跨尺度微管微球三维半自动装配点胶系统

史亚莉; 张正涛; 徐德

doi:10.3788/OPE.20152311.3121

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跨尺度微管微球三维半自动装配点胶系统

微纳技术与精密机械 | 更新时间：2020-08-13

- 跨尺度微管微球三维半自动装配点胶系统
- 3D semi-automatic assembly and dispensing system for trans-scale parts of micro-tube and micro-sphere
- 光学精密工程 2015年23卷第11期页码：3121-3128
- 作者机构：
  
  中国科学院自动化研究所精密感知与控制研究中心北京,100190
- 作者简介：
- 基金信息：
  
  国家重大科学仪器设备开发专项资助项目(No.61227804)()
- DOI：10.3788/OPE.20152311.3121
  中图分类号： TP273;TP242.3
- 收稿日期：2015-05-15，
  
  修回日期：2015-08-17，
  
  纸质出版日期：2015-11-25
- 稿件说明：
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史亚莉, 张正涛, 徐德. 跨尺度微管微球三维半自动装配点胶系统[J]. 光学精密工程, 2015,23(11): 3121-3128

SHI Ya-li, ZHANG Zheng-tao, XU De. 3D semi-automatic assembly and dispensing system for trans-scale parts of micro-tube and micro-sphere[J]. Editorial Office of Optics and Precision Engineering, 2015,23(11): 3121-3128
史亚莉, 张正涛, 徐德. 跨尺度微管微球三维半自动装配点胶系统[J]. 光学精密工程, 2015,23(11): 3121-3128 DOI： 10.3788/OPE.20152311.3121.

SHI Ya-li, ZHANG Zheng-tao, XU De. 3D semi-automatic assembly and dispensing system for trans-scale parts of micro-tube and micro-sphere[J]. Editorial Office of Optics and Precision Engineering, 2015,23(11): 3121-3128 DOI： 10.3788/OPE.20152311.3121.

摘要

设计和搭建了一个3D半自动装配点胶系统

用于完成跨尺度零件微管与微球的三维装配点胶任务。系统主要由体视显微镜、变焦金相显微镜、发光二极管(LED)背光源、pL级点胶机、微操作手和零件夹持器组成。采用显微镜高低倍转换的方式实现了零件跨尺度特征的检测。基于提出的半自动装配点胶策略

并配合人工引导和显微视觉伺服技术

快速完成了跨尺度零件的半自动高精度对准和插入点胶。在搭建完成的系统上开展微管与微球的装配点胶实验

对提出的方法和装配精度进行了实验验证。结果表明

系统的位置对准误差优于1

角度对准误差优于0.5

可以实现末端直径10

m的微管与孔径12

m的微球之间的装配和胶接

基本满足对该组件的装配精度和成功率要求。

Abstract

A 3D semi-automatic assembly and adhesive dispensing system was designed and constructed for assembling and bonding the trans-scale parts of micro-tube and micro-sphere together in a three-dimensional space. The system mainly consists of a stereo microscope

two zoom microscopes

a Light Emitting Diode(LED) backlight

a pL class glue dispenser

three micromanipulators and three micro-part grippers. A method to transform the magnification of the zoom microscopes was adopted to detect the trans-scale features of the micro parts from several millimeters to several micrometers. An assembly and adhesive dispensing strategy based on people guiding and micro visual servo technology was proposed and used to align

insert and glud the trans-scale micro parts together fast and accurately. The assembly experiment was carried out by the developed system to validate the method and assembly accuracy. The experimental results show that the position alignment error is less than 1

m and the pose alignment error is less than 0.5。The system assemblies and bonds the micro-tube without diameter of 10

m and the micro-sphere with a hole diameter of 12

m together and meets the requirements of assembly accuracy and success rates.

关键词

Keywords

references

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