CN110328528A - It antenna element assembly mounting device and its adopts dress and surveys integral control system and method - Google Patents
It antenna element assembly mounting device and its adopts dress and surveys integral control system and method Download PDFInfo
- Publication number
- CN110328528A CN110328528A CN201910730624.1A CN201910730624A CN110328528A CN 110328528 A CN110328528 A CN 110328528A CN 201910730624 A CN201910730624 A CN 201910730624A CN 110328528 A CN110328528 A CN 110328528A
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- China
- Prior art keywords
- assembly
- cylinder
- antenna element
- outer support
- side wall
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Classifications
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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
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
Abstract
The present invention relates to antenna element assembly mounting device and its adopt dress survey integral control system and method, assembling device includes assembly and disassembly cylinder, mounting bracket, pick up or dismantle the outer support component of antenna element component, camera, there is orthogonal first mounting surface and the second mounting surface in mounting bracket, assembly and disassembly cylinder is mounted on the first mounting surface, camera is mounted on the second mounting surface and its optical axis is vertical with the second mounting surface, the driving end of assembly and disassembly cylinder is arranged far from the first mounting surface and is connect with outer support component to drive outer support component to move back and forth along the direction perpendicular to the first mounting surface；Camera is used to carry out Image Acquisition and parameter extraction to the feature of rigging position on antenna array；Assembly and disassembly cylinder is able to rotate to rigging position and can drive the mobile installation or removal for completing antenna element component on antenna array of outer support component.Antenna element assembly mounting device of the invention can carry out installation and switching mechanically and electrically with industrial robot or executing agency, it is ensured that assembly precision requirement.
Description
Technical field
The present invention relates to antenna mount correlative technology fields, and in particular to a kind of antenna element assembly mounting device and its adopts
Dress surveys integral control system and method, i.e., acquisition, assembly, measurement one towards the assembly of Phased Array Radar Antenna unit block
Makeup is set.
Background technique
Antenna element component is the basic structural unit and key member for constituting Phased Array Radar Antenna, is used in antennas
Enormous amount.Generally it is made of the part such as loudspeaker cavity, waveguide, flange, radio frequency connector, match block (component containing plug-in unit),
Middle loudspeaker cavity is in shaped cavity structure, needs to guarantee the position at adjacent loudspeaker cavity opening's edge center on antenna array in assembling process
Set required precision.
Traditional artificial assembly, detection mode are difficult to quickly and accurately obtain the physical location essence of antenna element component assembly
Information is spent, can not be predicted in real time according to mounted antenna element module position deviation before assembly and selects suitable day to be installed
Line unit block, it is difficult to carry out the accuracy compensation and control in assembling process, lead to often occur inter-module chamber in assembling process
The case where body opening's edge mutual extrusion, the position for needing repeated disassembled and assembled, adjusting antenna element component is time-consuming and laborious, is once assembled into
Power is low, and assembly precision, consistency be not high, and the coupling gap of adjacent cells is also not readily reachable by design requirement.
Summary of the invention
The technical problem to be solved by the present invention is to existing antenna element components generally manual type to be used to be assembled, and one
Secondary assembly yield is low, and assembly precision and consistency be not high, and the coupling gap of adjacent cells is also not readily reachable by design requirement etc.,
In order to solve technical problem of the existing technology, the present invention, which provides a kind of antenna element assembly mounting device and its adopts dress, surveys one
Body networked control systems and method.
The technical scheme to solve the above technical problems is that a kind of antenna element assembly mounting device, including dress
It tears cylinder, mounting bracket, pickup or outer support component, the camera of dismantling antenna element component open, has in the mounting bracket mutual
Vertical the first mounting surface and the second mounting surface, the assembly and disassembly cylinder are mounted on first mounting surface, the camera installation
On second mounting surface and its optical axis is vertical with second mounting surface, and the driving end of the assembly and disassembly cylinder is far from described the
One mounting surface is arranged and is connect with the outer support component to drive the outer support component along the side perpendicular to first mounting surface
To reciprocating movement；The camera is used to carry out Image Acquisition and parameter extraction to the feature of rigging position on antenna array；It is described
Assembly and disassembly cylinder is able to rotate to the rigging position and the mobile antenna element component of completing of the outer support component can be driven in antenna array
Installation or removal on face.
The beneficial effects of the present invention are: antenna element assembly mounting device of the invention, assembly and disassembly cylinder and camera are integrated
It is convenient for disassembly and assembly on orthogonal two faces, when mounting bracket rotation, the movement adjustment in assembling process can be reduced
Amount；And the present invention can also carry out Fast Installation and switching mechanically and electrically with industrial robot or executing agency, and
It can be realized non-contact vision measurement method guidance industrial robot or executing agency's cooperation assembly and disassembly cylinder realize antenna element
The high precision positioning and assembly of component, it is ensured that assembly precision requirement.
Based on the above technical solution, the present invention can also be improved as follows.
Further, the axis of the rotation axis of the mounting bracket, the optical axis of the camera and the assembly and disassembly cylinder is equal
It intersects at a point.
Using the beneficial effect of above-mentioned further scheme is: by the optical axis of the rotation axis of mounting bracket, the camera with
And the axis of the assembly and disassembly cylinder intersects at a point, to assemble and disassemble cylinder when mounting bracket being made to rotate 180 ° around own axes
Axis be overlapped with the axis of camera, it is possible to reduce move adjustment amount in assembling process, be equivalent to coordinate transformation and be reduced to only have
Axial translation.
Further, the mounting bracket is equipped with several interface channels passed through for connector, and the mounting bracket exists
The position that first mounting surface and the second mounting surface cross is coaxial with the mounting bracket to be connected in plane and the plane
Rapid replacing interface.
Beneficial effect using above-mentioned further scheme is: the setting of interface channel, makes mounting bracket in hollow structure, side
Just device hardware and electrical connection channel, while mitigating weight, the flexibility of lifting device.
Further, first mounting surface is equipped with L-type mounting plate, and the L-type mounting plate includes the company of being mutually perpendicular to
The side wall one and side wall two connect, the side wall one post and fix on first mounting surface, and side wall two is perpendicular to described
One mounting surface, the assembly and disassembly cylinder are mounted between the side wall one and side wall two；Second mounting surface is equipped with L-type camera
Platform, the L-type mounting plate include the side wall three and side wall four that side wall is mutually connected vertically, and the side wall three posts and fixes
On second mounting surface, for side wall four perpendicular to second mounting surface, the camera is mounted on the side wall three and side wall
Between four.
Beneficial effect using above-mentioned further scheme is: using L-type mounting plate and L-type camera platform, can facilitate
Assemble and disassemble the assembly of cylinder and camera and mounting bracket.
Further, the assembly and disassembly cylinder is mounted on the side wall two by adjusting block one and adjusts it by adjusting block one
Position on side wall two；The camera is mounted on side wall four by adjusting block two and adjusts it in side wall by adjusting block two
Position on four；
The adjusting block one is fixed on the assembly and disassembly cylinder and which is provided with multiple adjustment holes one, sets on the side wall two
There are multiple adjustment holes two, adjusts position of the adjusting block one relative to side wall two, and utilize the adjustment hole one and adjustment hole two being overlapped
Realization adjusting block one is locked with side wall two；
The adjusting block two is fixed on camera and which is provided with multiple adjustment holes three, and the side wall four is equipped with multiple tune
Knothole four is adjusted position of the adjusting block two relative to side wall four, and is realized and adjusted using the adjustment hole three and adjustment hole four that are overlapped
Block two is locked with side wall four.
Beneficial effect using above-mentioned further scheme is: can adjust assembly and disassembly cylinder and camera in L-type using adjusting block
Position on platform.
Further, the outer support component includes installation pedestal and several outer support formula clamping jaw cylinder assemblies, the installation pedestal
It is vertically fixed on the driving end of the assembly and disassembly cylinder, several outer support formula clamping jaw cylinder assemblies are separately mounted to the installation base
Seat is on the one side of the assembly and disassembly cylinder；
The outer support formula clamping jaw cylinder assembly includes clamping jaw one, clamping jaw two and outer support cylinder, the driving of the outer support cylinder
The driving direction quadrature arrangement in direction and the assembly and disassembly cylinder, the clamping jaw one and clamping jaw two respectively with edge in antenna element component
Profile adaptation, the outer support cylinder drive the clamping jaw one mobile relative to the clamping jaw two and support mode pick-up antenna unit in addition
Component.
Beneficial effect using above-mentioned further scheme is: using outer support mode pick-up antenna unit block, avoids outer support
Collision is interfered between formula clamping jaw cylinder assembly and other antenna element components, and along wheel in clamping jaw and antenna element component
Exterior feature adaptation, preferably can be bonded and clamp thin wall type antenna element component.
Further, the outer support formula clamping jaw cylinder assembly is two sets, and is arranged in the installation pedestal diagonal position；
The outer support cylinder driving direction of two sets of outer support formula clamping jaw cylinder assemblies is identical or opposite.
Beneficial effect using above-mentioned further scheme is: diagonally arranged two sets outer support formula clamping jaw cylinder assemblies are used,
Assembly dynamics is set to be evenly distributed rationally.
A kind of dress of adopting of antenna element component assembly surveys integral control system, including the assembly device and control dress
It sets, the camera is used to carry out Image Acquisition and parameter extraction to the feature of rigging position on antenna array, obtains acquisition information；
The control device, which controls the mounting bracket rotation according to acquisition information, installs the assembly and disassembly rotational cylinder to antenna array
Position.
The beneficial effects of the present invention are: the present invention can be realized the pilot hole during antenna element component Automated assembly
The on-line checking of identification and the extraction, antenna element component highly precision clamp and assembly and assembly precision of position feature, can subtract
The case where adjacent chambers opening's edge mutual extrusion often occurred in few antenna element component assembling process, promoted assembly precision with it is consistent
Property.
It further, further include sampling site probe, the sampling site probe is mounted on the outer support component and for acquiring antenna
Non-colinear at least 3 points on front；The control device determines the position of antenna array using the sampling site information of the sampling site probe
Appearance parameter, and camera posture is adjusted according to the pose parameter, make camera optical axis perpendicular to antenna array.
Beneficial effect using above-mentioned further scheme is: sampling site probe is used for the contact sampling site of antenna arrays of radar,
Realize the pose measurement of antenna array.
A method of integral control system assembly antenna element component is surveyed using above-mentioned dress of adopting, comprising the following steps:
S1 acquires at non-colinear 1 points using sampling site probe on antenna array, true using three-point fix principle
Determine the pose parameter of antenna array；
S2 adjusts camera posture, makes camera optical axis perpendicular to antenna array, then according to the pose parameter of antenna array
Image Acquisition and parameter extraction are carried out to the feature of antenna array rigging position, obtain coordinate parameters；
S3, control device control assembly and disassembly cylinder and outer support component pick-up antenna unit block, and according to the coordinate of acquisition
Parameter makes antenna element component be transferred to the rigging position of antenna array；
S4, assembly and disassembly cylinder push outer support component movement to be inserted into antenna element component thereon on antenna array, successively
Retracting outer support component and assembly and disassembly cylinder is the assembly for completing antenna element component；
S5, control device control mounting bracket rotation, the antenna element component after making camera optical axis alignment assembly, camera pair
The rigging position that antenna element component is equipped on antenna array carries out Image Acquisition and parameter extraction, obtains assembly precision ginseng
Number；
S6, if assembly precision is qualified, repeats S2 to assembly precision Parameter analysis；If assembly precision is unqualified, control device
Mounting bracket rotation is controlled, makes to assemble and disassemble the antenna element component after cylinder alignment assembly, outer support using assembly and disassembly cylinder and thereon
Component dismantles underproof antenna element component, and S2 is repeated after disassembly.
The beneficial effects of the present invention are: the present invention can be realized the front position during antenna element component Automated assembly
It the measurement of appearance, the identification for assembling hole location feature and extraction, antenna element component highly precision clamp and assembles and assembly precision
On-line checking, the case where neighboring chambers opening's edge mutual extrusion often occurred in antenna element component assembling process can be reduced,
Promote assembly precision, consistency.
Detailed description of the invention
Fig. 1 is inventive antenna unit block structural schematic diagram；
Fig. 2 is the schematic perspective view that inventive antenna unit block assembles device；
Fig. 3 is the schematic perspective view of mounting bracket of the present invention；
Fig. 4 is present invention assembly and disassembly cylinder elongation state structural schematic diagram；
Fig. 5 is that present invention assembly and disassembly cylinder shortens status architecture schematic diagram；
Fig. 6 is the structural schematic diagram of the outer support formula clamping jaw cylinder assembly of the present invention；
Fig. 7 is the structural schematic diagram of the outer support formula clamping jaw cylinder assembly opening state of the present invention；
Fig. 8 is the structural schematic diagram of the outer support formula clamping jaw cylinder assembly closed state of the present invention；
Fig. 9 is camera of the present invention and assembly and disassembly cylinder schematic view of the mounting position.
In attached drawing, parts list represented by the reference numerals are as follows:
1, cylinder is assembled and disassembled；11, installation pedestal；
2, mounting bracket；21, the first mounting surface；22, the second mounting surface；23, interface channel；24, plane；25, fast changing-over
Mouthful；
3, antenna element component；
4, camera；41, industrial camera lens；42, industrial light source bracket；43, industrial light source；
5, L-type mounting plate；6, L-type camera platform；7, adjusting block one；8, adjusting block two；
9, outer support formula clamping jaw cylinder assembly；91, clamping jaw one；92, clamping jaw two；93, outer support cylinder；10, sampling site probe.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and illustrated embodiment is served only for explaining the present invention,
It is not intended to limit the scope of the present invention.
Embodiment 1
As shown in figs. 1-9, a kind of antenna element assembly mounting device of the present embodiment, including assembly and disassembly cylinder 1, installation branch
Frame 2 picks up or outer support component, the camera 4 of disassembly antenna element component, has orthogonal first in the mounting bracket 2
Mounting surface 21 and the second mounting surface 22, the assembly and disassembly cylinder 1 are mounted on first mounting surface 21, and the camera 4 is mounted on
On second mounting surface 22 and its optical axis is vertical with second mounting surface 22, and the driving end of the assembly and disassembly cylinder 1 is far from institute
The first mounting surface 21 is stated to arrange and connect with the outer support component to drive the outer support component along perpendicular to first installation
The direction in face 21 moves back and forth；The camera 4 is used to carry out Image Acquisition and parameter to the feature of rigging position on antenna array
It extracts；The assembly and disassembly cylinder 1 is able to rotate to the rigging position and can drive the outer support component is mobile to complete antenna element group
Installation or removal of the part 3 on antenna array.
Wherein, the assembly and disassembly cylinder 1 controls gas circuit circulating direction in it by solenoid valves or power-off, may be implemented
It assembles and disassembles the elongation of cylinder 1 and shortens movement, the movement of 3 installation and removal of artificial antenna unit block.The camera 4 is industrial camera
And industrial camera lens 41 and industrial light source 43 are carried for the non-contact vision measurement in 3 assembling process of antenna element component
With positioning.Industrial light source 43 passes through industrial light source bracket 42 and is mounted in industrial camera lens 41, is provided using industrial light source 43
The illumination of high brightness extracts assembly features for camera.
Assembly and disassembly cylinder and camera are integrated in orthogonal two faces by the antenna element assembly mounting device of the present embodiment
On, it is convenient for disassembly and assembly, when mounting bracket rotation, the movement adjustment amount in assembling process can be reduced；And the present invention can also
Fast Installation and switching mechanically and electrically are carried out with industrial robot or executing agency, and can be realized non-contact vision
Measurement method guides industrial robot or executing agency's cooperation assembly and disassembly cylinder to realize high precision positioning and the dress of antenna element component
Match, it is ensured that assembly precision requirement.
As shown in figure 9, a preferred embodiment of the present embodiment is, rotation axis, the camera 4 of the mounting bracket 2
Optical axis and it is described assembly and disassembly cylinder 1 axis intersect at a point.Wherein, it is preferred that rotation axis, the light of mounting bracket 2
Axis and axis these three axis for assembling and disassembling cylinder 1 are located in approximately the same plane.By the rotation axis of mounting bracket, the camera
Optical axis and the axis of the assembly and disassembly cylinder intersect at a point, thus when mounting bracket being made to rotate 180 ° around own axes,
The axis of assembly and disassembly cylinder is overlapped with the axis of camera, it is possible to reduce is moved adjustment amount in assembling process, is equivalent to coordinate transformation letter
Turn to only axial translation.
As shown in figure 3, the embodiment of the present invention mounting bracket 2 is equipped with several interface channels passed through for connector
23, the mounting bracket 2 is plane 24 and the plane 24 in the position that first mounting surface 21 and the second mounting surface 22 cross
On be connected with the rapid replacing interface 25 coaxial with the mounting bracket 2.The setting of interface channel, making mounting bracket is in hollow structure,
Facilitate device hardware and electrical connection channel, while mitigating weight, the flexibility of lifting device.
As shown in Fig. 2-Fig. 9, the first mounting surface of the embodiment of the present invention 21 is equipped with L-type mounting plate 5, the L-type dress
It include the side wall one and side wall two being mutually connected vertically with platform 5, the side wall one is posted and fixed in first mounting surface
On 21, side wall two is mounted between the side wall one and side wall two perpendicular to first mounting surface 21, the assembly and disassembly cylinder 1；
Second mounting surface 22 is equipped with L-type camera platform 6, and the L-type mounting plate 5 includes three He of side wall being mutually connected vertically
Side wall four, the side wall three post and fix on second mounting surface 22, side wall four perpendicular to second mounting surface 22,
The camera 4 is mounted between the side wall three and side wall four.Using L-type mounting plate and L-type camera platform, dress can be facilitated
Tear the assembly of cylinder and camera and mounting bracket open.By taking the orientation of assembly device shown in Fig. 2 as an example, the L-type of the present embodiment is filled
Side with platform 5 and L-type camera platform 6 for installation arranges downward, and the plane 24 is located at the first mounting surface 21 and the
The top of two mounting surfaces 22.
As shown in Fig. 2-Fig. 9, the embodiment of the present invention assembly and disassembly cylinder 1 is mounted on the side wall two by adjusting block 1
And its position on side wall two is adjusted by adjusting block 1；The camera 4 is mounted on side wall four simultaneously by adjusting block 28
Its position on side wall four is adjusted by adjusting block 28；The adjusting block 1 is fixed on the assembly and disassembly cylinder 1 and thereon
Equipped with multiple adjustment holes one, the side wall two is equipped with multiple adjustment holes two, adjusts position of the adjusting block 1 relative to side wall two
It sets, and realizes being locked for adjusting block 1 and side wall two using the adjustment hole of coincidence one and adjustment hole two；The adjusting block two
8 are fixed on camera 4 and which is provided with multiple adjustment holes three, and the side wall four is equipped with multiple adjustment holes four, adjust adjusting block
28 position relative to side wall four, and utilize the lock of the adjustment hole three and adjustment hole four the realization adjusting block 28 and side wall four that are overlapped
It fastens.The position of assembly and disassembly cylinder and camera on L-type platform can be adjusted using adjusting block.
As shown in Fig. 4-Fig. 9, the outer support component of the embodiment of the present invention includes installation pedestal 11 and several outer support formula clamping jaw gas
Cylinder component 9, the installation pedestal 11 are vertically fixed on the driving end of the assembly and disassembly cylinder 1, several outer support formula clamping jaw cylinders
Component 9 is separately mounted to the installation pedestal 11 on the one side of the assembly and disassembly cylinder 1；The outer support formula clamping jaw air cylinder group
Part 9 includes clamping jaw 1, clamping jaw 2 92 and outer support cylinder 93, the driving direction and the assembly and disassembly cylinder 1 of the outer support cylinder 93
Driving direction quadrature arrangement, the clamping jaw 1 and clamping jaw 2 92 are adapted to in antenna element component 3 along profile respectively, described
Outer support cylinder 93 drives the clamping jaw 1 mobile relative to the clamping jaw 2 92 and supports mode pick-up antenna unit block 3 in addition.
Using outer support mode pick-up antenna unit block, in the open state, the clamping jaw positioned at diagonal line layout will be with for outer support cylinder
Antenna element component inner wall is in close contact, and realizes the reliable retention of antenna element component, when outer support cylinder is in close state, folder
Pawl and antenna element component are detached from, and are realized being released effectively for antenna element component, are avoided outer support formula clamping jaw cylinder assembly and other
Collision is interfered between antenna element component, and clamping jaw is adapted to in antenna element component along profile, can preferably be pasted
Close and clamp thin wall type antenna element component.
Wherein, as Figure 6-Figure 8, the outer support cylinder 93 of the present embodiment includes cylinder block and cylinder body, the cylinder
Seat is fixed in installation pedestal 11, and the cylinder body is mounted on the cylinder block, and the cylinder block deviates from the installation base
The one side of seat 11 is equipped with sliding rail, and the clamping jaw 1 is slidably connected on the sliding rail, and the clamping jaw 2 92 is fixed on institute
It states on cylinder block, the driving end of the cylinder body connect with the clamping jaw 1 and drives the clamping jaw 1 close or deviate from
The clamping jaw 2 92.
As shown in fig. 6, supportting formula clamping jaw cylinder assembly 9 outside the embodiment of the present invention is two sets, and it is arranged in the peace
Fill 11 diagonal position of pedestal；Outer 93 driving direction of support cylinder of two sets of outer support formula clamping jaw cylinder assemblies 9 is identical or opposite.Using pair
Two sets of angle arrangement are outer to support formula clamping jaw cylinder assembly, and assembly dynamics is made to be evenly distributed rationally.
(industrial robot or execution can be selected with control device in the antenna element assembly mounting device of the present embodiment
Mechanism) cooperation, such as can be integrated with industrial robot end flange, realize antenna element component Automated assembly.It is connect by non-
Touch vision measurement mode guides industrial robot to realize the high precision positioning of antenna element component and assemble, it is ensured that assembly precision
It is required that；By in antenna element component assembling process cavity profile high-precision imaging with contour line be fitted, realize high-precision,
Rapid survey and on-line checking, it is ensured that the Real-time Feedback of Product Assembly procedure quality information avoids subsequent repeated disassembled and assembled.By means of
The Automated assembly technique of antenna unit block on Phased Array Radar Antenna front may be implemented in the assembly device of the present embodiment, first
The pose parameter of front is first obtained, then realizes the installation of antenna element component in same Switch of working position non-contact vision measuring device
The accurate positioning of position, then the outer support formula clamping of thin-wall part antenna element component is realized, along day in same Switch of working position assembly and disassembly cylinder
The press-down type of line unit block axis direction assembles；It is eventually switched to non-contact vision measuring device and realizes assembly precision inspection
It surveys.
Embodiment 2
A kind of dress of adopting of antenna element component assembly of the present embodiment surveys integral control system, fills including the assembly
It sets and control device, the camera 4 is used to carry out Image Acquisition and parameter extraction to the feature of rigging position on antenna array, obtain
Take acquisition information；The control device, which controls the rotation of mounting bracket 2 according to acquisition information, turns to the assembly and disassembly cylinder 1
Antenna array installation site.In fact, industrial robot or executing agency can be selected in the control device of the present embodiment.
Wherein, the control system of the present embodiment further includes sampling site probe 10, and the sampling site probe 10 is mounted on the outer support
On component and for acquiring on antenna array at non-colinear at least 3 points；The control device is adopted using the sampling site probe 10
Point information determines the pose parameter of antenna array, and adjusts camera posture according to the pose parameter, make 4 optical axis of camera perpendicular to
Antenna array.
The control system of the present embodiment is carried out the three-point fix of antenna array by sampling site probe, realizes antenna array
Pose measurement；It can be realized by outer support formula clamping jaw cylinder assembly and assembly and disassembly cylinder and supportted outside the inside of thin-wall part antenna element component
The Assembly And Disassembly of formula clamping and release, axis direction；It can be realized the precision of antenna element component mounting position by camera
Precision measure after positioning, assembly.Antenna element on Phased Array Radar Antenna front may be implemented in the control system of the present embodiment
The Automated assembly technique of component obtains the pose parameter of front first with sampling site probe, then by three-point fix principle
The accurate positioning of antenna element component mounting position is realized in same Switch of working position non-contact vision measuring device, then in same station
Switching assembly device realizes that the clamping of thin-wall part antenna element component, the press-down type along arrangement axis direction are assembled；Finally switch
Assembly precision detection is realized to non-contact vision measuring device.The invention patent is High Precision Automatic for antenna element component
Makeup is obvious with effect.The present embodiment is obvious for the high-precision automatic assembly effect of antenna element component.
The present embodiment can be realized the identification of the assembly hole location feature during antenna element component Automated assembly and mention
It takes, the on-line checking of antenna element component highly precision clamp and assembly and assembly precision, antenna element component dress can be reduced
The case where with the adjacent chambers opening's edge mutual extrusion often occurred in the process, promotes assembly precision and consistency.Sampling site probe is used for
The contact sampling site of antenna arrays of radar, realizes the pose measurement of antenna array.
Embodiment 3
A method of it adopts to fill using above-described embodiment 2 and surveys integral control system assembly antenna element component, including with
Lower step:
S1 acquires at non-colinear 1 points using sampling site probe 10 on antenna array, utilizes three-point fix principle
Determine the pose parameter of antenna array；
S2 adjusts 4 posture of camera, makes 4 optical axis of camera perpendicular to antenna array, so according to the pose parameter of antenna array
Image Acquisition and parameter extraction are carried out to the feature of antenna array rigging position afterwards, obtain coordinate parameters；
S3, control device control assembly and disassembly cylinder 1 and outer support component pick-up antenna unit block 3, and according to the seat of acquisition
Mark the rigging position that parameter makes antenna element component 3 be transferred to antenna array；
S4, assembly and disassembly cylinder 1 push outer support component movement to be inserted into antenna element component 3 thereon on antenna array, according to
The outer support component of secondary retraction and assembly and disassembly cylinder 1 are the assembly for completing antenna element component 3；
S5, control device control mounting bracket 2 and rotate, the antenna element component 3 after making the alignment assembly of 4 optical axis of camera, phase
Machine 4 carries out Image Acquisition and parameter extraction to the rigging position for being equipped with antenna element component 3 on antenna array, obtains assembly essence
Spend parameter；
S6, if assembly precision is qualified, repeats S2 to assembly precision Parameter analysis；If assembly precision is unqualified, control device
It controls mounting bracket 2 to rotate, makes to assemble and disassemble the antenna element component 3 after the alignment assembly of cylinder 1, using assembly and disassembly cylinder 1 and thereon
Outer support component dismantles underproof antenna element component 3, and S2 is repeated after disassembly.
The present embodiment can be realized the measurement of the front pose during antenna element component Automated assembly, assembly hole location
The on-line checking of the identification of feature and extraction, antenna element component highly precision clamp and assembly and assembly precision, can be reduced
The case where neighboring chambers opening's edge mutual extrusion often occurred in antenna element component assembling process, promotes assembly precision, consistent
Property.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of antenna element assembly mounting device, which is characterized in that including assembly and disassembly cylinder, mounting bracket, pickup or disassembly day
Outer support component, the camera of line unit block have orthogonal first mounting surface and the second mounting surface in the mounting bracket,
The assembly and disassembly cylinder is mounted on first mounting surface, and the camera is mounted on second mounting surface and its optical axis and institute
State that the second mounting surface is vertical, the driving end of the assembly and disassembly cylinder arrange far from first mounting surface and with the outer support component company
It connects to drive the outer support component to move back and forth along the direction perpendicular to first mounting surface；The camera is used for antenna array
The feature of rigging position carries out Image Acquisition and parameter extraction on face；The assembly and disassembly cylinder is able to rotate to the rigging position and energy
Drive the mobile installation or removal for completing antenna element component on antenna array of the outer support component.
2. a kind of antenna element assembly mounting device according to claim 1, which is characterized in that the rotation of the mounting bracket
The axis of axis, the optical axis of the camera and the assembly and disassembly cylinder intersects at a point.
3. a kind of antenna element assembly mounting device according to claim 2, which is characterized in that the mounting bracket is equipped with
Several interface channels passed through for connector, the mounting bracket is in the position that first mounting surface and the second mounting surface cross
It is set in plane and the plane and is connected with the rapid replacing interface coaxial with the mounting bracket.
4. a kind of antenna element assembly mounting device according to claim 1, which is characterized in that set on first mounting surface
There is L-type mounting plate, the L-type mounting plate includes the side wall one and side wall two being mutually connected vertically, and the side wall one is bonded
And be fixed on first mounting surface, side wall two is mounted on the side perpendicular to first mounting surface, the assembly and disassembly cylinder
Between wall one and side wall two；Second mounting surface is equipped with L-type camera platform, and the L-type mounting plate includes that side wall is mutual
Side wall three and side wall four connected vertically, the side wall three post and fix on second mounting surface, side wall four perpendicular to
Second mounting surface, the camera are mounted between the side wall three and side wall four.
5. a kind of antenna element assembly mounting device according to claim 4, which is characterized in that the assembly and disassembly cylinder passes through tune
Locking nub one is mounted on the side wall two and adjusts its position on side wall two by adjusting block one；The camera passes through adjusting
Block two is mounted on side wall four and adjusts its position on side wall four by adjusting block two；
The adjusting block one is fixed on the assembly and disassembly cylinder and which is provided with multiple adjustment holes one, and the side wall two is equipped with more
A adjustment hole two is adjusted position of the adjusting block one relative to side wall two, and is realized using the adjustment hole one and adjustment hole two being overlapped
Adjusting block one is locked with side wall two；
The adjusting block two is fixed on camera and which is provided with multiple adjustment holes three, and the side wall four is equipped with multiple adjustment holes
Four, position of the adjusting block two relative to side wall four is adjusted, and realize adjusting block two using the adjustment hole three and adjustment hole four being overlapped
With being locked for side wall four.
6. a kind of antenna element assembly mounting device according to claim 1, which is characterized in that the outer support component includes peace
Pedestal and several outer support formula clamping jaw cylinder assemblies are filled, the installation pedestal is vertically fixed on the driving end of the assembly and disassembly cylinder, if
It does the outer support formula clamping jaw cylinder assembly and is separately mounted to the installation pedestal on the one side of the assembly and disassembly cylinder；
The outer support formula clamping jaw cylinder assembly includes clamping jaw one, clamping jaw two and outer support cylinder, the driving direction of the outer support cylinder
With the driving direction quadrature arrangement of the assembly and disassembly cylinder, the clamping jaw one and clamping jaw two respectively in antenna element component along profile
Adaptation, the outer support cylinder drive the clamping jaw one mobile relative to the clamping jaw two and support mode pick-up antenna unit group in addition
Part.
7. a kind of antenna element assembly mounting device according to claim 6, which is characterized in that the outer support formula clamping jaw cylinder
Component is two sets, and is arranged in the installation pedestal diagonal position；The outer support cylinder of two sets of outer support formula clamping jaw cylinder assemblies
Driving direction is identical or opposite.
8. a kind of dress of adopting of antenna element component assembly surveys integral control system, which is characterized in that including claim 1 to 7
Described in any item assembly devices and control device, the camera are used to carry out image to the feature of rigging position on antenna array
Acquisition and parameter extraction obtain acquisition information；The control device, which controls the mounting bracket rotation according to acquisition information, makes institute
Assembly and disassembly rotational cylinder is stated to antenna array installation site.
9. a kind of dress of adopting for the assembly of antenna element component surveys integral control system, feature according to claim 8
It is, further includes sampling site probe, the sampling site probe is mounted on the outer support component and is used to acquire non-total on antenna array
At least 3 points of line；The control device determines the pose parameter of antenna array using the sampling site information of the sampling site probe, and
Camera posture is adjusted according to the pose parameter, makes camera optical axis perpendicular to antenna array.
10. a kind of method adopted dress and survey integral control system assembly antenna element component using claim 9, feature exist
In, comprising the following steps:
S1 acquires at non-colinear 1 points using sampling site probe on antenna array, determines day using three-point fix principle
The pose parameter in linear array face；
S2 adjusts camera posture, makes camera optical axis perpendicular to antenna array, then to day according to the pose parameter of antenna array
The feature of linear array face rigging position carries out Image Acquisition and parameter extraction, obtains coordinate parameters；
S3, control device control assembly and disassembly cylinder and outer support component pick-up antenna unit block, and according to the coordinate parameters of acquisition
Antenna element component is set to be transferred to the rigging position of antenna array；
S4, assembly and disassembly cylinder push outer support component movement to be inserted into antenna element component thereon on antenna array, successively retract
Outer support component and assembly and disassembly cylinder are the assembly for completing antenna element component；
S5, control device control mounting bracket rotation, and the antenna element component after making camera optical axis alignment assembly, camera is to antenna
The rigging position that antenna element component is equipped on front carries out Image Acquisition and parameter extraction, obtains assembly precision parameter；
S6, if assembly precision is qualified, repeats S2 to assembly precision Parameter analysis；If assembly precision is unqualified, control device control
Mounting bracket rotation makes to assemble and disassemble the antenna element component after cylinder alignment assembly, outer support component using assembly and disassembly cylinder and thereon
Underproof antenna element component is dismantled, S2 is repeated after disassembly.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910730624.1A CN110328528B (en) | 2019-08-08 | 2019-08-08 | Antenna unit assembly assembling device and integrated control system and method for assembling, assembling and testing antenna unit assembly assembling device |
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| CN201910730624.1A CN110328528B (en) | 2019-08-08 | 2019-08-08 | Antenna unit assembly assembling device and integrated control system and method for assembling, assembling and testing antenna unit assembly assembling device |
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