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

作　　者：史亚莉[1] 张正涛[1] 徐德[1] 

机构地区：[1]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

出　　处：《光学精密工程》2015年第11期3121-3128,共8页Optics and Precision Engineering

基　　金：国家重大科学仪器设备开发专项资助项目(No.61227804)

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1μm,角度对准误差优于0.5°,可以实现末端直径10μm的微管与孔径12μm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。A 3Dsemi-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 threedimensional space.The system mainly consists of a stereo microscope,two zoom microscopes,a Light Emitting Diode（LED）backlight,apL class glue dispenser,three micromanipulators and three micropart 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 1μm and the pose alignment error is less than 0.5°。The system assemblies and bonds the micro-tube without diameter of 10μm and the micro-sphere with a hole diameter of 12μm together and meets the requirements of assembly accuracy and success rates.

关 键 词：跨尺度零件 装配策略 微装配 微点胶 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]