CN109514222B - Automatic assembling device and method for cross-scale parts of weak-steel frame type structure - Google Patents
Automatic assembling device and method for cross-scale parts of weak-steel frame type structure Download PDFInfo
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- CN109514222B CN109514222B CN201811545863.1A CN201811545863A CN109514222B CN 109514222 B CN109514222 B CN 109514222B CN 201811545863 A CN201811545863 A CN 201811545863A CN 109514222 B CN109514222 B CN 109514222B
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Abstract
The invention belongs to the technical field of precision assembly of aerospace inertia devices, relates to an automatic assembly device and method for a cross-scale part with a weak-steel frame type structure, and relates to an automatic assembly technology for a microminiature accelerometer inertia pendulum assembly. The device mainly comprises a vision measuring module, an upper assembling and adjusting module, a lower assembling and adjusting module and a wire threading and aligning module; the middle part is the upper assembly module and the lower assembly module, the wire penetrating aligning module is positioned at two sides of the lower assembly module, and the vision measuring module is positioned at the front side. The invention overcomes the precision and efficiency defects brought by the prior pendulum assembly process, can realize the alignment positioning of the vortex sheet, the automatic adjustment and assembly of the relative positions of the pendulum frame and the lug plate as well as the glass tube, the automatic penetration and centering adjustment and fixation of the suspension wire relative to the glass tube, has controllable tension, can integrally disassemble the fixture tool, and keeps the assembly position of the part after the disassembly. The device is composed of a vision measuring module, an upper assembling and adjusting module, a lower assembling and adjusting module and a wire penetrating and aligning module.
Description
Technical Field
The invention belongs to the technical field of precision assembly of aerospace inertia devices, relates to an automatic assembly device and method for a cross-scale part with a weak-steel frame type structure, and relates to an automatic assembly technology for a microminiature accelerometer inertia pendulum assembly.
Background
The accelerometer is a core sensitive element of an inertial navigation and inertial guidance system, and is widely applied to navigation systems in the fields of aviation, aerospace and the like. The suspension wire pendulum type accelerometer has small volume, light weight, large measuring range, higher precision and can bear larger acceleration and impact. The torquer is used as a feedback element in a suspension wire pendulum type accelerometer servo loop, and has the main function of enabling an accelerometer closed-circuit system to work in a moment balance state, and the performance of the torquer has great influence on the precision of the accelerometer. The pendulum assembly is a core component of the accelerometer torquer, and the manufacturing and assembling precision of the pendulum assembly can greatly influence the performance of the accelerometer. Therefore, the precision assembly of the pendulum assembly is of great significance to the improvement of the measurement precision of the pendulum accelerometer.
The positioning structure of the inertia pendulum part is limited, the positioning precision needs to be ensured by assembly, and the assembled part needs to have good precision retentivity in the glue drying process after the assembly is completed. The assembly difficulty is increased in the process, so that the assembly process becomes a main factor for restricting the improvement of the production efficiency of the accelerometer. At present, the assembly of an inertia pendulum assembly is mainly manual assembly by combining a special fixture tool and tools such as a microscope, for example, the assembly of a pendulum assembly in the Leoyanle treatise on the principle of a small-sized suspension wire pendulum type acceleration sensor and the research of key technology, and the key steps are as follows: assembling the vortex sheet on the swing frame, assembling the lug sheet on the swing frame, inserting the suspension wires into two coaxially placed glass tubes, assembling the suspension wires in the glass tubes in a centering manner, and assembling the glass tubes in the centering manner on the swing frame; the assembly process is completed step by step, and the assembly process is complex and time-consuming. The existing assembly method depends on the technical level, operation habits, working experience and the like of workers, and is low in assembly precision, high in rejection rate and long in consumed time. In view of the above problems, it is difficult to improve the operation level of workers to achieve high assembly accuracy, and the output-to-input ratio is small. Aiming at the penetration and aligning processes of a suspension wire, the invention has the patent number 201110178911.X, and Huang wen invented a device for penetrating a platinum wire into a quartz tube, wherein the device introduces the platinum wire into a roller, and the method can cause certain damage to the surface of the platinum wire and has no aligning and positioning; the invention patent No. 201410855198.1, Li Juan et al invented a microchannel filament-threading device capable of realizing aligned filament-threading, wherein the alignment is completed before filament-threading, and the alignment is not performed after filament-threading.
From the above, the existing assembly method has a large dependence on workers and a low degree of automation. The requirements of the current assembly efficiency and assembly precision can only be met by formulating a reasonable, feasible, convenient and efficient processing process flow and developing automatic assembly equipment.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the invention overcomes the precision and efficiency defects brought by the existing assembly process of the pendulum assembly, and provides an automatic assembly device and method of an inertia pendulum assembly, which can realize the alignment and positioning of a vortex sheet, the automatic adjustment and assembly of the relative positions of a pendulum frame, a lug plate and a glass tube, the automatic penetration, centering adjustment and fixation of a suspension wire relative to the glass tube, the tensioning force is controllable, a fixture tool can be integrally disassembled, and the assembled position of a part is kept after the disassembly. The assembled pendulum assembly is shown schematically in fig. 1.
The technical scheme of the invention is as follows:
the automatic assembling device for the cross-scale parts with the weak-steel frame type structure mainly comprises a vision measuring module, an upper assembling and adjusting module, a lower assembling and adjusting module and a wire threading and aligning module, wherein the bottoms of the four modules are all arranged on an optical platform 1; the middle part of the device is provided with an upper assembling and debugging module and a lower assembling and debugging module, the lower assembling and debugging module is positioned below the upper assembling and debugging module, the wire threading and aligning module is positioned on two sides of the lower assembling and debugging module, and the vision measuring module is positioned on the front side of the lower assembling and debugging module and used for acquiring pose information of parts to be assembled.
The vision measurement module mainly comprises an industrial camera 4 and a three-axis precision displacement sliding table a 3; the bottom of the three-axis precision displacement sliding table a3 is installed on the optical platform 1, a horizontal installation seat is arranged on the z axis of the three-axis precision displacement sliding table a3, the industrial camera 4 is fixed on the horizontal installation seat, the position of the industrial camera 4 is adjusted through the movement of the three-axis precision displacement sliding table a3 in three displacement degrees of freedom, the pose information of a part to be assembled is obtained and adjusted, and the assembly precision requirement is met.
The upper assembly and adjustment module mainly comprises a three-axis precision displacement sliding table b14, a vacuum chuck 12, a chuck mounting arm 13 and an upper clamp tool 10; the upper clamp tool 10 is of a U-shaped structure, and an opening clamping groove in the middle is matched with the clamping rod 31; the upper surface of the upper clamp tool 10 is symmetrically provided with a plurality of sucker contact surfaces which are matched with the vacuum suckers 12; the side surface of the upper fixture tool 10 is provided with a vortex sheet assembly mechanism 9, a vortex sheet 27 is arranged at the bottom of the vortex sheet assembly mechanism 9, a vortex sheet feeding screw rod 32 is arranged on the vortex sheet assembly mechanism 9, one end of the vortex sheet feeding screw rod 32 is fixed on the upper fixture tool 10, and the vortex sheet 27 is pushed to an assembly position through the vortex sheet feeding screw rod 32, so that the assembly and clamping of the vortex sheet 27 are realized; the side surface of the upper clamp tool 10 is provided with a swing frame mounting seat 11 for mounting a swing frame 28, the swing frame mounting seat 11 is positioned at one side of the vortex sheet 27, and the vortex sheet 27 is mounted on the swing frame 28 through the adjustment of a vortex sheet feeding screw rod 32; an external reflection prism 33 is arranged in the center of the swing frame mounting seat 11 and is matched with the industrial camera 4, so that the vision measurement module collects position images of parts; the z-axis of the three-axis precision displacement sliding table b14 is provided with a sucker mounting arm 13 for mounting a vacuum sucker 12, the disc surface of the vacuum sucker 12 faces downwards, and the bottom of the three-axis precision displacement sliding table b14 is mounted on the optical platform 1; the bottom of the vacuum chuck 12 absorbs the upper surface of the upper fixture tool 10, and the upper fixture tool 10 is moved to an assembly position through the movement of the three-axis precision displacement sliding table b14 in three displacement degrees of freedom.
The lower assembly and adjustment module mainly comprises a precision rotary table 25, a jacking cylinder 22, a locking cylinder 23, a lower fixture tool mounting support 24 and a lower fixture tool 16; the side surface of the lower clamp tool 16 is provided with a lug clamp 34 or a glass tube clamp 15, and the positions of the lug clamp 34 and the glass tube clamp 15 correspond to the swing frame mounting seat 11; the lug clamp 34 is used for fixing the lug 30, and the glass tube clamp 15 is used for fixing the glass tube 29; two ends and the middle part of the upper surface of the glass tube clamp 15 are respectively provided with a section of suspension wire guide groove, the suspension wire guide grooves are in a horn mouth shape, and the bottom surface of the groove body is an inclined plane; and a V-shaped groove is arranged between two adjacent sections of suspension wire guide grooves, and a clamping mechanism is arranged on the V-shaped groove so as to realize the positioning and clamping of the two glass tubes 29.
The center of the lower clamp tool 16 is provided with a vertical step through hole for mounting a spring clamping device; the spring clamping device mainly comprises a clamping rod 31 and a spring, the clamping rod 31 slides up and down in the vertical stepped through hole, and the bottom end of the clamping rod 31 is connected with the jacking cylinder 22; the spring is sleeved on the clamping rod 31, the bottom of the spring is connected with the lower end of the clamping rod 31, the top of the spring is clamped in a stepped hole of the lower clamp tool 16, and the top end of the clamping rod 31 extends to the outside of the lower clamp tool 16; the bottom of the precision rotary table 25 is arranged on the optical platform 1, a lower clamp tool mounting support 24 is arranged on the precision rotary table 25, and a through hole is formed in the center of the upper surface of the lower clamp tool mounting support 24 and used for enabling an ejector rod of the jacking cylinder 22 to pass through; the upper surface of the lower clamp tool mounting support 24 is provided with a plurality of positioning blocks, the lower clamp tool 16 is mounted on the upper surface of the lower clamp tool mounting support 24 and is locked by the positioning blocks and the locking cylinder 23, and the clamping of the lower clamp tool 16 is completed; the jacking cylinder 22 and the locking cylinder 23 are arranged on the bottom surface of the lower clamp tool mounting support 24, and fit locking of the upper clamp tool 10 and the lower clamp tool 16 is completed through cooperation of the spring clamping device and the jacking cylinder 22.
The wire-threading aligning module comprises a right wire-threading adjusting mechanism and a left wire-threading adjusting mechanism; the right wire threading adjusting mechanism mainly comprises a right wire suspension clamp 17, a micro tension sensor 18, a linear motor delivery mechanism 19, a right precision displacement sliding table 20 and a right support 21; the right precision displacement sliding table 20 is arranged on the upper surface of a right support 21, and a horizontal support table is arranged on the right precision displacement sliding table 20 and is used for mounting a right suspension clamp 17, a micro tension sensor 18 and a linear motor delivery mechanism 19; one end of the miniature tension sensor 18 is connected with the linear motor delivery mechanism 19, the other end of the miniature tension sensor is connected with the right suspension clamp 17, the miniature tension sensor 18 is used for acquiring the tension of the suspension wire 26, a force signal is transmitted to the PC through a control loop, and the force signal is compared with a preset force threshold value to realize closed-loop control on the tension; the left wire threading adjusting mechanism mainly comprises a left support 2, a left precise displacement sliding table 5, a left wire suspension clamp mounting arm 6, an upper clamp tool feeding table 7 and a left wire suspension clamp 8; the upper clamp tool loading platform 7 and the left suspension clamp mounting arm 6 are mounted on the upper surface of the left precise displacement sliding table 5, the upper clamp tool loading platform 7 is used for placing an upper clamp tool 10, and one end of the left suspension clamp 8 is fixed at the end part of the left suspension clamp mounting arm 6; the left side wire-hanging clamp 8 is opposite to the right side wire-hanging clamp 17, the clamp jaws of the left side wire-hanging clamp and the right side wire-hanging clamp are provided with wire-hanging positioning grooves, and two ends of a wire-hanging 26 are respectively fixed on the left side wire-hanging clamp 8 and the right side wire-hanging clamp 17; the bottoms of the right side support 21 and the left side support 2 are arranged on the optical platform 1.
An automatic assembling method for cross-scale parts of a weak-steel frame type structure comprises the following specific steps:
the first step is as follows: assembly of the swirl disc 27: clamping the swing frame 28 on the swing frame mounting seat 11, and clamping the vortex sheet 27 on the vortex sheet assembly mechanism 9; the visual measurement module acts to move the industrial camera 4 to an observation position and observe the assembly process of the vortex sheet 27 in real time; the vortex sheet feeding screw rod 32 is rotated to push the vortex sheet 27 to the assembling position, and the assembly and the positioning of the vortex sheet 27 are completed through the feedback of the industrial camera 4.
The second step is that: assembling of the terminal 30: selecting a lower clamp tool 16 provided with a lug clamp 34, and clamping a lug 30 on the lug clamp 34; placing an upper clamp tool 10 on an upper clamp tool feeding table 7, clamping a lower clamp tool 16 at the installation position of a lower debugging module through a locking cylinder 23, extending a jacking cylinder 22, and jacking a clamping rod 31 of a spring clamping device to a preset position; the three-axis precision displacement sliding table b14 acts, the vacuum chuck 12 absorbs the upper clamp tool 10 and drives the upper clamp tool 10 to move to the position to be assembled; the visual measurement module acts to move the industrial camera 4 to an observation position, the visual measurement module obtains the pose information of the swing frame 28 relative to the lug plate 30, and the adjustment of the relative positions of the swing frame 28 and the lug plate 30 is completed and the assembly precision is reached through the matching of the three-axis precision displacement sliding table b14 and the precision rotary table 25; after the adjustment is completed, the z-axis of the three-axis precision displacement sliding table b14 descends, the upper clamp tool 10 is in contact with the lower clamp tool 16, the jacking cylinder 22 returns, and the upper clamp tool 10 and the lower clamp tool 16 are locked by the clamping rod 31 under the action of the spring clamping device under the action of the spring to form a combined tool; the vacuum chuck 12 is loosened, and the upper clamp tool 10 is separated from the upper assembling and adjusting module; the locking cylinder 23 is lifted, and the lower clamp tool 16 is separated from the lower assembly and adjustment module; the integrated tool of the upper clamp tool 10 and the lower clamp tool 16 is integrally disassembled.
The third step: threading, aligning and fixing of the suspension wire 26: after the assembly of the lug 30 is completed, the lower clamp tool 16 provided with the glass tube clamp 15 is replaced, and two glass tubes 29 are clamped on the glass tube clamp 15 for wire threading operation; firstly, the clamping jaw of the right wire-hanging clamp 17 is aligned with the wire-hanging guide groove of the glass tube clamp 15 through the movement of the right precision displacement sliding table 20; one end of the suspension wire 26 is clamped on the right suspension wire clamp 17, and the other end is arranged in a suspension wire guide groove of the glass tube clamp 15; the visual measurement module acts, the industrial camera 4 is moved to an observation position, and the leading-in process of the suspension wire 26 is observed in real time; the suspension wire 26 is inserted through the linear motor delivery mechanism 19, the suspension wire 26 is guided into the glass tube 29 through the suspension wire guide groove of the glass tube clamp 15, the suspension wire 26 penetrates out of the left glass tube 29 to reach the left suspension wire clamp 8, and the linear motor delivery mechanism 19 stops working; the screw of the left suspension clamp 8 is screwed down to clamp the left end of the suspension wire 26, the right suspension clamp 17 is retreated to tension the suspension wire 26, and the tension force of the suspension wire 26 is feedback controlled by the micro tension sensor 18; after tensioning, the suspension wires 26 are centered and adjusted through the left suspension wire clamp 8 and the right suspension wire clamp 17, and the adjustment amount is fed back by the vision measurement module; after the centering adjustment is finished, fixing the suspension wires 26 on the glass tube clamp 15 through suspension wire fixing mechanisms on two sides of the glass tube clamp 15; and finally, loosening and withdrawing the left suspension clamp 8 and the right suspension clamp 17 to finish threading, centering and fixing.
The fourth step: assembly of glass tube 29: the assembly process of the glass tube 29 is the same as that of the lug 30, and after the lug 30 is assembled on the swing frame 28, the clamping rod 31 of the lower clamp tool 16 in the combined tool obtained in the step two is pushed out, so that the upper clamp tool 10 is separated from the lower clamp tool 16; then the disassembled upper fixture tool 10 is installed on the upper assembly module and is matched with the lower assembly module in the third step, and the centering assembly of the glass tube 29 in the bent lug of the swing frame 28 is completed through the vision measurement module; after adjustment is completed, the z-axis of the three-axis precision displacement sliding table b14 descends, the upper clamp tool 10 is in contact with the lower clamp tool 16, the jacking cylinder 22 returns, the spring clamping device locks the upper clamp tool 10 and the lower clamp tool 16 through the clamping rod 31 under the action force of the spring to form a combined tool, and final assembly is completed; the vacuum chuck 12 is loosened, and the upper clamp tool 10 is separated from the upper assembling and adjusting module; the locking cylinder 23 is lifted, and the lower clamp tool 16 is separated from the lower assembly and adjustment module; the integrated tool of the upper clamp tool 10 and the lower clamp tool 16 is integrally disassembled, and the parts keep the assembling position for subsequent processes.
The invention has the following beneficial effects:
a. besides feeding and locking, the assembly process can be automatically controlled by a program, so that the assembly efficiency is improved, and errors caused by manual assembly are avoided;
b. the assembly process is visual in the assembly process, the assembly adjustment amount of each part is fed back by the visual measurement module, and the precise displacement sliding table acts to realize the automatic adjustment function;
c. when the fixture tool is integrally disassembled, the parts can keep the assembly position
Drawings
FIG. 1 is a schematic view of a pendulum assembly;
FIG. 2 is a schematic view of an upper clamp tooling;
FIG. 3a is a schematic view of a wafer clamp of a lower clamp tool; FIG. 3b is a schematic view of a glass tube clamp of the lower clamp tooling;
FIG. 4 is a schematic view of a fit tool;
FIG. 5a is a schematic view of the overall structure; FIG. 5b is a schematic view of the upper assembly module; FIG. 5c is a schematic view of a bottom adjustment module; FIG. 5d is a schematic view of a threading aligning module; fig. 5e is a schematic view of a vision measurement module.
In the figure: 1 an optical platform; 2, a left support; 3, a three-axis precision displacement sliding table a; 4 an industrial camera; 5, a left precision displacement sliding table; 6, mounting an arm for a left suspension clamp; 7, feeding the fixture tool on a feeding table; 8, left side suspension clamp; 9, a vortex sheet assembling mechanism; 10, mounting a fixture tool; 11, swinging a frame mounting seat; 12, a vacuum chuck; 13 a suction cup mounting arm; 14, a three-axis precision displacement sliding table b; 15, a glass tube clamp; 16, a lower clamp tool; 17 right side suspension clamp; 18 miniature tension sensors; 19 a linear motor delivery mechanism; 20 right side precision displacement slide; 21 a right side support; 22, a jacking cylinder; 23 locking the cylinder; 24, mounting a support by a lower clamp tool; 25 precision rotating table; 26, suspension wire; 27 swirl plates; 28, a pendulum frame; 29 a glass tube; 30 a lug plate; 31 clamping the rod; 32 vortex sheet feed screw; 33 an external reflection prism; 34 terminal block clamp.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
As shown in fig. 5a, 5b, 5c, 5d and 5e, before assembly, a swing frame 28 of a part to be assembled is mounted and clamped on a swing frame mounting seat 11 of an upper fixture tool 10, and a vortex sheet 27 is mounted and clamped on a vortex sheet assembly mechanism 9 of the upper fixture tool 10; respectively clamping a glass tube 29 and a lug plate 30 on a glass tube clamp 15 and a lug plate clamp 34 of a lower clamp tool 16; and then, placing the upper clamp tool 10 on the upper clamp tool feeding table 7, and clamping the lower clamp tool 16 at the mounting position of the lower debugging module to finish clamping the part to be assembled.
The posture of the part to be assembled is adjusted through the relative posture information acquired by the vision measuring module, so that the assembly precision requirements of the swing frame 28, the lug plate 30 and the glass tube 29 are met. The lug 30, the glass tube 29 and the swing frame 28 are automatically assembled in two times under the feedback of the vision measuring module (the clamp for clamping the lug 30 and the glass tube 29 is different), and meanwhile, the centering adjustment of the suspension wires 26 in the glass tube 29 can be realized, and the real-time observation of the assembly process is realized.
The upper adjustment module can realize adjustment and assembly processes of three displacement degrees of freedom (xyz) of the swing frame 28 of the part to be assembled, and the swing frame 28 is clamped on the swing frame mounting seat 11 of the upper clamp tool 10 (shown in fig. 2). The upper clamp tool 10 is integrated with a vortex sheet assembling mechanism 9, a vortex sheet 27 is clamped on the mechanism, and the vortex sheet 27 is pushed to an assembling position through a rotary feed screw rod 32 through feedback of a vision measuring module, so that clamping of the vortex sheet 27 is realized. The upper fixture tool 10 is provided with a 45-degree outer reflection prism 33 for the vision measurement module to collect the key position image of the part. The positioning and picking up of the upper clamp tooling 10 is accomplished by four vacuum chucks 12. During assembly, the three-axis precision displacement sliding table b14 drives the upper clamp tool 10 to move to a preset position, and pose adjustment and final assembly are completed. In order to overcome the impact generated when the upper clamp tool 10 contacts the lower clamp tool 16 during assembly, the vacuum chuck 12 can slightly float, so that the impact during assembly is effectively reduced.
And the lower adjustment module can realize the adjustment of the rotational degree of freedom. During assembly, the lower clamp tool 16 is locked and positioned by the locking cylinder 23, and the jacking cylinder 22 is pushed out to jack the spring clamping device. The lower clamp tooling 16 is moved to a predetermined assembly adjustment position (directly above and out of contact with the lower clamp tooling 16). After the pose adjustment is completed, the upper clamp tool 10 falls down to contact the lower clamp tool 16, and the clamping rod 31 locks the clamp tool 10 and the lower clamp tool 16 under the action of the spring. The jacking cylinder 22 retracts, the locking cylinder 23 rises to form a combined tool (as shown in figure 4), the combined tool can be detached after being separated from the upper assembling module and the lower assembling module, the subsequent process is completed, and the parts can keep the assembling position after the combined tool is integrally detached.
A lug clamp 34 (fig. 3a) and a glass tube clamp 15 (fig. 3b) may be mounted on the lower clamp tool 16, respectively. In which a glass tube 29 of the parts to be assembled is mounted on the glass tube holder 15. The lower clamp tool 16 is clamped on the lower clamp tool mounting support 24 and locked by a locking cylinder 23 fixedly connected to the bottom of the lower clamp tool mounting support 24. The lower fixture tool mounting support 24 is fixedly connected to the precision turntable 25. The upper surface of the glass tube clamp 15 is provided with a V-shaped groove for positioning the glass tube 29 and a clamping mechanism for fixing the glass tube 29. Meanwhile, a wire suspension guide groove is arranged on the glass tube clamp 15, the wire suspension guide groove is in a horn mouth shape, the bottom surface of the groove body is an inclined plane, and the wire threading process is from right to left.
And the suspension wires 26 of the parts to be assembled are clamped on the suspension wire clamp 17 on the right side of the wire-passing aligning module, and a suspension wire positioning groove is formed in the suspension wire clamp 17 on the right side. The right side suspension wire clamp 17 is connected with the left end of the micro tension sensor 18, the right end of the micro tension sensor 18 is connected with the linear motor delivery mechanism 19, the linear motor delivery mechanism 19 is installed on the right side precision displacement sliding table 20, and the right side precision displacement sliding table 20 is installed on the lower fixture tool installation support 21. The left-side wire suspension clamp 8 is arranged on the left-side wire suspension clamp mounting arm 6, the left-side wire suspension clamp mounting arm 6 is connected to the left-side precise displacement sliding table 5, and the left-side precise displacement sliding table 5 is arranged on the left-side support 2. After the left end of the suspension wire 26 enters the left suspension wire clamp 8, the locking screw of the left suspension wire clamp 8 is screwed down to clamp the left end of the suspension wire 26. The right suspension clamp 17 retreats to tension the suspension wire 26, the tension force of the suspension wire is sensed by the micro tension sensor 18, a force signal is transmitted to the PC through a control loop, and the force signal is compared with a preset force threshold value to realize closed-loop control on the tension force.
After the suspension wires 26 are tensioned, the horizontal centering adjustment of the suspension wires in the glass tube 29 is realized through the right suspension wire clamp 17 and the left suspension wire clamp 8, and the adjustment amount is fed back by the vision measurement module to realize the closed-loop control of the centering adjustment. After the centering adjustment is completed, the suspension wires 26 are fixed on the glass tube clamp 15 (the glass tube clamp 15 is provided with a suspension wire clamping mechanism, and after the centering of the suspension wires 26 is completed, the plectrums on the two sides are stirred to fix the suspension wires 26), so that the wire threading centering adjustment is completed.
The invention relates to a device for automatically assembling an inertial pendulum component of a microminiature accelerometer of an inertial navigation device. The invention is not limited to the automatic assembly of the inertia pendulum assembly, the adaptability of the device can be enhanced through the modification of the end clamp, and the assembly of other precise micro parts can be completed.
Claims (2)
1. The device for automatically assembling the cross-scale parts with the weak-steel frame type structure is characterized by mainly comprising a vision measuring module, an upper assembling and adjusting module, a lower assembling and adjusting module and a wire-threading aligning module, wherein the bottoms of the four modules are all arranged on an optical platform (1); the middle part of the device is provided with an upper assembly module and a lower assembly module, the lower assembly module is positioned below the upper assembly module, the wire threading aligning module is positioned on two sides of the lower assembly module, and the vision measuring module is positioned on the front side of the lower assembly module and is used for acquiring pose information of a part to be assembled;
the vision measurement module mainly comprises an industrial camera (4) and a three-axis precision displacement sliding table a (3); the bottom of the three-axis precision displacement sliding table a (3) is arranged on the optical platform (1), a horizontal mounting seat is arranged on a z axis of the three-axis precision displacement sliding table a, the industrial camera (4) is fixed on the horizontal mounting seat, the position of the industrial camera (4) is adjusted through the movement of the three-axis precision displacement sliding table a (3) in three displacement degrees of freedom, and the position and pose information of a part to be assembled is acquired and adjusted to meet the assembly precision requirement;
the upper assembly and adjustment module mainly comprises a three-axis precision displacement sliding table b (14), a vacuum sucker (12), a sucker mounting arm (13) and an upper clamp tool (10); the upper clamp tool (10) is of a U-shaped structure, and an opening clamping groove in the middle is matched with the clamping rod (31); the upper surface of the upper clamp tool (10) is symmetrically provided with a plurality of sucker contact surfaces which are matched with the vacuum suckers (12); the side surface of the upper fixture tool (10) is provided with a vortex sheet assembly mechanism (9), a vortex sheet (27) is arranged at the bottom of the vortex sheet assembly mechanism (9), the vortex sheet assembly mechanism (9) is provided with a vortex sheet feed screw rod (32), one end of the vortex sheet feed screw rod (32) is fixed on the upper fixture tool (10), and the vortex sheet (27) is pushed to an assembly position through the vortex sheet feed screw rod (32) to realize clamping of the vortex sheet (27); a swing frame mounting seat (11) is mounted on the side face of the upper clamp tool (10) and used for mounting a swing frame (28), the swing frame mounting seat (11) is located on one side of the vortex sheet (27), and the vortex sheet (27) is mounted on the swing frame (28) through adjustment of a vortex sheet feeding screw rod (32); an outer reflecting prism (33) is arranged at the center of the swing frame mounting seat (11) and is matched with the industrial camera (4) to enable the vision measuring module to collect position images of the parts; the z-axis of the three-axis precision displacement sliding table b (14) is provided with a sucker mounting arm (13) for mounting a vacuum sucker (12), the disc surface of the vacuum sucker (12) faces downwards, and the bottom of the three-axis precision displacement sliding table b (14) is mounted on the optical platform (1); the bottom of the vacuum sucker (12) absorbs the upper surface of the upper clamp tool (10), and the upper clamp tool (10) is moved to an assembly position through the movement of the three-axis precision displacement sliding table b (14) in three displacement degrees of freedom;
the lower assembly and adjustment module mainly comprises a precision rotary table (25), a jacking cylinder (22), a locking cylinder (23), a lower fixture tool mounting support (24) and a lower fixture tool (16); a lug clamp (34) or a glass tube clamp (15) is installed on the side surface of the lower clamp tool (16), and the positions of the lug clamp (34) and the glass tube clamp (15) correspond to the swing frame installation seat (11); the lug clamp (34) is used for fixing a lug (30), and the glass tube clamp (15) is used for fixing a glass tube (29); two ends and the middle part of the upper surface of the glass tube clamp (15) are respectively provided with a section of suspension wire guide groove, the suspension wire guide grooves are in a horn mouth shape, and the bottom surface of the groove body is an inclined plane; a V-shaped groove is arranged between two adjacent sections of suspension wire guide grooves, and a clamping mechanism is arranged on the V-shaped groove to realize the positioning and clamping of the two glass tubes (29);
the center of the lower clamp tool (16) is provided with a vertical step through hole for mounting a spring clamping device; the spring clamping device mainly comprises a clamping rod (31) and a spring, the clamping rod (31) slides up and down in the vertical stepped through hole, and the bottom end of the clamping rod (31) is connected with the jacking cylinder (22); the spring is sleeved on the clamping rod (31), the bottom of the spring is connected with the lower end of the clamping rod (31), the top of the spring is clamped in a stepped hole of the lower clamp tool (16), and the top end of the clamping rod (31) extends to the outside of the lower clamp tool (16); the bottom of the precision rotary table (25) is arranged on the optical platform (1), a lower clamp tool mounting support (24) is arranged on the precision rotary table (25), and a through hole is formed in the center of the upper surface of the lower clamp tool mounting support (24) and used for enabling an ejector rod of the jacking cylinder (22) to pass through; the upper surface of the lower clamp tool mounting support (24) is provided with a plurality of positioning blocks, the lower clamp tool (16) is mounted on the upper surface of the lower clamp tool mounting support (24) and is locked through the positioning blocks and the locking cylinder (23), and clamping of the lower clamp tool (16) is completed; the jacking cylinder (22) and the locking cylinder (23) are arranged on the bottom surface of the lower clamp tool mounting support (24), and the upper clamp tool (10) and the lower clamp tool (16) are integrally locked through the cooperation of the spring clamping device and the jacking cylinder (22);
the wire-threading aligning module comprises a right wire-threading adjusting mechanism and a left wire-threading adjusting mechanism; the right wire threading adjusting mechanism mainly comprises a right wire suspension clamp (17), a micro tension sensor (18), a linear motor delivery mechanism (19), a right precise displacement sliding table (20) and a right support (21); the right precision displacement sliding table (20) is arranged on the upper surface of the right support (21), and a horizontal support table is arranged on the right precision displacement sliding table (20) and is used for mounting a right suspension clamp (17), a micro tension sensor (18) and a linear motor delivery mechanism (19); one end of the miniature tension sensor (18) is connected with the linear motor delivery mechanism (19), the other end of the miniature tension sensor is connected with the right suspension wire clamp (17), the miniature tension sensor (18) is used for acquiring the tension force of the suspension wire (26), a force signal is transmitted to the PC through a control loop, and the force signal is compared with a preset force threshold value to realize closed-loop control on the tension force; the left wire threading adjusting mechanism mainly comprises a left support (2), a left precise displacement sliding table (5), a left wire suspension clamp mounting arm (6), an upper clamp tool feeding table (7) and a left wire suspension clamp (8); the upper clamp tool feeding table (7) and the left suspension clamp mounting arm (6) are mounted on the upper surface of the left precise displacement sliding table (5), the upper clamp tool feeding table (7) is used for placing an upper clamp tool (10), and one end of the left suspension clamp (8) is fixed at the end part of the left suspension clamp mounting arm (6); the left side wire hanging clamp (8) is opposite to the right side wire hanging clamp (17), wire hanging positioning grooves are formed in the clamp jaws of the left side wire hanging clamp and the right side wire hanging clamp, and two ends of a wire hanging (26) are respectively fixed on the left side wire hanging clamp (8) and the right side wire hanging clamp (17); the bottoms of the right side support (21) and the left side support (2) are arranged on the optical platform (1).
2. A cross-scale part automatic assembly method of a weak-steel frame type structure is adopted for assembly by the cross-scale part automatic assembly device of the weak-steel frame type structure, and is characterized by comprising the following specific steps of:
the first step is as follows: assembly of the swirl disk (27): clamping a swing frame (28) on a swing frame mounting seat (11), and clamping a vortex sheet (27) on a vortex sheet assembly mechanism (9); the visual measurement module acts to move the industrial camera (4) to an observation position and observe the assembly process of the vortex sheet (27) in real time; the vortex sheet feeding screw rod (32) is rotated to push the vortex sheet (27) to an assembly position, and the assembly and positioning of the vortex sheet (27) are completed through the feedback of the industrial camera (4);
the second step is that: assembling the lug (30): selecting a lower clamp tool (16) provided with a lug plate clamp (34), and clamping a lug plate (30) on the lug plate clamp (34); an upper clamp tool (10) is placed on an upper clamp tool feeding table (7), a lower clamp tool (16) is clamped at the installation position of a lower debugging module through a locking cylinder (23), a jacking cylinder (22) extends out, and a clamping rod (31) of a spring clamping device is jacked to a preset position; the three-axis precision displacement sliding table b (14) acts, and the vacuum chuck (12) sucks the upper clamp tool (10) and drives the upper clamp tool (10) to move to a position to be assembled; the visual measurement module acts to move the industrial camera (4) to an observation position, the visual measurement module obtains pose information of the swing frame (28) relative to the lug plate (30), and the adjustment of the relative position of the swing frame (28) and the lug plate (30) is completed and the assembly precision is reached through the matching of the three-axis precision displacement sliding table b (14) and the precision rotary table (25); after adjustment is completed, the z axis of the three-axis precision displacement sliding table b (14) descends, the upper clamp tool (10) is in contact with the lower clamp tool (16), the jacking cylinder (22) returns, and the upper clamp tool (10) and the lower clamp tool (16) are locked through the clamping rod (31) under the action force of the spring clamping device to form a combined tool; the vacuum sucker (12) is loosened, and the upper clamp tool (10) is separated from the upper assembly adjusting module; the locking cylinder (23) is lifted, and the lower clamp tool (16) is separated from the lower assembly and adjustment module; the integrated tool of the upper clamp tool (10) and the lower clamp tool (16) is integrally disassembled;
the third step: penetration, centering and fixing of the suspension wire (26): after the lug (30) is assembled, a lower clamp tool (16) provided with a glass tube clamp (15) is replaced, two glass tubes (29) are clamped on the glass tube clamp (15), and wire threading operation is carried out; firstly, the clamping jaw of a right wire-hanging clamp (17) is aligned with a wire-hanging guide groove of a glass tube clamp (15) through the movement of a right precision displacement sliding table (20); one end of a suspension wire (26) is clamped on the right suspension wire clamp (17), and the other end of the suspension wire is arranged in a suspension wire guide groove of a glass tube clamp (15); the visual measurement module acts, the industrial camera (4) is moved to an observation position, and the leading-in process of the suspension wire (26) is observed in real time; the suspension wire (26) is inserted through the linear motor delivery mechanism (19), the suspension wire (26) is guided into the glass tube (29) through the suspension wire guide groove of the glass tube clamp (15), the suspension wire (26) penetrates out of the left glass tube (29) to reach the left suspension wire clamp (8), and the linear motor delivery mechanism (19) stops working; the screw of the left side suspension wire clamp (8) is screwed down to clamp the left end of the suspension wire (26), the right side suspension wire clamp (17) is retreated to tension the suspension wire (26), and the tension force of the suspension wire (26) is controlled by the micro tension sensor (18) in a feedback way; after tensioning, the suspension wires (26) are centered and adjusted through the left suspension wire clamp (8) and the right suspension wire clamp (17), and the adjustment amount is fed back by the vision measurement module; after the centering adjustment is finished, the suspension wires (26) are fixed on the glass tube clamp (15) through suspension wire fixing mechanisms on two sides of the glass tube clamp (15); finally, the left suspension clamp (8) and the right suspension clamp (17) are loosened and withdrawn to complete threading, centering and fixing;
the fourth step: assembling of glass tube (29): the assembly process of the glass tube (29) is the same as that of the lug plate (30), after the lug plate (30) is assembled on the swing frame (28), the clamping rod (31) of the lower clamp tool (16) in the combined tool obtained in the step two is pushed out, so that the upper clamp tool (10) is separated from the lower clamp tool (16); then the disassembled upper clamp tool (10) is arranged on the upper assembly module and is matched with the lower assembly module in the third step, and the centering assembly of the glass tube (29) in the bent lug of the swing frame (28) is completed through the vision measuring module; after adjustment is completed, the z axis of the three-axis precision displacement sliding table b (14) descends, the upper clamp tool (10) is in contact with the lower clamp tool (16), the jacking cylinder (22) returns, the spring clamping device locks the upper clamp tool (10) and the lower clamp tool (16) through the clamping rod (31) under the acting force of the spring to form a combined tool, and final assembly is completed; the vacuum sucker (12) is loosened, and the upper clamp tool (10) is separated from the upper assembly adjusting module; the locking cylinder (23) is lifted, and the lower clamp tool (16) is separated from the lower assembly and adjustment module; the integrated tool of the upper clamp tool (10) and the lower clamp tool (16) is integrally disassembled, and the parts keep the assembly position for subsequent processes.
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| CN110280989B (en) * | 2019-06-24 | 2021-02-19 | 大连理工大学 | Automatic tensioning device and method for tension-controllable filaments |
| CN110369986B (en) * | 2019-07-12 | 2020-11-13 | 大连理工大学 | Automatic assembling device for micro thread pair |
| CN117226458B (en) * | 2023-11-07 | 2024-01-30 | 中国空气动力研究与发展中心超高速空气动力研究所 | Intelligent assembly device and assembly method for coaxial thermocouple |
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