CN111977359B - Micro-tweezers imitating surface structure of large jaw of ant mouthpart and test preparation device and method thereof - Google Patents
Micro-tweezers imitating surface structure of large jaw of ant mouthpart and test preparation device and method thereof Download PDFInfo
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- CN111977359B CN111977359B CN202010625721.7A CN202010625721A CN111977359B CN 111977359 B CN111977359 B CN 111977359B CN 202010625721 A CN202010625721 A CN 202010625721A CN 111977359 B CN111977359 B CN 111977359B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
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Abstract
The invention discloses micro-tweezers imitating the surface structure of a maxilla of an ant mouthpart, and a test preparation device and a test preparation method thereof. The pick-up and packaging of microchips has been a challenge in the electronics packaging industry. The invention relates to a hair clip type micro-forceps, which comprises a forceps main body and two hair clip components. The two hair-type clamping components are respectively arranged on the clamping parts of the two clamping arms on the tweezers main body. The hair-type clamping assembly comprises a copper sheet and a carbon fiber group. The fiber bundle group is composed of a plurality of carbon fibers. The carbon fibers are arranged at intervals in sequence, and the inner ends of the carbon fibers are fixed with the clamping parts of the clamping arms corresponding to the clamping arms. According to the invention, from the perspective of bionics, through observation and research on fibers on the surfaces of the jaws of the ant mouthpieces, the problem that the microchip is difficult to release due to the fact that the microchip is adhered to tweezers in the release process can be solved in the process that the fibers pick up the microchip, and the microchip is not damaged when being clamped due to the fact that the fibers are flexible fibers.
Description
Technical Field
The invention belongs to the technical field of micro device operation, and particularly relates to a capillary micro-forceps simulating the jaw surface of an ant mouthpart, a micro-forceps testing device, a micro-forceps preparation device and a micro-forceps preparation method.
Background
The pick-up and packaging of microchips has been a challenge in the electronics packaging industry. In recent years, in order to obtain lighter, smaller, and thinner electronic products, miniaturization of semiconductor chips has been a trend, and thus, the difficulty of picking up and packaging chips has further increased. The common chip is usually directly transferred by clamping with tweezers, but the microchip is fragile and easily damaged in the clamping process with the tweezers, and in the release process of the microchip, the gravity of the chip is not dominant due to the influence of the scale effect, and the van der waals force at the moment is larger than the gravity of the chip, so that the release of the chip is difficult. Therefore, the hair-clip type micro-tweezers imitating the surface structure of the maxilla of the ant mouth device are very necessary to be arranged.
At present, there is no device capable of freely taking and placing a microchip on the basis of not damaging the chip in the related field, for example, the invention patent of application No. 201510750450.7 discloses a chip gripper, which comprises a click mounting seat, a main body frame, an optical coupling baffle, a photoelectric sensor, a linear motor, a motor screw rod, a movable connecting plate, a connecting mechanism, a movable clamping mechanism and a gripping mechanism. During the use, start linear electric motor and drive motor lead screw and activity even board and move together to make the holding piece side to side movement carry out the centre gripping, and realize the location of lead screw seesaw through optical coupling separation blade and photoelectric sensor, the elasticity of chip is got to the control clamping jaw clamp. However, the patent does not consider the problem that the release of the chip becomes difficult due to van der waals force greater than the gravity of the chip during the release of the chip. The invention patent of application patent number 201510006911.X discloses an IC chip vacuum clamping device, which comprises a machine base, a cross beam frame, a Z-axis lifter, a vacuum generator, a servo motor, a screw rod, a vacuum suction head, a rotating motor, a rotating disc and a chip charging die. The operation steps are that a rotary motor drives a rotary disc to rotate, a servo motor drives a screw rod to push a Z-axis lifter to move left and right on a cross beam frame, the Z-axis lifter conveys a vacuum suction head to the upper end of a chip loading die, a vacuum generator generates vacuum to the vacuum suction head to suck up an IC chip, and finally the screw rod pushes the Z-axis lifter to carry the chip to a specified position. However, the vacuum clamping conditions are relatively complicated, the contact surface between the chip and the vacuum suction head is required to be very smooth, and the vacuum clamping method can cause damage to the chip due to excessive adsorption force during the chip picking process.
Disclosure of Invention
The first purpose of the invention is to provide a hair clip type micro-forceps imitating the surfaces of jaws of ant mouthparts, aiming at the difficult problems of taking and placing micro objects in the fields of electronic chips (such as 0.1mm x 0.2mm), micro organisms (0.1mm x 0.1mm) and the like. The invention is inspired by the anti-sticking and adsorption effects of the surfaces of the maxilla (composed of hard surfaces and special structures of fibers) of ants in the process of taking liquid drops and viscous substances, and the special structures of the surfaces of the maxilla are mapped to the tips of tweezers, so that a special micro-device taking and placing device, namely 'micro tweezers' is formed.
The invention relates to a hair clip type micro-forceps, which comprises a forceps main body and two hair clip components. The two hair-type clamping components are respectively arranged on the clamping parts of the two clamping arms on the tweezers main body. The wool gripping assembly includes a fiber bundle group. The fiber bundle group includes a plurality of fiber bundles. The carbon fibers are arranged at intervals in sequence, and the inner ends of the carbon fibers are fixed with the clamping parts of the clamping arms corresponding to the clamping arms.
Preferably, the bristle clamping assembly further comprises a fiber carrier sheet. The fiber bearing sheet is provided with a strip-shaped micro structure; the strip-shaped microstructure comprises a plurality of fiber embedding grooves which are sequentially arranged at equal intervals. The inner end of each fiber bundle is embedded in each fiber embedding groove. The inner planes of the clamping parts of the two clamping arms on the tweezers body are provided with pits for positioning the fiber bearing sheet. The side face of the fiber bearing piece provided with the strip transverse microstructure is arranged inwards and is embedded into the concave pit of the plane in the corresponding clamping part.
Preferably, the diameter of the fiber bundle is 100nm to 100 μm.
The second purpose of the invention is to provide a clamping and positioning precision testing device of the hair-clamp type micro-tweezers and a testing method thereof.
A clamping and positioning precision testing device of a hair clamp type micro-forceps comprises a bottom plate, a clamping module and a chip lifting module. The clamping module is used for mounting the tested hair clip type micro forceps. The hair clip type micro-tweezers are the hair clip type micro-tweezers. The clamping module comprises a first lifting sliding table, a clamping driving assembly and a fixing member. The chip lifting module comprises a second lifting sliding table, a workbench and a regulating assembly. The fixing piece is fixed on the top of the sliding frame of the first lifting sliding table. The connecting part of the hair-pin type micro-forceps is fixed with the fixing part. The clamping part of the hair-clamp type micro-tweezers is arranged downwards. The clamping driving assembly comprises a mounting block and a grinding wheel. The installation piece is fixed on the slider of first lift slip table. Two grinding wheels which are arranged side by side at the same height are supported at the outer side of the mounting block. The two grinding wheels are respectively positioned at two sides of the hair clip type micro-forceps and are respectively contacted with two clamping arms of the hair clip type micro-forceps.
The workbench is fixed on the sliding block of the second lifting sliding table. The regulating assembly is arranged on the workbench. The regular assembly comprises a chip placing table, two cylinders and two regular plates. The chip placing table is detachably arranged at the center of the top surface of the workbench. The top surface of the chip placing table is rectangular. The length and the width of the top surface of the chip placing table are respectively larger than the length and the width of the chip by l. And l is an error allowable threshold value. Two cylinders are fixed on the workbench and respectively positioned at two sides of the chip placing table. The push-out rods of the two cylinders are both towards the chip placing table. The regular plate is L-shaped. The two regulating plates are respectively fixed with the push-out rods of the two cylinders. The side plates of the two regular plates are respectively aligned with the edges of the two sides of the chip placing table. The top edge of the leveling plate is higher than the top surface of the chip placing table.
Preferably, the organizer further includes four offset detection sensors. The four displacement detection sensors are grouped into two. Two sets of offset detection sensors are respectively arranged on two opposite angles of the chip placing table. The detection lines of the four deviation detection sensors are respectively positioned above the four edges of the placing table, and the distance from the top surface of the placing table is smaller than the thickness of the clamped chip.
Preferably, the first lifting sliding table and the second lifting sliding table are identical in structure and respectively comprise a sliding frame, a lead screw, a sliding block, a lifting motor, an upper limit sensor, a lower limit sensor and a shading sheet. The upper limit sensor and the lower limit sensor both adopt groove type photoelectric sensors. The vertically arranged sliding frame is fixed on the bottom plate. A vertically arranged spindle is supported on the carriage. The slide block and the guide post on the slide frame form a slide pair, and form a screw pair with the lead screw. The lifting motor is fixed on the sliding frame, and the output shaft is fixed with the screw rod. The upper limit sensor and the lower limit sensor are both arranged on the sliding frame and are arranged at intervals up and down, and the height is adjusted through the waist-shaped holes and the bolts. The shading sheet is fixed on the sliding block. The position of the light shielding sheet corresponds to the grooves on the upper limit sensor and the lower limit sensor.
The testing method of the clamping and positioning precision testing device of the hair-clamp type micro-tweezers comprises the following steps:
step one, a worker or a front feeding device places the clamped chips on a chip placing table.
And step two, pushing out by the two cylinders, so that the two structured plates push the clamped chips to be aligned. And taking a picture of the clamped chip by a camera.
And step three, retracting the two cylinders, and driving the workbench to rise by the second lifting sliding table, so that the chip reaches between the outer ends of the two fiber bundle groups on the hair-clamp type micro-forceps.
And step four, the first lifting sliding table drives the clamping driving assembly to move downwards, so that the two grinding wheels extrude the two clamping arms of the hair-clamp type micro-forceps, and the outer ends of the two fiber bundle groups clamp the chip.
And step five, driving the workbench to lower by the second lifting sliding table, and separating the clamped chip from the workbench.
And step six, the second lifting sliding table drives the workbench to rise, and the clamped chip is in contact with the workbench again.
And step seven, the first lifting sliding table drives the clamping driving assembly to move upwards, so that the two clamping arms drive the outer ends of the two fiber bundle groups to loosen the chip. And taking a picture of the clamped chip by the camera again.
And step eight, judging the positioning precision of the hair-pin type micro-tweezers on the chip in the chip clamping and transferring processes for the photos before and after being clamped.
The third purpose of the invention is to provide a device and a method for preparing the hair-clamp type micro-tweezers based on the fiber bundle (bundle) accurate conveying and vibration extrusion fixing principles.
The preparation device of the hair-clamp type micro-tweezers comprises a fiber transfer mechanism, a fiber feeding assembly and an embedded fiber assembly. The fiber feeding assembly comprises a material conveying frame, a material conveying pipe and a material conveying wheel. The conveying pipe is fixed on the conveying frame. The joint of two feed rollers supported on the feed carrier is located at the output end of the feed pipe. The fiber transfer mechanism comprises an X-axis sliding table, a Y-axis sliding table and a finger cylinder. The X-axis sliding table is arranged on the frame; the Y-axis sliding table is arranged on a sliding block of the X-axis sliding table; the finger cylinder is installed on the sliding block of the Y-axis sliding table. The embedding fiber assembly include revolving cylinder, linear bearing, voice coil motor, press the clamp plate, fibre mount table, jacking cylinder and hand slip table. The sliding direction of the hand sliding table is parallel to that of the Y-axis sliding table. The jacking cylinder that the piston rod set up is fixed on the sliding block of hand slip table. The fiber mounting table is fixed on the top end of a piston rod of the jacking cylinder. The top surface of the fiber mounting table is provided with a fiber bearing sheet positioning groove. The sliding block of the hand-operated sliding table of the rotary cylinder is fixed. The rotating head of the rotating cylinder is fixed with the connecting frame. The voice coil motor is installed on the link. The pressing plate and the connecting frame form a sliding pair through an optical axis and a linear bearing. The rotary cylinder is arranged below the first limit position and is separated from the fiber mounting table; the rotary cylinder is arranged below the second limit position, and the pressing plate is horizontally arranged and is positioned right above the fiber mounting table. The pressing plate is driven by a voice coil motor to perform reciprocating vibration.
Preferably, the fiber feeding assembly further comprises a position sensor and a cutting assembly. And a cutting piece capable of cutting off the fiber bundle is arranged in the cutting-off assembly. The cutting piece adopts a cutter, scissors or an electric heating cutting wire. The cutting-off component is arranged on the material conveying frame, and the cutting piece is positioned on one side of the two material conveying wheels, which is far away from the material conveying pipe. The in-place sensor is fixed on the material conveying frame and is positioned on one side of the two material conveying wheels, which is far away from the material conveying pipe. The detection head of the in-place sensor is arranged at the same height with the output end of the material conveying pipe.
The method for producing the hair-clamp type micro-tweezers by using the preparation device of the hair-clamp type micro-tweezers comprises the following specific steps:
step one, processing a strip transverse microstructure on a fiber bearing sheet, and placing the strip transverse microstructure of the fiber bearing sheet into a positioning groove on a fiber mounting table in an upward mode. The strip-shaped microstructure is composed of a plurality of fiber embedding grooves which are sequentially arranged.
Step two, the two material conveying wheels synchronously rotate in opposite directions to output the fiber bundles; and a finger cylinder on the Y-axis sliding table moves to the fiber bundle and clamps the fiber bundle. Thereafter, the fiber bundle is cut; the X-axis sliding table drives the finger cylinder to move, so that the fiber bundle moves to a position right above one of the empty fiber embedding grooves. Afterwards, adjust the position of fibre carrier sheet through hand slip table, the jacking cylinder is with fibre carrier sheet jack-up, makes the tow embedding to the fibre embedded groove in.
And step three, repeating the step two, and filling one or more fiber bundles into each fiber embedding groove on the fiber bearing sheet by changing the feeding amount of the X-axis sliding table.
And fourthly, driving the pressing plate to overturn right above the fiber bearing sheet by the rotary cylinder. And then, the voice coil motor drives the pressing plate to vibrate in a reciprocating manner to press the fiber bundles on the fiber bearing sheet, so that each fiber bundle is embedded into the corresponding fiber embedding groove.
And fifthly, the rotary cylinder drives the pressing plate to turn over and leave the position right above the fiber bearing sheet. The worker then removes the fibrous carrier sheet.
And step six, taking a fiber bearing sheet again, and repeating the steps from one step to five.
And seventhly, forming concave pits on the plane of the clamping parts of the two clamping arms of the tweezers main body. And (3) respectively installing the two fiber bearing sheets embedded with the fiber bundles prepared in the first to sixth steps into the concave pits of the two clamping arms of the forceps main body.
The invention has the beneficial effects that:
1. according to the invention, from the perspective of bionics, through observation and research on fibers on the surfaces of the jaws of the ant mouthpieces, the problem that the microchip is difficult to release due to the fact that the microchip is adhered to tweezers in the release process can be solved in the process that the fibers pick up the microchip, and the microchip is not damaged when being clamped due to the fact that the fibers are flexible fibers.
2. The clamping and positioning precision testing device of the hair-clamp type micro-tweezers can automatically regulate the chips, so that the hair-clamp type micro-tweezers can clamp the chips more easily, and the positioning precision in the chip transfer process can be ensured.
3. According to the invention, coiled or long fiber bundles are cut section by section, and the fiber bundles are accurately conveyed to the strip transverse microstructure through the fiber bundle conveying mechanism, so that automatic feeding of the rows of fiber bundles is realized, and the position precision of the fiber bundles on the micro forceps is greatly improved.
Drawings
FIG. 1 is a design route diagram of example 1;
FIG. 2 is a schematic view of the hair-type clamping assembly of embodiment 1;
FIG. 3 is a schematic structural view of example 2;
FIG. 4 is a schematic illustration of a organizer assembly of example 2;
FIG. 5 is a schematic diagram of the arrangement of the gripped chips in example 2;
FIG. 6 is a schematic structural view of embodiment 3;
FIG. 7 is a schematic view showing two extreme positions of a rotary cylinder in embodiment 3;
FIG. 8 is a schematic view showing the fiber-bearing sheet being mounted in the recesses of the arms of the main body of the tweezers in step seven of example 3.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Example 1
As shown in fig. 1 and 2, the hair clip type micro-tweezers imitating the surfaces of the jaws of an ant mouthpart comprise a tweezers body 1 and two hair clip components 2. The two hair-type clamping components 2 are respectively arranged at the inner sides of the clamping parts 1-1 of the two clamping arms on the tweezers main body 1 and are used for contacting with a chip to play a role in clamping the chip. The wool type clamping component 2 comprises a fiber bearing sheet 2-2 which is provided with a strip-shaped transverse microstructure and a fiber bundle group 2-3. The strip-shaped micro structure comprises a plurality of fiber embedding grooves which are arranged on the fiber bearing sheet at equal intervals in sequence. The fiber bearing sheet 2-2 adopts a copper sheet. The fiber bundle group 2-3 is composed of a plurality of fiber bundles. The inner end of each fiber bundle is embedded in the strip transverse microstructure of the fiber bearing sheet 2-2, and the outer end is suspended. The fiber bundles are arranged at equal intervals in sequence along the width direction of the holding part 1-1 of the forceps main body 1. The diameter of the fiber bundle is 100 nm-100 μm. The inner planes 2-1 of the clamping parts 1-1 of the two clamping arms on the tweezers body 1 are provided with pits for positioning the fiber bearing sheet 2-2. The strip-shaped transverse microstructures of the fiber bearing sheet 2-2 are arranged inwards and embedded into the concave pits of the inner plane 2-1 of the corresponding clamping part 1-1.
Example 2
As shown in fig. 3, a clamping and positioning precision testing apparatus for a hair-clamp type micro-tweezers comprises a bottom plate 4, a clamping module 5 and a chip lifting module 6. The clamping module 5 is used for installing the micro tweezers 3 to be tested. The hair-clip type micro-tweezers 3 are the hair-clip type micro-tweezers 3 imitating the surfaces of the jaws of ant mouthparts in the embodiment 1. The clamping module 5 comprises a first lifting sliding table, clamping driving assemblies (5-1-5-2) and a fixing member 5-3. The chip lifting module 6 comprises a second lifting sliding table, a workbench 6-1 and a regulating assembly 7. First lift slip table is the same with second lift slip table structure, all includes balladeur train, lead screw, slider, elevator motor, upper limit sensor 8, lower limit sensor 9 and anti-dazzling screen 10. The upper limit sensor 8 and the lower limit sensor 9 both adopt groove type photoelectric sensors. The vertically arranged carriage is fixed on the base plate 4. A vertically arranged spindle is supported on the carriage. The slide block and the guide post on the slide frame form a slide pair, and form a screw pair with the lead screw. The lifting motor is fixed on the sliding frame, and the output shaft is fixed with the screw rod. The upper limit sensor 8 and the lower limit sensor 9 are both mounted on the sliding frame and are arranged at intervals up and down, and the height is adjusted through the waist-shaped holes and the bolts. The light shielding sheet 10 is fixed on the slider. The position of the light shielding sheet 10 corresponds to the grooves on the upper limit sensor 8 and the lower limit sensor 9. The light shielding sheet 10 moves up and down along with the sliding block, reaches an upper limit position when triggering the upper limit sensor 8, and reaches a lower limit position when triggering the lower limit sensor 9.
And the fixing piece 5-3 is fixed on the top of the sliding frame of the first lifting sliding table. The fixing piece 5-3 is provided with a slot for installing. The connecting part of the two clamping arms on the hair-clamp type micro-forceps 3 passes through the installing slot on the fixing part 5-3. The side part of the fixing piece 5-3 is provided with a fastening bolt. The fastening bolt is propped against the connecting part of the two clamping arms on the hair clamp type micro-forceps 3, so that the hair clamp type micro-forceps 3 is fixed. The clamping part 1-1 of the hair-clamp type micro-tweezers 3 is arranged downwards. The clamping driving assembly comprises a mounting block 5-1 and a grinding wheel 5-2. The mounting block 5-1 is fixed on the sliding block of the first lifting sliding table. Two grinding wheels 5-2 which are arranged side by side at the same height are supported at the outer side of the mounting block 5-1. The two grinding wheels 5-2 are respectively positioned at two sides of the hair clip type micro-forceps 3 and are respectively contacted with two clamping arms of the hair clip type micro-forceps 3. When the first lifting sliding table drives the two grinding wheels 5-2 to move downwards, the hair-clamp type micro-tweezers 3 are clamped. When the first lifting sliding table drives the two grinding wheels 5-2 to move upwards, the hair-clamp type micro-tweezers 3 are driven to be released.
As shown in fig. 3 and 4. The workbench 6-1 is fixed on the sliding block of the second lifting sliding table. The organizer assembly 7 is mounted on the table 6-1. The regulating assembly 7 comprises a chip placing table 7-1, four offset detection sensors 7-2, two air cylinders 7-3 and two regulating plates 7-4. The chip placing table 7-1 is detachably installed at the center of the top surface of the workbench 6-1. The top surface of the chip placement table 7-1 is rectangular and corresponds to the shape of the chip to be gripped. The length and width of the top surface of the chip placing table 7-1 are respectively larger than those of the chip by l. And l is an error permission threshold value of chip placement. If the chips are clamped within the range of four edges of the top surface of the chip placing table 7-1, the chips are considered to be placed rightly. The four displacement detection sensors 7-2 are grouped into two. Two opposite angles of the chip placing table 7-1 are respectively arranged on the two groups of deviation detection sensors 7-2, and the orientation of the detection head forms an included angle of 90 degrees. The detection lines of the four deviation detection sensors 7-2 are respectively positioned above the four edges of the placing table, and the distance from the top surface of the placing table is smaller than the thickness of the clamped chip 7-5. The four deviation detecting sensors 7-2 are used to detect whether the gripped chip 7-5 is completely within the range of four edges of the chip placing table 7-1.
As shown in fig. 4 and 5, two air cylinders 7-3 are fixed to the table 6-1 and are respectively located on both sides of the chip placement table 7-1. The push-out rods of the two cylinders 7-3 are both directed toward the chip placing table 7-1. The regulating plate 7-4 is L-shaped. One side plate of the two regulating plates 7-4 is respectively fixed with the push-out rods of the two cylinders 7-3. The other side plate of the two regulating plates 7-4 is positioned at the opposite side and is respectively aligned with the two side edges of the chip placing table 7-1. The top edge of the leveling plate 7-4 is higher than the top surface of the chip placing table 7-1. When the two air cylinders 7-3 are pushed out, the total four side plates on the two structured plates 7-4 are respectively contacted with the four edges of the chip placing table 7-1, so that the part of the clamped chip 7-5, which exceeds the chip placing table 7-1, is pushed into the chip placing table 7-1.
The testing method of the clamping and positioning precision testing device of the hair-clamp type micro-tweezers comprises the following steps:
step one, a worker or a front feeding device places the clamped chip 7-5 on a chip placing table 7-1.
And step two, the four laser sensors 19 emit laser to detect whether the clamped chip 7-5 is in the range of the chip placing table 7-1 or not, so as to judge whether the clamped chip 7-5 is placed rightly or not. If the four laser sensors 19 do not detect the clamped chip 7-5, directly entering the fourth step; if any one of the laser sensors 19 detects that the chip 7-5 is gripped, the two cylinders 7-3 are pushed out, so that the two leveling plates 7-4 push the gripped chip 7-5 to be in a right position, and the process is shown in fig. 5. Thereafter, a picture of the gripped chip 7-5 is taken by the camera.
And step three, retracting the two cylinders 7-3, and driving the workbench 6-1 to rise by the second lifting sliding table, so that the chip reaches between the outer ends of the two fiber bundle groups 2-3 on the hair-pin type micro-tweezers 3.
And step four, the first lifting sliding table drives the clamping driving assembly to move downwards, so that the two grinding wheels 5-2 extrude the two clamping arms of the hair-clamp type micro-forceps 3, and the outer ends of the two fiber bundle groups 2-3 clamp the chip. The clamped chips 7-5 after being aligned are clamped up without damage;
and step five, the second lifting sliding table drives the workbench 6-1 to lower, and the clamped chip 7-5 is separated from the workbench 6-1.
And step six, the second lifting sliding table drives the workbench 6-1 to rise, and the clamped chip 7-5 is in contact with the workbench 6-1 again.
And step seven, the first lifting sliding table drives the clamping driving assembly to move upwards, so that the two clamping arms drive the outer ends of the two fiber bundle groups 2-3 to loosen the chip. A picture of the gripped chip 7-5 is taken again by the camera.
Step eight, judging the positioning precision of the hair-pin type micro-tweezers on the chip in the chip clamping and transferring processes for the photos (the photos obtained in the step two and the step seven) before and after the clamping; thereby achieving the effect of testing the quality of the prepared hair-clamp type micro-tweezers.
Example 3
As shown in FIG. 6, the apparatus for preparing the hair-pin type micro-tweezers 3 of example 1 comprises a fiber transfer mechanism, a fiber feeding assembly and an embedded fiber assembly.
The fiber feeding assembly comprises a feeding frame 13, a feeding pipe 14, a feeding wheel 15, an in-position sensor 16 and a cutting assembly (not shown). The in-place sensor 16 is a photoelectric sensor with model number ZX1-LD50A 81. The material conveying frame 13 is fixed on the frame. The junction of the two feed rollers 15 is at the output end of the feed conveyor pipe 26. The end of the rolled or elongated fibre bundle is passed through the feed conveyor pipe 14 and through the junction of the two feed conveyor wheels 15. The two material conveying wheels 15 are driven by a limiting material conveying motor and a gear to rotate reversely at a constant speed, and can continuously output fiber bundles penetrating through the material conveying pipe 14. A cutting part (driven by a motor or an electric push rod) capable of cutting the fiber bundle is arranged in the cutting component. The cutting piece adopts a cutter, scissors or an electric heating cutting wire. The cutting assembly is mounted on the feed conveyor frame 13 with the cutting element on the side of the two feed conveyor wheels 15 remote from the feed conveyor pipe 14. The position sensor 16 is fixed on the material conveying frame 13 and is positioned on one side of the two material conveying wheels 15 far away from the material conveying pipe 14. The detection heads of the in-place sensors 16 are arranged at the same height as the output ends of the material conveying pipes 15, and when the end parts of the fiber bundles output by the two material conveying wheels 15 reach the position aligned with the detection heads of the in-place sensors 16, the in-place sensors 16 can detect the fiber bundles, so that the controller stops the rotation of the material conveying wheels 15, and the cutting assembly cuts the fiber bundles.
The fiber transfer mechanism includes an X-axis slide table 11, a Y-axis slide table 12, and a finger cylinder 17. The X-axis sliding table 11 is arranged on the frame; the Y-axis sliding table 12 is arranged on a sliding block of the X-axis sliding table; two sliding blocks which slide in the same direction and at the same speed are arranged on the Y-axis sliding table 12. Two finger cylinders 17 are respectively fixed on two sliding blocks of the Y-axis sliding table 12. The X-axis sliding table 11 and the Y-axis sliding table 12 are both electric sliding tables, and the sliding directions are perpendicular to each other.
The embedded fiber assembly comprises a rotary cylinder 18, a linear bearing 19, a voice coil motor 20, a pressing plate 21, a fiber mounting table 23, a jacking cylinder 24 and a hand-operated sliding table 25. The hand-operated sliding table 25 is mounted on the frame, and the sliding direction is parallel to the sliding direction of the Y-axis sliding table 12. The jacking cylinder 24 arranged on the piston rod is fixed on the sliding block of the hand-operated sliding table 25. The fiber mounting table 23 is fixed on the top end of a piston rod of the jacking cylinder 24. The top surface of the fiber mounting table 23 is provided with a positioning groove. The shape of the positioning groove corresponds to the shape of the fiber bearing sheet 2-2 and is used for positioning the fiber bearing sheet 2-2. The fiber bearing sheet 2-2 is placed in the positioning groove on the top surface of the fiber mounting table 23; the rotary cylinder 18 is fixed with a sliding block of the hand-operated sliding table 25 through an L plate and is higher than the fiber mounting table 23. The swivel head of the swivel cylinder 18 is fixed to the connecting frame. The voice coil motor is installed on the link. The pressing plate 21 and the connecting frame form a sliding pair sliding in the vertical direction through the optical axis and the linear bearing 19. The pressing plate 21 is driven by a voice coil motor and performs reciprocating vibration pressing. After the rotating cylinder is ventilated, the voice coil motor 20 and the pressing plate 2 are driven to turn over. The rotary cylinder is arranged below the first limit position, and the pressing plate is vertically arranged and separated from the fiber mounting table; the rotary cylinder is arranged below the second limit position, and the pressing plate is horizontally arranged and is positioned right above the fiber mounting table.
The method for producing the hair-clip type micro-tweezers 3 by using the preparation device of the hair-clip type micro-tweezers 3 comprises the following specific steps:
step one, marking a strip transverse microstructure on the fiber bearing sheet 2-2 by using a laser marking machine, and placing the strip transverse microstructure of the fiber bearing sheet into a positioning groove of a fiber mounting table 23 in an upward mode. The bar-shaped microstructure is composed of a plurality of fiber embedding grooves.
Step two, two material conveying wheels 15 synchronously rotate reversely, so that the fiber bundles are output; when the position sensor 16 detects the fiber bundle, the two feed rollers 15 are stopped. Two finger cylinders on the Y-axis sliding table 12 move towards the direction of the material conveying assembly at equal intervals, when the material conveying assembly moves to a designated position, the fiber bundle is clamped by ventilating the two finger cylinders 17, and the fiber bundle is cut off by the cutting assembly. The motor reversely rotates to control the Y-axis sliding table 12 to move reversely, when the fiber bearing piece is aligned with the middle of the fiber bundle, the manual sliding table 25 is used for fine adjustment, the X-axis sliding table 11 drives the Y-axis sliding table 12 to move transversely, the middle of the fiber bundle moves to the position right above the first fiber embedded groove, the jacking cylinder 24 is ventilated, the fiber bearing piece 2-2 is jacked up, and the fiber bundle is embedded into the first fiber embedded groove.
And step three, repeating the step two, and filling one or more fiber bundles into each fiber embedding groove on the fiber bearing sheet 2-2 by changing the feeding amount of the X-axis sliding table.
And step four, ventilating the rotary cylinder 18 to enable the pressing plate 21 to be turned downwards to be right above the fiber bearing sheet 2-2. Then, the voice coil motor 20 drives the pressing plate 21 to vibrate back and forth to press the fiber bundles on the fiber bearing sheet, so that each fiber bundle is firmly embedded into the corresponding fiber embedding groove. At this point, the fiber carrier sheet and the fiber bundle form a first wool nip assembly 2.
And step five, ventilating the rotary cylinder 18 to enable the pressing plate 21 to turn upwards and leave the position right above the fiber bearing sheet. The worker then takes out the fibrous carrier sheet 2-2. And cutting the fiber bundles extending out of one side of the fiber bearing sheet to be flat, so that a plurality of fiber bundles extend out of the edge of only one side of the fiber bearing sheet.
And step six, taking a fiber bearing sheet, repeating the steps from the first step to the fifth step, and processing a second wool type clamping component 2.
Seventhly, as shown in fig. 8, forming concave pits corresponding to the shape of the fiber bearing sheet on the inner planes 2-1 of the clamping parts 1-1 of the two clamping arms of the forceps main body 1. Install two hair formula centre gripping subassemblies 2 respectively in the pit of two arm locks of tweezers main part 1 for the tow in two hair formula centre gripping subassemblies 2 outwards stretches out along the length direction who corresponds the arm lock, can be used for centre gripping chip.
Claims (9)
1. A clamping and positioning precision testing device of a hair clamp type micro-forceps comprises a bottom plate, a clamping module and a chip lifting module; the method is characterized in that: the clamping module is used for mounting the tested hair clip type micro forceps; the hair-clip type micro forceps comprise a forceps main body and two hair-clip components; the two hair-type clamping components are respectively arranged on the clamping parts of the two clamping arms on the forceps main body; the wool clamping assembly comprises a fiber bundle group; the fiber bundle group comprises a plurality of fiber bundles; the fiber bundles are sequentially arranged at intervals, and the inner ends of the fiber bundles are fixed with the clamping parts of the corresponding clamping arms;
the clamping module comprises a first lifting sliding table, a clamping driving assembly and a fixing member; the chip lifting module comprises a second lifting sliding table, a workbench and a regulating assembly; the fixed piece is fixed at the top of the sliding frame of the first lifting sliding table; the connecting part of the hair-pin type micro forceps is fixed with the fixing part; the clamping part of the hair-clamp type micro-tweezers is arranged downwards; the clamping driving assembly comprises a mounting block and a grinding wheel; the mounting block is fixed on a sliding block of the first lifting sliding table; two grinding wheels which are arranged in parallel at equal height are supported at the outer side of the mounting block; the two grinding wheels are respectively positioned at two sides of the hair clip type micro-forceps and are respectively contacted with two clamping arms of the hair clip type micro-forceps;
the workbench is fixed on the sliding block of the second lifting sliding table; the regulating assembly is arranged on the workbench; the regulating assembly comprises a chip placing table, two cylinders and two regulating plates; the chip placing table is detachably arranged at the center of the top surface of the workbench; the top surface of the chip placing table is rectangular; the length and the width of the top surface of the chip placing table are respectively larger than the length and the width of the chip by l; l is an error allowable threshold; the two cylinders are fixed on the workbench and are respectively positioned at two sides of the chip placing table; the pushing rods of the two cylinders face the chip placing table; the regular plate is L-shaped; the two regulating plates are respectively fixed with the push-out rods of the two cylinders; the side plates which are tilted up on the two regular plates are respectively aligned with the edges of the two sides of the chip placing table; the top edge of the leveling plate is higher than the top surface of the chip placing table.
2. The clamping and positioning accuracy testing device of the hair-clamp type micro-tweezers according to claim 1, wherein: the hair-type clamping assembly also comprises a fiber bearing sheet; the fiber bearing sheet is provided with a strip-shaped micro structure; the strip-shaped microstructure comprises a plurality of fiber embedding grooves which are arranged at equal intervals in sequence; the inner end of each fiber bundle is embedded in each fiber embedding groove; the inner planes of the clamping parts of the two clamping arms on the tweezers main body are provided with pits for positioning the fiber bearing sheet; the side face of the fiber bearing piece provided with the strip transverse microstructure is arranged inwards and is embedded into the concave pit of the plane in the corresponding clamping part.
3. The clamping and positioning accuracy testing device of the hair-clamp type micro-tweezers according to claim 1, wherein: the diameter of the fiber bundle is 100 nm-100 mu m.
4. The clamping and positioning accuracy testing device of the hair-clamp type micro-tweezers according to claim 1, wherein: the warping assembly further comprises four offset detection sensors; the four offset detection sensors are grouped into two; two groups of offset detection sensors are respectively arranged on two opposite angles of the chip placing table; the detection lines of the four deviation detection sensors are respectively positioned above the four edges of the placing table, and the distance from the top surface of the placing table is smaller than the thickness of the clamped chip.
5. The clamping and positioning accuracy testing device of the hair-clamp type micro-tweezers according to claim 1, wherein: the first lifting sliding table and the second lifting sliding table are identical in structure and respectively comprise a sliding frame, a lead screw, a sliding block, a lifting motor, an upper limit sensor, a lower limit sensor and a shading sheet; the upper limit sensor and the lower limit sensor both adopt groove-type photoelectric sensors; the vertically arranged sliding frame is fixed on the bottom plate; a vertically arranged lead screw is supported on the sliding frame; the slide block and the guide post on the slide frame form a slide pair, and form a screw pair with the lead screw; the lifting motor is fixed on the sliding frame, and an output shaft is fixed with the lead screw; the upper limit sensor and the lower limit sensor are both arranged on the sliding frame and are arranged at intervals up and down, and the height is adjusted through the waist-shaped hole and the bolt; the shading sheet is fixed on the sliding block; the position of the light shielding sheet corresponds to the grooves on the upper limit sensor and the lower limit sensor.
6. The testing method of the clamping and positioning precision testing device of the hair-clamp type micro-tweezers according to claim 1, characterized in that: firstly, placing the clamped chip on a chip placing table by a worker or front feeding equipment;
pushing out by the two cylinders to enable the two structured plates to push the clamped chips to be aligned; shooting a picture of the clamped chip by a camera;
step three, retracting the two cylinders, and driving the workbench to rise by the second lifting sliding table so that the chip reaches between the outer ends of the two fiber bundle groups on the hair-pin type micro-tweezers;
step four, the first lifting sliding table drives the clamping driving assembly to move downwards, so that the two grinding wheels extrude two clamping arms of the hair-clamp type micro-forceps, and the outer ends of the two fiber bundle groups clamp the chip;
step five, the second lifting sliding table drives the workbench to lower, and the clamped chip is separated from the workbench;
step six, the second lifting sliding table drives the workbench to rise, and the clamped chip is in contact with the workbench again;
seventhly, the first lifting sliding table drives the clamping driving assembly to move upwards, so that the two clamping arms drive the outer ends of the two fiber bundle groups to loosen the chip; shooting the picture of the clamped chip by the camera again;
and step eight, judging the positioning precision of the hair-pin type micro-tweezers on the chip in the chip clamping and transferring processes for the photos before and after being clamped.
7. A clamping and positioning precision preparation device of a hair clamp type micro-forceps comprises a fiber transfer mechanism, a fiber feeding assembly and an embedded fiber assembly; the method is characterized in that: the fiber feeding assembly comprises a material conveying frame, a material conveying pipe and a material conveying wheel; the conveying pipe is fixed on the conveying frame; the joint of two material conveying wheels supported on the material conveying frame is positioned at the output end of the material conveying pipe; the fiber transfer mechanism comprises an X-axis sliding table, a Y-axis sliding table and a finger cylinder; the X-axis sliding table is arranged on the frame; the Y-axis sliding table is arranged on a sliding block of the X-axis sliding table; the finger cylinder is arranged on a sliding block of the Y-axis sliding table; the embedded fiber assembly comprises a rotary cylinder, a linear bearing, a voice coil motor, a pressing plate, a fiber mounting table, a jacking cylinder and a hand-operated sliding table; the sliding direction of the hand-operated sliding table is parallel to that of the Y-axis sliding table; a jacking cylinder arranged on the piston rod is fixed on a sliding block of the hand-operated sliding table; the fiber mounting table is fixed at the top end of a piston rod of the jacking cylinder; a fiber bearing sheet positioning groove is formed in the top surface of the fiber mounting table; a sliding block of a hand-operated sliding table of a rotary cylinder is fixed; a rotating head of the rotating cylinder is fixed with the connecting frame; the voice coil motor is arranged on the connecting frame; the pressing plate and the connecting frame form a sliding pair through an optical axis and a linear bearing; the rotary cylinder is arranged below the first limit position and is separated from the fiber mounting table; the rotary cylinder is arranged below the second limit position, and the pressing plate is horizontally arranged and is positioned right above the fiber mounting table; the pressing plate is driven by a voice coil motor to perform reciprocating vibration.
8. The device for preparing clamping and positioning accuracy of the hair-clamp type micro-tweezers according to claim 7; the method is characterized in that: the fiber feeding assembly also comprises an in-position sensor and a cutting assembly; a cutting part capable of cutting off the fiber bundle is arranged in the cutting-off component; the cutting piece adopts a cutter, a pair of scissors or an electric heating cutting wire; the cutting-off component is arranged on the material conveying frame, and the cutting piece is positioned on one side of the two material conveying wheels far away from the material conveying pipe; the in-place sensor is fixed on the material conveying frame and is positioned on one side of the two material conveying wheels, which is far away from the material conveying pipe; the detection head of the in-place sensor is arranged at the same height with the output end of the material conveying pipe.
9. The use method of the clamping and positioning precision preparation device of the hair-clamp type micro-forceps according to claim 7; the method is characterized in that: processing a strip transverse microstructure on a fiber bearing sheet, and placing the strip transverse microstructure of the fiber bearing sheet into a positioning groove on a fiber mounting table in an upward mode; the strip-shaped microstructure consists of a plurality of fiber embedding grooves which are sequentially arranged;
step two, the two material conveying wheels synchronously rotate in opposite directions to output the fiber bundles; a finger cylinder on the Y-axis sliding table moves to the fiber bundle and clamps the fiber bundle; thereafter, the fiber bundle is cut; the X-axis sliding table drives the finger cylinder to move, so that the fiber bundle moves to a position right above one of the empty fiber embedding grooves; then, the position of the fiber bearing sheet is adjusted through a hand-operated sliding table, and the fiber bearing sheet is jacked up by a jacking cylinder, so that the fiber bundle is embedded into the fiber embedding groove;
step three, repeating the step two, and filling one or more fiber bundles into each fiber embedding groove on the fiber bearing sheet by changing the feeding amount of the X-axis sliding table;
fourthly, the rotary cylinder drives the pressing plate to overturn to the position right above the fiber bearing sheet; then, the voice coil motor drives the pressing plate to reciprocate and vibrate to press the fiber bundles on the fiber bearing sheet, so that each fiber bundle is embedded into the corresponding fiber embedding groove;
fifthly, the rotary cylinder drives the pressing plate to turn over and leave the position right above the fiber bearing sheet; then, the worker takes out the fiber bearing sheet;
taking a fiber bearing sheet, and repeating the steps one to five;
seventhly, forming concave pits on the inner planes of the clamping parts of the two clamping arms of the forceps main body; and (3) respectively installing the two fiber bearing sheets embedded with the fiber bundles prepared in the first step to the sixth step into the pits of the two clamping arms of the forceps main body 1.
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| CN202010625721.7A CN111977359B (en) | 2020-07-01 | 2020-07-01 | Micro-tweezers imitating surface structure of large jaw of ant mouthpart and test preparation device and method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10875190B2 (en) * | 2017-11-15 | 2020-12-29 | The Board Of Trustees Of The Leland Stanford Junior University | Patterned and instrumented directional adhesives for enhanced gripping with industrial manipulators |
| US10919158B2 (en) * | 2018-02-05 | 2021-02-16 | Massachusetts Institute Of Technology | Three-dimensional electromechanical adhesive devices and related systems and methods |
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| CN102476360A (en) * | 2010-11-24 | 2012-05-30 | 佛山普立华科技有限公司 | Clamp |
| WO2018009754A1 (en) * | 2016-07-07 | 2018-01-11 | The Board Of Trustees Of The Leland Stanford Junior University | Air-bladder enhanced with gecko-adhesive for grasping applications |
| CN206298666U (en) * | 2016-12-21 | 2017-07-04 | 北京化工大学 | Micro-fluidic ultrafine fiber preparation device in a kind of Polymer thin film |
| CN110296883A (en) * | 2018-03-22 | 2019-10-01 | 株式会社岛津制作所 | Clip tooth and fixture |
| CN110730707A (en) * | 2018-08-22 | 2020-01-24 | 上海非夕机器人科技有限公司 | Robot and gripper with synthetic fiber glue |
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