CN106342220B - A kind of accelerometer module automatic setup system and method - Google Patents
A kind of accelerometer module automatic setup system and methodInfo
- Publication number
- CN106342220B CN106342220B CN201010049459.2A CN201010049459A CN106342220B CN 106342220 B CN106342220 B CN 106342220B CN 201010049459 A CN201010049459 A CN 201010049459A CN 106342220 B CN106342220 B CN 106342220B
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- straight line
- guide rail
- precise guide
- line precise
- module
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Abstract
The invention belongs to automatic mounting conditioning technology, relate to automatic setup system and the method for a kind of accelerometer hole axle matable assembly. System of the present invention comprises vision-based detection module, operation task module, fine registration module three parts, and three modules are all moved by computer system control. The present invention utilizes machine vision device to realize the detection of accurate identification to Assembly part and position, attitude, utilization has vacuum absorption device and the precision displacement platform of force sensing function and realizes picking up, moving and placing Assembly part, utilize locking assembling fixture to be locked to locating rear part, by part and assembling fixture baking are made to adhesive solidification, whole assembling process, by computer system centralized Control, has realized the automatic assembling to accelerometer module.
Description
Technical field
The invention belongs to automatic mounting conditioning technology, relate to a kind of accelerometer hole axle matable assembly oneselfMoving assembly system and method.
Background technology
The assembly that has one group of hole axle to coordinate in accelerometer, is shown in Fig. 1, the axle b of first part P1With the hole k of second part P2 be sliding fit, require A face and B face to reach the very high depth of parallelism.Assembler relies on naked eyes to observe, adjust and assemble by microscope completely. Due to firstBetween individual part P1 and second part P2, the depth of parallelism requires very high and coordinates post gap very little, difficultyTo adjust, cause this index to be difficult to reach.
Summary of the invention
The object of the invention is, propose the good a kind of accelerometer module automatic mounting disposition of assembly qualityThe method of unifying. Technical solution of the present invention is that system comprises vision-based detection module, operation workIndustry module, fine registration module three parts, wherein,
One, vision-based detection module comprises first straight line precise guide rail, second straight line precise guide railWith industrial CCD with and supporting image pick-up card, Control card, coaxial light source, first is straightLine precise guide rail is rack-mount perpendicular to horizontal plane, and second straight line precise guide rail is along level sideTo being arranged in first straight line precise guide rail, industrial CCD is arranged on second perpendicular to horizontal planeIn straight line precise guide rail;
Two, fine registration module comprises the 3rd straight line precise guide rail, the 4th straight line precise guide railWith turntable with and supporting Control card, the 3rd straight line precise guide rail is arranged on level tableAnd perpendicular to first straight line precise guide rail and second straight line precise guide rail, the 4th straight line precisionGuide rail along continuous straight runs is perpendicular to the 3rd straight line precise guide rail and be arranged on the 3rd straight line precision and leadOn rail, turntable is vertically mounted in the 4th straight line precise guide rail;
Three, operation task module comprises the 5th straight line precise guide rail, the 6th straight line precise guide railWith and supporting Control card, vacuum absorption device, objective table, power sensor, motion arm,The 5th straight line precise guide rail and the 3rd straight line precise guide rail are arranged in same level, and hang downDirectly, in the 3rd straight line precise guide rail, the 6th straight line precise guide rail is arranged on the 5th straight line precisionOn guide rail and vertically perpendicular to the 5th straight line precise guide rail, motion arm is vertically mounted onThe end of six straight line precise guide rail, power sensor is fixed on motion arm and the 6th straight line precision ledThe junction of rail, vacuum absorption device is arranged on motion arm end and with the 6th straight line precision and leadsRail is parallel, and the end of motion arm has through hole can observe the position of part. In addition, the 5th straightLine precise guide rail, the 6th straight line precise guide rail, industrial CCD, objective table are at same vertical planeOn; Three modules are all moved by computer system control.
Its computer system control step is,
1. control vision-based detection module, industrial CCD is moved to first part top and makes workIndustry CCD focuses on the step of first part feature face;
2. identify and record the position of first part and the step of feature;
3. control operation operation module, makes vacuum absorption device pick up the step of second part;
4. control operation operation module, is displaced into the step below industrial CCD by second part;
5. control vision-based detection module, adjust the position that second part identified and recorded to industrial CCDPut the step with feature;
6. control fine registration module, adjust the position of first part, make the hole of second partConcentric with the axle of first part, the locating surface of the locating surface of first part and second part is flatThe step of row;
7. control operation operation module, adjusts the 6th straight line precise guide rail, by second part peaceInstall to the step of position.
8. until manually mounted assembly being compressed and sent after instruction, system closing vacuum occursDevice, and mobile precise linear guide, reset modules
The advantage that the present invention has and beneficial effect, the present invention can treat Assembly part and carry out X, YThe adjustment of direction and Z axis rotation direction, adjusts precision high, and strong adaptability, has well solved and addedThe assembly problem of first part of speedometer and second part. The present invention is owing to having adopted vacuum suctionPart is picked up, placed to attached mode, overcome between first part and second part gap little,The problem that operating space is narrow and small, can carry out X, Y-direction by the cooperation of precise linear guideAdjust, the hole axle having can be good between first part and second part coordinates, and passes throughHigh-precision turntable can carry out the adjustment around Z axis rotation direction, has ensured determining of first partThe locating surface of plane and second part has the very high depth of parallelism, make Assembly of the parts qualification rate,Uniformity greatly improves. In addition, the present invention changes and just can be applied to other control systemThe assembling of assembly, has stronger versatility. The present invention utilizes machine vision device to realize assemblingThe detection of the accurate identification of part and position, attitude, utilizes the vacuum suction with force sensing functionDevice and precision displacement platform realization are picked up, move and place Assembly part, utilize locking groupClamping tool is locked to locating rear part, by making adhesive solid to part and assembling fixture bakingChange, whole assembling process is by computer system centralized Control, realized to accelerometer module fromMoving assembling.
Brief description of the drawings
Fig. 1 is part schematic diagram to be assembled;
Fig. 2 is automatic setup system schematic diagram of the present invention;
Fig. 3 is computer system control flow chart of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is elaborated.
Native system comprises vision-based detection module M1, operation task module M2, fine registration moduleM3 tri-parts.
Vision-based detection module comprises first straight line precise guide rail Z3, second straight line precise guide railY3 and industrial CCD W1 with and supporting image pick-up card, Control card, coaxial light source. TheA straight line precise guide rail Z3 is arranged on support J1 above perpendicular to horizontal plane, second straight line precisionIt is upper that guide rail Y3 along continuous straight runs is arranged on first straight line precise guide rail Z3, and industrial CCD W1 hangs downDirectly be arranged on second straight line precise guide rail Y3 in horizontal plane.
Fine registration module comprises the 3rd straight line precise guide rail X1, the 4th straight line precise guide railY1 and turntable R1 with and supporting Control card. The 3rd straight line precise guide rail X1 is arranged onOn level table and perpendicular to first straight line precise guide rail Z3 and second straight line precise guide rail Y3.The 4th straight line precise guide rail Y1 along continuous straight runs is perpendicular to the 3rd straight line precise guide rail X1 and peaceBe contained in first straight line precise guide rail Z3 upper, turntable R1 is vertically mounted on the 4th straight line precision and leadsOn rail Y1.
Operation task module comprises the 5th straight line precise guide rail Y2, the 6th straight line precise guide railZ2 with and supporting Control card, vacuum absorption device A1, objective table M, power sensor C,Motion arm L. The 5th straight line precise guide rail Y2 and the 3rd straight line precise guide rail X1 are arranged on sameIn one horizontal plane, and perpendicular to the 3rd straight line precise guide rail X1. The 6th straight line precise guide railZ2 is arranged on the 5th straight line precise guide rail Y2 and vertically perpendicular to the 5th straight line essenceClose guide rail Y2. Motion arm L is vertically mounted on the end of the 6th straight line precise guide rail Z2, and power passesSensor C is fixed on the junction of motion arm L and the 6th straight line precise guide rail Z2, vacuum suctionDevice A1 is arranged on motion arm L end and is parallel with the 6th straight line precise guide rail Z2, operationThe end of arm L has through hole can observe the position of part. In addition, the 5th straight line precise guide railY2, the 6th straight line precise guide rail Z2, industrial CCD W1, objective table M are same verticalOn face.
This system is assembled as follows:
1. utilizing screw thread will assemble first part P1, to install and lock turntable R1 upper, will assemble theTwo part P2 are positioned on objective table M;
2. computer system control fine registration module, makes first part P1 and industrial CCD W1Step 1 on same vertical plane;
3. computer system control visual identity module, by mobile first straight line precise guide rail Z3,Second straight line precise guide rail Y3, makes industrial CCD W1 focus on first part P1, rightFirst part P1 carries out Parts Recognition, determine and the center of recording first part P1 (Axle b center), meanwhile, the step 2 of the position of record location face A;
4. computer system control operation task module, by mobile the 5th straight line precise guide rail Y2Make vacuum absorption device A1 directly over second part P2, adjust six directly with single step modeLine precise guide rail Z2 makes vacuum absorption device A1 move closer to second part P2, by power sensingDevice C judges whether vacuum absorption device A1 contacts P2, when vacuum absorption device A1 contact theAfter two part P2, open vacuum generator, make vacuum absorption device A1 draw second partThe step 3 of P2
5. computer system control moves the 5th straight line precise guide rail Y2, the 6th straight line precision ledRail Z2, makes the step 4 of second part P2 under industrial CCD W1;
6. computer system control visual identity module, by mobile first straight line precise guide rail Z3,Second straight line precise guide rail Y3, makes W1 focus on second part P2, to second partP2 carries out Parts Recognition, and the center of determining and recording second part P2 (is k center, holePosition), meanwhile, the step 5 of the position of record location face B
7. computer system control fine registration module, according to first part P1, second of recordThe center of individual part P2 and feature (locating surface A, locating surface B) are adjusted the 3rd straight line essenceClose guide rail X1, the 4th straight line precise guide rail Y1 and turntable R1, make hole k concentric with axle b, fixedPlane A and the parallel step 6 of locating surface B
8. computer system control operation task module, by mobile the 5th straight line precise guide rail Y2Second part P2 declined gradually, whether judge second part P2 by power sensor CThe step 7 being in place, after second part P2 is in place, assembler manually installs pressureTight screw, then, system closing vacuum generator, by adjusting each straight line precise guide rail and turningPlatform R1, the step 8 that module is resetted
9. take off mounted assembly (first part P1 and second part P2) and put into incubator,After adhesive solidifies completely, unclamp housing screw, assembling process completes.
Claims (2)
1. an accelerometer module automatic setup system, is characterized in that, system comprises vision-based detectionModule (M1), operation task module (M2), fine registration module (M3) three parts, wherein,
One, vision-based detection module comprises first straight line precise guide rail (Z3), second straight line precisionGuide rail (Y3) and industrial CCD (W1) with and supporting image pick-up card, Control card,Coaxial light source, first straight line precise guide rail (Z3) is arranged on support (J1) perpendicular to horizontal planeUpper, second straight line precise guide rail (Y3) along continuous straight runs is arranged on first straight line precise guide rail(Z3) upper, industrial CCD (W1) is arranged on second straight line precise guide rail perpendicular to horizontal plane(Y3) on;
Two, fine registration module comprises the 3rd straight line precise guide rail (X1), the 4th straight line precisionGuide rail (Y1) and turntable (R1) with and supporting Control card, the 3rd straight line precise guide rail(X1) be arranged on level table and perpendicular to first straight line precise guide rail (Z3) and secondStraight line precise guide rail (Y3), the 4th straight line precise guide rail (Y1) along continuous straight runs is perpendicular toThree straight line precise guide rail (X1) and to be arranged on the 3rd straight line precise guide rail (X1) upper, turntable(R1) be vertically mounted in the 4th straight line precise guide rail (Y1);
Three, operation task module comprises the 5th straight line precise guide rail (Y2), the 6th straight line precisionGuide rail (Z2) with and supporting Control card, vacuum absorption device (A1), objective table (M),Power sensor (C), motion arm (L), the 5th straight line precise guide rail (Y2) and the 3rd straight linePrecise guide rail (X1) is arranged in same level, and perpendicular to the 3rd straight line precise guide rail(X1), the 6th straight line precise guide rail (Z2) is arranged on the 5th straight line precise guide rail (Y2)Upper and vertically perpendicular to the 5th straight line precise guide rail (Y2), motion arm (L) is vertically pacifiedBe contained in the end of the 6th straight line precise guide rail (Z2), power sensor (C) is fixed on motion arm(L) with the junction of the 6th straight line precise guide rail (Z2), vacuum absorption device (A1) peaceBe contained on motion arm (L) end and parallel with the 6th straight line precise guide rail (Z2) motion arm (L)End have through hole and can observe the position of part. In addition, the 5th straight line precise guide rail (Y2),The 6th straight line precise guide rail (Z2), industrial CCD (W1), objective table (M) are sameOn vertical plane; Three modules are all moved by computer system control.
2. control a method for accelerometer module automatic setup system described in claim 1, itsComputer system control step is,
1. control vision-based detection module, industrial CCD (W1) is moved to first part (P1)Top also makes industrial CCD (W1) focus on the step of first part (P1) characteristic face;
2. identify and record the position of first part (P1) and the step of feature;
3. control operation operation module, makes vacuum absorption device (A1) pick up second part (P2)Step;
4. control operation operation module, is displaced into industrial CCD (W1) by second part (P2)The step of below;
5. control vision-based detection module, adjust industrial CCD (W1) and identify and record second zeroThe position of part (P2) and the step of feature;
6. control fine registration module, adjust the position of first part (P1), make second zeroThe hole (k) of part (P2) is concentric with the axle (b) of first part (P1), first part (P1)Locating surface (A) and the parallel step of locating surface (B) of second part (P2);
7. control operation operation module, adjusts the 6th straight line precise guide rail (Z2), by secondThe step that part (P2) is in place;
8. until manually mounted assembly being compressed and sent after instruction, system closing vacuum occursDevice, and mobile precise linear guide, the step that modules is resetted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010049459.2A CN106342220B (en) | 2010-08-19 | 2010-08-19 | A kind of accelerometer module automatic setup system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010049459.2A CN106342220B (en) | 2010-08-19 | 2010-08-19 | A kind of accelerometer module automatic setup system and method |
Publications (1)
| Publication Number | Publication Date |
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| CN106342220B true CN106342220B (en) | 2014-02-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201010049459.2A Active CN106342220B (en) | 2010-08-19 | 2010-08-19 | A kind of accelerometer module automatic setup system and method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108406248A (en) * | 2018-02-06 | 2018-08-17 | 大连理工大学 | A kind of system structure of micro devices assembly equipment |
| CN108942208A (en) * | 2018-07-06 | 2018-12-07 | 苏州富强科技有限公司 | A kind of pendulum component pastes packaging technology |
| CN109848667A (en) * | 2018-12-24 | 2019-06-07 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of flexible pendulous accelerometer pendulum component and shell general assembly assembly method |
| CN110560331A (en) * | 2019-08-15 | 2019-12-13 | 北京航天控制仪器研究所 | coaxial part assembling device and method |
| CN110806495A (en) * | 2019-10-18 | 2020-02-18 | 中国航空工业集团公司西安飞行自动控制研究所 | High-precision accelerometer pendulum assembly fixture |
| CN111618548A (en) * | 2020-05-09 | 2020-09-04 | 大连理工大学 | System of automatic assembling equipment for tiny parts convenient for interactive operation |
-
2010
- 2010-08-19 CN CN201010049459.2A patent/CN106342220B/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108406248A (en) * | 2018-02-06 | 2018-08-17 | 大连理工大学 | A kind of system structure of micro devices assembly equipment |
| CN108942208A (en) * | 2018-07-06 | 2018-12-07 | 苏州富强科技有限公司 | A kind of pendulum component pastes packaging technology |
| CN108942208B (en) * | 2018-07-06 | 2020-02-21 | 苏州富强科技有限公司 | Pasting and assembling process for swing piece assembly |
| CN109848667A (en) * | 2018-12-24 | 2019-06-07 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of flexible pendulous accelerometer pendulum component and shell general assembly assembly method |
| CN110560331A (en) * | 2019-08-15 | 2019-12-13 | 北京航天控制仪器研究所 | coaxial part assembling device and method |
| CN110806495A (en) * | 2019-10-18 | 2020-02-18 | 中国航空工业集团公司西安飞行自动控制研究所 | High-precision accelerometer pendulum assembly fixture |
| CN110806495B (en) * | 2019-10-18 | 2021-06-01 | 中国航空工业集团公司西安飞行自动控制研究所 | High-precision accelerometer pendulum assembly fixture |
| CN111618548A (en) * | 2020-05-09 | 2020-09-04 | 大连理工大学 | System of automatic assembling equipment for tiny parts convenient for interactive operation |
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