CN109514222A - A kind of across the scale part automatic assembling apparatus and method of weak rigid frame formula structure - Google Patents
A kind of across the scale part automatic assembling apparatus and method of weak rigid frame formula structure Download PDFInfo
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- CN109514222A CN109514222A CN201811545863.1A CN201811545863A CN109514222A CN 109514222 A CN109514222 A CN 109514222A CN 201811545863 A CN201811545863 A CN 201811545863A CN 109514222 A CN109514222 A CN 109514222A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
Abstract
The invention belongs to space flight inertia device precision assembly technology fields, are related to across the scale part automatic assembling apparatus and method of a kind of weak rigid frame formula structure, are a kind of automatic assembly techniques for microminiature accelerometer inertia pendulum component.The device mainly by vision measurement module, upper adjustment module, lower adjustment module and is worn an aligning module and is formed；Middle part is upper adjustment module and lower adjustment module, wears the two sides that an aligning module is located at lower adjustment module, vision measurement module is located at front side.The present invention overcomes precision and efficiency defect brought by pendulum technology for assembling at present, alignment positioning, pendulum frame and the lug plate of swirl plate, the adjust automatically of glass tube relative position and assembly, suspension may be implemented relative to the penetrating automatically of glass tube, centering adjustment and fixed, and tensile force is controllable, clamp fixture can integral demounting, part keeps rigging position after disassembly.Device lower adjustment module and wears an aligning module composition by vision measurement module, upper adjustment module.
Description
Technical field
The invention belongs to space flight inertia device precision assembly technology field, be related to a kind of weak rigid frame formula structure across ruler
Part automatic assembling apparatus and method are spent, is a kind of automatic assembly technique for microminiature accelerometer inertia pendulum component.
Background technique
Accelerometer is the core sensing element of inertial navigation and inertial guidance system, is widely used in Aeronautics and Astronautics etc.
The navigation system in field.Suspension pendulous accelerometer is small in size, light-weight, range is big, have higher precision and be able to bear compared with
Big acceleration and impact.Torquer is as the feedback element in suspension pendulous accelerometer servo loop, major function
Make the work of accelerometer closed-circuit system in equalising torque state, the performance of torquer is affected to the precision of accelerometer.Pendulum
Component is the core component of accelerometer torquer, and manufacture and assembly precision all can generate very big shadow to accelerometer performance
It rings.Therefore, the precision assembly for putting component is significant to the measurement accuracy for improving pendulous accelerometer.
Inertia pendulum part positioning structure is limited, and positioning accuracy need to guarantee by assembly, and after the assembly is completed to having assembled zero
The drying glue process of part needs good precision stability.This process increases assembly difficulty, therefore assembly technology becomes restriction
The principal element that accelerometer production efficiency improves.The assembly of inertia pendulum component at present, predominantly combine Special clamp tool and
The manual assembly of the tools such as microscope, as the eternally happy paper in road " grind by small-sized suspension pendulum-type acceleration transducer principle and key technology
Study carefully " in pendulum component assembly, committed step has: swirl plate is hanged in the assembly of assembly, lug plate on pendulum frame on pendulum frame
Silk penetrate the assembly in the glass tube of two coaxial placements and in glass tube in and glass tube pendulum frame on in
Assembly；Assembling process substep is completed, and assembly technology complexity is time-consuming.And existing assembly method dependent on worker technical level,
Operating habit, working experience etc., assembly precision is low, high rejection rate and takes a long time.In view of the above-mentioned problems, improving the operation of worker
Level has been difficult to reach very high assembly precision, ratio for input and output very little.For suspension penetrate and aligning process, invention
Patent No. 201110178911.X, Huang Wenbin have invented a kind of device that platinum wire is penetrated in quartz ampoule, device use pair
Roll imports platinum wire, and this method can cause certain damage to platinum wire surface, and position without aligning；Patent of invention number
201410855198.1, Li Juan et al., which have invented a kind of microchannel stringing device, can realize that silk, the aligning mode are worn in alignment
It will only wear and complete alignment before silk, aligning can not be carried out after the completion of silk again by wearing.
In summary it is found that existing assembly method is larger to the dependence of worker, and the degree of automation is lower.It formulates and closes
Manage feasible, the processing process of convenience and high-efficiency and the assembly equipment for developing automation are just able to satisfy current assembly efficiency
With the requirement of assembly precision.
Summary of the invention
The technical problem to be solved by the present invention is precision brought by pendulum technology for assembling at present and efficiency is overcome to lack
It falls into, invents a kind of inertia pendulum component automatic assembling apparatus and method, alignment positioning, pendulum frame and the wiring of swirl plate may be implemented
Piece, the adjust automatically of glass tube relative position and assembly, suspension relative to the penetrating automatically of glass tube, centering adjustment and fixed,
And tensile force is controllable, clamp fixture can integral demounting, part keeps rigging position after disassembly.Put the signal of component after the assembly is completed
Figure is as shown in Figure 1.
Technical scheme is as follows:
A kind of across scale part automatic assembling apparatus of weak rigid frame formula structure, mainly by vision measurement module, upper dress
Mode transfer block, lower adjustment module and thread aligning module composition is worn, the bottom of four modules is installed on optical platform 1；Device
Middle part is upper adjustment module and lower adjustment module, and lower adjustment module is located at the lower section of upper adjustment module, wears an aligning module and be located at
The two sides of lower adjustment module, vision measurement module are located at the front side of lower adjustment module, for obtaining the pose letter to be installed to replace the spare parts
Breath.
The vision measurement module is mainly made of industrial camera 4 and three-axis accurate displacement slide unit a3；Three axis
The bottom of accurate displacement slide unit a3 is mounted on optical platform 1, and z-axis, which is equipped with, is horizontally mounted seat, and the industrial camera 4 is solid
It is scheduled on and is horizontally mounted on seat, slide unit a3 is displaced in the movement of three displacement freedoms by three-axis accurate, adjusts industrial camera 4
Position obtains the posture information to be installed to replace the spare parts and is adjusted, to realize assembly precision requirement.
The upper adjustment module is mainly displaced slide unit b14, vacuum chuck 12,13 and of sucker installing arm by three-axis accurate
Upper fixture tooling 10 forms；The upper fixture tooling 10 is U-shaped structure, and the opening card slot at middle part is matched with clamping bar 31；
The upper surface of upper fixture tooling 10 is symmetrically arranged with multiple sucker contact surfaces, matches with vacuum chuck 12；Upper fixture tooling 10
Side is equipped with swirl plate assemble mechanism 9, and swirl plate 27 is mounted on the bottom of swirl plate assemble mechanism 9, swirl plate assemble mechanism 9
It is equipped with swirl plate feed screw 32, one end of swirl plate feed screw 32 is fixed in upper fixture tooling 10, passes through swirl plate
Feed screw 32 pushes swirl plate 27 to rigging position, realizes being loaded for swirl plate 27；The side of the upper fixture tooling 10
Pendulum frame mounting base 11 is installed, for installing pendulum frame 28, pendulum frame mounting base 11 is located at the side of swirl plate 27, passes through whirlpool
The adjusting of flow feed screw 32 is mounted on swirl plate 27 on pendulum frame 28；The center of pendulum frame mounting base 11 is equipped with outer
Reflecting prism 33 is matched with industrial camera 4, makes the location drawing picture of vision measurement module acquisition part；The three-axis accurate
Be displaced slide unit b14, sucker installing arm 13 be installed in z-axis, for installing vacuum chuck 12, the disk of vacuum chuck 12 to
Under, the bottom of three-axis accurate displacement slide unit b14 is mounted on optical platform 1；The bottom of the vacuum chuck 12 presss from both sides on drawing
Have the upper surface of tooling 10, slide unit b14 is displaced in the movement of three displacement freedoms, by upper fixture tooling 10 by three-axis accurate
It is moved to rigging position.
The lower adjustment module is mainly pacified by precise rotating platform 25, jacking cylinder 22, locking cylinder 23, lower clamp fixture
Fill support 24 and lower clamp fixture 16 composition；The side of the lower clamp fixture 16 is equipped with Lug plate clamp 34 or glass tube
Fixture 15, Lug plate clamp 34 are corresponding with pendulum frame mounting base 11 with the position of glass pipe clamp 15；The lug plate folder
Tool 34 is used for link piece 30, and the glass pipe clamp 15 is for fixing glass tube 29；On the glass pipe clamp 15
The both ends and middle part on surface are respectively provided with one section of suspension guiding groove, and suspension guiding groove is in horn mouth, and groove body bottom surface is in inclined-plane；Adjacent two
V-groove is equipped between section suspension guiding groove, V-groove is equipped with clamping device, to realize the positioning and clamping of two glass tubes 29.
The center of the lower clamp fixture 16 is equipped with vertical ladder hole, for installing fixture of the spring；Described
Fixture of the spring is mainly made of clamping bar 31 and spring, and clamping bar 31 slides up and down in vertical ladder hole, clamping bar
31 bottom end is connected with jacking cylinder 22；On clamping bar 31, the bottom of spring is connected spring pocket with the lower end of clamping bar 31
It connects, for the top card of spring in the stepped hole of clamp fixture 16, the top of clamping bar 31 extends to the outside of lower clamp fixture 16；Institute
The bottom for the precise rotating platform 25 stated is mounted on optical platform 1, and lower clamp fixture erection support 24 is equipped on precise rotating platform 25,
The center of the upper surface of lower clamp fixture erection support 24 is equipped with through-hole, for passing through for 22 mandril of jacking cylinder；Lower fixture work
The upper surface for filling erection support 24 is equipped with multiple locating pieces, and the lower clamp fixture 16 is mounted on lower clamp fixture erection support
24 upper surface is locked by locating piece positioning and locking cylinder 23, completes being loaded for lower clamp fixture 16；The jacking gas
Cylinder 22 and locking cylinder 23 are placed in the bottom surface of lower clamp fixture erection support 24, pass through fixture of the spring and jacking cylinder 22
The fit locking of upper fixture tooling 10 and lower clamp fixture 16 is completed in cooperation.
Described wears an aligning module, including an adjustment mechanism is worn on right side and an adjustment mechanism is worn in left side；The right side
It is mainly accurate by right side suspension clamp 17, Minitype tension sensor 18, linear motor delivery mechanism 19, right side to wear an adjustment mechanism
It is displaced slide unit 20 and right side support 21 forms；The right side accurate displacement slide unit 20 is mounted on right side 21 upper surface of support, right
Side accurate displacement slide unit 20 is equipped with level support platform, for installing right side suspension clamp 17, Minitype tension sensor 18 and straight
Line motor delivery mechanism 19；The Minitype tension sensor 18, one end is connected with linear motor delivery mechanism 19, another
End is connected with right side suspension clamp 17, and Minitype tension sensor 18 is used to obtain the tensile force of suspension 26, and force signal passes through control
Circuit processed reaches PC machine, and the closed-loop control realized to tensile force is compared with default force threshold；The left side suspension adjustment
Mechanism is mainly by left side support 2, left side accurate displacement slide unit 5, left side suspension clamp installing arm 6,7 and of upper fixture tooling feeding platform
Left side suspension clamp 8 forms；It is accurate that the upper fixture tooling feeding platform 7 and left side suspension clamp installing arm 6 is mounted on left side
It is displaced 5 upper surface of slide unit, upper fixture tooling feeding platform 7 for placing upper fixture tooling 10, fix by one end of left side suspension clamp 8
The end of suspension clamp installing arm 6 in left side；The left side suspension clamp 8 is opposite with the position of right side suspension clamp 17, and two
The tong chops of person are equipped with suspension positioning groove, and the both ends of suspension 26 are separately fixed at left side suspension clamp 8 and right side suspension clamp
On 17；The bottom of the right side support 21 and left side support 2 is mounted on optical platform 1.
A kind of across scale part automatic assembly method of weak rigid frame formula structure, the specific steps are as follows:
Step 1: the assembly of swirl plate 27: pendulum frame 28 being loaded in pendulum frame mounting base 11, by 27 clamping of swirl plate
On swirl plate assemble mechanism 9；Industrial camera 4 is moved to observation position, observes swirl plate in real time by vision measurement module action
27 assembling process；Swirl plate 27 is pushed to rigging position, passes through the feedback of industrial camera 4 by rotating vortex piece feed screw 32
Complete the assembly of swirl plate 27 and positioning.
Step 2: the assembly of lug plate 30: selection is equipped with the lower clamp fixture 16 of Lug plate clamp 34, by lug plate 30
Clamping is in Lug plate clamp 34；Upper fixture tooling 10 is placed on upper fixture tooling feeding platform 7, lower clamp fixture 16 passes through
Locking cylinder 23 is loaded on the installation site of lower adjustment module, and jacking cylinder 22 is stretched out, by the clamping bar 31 of fixture of the spring
It jacks up to predeterminated position；Three-axis accurate is displaced slide unit b14 movement, and vacuum chuck 12 draws upper fixture tooling 10 and drives upper fixture
Tooling 10 is moved to position to be assembled；Industrial camera 4 is moved to observation position, vision measurement mould by vision measurement module action
Block obtains posture information of the pendulum frame 28 relative to lug plate 30, is displaced slide unit b14 and precise rotating platform 25 by three-axis accurate
Cooperation completes the adjustment of pendulum frame 28 and 30 relative position of lug plate and reaches assembly precision；After the completion of adjustment, three-axis accurate position
The z-axis decline of slide unit b14 is moved, upper fixture tooling 10 and the contact of lower clamp fixture 16, jacking cylinder 22 are retracted, filled in spring clamp
It sets under the force of a spring, is locked upper fixture tooling 10 and lower clamp fixture 16 by clamping bar 31, form fit tooling；
Vacuum chuck 12 unclamps, and upper fixture tooling 10 is separated with upper adjustment module；Locking cylinder 23 rises, lower clamp fixture 16 and lower dress
The separation of mode transfer block；The fit tooling integral demounting of upper fixture tooling 10 and lower clamp fixture 16 gets off.
Step 3: the penetrating of suspension 26, aligning and fixation: after the assembly for completing lug plate 30, changing and be equipped with glass tube
The lower clamp fixture 16 of fixture 15 carries out wearing an operation by two 29 clampings of glass tube on glass pipe clamp 15；Pass through first
The movement of right side accurate displacement slide unit 20, by the suspension guiding groove pair of the tong chops of right side suspension clamp 17 and glass pipe clamp 15
It is quasi-；26 one end of suspension is loaded on right side suspension clamp 17, the other end is tapped to glass pipe clamp 15 suspension guiding grooves；Depending on
Feel measurement module movement, industrial camera 4 is moved into observation position, observes 26 importing process of suspension in real time；Pass through linear motor
Delivery mechanism 19 penetrates suspension 26, and suspension 26 is imported into glass tube 29 by the suspension guiding groove of glass pipe clamp 15,
Suspension 26 is pierced by left side glass tube 29 and reaches left side suspension clamp 8, and linear motor delivery mechanism 19 stops working；By left side suspension
The screw-driving of clamp 8 clamps 26 left end of suspension, and suspension 26 is tensioned by the retrogressing of right side suspension clamp 17, the tensile force of suspension 26 by
18 feedback control of micro-force sensor；After tensioning, suspension 26 is carried out pair by left side suspension clamp 8 and right side suspension clamp 17
Middle adjustment, adjustment amount is by vision measurement module feedback；After completing centering adjustment, suspension 26 is passed through into 15 two sides of glass pipe clamp
Suspension fixed mechanism is fixed on glass pipe clamp 15；Finally left side suspension clamp 8 and right side suspension clamp 17 are unclamped and moved back
Out, it completes to wear silk, centering and fixation.
Step 4: the assembly of glass tube 29: the assembling process of glass tube 29 is identical as lug plate 30, equipped in lug plate 30
After on pendulum frame 28, the clamping bar 31 of the lower clamp fixture 16 obtained in fit tooling in step 2 is released, upper fixture is made
Tooling 10 and the separation of lower clamp fixture 16；The upper fixture tooling 10 disassembled is installed into supreme adjustment module again, with step 3
In lower adjustment module cooperate, by vision measurement module complete glass tube 29 pendulum the curved ear of frame 28 in middle dress
Match；After the completion of adjustment, three-axis accurate is displaced the z-axis decline of slide unit b14, upper fixture tooling 10 and the contact of lower clamp fixture 16, top
Cylinder 22 is risen to retract, fixture of the spring under the force of a spring, by clamping bar 31 by upper fixture tooling 10 and lower fixture
Tooling 16 is locked, and is formed fit tooling, is completed last assembly；Vacuum chuck 12 unclamps, upper fixture tooling 10 and upper adjustment mould
Block separation；Locking cylinder 23 rises, and lower clamp fixture 16 is separated with lower adjustment module；Upper fixture tooling 10 and lower clamp fixture 16
Fit tooling integral demounting get off, part keep rigging position, carry out subsequent technique.
The invention has the following advantages:
A. feeding and locking are removed, assembling process there can be program to realize automation control, improve assembly efficiency and avoid artificial
Assemble the error generated；
B. assembling process is visual in assembly, and each component assembly adjustment amount is by vision measurement module feedback, accurate displacement
Automatic regulating function is realized in slide unit movement；
C. when clamp fixture integral demounting, part is able to maintain rigging position
Detailed description of the invention
Fig. 1 is pendulum component diagram；
Fig. 2 is upper fixture tooling schematic diagram；
Fig. 3 a is the Lug plate clamp schematic diagram of lower clamp fixture；Fig. 3 b is that the glass pipe clamp of lower clamp fixture is illustrated
Figure；
Fig. 4 is fit tooling schematic diagram；
Fig. 5 a is overall structure diagram；Fig. 5 b is upper adjustment module diagram；Fig. 5 c is lower adjustment module diagram；Figure
5d is to wear an aligning module diagram；Fig. 5 e is vision measurement module diagram.
In figure: 1 optical platform；2 left side supports；3 three-axis accurates are displaced slide unit a；4 industrial cameras；5 left side accurate displacements are sliding
Platform；6 left side suspension clamp installing arms；7 upper fixture tooling feeding platforms；8 left side suspension clamps；9 swirl plate assemble mechanisms；It is pressed from both sides on 10
Has tooling；11 pendulum frame mounting bases；12 vacuum chucks；13 sucker installing arms；14 three-axis accurates are displaced slide unit b；15 glass pipe clamps
Tool；16 lower clamp fixtures；17 right side suspension clamps；18 Minitype tension sensors；19 linear motor delivery mechanisms；20 right sides are accurate
It is displaced slide unit；21 right side supports；22 jacking cylinders；23 locking cylinders；24 lower clamp fixture erection supports；25 precise rotating platforms；26
Suspension；27 swirl plates；28 pendulum frames；29 glass tubes；30 lug plates；31 clamping bars；32 swirl plate feed screws；33 external reflectance ribs
Mirror；34 Lug plate clamps.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
The device of the invention is specific as shown in Fig. 5 a, Fig. 5 b, Fig. 5 c, Fig. 5 d and Fig. 5 e, before assembly, first replaces the spare parts to be installed
Pendulum frame 28 is loaded in the pendulum frame mounting base 11 of upper fixture tooling 10, by 27 clamping of swirl plate in the whirlpool of upper fixture tooling 10
On flow assemble mechanism 9；By glass tube 29 and lug plate 30 respectively clamping lower clamp fixture 16 glass pipe clamp 15 with connect
On line plate clamp 34；Then upper fixture tooling 10 is placed on upper fixture tooling feeding platform 7, lower clamp fixture 16 is loaded on
The installation site of lower adjustment module, complete it is to be installed replace the spare parts be loaded.
The posture to be installed to replace the spare parts is adjusted by relative pose information acquired in vision measurement module, to realize pendulum
The assembly precision requirement of frame 28 and lug plate 30, glass tube 29.Lug plate 30, glass tube 29 and pendulum frame 28 are in vision measurement
The automatic assembling that makes two bites at a cherry under the feedback of module (lug plate 30 that is loaded is different with the fixture of glass tube 29), while can realize outstanding
Silk 26 in glass tube 29 to middle adjustment, realize that assembling process is observed in real time.
Upper adjustment module, it can be achieved that treat 28 3 displacement freedoms (xyz) of pendulum frame of Assembly part adjustment and
Assembling process, pendulum frame 28 are loaded onto the pendulum frame mounting base 11 of upper fixture tooling 10 (such as Fig. 2).Collect in upper fixture tooling 10
At there is swirl plate assemble mechanism 9, swirl plate 27 is loaded in the mechanism, passes through vision measurement module feedback, swivel feeding screw rod
Swirl plate 27 is pushed to rigging position by 32, realizes being loaded for swirl plate 27.Upper fixture tooling 10 is equipped with 45 ° of external reflectance rib
Mirror 33 acquires part key position image for vision measurement module.The positioning and pickup of upper fixture tooling 10 are by four vacuum
Sucker 12 is realized.Three-axis accurate displacement slide unit b14 drives upper fixture tooling 10 to move to predetermined position when assembly, completes pose tune
Whole and final assembly.Impact when upper fixture tooling 10 and lower clamp fixture 16 contact when to overcome assembly, vacuum chuck 12 can
Slight fluctuation effectively reduces impact when assembly.
Lower adjustment module, it can be achieved that rotary freedom adjustment.Locking cylinder 23 locks lower clamp fixture 16 when assembly
Positioning, the release of jacking cylinder 22 jack fixture of the spring.Lower clamp fixture 16 moves to predetermined equipment adjustment position (under
It right above clamp fixture 16 and is not in contact with it).After the completion of pose adjustment, upper fixture tooling 10 is fallen to be connect with lower clamp fixture 16
Touching, clamping bar 31 locking fixture tooling 10 and lower clamp fixture 16 under the action of the spring.Jacking cylinder 22 is retracted, locking cylinder 23
Emersion forms fit tooling (such as Fig. 4), and after separating with upper and lower clothing mode transfer block, fit tooling can be removed, and completes subsequent technique,
Fit tooling integrally removes rear part and is able to maintain rigging position.
Lug plate clamp 34 (Fig. 3 a) and glass pipe clamp 15 (Fig. 3 b) can be installed respectively in lower clamp fixture 16.Wherein
The glass tube 29 to be installed to replace the spare parts is installed on glass pipe clamp 15.Lower clamp fixture 16 is loaded on lower clamp fixture erection support
On 24, the locking cylinder 23 by being connected in lower 24 bottom of clamp fixture erection support is locked.Lower clamp fixture erection support 24
It is connected on precise rotating platform 25.15 upper surface of glass pipe clamp is equipped with V-groove and realizes the positioning of glass tube 29 and be equipped with clamping machine
Structure fixes glass tube 29.Glass pipe clamp 15 is equipped with suspension guiding groove simultaneously, and suspension guiding groove is in horn mouth, groove body bottom surface
In inclined-plane, wears a process and turn left from the right side.
The suspension 26 to be installed to replace the spare parts is loaded to wearing on the right side of thread aligning module on suspension clamp 17, on right side suspension clamp 17
Equipped with suspension positioning groove.Right side suspension clamp 17 is connect with 18 left end of Minitype tension sensor, and Minitype tension sensor 18 is right
End is connect with linear motor delivery mechanism 19, and linear motor delivery mechanism 19 is mounted on right side accurate displacement slide unit 20, right side
Accurate displacement slide unit 20 is mounted on lower clamp fixture erection support 21.Left side suspension clamp 8 is mounted on left side suspension clamp peace
It fills on arm 6, left side suspension clamp installing arm 6 is connected on left side accurate displacement slide unit 5, and left side accurate displacement slide unit 5 is mounted on
On left side support 2.After 26 left end of suspension enters left side suspension clamp 8, it is outstanding that the lock-screw of left side suspension clamp 8 is tightened into clamping
26 left ends of silk.Suspension 26 is tensioned by the retrogressing of right side suspension clamp 17, and tensile force is perceived by Minitype tension sensor 18, force signal
PC machine is reached by control loop, the closed-loop control realized to tensile force is compared with default force threshold.
After suspension 26 is tensioned, realize suspension in glass tube 29 by right side suspension clamp 17 and left side suspension clamp 8
Horizontal direction centering adjustment, adjustment amount realize the closed-loop control of centering adjustment by vision measurement module feedback.Complete centering adjustment
Suspension 26 is fixed on glass pipe clamp 15 afterwards and (is provided with suspension clamp system on glass pipe clamp 15,26 aligning of suspension is complete
Cheng Hou stirs both sides plectrum to fix suspension 26), a centering adjustment is worn in completion.
The present invention is a kind of device for inertial navigation device microminiature accelerometer inertia pendulum component automatic assembling.This
Invention is not limited solely to the automatic assembling to inertia pendulum component, can enhance the adaptation of the device by the modification of end clamp
Property, the assembly of achievable other accurate micro parts.
Claims (2)
1. a kind of across scale part automatic assembling apparatus of weak rigid frame formula structure, which is characterized in that the weak rigidity frame
Across the scale part automatic assembling apparatus of rack and panel construction mainly by vision measurement module, upper adjustment module, lower adjustment module and is worn
Silk aligning module composition, the bottom of four modules is installed on optical platform (1)；The middle part of device is upper adjustment module under
Adjustment module, lower adjustment module are located at the lower section of upper adjustment module, wear the two sides that an aligning module is located at lower adjustment module, vision
Measurement module is located at the front side of lower adjustment module, for obtaining the posture information to be installed to replace the spare parts；
The vision measurement module is mainly made of industrial camera (4) and three-axis accurate displacement slide unit a (3)；Three axis
The bottom of accurate displacement slide unit a (3) is mounted on optical platform (1), and z-axis is equipped with and is horizontally mounted seat, the industrial phase
Machine (4), which is fixed on, to be horizontally mounted on seat, by three-axis accurate displacement slide unit a (3) in the movement of three displacement freedoms, adjusts work
The position of industry camera (4) obtains the posture information to be installed to replace the spare parts and is adjusted, to realize assembly precision requirement；
The upper adjustment module is mainly displaced slide unit b (14), vacuum chuck (12), sucker installing arm (13) by three-axis accurate
It is formed with upper fixture tooling (10)；The upper fixture tooling (10) is U-shaped structure, opening card slot and clamping bar (31) at middle part
It matches；The upper surface of upper fixture tooling (10) is symmetrically arranged with multiple sucker contact surfaces, matches with vacuum chuck (12)；Upper folder
The side of tool tooling (10) is equipped with swirl plate assemble mechanism (9), and swirl plate (27) is mounted on the bottom of swirl plate assemble mechanism (9)
Portion, swirl plate assemble mechanism (9) are equipped with swirl plate feed screw (32), and one end of swirl plate feed screw (32) is fixed on
In clamp fixture (10), pushes swirl plate (27) to rigging position by swirl plate feed screw (32), realize swirl plate (27)
Be loaded；The side of the upper fixture tooling (10) is equipped with pendulum frame mounting base (11), for installing pendulum frame (28), pendulum
Frame mounting base (11) is located at the side of swirl plate (27), by the adjusting of swirl plate feed screw (32), makes swirl plate (27)
It is mounted on pendulum frame (28)；The center of pendulum frame mounting base (11) is equipped with external reflectance prism (33), with industrial camera (4) phase
Cooperation makes the location drawing picture of vision measurement module acquisition part；The three-axis accurate is displaced slide unit b (14), installs in z-axis
There are sucker installing arm (13), for installing vacuum chuck (12), the disk of vacuum chuck (12) is downward, and three-axis accurate is displaced slide unit
The bottom of b (14) is mounted on optical platform (1)；Draw the upper of upper fixture tooling (10) in the bottom of the vacuum chuck (12)
Upper fixture tooling (10) is moved to dress by three-axis accurate displacement slide unit b (14) in the movement of three displacement freedoms by surface
With position；
The lower adjustment module, mainly by precise rotating platform (25), jacking cylinder (22), locking cylinder (23), lower clamp fixture
Erection support (24) and lower clamp fixture (16) composition；The side of the lower clamp fixture (16) is equipped with Lug plate clamp
(34) or glass pipe clamp (15), position and pendulum frame mounting base (11) phase of the Lug plate clamp (34) with glass pipe clamp (15)
It is corresponding；The Lug plate clamp (34) is used for link piece (30), and the glass pipe clamp (15) is for fixing glass
It manages (29)；The both ends and middle part of described glass pipe clamp (15) upper surface are respectively provided with one section of suspension guiding groove, suspension guiding groove
In horn mouth, groove body bottom surface is in inclined-plane；V-groove is equipped between adjacent two sections of suspension guiding grooves, V-groove is equipped with clamping device,
To realize the positioning and clamping of two glass tubes (29)；
The center of the lower clamp fixture (16) is equipped with vertical ladder hole, for installing fixture of the spring；The bullet
Spring clamping device is mainly made of clamping bar (31) and spring, and clamping bar (31) slides up and down in vertical ladder hole, is clamped
The bottom end of bar (31) is connected with jacking cylinder (22)；Spring pocket is on clamping bar (31), the bottom and clamping bar (31) of spring
Lower end be connected, for the top card of spring in the stepped hole of clamp fixture 16, the top of clamping bar (31) extends to lower fixture work
Fill the outside of (16)；The bottom of the precise rotating platform (25) is mounted on optical platform (1), and precise rotating platform is equipped on (25)
The center of lower clamp fixture erection support (24), the upper surface of lower clamp fixture erection support (24) is equipped with through-hole, for jacking
Cylinder (22) mandril passes through；The upper surface of lower clamp fixture erection support (24) is equipped with multiple locating pieces, the lower fixture
Tooling (16) is mounted on the upper surface of lower clamp fixture erection support (24), is locked by locating piece positioning and locking cylinder (23)
Tightly, being loaded for lower clamp fixture (16) is completed；The jacking cylinder (22) and locking cylinder (23) is placed in lower clamp fixture peace
The bottom surface for filling support (24), by the cooperation of fixture of the spring and jacking cylinder (22), completion upper fixture tooling (10) and under
The fit locking of clamp fixture (16)；
Described wears an aligning module, including an adjustment mechanism is worn on right side and an adjustment mechanism is worn in left side；Wear silk in the right side
Adjustment mechanism is mainly by right side suspension clamp (17), Minitype tension sensor (18), linear motor delivery mechanism (19), right side essence
Dense bit moves slide unit (20) and right side support (21) composition；The right side accurate displacement slide unit (20) is mounted on right side support (21)
Upper surface, right side accurate displacement slide unit (20) are equipped with level support platform, for installing right side suspension clamp (17), miniature spring
Sensor (18) and linear motor delivery mechanism (19)；The Minitype tension sensor (18), one end is passed with linear motor
Mechanism (19) is sent to be connected, the other end is connected with right side suspension clamp (17), and Minitype tension sensor (18) is outstanding for obtaining
The tensile force of silk (26), force signal reach PC machine by control loop, and realization is compared with default force threshold to tensile force
Closed-loop control；The left side suspension adjustment mechanism is mainly by left side support (2), left side accurate displacement slide unit (5), left side suspension
Clamp installing arm (6), upper fixture tooling feeding platform (7) and left side suspension clamp (8) composition；The upper fixture tooling feeding platform
(7) and left side suspension clamp installing arm (6) is mounted on left side accurate displacement slide unit (5) upper surface, upper fixture tooling feeding platform (7)
For placing upper fixture tooling (10), one end of left side suspension clamp (8) is fixed on the end of left side suspension clamp installing arm (6)
Portion；The left side suspension clamp (8) is opposite with the position of right side suspension clamp (17), and the tong chops of the two are positioned equipped with suspension
Groove, the both ends of suspension (26) are separately fixed on left side suspension clamp (8) and right side suspension clamp (17)；The right side branch
The bottom of seat (21) and left side support (2) is mounted on optical platform (1).
2. a kind of across scale part automatic assembly method of weak rigid frame formula structure, using device described in claim 1 into
Luggage is matched, which is characterized in that specific step is as follows:
Step 1: the assembly of swirl plate (27): pendulum frame (28) being loaded on pendulum frame mounting base (11), by swirl plate (27)
Clamping is on swirl plate assemble mechanism (9)；Industrial camera (4) is moved to observation position by vision measurement module action, is seen in real time
Survey swirl plate (27) assembling process；Swirl plate (27) is pushed to rigging position, passes through work by rotating vortex piece feed screw (32)
The feedback of industry camera (4) completes the assembly of swirl plate (27) and positioning；
Step 2: the assembly of lug plate (30): selection is equipped with the lower clamp fixture (16) of Lug plate clamp (34), by lug plate
(30) clamping is on Lug plate clamp (34)；Upper fixture tooling (10) is placed on upper fixture tooling feeding platform (7), lower fixture
Tooling (16) is loaded on the installation site of lower adjustment module by locking cylinder (23), and jacking cylinder (22) is stretched out, by spring clip
The clamping bar (31) of tight device is jacked up to predeterminated position；Three-axis accurate is displaced slide unit b (14) and acts, in vacuum chuck (12) absorption
Clamp fixture (10) simultaneously drives upper fixture tooling (10) to be moved to position to be assembled；Vision measurement module action, by industrial camera
(4) observation position is moved to, vision measurement module obtains posture information of pendulum frame (28) relative to lug plate (30), passes through three
Pendulum frame (28) and lug plate (30) relative position is completed in the cooperation of axis accurate displacement slide unit b (14) and precise rotating platform (25)
It adjusts and reaches assembly precision；After the completion of adjustment, three-axis accurate be displaced slide unit b (14) z-axis decline, upper fixture tooling (10) and
The contact of lower clamp fixture (16), jacking cylinder (22) are retracted, fixture of the spring under the force of a spring, pass through clamping bar
(31) upper fixture tooling (10) and lower clamp fixture (16) are locked, forms fit tooling；Vacuum chuck (12) unclamps, upper fixture
Tooling (10) is separated with upper adjustment module；Locking cylinder (23) rises, and lower clamp fixture (16) separates with lower adjustment module；Upper folder
Tool tooling (10) and the fit tooling integral demounting of lower clamp fixture (16) get off；
Step 3: the penetrating of suspension (26), aligning and fixation: after the assembly for completing lug plate (30), changing and be equipped with glass tube
The lower clamp fixture (16) of fixture (15) carries out wearing an operation by two glass tube (29) clampings on glass pipe clamp (15)；
The movement for passing through right side accurate displacement slide unit (20) first, by the tong chops of right side suspension clamp (17) and glass pipe clamp (15)
Suspension guiding groove alignment；Suspension (26) one end is loaded on right side suspension clamp (17), the other end is tapped to glass pipe clamp
(15) the suspension guiding groove of piece；Industrial camera (4) is moved to observation position, observes suspension in real time by vision measurement module action
(26) importing process；Suspension (26) is penetrated by linear motor delivery mechanism (19), suspension (26) are passed through into glass pipe clamp
(15) suspension guiding groove is imported into glass tube (29), and suspension (26) is pierced by left side glass tube (29) and reaches left side suspension clamp
(8), linear motor delivery mechanism (19) stops working；The screw-driving of left side suspension clamp (8) is clamped into suspension (26) left end,
Right side suspension clamp (17), which retreats, is tensioned suspension (26), and the tensile force of suspension (26) is by 18 feedback control of micro-force sensor；
After tensioning, centering adjustment is carried out to suspension (26) by left side suspension clamp (8) and right side suspension clamp (17), adjustment amount is by regarding
Feel measurement module feedback；After completing centering adjustment, suspension (26) are passed through to the suspension fixed mechanism of glass pipe clamp (15) two sides
It is fixed on glass pipe clamp (15)；Finally left side suspension clamp (8) and right side suspension clamp (17) are unclamped and exited, is completed
Wear silk, centering and fixation；
Step 4: the assembly of glass tube (29): the assembling process of glass tube (29) is identical as lug plate (30), in lug plate (30)
After being fitted on pendulum frame (28), the clamping bar (31) of the lower clamp fixture (16) obtained in fit tooling in step 2 is pushed away
Out, upper fixture tooling (10) and lower clamp fixture (16) are separated；The upper fixture tooling (10) disassembled is installed again supreme
Adjustment module cooperates with the lower adjustment module in step 3, completes glass tube (29) in pendulum frame by vision measurement module
Centered assembling in frame (28) curved ear；After the completion of adjustment, three-axis accurate is displaced the z-axis decline of slide unit b (14), upper fixture tooling
(10) it is retracted with lower clamp fixture (16) contact, jacking cylinder (22), fixture of the spring under the force of a spring, passes through folder
Tight bar (31) locks upper fixture tooling (10) and lower clamp fixture (16), forms fit tooling, completes last assembly；Vacuum
Sucker (12) unclamps, and upper fixture tooling (10) is separated with upper adjustment module；Locking cylinder (23) rise, lower clamp fixture (16) with
Lower adjustment module separation；The fit tooling integral demounting of upper fixture tooling (10) and lower clamp fixture (16) gets off, and part is kept
Rigging position carries out subsequent technique.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811545863.1A CN109514222B (en) | 2018-12-18 | 2018-12-18 | Automatic assembling device and method for cross-scale parts of weak-steel frame type structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811545863.1A CN109514222B (en) | 2018-12-18 | 2018-12-18 | Automatic assembling device and method for cross-scale parts of weak-steel frame type structure |
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| CN109514222B CN109514222B (en) | 2020-09-11 |
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