CN103439544B - Precise automatic adjustment method and device of balance of instrument machine core - Google Patents
Precise automatic adjustment method and device of balance of instrument machine core Download PDFInfo
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- 238000005507 spraying Methods 0.000 claims abstract description 59
- 239000007921 spray Substances 0.000 claims abstract description 46
- 230000009471 action Effects 0.000 claims abstract description 18
- 230000008569 process Effects 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 8
- 238000005259 measurement Methods 0.000 claims description 34
- 238000009527 percussion Methods 0.000 claims description 19
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- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 description 1
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Abstract
一种仪表机芯平衡精密自动调节方法，利用喷胶阀对机芯喷胶，实现机芯的平衡调节，喷胶阀与机芯不接触，防止了喷胶过程中对机芯的干扰损坏，利用图像传感器实时测量仪表指针的角度并反馈到计算机，由计算机计算喷胶量和喷胶位置，再利用主控制器控制喷胶动作。一种自动调节装置，包括机架、机芯动作模块、图像传感器检测模块、微质量调节模块、计算机和主控制器，机芯动作模块控制夹具及机芯旋转，图像传感器检测机芯中指针角度，微质量调节模块中包括喷胶阀和运动机构。本发明实现了仪表平衡的自动精密调节，仪表平衡误差可调整到不超过0.05°，且一致性好，生产效率高，产品质量稳定。
A precision automatic adjustment method for the balance of an instrument movement, using a glue spray valve to spray glue on the movement to achieve balance adjustment of the movement, the glue spray valve does not contact the movement, preventing interference and damage to the movement during the glue spraying process, Use the image sensor to measure the angle of the instrument pointer in real time and feed it back to the computer. The computer calculates the glue spraying amount and glue spraying position, and then uses the main controller to control the glue spraying action. An automatic adjustment device, including a frame, a movement module, an image sensor detection module, a micro-quality adjustment module, a computer and a main controller, the movement module controls the rotation of the fixture and the movement, and the image sensor detects the angle of the pointer in the movement , the micro-mass adjustment module includes a glue spray valve and a motion mechanism. The invention realizes the automatic and precise adjustment of the instrument balance, the instrument balance error can be adjusted to no more than 0.05°, and the consistency is good, the production efficiency is high, and the product quality is stable.
Description
技术领域: Technical field:
本发明涉及机械领域，尤其涉及电测量仪表的生产装配技术，特别是一种仪表机芯平衡精密自动调节方法和装置。 The invention relates to the field of machinery, in particular to the production and assembly technology of electrical measuring instruments, in particular to a method and device for automatic adjustment of balance and precision of an instrument movement.
背景技术: Background technique:
现有技术中，电测量模拟仪表中的机芯平衡靠人工进行调节。操作人员通过肉眼判断调节的方向和程度，然后通过电烙铁在机芯上加锡或减锡来作往复调整，整个过程繁琐复杂，可控性极差，其准确度依赖于各个员工的视觉、熟练度。并且，由于人工操作过程较长且不可控，经常损坏仪表机芯的其他部位，如指针，轴尖等，造成仪表呆滞卡针。返修率高、稳定性差，需要花费大量的人力物力来纠正，生产成本高，效率较低，且产品质量不稳定。 In the prior art, the movement balance in the electrical measuring analog instrument is adjusted manually. The operator judges the direction and degree of adjustment with the naked eye, and then uses the electric soldering iron to add or subtract tin to the movement to make reciprocating adjustments. The whole process is cumbersome and complicated, and the controllability is extremely poor. The accuracy depends on the vision, proficiency. Moreover, due to the long and uncontrollable manual operation process, other parts of the instrument movement, such as pointers and shaft tips, are often damaged, resulting in sluggish pinning of the instrument. The repair rate is high, the stability is poor, and it takes a lot of manpower and material resources to correct it, the production cost is high, the efficiency is low, and the product quality is unstable.
发明内容： Invention content:
本发明的目的在于提供一种仪表机芯平衡精密自动调节方法，所述的这种仪表机芯平衡精密自动调节方法要解决现有技术中电测量仪表中机芯平衡过程繁琐复杂、可控性差、误差大的技术问题。 The purpose of the present invention is to provide a precision automatic adjustment method for the balance of the instrument core, which is to solve the complicated and complicated balance process and poor controllability of the core balance process in the electrical measuring instrument in the prior art. , technical problems with large errors.
本发明的这种仪表机芯平衡精密自动调节方法，包括一个向机芯上添加配重物的步骤，其中，在所述的向机芯上添加配重物的步骤中，利用一个夹具固定待调节的机芯，利用一个喷胶控制器控制一个喷胶阀将一个合适量的胶水喷射到所述的机芯上，并利用一个光源对机芯上的胶水进行照射固化，在实施向机芯上添加配重物的步骤之前，将待调节的机芯装入所述的夹具并固定，然后利用一个图像传感器测量机芯中的指针相对于一个给定的参考线的角度，并将测量结果发送到一个计算机，然后将机芯在其指针旋转平面中转动180度，再利用所述的图像传感器测量指针相对于所述的参考线的角度，并将测量结果发送到所述的计算机，利用计算机根据两次测量结果计算转矩差，并进一步计算得到在机芯上所需喷射的胶水的合适量、以及胶水喷射到机芯上的目标位置数据，并根据胶水喷射到机芯上的目标位置数据将喷胶阀移动到对应的喷射位置。 The precision automatic adjustment method for the instrument movement balance of the present invention includes a step of adding counterweights to the movement, wherein, in the step of adding counterweights to the movement, a clamp is used to fix the The adjusted movement uses a glue spray controller to control a glue spray valve to spray an appropriate amount of glue onto the movement, and uses a light source to irradiate and cure the glue on the movement. Before the step of adding counterweights, the movement to be adjusted is loaded into the fixture and fixed, and then an image sensor is used to measure the angle of the pointer in the movement relative to a given reference line, and the measurement result sent to a computer, and then the movement is rotated 180 degrees in its pointer rotation plane, and then the image sensor is used to measure the angle of the pointer relative to the reference line, and the measurement result is sent to the computer, using The computer calculates the torque difference based on the two measurement results, and further calculates the appropriate amount of glue to be sprayed on the movement, as well as the target position data of the glue sprayed on the movement, and according to the target position of the glue sprayed on the movement The position data moves the dispensing valve to the corresponding dispensing position.
进一步的，在喷胶阀喷射胶水的过程中，利用所述的图像传感器实时测量机芯指针相对于参考线的角度，并将测量结果发送到计算机，利用计算机计算后通过喷胶控制器动态地对喷胶量进行补偿修正。 Further, in the process of spraying glue by the glue spray valve, use the image sensor to measure the angle of the movement pointer relative to the reference line in real time, and send the measurement result to the computer, and use the computer to calculate it dynamically through the glue spray controller. Compensate and correct the amount of glue sprayed.
进一步的，将机芯在其指针旋转平面中从起始位置起分别转动90度和270度，利用图像传感器分别测量机芯在起始位置、90度位置和270度位置上的指针相对于参考线的角度，并将测量结果发送到计算机，利用计算机根据测量结果计算当前位置所需的喷胶量，并传送给喷胶控制器和一个运动机构，利用喷胶控制器控制喷胶阀喷出准确的胶量，利用运动机构将喷胶阀移动到正确的位置，同时，利用图像传感器实时测量机芯指针相对于参考线的角度，并将测量结果发送到计算机，利用计算机计算后通过喷胶控制器动态地对喷胶量进行补偿修正。 Further, the movement is rotated 90 degrees and 270 degrees from the initial position in its pointer rotation plane, and the image sensor is used to measure the movement relative to the reference pointer at the initial position, 90 degree position and 270 degree position respectively. The angle of the line, and the measurement results are sent to the computer, and the computer is used to calculate the amount of glue spraying required for the current position according to the measurement results, and sent to the glue spray controller and a movement mechanism, and the glue spray controller is used to control the spraying of the glue spray valve. Accurate amount of glue, use the movement mechanism to move the glue spray valve to the correct position, at the same time, use the image sensor to measure the angle of the movement pointer relative to the reference line in real time, and send the measurement results to the computer, use the computer to calculate and pass the glue spray The controller dynamically compensates and corrects the amount of glue sprayed.
进一步的，利用一个主控制器控制所述的喷胶控制器和运动机构，计算机与所述的主控制器连接，利用主控制器控制所述的光源的点亮动作，并进一步通过光源驱动机构控制光源的位置。 Further, a main controller is used to control the glue spraying controller and the motion mechanism, the computer is connected to the main controller, and the main controller is used to control the lighting action of the light source, and further through the light source driving mechanism Controls the position of the light source.
进一步的，利用一个旋转机构驱动夹具实现旋转动作。 Further, a rotating mechanism is used to drive the clamp to realize the rotating action.
进一步的，在机芯被旋转到90度位置和270度位置时，分别利用一个敲击锤对夹具并进而对夹具中的机芯通过敲击方式产生振动，以消除机芯内旋转结构间的摩擦作用，使机芯指针停止在准确位置。 Further, when the movement is rotated to the 90-degree position and the 270-degree position, use a percussion hammer to vibrate the fixture and then the movement in the fixture by knocking, so as to eliminate the friction between the rotating structures in the movement. Friction makes the movement pointer stop at the exact position.
进一步的，利用与计算机连接的显示器显示图像传感器的测量过程和结果。 Further, a display connected to the computer is used to display the measurement process and results of the image sensor.
进一步的，利用一个二维运动平台驱动图像传感器产生位移。 Further, a two-dimensional motion platform is used to drive the image sensor to generate displacement.
本发明还提供了一种实现上述仪表机芯平衡精密自动调节方法的装置，所述的这种仪表机芯平衡精密自动调节装置包括机架、机芯动作模块、图像传感器检测模块、微质量调节模块、计算机和主控制器，其中，所述的机芯动作模块包括敲击驱动件、敲击锤、固定板、旋转机构和夹持机构，所述的固定板设置在所述的机架上，所述的旋转机构设置在固定板上，所述的夹持机构设置在旋转机构上，所述的敲击驱动件设置在固定板上，所述的敲击锤与敲击驱动件连接，所述的图像传感器检测模块包括一个二维运动平台和一个图像传感器，所述的图像传感器与所述的二维运动平台相连，图像传感器通过信号线与所述的计算机连接，所述的微质量调节模块包括一个喷胶阀、一个喷胶控制器、一个点光源和一个运动机构，所述的喷胶控制器和运动机构均设置在机架上，所述的喷胶阀和点光源均设置在运动机构中，喷胶阀和点光源的控制端各自通过导线与所述的喷胶控制器连接，喷胶控制器、运动机构的控制端、敲击驱动件的控制端、旋转机构的控制端均各自通过导线与所述的主控制器连接，主控制器通过信号缆线与计算机连接。 The present invention also provides a device for realizing the above-mentioned precision automatic adjustment method for instrument movement balance. module, a computer and a main controller, wherein the movement module of the movement includes a percussion driver, a percussion hammer, a fixed plate, a rotating mechanism and a clamping mechanism, and the described fixed plate is arranged on the frame , the rotating mechanism is arranged on the fixed plate, the clamping mechanism is arranged on the rotating mechanism, the percussion driver is arranged on the fixed plate, the percussion hammer is connected with the percussion driver, The image sensor detection module includes a two-dimensional motion platform and an image sensor, the image sensor is connected to the two-dimensional motion platform, the image sensor is connected to the computer through a signal line, and the micro-mass The adjustment module includes a glue spraying valve, a glue spraying controller, a point light source and a motion mechanism, the glue spraying controller and the motion mechanism are all arranged on the frame, and the glue spraying valve and the point light source are all set In the motion mechanism, the control ends of the glue spray valve and the point light source are respectively connected to the glue spray controller through wires, and the glue spray controller, the control end of the motion mechanism, the control end of the knocking drive, and the control of the rotating mechanism The terminals are respectively connected to the main controller through wires, and the main controller is connected to the computer through signal cables.
进一步的，所述的夹持机构包括开夹气缸、夹紧弹簧和夹头，所述的旋转机构包括步进电机和转盘，所述的夹头包括一个钳形构件，所述的夹紧弹簧连接在所述的钳形构件中，夹紧弹簧和夹头均设置在所述的转盘上，所述的开夹气缸设置在固定板上，开夹气缸的活塞杆上连接有一个连杆，所述的连杆的一端与钳形构件相邻，转盘通过联轴器与所述的步进电机的输出轴连接，步进电机设置在固定板上，所述的敲击锤设置在转盘的转动平面中并位于转盘的旋转圆周外，敲击驱动件由敲击气缸或者电磁铁构成，开夹气缸的控制端通过导线与主控制器连接。 Further, the clamping mechanism includes an unclamp cylinder, a clamping spring and a chuck, the rotating mechanism includes a stepper motor and a turntable, the clamping head includes a pincer member, and the clamping spring Connected in the pincer-shaped member, the clamping spring and the collet are both arranged on the turntable, the clamp-opening cylinder is set on the fixed plate, and a connecting rod is connected to the piston rod of the clamp-opening cylinder, One end of the connecting rod is adjacent to the clamp member, the turntable is connected to the output shaft of the stepper motor through a coupling, the stepper motor is arranged on the fixed plate, and the hammer is arranged on the turntable In the rotation plane and outside the rotation circle of the turntable, the percussion driving part is composed of a percussion cylinder or an electromagnet, and the control end of the unclamp cylinder is connected with the main controller through a wire.
进一步的，所述的二维运动平台包括垂直导轨、垂直运动步进电机、水平导轨和水平运动步进电机，所述的水平导轨设置在机架中，所述的水平运动步进电机设置在水平导轨的端部，水平导轨上设置有一个第一滑台，水平运动步进电机通过一个第一传动机构与所述的第一滑台连接，所述的垂直导轨设置在第一滑台上，所述的垂直运动步进电机设置在垂直导轨的端部，垂直导轨上设有第二滑台，垂直运动步进电机通过一个第二传动机构与所述的第二滑台连接，图像传感器设置在第二滑台上。 Further, the two-dimensional motion platform includes a vertical guide rail, a vertical motion stepper motor, a horizontal guide rail and a horizontal motion stepper motor, the horizontal guide rail is arranged in the frame, and the horizontal motion stepper motor is arranged on At the end of the horizontal guide rail, a first slide table is arranged on the horizontal guide rail, and the horizontal motion stepping motor is connected with the first slide table through a first transmission mechanism, and the vertical guide rail is arranged on the first slide table , the vertical motion stepper motor is arranged at the end of the vertical guide rail, the vertical guide rail is provided with a second slide table, the vertical motion step motor is connected with the second slide table through a second transmission mechanism, and the image sensor Set on the second slide.
进一步的，所述的运动机构包括水平运动丝杠、伺服电机、转台、转台动作气缸、高度调节步进电机、垂直滑轨和垂直丝杆，所述的水平运动丝杠通过轴承设置在机架上，所述的伺服电机设置在机架上，伺服电机的输出轴通过联轴器与水平运动丝杠连接，水平运动丝杠上设置有一个第三滑台，所述的转台设置在所述的第三滑台上，转台通过一个转动轴与第三滑台连接，所述的转台动作气缸固定设置在第三滑台上，转台动作气缸的活塞杆的一端与转台铰接，所述的高度调节步进电机、垂直滑轨和垂直丝杆设置在转台上，所述的垂直滑轨和垂直丝杆的长度方向均垂直于转台平面，垂直滑轨上通过滑动副连接有一个托板，所述的托板通过螺纹与垂直丝杆构成丝杠螺母副，高度调节步进电机的输出轴与垂直丝杆连接，所述的喷胶阀设置在托板上，所述的点光源设置在转台上。 Further, the movement mechanism includes a horizontal movement lead screw, a servo motor, a turntable, a turntable action cylinder, a height adjustment stepper motor, a vertical slide rail and a vertical lead screw, and the horizontal movement lead screw is arranged on the frame through a bearing. Above, the servo motor is set on the frame, the output shaft of the servo motor is connected with the horizontal movement lead screw through a coupling, a third sliding table is arranged on the horizontal movement lead screw, and the turntable is set on the On the third slide table, the turntable is connected with the third slide table through a rotating shaft, the said turntable action cylinder is fixedly arranged on the third slide table, and one end of the piston rod of the turntable action cylinder is hinged with the turntable, and the height Adjust the stepper motor, the vertical slide rail and the vertical screw rod to be arranged on the turntable, the length direction of the vertical slide rail and the vertical screw rod are all perpendicular to the plane of the turntable, and a supporting plate is connected to the vertical slide rail through a sliding pair. The supporting plate is threaded and the vertical screw rod constitutes a screw nut pair, the output shaft of the height adjustment stepping motor is connected with the vertical screw rod, the glue spray valve is set on the supporting plate, and the point light source is set on the turntable superior.
本发明和已有技术相比较，其效果是积极和明显的。本发明利用喷胶阀对机芯喷胶，实现机芯的平衡调节，喷胶阀与机芯不接触，防止了喷胶过程中对机芯的干扰损坏，利用图像传感器实时测量仪表指针的角度，利用计算机计算喷胶量和喷胶位置，利用主控制器控制喷胶动作，实现了仪表平衡的自动精密调节，仪表平衡误差可调整到不超过0.05°，且一致性好，生产效率高，产品质量稳定。 Compared with the prior art, the present invention has positive and obvious effects. The invention uses the glue spray valve to spray glue on the core to realize the balance adjustment of the core. The glue spray valve is not in contact with the core, preventing interference and damage to the core during the glue spraying process, and uses an image sensor to measure the angle of the instrument pointer in real time , use the computer to calculate the glue spraying amount and glue spraying position, use the main controller to control the glue spraying action, realize the automatic and precise adjustment of the instrument balance, the instrument balance error can be adjusted to no more than 0.05°, and the consistency is good, the production efficiency is high, Product quality is stable.
附图说明： Description of drawings:
图1是本发明中的仪表机芯平衡精密自动调节装置的整体结构示意图。 Fig. 1 is a schematic diagram of the overall structure of the instrument movement balance precision automatic adjustment device in the present invention.
图2是本发明中的仪表机芯平衡精密自动调节装置中的机芯动作模块、图像传感器检测模块和微质量调节模块的安装结构示意图。 Fig. 2 is a schematic diagram of the installation structure of the movement module, the image sensor detection module and the micro-mass adjustment module in the instrument movement balance precision automatic adjustment device in the present invention.
图3是本发明中的仪表机芯平衡精密自动调节装置中的机芯动作模块的结构示意图。 Fig. 3 is a structural schematic diagram of the movement module in the instrument movement balance precision automatic adjustment device in the present invention.
图4是本发明中的仪表机芯平衡精密自动调节装置中的图像传感器检测模块的结构示意图。 Fig. 4 is a schematic structural diagram of the image sensor detection module in the precision automatic adjustment device for instrument movement balance in the present invention.
图5是本发明中的仪表机芯平衡精密自动调节装置中的微质量调节模块的结构示意图。 Fig. 5 is a structural schematic diagram of the micro-mass adjustment module in the instrument movement balance precision automatic adjustment device in the present invention.
具体实施方式： Detailed ways:
实施例1: Example 1:
本发明的仪表机芯平衡精密自动调节方法，包括一个向机芯上添加配重物的步骤，其中，在所述的向机芯上添加配重物的步骤中，利用一个夹具固定待调节的机芯，利用一个喷胶控制器控制一个喷胶阀将一个合适量的胶水喷射到所述的机芯上，并利用一个光源对机芯上的胶水进行照射固化，在实施向机芯上添加配重物的步骤之前，将待调节的机芯装入所述的夹具并固定，然后利用一个图像传感器测量机芯中的指针相对于一个给定的参考线的角度，并将测量结果发送到一个计算机，然后将机芯在其指针旋转平面中转动180度，再利用所述的图像传感器测量指针相对于所述的参考线的角度，并将测量结果发送到所述的计算机，利用计算机根据两次测量结果计算转矩差，并进一步计算得到在机芯上所需喷射的胶水的合适量、以及胶水喷射到机芯上的目标位置数据，并根据胶水喷射到机芯上的目标位置数据将喷胶阀移动到对应的喷射位置。 The precision automatic adjustment method for instrument movement balance of the present invention includes a step of adding counterweights to the movement, wherein, in the step of adding counterweights to the movement, a clamp is used to fix the to-be-adjusted The core uses a glue spraying controller to control a glue spraying valve to spray a suitable amount of glue onto the core, and utilizes a light source to irradiate and cure the glue on the core, and add glue to the core during implementation. Before the step of the counterweight, the movement to be adjusted is loaded into the fixture and fixed, and then an image sensor is used to measure the angle of the pointer in the movement relative to a given reference line, and the measurement result is sent to A computer, then rotate the movement 180 degrees in its pointer rotation plane, and then use the image sensor to measure the angle of the pointer relative to the reference line, and send the measurement result to the computer, and use the computer according to Calculate the torque difference from the two measurement results, and further calculate the appropriate amount of glue to be sprayed on the movement, as well as the target position data of the glue sprayed on the movement, and according to the target position data of the glue sprayed on the movement Move the dispensing valve to the corresponding dispensing position.
进一步的，在喷胶阀喷射胶水的过程中，利用所述的图像传感器实时测量机芯指针相对于参考线的角度，并将测量结果发送到计算机，利用计算机计算后通过喷胶控制器动态地对喷胶量进行补偿修正。 Further, in the process of spraying glue by the glue spray valve, use the image sensor to measure the angle of the movement pointer relative to the reference line in real time, and send the measurement result to the computer, and use the computer to calculate it dynamically through the glue spray controller. Compensate and correct the amount of glue sprayed.
进一步的，将机芯在其指针旋转平面中从起始位置起分别转动90度和270度，利用图像传感器分别测量机芯在起始位置、90度位置和270度位置上的指针相对于参考线的角度，并将测量结果发送到计算机，利用计算机根据测量结果计算当前位置所需的喷胶量，并传送给喷胶控制器和一个运动机构，利用喷胶控制器控制喷胶阀喷出准确的胶量，利用运动机构将喷胶阀移动到正确的位置，同时，利用图像传感器实时测量机芯指针相对于参考线的角度，并将测量结果发送到计算机，利用计算机计算后通过喷胶控制器动态地对喷胶量进行补偿修正。 Further, the movement is rotated 90 degrees and 270 degrees from the initial position in its pointer rotation plane, and the image sensor is used to measure the movement relative to the reference pointer at the initial position, 90 degree position and 270 degree position respectively. The angle of the line, and the measurement results are sent to the computer, and the computer is used to calculate the amount of glue spraying required for the current position according to the measurement results, and sent to the glue spray controller and a movement mechanism, and the glue spray controller is used to control the spraying of the glue spray valve. Accurate amount of glue, use the movement mechanism to move the glue spray valve to the correct position, at the same time, use the image sensor to measure the angle of the movement pointer relative to the reference line in real time, and send the measurement results to the computer, use the computer to calculate and pass the glue spray The controller dynamically compensates and corrects the amount of glue sprayed.
进一步的，利用一个主控制器控制所述的喷胶控制器和运动机构，计算机与所述的主控制器连接，利用主控制器控制所述的光源的点亮动作，并进一步通过光源驱动机构控制光源的位置。 Further, a main controller is used to control the glue spraying controller and the motion mechanism, the computer is connected to the main controller, and the main controller is used to control the lighting action of the light source, and further through the light source driving mechanism Controls the position of the light source.
进一步的，利用一个旋转机构驱动夹具实现旋转动作。 Further, a rotating mechanism is used to drive the clamp to realize the rotating action.
进一步的，在机芯被旋转到90度位置和270度位置时，分别利用一个敲击锤对夹具并进而对夹具中的机芯通过敲击方式产生振动，以消除机芯内旋转结构间的摩擦作用，使机芯指针停止在准确位置。 Further, when the movement is rotated to the 90-degree position and the 270-degree position, use a percussion hammer to vibrate the fixture and then the movement in the fixture by knocking, so as to eliminate the friction between the rotating structures in the movement. Friction makes the movement pointer stop at the exact position.
进一步的，利用与计算机连接的显示器显示图像传感器的测量过程和结果。 Further, a display connected to the computer is used to display the measurement process and results of the image sensor.
进一步的，利用一个二维运动平台驱动图像传感器产生位移。 Further, a two-dimensional motion platform is used to drive the image sensor to generate displacement.
如图1、图2、图3、图4和图5所示，本发明还提供了一种实现上述仪表机芯平衡精密自动调节方法的装置，所述的这种仪表机芯平衡精密自动调节装置包括机架100、机芯动作模块200、图像传感器检测模块300、微质量调节模块400、计算机306和主控制器500，其中，机芯动作模块200包括敲击驱动件203、敲击锤204、固定板207、旋转机构和夹持机构，固定板207设置在机架100上，旋转机构设置在固定板207上，夹持机构设置在旋转机构上，敲击驱动件203设置在固定板207上，敲击锤204与敲击驱动件203连接，图像传感器检测模块300包括一个二维运动平台和一个图像传感器305，图像传感器305与二维运动平台相连，图像传感器305通过信号线与计算机306连接，微质量调节模块400包括一个喷胶阀406、一个喷胶控制器408、一个点光源407和一个运动机构，喷胶控制器408和运动机构均设置在机架100上，喷胶阀406和点光源407均设置在运动机构中，喷胶阀406和点光源407的控制端各自通过导线与喷胶控制器408连接，喷胶控制器408、运动机构的控制端、敲击驱动件203的控制端、旋转机构的控制端均各自通过导线与主控制器500连接，主控制器500通过信号缆线与计算机306连接。 As shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, the present invention also provides a device for realizing the above-mentioned instrument movement balance precision automatic adjustment method, the described instrument movement balance precision automatic adjustment The device includes a frame 100, a movement module 200, an image sensor detection module 300, a micro-quality adjustment module 400, a computer 306 and a main controller 500, wherein the movement module 200 includes a percussion driver 203 and a percussion hammer 204 , the fixed plate 207, the rotating mechanism and the clamping mechanism, the fixed plate 207 is arranged on the frame 100, the rotating mechanism is arranged on the fixed plate 207, the clamping mechanism is arranged on the rotating mechanism, and the knocking driver 203 is arranged on the fixed plate 207 Above, the knocking hammer 204 is connected with the knocking driver 203, the image sensor detection module 300 includes a two-dimensional motion platform and an image sensor 305, the image sensor 305 is connected with the two-dimensional motion platform, and the image sensor 305 is connected to the computer 306 through a signal line Connection, the micro-quality adjustment module 400 includes a glue spraying valve 406, a glue spraying controller 408, a point light source 407 and a motion mechanism, the glue spraying controller 408 and the motion mechanism are all arranged on the frame 100, the glue spraying valve 406 and the point light source 407 are all arranged in the kinematic mechanism, the control ends of the glue spray valve 406 and the point light source 407 are respectively connected with the glue spray controller 408 by wires, the glue spray controller 408, the control end of the motion mechanism, and the knock driver 203 The control end of the control end and the control end of the rotating mechanism are respectively connected to the main controller 500 through wires, and the main controller 500 is connected to the computer 306 through signal cables.
进一步的，夹持机构包括开夹气缸202、夹紧弹簧（图中未示）和夹头206，旋转机构包括步进电机201和转盘205，夹头206包括一个钳形构件，夹紧弹簧连接在钳形构件中，夹紧弹簧和夹头206均设置在转盘205上，开夹气缸202设置在固定板207上，开夹气缸202的活塞杆上连接有一个连杆（图中未示），连杆的一端与钳形构件相邻，转盘205通过联轴器与步进电机201的输出轴连接，步进电机201设置在固定板207上，敲击锤204设置在转盘205的转动平面中并位于转盘205的旋转圆周外，敲击驱动件203由敲击气缸或者电磁铁构成，开夹气缸202的控制端通过导线与主控制器500连接。 Further, the clamping mechanism includes an unclamping cylinder 202, a clamping spring (not shown) and a chuck 206, the rotating mechanism includes a stepper motor 201 and a turntable 205, the chuck 206 includes a clamp member, and the clamping spring is connected In the clamp member, the clamping spring and the collet 206 are all arranged on the turntable 205, the unclamp cylinder 202 is arranged on the fixed plate 207, and a connecting rod (not shown) is connected to the piston rod of the unclamp cylinder 202 , one end of the connecting rod is adjacent to the clamp member, the turntable 205 is connected with the output shaft of the stepper motor 201 through a coupling, the stepper motor 201 is arranged on the fixed plate 207, and the hammer 204 is arranged on the rotation plane of the turntable 205 Centered and outside the rotation circle of the turntable 205, the percussion driver 203 is made of a percussion cylinder or an electromagnet, and the control end of the unclamp cylinder 202 is connected with the main controller 500 through wires.
进一步的，二维运动平台包括垂直导轨301、垂直运动步进电机302、水平导轨303和水平运动步进电机304，水平导轨303设置在机架100中，水平运动步进电机304设置在水平导轨303的端部，水平导轨303上设置有一个第一滑台，水平运动步进电机304通过一个第一传动机构与第一滑台连接，垂直导轨301设置在第一滑台上，垂直运动步进电机302设置在垂直导轨301的端部，垂直导轨301上设有第二滑台，垂直运动步进电机302通过一个第二传动机构与第二滑台连接，图像传感器305设置在第二滑台上。 Further, the two-dimensional motion platform includes a vertical guide rail 301, a vertical motion stepper motor 302, a horizontal guide rail 303 and a horizontal motion stepper motor 304, the horizontal guide rail 303 is arranged in the frame 100, and the horizontal motion stepper motor 304 is arranged on the horizontal guide rail 303, the horizontal guide rail 303 is provided with a first slide table, the horizontal motion stepper motor 304 is connected with the first slide table through a first transmission mechanism, the vertical guide rail 301 is arranged on the first slide table, and the vertical motion step The motor 302 is arranged on the end of the vertical guide rail 301, and the second slide table is arranged on the vertical guide rail 301. The vertical motion stepper motor 302 is connected with the second slide table through a second transmission mechanism, and the image sensor 305 is arranged on the second slide table. on stage.
进一步的，运动机构包括水平运动丝杠401、伺服电机402、转台403、转台动作气缸404、高度调节步进电机405、垂直滑轨和垂直丝杆，水平运动丝杠401通过轴承设置在机架100上，伺服电机402设置在机架100上，伺服电机402的输出轴通过联轴器与水平运动丝杠401连接，水平运动丝杠401上设置有一个第三滑台，转台403设置在第三滑台上，转台403通过一个转动轴与第三滑台连接，转台动作气缸404固定设置在第三滑台上，转台动作气缸404的活塞杆的一端与转台403铰接，高度调节步进电机405、垂直滑轨和垂直丝杆设置在转台403上，垂直滑轨和垂直丝杆的长度方向均垂直于转台403平面，垂直滑轨上通过滑动副连接有一个托板，托板通过螺纹与垂直丝杆构成丝杠螺母副，高度调节步进电机405的输出轴与垂直丝杆连接，喷胶阀406设置在托板上，点光源407设置在转台403上。 Further, the motion mechanism includes a horizontal motion lead screw 401, a servo motor 402, a turntable 403, a turntable action cylinder 404, a height adjustment stepping motor 405, a vertical slide rail and a vertical lead screw, and the horizontal movement lead screw 401 is arranged on the frame through a bearing. 100, the servo motor 402 is arranged on the frame 100, the output shaft of the servo motor 402 is connected with the horizontal motion lead screw 401 through a shaft coupling, a third slide table is arranged on the horizontal motion lead screw 401, and the turntable 403 is arranged on the second On the third slide table, the turntable 403 is connected with the third slide table through a rotating shaft, and the turntable action cylinder 404 is fixedly arranged on the third slide table, and one end of the piston rod of the turntable action cylinder 404 is hinged with the turntable 403, and the height is adjusted by a stepping motor 405. The vertical slide rail and the vertical screw mandrel are arranged on the turntable 403. The length directions of the vertical slide rail and the vertical screw mandrel are both perpendicular to the plane of the turntable 403. A supporting plate is connected to the vertical slide rail through a sliding pair, and the supporting plate is connected to the turntable through threads. The vertical screw rod constitutes the lead screw nut pair, the output shaft of the height adjustment stepper motor 405 is connected with the vertical screw rod, the glue spray valve 406 is arranged on the pallet, and the point light source 407 is arranged on the turntable 403 .
进一步的，喷胶控制器408通过气管、导线与喷胶阀406连接，以控制喷胶阀406喷胶。 Further, the glue spraying controller 408 is connected to the glue spraying valve 406 through air pipes and wires to control the glue spraying valve 406 to spray glue.
进一步的，机架100包括机座101和遮风罩，遮风罩设置在机座101的上部，计算机306连接有显示器，显示器设置在遮风罩的正前方。 Further, the frame 100 includes a machine base 101 and a windshield, the windshield is arranged on the top of the machine base 101, the computer 306 is connected with a monitor, and the monitor is arranged in front of the windshield.
进一步的，图像传感器305内置视觉算法，以非接触方式测量所需的数据。 Furthermore, the image sensor 305 has a built-in vision algorithm to measure the required data in a non-contact manner.
进一步的，计算机306中设置有分析程序，用于计算分析图像传感器305的测量结果，并显示图像传感器305的测量过程。 Further, an analysis program is set in the computer 306 for calculating and analyzing the measurement results of the image sensor 305 and displaying the measurement process of the image sensor 305 .
本实施例的工作过程是：待调节平衡的仪表机芯装入夹具固定，再把装机芯的夹具放入夹持机构的夹头206中，按下计算机中的启动按钮，开夹气缸202回退，夹紧弹簧通过夹头206锁定夹具及机芯，步进电机201带动旋转盘205旋转到90°位置，敲击锤204轻敲旋转盘205，以消除机芯内旋转结构间摩擦作用，使机芯指针停止在准确位置。然后图像传感器305通过二维运动平台移动到机芯指针测量点位置，测量指针相对参考线角度，将测量结果通过以太网接口发送到计算机306。而后步进电机201带动旋转盘205旋转到270°位置，敲击锤204再次轻敲旋转盘205，然后图像传感器305通过二维运动平台移动到此时机芯指针测量点位置，测量指针相对参考线角度，将测量结果发送到计算机306，计算机306根据测量数据计算转矩差，进一步计算出喷胶方向与喷胶量，并将数据传送给主控制器500。而后主控制器500通过运动机构控制转台403动作，使喷胶阀406移动到准确的位置。主控制器500控制喷胶控制器408，喷胶控制器408控制喷胶阀406，使喷胶阀406喷出合适的喷胶量。喷胶过程中，图像传感器305实时测量机芯指针相对参考线角度，经过计算机306计算后，通过主控制器500动态地对喷胶量进行补偿修正，使喷胶阀406喷射合适的胶量后，机芯指针达到理想的位置，喷胶结束后，主控制器500控制转台403动作，使点光源407移动到喷胶位置，点亮光源，固化胶水。而后步进电机201带动旋转盘205旋转到0°即起始位置，敲击锤204轻敲旋转盘205，然后图像传感器305通过二维运动平台移动到当前机芯指针测量点位置，测量指针相对参考线角度，将测量结果发送到计算机306，计算机306根据0°、90°和270°位置上的数据综合计算当前位置所需的喷胶量，并传送给主控制器500。而后主控制器500控制相应运动机构使喷胶阀406移动到合适的位置并喷准确的胶量，同样在喷胶过程中，通过图像传感器305实时测量数据动态修正喷胶量，喷胶完成后，移动点光源407并点亮固化胶水。由于各个位置之间可能存在轻微的相互影响，而后分别在90°、270°和0°位置再检测一次，根据测量结果，可稍作修正。机芯平衡合格后，转盘205转回到初始位置，开夹气缸202动作，打开夹头206，点亮指示灯，等待工人取出机芯，并放入另一个待调机芯进行下一次平衡调节。 The working process of this embodiment is: the instrument movement to be adjusted and balanced is loaded into the fixture and fixed, and then the fixture with the movement is put into the chuck 206 of the clamping mechanism, and the start button in the computer is pressed to open the clamping cylinder 202 times. Back, the clamping spring locks the fixture and the movement through the collet 206, the stepping motor 201 drives the rotating disk 205 to rotate to the 90° position, and the hammer 204 taps the rotating disk 205 to eliminate the friction between the rotating structures in the movement. Stop the movement pointer at the exact position. Then the image sensor 305 moves to the measurement point of the movement pointer through the two-dimensional motion platform, measures the angle of the pointer relative to the reference line, and sends the measurement result to the computer 306 through the Ethernet interface. Then the stepper motor 201 drives the rotating disk 205 to rotate to the position of 270°, the hammer 204 taps the rotating disk 205 again, and then the image sensor 305 moves to the position of the movement pointer measurement point at this time through the two-dimensional motion platform, and the measuring pointer is relative to the reference Line angle, send the measurement result to the computer 306, the computer 306 calculates the torque difference according to the measurement data, further calculates the glue spraying direction and glue spraying amount, and transmits the data to the main controller 500. Then the main controller 500 controls the movement of the turntable 403 through the movement mechanism, so that the glue spraying valve 406 moves to an accurate position. The main controller 500 controls the glue spraying controller 408, and the glue spraying controller 408 controls the glue spraying valve 406, so that the glue spraying valve 406 sprays out an appropriate amount of glue. During the glue spraying process, the image sensor 305 measures the angle of the movement pointer relative to the reference line in real time. After calculation by the computer 306, the main controller 500 dynamically compensates and corrects the glue spraying amount, so that the glue spraying valve 406 sprays a suitable amount of glue. , the movement pointer reaches the ideal position, after the glue spraying is finished, the main controller 500 controls the action of the turntable 403 to move the point light source 407 to the glue spraying position, light the light source, and cure the glue. Then the stepper motor 201 drives the rotating disk 205 to rotate to 0°, which is the initial position, and the hammer 204 taps the rotating disk 205, and then the image sensor 305 moves to the position of the current movement pointer measurement point through the two-dimensional motion platform, and the measuring pointer is relatively Refer to the angle of the line, and send the measurement results to the computer 306, and the computer 306 comprehensively calculates the amount of glue sprayed at the current position according to the data at the 0°, 90° and 270° positions, and sends it to the main controller 500. Then the main controller 500 controls the corresponding motion mechanism to move the glue spraying valve 406 to a suitable position and spray an accurate amount of glue. Also in the process of glue spraying, the real-time measurement data of the image sensor 305 is used to dynamically correct the amount of glue sprayed. After the glue spraying is completed , move the point light source 407 and light the cured glue. Since there may be a slight mutual influence between the various positions, then check again at the positions of 90°, 270° and 0° respectively, and a slight correction can be made according to the measurement results. After the balance of the movement is qualified, the turntable 205 turns back to the initial position, the clamp opening cylinder 202 moves, opens the clamp 206, lights up the indicator light, waits for the worker to take out the movement, and puts another movement to be adjusted for the next balance adjustment .
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| CN203433014U (en) * | 2013-08-30 | 2014-02-12 | 上海康比利仪表有限公司 | Precise and automatic adjusting device of movement balance of instrument |
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| JP5279066B2 (en) * | 2007-12-21 | 2013-09-04 | 株式会社コーワ | Brush roll and cleaning device |
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