CN112018508A - Intelligent arrangement and assembly method for feature numbers based on radiation units - Google Patents
Intelligent arrangement and assembly method for feature numbers based on radiation units Download PDFInfo
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- 230000005855 radiation Effects 0.000 title claims abstract description 169
- 238000000034 method Methods 0.000 title claims abstract description 27
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- 238000012163 sequencing technique Methods 0.000 claims abstract description 9
- 238000005259 measurement Methods 0.000 claims description 13
- 238000004088 simulation Methods 0.000 claims description 9
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- 238000005516 engineering process Methods 0.000 description 7
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- 230000000694 effects Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
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- 238000003491 array Methods 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
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- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000011982 device technology Methods 0.000 description 1
- 238000004512 die casting Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
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- 230000007246 mechanism Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/36—Structural form of radiating elements, e.g. cone, spiral, umbrella; Particular materials used therewith
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q21/00—Antenna arrays or systems
- H01Q21/06—Arrays of individually energised antenna units similarly polarised and spaced apart
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Abstract
The characteristic number based on the radiation unit arranges the assembly method intelligently, A) to need the radiation unit marshalling assembled, take a picture to measure the radiation unit one by one, and number the radiation unit one by one; calculating the required center distance and edge distance of the mouth edge; B) sequencing and numbering the positions to be assembled and arranged on the radiation unit array assembling bottom plate and marking serial numbers; C) the upper computer performs radiation unit assembly arrangement planning; D) the upper computer determines the optimal arrangement planning result of the radiation units; E) the robot automatically and intelligently arranges the radiation units according to the characteristic numbers and the optimal arrangement planning result according to the position number and the arrangement planning of the bottom plate according to the output data of the upper computer, and assembles the radiation units into an array. The success rate of one-time assembly and the efficiency of the whole assembly process are improved, the assembly preparation period is greatly shortened, and the assembly precision and consistency of the radiation units are greatly improved; the fully efficient automatic operation can be realized for large-scale radiation unit array arrangement and assembly which is difficult to achieve by manpower.
Description
Technical Field
The invention relates to an improvement technology of a radiation unit array combined structure, belongs to the IPC classification B23P19/04 technology for assembling or disassembling components or the structural form of an H01Q1/36 radiation unit, an H01Q1/00 antenna component or an antenna combined device technology, and particularly relates to an intelligent arrangement assembling method based on the characteristic number of the radiation unit.
Background
The basic radiation unit means a unit constituting a basic structure of an antenna, which can efficiently radiate or receive radio waves. Constituting an element of the basic structure of the antenna, which can efficiently radiate or receive radio waves. The basic radiating elements can be divided into hertzian electric oscillators, hertzian magnetic oscillators and huygens element radiators. In the operation of the basic radiation unit array assembly line, due to the fact that the production speeds and the product placing intervals of the former procedure and the latter procedure are different, products need to be sequenced frequently, and products generated at intervals or at irregular intervals are arranged regularly. The workpiece sorting device is widely used in automatic assembly, and the assembly efficiency is greatly improved.
With the profound influence of the phased array technology on the development of the radar system, the requirements of the phased array radar system on the manufacturing and assembling quality and technical indexes are continuously improved.
Similarly, the radiation unit is a basic structural unit and a key component which form the phased array antenna, can effectively radiate or receive radio waves, has huge demand of a single radar even up to thousands of radars, and has high requirements on three-dimensional assembly density and precision. However, the assembly error of the radiation unit to the predetermined installation position may cause phase distribution of current and aperture field on the unit, so as to cause antenna gain reduction, side lobe level increase, beam pointing inaccuracy, etc., that is, electrical performance of the phased array antenna is reduced.
The patent literature on the radiation unit array assembling technology is less disclosed at present.
The beijing communication system (china) ltd, the beijing communication technology (guangzhou) ltd, the beijing communication system (guangzhou) ltd, and the tianjin beijing communication system ltd 201711399768.0 relate to a MIMO antenna system. The reflecting plate, the low-frequency radiation units and the auxiliary radiation units are all of an axisymmetric structure, and the low-frequency radiation units and the auxiliary radiation units are arranged at intervals along the symmetry axis of the reflecting plate. In addition, the first arm of the cross-shaped auxiliary radiating element is positioned in the first channel and is arranged coaxially with the first channel. That is, the reflector, the low frequency radiation unit and the auxiliary radiation unit are coaxial. The two antenna arrays are formed by combining a plurality of low-frequency radiating units and a plurality of auxiliary radiating units, so that the distances between the two antenna arrays and the boundaries on the two sides of the reflecting plate are the same, the width difference between the left boundary and the right boundary is small, and the symmetry is better. Therefore, the radiation pattern of each antenna array is more symmetrical, so that the performance of the MIMO antenna system is effectively improved. In addition, an antenna array and a low-frequency radiation unit thereof are also provided.
A ranking method, apparatus, and storage medium are disclosed by lazares network technologies (shanghai) limited 201910285951.0. The sorting method comprises the following steps: determining a first characteristic factor according to the information of the commodity, wherein the commodity corresponds to the activity scene; determining a second characteristic factor according to at least one of information of a merchant to which the commodity belongs, information of the user and association information between the merchant and the user; determining the score value of the commodity according to the first characteristic factor and the second characteristic factor; and sorting the commodities according to the score values of the commodities. Aiming at different activity scenes, the first characteristic factors are flexibly configured and combined with the second characteristic factors, the intelligent commodity sequencing models with different activity themes can be rapidly built, and then commodities are sequenced, so that the commodity display of thousands of people and thousands of faces is realized, accurate recommendation is provided for users, the user requirements are more met, and the user experience is further improved.
Nanjing Hua Mai science and technology Co., Ltd 201620538346.1 discloses a dual-polarized base station antenna based on different radiation element array combinations, which comprises a reflecting plate (1), a square radiation element (2) and a triangular radiation element (3); the reflecting plate (1) is a square plate and is provided with 2 groups of parallel side edges; the square radiation units (2) and the triangular radiation units (3) are both formed by aluminum alloy die-casting and are arranged on the reflecting plate (1) in a mixed mode.
Beijing radio measurement research institute 201711308422.5 discloses a quick assembly method of a radiation unit with a special-shaped cavity, which is characterized by comprising the following steps: s1: determining radiation unit assembly characteristic elements; s2: creating a characteristic element matching template library; s3: collecting and preprocessing an assembly characteristic image; s4: identifying the assembly characteristic contour; s5: three-dimensional reconstruction of assembly characteristics; s6: grouping of radiating elements based on manufacturing accuracy; s7: solving the minimum variance of the matching and arranging scheme of the radiation units; s8: and (4) real-time prediction and control based on the assembly precision of the measured data. The rapid assembly method for the radiation unit with the special-shaped cavity greatly improves the assembly precision and consistency of the radiation unit and ensures the batch stability of the product quality; the rapid measurement of the assembly characteristics of the radiation unit and the automatic planning of the assembly scheme can be realized, and the assembly preparation period is greatly shortened; the assembling process can be automatically optimized, the extrusion of the assembling process of the radiation unit is avoided, and the processes of repeated trial assembly and disassembly are reduced.
Beijing communication technology (Guangzhou) Inc 201911411602.5 provides a base station antenna and a radiation unit thereof, wherein the radiation unit includes a balun structure, a dipole supported by the balun structure, and a feeding component extending along the balun structure for feeding the dipole, the balun structure includes a base, a balun arm connected to the base and supporting the dipole, the base is opened with three mounting holes, the mounting holes extend from the bottom end of the base to the top end, and the three mounting holes are arranged on the base in a non-collinear manner. The three mounting holes are only arranged on the base of the balun structure and are not arranged in a collinear manner, so that a triangular mounting framework is formed, and the radiating unit is guaranteed to have high stability when being mounted on the reflecting plate through screws. In the base station antenna adopting the radiation unit, because the fixed points of the radiation unit are reduced, the hole positions required to be formed on the reflecting plate can be correspondingly reduced, the problem of intermodulation caused by burrs on the hole positions is reduced, and the antenna performance is stable.
In the prior art, the radiation units are mainly assembled manually, when the radiation units are assembled by a special tool, the cavity edges of adjacent radiation unit cavities are extruded mutually, repeated trial assembly and disassembly are needed, time and labor are wasted, the assembly precision and consistency are not high, and the coupling gaps among the units are not guaranteed well; for example, as shown in fig. 1, eight radiation units are assembled into an array combination structure, and before assembly, the eight radiation units need to be paired according to the feature numbers of the radiation units, and after successful arrangement and trial assembly, each radiation unit is numbered, and the appearance features of each radiation unit need to be recorded, and then the radiation units are classified, arranged and combined through manual observation and measurement, so that the workload is large and tedious, and the work is extremely tedious.
At present, due to the fact that other corresponding technical supports do not exist, only a manual arrangement operation mode can be adopted, labor intensity is high, efficiency is low, and meanwhile the error rate of sequencing is high. Even, the electrical performance of the antenna can not meet the expected technical index, the assembly period is long, the repetition rate is high, and the period of difficult adjustment and re-assembly coordination of the structure is too long.
Disclosure of Invention
The invention aims to provide an intelligent characteristic number arranging and assembling method based on radiation units, which is convenient for realizing automatic assembly and automatic visual processing by a robot so as to well solve the problem of reasonable classification and intelligent sequencing.
The aim of the invention is achieved by the following technical measures: the intelligent arrangement step of the radiation units comprises the following steps:
A) grouping the radiation units to be assembled, carrying out photographing measurement on the radiation units one by one, and numbering the radiation units one by one; inputting the measured data and the serial number as characteristic serial number data into an upper computer; calculating the required center distance and edge distance of the mouth edge;
B) sequencing and numbering the positions to be assembled and arranged on the radiation unit array assembling bottom plate and marking serial numbers; inputting the marking serial number and the position data into an upper computer;
C) the upper computer performs radiation unit assembly arrangement planning;
D) the upper computer determines the optimal arrangement planning result of the radiation units;
E) the robot automatically and intelligently arranges the radiation units according to the characteristic numbers and the optimal arrangement planning result according to the position number and the arrangement planning of the bottom plate according to the output data of the upper computer, and assembles the radiation units into an array.
Particularly, when the radiation units are subjected to photographing measurement one by one, five characteristic points of the upper opening edge of the radiation units are sequentially extracted by using an industrial camera, four corner points of each radiation unit are extracted by using the camera, and coordinates of the center point of the radiation unit are obtained by using coordinates of the four corner points.
In particular, the planning process for the assembly and arrangement of the radiation units comprises the following steps:
1) selecting an un-arranged radiation unit, and assembling the radiation unit at the position P with the minimum residual serial number on the bottom plate;
2) selecting a radiation unit to be assembled at the position P + 1;
3) calculating the center distance of the edges between adjacent radiation units and the error E-m of the center distance;
4) whether the error E-m of the center distance is 0.05mm or not; if yes, carrying out the next step; otherwise go back to 2);
5) assembling according to the position sequence, and recording the assembly position and the component number;
6) if the assembly is finished, carrying out the next step; otherwise go back to 2);
7) and outputting the assembly position and the radiation unit number sequence.
In particular, in the radiation unit assembly arrangement planning performed by the upper computer, an arrangement simulation experiment is performed, an Matlab model is adopted to simulate the assembly sequence of the radiation units, and the assembly sequence simulation function of the used radiation unit components is shown in the following table:
the invention has the advantages and effects that: through the rapid measurement of the assembly characteristics of the radiation units and the automatic planning of the assembly scheme, a radiation unit characteristic number data set is established, the arrangement, combination and optimal allocation are conveniently carried out, and the robot is sequentially assembled according to the simulation result. The interference rate of the radiation unit in the assembling process is reduced, the one-time assembling success rate is improved, the efficiency of the whole assembling process is improved, and the batch stability of the product quality is ensured; the assembly preparation period is greatly shortened, and the assembly precision and consistency of the radiation units are greatly improved; the assembling process can be automatically optimized, the extrusion of the assembling process of the radiation unit is avoided, and the processes of repeated trial assembly and disassembly are reduced. Especially, the fully efficient automatic operation can be realized for large-scale radiation unit array arrangement and assembly which is difficult to achieve by manpower.
Drawings
FIG. 1 is a diagram illustrating the assembly effect of a radiating unit array
FIG. 2 is a schematic view of the measurement of the center distance and edge distance of the opening of the radiation unit in the embodiment of the invention.
FIG. 3 is a schematic diagram of the intelligent arrangement steps of the radiation units in the embodiment of the present invention
FIG. 4 is a schematic diagram of four corner measurement information of a radiation unit according to an embodiment of the present invention
Fig. 5 is a diagram of the assembly positions and serial numbers of the marks on the assembly base plate of the radiation unit in the embodiment of the present invention.
Fig. 6 is a flow chart of planning of the assembly and arrangement of the radiation units according to the embodiment of the present invention.
Fig. 7 is a schematic diagram illustrating simulation of a preferred result of arrangement planning of radiation units according to an embodiment of the present invention.
Detailed Description
The principle of the present invention lies in that, as shown in fig. 2, the only reason that the adjacent radiation units cannot be smoothly arranged to complete the assembly is that, because the manufactured opening edges of each radiation unit inevitably have different tolerances, the mutual interference event of the opening edges when at least part of two radiation units are assembled adjacently is inevitably generated, namely, the negative value of the overlapping edge distance b of the adjacent two radiation unit opening edges occurs, and the significance of the event is that the center distances d1 and d2 of the adjacent radiation units are larger.
In the invention, the characteristic number sequencing of the radiation units is based on the experience summary of a certain rule between the actual installation experience and the actual test result, and the finding that all feasible array structure arrangement sequence sets of the radiation units on the bottom plate, including the optimal sequencing, meet a condition, namely the sum of the center distances of the adjacent radiation units is not more than a certain specific value, and the arrangement structure and the sequence of the radiation units corresponding to the specific value barely meet the assembly requirement.
In the present invention, as shown in fig. 3, the intelligent arrangement step of the radiation units includes:
A) grouping the radiation units to be assembled, carrying out photographing measurement on the radiation units one by one, and numbering the radiation units one by one; inputting the measured data and the serial number as characteristic serial number data into an upper computer; calculating the required center distance and edge distance of the mouth edge;
B) sequencing and numbering the positions to be assembled and arranged on the radiation unit array assembling bottom plate and marking serial numbers; inputting the marking serial number and the position data into an upper computer;
C) the upper computer performs radiation unit assembly arrangement planning;
D) the upper computer determines the optimal arrangement planning result of the radiation units;
E) the robot automatically and intelligently arranges the radiation units according to the characteristic numbers and the optimal arrangement planning result according to the position number and the arrangement planning of the bottom plate according to the output data of the upper computer, and assembles the radiation units into an array.
The invention is further illustrated by the following figures and examples.
Example 1: before assembly, 8 radiation units are used as a group to carry out photographing measurement, then measurement data are uploaded to an upper computer, then the upper computer carries out permutation and combination to determine an optimal configuration planning result, and the robot sequentially configures the radiation units with characteristic numbers on a bottom plate according to the optimal configuration result and the position serial numbers.
In the foregoing, when the radiation units are subjected to photographing measurement one by one, as shown in fig. 4, five feature points of the upper edge of 8 radiation units are sequentially extracted by using an industrial camera, each radiation unit extracts four corner points by using the camera, and coordinates of a center point of the radiation unit are obtained by using coordinates of the four corner points. The radiation unit is required to be manufactured with precision before assembly, and only radiation units meeting the precision requirement can be used for assembly. Although the accuracy of the individual radiating elements is satisfactory, deviations accumulate during assembly and may exceed the permitted limits.
In the foregoing, as shown in fig. 5, the bottom plate has 8 arrangement positions, and the upper and lower jumps are sequentially ordered.
In the foregoing, as shown in fig. 6, the radiation unit assembling and arranging planning process includes:
1) selecting an un-arranged radiation unit, and assembling the radiation unit at the position P with the minimum residual serial number on the bottom plate;
2) selecting a radiation unit to be assembled at the position P + 1;
3) calculating the center distance of the edges between adjacent radiation units and the error E-m of the center distance;
4) whether the error E-m of the center distance is less than 0.05mm or not; if yes, carrying out the next step; otherwise go back to 2);
5) assembling according to the position sequence, and recording the assembly position and the component number;
6) if the assembly is finished, carrying out the next step; otherwise go back to 2);
7) and outputting the assembly position and the radiation unit number sequence.
In the foregoing, for example, as shown in fig. 7, according to simulation of the optimization result of the arrangement planning of the radiation units, No. 7 radiation units are sequentially placed at No. 1 position on the bottom plate, No. 2 radiation units are placed at No. 2 position on the bottom plate, No. 1 radiation units are placed at No. 3 position on the bottom plate, No. 4 radiation units are placed at No. 4 position on the bottom plate, No. 6 radiation units are placed at No. 5 position on the bottom plate, No. 8 radiation units are placed at No. 6 position on the bottom plate, No. 3 radiation units are placed at No. 7 position on the bottom plate, and No. 5 radiation units are placed at No. 8 position on the bottom plate.
In the embodiment of the invention, the radiation units are photographed and measured one by one, the characteristic points of the radiation units are marked through visual processing, and then the radiation units in the same batch are assembled in an optimal state by arranging, combining and installing according to a certain rule.
In the embodiment of the invention, pairing is also extremely complicated work according to the characteristic numbers of the radiation units, machine vision automatic processing is required, the key of success or failure of pairing is to design a good software algorithm, and the algorithm research is based on the actual assembly condition and the test result. This requires a lot of screening work.
In the embodiment of the invention, before actual assembly, the assembly sequence of each radiation unit needs to be planned, so that the assembly precision requirement is met when as many radiation units as possible are assembled. Further, during automated assembly of the radiation unit, both the assembly robot and the tightening gun need to be equipped with vision.
In the embodiment of the invention, the triaxial robot carries the machine vision camera to photograph the electrically measured images of the radiation units on the cache tray, the radiation units are comprehensively analyzed according to the opening size, and the installation positions and the installation sequence are determined according to the analysis result. Then, the three-axis robot transfers the radiation units to the mounting fixture according to the calculation result, the assembling mechanism executes the mounting program, and after the assembly is completed, the three-axis robot grabs the blanking.
In the embodiment of the invention, an upper computer performs an arrangement simulation experiment in the assembly and arrangement planning of the radiation units, a Matlab model is adopted to simulate the assembly sequence of the radiation units, and the assembly sequence simulation function of the used radiation unit components is shown in the following table:
Claims (4)
1. the intelligent arrangement and assembly method of the feature numbers based on the radiation units is characterized in that the intelligent arrangement steps of the radiation units comprise:
A) grouping the radiation units to be assembled, carrying out photographing measurement on the radiation units one by one, and numbering the radiation units one by one; inputting the measured data and the serial number as characteristic serial number data into an upper computer; calculating the required center distance and edge distance of the mouth edge;
B) sequencing and numbering the positions to be assembled and arranged on the radiation unit array assembling bottom plate and marking serial numbers; inputting the marking serial number and the position data into an upper computer;
C) the upper computer performs radiation unit assembly arrangement planning;
D) the upper computer determines the optimal arrangement planning result of the radiation units;
E) the robot automatically and intelligently arranges the radiation units according to the characteristic numbers and the optimal arrangement planning result according to the position number and the arrangement planning of the bottom plate according to the output data of the upper computer, and assembles the radiation units into an array.
2. The intelligent arrangement and assembly method for the feature numbers based on the radiation units as claimed in claim 1, wherein when the radiation units are photographed and measured one by one, five feature points on the upper edge of the radiation units are sequentially extracted by using an industrial camera, each radiation unit extracts four corner points by using the camera, and the coordinates of the center point of the radiation unit are obtained by using the coordinates of the four corner points.
3. The intelligent arrangement and assembly method for characteristic numbers based on radiation units according to claim 1, wherein the planning process for arrangement and assembly of radiation units comprises:
1) selecting an un-arranged radiation unit, and assembling the radiation unit at the position P with the minimum residual serial number on the bottom plate;
2) selecting a radiation unit to be assembled at the position P + 1;
3) calculating the center distance of the edges between adjacent radiation units and the error E-m of the center distance;
4) whether the error E-m of the center distance is less than 0.05mm or not; if yes, carrying out the next step; otherwise go back to 2);
5) assembling according to the position sequence, and recording the assembly position and the component number;
6) if the assembly is finished, carrying out the next step; otherwise go back to 2);
7) and outputting the assembly position and the radiation unit number sequence.
4. The intelligent arrangement and assembly method for the feature numbers based on the radiation units as claimed in claim 1, wherein the upper computer performs an arrangement simulation experiment during the assembly and arrangement planning of the radiation units, and a Matlab model is used to simulate the assembly sequence of the radiation units, and the assembly sequence simulation function of the used radiation unit components is shown in the following table:
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112621765A (en) * | 2021-03-09 | 2021-04-09 | 佛山隆深机器人有限公司 | Automatic equipment assembly control method and device based on manipulator |
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