将转子线圈的线头焊接到焊盘上是微马达制造的重要工序,由于操作对象的特殊性,线头焊接全部采用人工在显微镜下操作完成,人工焊接成本高、效率低、产品一致性差。针对这些问题,提出了一种基于视觉的微马达转子导线自动焊接方法,利用视觉自适应调整微马达的位姿。另外,采用气流定位法对转子导线进行定位,并分析了因位置和姿态调整产生耦合而造成的误差,提出了解决方案。实验结果表明,利用气流可以对导线进行精确定位,基于视觉控制的位置与姿态调整精度分别可以达到10μM和1°。In the manufacture of micro-motor,it is an important working procedure to weld the head of coil onto the bonding pad.Due to the particularity of the objects,all the welding working,in present,are completed by human labor under microscope,leading to high cost,low efficiency and poor consistence.Aiming at these problems,a technique about vision based automatic welding was presented,that is,adjusting the position and posture of motor using vision automatically.In addition,the head of coil was positioned by the use of airflow and the error made by the interference between adjustment of position and posture was analyzed and the solution was given finally.The results indicate that the head of coil can be positioned well by airflow and the precision of adjustment of position and posture using vision control reach 10 μm and 1° respectively
