecting prism 11. At the same time, the flexible gripper 1 of the first set of operators is controlled to hold the new data cable 15. Driven by the posture adjustment component 14, the data cable 15 is moved to the position of the first row of weld points and pressed firmly. Then, the laser welding machine 17 is started to complete the welding of the first row of weld points. Throughout the process, the two sets of operators perform their respective duties, each responsible for holding and positioning the data cable 15 of one row of weld points, completely solving the problem of obstruction. At the same time, through the time-division movement of the lateral microscopic vision 9 and the cooperation of the reflecting prism 11, a single lateral microscopic vision 9 can achieve full coverage monitoring of the welding process of the two rows of weld points, which not only ensures welding accuracy and quality stability, but also simplifies the equipment structure and improves production efficiency.
Claims
1. A symmetric micromanipulation device, characterized by: The two sets of operating hands are oppositely arranged and located on both sides of the welding station; each operating hand comprises a flexible gripper, a support arm and a pose adjusting assembly; the flexible gripper is provided with a driving assembly to make the flexible gripper clamped or opened; the flexible gripper is arranged at the front end of the support arm; the end of the support arm is connected to the pose adjusting assembly to adjust the relative position and angle of the flexible gripper and the welding station through the pose adjusting assembly.
2. The symmetric micromanipulation device according to claim 1, wherein: The pose adjusting assembly of the operating hand comprises a coarse adjusting assembly and a fine adjusting assembly; the coarse adjusting assembly comprises a Y-axis driving member for coarsely adjusting the distance between the flexible gripper and the welding station; the fine adjusting assembly comprises three sets of adjusting members for driving X, Y and Z axes respectively and a Ry-axis adjusting member for driving rotation around the Y axis.
3. The symmetric micromanipulation device according to claim 2, wherein: The micro-vision assembly is also included; the micro-vision assembly comprises horizontal and vertical micro-vision with observation directions perpendicular to each other; the vertical micro-vision observes the welding state from above the welding station, and the horizontal micro-vision observes the welding state from the side of the welding station with the observation direction parallel to the support arm.
4. The symmetric micromanipulation device according to claim 3, wherein: The horizontal micro-vision is provided with a reflecting prism to make the light of the welding station bend 90 degrees after passing through the reflecting prism; the reflecting prism is arranged at the front end of the support arm.
5. The symmetric micromanipulation device according to claim 4, wherein: The front end of each support arm is provided with the reflecting prism; the horizontal micro-vision is also provided with a Y-direction adjusting mechanism to make the horizontal micro-vision move along the Y axis to face the two reflecting prisms alternately.
6. The symmetric micromanipulation device according to claim 5, wherein: The vertical micro-vision is also provided with a reflecting prism to make the light of the welding station bend 90 degrees after passing through the reflecting prism; the vertical micro-vision is provided with a mounting arm; the reflecting prism is arranged on the mounting arm and located in front of the vertical micro-vision.
7. The symmetric micromanipulation device according to claim 6, wherein: The vertical micro-vision is also provided with a pose adjusting assembly to adjust the position and pitch angle of the vertical micro-vision.
8. A method of using a symmetric micro-operation device, the method comprising: The horizontal micro-vision and the first set of operating hands are controlled to move so that the horizontal micro-vision observes the welding state through the reflecting prism of the first set of operating hands; meanwhile, the second set of operating hands is controlled to make the flexible gripper clamped and move the data line; after the welding of the welding point on one side is completed, the horizontal micro-vision and the second set of operating hands are controlled to move so that the horizontal micro-vision observes the welding state through the reflecting prism of the second set of operating hands; meanwhile, the first set of operating hands is controlled to make the flexible gripper clamped and move the data line.
9. The method of using a symmetric micromanipulation device according to claim 8, wherein: The cross section of the reflecting prism is isosceles right triangle.