Method and device for aiming at and fetching columnar micro-part on the basis of microscopic vision

Abstract

The invention discloses a method and device for aiming at and fetching a columnar micro-part on the basis of the microscopic vision. The device comprises four motion platforms, two paths of orthogonally-arranged microscopic vision systems, a gripper, a vacuum generator and a computer, wherein each path of microscopic vision system is installed on the six-degree-of-freedom motion platform; the gripper is installed on the three-degree-of-freedom motion platform; and the columnar micro-part is arranged on the six-degree-of-freedom platform. The method comprises the following steps of: firstly, the gripper enters the visual field of the microscopic vision systems; by taking the gripper as the standard, the poses of the orthogonally-arranged microscopic vision systems are regulated; then, the gripper is exited; the columnar micro-part enters the visual field; the gesture of the columnar micro-part is regulated; and under the guidance of the vertically-downward microscopic vision systems, the gripper approaches to the columnar micro-part and fetches the columnar micro-part in a vacuum adsorption mode. According to the invention, the decoupling of a camera coordinate system and a motion coordinate system is realized, the parameter of the camera does not need to be calibrated, and the microscopic vision systems do not need to be focused for several times, thereby being convenient to apply.

Description

technical field [0001] The invention belongs to microscopic vision measurement and control in the technical field of robot micromanipulation, in particular to a method and device for aligning and grabbing columnar micro parts based on microscopic vision. Background technique [0002] At present, the commonly used micro-manipulation method is carried out under the guidance of microscopic vision. The position and posture of the target in the plane are measured by microscopic vision, and the operator is controlled to adjust his own posture according to the posture of the target in order to approach and grasp the target. Due to the small depth of field and small field of view of microscopic vision, it is often necessary to make the target enter and exit the field of view of the camera multiple times in order to observe different targets, resulting in complicated operation processes (see literature: Zemin Jiang, De Xu, Min Tan, Hui Xie.MEMS Assembly with the Simplex Focus Measur...

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Problems solved by technology

[0003] In order to solve the problem in the prior art that the holder and the columnar micro-part target need to enter and exit the field of view of the camera many times, resulting in complex operation process and low efficiency caused by multiple focusing, the purpose of the present invention is to provide a method that does not require multiple focusing Method and device for aligning and grabbing columnar micro parts with gripper guided by microscopic vision

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