CN103707058A - Automatic precise assembling platform for fusion target key components - Google Patents

Abstract

An automatic precision assembly platform for key parts of a fusion target, which relates to an assembly platform for key parts of an ignition target, to solve the problem that the existing key parts of an ignition target are assembled using a semi-automatic assembly device, the assembly process is complicated, the operation is complicated, the cumulative error is large, and the stability is poor question. Diagnostic ring initial positioning and clamping device, target capsule clamping and positioning device, upper set clamping and positioning device, vertical microscope image feedback device, diagnostic ring fine positioning clamping device, horizontal microscope image feedback device and lower set clamping and positioning device Arranged counterclockwise on the upper end surface of the substrate, the target pellet clamping and positioning device is set between the initial positioning clamping device of the diagnostic ring and the clamping and positioning device of the upper set, and the vertical microscope image feedback device is set on the fine positioning clamping device of the diagnostic ring Between the clamping and positioning device of the upper set, the horizontal microscope image feedback device is arranged between the fine positioning clamping device of the diagnosis ring and the clamping and positioning device of the lower set. The invention is used for the assembly of the key parts of the fusion target.

Description

An automatic precision assembly platform for key parts of fusion targets

technical field

The invention relates to an assembly platform for key parts of an ignition target, which belongs to the technical field of laser fusion target assembly, in particular to an automatic and precise assembly platform for key parts of a fusion target.

Background technique

The ignition target is a kind of laser fusion target. The key parts include: the target pellet, the diagnostic ring, the upper kit arm and the lower kit arm. The assembly requires that the target pellet be precisely positioned in the center of the diagnostic ring, and then connected to the diagnostic ring by the upper and lower sockets. , in order to meet the ignition requirements, a large number of high-precision ignition target assemblies are required for long-term stability. At present, the key parts of the domestic ignition target are assembled by traditional manual installation, which has poor precision and low efficiency. However, foreign semi-automatic assembly devices have many redundant degrees of freedom, which lead to complex assembly process, complicated operation, high cost, and many accumulated errors and poor rigidity. More ingredients lead to poor stability and low efficiency. In order to meet the ignition requirements, the assembly platform needs better stability, ease of operation, and higher precision and efficiency. Therefore, for the assembly platform of the key parts of the ignition target, the key to the assembly of the ignition target parts is to adopt a high degree of automation, strong rigidity, simple and stable operation, and improve accuracy and efficiency.

Contents of the invention

The purpose of the present invention is to solve the problem of using a semi-automatic assembly device for the assembly of the key parts of the existing ignition target, which has many redundant degrees of freedom, complex assembly process, complex operation, and many accumulated errors, poor rigidity, and manual participation, resulting in poor stability and low efficiency. low problem, and provide an automatic precision assembly platform for fusion target key parts.

The present invention is achieved by the following technical solutions:

The automatic precision assembly platform for key parts of the fusion target includes a base plate, a diagnostic ring initial positioning and clamping device, a diagnostic ring fine positioning clamping device, a target pellet clamping and positioning device, an upper kit clamping and positioning device, a lower kit clamping and positioning device, a vertical Microscope image feedback device and horizontal microscope image feedback device, diagnostic ring initial positioning and clamping device, target pellet clamping and positioning device, upper set clamping and positioning device, vertical microscope image feedback device, diagnostic ring fine positioning clamping device, horizontal microscope The image feedback device and the clamping and positioning device of the lower set are arranged on the upper end surface of the substrate in counterclockwise order, and the diagnostic ring initial positioning clamping device and the diagnostic ring fine positioning clamping device are arranged on the upper end surface of the substrate oppositely along the horizontal axis of the substrate. In addition, the initial positioning suction hole on the initial positioning clamping device of the diagnostic ring and the fine positioning suction hole on the fine positioning clamping device of the diagnostic ring are arranged in direct opposition, and the upper set clamping positioning device and the lower set clamping positioning device are along the longitudinal axis It is relatively arranged on the upper end surface of the base plate, and the center point of the upper diagnostic ring hole on the upper sleeve clamping positioning device and the center point of the lower diagnostic ring hole on the lower sleeve clamping positioning device are on the longitudinal axis, and the target capsule is clamped The positioning device is set between the initial positioning and clamping device of the diagnostic ring and the clamping and positioning device of the upper set, the vertical microscope image feedback device is set between the fine positioning clamping device of the diagnostic ring and the clamping and positioning device of the upper set, and the horizontal microscope image feedback The device is arranged between the fine positioning and clamping device of the diagnosis ring and the clamping and positioning device of the lower set.

Compared with the prior art, the present invention has the following beneficial effects:

The invention utilizes the initial positioning and clamping device of the diagnostic ring, the fine positioning and clamping device of the diagnostic ring, the clamping and positioning device of the target pill, the clamping and positioning device of the upper set and the clamping and positioning device of the lower set to assemble the key parts of the ignition target, and through the diagnosis The positioning edge on the ring initial positioning clamping device, the positioning pins on each device fix the position and posture of the target parts, the vertical microscope image feedback device, and the horizontal microscope image feedback device realize image acquisition, and the feature information is extracted by the host computer program and controlled The assembly process reduces the assembly adjustment process and non-redundant assembly degrees of freedom in the same direction, reducing the complexity of the system. There is no manual component in the entire assembly process, thereby increasing the rigidity and stability of the system, improving assembly accuracy and efficiency, and positioning accuracy. High (up to ±0.2μm), high efficiency (including the preparation process before assembly, it takes less than 2 hours).

Description of drawings

Fig. 1 is a top perspective view of the overall structure of the present invention;

Fig. 2 is a perspective view of the initial positioning clamping device 2 of the diagnostic ring;

Fig. 3 is a perspective view of the initial positioning clamping suction head 2-2;

Fig. 4 is the stereogram of target pill support 2-1;

Fig. 5 is a perspective view of the diagnostic ring fine positioning clamping device 3;

Fig. 6 is a perspective view of the fine positioning suction head 3-1;

Fig. 7 is a perspective view of the target capsule clamping and positioning device 4;

Fig. 8 is a perspective view of the target pill suction head 4-1;

Fig. 9 is a perspective view of the clamping and positioning device 5 of the upper sleeve;

Fig. 10 is a bottom perspective view of the upper sleeve holder 5-1;

Fig. 11 is a bottom perspective view of the upper sleeve 9-3 installed on the upper sleeve holder 5-1;

Fig. 12 is a perspective view of the lower sleeve clamping and positioning device 6;

Fig. 13 is a top perspective view of the lower kit holder 6-1;

Fig. 14 is a top perspective view of the upper sleeve 9-3 installed on the lower sleeve holder 6-1;

Fig. 15 is a perspective view of the vertical microscope image feedback device 7;

Fig. 16 is a perspective view of the horizontal microscope image feedback device 8;

Fig. 17 is a perspective view of key parts 9 of the ignition target;

FIG. 18 is an exploded perspective view of key parts 9 of the ignition target.

Detailed ways

Specific Embodiment 1: This embodiment is described in conjunction with Fig. 1, Fig. 16 and Fig. 17. The automatic precision assembly platform for key parts of the fusion target in this embodiment includes a substrate 1, a diagnostic ring initial positioning clamping device 2, and a diagnostic ring fine positioning clamp Device 3, target pellet clamping and positioning device 4, upper set clamping and positioning device 5, lower set clamping and positioning device 6, vertical microscope image feedback device 7 and horizontal microscope image feedback device 8, diagnostic ring initial positioning clamping device 2 , the target pill clamping and positioning device 4, the upper sleeve clamping and positioning device 5, the vertical microscope image feedback device 7, the diagnostic ring fine positioning clamping device 3, the horizontal microscope image feedback device 8 and the lower sleeve clamping and positioning device 6 in reverse The clockwise arrangement is arranged on the upper end surface of the base plate 1, the diagnostic ring initial positioning clamping device 2 and the diagnostic ring fine positioning clamping device 3 are arranged relatively on the upper end face of the base plate 1 along the transverse axis X-X of the base plate 1, and the diagnostic ring initial positioning clamp The initial positioning suction hole 2-2-2 on the holding device 2 and the fine positioning suction hole 3-1-2 on the diagnostic ring fine positioning clamping device 3 are set directly, and the upper set clamping positioning device 5 and the lower set clamping The positioning device 6 is relatively arranged on the upper end surface of the base plate 1 along the longitudinal axis Y-Y of the base plate 1, and the center point of the upper diagnostic ring hole 5-1-1-3 on the upper set clamping positioning device 5 is clamped and positioned with the lower set The center point of the lower diagnostic ring hole 6-1-1-3 on the device 6 is on the longitudinal axis Y-Y, and the target capsule clamping and positioning device 4 is arranged between the initial positioning and clamping device 2 of the diagnostic ring and the upper sleeve clamping and positioning device 5 Between them, the vertical microscope image feedback device 7 is set between the diagnostic ring fine positioning clamping device 3 and the upper set clamping positioning device 5, and the horizontal microscope image feedback device 8 is set between the diagnostic ring fine positioning clamping device 3 and the lower set clamp Between the holding and positioning devices 6, the key parts 9 of the ignition target are composed of a target pellet 9-1, a diagnostic ring 9-2, an upper set 9-3 and a lower set 9-4; the initial positioning clamping device 2 of the diagnostic ring and the vertical microscope The image feedback device 7 cooperates and is controlled by the host computer program to realize the automatic initial positioning of the diagnostic ring 9-2 and the target pill 9-1 in the X direction; the diagnostic ring initial positioning clamping device 2, the target pellet clamping and positioning device 4 and the vertical microscope The image feedback device 7 and the horizontal microscope image feedback device 8 cooperate and are controlled by the host computer program to realize the automatic adjustment and positioning of the diagnostic ring 9-2 and the target pill 9-1 in the X and Y directions; the upper set clamping and positioning device 5, the lower set clamp The holding positioning device 6 cooperates with the vertical microscope image feedback device 7 and the horizontal microscope image feedback device 8, and is controlled by the host computer program to realize the automatic positioning of the upper suite 9-3 and the lower suite 9-4 in X, Y, and Z directions.

Specific embodiment two: this embodiment is described in conjunction with Fig. 2 and Fig. 3, the initial positioning clamping device 2 of the diagnostic ring of this embodiment includes a target pill support 2-1, an initial positioning clamping suction head 2-2, and an initial positioning suction pipe 2-3, initial positioning block 2-4, initial positioning L-shaped pressing block 2-5, rotating electromagnet 2-6, baffle plate 2-7, horizontal end plate 2-8, two L-shaped plates 2-9, Initial positioning linear motor 2-10, rotating rod 2-11, first positioning pin 2-12, adapter 2-13, second positioning pin 2-14, third positioning pin 2-15 and rotary positioning member 2-16 The two L-shaped plates 2-9 are symmetrically arranged on both sides of the upper end surface of the linear motor 2-10 along the longitudinal center line of the linear motor 2-10, and the inner angles of the two L-shaped plates 2-9 are arranged oppositely, horizontally The end plate 2-8 is arranged on the upper end surface of the two L-shaped plates 2-9, and the first positioning pin 2-12 and the second positioning pin 2-14 are arranged on the upper end surface of the horizontal end plate 2-8 along the same straight line , the positioning block 2-4 is arranged on the upper end surface of the horizontal end plate 2-8, the positioning block 2-4 is positioned by the first positioning pin 2-12 and the second positioning pin 2-14, and the initial positioning block 2-4 is positioned by the initial The positioning L-shaped pressing block 2-5 is fixed, the initial positioning block 2-4 is provided with a rotating rod mounting hole 2-4-1, the rotating electromagnet 2-6 is arranged on the initial positioning block 2-4, and the rotating rod 2-11 Set in the rotating rod mounting hole 2-4-1, the rear end of the rotating rod 2-11 is connected with the rotating electromagnet 2-6 through the adapter 2-13, and the front end of the rotating rod 2-11 passes through the rotating positioning member 2- 16 is connected with the target pill support 2-1, the rotating rod 2-11 and the rotary positioning member 2-16 are fixed by screws, and the supporting plate 2-1-1 on the target pill support 2-1 is connected with the rotating positioning member 2-16. The positioning piece 2-16-1 on the 16 is parallel and oppositely arranged, and the upper end surface of the supporting piece 2-1-1 is provided with a target pill positioning nail 2-1-2, and the rotating positioning piece 2-16 passes through the third positioning pin 2 -15 positioning, the third positioning pin 2-15 is arranged on the front end surface of the initial positioning block 2-4, rotates through the rotating electromagnet 2-6, and the positioning pin 2-15 blocks the positioning of the rotating positioning member 2-16, and the baffle plate 2-7 is arranged on the rear end of the rotating electromagnet 2-6, and the initial positioning suction pipe 2-3 is arranged in parallel with the rotating rod 2-11, and the rear end of the initial positioning suction pipe 2-3 passes through the initial positioning block 2-4, and the initial positioning The front end of the suction pipe 2-3 is connected with the initial positioning clamping suction head 2-2, the initial positioning clamping suction head 2-2 is connected with the initial positioning suction tube 2-3 through tight fit and sealed with glue, and the initial positioning clamping suction head 2- The front end face of 2 is provided with initial positioning arc-shaped surface 2-2-1, and initial positioning suction hole 2-2-2 communicated with initial positioning suction pipe 2-3 is provided on initial positioning clamping suction head 2-2, initial positioning The front end of the clamping suction head 2-2 is provided with a positioning edge 2-2-3, the diagnostic ring 1-2 is adsorbed in the initial positioning arc surface 2-2-1 through the initial positioning suction hole 2-2-2, and the positioning edge 2-2-3 is used to locate the diagnostic ring 1-2, the initial positioning clamping suction head 2-2 is set on the target pill support 2-1, and the target pill 9-1 passes through the support piece 2-1-1. target The pill positioning nail 2-1-2 is fixed, and the diagnosis ring 9-2 is fixed through the adsorption and fixation of the preliminary positioning suction hole 2-2-2, and is positioned along the 2-2-3 by the positioning. The initial positioning linear motor 2-10 adopts a PMT105-50-LM piezoelectric motor. Other components and connections are the same as those in the first embodiment.

The working principle of the diagnostic ring initial positioning clamping device 2: the rotating electromagnet 2-6 drives the front end to rotate through the motor driver, the rotating electromagnet 2-6 and the adapter 2-13 are fixed by screws, and the rotating electromagnet 2-6 drives the rotation The joint 2-13 rotates, the adapter 2-13 and the rotating rod are fixed by screws, the rotating of the adapter 2-13 drives the rotating rod 2-11 to rotate, and the rotating rod 2-11 is connected to the target pill support 2-1 and the rotating positioning member 2 -16 is connected by screws, the rotation of the rotating rod 2-11 drives the rotation of the target ball support member 2-1 and the rotation positioning member 2-16, and the rotation positioning member 2-16 is blocked by the third positioning pin 2-15, which blocks the rotating electromagnet 2 -6 turns. The initial positioning clamping suction head 2-2 communicates with the initial positioning suction pipe 2-3 to connect to the external vacuum adsorption air pipe.

Specific embodiment three: This embodiment is described in conjunction with FIG. 4 and FIG. 5. The diagnostic ring fine positioning clamping device 3 of this embodiment includes a fine positioning suction head 3-1, a fourth positioning pin 3-2, and a fine positioning suction pipe 3- 3. Fine positioning positioning rod 3-4, fine positioning L-shaped pressure block 3-5, fifth positioning pin 3-6, fine positioning elbow 3-7, sixth positioning pin 3-8, seventh positioning pin 3- 9. Fine positioning connecting plate 3-10, fine-tuning table 3-11, upper connecting plate 3-12, fine positioning linear motor 3-13, lower connecting plate 3-14 and fine positioning stepping motor 3-15, upper connecting plate 3-12. The fine positioning linear motor 3-13 and the lower connecting plate 3-14 are sequentially arranged on the upper end surface of the fine positioning stepping motor 3-15 from top to bottom, and the fine positioning connecting plate 3-10 and the fine adjustment table 3- 11 The upper and lower sides are arranged on the upper connecting plate 3-12, the fifth positioning pin 3-6 and the seventh positioning pin 3-9 are arranged on the upper end surface of the fine positioning connecting plate 3-10 along the same straight line, and the fine positioning and positioning The rod 3-4 is arranged on the fine positioning connecting plate 3-10, the fine positioning positioning rod 3-4 is positioned by the fifth positioning pin 3-6, the sixth positioning pin 3-8 and the seventh positioning pin 3-9, the sixth positioning pin The positioning pin 3-8 is arranged on the rear end of the fine positioning positioning rod 3-4, the fine positioning positioning rod 3-4 is fixed by the fine positioning L-shaped pressing block 3-5, and the fine positioning elbow 3-7 is arranged on the fine positioning positioning rod The tail end of the upper end face of 3-4, the rear end of the fine positioning straw 3-3 passes through the fine positioning positioning rod 3-4, the front end of the fine positioning straw 3-3 is connected with the fine positioning suction head 3-1, and the positioning straw 3 The two ends of -3 are connected with the fine positioning suction head 3-1 and the fine positioning positioning rod 3-4 through a tight fit and sealed with glue, and the front end surface of the fine positioning suction head 3-1 is provided with a fine positioning arc surface 3-1- 1. The fine positioning suction head 3-1 is provided with a fine positioning suction hole 3-1-2 communicating with the fine positioning suction pipe 3-3, and the fourth positioning pin 3-2 is arranged on the fine positioning suction head 3-1. The fine-tuning table 3-11 adopts the AIS-60B manual fine-tuning table, the fine-positioning linear motor 3-13 adopts the MT105-LM type piezoelectric motor, and the fine-positioning stepping motor 3-15 adopts the KS102-70 type stepping motor. The diagnosis ring 1-2 is adsorbed in the fine positioning arc surface 3-1-1 through the fine positioning suction hole 3-1-2, and positioned by the fourth positioning pin 3-2. Other compositions and connections are the same as those in Embodiment 1 or 2.

The working principle of the diagnostic ring fine positioning clamping device 3: the fine positioning stepping motor 3-15 drives the linear movement through the connection driver, the precision stepping motor 3-15 moves to drive the lower connecting plate 3-14 to move, and the lower connecting plate 3-14 The movement drives the fine positioning linear motor 3-13 to move, and the fine positioning linear motor 3-13 drives the linear movement perpendicular to the moving direction of the fine positioning stepping motor 3-15 through the connection driver, and the fine positioning linear motor 3-13 moves to drive the upper connecting plate 3-12 movement, the movement of the upper connecting plate 3-12 drives the fine-tuning table 3-11 to move, the fine-tuning table 3-11 moves vertically by manual adjustment, the fine-tuning table 3-11 moves to drive the fine positioning connecting plate 3-10 to move, fine positioning connection The movement of the plate 3-10 drives the fine positioning positioning rod 3-4 to move, the fine positioning positioning rod 3-4 moves to drive the fine positioning straw 3-3 to move, and the fine positioning straw 3-3 drives the fine positioning suction head 3-1 and the fourth positioning The pin 3-2 moves, the fine positioning suction head 3-1 communicates with the fine positioning suction pipe 3-3, the fine positioning positioning rod 3-4, and the fine positioning elbow 3-7, and the fine positioning elbow 3-7 is connected to the vacuum adsorption air pipe .

Specific Embodiment 4: This embodiment is described in conjunction with Fig. 6 and Fig. 7. The target capsule clamping and positioning device 4 of this embodiment includes a target capsule suction head 4-1, a target capsule clamping straw 4-2, and a target capsule clamping and positioning device. Rod 4-3, eighth positioning pin 4-4, target capsule clamping L-shaped pressure block 4-5, ninth positioning pin 4-6, target capsule clamping elbow 4-7, target capsule adapter seat 4- 8. Vertical lifting motor 4-9, the first target pill clamping stepper motor 4-10 and the second target pill clamping stepper motor 4-11, the first target pill clamping stepper motor 4-10 is arranged on On the upper end face of the second pill clamping stepper motor 4-11, the pill adapter seat 4-8 and the vertical lifting motor 4-9 are arranged up and down on the first pill clamping stepper motor 4-10, The eighth positioning pin 4-4 and the ninth positioning pin 4-6 are arranged on the upper end surface of the target pill adapter seat 4-8 along the same straight line, and the target pill clamping positioning rod 4-3 is arranged on the target pill adapter seat 4 On -8, the target pill clamping positioning rod 4-3 is positioned by the eighth positioning pin 4-4 and the ninth positioning pin 4-6, and the target pill clamping positioning rod 4-3 is clamped by the target pill L-shaped pressure block 4 -5 is fixed, the target pill clamping elbow 4-7 is arranged on the tail end of the upper end surface of the target pill clamping positioning rod 4-3, and the rear end of the target pellet clamping suction pipe 4-2 passes through the target pellet clamping positioning rod 4-3, the front end of the target pill clamping straw 4-2 is connected with the target pill suction head 4-1, and the two ends of the target pill clamping straw 4-2 are connected with the target pill suction head 4-1 and the target pill clamping positioning rod 4-3 is connected by a tight fit and sealed with glue. The target pill suction head 4-1 is provided with a target pill suction hole 4-1-1 communicated with the target pill holding straw 4-2, and the target pill suction head 4-1 is The front end is provided with a target pill positioning edge 4-1-2, and the target pill 9-1 is adsorbed and fixed through the target pill suction hole 4-1-1, and positioned along the target pill positioning edge 4-1-2. The vertical lifting motor 4-9 adopts the SGSP60-5ZF type motor, the first target pellet clamping stepper motor 4-10 adopts the SGSP20-20 type stepper motor, and the second target pellet clamping stepper motor 4-11 adopts SGSP20-20 type stepper motor. Other components and connections are the same as those in the third embodiment.

The working principle of the target capsule clamping and positioning device 4: the second capsule clamping stepping motor 4-11 is connected to the motor driver to drive the linear movement, and the second capsule clamping stepping motor 4-11 moves to drive the first capsule clamping Hold the stepper motor 4-10 to move, the first target pill clamping stepper motor 4-10 drives the linear motion perpendicular to the direction of the target pill clamping stepper motor 4-11 by connecting the motor driver, the first target pill clamping step The movement of the feed motor 4-10 drives the vertical lift motor 4-9 to move, and the vertical lift motor 4-9 moves vertically by connecting the motor driver, and the vertical lift motor 4-9 moves to drive the target ball adapter seat 4-8 to move, and the target The movement of the pill adapter seat 4-8 drives the movement of the target pill clamping positioning rod 4-3, the movement of the target pill clamping positioning rod 4-3 drives the movement of the target pill clamping straw 4-2, and the target pill clamping straw 4-2 moves Drive the target pellet suction head 4-1 to move. The target pill suction head 4-1 communicates with the target pill clamping suction pipe 4-2, the target pellet clamping positioning rod 4-3, and the target pellet clamping elbow 4-7, and the target pellet clamping elbow 4-7 is connected to the vacuum Suction straw.

Embodiment 5: This embodiment is described in conjunction with FIG. 8. The upper sleeve clamping and positioning device 5 of this embodiment includes an upper sleeve holder 5-1, a connector 5-2, an upper sleeve positioning manual fine-tuning platform 5-3, Mounting seat for fine-tuning platform of upper kit 5-4, force sensor of upper kit 5-5, positioning cantilever of upper kit 5-6, first positioning linear motor of upper kit 5-7, L-shaped connecting plate of upper kit 5-8, upper kit The second positioning linear motor 5-9 and the clamping and positioning base 5-10 of the upper set, the first positioning linear motor 5-7 of the upper set and the second positioning linear motor 5-9 of the upper set are vertically arranged, and the first positioning linear motor of the upper set 5-7 is arranged on the front end face of the L-shaped connecting plate 5-8 of the upper set, and the L-shaped connecting plate 5-8 of the upper set is arranged on the second positioning linear motor 5-9 of the upper set, and the second positioning linear motor 5-9 of the upper set -9 is arranged on the upper set clamping and positioning base 5-10, and one end of the upper set positioning cantilever 5-6 is fixed on the front end face of the first positioning linear motor 5-7 of the upper set, and the upper set positioning cantilever 5-6 The other end is sequentially installed with upper kit holder 5-1, connector 5-2, upper kit positioning manual fine-tuning table 5-3, upper kit fine-tuning table mounting seat 5-4 and upper kit force sensor 5- 5. The positioning manual fine-tuning table 5-3 of the upper kit adopts the manual fine-tuning table of KKD-25C model. The force sensor 5-5 of the upper set adopts the force sensor of the NANO43 model, and the force sensor 5-5 of the upper set realizes the control of the assembly force through the method of controlling the assembly force of the shaft hole in the host computer program, completes the assembly, and improves the success rate of assembly. The first positioning linear motor 5-7 of the upper kit adopts a piezoelectric motor of the type 2-10MT105-2LM. The second positioning linear motor 5-9 of the upper kit adopts a piezoelectric motor of the KDT108-LM type. Other compositions and connections are the same as those in Embodiment 4.

The working principle of the clamping and positioning device 5 of the upper set: the second positioning linear motor 5-9 of the upper set drives a linear movement by connecting the motor driver, and the second positioning linear motor 5-9 of the upper set moves to drive the L-shaped connecting plate 5-8 of the upper set Move, the movement of the L-shaped connecting plate 5-8 of the upper set drives the first positioning linear motor 5-7 of the upper set to move, the first positioning linear motor 5-7 of the upper set drives vertical movement by connecting the motor driver, and the first positioning linear motor of the upper set The 5-7 movement drives the upper kit positioning cantilever 5-6 to move, the upper kit positioning cantilever 5-6 moves to drive the upper kit force sensor 5-5 to move, and the upper kit force sensor 5-5 moves to drive the upper kit fine-tuning table mounting seat 5 -4 moves, the upper kit fine-tuning table mounting seat 5-4 moves to drive the upper kit positioning manual fine-tuning table 5-3 to move, the upper kit positioning manual fine-tuning table 5-3 moves vertically by manual adjustment, and the upper kit positioning manual fine-tuning table 5-3 The movement drives the connector 5-2 to move, and the movement of the connector 5-2 drives the upper kit holder 5-1 to move.

Specific Embodiment Six: This embodiment is described in conjunction with Figures 9 and 10. The upper sleeve holder 5-1 of this embodiment includes an upper sleeve clamping seat 5-1-1, a first upper sleeve positioning pin 5-1- 2. The second upper set positioning pin 5-1-3 and the third upper set positioning pin 5-1-4, the lower end surface of the upper set holding seat 5-1-1 is provided with an upper set suction groove 5-1- 1-1, the upper set suction groove 5-1-1-1 is provided with the upper set suction hole 5-1-1-2, and the upper set holding seat 5-1-1 is provided with the upper set suction hole 5- 1-1-2 connected upper set external suction hole 5-1-1-4, the upper set external suction hole 5-1-1-4 is connected with the vacuum adsorption suction pipe, and the upper set clamping seat 5-1-1 is provided with There is an upper diagnostic ring hole 5-1-1-3, the first upper set positioning pin 5-1-2 and the second upper set positioning pin 5-1-3 are symmetrically arranged on the upper set suction groove 5-1-1-1 on both sides, the third upper set positioning pin 5-1-4 and the second upper set positioning pin 5-1-3 are arranged on the same side, the third upper set positioning pin 5-1-4 and the second upper set positioning pin 5-1-3 setup along the same line. The upper set 9-3 is clamped and fixed by the upper set suction hole 5-1-1-2 and the upper set suction groove 5-1-1-1, and is fixed by the first upper set positioning pin 5-1-2, the second upper set Locating pin 5-1-3 and locating pin 5-1-4 of the third upper set. Other compositions and connections are the same as those in Embodiment 5.

Specific Embodiment Seven: This embodiment is described in conjunction with FIG. 11. The lower kit clamping and positioning device 6 of this embodiment includes a lower kit holder 6-1, a transfer positioning member 6-2, and an upper kit positioning manual fine-tuning platform 6- 3. Lower kit fine-tuning table mounting seat 6-4, upper kit force sensor 6-5, lower kit positioning cantilever 6-6, lower kit first positioning linear motor 6-7, lower kit L-shaped connecting plate 6-8 and The second positioning linear motor 6-9 of the lower kit, the first positioning linear motor 6-7 of the lower kit and the second positioning linear motor 6-9 of the lower kit are vertically arranged, and the first positioning linear motor 6-7 of the lower kit is arranged in the L shape of the lower kit On the front end face of the connecting plate 6-8, the L-shaped connecting plate 6-8 of the lower kit is arranged on the second positioning linear motor 6-9 of the lower kit, and one end of the positioning cantilever 6-6 of the lower kit is fixed on the first positioning linear motor of the lower kit On the front end surface of 6-7, the other end of the lower kit positioning cantilever 6-6 is sequentially installed with the lower kit holder 6-1, the transfer positioning part 6-2, and the upper kit positioning manual fine-tuning platform 6- 3 and lower kit trimmer mounts 6-4. The positioning manual fine-tuning table 6-3 of the upper kit adopts the manual fine-tuning table of KKD-25C model. The force sensor 6-5 of the upper set adopts the force sensor of the NANO43 model, and the force sensor 6-5 of the upper set realizes the control of the assembly force through the method of controlling the assembly force of the shaft hole in the host computer program, completes the assembly, and improves the success rate of assembly. The first positioning linear motor 6-7 of the lower kit adopts the piezoelectric motor of the MT105-2LM model. The second positioning linear motor 6-9 of the lower kit adopts the piezoelectric motor of the KDT108-LM model. Other compositions and connections are the same as those in Embodiment 1, 2, 4 or 6.

The working principle of the clamping and positioning device 6 of the lower kit: the second positioning linear motor 6-9 of the lower kit is connected to the motor driver to drive the linear movement, and the second positioning linear motor 6-9 of the lower kit moves to drive the L-shaped connecting plate 6-8 of the lower kit Move, the movement of the L-shaped connecting plate 6-8 of the lower kit drives the first positioning linear motor 6-7 of the lower kit to move, the first positioning linear motor 6-7 of the lower kit drives vertical movement through the connection with the motor driver, and the first positioning linear motor of the lower kit The 6-7 movement drives the lower kit positioning cantilever 6-6 to move, the lower kit positioning cantilever 6-6 moves to drive the upper kit force sensor 6-5 to move, and the upper kit force sensor 6-5 moves to drive the lower kit fine-tuning platform mounting seat 6 -4 moves, the lower kit fine-tuning table mounting seat 6-4 moves to drive the upper kit positioning manual fine-tuning table 6-3 to move, the upper kit positioning manual fine-tuning table 6-3 moves vertically by manual adjustment, and the upper kit positioning manual fine-tuning table 6-3 The movement drives the transfer positioning part 6-2 to move, and the transfer positioning part 6-2 moves to drive the lower kit holder 6-1 to move.

Embodiment 8: This embodiment is described in conjunction with Fig. 12 and Fig. 13. The lower kit holder 6-1 of this embodiment includes a lower kit clamping seat 6-1-1, a first lower kit positioning pin 6-1- 2. The second lower set positioning pin 6-1-3 and the third lower set positioning pin 6-1-4, the upper end surface of the lower set holding seat 6-1-1 is provided with the lower set suction groove 6-1- 1-1, the lower kit suction groove 6-1-1-1 is provided with the lower kit suction hole 6-1-1-2, and the lower kit clamping seat 6-1-1 is provided with the lower kit suction hole 6- 1-1-2 is connected with the external suction hole 6-1-1-4 of the lower set, the external suction hole 6-1-1-4 of the lower set is connected with the vacuum suction pipe, and the lower set clamping seat 6-1-1 is provided with There is a lower diagnostic ring hole 6-1-1-3, the first lower set positioning pin 6-1-2 and the second lower set positioning pin 6-1-3 are symmetrically arranged on the lower set suction groove 6-1-1-1 On both sides, the third lower kit positioning pin 6-1-4 and the second lower kit positioning pin 6-1-3 are arranged on the same side, and the third lower kit positioning pin 6-1-4 and the second lower kit positioning pin 6 -1-3 are set along the same straight line. The lower set 9-4 is clamped and fixed by the lower set suction hole 6-1-1-2 and the lower set suction groove 6-1-1-1, and is fixed by the first lower set positioning pin 6-1-2, the second lower set Positioning pin 6-1-3 and positioning pin 6-1-4 of the third lower kit. Other compositions and connections are the same as those in Embodiment 7.

Ninth specific embodiment: This embodiment will be described in conjunction with FIG. Connector 7-4, vertical connecting arm 7-5, vertical stepping motor 7-6 and vertical fixing frame 7-7, vertical stepping motor 7-6 is arranged on the vertical fixing frame 7-7, The vertical stepping motor 7-6 moves up and down along the vertical fixed mount 7-7, and one end of the vertical connecting arm 7-5 is fixedly mounted on the front end face of the vertical stepping motor 7-6, and the vertical connecting arm 7-5 The other end of 5 is connected with vertical connector 7-4, and vertical connector 7-4 is provided with vertical connector semicircle groove 7-4-1, and vertical fixture 7-3 is provided with and vertical connection The relative vertical fixture semicircle groove 7-3-1 of piece semicircle groove 7-4-1, vertical fixture 7-3 and vertical connector 7-4 snap-fit setting, vertical connector semicircle groove 7-4 -1 and the vertical fixture semicircular groove 7-3-1 form a vertical microscope installation hole, the vertical microscope 7-1 is arranged in the vertical microscope installation hole, and the vertical image sensor 7-2 is arranged in the vertical microscope 7- 1 upper end. Other compositions and connections are the same as those in Embodiment 1, 2, 4, 6 or 8.

The working principle of the vertical microscope image feedback device 7: the vertical stepping motor 7-6 drives the vertical movement by connecting the motor driver, the vertical stepping motor 7-6 moves to drive the vertical connecting arm 7-5 to move, and the vertical connecting arm The movement of 7-5 drives the vertical connecting piece 7-4 to move, the vertical connecting piece 7-4 and the vertical fixing piece 7-3 are fixed by screws 7-1, and the vertical connecting piece 7-4 moves to drive the vertical microscope 7- 1 moves, the vertical microscope 7-1 moves to drive the vertical image sensor 7-2 to move, and the vertical image sensor 7-2 is connected to the host computer.

Specific Embodiment Ten: This embodiment is described in conjunction with FIG. 15. The horizontal microscope image feedback device 8 of this embodiment includes a horizontal microscope 8-1, a horizontal image sensor 8-2, a horizontal fixing member 8-3, and a horizontal connecting member 8-4. , horizontal connecting arm 8-5, horizontal fixing frame 8-6, horizontal stepping motor 8-7, horizontal stepping motor 8-7 moves horizontally along substrate 1, horizontal fixing frame 8-6 is arranged on horizontal stepping motor 8- 7, one end of the horizontal connecting arm 8-5 is fixed on the horizontal fixing frame 8-6, and the other end of the horizontal connecting arm 8-5 is connected with the horizontal connecting piece 8-4, and the horizontal connecting piece 8-4 is provided with a horizontal The connector semicircle groove 8-4-1, the horizontal fixture 8-3 is provided with the horizontal fixture semicircle groove 8-3-1 relative to the horizontal connector semicircle groove 8-4-1, the horizontal fixture 8-3 and The horizontal connecting piece 8-4 is fastened, the horizontal connecting piece semicircular groove 8-4-1 and the horizontal fixing piece semicircular groove 8-3-1 form a horizontal microscope mounting hole, and the horizontal microscope 8-1 is arranged in the horizontal microscope mounting hole, The horizontal image sensor 8-2 is provided on the upper end of the horizontal microscope 8-1. Other compositions and connections are the same as those in Embodiment 9.

The working principle of the horizontal microscope image feedback device 8: the horizontal stepping motor 8-7 drives the linear movement by connecting the motor driver, the horizontal stepping motor 8-7 moves to drive the horizontal fixed frame 8-6 to move, and the horizontal fixed frame 8-6 moves to drive The horizontal connecting arm 8-5 moves, and the horizontal connecting arm 8-5 moves to drive the horizontal connecting piece 8-4 to move, and the horizontal connecting piece 8-4 and the horizontal fixing piece 8-3 are fixed by screws. The horizontal microscope 8-1, and the horizontal connecting piece 8 The movement of -4 drives the movement of the horizontal microscope 8-1, the movement of the horizontal microscope 8-1 drives the movement of the horizontal image sensor 8-2, and the horizontal image sensor 8-2 is connected to the upper computer.

The automatic assembly process of the automatic precision assembly platform for the key parts of the ignition target is as follows:

Step 1. The diagnostic ring initial positioning clamping device 2 clamps and moves the diagnostic ring 9-2 and the target pellet 9-1 to the range of the vertical microscope image feedback device 7 and the horizontal microscope image feedback device 8 through the host computer control program;

Step 2: The clamping device 3 for precise positioning of the diagnostic ring automatically moves to the vicinity of the diagnostic ring 9-2 through the program control of the host computer, and extracts feature information from the images collected by the image feedback device 7 of the vertical microscope and controls the clamping device for fine positioning of the diagnostic ring The fine positioning suction head 3-1 on 3 sucks the diagnostic ring 9-2 on the initial positioning clamping suction head 2-2;

Step 3: The target capsule clamping and positioning device 4 is automatically moved to the vicinity of the target capsule 9-1 through the program control of the host computer, and the image collected by the vertical microscope image feedback device 7 and the horizontal microscope image feedback device 8 is used to extract feature information and control the target. The target pill suction head 4-1 on the pill clamping and positioning device 4 locates and sucks the target pill 9-1;

Step 4: The rotating electromagnet 2-6 on the initial positioning and clamping device 2 of the diagnosis ring is automatically powered off, and the target pill support 2-1 is rotated to withdraw from the support of the target pellet 9-1, and at the same time, the initial positioning and clamping suction is automatically turned off. The adsorption gas path of head 2-2. After completion, the clamping device 2 for initial positioning of the diagnostic ring is withdrawn to the initial position.

Step 5. Extract feature information from the images collected by the vertical microscope image feedback device 7 and the horizontal microscope image feedback device 8 to calculate the positioning error, and control the diagnostic ring fine positioning clamping device 3 and the target capsule clamping positioning device 4 to perform precise positioning ;

Step 6: The upper kit clamping and positioning device 5 and the lower kit clamping and positioning device 6 move the upper kit 9-3 and the lower kit 9-4 to both sides of the diagnostic ring 9-2 at the same time, through the vertical microscope image feedback device 7 and The horizontal microscope image feedback device 8 collects images, performs feature information extraction and calculation, and controls the upper set 9-3 on the upper set holding and positioning device 5 and the lower set 9-4 on the lower set holding and positioning device 6 to vertically align the diagnostic ring 9 -2;

Step 7. The upper kit clamping and positioning device 5 and the lower kit clamping and positioning device 6 move toward the diagnostic ring 9-2, and combine the upper kit force sensor 5-5 and the lower kit clamping device 5 in the upper kit clamping and positioning device 5. The upper set force sensor 6-5 in the positioning device 6 controls the position adjustment of the upper set clamping positioning device 5 and the lower set clamping positioning device 6 through the force control method of the shaft hole assembly model of the upper computer, and feedbacks through the horizontal microscope image The device 8 detects the butt joint gap between the upper sleeve 9-3 and the lower sleeve 9-4 until the gap is smaller than the rated value to complete the assembly.

Claims (10)

1. An automatic precision assembly platform for fusion target key parts, characterized in that: the assembly platform includes a substrate (1), a diagnostic ring initial positioning clamping device (2), a diagnostic ring fine positioning clamping device (3), a target Pill clamping and positioning device (4), upper set clamping and positioning device (5), lower set clamping and positioning device (6), vertical microscope image feedback device (7) and horizontal microscope image feedback device (8), diagnosis ring Initial positioning and clamping device (2), target capsule clamping and positioning device (4), upper set clamping and positioning device (5), vertical microscope image feedback device (7), diagnostic ring fine positioning and clamping device (3), The horizontal microscope image feedback device (8) and the clamping and positioning device of the lower set (6) are arranged on the upper end surface of the substrate (1) in counterclockwise order, and the clamping device for initial positioning of the diagnostic ring (2) and the clamping device for fine positioning of the diagnostic ring (3) Relatively arranged on the upper end surface of the substrate (1) along the transverse axis (X-X) of the substrate (1), and the initial positioning suction hole (2-2-2) on the diagnostic ring initial positioning clamping device (2) The fine positioning suction hole (3-1-2) on the fine positioning clamping device (3) of the diagnostic ring is set in direct opposition, and the upper set clamping positioning device (5) and the lower set clamping positioning device (6) are along the base plate ( 1) The longitudinal axis (Y-Y) is relatively set on the upper end surface of the base plate (1), and the center point of the upper diagnostic ring hole (5-1-1-3) on the upper kit clamping positioning device (5) is aligned with the lower The center point of the lower diagnostic ring hole (6-1-1-3) on the kit clamping and positioning device (6) is on the longitudinal axis (Y-Y), and the target capsule clamping and positioning device (4) is set on the initial positioning clamp of the diagnostic ring Between the clamping device (2) and the clamping and positioning device of the upper set (5), the vertical microscope image feedback device (7) is arranged between the clamping device for fine positioning of the diagnostic ring (3) and the clamping and positioning device of the upper set (5) In between, the horizontal microscope image feedback device (8) is arranged between the diagnostic ring fine positioning clamping device (3) and the lower kit clamping positioning device (6). 2. An automatic precision assembly platform for fusion target key parts according to claim 1, characterized in that: the diagnostic ring initial positioning clamping device (2) includes a target pellet support (2-1), an initial positioning clamping Suction head (2-2), initial positioning suction pipe (2-3), initial positioning block (2-4), initial positioning L-shaped pressure block (2-5), rotating electromagnet (2-6), baffle plate ( 2-7), horizontal end plate (2-8), two L-shaped plates (2-9), initial positioning linear motor (2-10), rotating rod (2-11), first positioning pin (2- 12), adapter (2-13), second positioning pin (2-14), third positioning pin (2-15) and rotating positioning piece (2-16), two L-shaped plates (2-9) It is symmetrically arranged on both sides of the upper end face of the linear motor (2-10) along the longitudinal center line of the linear motor (2-10), and the inner corners of the two L-shaped plates (2-9) are arranged oppositely, and the horizontal end plate ( 2-8) Set on the upper end faces of two L-shaped plates (2-9), the first positioning pin (2-12) and the second positioning pin (2-14) are set on the horizontal end plate (2-14) along the same line -8) on the upper end face, the positioning block (2-4) is set on the upper end face of the horizontal end plate (2-8), and the initial positioning block (2-4) is formed by the initial positioning L-shaped pressing block (2-5) Fixed, the initial positioning block (2-4) is provided with a rotating rod installation hole (2-4-1), the rotating electromagnet (2-6) is set on the initial positioning block (2-4), and the rotating rod (2- 11) Set in the rotating rod installation hole (2-4-1), the rear end of the rotating rod (2-11) is connected with the rotating electromagnet (2-6) through the adapter (2-13), and the rotating rod (2-2 The front end of -11) passes through the rotating positioning piece (2-16) and is connected with the pill support (2-1), and the supporting piece (2-1-1) on the pill support (2-1) is connected with the rotating positioning piece (2-16). The positioning piece (2-16-1) on the positioning piece (2-16) is arranged in parallel and in opposite directions, and the upper end surface of the support piece (2-1-1) is provided with a target pill positioning nail (2-1-2), The rotating positioning member (2-16) is positioned by the third positioning pin (2-15), and the third positioning pin (2-15) is arranged on the front end face of the preliminary positioning block (2-4), and the baffle plate (2-7 ) is set at the rear end of the rotating electromagnet (2-6), the initial positioning suction pipe (2-3) is set parallel to the rotating rod (2-11), and the rear end of the initial positioning suction pipe (2-3) passes through the initial positioning block (2-4), the front end of the initial positioning suction pipe (2-3) is connected with the initial positioning clamping tip (2-2), and the front end of the initial positioning clamping tip (2-2) is provided with an initial positioning arc surface (2-2-1), the initial positioning suction head (2-2) is provided with the initial positioning suction hole (2-2-2) connected with the initial positioning suction pipe (2-3), the initial positioning clamping The front end of the suction head (2-2) is provided with a positioning edge (2-2-3), and the initial positioning clamping suction head (2-2) is arranged on the target pill support (2-1). 3. An automatic precision assembly platform for fusion target key parts according to claim 1 or 2, characterized in that: the diagnostic ring fine positioning clamping device (3) includes a fine positioning suction head (3-1), a fourth Positioning pin (3-2), fine positioning straw (3-3), fine positioning positioning rod (3-4), fine positioning L-shaped pressure block (3-5), fifth positioning pin (3-6), fine positioning Positioning elbow (3-7), sixth positioning pin (3-8), seventh positioning pin (3-9), fine positioning connecting plate (3-10), fine-tuning table (3-11), upper connecting plate (3-12), fine positioning linear motor (3-13), lower connecting plate (3-14) and fine positioning stepper motor (3-15), upper connecting plate (3-12), fine positioning linear motor ( 3-13) and the lower connecting plate (3-14) are sequentially arranged on the upper end surface of the fine positioning stepper motor (3-15) from top to bottom, and the fine positioning connecting plate (3-10) and the fine-tuning table (3- 11) The upper and lower are set on the upper connecting plate (3-12), the fifth positioning pin (3-6) and the seventh positioning pin (3-9) are set on the fine positioning connecting plate (3-10) along the same line ), the fine positioning positioning rod (3-4) is set on the fine positioning connecting plate (3-10), and the sixth positioning pin (3-8) is set behind the fine positioning positioning rod (3-4) end, the fine positioning positioning rod (3-4) is fixed by the fine positioning L-shaped pressure block (3-5), and the fine positioning elbow (3-7) is set at the end of the upper end surface of the fine positioning positioning rod (3-4) end, the rear end of the fine positioning suction pipe (3-3) passes through the fine positioning positioning rod (3-4), the front end of the fine positioning suction pipe (3-3) is connected with the fine positioning suction head (3-1), and the fine positioning suction The front end of the head (3-1) is provided with a fine positioning arc surface (3-1-1), and the fine positioning suction head (3-1) is provided with a fine positioning suction pipe (3-3) communicated with it. hole (3-1-2), and the fourth positioning pin (3-2) is arranged on the fine positioning suction head (3-1). 4. An automatic precision assembly platform for fusion target key parts according to claim 3, characterized in that: the target pellet clamping and positioning device (4) includes a target pellet suction head (4-1), a target pellet clamping straw (4-2), the target pill clamping positioning rod (4-3), the eighth positioning pin (4-4), the target pellet clamping L-shaped pressure block (4-5), the ninth positioning pin (4-6 ), the target capsule clamping elbow (4-7), the target capsule adapter seat (4-8), the vertical lifting motor (4-9), the first capsule clamping stepper motor (4-10) and The second target capsule clamping stepper motor (4-11), the first target capsule clamping stepper motor (4-10) is arranged on the upper end surface of the second target capsule clamping stepper motor (4-11), The target capsule adapter seat (4-8) and the vertical lifting motor (4-9) are arranged on the first target capsule clamping stepper motor (4-10) up and down, and the eighth positioning pin (4-4) and the No. Nine positioning pins (4-6) are arranged on the upper end surface of the target pill adapter seat (4-8) along the same line, and the target pill clamping positioning rod (4-3) is arranged on the target pill adapter seat (4-8) ), the target capsule clamping positioning rod (4-3) is fixed by the target capsule clamping L-shaped pressure block (4-5), and the target capsule clamping elbow (4-7) is set on the target capsule clamping positioning rod ( 4-3), the rear end of the target capsule clamping straw (4-2) passes through the target capsule clamping positioning rod (4-3), and the front end of the target capsule clamping straw (4-2) Connect with the target pill suction head (4-1), and the target pill suction head (4-1) is provided with a target pill suction hole (4-1-1) communicated with the target pill holding straw (4-2). The front end of the pill suction head (4-1) is provided with a target pill positioning edge (4-1-2). 5. An automatic precision assembly platform for fusion target key parts according to claim 4, characterized in that: the upper set clamping and positioning device (5) includes an upper set holder (5-1), a connector (5 -2), the upper kit positioning manual fine-tuning table (5-3), the upper kit fine-tuning table mounting base (5-4), the upper kit force sensor (5-5), the upper kit positioning cantilever (5-6), the upper kit The first positioning linear motor of the kit (5-7), the L-shaped connecting plate of the upper kit (5-8), the second positioning linear motor of the upper kit (5-9) and the clamping and positioning base of the upper kit (5-10), the upper The first positioning linear motor (5-7) of the kit is vertically arranged with the second positioning linear motor (5-9) of the upper kit, and the first positioning linear motor (5-7) of the upper kit is set on the L-shaped connecting plate (5- 8) On the front face of the upper set, the L-shaped connecting plate (5-8) of the upper set is set on the second positioning linear motor (5-9) of the upper set, and the second positioning linear motor (5-9) of the upper set is set on the upper set On the clamping and positioning base (5-10), one end of the upper kit positioning cantilever (5-6) is fixed on the front end of the first positioning linear motor (5-7) of the upper kit, and the upper kit positioning cantilever (5-6 ) on the other end from bottom to top are installed with the upper kit holder (5-1), the connector (5-2), the upper kit positioning manual fine-tuning table (5-3), the upper kit fine-tuning table mounting seat (5- 4) and the upper set of force sensors (5-5). 6. An automatic precision assembly platform for fusion target key parts according to claim 5, characterized in that: the upper set holder (5-1) includes an upper set holder (5-1-1), a second The positioning pin of the first upper kit (5-1-2), the positioning pin of the second upper kit (5-1-3) and the positioning pin of the third upper kit (5-1-4), the clamping seat of the upper kit (5-1 -1) The upper set suction groove (5-1-1-1) is provided on the lower end surface, and the upper set suction hole (5-1-1-1) is provided in the upper set suction groove (5-1-1-1) 2), the upper kit clamping seat (5-1-1) is provided with the upper kit external suction hole (5-1-1-4) which communicates with the upper kit suction hole (5-1-1-2), the upper kit The set holder (5-1-1) is provided with an upper diagnostic ring hole (5-1-1-3), the first upper set positioning pin (5-1-2) and the second upper set positioning pin (5 -1-3) Symmetrically arranged on both sides of the suction groove (5-1-1-1) of the upper set, the third upper set positioning pin (5-1-4) and the second upper set positioning pin (5-1- 3) Set on the same side, the positioning pins of the third upper set (5-1-4) and the positioning pins of the second upper set (5-1-3) are set along the same straight line. 7. An automatic precision assembly platform for fusion target key parts according to claim 1, 2, 4 or 6, characterized in that: the lower kit clamping and positioning device (6) includes a lower kit holder (6-1 ), transfer positioning piece (6-2), upper kit positioning manual fine-tuning table (6-3), lower kit fine-tuning table mounting seat (6-4), upper kit force sensor (6-5), lower kit positioning Cantilever (6-6), lower kit first positioning linear motor (6-7), lower kit L-shaped connecting plate (6-8) and lower kit second positioning linear motor (6-9), lower kit first positioning The linear motor (6-7) is arranged vertically with the second positioning linear motor (6-9) of the lower kit, and the first positioning linear motor (6-7) of the lower kit is arranged on the front face of the L-shaped connecting plate (6-8) of the lower kit The L-shaped connecting plates (6-8) of the upper and lower sets are set on the second positioning linear motor (6-9) of the lower set, and one end of the positioning cantilever (6-6) of the lower set is fixed on the first positioning linear motor (6-9) of the lower set -7) on the front end surface, the other end of the lower kit positioning cantilever (6-6) is installed with the lower kit holder (6-1), the transfer positioning piece (6-2), the upper kit Locate the Manual Trim Station (6-3) and the Lower Kit Trim Station Mount (6-4). 8. An automatic precision assembly platform for fusion target key parts according to claim 7, characterized in that: the lower kit holder (6-1) includes a lower kit holder (6-1-1), a second The positioning pin of the lower kit (6-1-2), the positioning pin of the second lower kit (6-1-3) and the positioning pin of the third lower kit (6-1-4), the clamping seat of the lower kit (6-1 -1) The upper end surface is provided with the lower set suction groove (6-1-1-1), and the lower set suction groove (6-1-1-1) is provided with the lower set suction hole (6-1-1- 2), the lower kit clamping seat (6-1-1) is provided with the lower kit external suction hole (6-1-1-4) which communicates with the lower kit suction hole (6-1-1-2), the lower kit The lower diagnostic ring hole (6-1-1-3), the first lower kit positioning pin (6-1-2) and the second lower kit positioning pin (6-1-2) are provided on the kit holding seat (6-1-1). -1-3) Symmetrically arranged on both sides of the suction groove (6-1-1-1) of the lower set, the positioning pin of the third lower set (6-1-4) and the positioning pin of the second lower set (6-1-3) ) are set on the same side, and the positioning pins of the third lower kit (6-1-4) and the positioning pins of the second lower kit (6-1-3) are set along the same straight line. 9. An automatic precision assembly platform for fusion target key parts according to claim 1, 2, 4, 6 or 8, characterized in that: the vertical microscope image feedback device (7) includes a vertical microscope (7-1 ), vertical image sensor (7-2), vertical fixing piece (7-3), vertical connecting piece (7-4), vertical connecting arm (7-5), vertical stepping motor (7- 6) and the vertical fixing frame (7-7), the vertical stepper motor (7-6) is set on the vertical fixing frame (7-7), and one end of the vertical connecting arm (7-5) is fixed on On the front end face of the vertical stepper motor (7-6), the other end of the vertical connecting arm (7-5) is connected with the vertical connecting piece (7-4), and the vertical connecting piece (7-4) is provided with There is a semicircular groove (7-4-1) for the vertical connector, and a semicircular groove (7-4-1) for the vertical fastener ( 7-3-1), the vertical fixing part (7-3) is fastened with the vertical connecting part (7-4), the vertical connecting part semicircular groove (7-4-1) and the vertical fixing part semicircular groove (7-3-1) constitutes the vertical microscope mounting hole, the vertical microscope (7-1) is set in the vertical microscope mounting hole, and the vertical image sensor (7-2) is set in the vertical microscope (7-1) the upper end. 10. An automatic precision assembly platform for fusion target key parts according to claim 9, characterized in that: the horizontal microscope image feedback device (8) includes a horizontal microscope (8-1), a horizontal image sensor (8-2) , horizontal fixing piece (8-3), horizontal connecting piece (8-4), horizontal connecting arm (8-5), horizontal fixing frame (8-6), horizontal stepping motor (8-7), horizontal fixing frame (8-6) is set on the horizontal stepping motor (8-7), one end of the horizontal connecting arm (8-5) is fixed on the horizontal fixing frame (8-6), and the horizontal connecting arm (8-5) The other end is connected with the horizontal connector (8-4), the horizontal connector (8-4) is provided with a horizontal connector semi-circular groove (8-4-1), and the horizontal fixture (8-3) is provided with a horizontal The semi-circular groove (8-4-1) of the connecting piece is opposite to the semicircular groove (8-3-1) of the horizontal fixing piece. The horizontal fixing piece (8-3) is fastened with the horizontal connecting piece (8-4). The horizontal connecting piece The semicircular groove (8-4-1) and the horizontal fixture semicircular groove (8-3-1) constitute the horizontal microscope installation hole, the horizontal microscope (8-1) is set in the horizontal microscope installation hole, and the horizontal image sensor (8-2 ) set at the upper end of the horizontal microscope (8-1).

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