CN103213941B - Based on the pads wire structure of three sight stereomicroscopes - Google Patents
Based on the pads wire structure of three sight stereomicroscopes Download PDFInfo
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- CN103213941B CN103213941B CN201310111628.4A CN201310111628A CN103213941B CN 103213941 B CN103213941 B CN 103213941B CN 201310111628 A CN201310111628 A CN 201310111628A CN 103213941 B CN103213941 B CN 103213941B
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Abstract
The present invention is a kind of pads wire structure based on three sight stereomicroscopes.It is made up of binocular optical stereomicroscope, motor (2), connecting plate (3), SLM base plate (4), front-facing camera (5), micro-clamp (6), rotating disc (7), micro motor base (8), micro motor coil (9), lead pad (10).Binocular optical stereomicroscope detects the process of the automatic clamp leads of micro-clamp pincers point, and front-facing camera (5) detects the process that micro-clamp is clamped to lead-in wire pad.Motor (2) driven rotary dish (7) rotates, and makes lead pad arrive the position determined, then 3 go between and are clamped to respectively on the pad of specifying by micro-clamp.Micro motor base (8) and rotating disc (7) are assembled together, and drive the rotation of micro motor, finally drive the rotation of lead pad (10) when rotating disc rotates.Under the trend of current miniaturization, the present invention is directed to lead-in wire tiny, be with the naked eye difficult to the feature of lead-in wire, the mechanical device of design has better accuracy and versatility under the detection of three sight stereomicroscopes.
Description
Technical field
The invention belongs to micro-electromechanical system field, for the mechanical device that pads wire micro assemby uses.This device utilizes motor to rotarily drive rotating disc, makes lead pad rotate to assigned address, realizes micro-clamp clamping micro motor coil lead, and by a kind of mechanical device be clamped on pad that goes between.
Background technology
Based on the microscopical binocular microscopy stereo vision technology of optical stereo in field extensive uses such as microoperation, micro assemby, micrometering amounts, and micro motor is a kind of typical microactrator, and for multiple fields such as automobile, toy, office machinery, automation equipments.The most important operation of micro motor is exactly be welded on pad by the lead-in wire of micro motor coil.Micro motor rotor leading wire is assembled to key pad having become micro-electromechanical technology and microdevice technology automatically.
At present, tiny due to what go between, soft, the feature not easily captured, the welding of major part industrial circle lead all adopts and has manually operated under the microscope, artificial long-time operation under the microscope can make operating personnel produce visual fatigue, not only the health of workman is harmful to, and the series of problems such as operate miss, production efficiency are unstable, welding cost is high, yield rate is low, accuracy rate is low can be caused, how to overcome manual operation Problems existing, it is the most important technical problem of micro motor pads wire that lead-in wire is assembled on pad exactly.In addition, also some are had for the design of the vibration micro motor on mobile phone, the research adopting the method for visual spatial attention to realize micro motor rotor leading wire Automated assembly, this method is for the feature of lead-in wire flexibility, adopt air-flow positioning mode positioning guidewire head, and pose adjustment will be carried out to pad. make complicated operation, efficiency lower, and need with air-flow positioning mode positioning guidewire head the size controlling air-flow, the too little object that can not reach location of air-flow, then can blow too greatly disconnected by lead-in wire.
Summary of the invention
The object of the invention is to overcome that manually to carry out welding the production efficiency caused under the microscope low, the shortcoming that cost is high and the degree of accuracy is low, propose a kind of micro motor based on three sight stereomicroscopes and to go between the method for automatic welding.Three sight stereomicroscopes comprise binocular optical stereomicroscope and are placed on the front-facing camera of motor coil front end, replace human eye observation by three sight stereomicroscope systems and determine the position of pad, this technology belongs to the application of image processing field, need to write the program automatically detecting pad locations in a computer, this design combines frame for movement with image procossing.
To achieve these goals, reduce industrial cost and avoid adopting the inaccurate feature of air-flow positioning mode positioning guidewire head, the present invention adopts following technical scheme:
Based on the pads wire structure of three sight stereomicroscopes, it is characterized in that: this device comprises binocular optical stereomicroscope SLM1, motor 2, connecting plate 3, SLM base plate 4, front-facing camera 5, micro-clamp 6, rotating disc 7, micro motor base 8, micro motor coil 9, lead pad 10;
Binocular optical stereomicroscope SLM1, front-facing camera 5 link together with computer, and binocular optical stereomicroscope SLM1 detects the position of lead-in wire, controlled the motion of micro-clamp 6, make its easy clamp leads by the image processing software in computer; Front-facing camera 5 detects the position of 3 pads, and the anglec of rotation being controlled motor 2 by image processing software makes pad rotate to position accurately; The below of binocular optical stereomicroscope SLM1 object lens is micro motor coils 9, the central axis of front-facing camera 5 and the central axis coaxial of micro motor coil 9; The front end of micro motor coil 9 is lead pad 10, and front-facing camera aims at lead pad 10, to detect the position of lead pad 10; Be provided with the micro-clamp 6 for clamp leads in the side of lead pad 10, micro-clamp 6 and two-dimensional stage are assembled together; In micro motor base 8 front end, micro motor coil 9 is installed; Micro motor base 8 is arranged on rotating disc 7; Rotating disc 7 is fixed with motor 2, and motor 2 rotates the rotation driving rotating disc 7, and the final rotation driving lead pad 10; The upper end of motor 2 and the middle part of connecting plate 3 are secured together, and two ends and the SLM base plate 4 of connecting plate are secured together.
The design mainly clamp leads of micro-clamp 6, micro-clamp and two-dimensional stage are assembled together, the convert rotational motion of motor becomes the rectilinear motion of translation stage, thus control the amount of exercise of micro-clamp and the direction of motion, when the pad before micro motor coil rotates to the position determined, micro-clamp can automatically clamp leads, after clamp leads, micro-clamp is away from lead pad, and when the next pad before micro motor coil rotates to the position determined, micro-clamp goes between near pads wire again.
Application binocular optical stereomicroscope and front-facing camera carry out vision-based detection, to micro-clamp clamp leads and be clamped to lead pad 10 process adopt image processing techniques, image processing techniques improves the degree of accuracy of microscope and camera control pads wire in the application in this field, and improve the efficiency of micro-clamp automatic lead, this kind of technology needs camera and computer to combine usually, design binocular optical stereomicroscope detection micro-clamp clamp leads and front-facing camera detect the image processing software going between and whether be clamped on pad in a computer, the design adopts Halcon image processing software.3 pads of micro motor coil front end are uniformly distributed, and the angle namely between adjacent two pads is 120 °.Electric machine rotation, control the rotational angle of micro motor coil, the process of micro-clamp clamp leads can be seen and detect to binocular optical stereomicroscope, the process be clamped to exactly on pad after front-facing camera detects micro-clamp clamp leads and lead-in wire.
The present invention is assembled together motor and connecting plate, the space taken is less, and micro motor coil is had position relatively preferably, ensure that the axial centerline of pad at binocular optical stereomicroscope camera lens of micro motor coil front end, more can blur-free imaging, be conducive to the placement of micro-clamp and front-facing camera.Binocular optical stereomicroscope and front-facing camera carry out position control to micro-clamp, only need application image process software.Such global design utilizes image processing techniques to realize automation clamping and the welding of micro motor coil pads wire, only needs operating personnel to operate computer, easy and simple to handle, boosts productivity.
Accompanying drawing explanation
Fig. 1 the present invention is based on the pads wire overall structure schematic diagram of three sight stereomicroscopes
The structure chart of Fig. 2 connecting plate of the present invention
The structure chart of Fig. 3 rotating disc of the present invention
The structure chart of Fig. 4 micro motor base of the present invention
The structure chart of Fig. 5 micro motor coil of the present invention
The integral installation figure of Fig. 6 rotating disc of the present invention, micro motor base, micro motor coil
In figure, 1, binocular optical stereomicroscope SLM; 2, motor; 3, connecting plate; 4, SLM base plate; 5, front-facing camera; 6, micro-clamp; 7, rotating disc; 8, micro motor base; 9, motor coil; 10, lead pad;
Detailed description of the invention
The present invention will be further described for composition graphs 1-Fig. 5:
As shown in Figure 1, motor 2 rotates the rotation driving rotating disc, the final rotation driving micro motor coil, the size of the motor that the present invention selects is little, the model of the stepper motor selected is Y80M1-2, considers the Placement Problems of motor, and package unit should be made to have suitable position.According to the design of micro-clamp, enable the pincers point easily clamp leads of micro-clamp, according to this principle, motor and connecting plate by bolts assemblies to together with, make motor be placed on SLM base plate top, and make pincers point near lead-in wire.
Middle part and the motor 2 of connecting plate 3 are fixed, two ends and the SLM base plate of connecting plate are fixed, because screw is used for infrequently dismounting and stressed less occasion, the hexagon socket cap head screw of M3 is selected to connect motor and connecting plate according to the size of screw thread on motor, because aluminium alloy is lighter, lower-cost feature, the material of connecting plate aluminium alloy, connecting plate is total is of a size of in design, long × wide × high: 260mm × 35mm × 90mm.Thickness is 5mm, and respectively attacking two screw threads with assembling place of SLM base plate, with bolts with the assembling of SLM base plate, bolt is generally used for the not too thick occasion being drilled to through hole, selects the bolt of M7 according to the through hole of SLM base plate.
Rotating disc 7 mainly drives micro motor base 8, the Material selec-tion aluminium alloy of rotating disc 7.Design rotating disc is of a size of: the external diameter of the Hollow Cylindrical Shaft of assembling with motor shaft is Φ 15mm, and internal diameter is Φ 8mm, and length is 25mm, and Hollow Cylindrical Shaft is beaten the hole of Φ 3mm, with screw, motor shaft and rotating disc is assembled up; The chassis diameter of rotating disc is Φ 50mm, and thickness is 10mm; The boss of rotating disc also adopts Hollow Cylindrical Shaft, and outside dimension is Φ 25mm, and internal diameter size is Φ 20mm, and length is 10mm.The micro motor base 8 be assembled together with rotating disc 7 is of a size of: chassis diameter is Φ 20mm, thickness is 10mm, 3 M3 screw threads are respectively attacked on the boss of rotating disc 7 and micro motor chassis, hole on boss is through hole, the degree of depth in the hole on micro motor chassis is 5mm, every 3 hole difference angle are 120 °, are evenly distributed on the boss of rotating disc and the chassis of micro motor base, then with the bolt of M3 two component assembling to together.The size of the axle I, II, III selected of micro motor chassis front end is respectively: the diameter of axle I is Φ 8mm, length is 7mm, also attack the hole of 3 differences 120 ° thereon, diameter is Φ 3mm, and the degree of depth is 2mm, the diameter of axle II is Φ 3mm, thickness is 2mm, and the diameter of axle III is Φ 2mm, and length is 5mm, axial line is opened the hole that diameter is 0.1mm, is exactly in order to the bottom of micro motor coil coordinates with hole.
Our micro motor lead-in wire is 70 μm, 3 lead-in wires overlap, due to the very small, flexible that goes between, therefore the process that the automatic clamp leads of pincers point of micro-clamp observed by binocular optical stereomicroscope is applied, in time clamping point and be clamped to a lead-in wire, front-facing camera detects micro motor coil pad and whether arrives position accurately, after arriving accurate location, micro-clamp is automatically clamped to lead-in wire on pad, then rotating disc rotates 120 ° under the drive of motor, micro motor coil is driven to forward next pad to, and then repeat the process of micro-clamp clamp leads, until 3 lead-in wires are clamped on corresponding pad respectively, like this, just complete to the process on corresponding pad with micro-clamp clamp leads.Then by manipulator, micro motor coil is taken off, carry out the operation of lower welding together.
During pads wire device busy, during pads wire device busy, front-facing camera 5 detects the position of 3 pads, is controlled the rotation of motor 2, rotarily driven the rotation of lead pad, make pad rotate to position accurately by motor by image processing software.Binocular optical stereomicroscope SLM1 controls the motion of micro-clamp 6 by the image processing software in computer, makes its easy clamp leads.Binocular optical stereomicroscope detects the process of micro-clamp automatic lead, and whole micro-clamp is close, the process of clamp leads is high-visible in computer, if can be easy to adjustment when having deviation.Front-facing camera detects micro-clamp the process be clamped on pad that goes between, and the precision that this process need is very high, needs the assembling of micro-clamp and lead pad degree of precision.At micro-clamp clamp leads, after front-facing camera detection lead pad arrives the position of specifying, micro-clamp is clamped to lead-in wire in lead pad, then motor rotates 120 °, carry out the assembling of the 2nd pads wire, the like, until when micro-clamp is clamped to 3 lead-in wires in corresponding 3 lead pad respectively, this procedure just completes.
The feature that the present invention gives prominence to is: one, adopt image processing techniques to combine with mechanical device, binocular optical stereomicroscope is connected together with computer with front-facing camera, adopt image processing software identification lead-in wire in a computer, make micro-clamp clamp leads exactly, and lead-in wire is clamped in lead pad.Two, utilize the rotation of driven by motor rotating disc, the final uniform rotation driving micro motor coil, makes 3 pads accurately rotate 120 °.Three, utilize connecting plate fixed electrical machinery, connecting plate is fixed on binocular optical stereomicroscope base plate, constructional device is novel, reduces the space that device takies.
Claims (1)
1. based on the pads wire structure of three sight stereomicroscopes, it is characterized in that: comprise binocular optical stereomicroscope SLM (1), motor (2), connecting plate (3), SLM base plate (4), front-facing camera (5), micro-clamp (6), rotating disc (7), micro motor base (8), micro motor coil (9), lead pad (10);
Binocular optical stereomicroscope SLM (1), front-facing camera (5) and computer link together, the below of binocular optical stereomicroscope SLM (1) object lens is micro motor coil (9), the central axis of front-facing camera (5) and the central axis coaxial of micro motor coil (9); The front end of micro motor coil (9) is lead pad (10), and front-facing camera aims at lead pad (10), to detect the position of lead pad (10); Be provided with the micro-clamp (6) for clamp leads in the side of lead pad (10), micro-clamp (6) and two-dimensional stage are assembled together, by the motion of the motion control micro-clamp of two-dimensional stage; The front end of micro motor base (8) is provided with micro motor coil (9); Micro motor base (8) is arranged on rotating disc (7); Rotating disc (7) is fixed with motor (2), and motor (2) rotates the rotation driving rotating disc (7), and finally drives the rotation of lead pad (10); The upper end of motor (2) and the middle part of connecting plate (3) are secured together, and two ends and the SLM base plate (4) of connecting plate are secured together.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310111628.4A CN103213941B (en) | 2013-04-01 | 2013-04-01 | Based on the pads wire structure of three sight stereomicroscopes |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310111628.4A CN103213941B (en) | 2013-04-01 | 2013-04-01 | Based on the pads wire structure of three sight stereomicroscopes |
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| CN103213941A CN103213941A (en) | 2013-07-24 |
| CN103213941B true CN103213941B (en) | 2015-08-26 |
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| CN201310111628.4A Expired - Fee Related CN103213941B (en) | 2013-04-01 | 2013-04-01 | Based on the pads wire structure of three sight stereomicroscopes |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104551291A (en) * | 2013-10-21 | 2015-04-29 | 泰科电子(上海)有限公司 | Automatic welding system |
| CN103737586B (en) * | 2014-01-12 | 2016-06-08 | 北京工业大学 | For clamping the pneumatic type micro clamping device of micromotor lead-in wire |
| CN103737236B (en) * | 2014-01-12 | 2015-06-17 | 北京工业大学 | Clamping fixation system for rotor coil to automatically lead wire |
| CN105397323B (en) * | 2015-12-22 | 2017-11-17 | 武汉理工大学 | A kind of automatics suitable for the welding of micro motor lead |
| CN111070720B (en) * | 2019-12-31 | 2021-12-17 | 中国人民解放军国防科技大学 | Fiber position control device and method for fiber reinforced composite material |
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| US5702049A (en) * | 1995-06-07 | 1997-12-30 | West Bond Inc. | Angled wire bonding tool and alignment method |
| CN101217125A (en) * | 2007-12-29 | 2008-07-09 | 中国科学院长春光学精密机械与物理研究所 | An automatic operation system of inner leading bonding device of semiconductor device |
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2013
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5702049A (en) * | 1995-06-07 | 1997-12-30 | West Bond Inc. | Angled wire bonding tool and alignment method |
| CN101217125A (en) * | 2007-12-29 | 2008-07-09 | 中国科学院长春光学精密机械与物理研究所 | An automatic operation system of inner leading bonding device of semiconductor device |
| CN102760670A (en) * | 2012-01-21 | 2012-10-31 | 上海功源电子科技有限公司 | Hand-free ternary inspection machine |
| CN102873523A (en) * | 2012-09-13 | 2013-01-16 | 中国科学院自动化研究所 | Device for detecting micro-devices on line during assembly based on micro-vision |
Non-Patent Citations (1)
| Title |
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| "基于视觉的微马达转子引线自动化装配研究";雷李辉等;《机电工程》;20110630;第28卷(第6期);pp671-674,摘要部分，正文第1-3部分、图1-6 * |
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