CN112676815B - Flexible automatic assembling production system and method for radiation unit - Google Patents

Flexible automatic assembling production system and method for radiation unit Download PDF

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Publication number
CN112676815B
CN112676815B CN202011479267.5A CN202011479267A CN112676815B CN 112676815 B CN112676815 B CN 112676815B CN 202011479267 A CN202011479267 A CN 202011479267A CN 112676815 B CN112676815 B CN 112676815B
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plate
radiation unit
clamping
matching block
unit
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CN112676815A (en
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吉红伟
卞玉柱
徐李刚
郭祥雨
王小龙
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Beijing Institute of Radio Measurement
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Beijing Institute of Radio Measurement
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Abstract

The invention relates to a flexible automatic assembly production system and a flexible automatic assembly production method for a radiation unit, wherein the production system comprises a matching block mounting unit, a matching block measuring unit, a connector mounting unit, an electrical property testing unit and a bottom plate mounting unit, the matching block measuring unit, the connector mounting unit and the electrical property testing unit are sequentially arranged to form a radiation unit production line, and the bottom plate mounting unit is positioned on one side of the radiation unit production line and is arranged close to the electrical property testing unit; one side of the radiation unit production line is also provided with a feeding platform and a discharging platform, and the discharging platform is close to the bottom plate mounting unit. The production system adopts a U-shaped layout, has the advantages of small occupied space of equipment, short material carrying distance and the like, has complete and independent functions for each unit, can be independently operated under the condition of being separated from the whole line operation flow, and further improves the flexibility of the production line.

Description

Flexible automatic assembling production system and method for radiation unit
Technical Field
The invention relates to the technical field related to radiation unit assembly, in particular to a radiation unit flexible automatic assembly production system and a radiation unit flexible automatic assembly production method.
Background
The mode that radiating element generally adopted manual assembly, detected in the phased array radar antenna development process has been unable to satisfy radiating element's big batch, high accuracy, high reliability, rapid Assembly's demand, has following problem:
(1) the manual assembly of the radiation unit and the detection period are long. Each radiation unit can be put into use after being electrically adjusted to be qualified through complete assembly and detection processes, the traditional radiation unit assembly technical means occupies higher manpower and time cost, and the development period is long; and 1 electric regulation in every 8 electric regulations can not pass through, and the electric regulation needs to be reset.
(2) The post detection and offline recording have low efficiency and uncontrollable process. Whether the electric-tuning test of the radiation unit is qualified needs to be detected after the matching block is assembled, the electric-tuning test of the radiation unit is manually carried out by a worker through a vector network analyzer at present, the efficiency is low, the process is uncontrollable, the test data is stored under a test data line, the data is not uniformly managed with production process data, and a feedback support for the preorder assembly process is not formed.
Disclosure of Invention
The invention aims to solve one or more of the technical problems and provides a flexible automatic assembly production system and method for a radiation unit to meet the requirements of mass production and assembly of products such as the radiation unit.
The technical scheme for solving the technical problems is as follows: a flexible automatic assembly production system for a radiation unit comprises a matching block mounting unit, a matching block measuring unit, a connector mounting unit, an electrical property testing unit and a bottom plate mounting unit, wherein the matching block mounting unit, the matching block measuring unit, the connector mounting unit and the electrical property testing unit are sequentially arranged to form a radiation unit production line, and the bottom plate mounting unit is positioned on one side of the radiation unit production line and is arranged close to the electrical property testing unit; one side of the radiation unit production line is also provided with a feeding platform and a discharging platform, and the discharging platform is close to the bottom plate mounting unit.
The invention has the beneficial effects that: the production system adopts a U-shaped layout, has the advantages of small occupied space of equipment, short material carrying distance and the like, has complete and independent functions for each unit, can be independently operated under the condition of being separated from the whole line operation flow, and further improves the flexibility of the production line.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the device also comprises a marking unit, wherein the marking unit is arranged close to the matching block mounting unit.
The flexible feeding and discharging robot comprises a plurality of flexible feeding and discharging robots, and at least one flexible feeding and discharging robot is arranged between the areas where the feeding platform and the discharging platform are located and the radiation unit production line, between the matching block mounting unit and the matching block measuring unit and between the connector mounting unit and the electrical property testing unit.
The beneficial effect of adopting the further scheme is that: through flexible unloader that goes up, each production line unit operation order can freely switch, improves equipment utilization by a wide margin, promotes the flexibility of product mixed line production.
The matching block mounting unit comprises a matching block clamp and a radiation unit clamp, an elastic pin is arranged in the radiation unit clamp, a matching block limiting groove is formed in the position, close to the end portion, of one side of the matching block clamp, and a limiting opening communicated with the matching block limiting groove is formed in the end face of one end of the matching block clamp; when the matching block clamp drives the matching block to extend into the radiation unit, the elastic pin in the radiation unit clamp extends into the matching block limiting groove from the limiting opening and is abutted against one end of the matching block.
The matching block is sent into the radiation unit clamp through the matching block clamp, the matching block in the matching block limiting groove is limited by the elastic pin, quick installation of the matching block in a narrow space of a horn cavity can be achieved, the problem of accurate installation and positioning of the traditional matching block is solved, the stability and consistency of assembly precision are improved, the distance size precision of the matching block inside the antenna radiation unit cavity and a flange plate positioning reference surface is guaranteed, and the one-time assembly qualified rate is improved.
Furthermore, the matching block limiting groove is a stepped groove matched with the matching block.
The beneficial effect of adopting the further scheme is that: the matching block can be limited in the Y direction and the Z direction by adopting the stepped groove.
Furthermore, a split seam is arranged on the matching block clamp and extends to the end face of one end of the matching block along the length direction of the matching block clamp, so that one end of the matching block clamp forms a split structure. The shape of the matching block clamp is matched with the shape of the side wall of the radiation unit and comprises an installation section, an inclined section and a connection section which are integrally connected, and the limiting groove is located at the free end of the installation section.
The beneficial effect of adopting the further scheme is that: one end of the matching block clamp forms a split structure, so that the matching block can be ensured to smoothly fall into the clamping device, and even if the matching block is not completely aligned with the clamping device, the matching block can be clamped in the matching block limiting groove in a self-adaptive adjusting mode.
Further, the radiation unit clamp comprises a clamping part and a tool support, the clamping part is installed on the tool support, the clamping part comprises a clamping cylinder and a pneumatic clamping jaw, and the clamping cylinder drives the pneumatic clamping jaw to clamp the radiation unit; the clamping part is provided with a support, the support stretches across the clamping cylinder and penetrates through the pneumatic clamping jaw to be arranged, and the elastic pin is installed on the support.
The beneficial effect of adopting the further scheme is that: the elastic pin is arranged on the bracket, so that the pneumatic clamping jaw is not interfered.
Further, be equipped with the assembly plate on the frock support, the assembly plate is vertical to be installed on the frock support, be equipped with on the assembly plate with the pilot hole of pneumatic clamping jaw looks adaptation, pneumatic clamping jaw is in carry out the centre gripping to the radiating element in the pilot hole.
The beneficial effect of adopting the further scheme is that: the arrangement of the assembly holes can provide effective support for clamping and positioning of the radiation units and other structures.
Further, the radiating element anchor clamps still include the portion of compressing tightly, the portion of compressing tightly includes the clamp plate and compresses tightly the cylinder, it installs to compress tightly the cylinder on the frock rack, the clamp plate becomes Z style of calligraphy structure, the one end of clamp plate is installed compress tightly the drive end of cylinder, the middle part of clamp plate is located compress tightly one side of cylinder, the other end of clamp plate is close to the assembly plate and arranges and be equipped with the spacing mouth that is used for the radiating element to pass through, spacing mouth with the pilot hole corresponds and arranges.
The beneficial effect of adopting the further scheme is that: the setting of portion that compresses tightly can provide effective the compressing tightly to the ring flange on the radiating element, and the spacing mouth on the clamp plate is convenient for the radiating element to pass through.
The pressing plate is provided with a first laser sensor and a Y-axis module, the first laser sensor is mounted on the assembling plate, the pressing cylinder is mounted on the Y-axis module, and a blocking piece corresponding to the first laser sensor is arranged on the pressing plate; the Y-axis module drives the pressing cylinder to move in a direction parallel to the assembling plate, and when the blocking piece triggers limiting information of the first laser sensor, the pressing cylinder drives the pressing plate to press the radiation unit.
The beneficial effect of adopting the further scheme is that: the position of the pressing cylinder can be adjusted by utilizing the Y-direction module.
And when the second laser sensor detects that the radiation unit moves into the assembly hole, the clamping cylinder is controlled to drive the pneumatic clamping jaw to fold to realize clamping and positioning of the radiation unit.
The positioning mechanism comprises a tool frame, a first clamping cylinder, a first pneumatic clamping jaw, a second clamping cylinder and a second pneumatic clamping jaw, wherein the first clamping cylinder is installed on the tool frame, the driving end of the first clamping cylinder is connected with the tool frame and drives the two first pneumatic clamping jaws to open and close, the first pneumatic clamping jaws are located above the tool frame and arranged at intervals with the tool frame, and a matching block clamping hole for clamping a matching block is formed after the two first pneumatic clamping jaws are folded; the driving end of the second clamping cylinder is connected with a second pneumatic clamping jaw, the second clamping cylinder is installed on the tool frame, a through hole is formed in the tool frame, and the second pneumatic clamping jaw extends out of the through hole to the space and clamps and positions a matching block clamp in the space.
The three-axis power supply device further comprises a first three-axis module and a first nail locking gun, wherein the first nail locking gun is installed on the first three-axis module and driven by the first three-axis module to move in the three directions of XYZ.
The beneficial effect of adopting the further scheme is that: the three-axis module can drive the nail gun to lock and fix the radiation unit and the matching block.
A radiation unit matching block assembling method comprises the following steps:
s1, clamping the flange of the radiation unit by using the radiation unit clamp;
s2, clamping the matching block by using a matching block clamp, and enabling the matching block to be located in a matching block limiting groove;
s3, driving the matching block clamp to extend into the large opening end of the radiation unit, and pressing the matching block into the matching block limiting groove from the X direction by the elastic pin;
and S4, screwing the matching block and the radiation unit by using a screw.
The matching block measuring unit comprises a control system, and a laser measuring head, a two-axis servo module, a quick-change fixture tool and a Z-axis driving mechanism which are respectively connected with the control system, wherein the quick-change fixture tool is installed on the two-axis servo module, and the laser measuring head is installed on the Z-axis driving mechanism and is positioned above the quick-change fixture tool; the quick-change fixture tool is used for clamping a radiation unit, the laser measuring head is used for collecting point location information of a flange plate plane at the bottom of the radiation unit and point location information on a step surface of a matching block mounted on the inner side wall of the radiation unit and sending the point location information to the control system, and the control system calculates the height of the matching block or/and the distance between the matching block and the flange plate plane according to the point location information. The laser non-contact measurement means is adopted for rapid measurement and positioning, so that the accurate positioning of the flange plate at the bottom of the horn cavity in the normal direction is realized, and the measurement accuracy and the stability are improved.
Further, the quick-change fixture tool comprises a clamping cylinder, a pressing cylinder, a clamping jaw and a clamping arm, wherein two driving ends of the clamping cylinder are respectively connected with the clamping jaw for clamping the radiation unit, and the driving end of the pressing cylinder is connected with the clamping arm for pressing the radiation unit. Clamping cylinder and the clamping jaw connected with the clamping cylinder are adopted, clamping and positioning of the radiation unit can be achieved, and the clamping cylinder is matched with the clamping arm to achieve pressing and fixing of the radiation unit. Utilize centre gripping cylinder and compress tightly the cylinder and realize the flexible centre gripping to the radiating element, can also the different products that await measuring of adaptation, reach the quick used again's of whole measurement system purpose.
Further, the quick-change fixture tool further comprises a fixing platform, and the fixing platform is installed on the two-axis servo module; the clamping cylinder with the compressing cylinder is installed respectively inside the fixed platform, the fixed platform is provided with a tooling plate, the tooling plate is provided with a working hole, two driving ends of the clamping cylinder are connected with the clamping jaw through the working hole respectively, and the clamping arm is located outside the tooling plate and presses the radiation unit under the driving of the compressing cylinder. Install inside fixed platform clamping cylinder and compress tightly the cylinder to press from both sides tightly and compress tightly the operation on the frock board, convenient operation is favorable to laser surveying's accurate control. And can install the stopper on the frock board, come to carry on spacingly to pressing from both sides the arm, make things convenient for the accurate control of anchor clamps. The two pressing cylinders can be arranged and are symmetrically arranged on two sides of the clamping cylinder, so that the pressing and the stability of the radiation unit are facilitated.
Furthermore, the Z-axis driving mechanism adopts a lead screw nut driving mechanism, and the lead screw nut driving mechanism is adopted, so that the position of the laser measuring head in the Z direction can be conveniently and accurately adjusted. A hand wheel can be arranged on a lead screw of the lead screw nut driving mechanism, and manual adjustment is adopted.
Furthermore, the two-axis servo module comprises a first straight line module and a second straight line module which are vertically arranged, the second straight line module is installed on the first straight line module, and the quick-change fixture tool is installed on the second straight line module. The quick-change fixture tool is driven by the first linear module and the second linear module to move in the X direction and the Y direction.
Further, still include workstation and support, the support mounting is in on the workstation, the diaxon servo module is installed on the workstation, Z axle actuating mechanism installs on the support. Utilize the drive of diaxon servo module realization XY to, utilize the Z axle actuating mechanism on the support to realize the drive of laser gauge head Z to.
And the code reader is connected with the control system and is used for identifying the two-dimensional code information on the radiation unit.
The method for measuring the assembly clearance of the matching block based on laser measurement comprises the following steps: s1, acquiring point location information of a plurality of non-collinear points on the plane of a flange plate at the bottom of the radiation unit by using a laser measuring head to obtain a first information parameter, and acquiring point location information of any point on the step surface of a matching block mounted on the inner side wall of the radiation unit to obtain a second information parameter;
and S2, the control system calculates the height of the matching block and/or the distance between the matching block and the plane of the flange plate according to the first information parameter and the second information parameter.
Aiming at the requirements of distance size precision control, detection, quick recording and the like of a matching block inside a cavity of an antenna radiation unit and a flange positioning reference surface, the digital online measurement method suitable for the position precision of the matching block inside a narrow cavity of a typical radiation unit is provided, the rapid measurement and positioning are carried out by adopting a laser non-contact measurement means, the influence of surface quality on the measurement precision is eliminated by adopting a multipoint fixed-plane distance measurement method, the accurate positioning of the flange at the bottom of a horn cavity in the normal direction is realized, and the measurement precision and the stability are improved.
In S2, the control system obtains a z coordinate on the flange plane by using a least square method according to the first information parameter, obtains a distance H between any point on the step surface of the matching block and the flange plane by combining the second information parameter, and obtains a distance between the matching block and the flange plane by using a difference between the H and a thickness parameter H of the matching block.
In the step S1, point location information of at least 8 non-collinear points on the plane of the flange at the bottom of the radiation unit is collected by using the laser measuring head to obtain a first information parameter.
The connector mounting unit comprises a mounting support, a radiation unit clamping mechanism, a press-fitting mechanism and a connector clamping mechanism, wherein the radiation unit clamping mechanism and the press-fitting mechanism are respectively mounted on the mounting support, and the connector clamping mechanism is mounted on the press-fitting mechanism and is located above the radiation unit clamping mechanism. The radio frequency connector quick assembly device mainly aims at the complex structures of the radiation unit and the radio frequency connector, is suitable for quick assembly of the radio frequency connector in the narrow space of the radiation unit, solves the problem of accurate installation and positioning of the traditional radio frequency connector, and improves stability and consistency of assembly precision.
Furthermore, the press-fitting mechanism comprises a pressing cylinder and a pressing plate, the pressing cylinder is installed in the mounting support, the driving end of the pressing cylinder is connected with the pressing plate, the pressing plate is located above the mounting support, an assembling through hole for assembling the radio frequency connector is formed in the middle of the pressing plate, and the connector clamping mechanism is installed on the pressing plate.
The beneficial effect of adopting the further scheme is that: the radiation unit clamping mechanism can realize the movement limit of the radiation unit in XY directions, and the pressing cylinder is adopted to drive the pressing plate to move downwards to press the flange of the radiation unit so as to limit the movement of the radiation unit in Z direction.
Further, the press-fitting mechanism further comprises a linear bearing, the linear bearing is installed in the installation support, and the pressing plate is installed on the linear bearing.
The beneficial effect of adopting the further scheme is that: the linear bearing can guide the movement of the pressing plate, so that the pressing plate can be stably and firmly pressed on the flange plate of the radiation unit.
Furthermore, the connector clamping mechanism comprises two connector clamping cylinders and two connector pneumatic clamping jaws, the two connector clamping cylinders are respectively and oppositely installed on the pressing plate, and the driving ends of the connector clamping cylinders are respectively connected with the connector pneumatic clamping jaws.
The beneficial effect of adopting the further scheme is that: two connector clamping cylinders are adopted to drive two connector pneumatic clamping jaws, and effective clamping of the radio frequency connector can be achieved.
Furthermore, the front side of the motion direction of the connector pneumatic clamping jaw is provided with a limiting block, and the connector pneumatic clamping jaw is connected with the limiting block in a sliding manner.
The beneficial effect of adopting the further scheme is that: the arrangement of the limiting block can provide limiting for the movement of the connector pneumatic clamping jaw.
Furthermore, the bottom of the limiting block is provided with a sliding chute, and the top of the limiting block is provided with a convex block; the pneumatic clamping jaw of the connector comprises a clamping part and a limiting part, wherein the limiting part is positioned above the rear side of the clamping part, the clamping part is connected in the sliding groove in a sliding mode, and when the clamping part moves to a preset position, the limiting part is abutted to the lug. The middle part of the front end of the clamping part is sunken to form a clamping groove, and the two pneumatic clamping jaws of the connector are folded to form a connector clamping hole.
The beneficial effect of adopting the further scheme is that: the setting of spout can provide the direction for the removal of connector pneumatic clamping jaw, and the setting of lug can be spacing for the shift position of connector pneumatic clamping jaw.
Furthermore, a limiting block is arranged on each of two sides of the front of the connector pneumatic clamping jaw in the moving direction, and the two sides of the connector pneumatic clamping jaw are respectively connected with the limiting blocks in a sliding mode.
The beneficial effect of adopting the further scheme is that: through setting up two stopper, provide steady direction and spacing for the removal of connector pneumatic clamping jaw.
Further, the device comprises a first laser sensor for detecting the radio frequency connector and a second laser sensor for detecting a screw on the radio frequency connector, wherein the first laser sensor is installed on the installation support, and the second laser sensor is installed on the press-fitting mechanism.
The beneficial effect of adopting the further scheme is that: the first laser sensor can be used for detecting whether the radio frequency connector is in place, and the second laser sensor can be used for detecting whether the screw is installed in place.
And the second locking nail gun is arranged on the second triaxial module and is driven by the second triaxial module to move in the three directions of XYZ.
The beneficial effect of adopting the further scheme is that: a second locking gun may be used to screw the rf connector to the radiating element flange.
The assembling method of the radio frequency connector of the radiating element comprises the following steps:
s1, feeding the radiation unit into a radiation unit clamping mechanism for clamping;
s2, pressing the flange of the radiation unit by using a press-fitting mechanism;
s3, the radio frequency connector is sent to a position corresponding to the upper part of the flange plate of the radiation unit, and the radio frequency connector is clamped by the connector clamping mechanism;
and S4, connecting the radio frequency connector with the flange plate by using screws.
The electrical property test unit comprises a supporting frame, an XY two-axis driving module, a YZ two-axis driving module, an electrical property tester, a supporting frame and a radiation unit tool clamp, wherein the XY two-axis driving module, the YZ two-axis driving module, the electrical property tester, the supporting frame and the radiation unit tool clamp are arranged on the supporting frame, the XY two-axis driving module is arranged on the supporting frame and drives the radiation unit tool clamp to move on the horizontal plane, and the YZ driving module is arranged in the supporting frame and drives an electric adjusting plug of the electrical property tester to move on the vertical plane so as to test the electrical property of the radiation unit in the radiation unit tool clamp. The XY diaxon drive module and the YZ diaxon drive module are matched to respectively drive the radiation unit tool clamp and the electric adjusting plug to move, so that the electrical performance of the radiation unit and the assembly of the radiation unit can be quickly detected, the test efficiency is improved, and a foundation is laid for the size parameter and electrical performance correlation analysis of the subsequent radiation unit.
Further, radiant unit frock clamp includes centre gripping locating plate, centre gripping cylinder and pneumatic clamping jaw, the centre gripping cylinder is installed the bottom of centre gripping locating plate, pneumatic clamping jaw is located the top of centre gripping locating plate, the actuating lever of centre gripping cylinder passes the centre gripping locating plate is connected the drive pneumatic clamping jaw.
The beneficial effect of adopting the further scheme is that: the radiation unit can be positioned on the clamping positioning plate by driving the pneumatic clamping jaws through the clamping air cylinder.
Furthermore, the centre gripping cylinder is at least two sets ofly, every group the centre gripping cylinder includes two at least centre gripping cylinders, every the centre gripping cylinder is connected with one the pneumatic clamping jaw.
The beneficial effect of adopting the further scheme is that: at least two sets of centre gripping cylinders can compress tightly the location to the radiating element alone, also can compress tightly the location to the radiating element subassembly.
Furthermore, the pneumatic clamping jaw is horizontally arranged above the clamping positioning plate, and a crimping notch matched with the flange plate of the radiation unit is arranged below one end of the pneumatic clamping jaw.
The beneficial effect of adopting the further scheme is that: when in compression joint, the flange plate of the radiation unit can be placed in the compression joint notch to be compressed and positioned.
Further, still include the industry camera, install industry camera support on the braced frame, install Z on the industry camera support and to removing the module, the industry camera is installed Z is to removing on the module, and be located radiant unit frock clamp top.
The beneficial effect of adopting the further scheme is that: the radiation element size parameters can be extracted with an industrial camera.
Further, the XY two-axis driving module comprises an X-direction moving module and a Y-direction moving module, the X-direction moving module and the Y-direction moving module are respectively installed on the supporting frame, the X-direction moving module is movably installed on the Y-direction moving module, and the radiation unit tool clamp is movably installed on the X-direction moving module.
Further, the YZ two-axis driving module comprises a third Y-axis module and a third Z-axis module, the third Y-axis module is installed in the supporting frame, the third Z-axis module is movably installed on the third Y-axis module, and an electric adjusting plug clamp is installed on the third Z-axis module.
Furthermore, plug anchor clamps are transferred to electricity include first grip block and second grip block, first grip block is installed Z is to the module on, the outside centre gripping edge that extends of first grip block upper end, the centre gripping is followed and is equipped with first centre gripping groove, also be equipped with second centre gripping groove on the second grip block, the second grip block is installed on the first grip block and make first centre gripping groove and second centre gripping groove fold and transfer the plug with the centre gripping.
The beneficial effect of adopting the further scheme is that: the electric regulation plug can be effectively clamped by utilizing the closure of the clamping grooves.
Furthermore, an operation through hole is formed in the upper surface of the supporting frame, and the radiation unit tool clamp is driven by the XY two-axis driving module to move in the operation through hole.
A method for testing the electrical performance of a radiating element and components thereof comprises the following steps:
s1, clamping the radiation unit in the radiation unit tool clamp, and installing the radiation unit tool clamp on the XY two-axis driving module;
s2, driving the radiation unit tool clamp to the lower side of an industrial camera by using an XY two-axis driving module, extracting the size parameters of the radiation unit by using the industrial camera, then moving the electric tuning plug to the lower side of the radiation unit by matching the XY two-axis driving module and a YZ two-axis driving module, driving the electric tuning plug to be inserted into a radio frequency connector at the bottom of the radiation unit, and testing the electric performance of the single radiation unit;
s3, after testing the electrical property of a group of single radiation units, assembling the group of radiation units on a bottom plate to form a radiation unit assembly, then installing the radiation unit assembly on a radiation unit tool clamp, driving the radiation unit tool clamp to the lower part of an industrial camera by utilizing an XY two-axis driving module, and extracting the size parameter of each radiation unit on the radiation unit assembly by utilizing the industrial camera;
s4, moving the electric adjusting plug to the lower part of the radiation unit assembly by matching the XY two-axis driving module and the YZ two-axis driving module again, driving the electric adjusting plug to be inserted into the radio frequency connector at the bottom of each radiation unit in the radiation unit assembly, and testing the electrical property of each radiation unit;
and S5, obtaining the influence of the assembly parameters of the radiation unit assembly on the electrical performance of the radiation unit according to the test result.
The bottom plate mounting unit comprises a quick-change fixture and an overturning tool, the quick-change fixture comprises a positioning tool plate, a pressing plate driving device and a pressing plate, the pressing plate driving device is mounted at one end of the positioning tool plate and connected with the pressing plate, the pressing plate and the positioning tool plate are arranged in parallel, and the pressing plate is driven by the pressing plate driving device to move to the position above the positioning tool plate so as to press a flange of the radiation unit on a bottom plate of the positioning tool plate; the positioning tool plate is arranged on the overturning tool and overturns under the driving of the overturning tool. Through setting up quick change anchor clamps and upset frock, utilize clamp plate drive arrangement drive clamp to compress tightly the location to the radiating element ring flange, then reuse upset frock drive quick change anchor clamps upset, it is fixed to screw up bottom plate and ring flange from the bottom, has improved assembly precision and qualification rate, has solved traditional bottom plate and radiating element's accurate installation location problem, has improved the stability and the uniformity of assembly precision. The invention can adapt to different products to be measured by adopting the quick-change clamp, thereby achieving the purpose of quickly reusing the measuring system.
Further, still include the guide rail, the guide rail is installed on the downside of location frock board, clamp plate sliding connection is in on the guide rail.
The beneficial effect of adopting the further scheme is that: the guide rail can provide a guide for the movement of the pressure plate on the positioning tool plate.
Further, the guide rails are two and arranged in parallel on the lower side surface of the positioning tooling plate.
The beneficial effect of adopting the further scheme is that: the two guide rails ensure the moving stability of the bottom plate.
Furthermore, a plurality of pressing teeth arranged at intervals are arranged at one end of the pressing plate, the pressing plate moves towards the upper part of the positioning tooling plate to enable the radiation units to be arranged in the intervals among the pressing teeth in a one-to-one correspondence mode, and the pressing teeth are used for crimping the flange plates of the radiation units.
The beneficial effect of adopting the further scheme is that: a plurality of pressure teeth are comb-tooth-shaped structures, and each pressure tooth can compress tightly the location to two adjacent radiating element's ring flange, has guaranteed radiating element's stability, and the crimping effect is better.
Furthermore, the number of the pressing plate driving devices and the number of the pressing plates are two, the two pressing plate driving devices are arranged at two ends of the positioning tooling plate respectively, the two pressing plates are arranged at two sides of the positioning tooling plate respectively and oppositely, and the two pressing plates are driven by the corresponding pressing plate driving devices to be close to or far away from each other.
The beneficial effect of adopting the further scheme is that: the two groups of pressing plate driving devices drive the pressing plates, so that two rows of radiating units on the bottom plate can be pressed and positioned simultaneously and are not interfered with each other.
Further, the quick-change clamp further comprises a first mounting plate, the positioning tooling plate is mounted on the first mounting plate, and the positioning tooling plate and the first mounting plate are respectively provided with corresponding assembling through holes. The guide rail is installed on first mounting panel.
The beneficial effect of adopting the further scheme is that: the first mounting panel can provide the support for the guide rail, and the setting of assembly through-hole on location frock board and the first mounting panel is convenient for operate the bottom plate after the quick change anchor clamps upset.
Furthermore, the turnover tool comprises a turnover driving device and a second mounting plate, the driving end of the turnover driving device is connected with the second mounting plate and drives the second mounting plate to turn over, the positioning tool plate is mounted on the second mounting plate, and the second mounting plate is provided with an operation hole.
The beneficial effect of adopting the further scheme is that: due to the arrangement of the operation holes in the second mounting plate, the bottom plate is operated after the quick-change clamp on the second mounting plate is driven to turn over by the turning driving device.
The positioning driving device is connected with the positioning pin and can drive the positioning pin to stretch into the positioning hole to position the second mounting plate.
The beneficial effect of adopting the further scheme is that: before or after the quick-change fixture is turned, the positioning driving device can be used for driving the positioning pin to be inserted into the positioning hole of the second mounting plate, and the second mounting plate is locked and positioned.
Further, the positioning driving device is an air cylinder.
A method for assembling a radiating element bottom plate and a support comprises the following steps:
s1, mounting the bottom plate on the positioning tooling plate, and then placing the radiation unit on the bottom plate of the positioning tooling plate;
s2, driving the pressing plate to move towards the middle of the positioning tooling plate by using the pressing plate driving device, and pressing the flange plate of the radiation unit on the bottom plate;
s3, overturning the positioning tool plate by 180 degrees by utilizing an overturning tool, and arranging the bottom of the bottom plate upwards;
and S4, screwing the bottom plate and the radiation unit flange plate from the bottom of the bottom plate by using screws.
Furthermore, mark unit includes laser marker, diaxon actuating mechanism and smoking dust pelletizing system, the laser marker is installed diaxon actuating mechanism is last and be in diaxon actuating mechanism's drive removes down and marks its below radiation unit, smoking dust pelletizing system carries out the smoking dust removal to the mark environment of beating.
A flexible automatic assembly production method of a radiation unit comprises the following steps:
s1, assembling the matching block into the radiation unit by using the matching block mounting unit, and detecting the distance between the matching block and the plane of the flange plate of the radiation unit by using the matching block measuring unit;
s2, installing the radio frequency connector on the flange plate of the radiation unit by using the connector installation unit, and detecting the electrical property of the radio frequency connector by using the electrical property test unit;
and S3, assembling the radiating element on the bottom plate mounting unit, and detecting the electrical property of the radio frequency connector of the radiating element on the bottom plate again by using the electrical property testing unit.
Drawings
FIG. 1 is a schematic perspective view of an assembly apparatus for a matching block of a radiation unit according to the present invention;
FIG. 2 is an enlarged view of portion A of FIG. 1;
FIG. 3 is a schematic perspective view of the radiation unit matching block assembling apparatus of the present invention with the assembling plate removed;
FIG. 4 is a schematic perspective view of another orientation of the assembly apparatus for matching blocks of a radiating element of the present invention;
FIG. 5 is a schematic top view of the assembly apparatus of the matching block of the radiation unit of the present invention;
FIG. 6 is a schematic view of the cross-sectional structure B-B in FIG. 5;
FIG. 7 is a schematic view of the assembly jaws placing the mating block onto the radiating element mating block positioning mechanism;
FIG. 8 is a schematic view of the first pneumatic gripper gripping the mating block;
FIG. 9 is a schematic diagram of a second pneumatic jaw holding a mating block clamp;
FIG. 10 is a schematic structural view of a first pneumatic clamping jaw releasing a mating block into a mating block retention slot;
FIG. 11 is a schematic structural view of a press-down cylinder pressing a matching block into a matching block limiting groove;
FIG. 12 is a schematic view of another orientation structure in which the air cylinder is pushed down to press the matching block into the matching block retaining groove;
FIG. 13 is a schematic view of the structure of the mounting station of the assembling device for the matching block of the radiation unit of the present invention;
FIG. 14 is a schematic diagram illustrating the principle of the method for measuring the assembly gap of the matching block based on laser measurement according to the present invention;
fig. 15 is a schematic perspective view of a quick-change fixture tool mounting structure according to the present invention;
fig. 16 is a schematic top view of the quick-change fixture tool mounting structure according to the present invention;
FIG. 17 is a perspective view of the Z-axis drive mechanism of the present invention;
fig. 18 is a schematic perspective view of a matching block assembly gap measuring device based on laser measurement according to the present invention.
Fig. 19 is a first schematic perspective view of the radio frequency connector assembly of the radiating element of the present invention;
fig. 20 is a schematic perspective view of the second radiation unit rf connector assembly of the present invention;
fig. 21 is a third schematic perspective view of the radio frequency connector assembly of the radiating element of the present invention;
FIG. 22 is an enlarged view of portion A of FIG. 2;
fig. 23 is a third schematic perspective view of the radio frequency connector assembly of the radiating element of the present invention;
FIG. 24 is an enlarged view of the portion B of FIG. 23;
fig. 25 is a schematic view of an automatic assembling structure of the assembling apparatus of the rf connector of the radiating element of the present invention.
FIG. 26 is a schematic perspective view of a radiation unit fixture according to the present invention;
fig. 27 is a first schematic perspective view of an electrical performance testing apparatus according to the present invention;
fig. 28 is a schematic perspective view of an electrical performance testing apparatus according to a second embodiment of the present invention;
FIG. 29 is an enlarged view of portion A of FIG. 28;
fig. 30 is a schematic perspective view of a part of a driving mechanism of the electrical performance testing apparatus according to the present invention.
Fig. 31 is a schematic perspective view of the quick-change clamp according to the present invention;
FIG. 32 is a schematic perspective view of the turning tool of the present invention;
FIG. 33 is a first perspective view of an apparatus for assembling a radiation unit and a base plate according to the present invention;
FIG. 34 is an enlarged view of the portion A of FIG. 33;
FIG. 35 is a schematic perspective view of a second radiation unit and base plate assembly apparatus according to the present invention;
FIG. 36 is an enlarged view of the portion B of FIG. 35;
FIG. 37 is a schematic view of a base plate configuration;
fig. 38 is a schematic perspective view of a marking unit;
fig. 39 is a schematic top view of the automated assembly production system for the flexibility of the radiation unit.
A marking unit structure schematic diagram;
the whole production system is in a schematic top view structure.
In the drawings, the components represented by the respective reference numerals are listed below:
1000. a matching block measurement unit; 1. a laser probe; 11. a laser probe controller;
2. a two-axis servo module; 21. a first linear module; 22. a second linear module;
3. a fixture is quickly replaced; 31. a clamping cylinder; 32. a pressing cylinder; 33. a clamping jaw; 34. clamping arms;
4. a Z-axis drive mechanism; 41. a hand wheel; 42. a Z-direction slide rail; 43. a measuring head clamp;
5. a fixed platform; 51. assembling a plate; 52. a limiting member;
6. a work table; 7. a support; 8. a code reader;
c: the distance between the matching block and the plane of the flange plate; H. the height of the matching block is the distance between the step surface of the matching block and the plane of the flange plate.
100. A radiation unit; 101. a flange plate; 102. a matching block; 103. mounting a platform; 104. a radio frequency connector; 105. a screw; 106. a connector flange; 107. a base plate; 108. screw holes; 109. a radiating element assembly;
2000. a matching block mounting unit; 200. matching a block clamp; 201. a matching block limiting groove; 202. split sewing; 203. an installation section; 204. a connecting section; 205. an inclined section; 206. assembling a clamping jaw;
300. a radiating element holder; 301. an elastic pin; 302. a tool support; 303. assembling a plate; 304. an assembly hole; 305. a clamping cylinder; 306. a pneumatic clamping jaw; 307. pressing a plate; 308. a pressing cylinder; 310. a first laser sensor; 311. a baffle plate; 312. a Y-axis module; 313. a second laser sensor; 314. a first triaxial module; 315. a first X-direction module; 316. a first Y-direction module; 317. a first Z-direction module; 318. a first nail gun; 319. a clamp base; 320. a support; 321. a pressure head; 322. a spring; 323. a first screw aligner; 324. a guide sleeve;
400. a positioning mechanism; 401. a tool rack; 402. a first pneumatic jaw; 403. a first clamping cylinder; 404. a matching block clamping hole; 405. pressing down the air cylinder; 406. briquetting; 407. a second clamping cylinder; 408. a second pneumatic jaw; 409. a through hole; 410. a support cylinder; 411. a support block; 412. adjusting the cylinder; 413. a third laser sensor; 414. a top plate; 415. a base plate.
500. A bottom plate mounting unit; 501. positioning the tooling plate; 502. a platen drive; 503. pressing a plate; 504. a guide rail; 505. pressing teeth; 506. a first mounting plate; 507. a turnover driving device; 508. a second mounting plate; 509. an operation hole; 510. a positioning drive device; 511. positioning pins; 512. positioning holes; 513. a coupling; 514. a reversing decelerator; 515. a motor; 516. a third staple gun; 517. a four-axis robot; 518. assembling a platform; 519. turning over the hole; 520. and a third screw arranging machine.
600. A connector mounting unit; 601. mounting a bracket; 602. a pressing cylinder; 603. pressing a plate; 604. assembling the through hole; 605. a linear bearing; 606. the connector clamps the cylinder; 607. a connector pneumatic gripper; 608. a limiting block; 609. a chute; 610. a bump; 611. a clamping groove; 612. the radiation unit clamps the cylinder; 613. a radiation unit pneumatic gripper; 614. a first laser sensor; 615. a second laser sensor; 616. a radiating element robot jaw; 617. a connector robot jaw; 618. a second triaxial module; 619. a second X-direction module; 620. a second Y-direction module; 621. a second Z-direction module; 622. a second staple gun; 624. a laser sensor mounting bracket; 625. a clamping portion; 626. a limiting part; 627. assembling the through hole; 628. a second screw aligner.
700. An electrical property test unit; 701. a support frame; 702. an electrical property tester; 703. a radiation unit tooling clamp; 704. electrically adjusting the plug; 705. an X-direction moving module; 706. a Y-direction moving module; 707. a Z-direction moving module; 708. a third Y-direction module; 709. a third Z-direction module; 710. clamping the positioning plate; 711. a clamping cylinder; 712. a pneumatic clamping jaw; 713. an industrial camera; 714. a first clamping plate; 715. a second clamping plate; 717. operating the through hole; 718. an industrial camera mount; 719. a guide rail; 720. mounting a support plate;
800. a feeding table; 801. a blanking table; 802. a marking unit; 803. a first robot; 804. a second robot; 805. a third robot; 806. a fourth robot; 807. a laser marker; 808. a two-axis drive mechanism; 809. a smoking and dedusting system.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Example 1
As shown in fig. 1 to 39, the flexible automatic assembly production system for a radiating element of the present embodiment includes a matching block mounting unit 2000, a matching block measuring unit 1000, a connector mounting unit 600, an electrical performance testing unit 700, and a bottom plate mounting unit 500, where the matching block mounting unit 2000, the matching block measuring unit 1000, the connector mounting unit 600, and the electrical performance testing unit 700 are sequentially arranged in a radiating element production line, and the bottom plate mounting unit 500 is located at one side of the radiating element production line and is arranged close to the electrical performance testing unit 700; one side of the radiation unit production line is also provided with a feeding platform 800 and a discharging platform 801, and the discharging platform 801 is arranged close to the bottom plate installation unit 500.
The production system of this embodiment adopts U type overall arrangement, and it is little to have equipment occupation space, and material handling distance advantage such as short, and each unit of production system has complete independent function, can break away from the independent operation under the whole line operation flow condition, has further improved the flexibility of production line.
As shown in fig. 38 and 39, the production system of the present embodiment further includes a marking unit 802, and the marking unit 802 is disposed near the matching block mounting unit 2000. Marking unit 802 includes laser marker 807, diaxon actuating mechanism 808 and smoking dust pelletizing system 809, laser marker 807 is installed on diaxon actuating mechanism 808 and is in the drive of diaxon actuating mechanism 808 removes and marks its below radiation unit 100, smoking dust pelletizing system 809 carries out the smoking dust removal to the environment of marking.
As shown in fig. 38 and 39, the production system of this embodiment further includes a plurality of flexible loading and unloading robots, and at least one of the flexible loading and unloading robots is disposed between the areas where the loading table 800 and the unloading table 801 are located and the radiation unit production line, between the matching block mounting unit 2000 and the matching block measuring unit 1000, and between the connector mounting unit 600 and the electrical performance testing unit 700. Through flexible unloader that goes up, each production line unit operation order can freely switch, improves equipment utilization by a wide margin, promotes the flexibility of product mixed line production.
Specifically, as shown in fig. 39, a second robot 804 and a fourth robot 806 are arranged between the areas where the feeding table 800 and the discharging table 801 are located and the radiation unit production line, a first robot 803 is arranged between the matching block mounting unit 2000 and the matching block measuring unit 1000, and a third robot 805 is arranged between the connector mounting unit 600 and the electrical property testing unit 700. The first robot 803, the second robot 804, the third robot 805, and the fourth robot 806 of the present embodiment each employ a six-axis robot.
A flexible automatic assembly production method of a radiation unit comprises the following steps:
s1, assembling the matching block 102 into the radiation unit 100 by using the matching block mounting unit 2000, and detecting the distance between the matching block 102 and the plane of the flange plate 101 of the radiation unit 100 by using the matching block measuring unit 1000;
s2, mounting the rf connector 104 on the flange 101 of the radiating element 100 by using the connector mounting unit 600, and detecting the electrical performance of the rf connector 104 by using the electrical performance testing unit 700;
s3, the radiating element 100 is then mounted on the backplane mounting unit 500 to the backplane 107, and the electrical performance testing unit 700 is used to re-test the electrical performance of the rf connectors 104 of the radiating elements 100 on the backplane 107.
The working process of the production system of this embodiment is to place the components to be configured on the feeding table 800, take the radiation unit 100 by the second robot 804, clamp the marking point position of the marking unit 802 by the second robot 804 to perform laser marking, and then place the components on the raw material disc between the first robot 803 and the second robot 804. The first robot 803 places the radiation unit 100 on the radiation unit clamp 300 to clamp, the first robot 803 grabs the matching block 102 on the matching block clamp 200 from a matching block tray, and the three-axis robot drives the matching block clamp 200 to move to the installation position of the radiation unit 100 on the radiation unit clamp 300 and tightly press the radiation unit 100 to a designated position. The spring pin 301 and the matching block clamp 200 are pressed through the spring 322 to ensure the installation gap between the bottom surface of the matching block and the bottom surface of the radiation unit 100, the three-axis robot drives the first locking gun to suck the screw 105, and the matching block 102 and the radiation unit 100 are screwed and fixed through screwing the screw 105. When the matching block measuring unit 1000 measures the gap of the matching block 102, firstly, the second robot 804 is used to place the component to be measured on the quick-change fixture tool 3 from the material tray through a special gripper, after the quick-change fixture tool 3 clamps the radiation unit 100, the laser measuring head 1 and the control system are used to calculate the size of the gap between the matching block 102 and the plane of the flange plate 101, the radiation unit 100 which is qualified is measured and transferred from the first robot 803, the second robot 804 and the fourth robot 806 to the material tray beside the connector mounting unit 600 in sequence, the connector mounting unit 600 uses the radiation unit robot clamping jaw 616 to grasp and place the shell of the radiation unit 100, and the connector robot clamping jaw 617 to grasp and place the radio frequency connector 104, assemble the screw 105 and perform the blanking process of the finished piece, thereby completing the mounting of the radio frequency connector 104. After the connector is installed, the third robot 805 transfers the connector to the electrical performance testing unit 700, the radiation unit tool clamp 703 clamps the radiation unit 100, the YZ two-axis driving module drives the electric adjusting plug 704 to be in butt joint with the radiation unit, then the electrical performance testing is performed, the radiation unit tool clamp is loosened after the testing is completed, and the third robot 805 grabs the radiation unit 100 and puts the radiation unit back to the original material disc. Then a fourth robot 806 grabs the radiation unit tray into the bottom plate mounting unit 500, a four-axis robot 517 grabs the radiation unit 100 back to the tray and grabs the next one, after all measurements are completed, the fourth robot 806 grabs the bottom plate 107 onto the positioning tooling plate 501, the pressing plate 503 presses the bottom plate 107, and the four-axis robot 517 takes the assembled workpiece and transports the workpiece to the blanking table 801.
The specific structures and the specific mounting test procedures of the matching block mounting unit 2000, the matching block measuring unit 1000, the connector mounting unit 600, the electrical performance test unit 700, and the board mounting unit 500 in this embodiment are respectively described in the following embodiments.
The radiation unit flexible automatic assembly production system adopts a U-shaped layout, and has the advantages of small equipment occupation space, short material carrying distance and the like; through flexible unloader that goes up, each production line unit operation order can freely switch, improves equipment utilization by a wide margin, promotes the flexibility of product mixed line production. Each unit of the production line system has a complete and independent function, and can be operated independently under the condition of being separated from the whole line operation flow, so that the flexibility of the production line system is further improved.
Example 2
As shown in fig. 1 to 6, the matching block mounting unit 2000 includes a matching block fixture 200 and a radiation unit fixture 300, wherein an elastic pin 301 is arranged in the radiation unit fixture 300, a matching block limiting groove 201 is arranged at a position close to an end of one side of the matching block fixture 200, and a limiting port communicated with the matching block limiting groove 201 is arranged on an end surface of one end of the matching block fixture 200; when the matching block fixture 200 drives the matching block to extend into the radiation unit 100, the elastic pin 301 in the radiation unit fixture 300 extends into the matching block limiting groove 201 from the limiting opening and abuts against one end of the matching block 102.
As shown in fig. 2, the matching block limiting groove 201 of the present embodiment is a stepped groove adapted to the matching block 102. The matching block can be limited in the Y direction and the Z direction by adopting the stepped groove.
As shown in fig. 2, the matching block fixture 200 of this embodiment is provided with a split slit 202, and the split slit 202 extends to an end surface of one end of the matching block 102 along a length direction of the matching block fixture 200, so that one end of the matching block fixture 200 forms a split structure. The shape of the matching block clamp 200 is matched with the shape of the side wall of the radiation unit 100, and comprises an installation section 203, an inclined section 205 and a connecting section 204 which are integrally connected, and the matching block limiting groove 201 is located at the free end of the installation section 203. One end of the matching block clamp forms a split structure, so that the matching block can be ensured to smoothly fall into the clamping device, and even if the matching block is not completely aligned with the clamping device, the matching block can be clamped in the matching block limiting groove in a self-adaptive adjusting mode.
As shown in fig. 1-6, the radiation unit clamp 300 includes a clamping portion and a tool holder 302, the clamping portion is mounted on the tool holder 302, a clamp base 319 is mounted on the tool holder 302, the clamp base 319 is arranged perpendicular to the tool holder 302, the clamping portion includes a clamping cylinder 305 and a pneumatic clamping jaw 306, the clamping cylinder 305 is mounted on the clamp base 319, and the clamping cylinder 305 drives the pneumatic clamping jaw 306 to clamp the radiation unit 100; the clamp base 319 is provided with a bracket 320, the bracket 320 spans the clamping cylinder 305 and penetrates through the pneumatic clamping jaw 306, and the elastic pin 301 is mounted on the bracket 320. The elastic pin is arranged on the bracket, so that the pneumatic clamping jaw is not interfered.
The clamping cylinder of the radiation unit clamp 300 can be an SCHUNK PZV64 manipulator, and four pneumatic clamping jaws 306 are mounted at four driving ends of the manipulator, so that the flange plate 101 of the radiation unit 100 can be pneumatically clamped from four directions, the four pneumatic clamping jaws 306 can also be of a Z-shaped structure, as shown in fig. 3, the clamping ends of the four pneumatic clamping jaws 306 are gathered towards the center of the manipulator, but a space for clamping and assembling the flange plate 101 of the radiation unit 100 is reserved, the support 320 can stretch across the surface of the driving end of the manipulator, but the clamping operation of the pneumatic clamping jaws 306 is not affected, and the elastic pin 301 can stretch out from the reserved space of the four pneumatic clamping jaws 306 to abut against and limit the matching block 102 stretching into the radiation unit 100. Through designing professional anchor clamps, adopt manipulator and pneumatic clamping jaw cooperateing to fix a position and assemble, realize loudspeaker cavity bottom ring flange normal direction's accurate positioning, promoted assembly precision and stability.
Specifically, as shown in fig. 6, a spring 322 and a guide sleeve 324 are mounted on the bracket 320, the elastic pin 301 is slidably connected in the guide sleeve 324, one end of the elastic pin 301 is connected to the spring 322, and the other end of the elastic pin 301 extends out of the guide sleeve 324 and passes through the flange plate 101 to abut against the matching block 102 in the matching block limiting groove 201 at one end of the matching block fixture 200.
As shown in fig. 1,2, 4-6, an assembly plate 303 is disposed on the tool holder 302, the assembly plate 303 is vertically mounted on the tool holder 302, an assembly hole 304 adapted to the pneumatic clamping jaw 306 is disposed on the assembly plate 303, and the pneumatic clamping jaw 306 clamps the radiation unit 100 in the assembly hole 304. The arrangement of the assembly holes can provide effective support for clamping and positioning of the radiation units and other structures.
As shown in fig. 1 to 6, the radiation unit fixture 300 of this embodiment further includes a pressing portion, the pressing portion includes a pressing plate 307 and a pressing cylinder 308, the pressing cylinder 308 is installed on the tooling rack 302, the pressing plate 307 is in a zigzag structure, one end of the pressing plate 307 is installed at a driving end of the pressing cylinder 308, a middle portion of the pressing plate 307 is located at one side of the pressing cylinder 308, the other end of the pressing plate 307 is disposed near the assembly plate 303 and is provided with a limiting opening for the radiation unit 100 to pass through, and the limiting opening is disposed corresponding to the assembly hole 304. Specifically, a pressing head 321 is arranged at the other end of the pressing plate 307, the pressing head 321 extends towards a direction departing from the pressing cylinder 308 and corresponds to the assembling hole 304, the limiting port is located on the pressing head 321, and the limiting port extends to the end face of one end of the pressing head 321. The setting of portion that compresses tightly can provide effective the compressing tightly to the ring flange on the radiating element, and the spacing mouth on the clamp plate is convenient for the radiating element to pass through.
As shown in fig. 1-6, the radiation unit matching block apparatus of this embodiment further includes a first laser sensor 310 and a Y-axis module 312, the first laser sensor 310 is mounted on the mounting plate 303, the pressing cylinder 308 is mounted on the Y-axis module 312, and a blocking plate 311 corresponding to the first laser sensor 310 is disposed on the pressing plate 307; the Y-axis module 312 drives the pressing cylinder 308 to move in a direction parallel to the assembling plate 303, and when the blocking piece 311 triggers the limit information of the first laser sensor 310, specifically, when the blocking piece 311 blocks the first laser sensor 310, the pressing cylinder 308 drives the pressing plate 307 to press the radiation unit. In addition, the pressing cylinder 308 may be mounted on the guide rail, and the Y-axis module may be used to drive the pressing cylinder 308 to move along the guide rail, and the Y-axis module may adopt a screw rod driving mechanism, and the position of the pressing cylinder may be adjusted by using the Y-axis module.
As shown in fig. 1, the radiation unit clamping device further comprises a second laser sensor 313, wherein the second laser sensor 313 is installed on the assembling plate 303 and is located below the assembling hole 304 on the assembling plate 303, and when the second laser sensor 313 detects that the radiation unit 100 moves into the assembling hole 304, the clamping cylinder 305 is controlled to drive the pneumatic clamping jaw 306 to close so as to clamp and position the radiation unit 100.
The working process of this embodiment is, send into the radiating element anchor clamps earlier and carry out the centre gripping in the radiating element anchor clamps, makes the ring flange that radiating element's ring flange was cliied to the pneumatic clamping jaw of the die clamping cylinder drive of radiating element anchor clamps, and the ring flange is arranged higher than the assembly plate in the ring flange surface, then utilizes the pressure head that compresses tightly the cylinder drive ring flange again, and the radiating element is arranged in the spacing mouth of pressure head, makes the pressure head push down the ring flange around the ring flange. Then the matching block is sent into the radiation unit by the matching block clamp, the elastic pin on the support abuts against the matching block, the matching block is stably limited in a matching block limiting groove of the matching block clamp, and then the radiation unit and the matching block are locked and fixed by screws.
This embodiment will match the piece through matching in the piece anchor clamps will match the piece and send into the radiating element anchor clamps to utilize the elastic pin to carry on spacingly to matching the piece that matches the piece spacing inslot, can realize the quick installation that matches the piece in the narrow and small space of loudspeaker cavity, solve the accurate installation location problem of traditional matching piece, improve the stability, the uniformity of assembly precision, guarantee the distance size precision of the inside matching piece of antenna radiating element cavity and ring flange location reference surface, and improve the assembly qualification rate once.
As shown in fig. 13, the matching block mounting unit of the present embodiment further includes a first triaxial module 314 and a first nail locking gun 318, the assembling device, the first triaxial module 314 and the first nail locking gun 318 are respectively mounted on the mounting platform 103, and the nail locking gun 318 is mounted on the first triaxial module 314 and is driven by the first triaxial module 314 to move in three XYZ directions. The first triaxial module 314 comprises a first X-direction module 315, a first Y-direction module 316 and a first Z-direction module 317, the first X-direction module 315 is mounted on the mounting platform 103, the first Z-direction module 317 is mounted on the first X-direction module 315, the first Y-direction module 316 is mounted on the first Z-direction module 317, the first nail locking gun 318 is mounted on the first Y-direction module 316, the assembling device is located below the first Y-direction module 316, the triaxial module can drive the first nail locking gun 318 to take out screws from the first screw arranging machine 323, and the first nail locking gun 318 can be used for locking and fixing the radiation unit and the matching block, so that the locking process is more accurate and reliable.
As shown in fig. 7 to 12, the mating block mounting unit 2000 of the present embodiment may employ a positioning mechanism to mount and position the mating block 102 in the mating block holder 200.
As shown in fig. 7 to 12, the positioning mechanism includes a tool rack 401, a first clamping cylinder 402 and a first pneumatic clamping jaw 403, the first clamping cylinder 402 is installed on the tool rack 401, a driving end of the first clamping cylinder is connected to drive the two first pneumatic clamping jaws 403 to open and close, the first pneumatic clamping jaw 403 is located above the tool rack 401 and arranged at an interval with the tool rack 401, and a matching block clamping hole 404 for clamping the matching block 102 is formed after the two first pneumatic clamping jaws 403 are closed.
In this embodiment, the first clamping cylinder 403 is adopted to drive the first pneumatic clamping jaw 402 to clamp the matching block 102, and when the clamp of the matching block 102 extends into the space between the upper part of the tool rack 401 and the first pneumatic clamping jaw 402, the first clamping cylinder 403 drives the first pneumatic clamping jaw 402 to release the matching block 102, so that the matching block 102 falls into the matching block limiting groove 201 of the matching block clamp 200.
As shown in fig. 7 to 12, the positioning mechanism 400 of the present embodiment further includes a down-pressure cylinder 405, and the down-pressure cylinder 405 is mounted on the tool rest 401 and is used for pressing the matching block 102 into the matching block fixture 200 when the matching block 102 falls into the matching block fixture 200. The matching block can be compactly pressed into the matching block limiting groove by utilizing the pressing cylinder.
As shown in fig. 7-12, the driving end of the down-pressing cylinder 405 of this embodiment is connected with a pressing block 406, the pressing block 406 is in an inverted convex shape, and the lower end of the pressing block 406 is matched with the upper surface of the matching block 102. The convex-shaped pressing block can be matched with the matching block-shaped structure, and the matching block can be conveniently pressed down by stretching into the second pneumatic clamping jaw.
As shown in fig. 7 to 12, the first pneumatic clamping jaw 402 of this embodiment is L-shaped, and includes a connecting arm and a clamping arm that are perpendicular to each other, the first clamping cylinder 403 is connected to the connecting arm, the clamping arm extends toward a side that is away from the first clamping cylinder 403, a clamping slot is disposed on one side of the first pneumatic clamping jaw 402, and when two first pneumatic clamping jaws 402 are closed, the two clamping slots are closed to form the matching block clamping hole 404. The clamping groove is convenient to be matched with the matching block in shape, and the L-shaped first pneumatic clamping jaw is convenient to connect and assemble.
As shown in fig. 7 to 12, the positioning mechanism 400 of this embodiment further includes a second clamping cylinder 407 and a second pneumatic clamping jaw 408, a driving end of the second clamping cylinder 407 is connected to the second pneumatic clamping jaw 408, the second clamping cylinder 407 is mounted on the tool rack 401, a through hole 409 is formed in the tool rack 401, and the second pneumatic clamping jaw 408 extends from the through hole 409 into the space and clamps and positions the matching block fixture 200 placed in the space. The second pneumatic clamping jaw can be used for clamping and positioning the matching block clamp. The tool rest 401 includes a top plate 414 and a bottom plate 415, and the second clamping cylinder 407 is mounted on a lower surface of the top plate 414.
As shown in fig. 7 to 12, the positioning mechanism 400 of this embodiment further includes a supporting cylinder 410, the supporting cylinder 410 is installed in the tool rack 401, a supporting block 411 is connected to a driving end of the supporting cylinder 410, and the supporting block 411 can be driven to extend from a through hole 409 on the tool rack 401 into the space and support the matching block clamp 200 in the space. The matching block fixture can be supported by the supporting cylinder, so that the matching block can be pressed down to enter the groove conveniently.
As shown in fig. 7 to 12, the positioning mechanism 400 of this embodiment further includes an adjusting cylinder 412, the adjusting cylinder 412 is mounted on the tool rack 401, and a driving end of the adjusting cylinder 412 is connected to the first clamping cylinder 403 and drives the first clamping cylinder 403 to move back and forth. The position of the matching block clamped by the first clamping cylinder can be adjusted by the adjusting cylinder, so that the matching block can accurately fall into the matching block limiting groove of the matching block clamp.
As shown in fig. 7 to 12, the positioning mechanism 400 of the present embodiment further includes a third laser sensor 413, where the third laser sensor 413 is installed on the tool rack 401 and controls the first pneumatic clamping jaw 402 to clamp the matching block 102 when detecting that the matching block 102 is in place. And the arrangement of the third laser sensor is convenient for controlling the first pneumatic clamping jaw to clamp the matching block.
As shown in fig. 6, the matching block fixture 200 and the assembling clamping jaw 206 of the present embodiment are both mounted on a mounting plate and located on the same side of the mounting plate, the matching block fixture 200 is arranged at an angle with respect to the assembling clamping jaw 206, and the angle adjustment and the movement orientation of the matching block fixture 200 and the assembling clamping jaw 206 can be realized by operating the mounting plate by a manipulator.
The working process of the positioning mechanism 400 of the present embodiment is, as shown in fig. 7-12, in fig. 7, first, the matching block is moved between the first pneumatic clamping jaws 402 by the assembling clamping jaws 206, then, the two first pneumatic clamping jaws 402 are driven by the first clamping cylinder 403 to clamp the matching block 102 clamped by the assembling clamping jaws 206, then, the assembling clamping jaws 206 release the matching block 102, and the matching block fixture 200 is moved below the two first pneumatic clamping jaws 402, as shown in fig. 8; and the second clamping cylinder 407 is used to drive the two second pneumatic clamping jaws 408 to clamp the matching block fixture 200, the supporting cylinder 412 is used to drive the supporting block 411 upwards to support and prop against the matching block fixture 200, as shown in fig. 9, the adjusting cylinder 412 can be used to adjust the front and back positions of the matching block 102, the first clamping cylinder 403 is used to drive the two first pneumatic clamping jaws 402 to open and release the clamped matching block 102, the matching block 102 falls into the matching block limiting groove 201 of the matching block fixture 200, as shown in fig. 10, and the pressing cylinder 405 is used to drive the pressing block 406 to press the matching block 102 into the matching block limiting groove 201, as shown in fig. 11 and 12.
The method for assembling the matching block of the radiation unit by adopting the matching block mounting unit comprises the following steps:
s1, clamping the matching block 102 between the two first pneumatic clamping jaws 402 by using the assembling clamping jaw 206, and clamping the matching block 102 in the matching block clamping hole 404 after the two first pneumatic clamping jaws 402 are closed;
s2, moving mating block fixture 200 into the space under first pneumatic clamping jaw 402; the second clamping cylinder 407 is used for driving the second pneumatic clamping jaw 408 to clamp and position the matching block 102 clamp, and the supporting block 411 is driven by the supporting cylinder 410 to support the bottom of the matching block clamp 200. The position of the matching block clamped by the first pneumatic clamping jaw can be adjusted by using an adjusting cylinder;
s3, opening the two first pneumatic clamping jaws 402, so that the matching block 102 in the matching block clamping hole 404 falls into the matching block limiting groove 201 of the matching block clamp 200;
s4, pressing the matching block 102 into the matching block limiting groove 201 by using the pressing cylinder 405;
s5, using the assembly jaw 206 to feed the radiation unit 100 into the radiation unit clamp 300, and making the radiation unit clamp 300 clamp the flange 101 of the radiation unit 100; a pressing head 321 of a pressing plate 307 is driven by a pressing cylinder 308 to press the flange plate 101, so that the radiation unit 100 is placed in a limiting opening of the pressing head 321, and the pressing head 321 presses the flange plate 101 from the periphery of the flange plate 101;
s6, clamping the matching block 102 by using the matching block clamp 200, and enabling the matching block 102 to be located in the matching block limiting groove 201;
s7, the matching block clamp 200 is driven to extend into the large-opening end of the radiation unit 100, so that the elastic pin 301 presses the matching block 102 into the matching block limiting groove 201 from the X direction;
s8, the matching block 102 is screwed with the radiation unit 100 by screws. The first triaxial module 314 may be used to drive a nail gun 318 to screw into screw holes above the radiating element 100 and the matching block 102 to screw the radiating element 100 and the matching block 102 together.
According to the method, the matching block can be quickly installed in the narrow space of the horn cavity, the problem of accurate installation and positioning of the traditional matching block is solved, the stability and consistency of the assembly precision are improved, the distance size precision between the matching block in the antenna radiation unit cavity and the flange plate positioning reference surface is ensured, and the one-time assembly yield is improved.
Example 3
As shown in fig. 14-18, the matching block measuring unit 1000 includes a control system, and a laser measuring head 1, a two-axis servo module 2, a quick-change fixture tool 3, and a Z-axis driving mechanism 4, which are respectively connected to the control system, where the quick-change fixture tool 3 is installed on the two-axis servo module 2, and the laser measuring head 1 is installed on the Z-axis driving mechanism 4 and located above the quick-change fixture tool 3; the quick-change fixture tool 3 is used for clamping the radiation unit 100, the laser measuring head 1 is used for collecting point location information of a plane of a flange plate 101 at the bottom of the radiation unit 100 and point location information of a step surface of a matching block 102 mounted on an inner side wall of the radiation unit 100 and sending the collected point location information to the control system, and the control system calculates the height H of the matching block 102 and/or the distance c between the matching block 102 and the plane of the flange plate 101 according to the point location information.
As shown in fig. 15 and 16, the quick-change fixture tool 3 of the present embodiment includes a clamping cylinder 31, a pressing cylinder 32, a clamping jaw 33, and a clamping arm 34, two driving ends of the clamping cylinder 31 are respectively connected to the clamping jaw 33 for clamping the radiation unit 100, and a driving end of the pressing cylinder 32 is connected to the clamping arm 34 for pressing the radiation unit 100. Clamping cylinder and the clamping jaw connected with the clamping cylinder are adopted, clamping and positioning of the radiation unit can be achieved, and the clamping cylinder is matched with the clamping arm to achieve pressing and fixing of the radiation unit. Utilize centre gripping cylinder and compress tightly the cylinder and realize the flexible centre gripping to the radiating element, can also the different products that await measuring of adaptation, reach the quick used again's of whole measurement system purpose.
As shown in fig. 15 and 16, the quick-change fixture tool 3 of the present embodiment further includes a fixing platform 5, where the fixing platform 5 is installed on the two-axis servo module 2; the utility model discloses a radiation unit 100, including fixed platform 5, clamping cylinder 31, clamping cylinder 32, clamping cylinder 31 and clamping cylinder 32, install respectively inside fixed platform 5, be equipped with frock board 51 on the fixed platform 5, be equipped with the work hole on the frock board 51, two drive ends of clamping cylinder 31 are connected with clamping jaw 33 through the work hole respectively, arm lock 34 is located the outside of frock board 51 is pushed down radiation unit 100 under the drive of clamping cylinder 32. Install inside fixed platform clamping cylinder and compress tightly the cylinder to press from both sides tightly and compress tightly the operation on the frock board, convenient operation is favorable to laser surveying's accurate control. And a limiting piece 52 can be arranged on the tool plate to limit the clamp arm, so that the clamp can be controlled accurately. The two pressing cylinders can be arranged and are symmetrically arranged on two sides of the clamping cylinder, so that the pressing and the stability of the radiation unit are facilitated. Wherein, fixed platform 5 includes mounting panel and pillar, the mounting panel is installed on diaxon servo module 2, and frock board 51 is located the mounting panel top, the pillar is the vertical fixation respectively between frock board 51 and mounting panel, and pillar, mounting panel and frock board 51 surround and enclose the space that is used for installing die clamping cylinder 31 and compresses tightly cylinder 32.
Specifically, the clamping jaw 33 is two and is arranged in the mounting hole of frock board 51 to the diagonal form, the tip of clamping jaw 33 becomes right angle form bayonet structure, and the right angle form bayonet of two clamping jaws 33 carries out the centre gripping to the right angle face of radiation unit jointly, can refer to fig. 3. The mutually matched clamping directions of the two clamping jaws 33 and the connecting line between the two clamping arms are arranged at an angle, so that the radiation direction can be clamped and positioned from multiple directions.
As shown in fig. 15, the driving end of the pressing cylinder 34 is connected to the clamping arm 34, the clamping arm 34 is horizontally disposed, and the pressing cylinder 32 drives the clamping arm 34 to move up and down to press and position the upper portion of the radiation unit.
The Z-axis driving mechanism 4 of the present embodiment may use an air cylinder or a hydraulic cylinder to drive the laser probe 1 to move up and down. In a preferred embodiment of this embodiment, as shown in fig. 4, the Z-axis driving mechanism 4 adopts a lead screw nut driving mechanism, and the lead screw nut driving mechanism is adopted to facilitate accurate adjustment of the position of the laser measuring head in the Z direction. The screw nut driving mechanism can be driven by a motor, and a hand wheel 41 can be arranged on a screw of the screw nut driving mechanism and manually adjusted. The screw nut driving mechanism comprises a screw and a sliding block, the sliding block is in threaded connection with the screw and is connected to the Z-direction sliding rail 42 in a sliding mode, the measuring head fixture 43 is installed on the sliding block, the laser measuring head 1 is installed on the measuring head fixture 43, and the laser measuring head 1 can be fixed on the measuring head fixture 43 through a bolt and can also be clamped on the measuring head fixture 43.
As shown in fig. 15 and 16, the two-axis servo module 2 of the present embodiment includes a first linear module 21 and a second linear module 22 which are vertically arranged, the second linear module 22 is mounted on the first linear module 21, and the fixed stage 5 is mounted on the second linear module 22. The quick-change fixture tool 3 is driven by the first linear die set 21 and the second linear die set 22 to move in the X direction and the Y direction. The movement of the two-axis servo module 2 is adopted to realize the coordinate acquisition and normal fitting of a plurality of non-common points in the plane to be measured, and the measurement reliability is high and the stability is good.
As shown in fig. 18, the matching block assembling gap measuring apparatus of this embodiment further includes a table 6 and a bracket 7, the bracket 7 is mounted on the table 6, the two-axis servo module 2 is mounted on the table 6, and the Z-axis driving mechanism 4 is mounted on the bracket 7. The support 7 comprises two vertical rods and two cross rods, the two vertical rods are vertically fixed at two ends of the workbench 6 respectively, the two cross rods are connected between the upper ends of the two vertical rods respectively, and the Z-axis driving mechanism is installed on the two cross rods respectively. Utilize the drive of diaxon servo module realization XY to, utilize the Z axle actuating mechanism on the support to realize the drive of laser gauge head Z to.
As shown in fig. 18, the matching block mounting gap measuring apparatus of this embodiment further includes a code reader 8, and the code reader 8 is connected to the control system and is configured to identify the two-dimensional code information on the radiation unit 100. The control system of the present embodiment includes a laser head controller 11 connected to the laser head 1.
The working process of this embodiment is, place the radiation unit 100 on the workbench 6, make the flange 101 at the small end of the radiation unit 100 placed between two clamping jaws 33 on the tooling plate 51 of the fixed platform 5, utilize two right-angle bayonet structures of the clamping jaws 33 to clamp and fix four faces of the flange of the radiation unit, then drive the clamping arm 34 to move upwards, make the clamping arm 34 rotate to the upper side of the radiation unit 100, drive the clamping arm 34 to move downwards to clamp the top of the radiation unit 100, the clamping position of the clamping arm 34 to the radiation unit 100 does not interfere with the laser of the laser probe 1, adjust the height of the laser probe 1 and fix the position thereof, ensure that the radiation unit 100 and the laser probe 1 do not interfere with each other, utilize the control system to control the two-axis servo module 2 and the Z-axis drive driving mechanism 4 to drive the radiation unit 100 and the laser probe 1 to move, and automatically read the information of the plane of the flange 101 at the bottom of the radiation unit 100 and the position of the laser probe 1 The point location information on the step surface of the matching block 102 installed on the inner side wall of the shooting unit 100 may include XYZ three-axis coordinates, and the height H of the matching block 102 and/or the distance c between the matching block 102 and the plane of the flange plate 101 is obtained through calculation. Since the structure size of the matching block is a known condition, the distance between the matching block and the bottom flange plate can be calculated by a control system.
The matching block assembly gap measuring device can realize high-precision detection of the distance between the matching block and the bottom flange in the installation process of the horn cavity in a narrow space, solves the problem of accurate installation and positioning of the traditional matching block, and improves the stability and consistency of assembly precision. Meanwhile, a high-precision servo mechanism can be driven by a control system, the measuring coordinate points are quickly set, the measuring scheme is stored, and the measuring requirements of various products are met.
The method for measuring the assembly clearance of the matching block based on laser measurement comprises the following steps: s1, acquiring point location information of a plurality of non-collinear points on the plane of a flange plate 101 at the bottom of a radiating unit 100 by using a laser measuring head 1 to obtain an information parameter I, and acquiring point location information of any point on the step surface of a matching block 102 mounted on the inner side wall of the radiating unit 100 to obtain an information parameter II;
and S2, the control system calculates the height of the matching block 102 and/or the distance between the matching block 102 and the plane of the flange plate 101 according to the first information parameter and the second information parameter.
In S2, the control system obtains a z coordinate on the plane of the flange plate 101 by using a least square method according to the first information parameter, obtains a distance H between any point on the step surface of the matching block 102 and the plane of the flange plate 101 by combining the second information parameter, and obtains a distance between the matching block 102 and the plane of the flange plate 101 by using a difference between the H and a thickness parameter H of the matching block 102.
In S1, the laser probe 1 is used to acquire point location information of at least 8 non-collinear points on the plane of the flange plate 101 at the bottom of the radiation unit 100 to obtain a first information parameter.
The embodiment fully considers the common requirement of high-precision measurement of the matching block in the narrow cavity, adopts laser non-contact measurement, realizes online detection and recording of the assembling process of the matching block, and solves the problem of insufficient operating space of the traditional measuring tool; this embodiment provides a digital online measurement method suitable for the narrow and small cavity of typical radiating element matches the demand such as piece position accuracy control and detection, quick record to inside matching block of antenna radiating element cavity and ring flange location reference face, adopts laser non-contact measurement means to carry out quick measurement and location, adopts the multiple spot to decide a distance measuring method, eliminates the influence of surface quality to measurement accuracy, realizes the accurate positioning of loudspeaker cavity bottom ring flange normal direction, promotes measurement accuracy and stability.
Specifically, first, a specific point P on the step of the matching block 102 of the radiation unit 100 is obtained0(x0,y0,z0) Wherein x is0,y0The values are provided by a two-axis servo module 2, z0The values are provided by the laser stylus 1. Then the control system controls the two-axis servo module 2 to change the relative position of the flange plate 101 at the bottom of the radiation unit 100 relative to the laser measuring head 1, and the position parameter P of the measuring point is obtained in sequencei(xi,yi,zi) 1, 2.., n. The measurement process is shown in fig. 1. In other words, the actual coordinates of n points on the bottom surface are known, and the value of the equation coefficient A, B, D of the spatial plane of the bottom surface is obtained, as shown in equation (1).
z＝Ax+By+D (1)
Theoretically, a plane can be determined by three points, so that n is larger than or equal to 3, but in actual situations, the surface of the flange plate 101 is easily affected by surface roughness and falling impurities and dust, and in order to improve the accuracy of measurement, a least square method is used for fitting a bottom surface equation by acquiring more points. When n is more than or equal to 8, the error can be controlled within the range meeting the requirement.
The following describes a specific calculation procedure of the present embodiment using the least square method.
First, a cost function J of the least square method is constructed as shown in equation (2):
Figure GDA0002926611290000191
let Z be [ Z ]1z2z3…zn]T，X＝[x1x2x3…xn]T，Y＝[y1y2y3…yn]T，W＝[XYI]，M＝[ABD]TThen, then
Figure GDA0002926611290000192
Wherein I is an identity matrix.
As can be seen from equation (2), the cost function J is constantly equal to or greater than 0 and there is no maximum value, so the partial derivative is calculated for W, and the minimum value is calculated when the partial derivative is 0, so,
Figure GDA0002926611290000193
therefore, the temperature of the molten metal is controlled,
WTZ＝WTWM
the finishing agent can be obtained by finishing,
M＝(WTW)-1WTZ
after the values of the space plane equation coefficients A, B, D of the flange surface are obtained, the normal vector n of the space plane equation is known to be [ a, B, -1 ═ n]TDue to measured PiThe dots do not necessarily lie on a plane, and P is to be placediCoordinate (x)i,yi) The corrected z-coordinate value is obtained in place of equation (1). So that P can be calculated0Distance H from the flange surface.
Figure GDA0002926611290000194
And obtaining a clearance value c by taking the difference between H and the thickness parameter H of the matching block, wherein H is the distance between the step of the matching block and the bottom surface of the matching block.
Example 4
As shown in fig. 19 to 24, the connector mounting unit 600 includes a mounting bracket 601, a radiation unit clamping mechanism 616, a press-fitting mechanism 616, and a connector clamping mechanism 617, wherein the radiation unit clamping mechanism 616 and the press-fitting mechanism are respectively mounted on the mounting bracket 601, and the connector clamping mechanism 617 is mounted on the press-fitting mechanism and located above the radiation unit clamping mechanism 616.
The radiating element radio frequency connector assembling device of the embodiment is mainly suitable for the rapid assembling of the radio frequency connector in the narrow space of the radiating element aiming at the complex structures of the radiating element and the radio frequency connector, solves the problem of the accurate installing and positioning of the traditional radio frequency connector, and improves the stability and the consistency of the assembling precision.
As shown in fig. 19 to 24, the radiation unit clamping mechanism 616 of the present embodiment includes a radiation unit clamping cylinder 612 and a radiation unit pneumatic clamping jaw 613, wherein a driving end of the radiation unit clamping cylinder 612 is connected to the radiation unit pneumatic clamping jaw 613 and drives the two radiation unit pneumatic clamping jaws 613 to open and close, so as to clamp the radiation unit 100. The radiation unit clamping cylinder 612 is installed on the installation support 601, the radiation unit pneumatic clamping jaw 613 is located below the top plate of the installation support 601, and clamps the radiation unit 100 below the top plate of the installation support 601, so that the flange plate 101 of the radiation unit 100 corresponds to the assembling through hole 627 on the pressure plate 603.
As shown in fig. 19 to 23, the press-fitting mechanism of this embodiment includes a pressing cylinder 602 and a pressing plate 603, the pressing cylinder 602 is installed in the mounting bracket 601, and a driving end of the pressing cylinder is connected to the pressing plate 603, the pressing plate 603 is located above the mounting bracket 601, an assembling through hole 604 for assembling the rf connector 104 is formed in a middle portion of the pressing plate 603, and the connector clamping mechanism 617 is installed on the pressing plate 603. The radiation unit clamping mechanism can realize the movement limit of the radiation unit in XY directions, and the pressing cylinder is adopted to drive the pressing plate to move downwards to press the flange of the radiation unit so as to limit the movement of the radiation unit in Z direction.
As shown in fig. 19 to 23, the press-fitting mechanism of the present embodiment further includes a linear bearing 605, the linear bearing 605 is mounted in the mounting bracket 601, and the pressure plate 603 is mounted on the linear bearing 605. The linear bearing can guide the movement of the pressing plate, so that the pressing plate can be stably and firmly pressed on the flange plate of the radiation unit.
As shown in fig. 19-23, an alternative to this embodiment is that the hold-down cylinder 602 and the linear bearing 605 are two in number and located between the top plate and the bottom plate of the mounting bracket 601. The driving end of the pressing cylinder 602 passes through the top plate of the mounting bracket 601 upward and is connected with the pressing plate 603, and the top of the linear bearing 605 also passes through the top plate of the mounting bracket 601 and is connected with the pressing plate 603. The pressing cylinder 602 drives the pressing plate 603 to move downwards to press the flange plate 101 of the radiation unit 100. The number of the pressing cylinders 602 and the number of the linear bearings 605 may be set according to actual conditions.
As shown in fig. 19 to 23, the connector clamping mechanism 617 of this embodiment includes two connector clamping cylinders 606 and two connector pneumatic clamping jaws 607, the two connector clamping cylinders 606 are respectively installed above the pressing plate 603 in an opposite manner, and driving ends thereof are respectively connected to the connector pneumatic clamping jaws 607. Two connector clamping cylinders are adopted to drive two connector pneumatic clamping jaws, and effective clamping of the connectors can be achieved.
As shown in fig. 19 to 23, a limiting block 608 is disposed on a front side of the connector pneumatic clamping jaw 607 in the moving direction, and the connector pneumatic clamping jaw 607 is slidably connected to the limiting block 608. The arrangement of the limiting block can provide limiting for the movement of the connector pneumatic clamping jaw.
As shown in fig. 21 and 23, the bottom of the limiting block 608 of the present embodiment is provided with a sliding slot 609, and the top thereof is provided with a protrusion 610; the connector pneumatic clamping jaw 607 comprises a clamping portion 625 and a limiting portion 626, the limiting portion 626 is located above the rear side of the clamping portion 625, the clamping portion 625 is connected in the sliding groove 609 in a sliding mode, and after the clamping portion 625 moves to a preset position, the limiting portion 626 is abutted to the bump 610. The middle part of the front end of the clamping part 625 is concavely provided with a clamping groove 611, and two connector pneumatic clamping jaws 607 form a connector clamping hole after being folded. The setting of spout can provide the direction for the removal of connector pneumatic clamping jaw, and the setting of lug can be spacing for the shift position of connector pneumatic clamping jaw.
As shown in fig. 21 and fig. 23, two limiting blocks 608 are respectively disposed on two sides of the front of the moving direction of the connector pneumatic clamping jaw 607 in the embodiment, and two sides of the connector pneumatic clamping jaw 607 are respectively connected with the limiting blocks 608 in a sliding manner. Through setting up two stopper, provide steady direction and spacing for the removal of connector pneumatic clamping jaw.
As shown in fig. 19-23, the apparatus of this embodiment further includes a first laser sensor 614 for detecting the rf connector and a second laser sensor 615 for detecting the screw on the rf connector, wherein the first laser sensor 614 is mounted on the laser sensor mounting bracket 624, and the second laser sensor 615 is mounted on the press-fitting mechanism. Whether the connector is in place or not can be detected by adopting the first laser sensor, and whether the screw is installed in place or not can be detected by adopting the second laser sensor.
As shown in fig. 25, the radiation unit rf connector assembling apparatus of this embodiment further includes a second triaxial module 618 and a second nail locking gun 622, wherein the second nail locking gun 622 is mounted on the second triaxial module 618 and is driven by the second triaxial module 618 to move in three directions of XYZ and XYZ. A second locking gun 622 may be used to screw the rf connector 104 to the flange 101 of the radiating element 100. The second triaxial module 618 comprises a second X-direction module 619, a second Y-direction module 620 and a second Z-direction module 621, the second Y-direction module 620 is mounted on the support platform, the mounting bracket 601 is also mounted on the support platform, a second screw arranging machine 628 and the like are further arranged on the support platform, the Z-axis module 621 is movably arranged on the second Y-direction module 620, the second X-direction module 619 is movably arranged on the second Z-direction module 621, the second nail locking machine 623 is movably mounted on the second X-direction module 619, the position of the second nail locking machine 623 is adjusted by the second triaxial module 618, so that the second nail locking machine 623 firstly takes out screws from the second screw arranging machine 628 and then moves to the upper side of the mounting bracket 601 to screw the screws into the connector flange 106 and the radiation unit 100 flange 101 to be locked and fixed.
This embodiment operates by clamping and moving the radiation unit 100 under the ceiling of the mounting bracket 601 using the radiation unit robot gripper 616, as shown in figure 19, the radiation unit clamping cylinder 612 drives the radiation unit pneumatic clamping jaw 613 to clamp the radiation unit 100, the pressing cylinder 602 drives the pressing plate 603 to press the flange plate 101 of the radiation unit 100, the limit on the radiation unit 100 is realized, the rf connector 104 is then gripped by the connector robot jaws 617 and the connector flange 106 on the rf connector 104 is moved into the mounting through hole 627 of the pressure plate 603, as shown in fig. 20, the connector clamping cylinder 606 is used to drive the connector pneumatic clamping jaw 607 to clamp the rf connector 104, the second triaxial module is used to drive the nail gun above the connector flange 106, and screws are driven to lock and fix the connector flange and the flange plate 101 of the radiation unit 100.
The assembling method of the radio frequency connector of the radiating element comprises the following steps:
s1, feeding the radiation unit 100 into the radiation unit pneumatic gripper 613 for gripping by the radiation unit robot gripper 616;
s2, driving the pressing plate 603 to press the flange plate 101 of the radiation unit 100 by using the pressing cylinder 602;
s3, the rf connector 104 is sent to the position corresponding to the top of the flange plate 101 of the radiation unit 100 by the connector robot clamping jaw 617, the connector flange plate 106 falls into the assembling through hole 604 on the pressing plate 603, and the connector clamping cylinder 606 drives the connector pneumatic clamping jaw 607 to clamp the rf connector 104;
s4, the three-axis module 618 is used to drive the nail gun 623 to move to the position corresponding to the connector flange 106, and screws are screwed into the threaded holes corresponding to the connector flange 106 and the radiation unit 100 flange 101, so as to connect the rf connector 104 and the radiation unit 100 flange 101.
This embodiment is mainly to the complex construction of radiating element and radio frequency connector, is applicable to the radio frequency connector rapid Assembly in the narrow and small space of radiating element, has solved the accurate installation location problem of traditional radio frequency connector, improves stability, the uniformity of assembly precision.
Example 5
As shown in fig. 26 to fig. 30, the electrical property testing unit 700 includes a supporting frame 701, and an XY two-axis driving module, a YZ two-axis driving module, an electrical property tester 702, a supporting frame 701, and a radiation unit fixture 703 that are mounted on the supporting frame 701, the XY two-axis driving module is mounted on the supporting frame 701 and drives the radiation unit fixture 703 to move in a horizontal plane, and the YZ driving module is mounted in the supporting frame 701 and drives an electrical tuning plug 704 of the electrical property tester 702 to move in a vertical plane so as to perform an electrical property test on the radiation unit 100 in the radiation unit fixture 703.
As shown in fig. 26, the radiation unit tool clamp 703 of this embodiment includes a clamping positioning plate 710, a clamping cylinder 711, and a pneumatic clamping jaw 712, wherein the clamping cylinder 711 is installed at the bottom of the clamping positioning plate 710, the pneumatic clamping jaw 712 is located above the clamping positioning plate 710, and a driving rod of the clamping cylinder 711 passes through the clamping positioning plate 710 and is connected to drive the pneumatic clamping jaw 712. The radiation unit can be positioned on the clamping positioning plate by utilizing the clamping cylinder to drive the pneumatic clamping jaw, so that the flexible requirement of the production process is improved.
As shown in fig. 26, the clamping cylinders 711 of this embodiment are at least two sets, each set of the clamping cylinders 711 includes at least two clamping cylinders 711, and each clamping cylinder 711 is connected to one of the pneumatic clamping jaws 712. At least two sets of clamping cylinders 711 can be used for compressing and positioning the radiation unit 100 individually, and can also be used for compressing and positioning the radiation unit assembly 109.
As shown in fig. 26, the pneumatic clamping jaw 712 of the present embodiment is horizontally disposed above the clamping positioning plate 710, and a crimping notch adapted to the flange plate 101 of the radiation unit 100 is disposed below one end of the pneumatic clamping jaw 712. When in compression joint, the flange plate of the radiation unit can be placed in the compression joint notch to be compressed and positioned.
As shown in fig. 27 to fig. 30, the electrical performance detecting apparatus of this embodiment further includes an industrial camera 713, the supporting frame 701 is provided with an industrial camera support 718, the industrial camera support 718 is provided with a Z-direction moving module 707, and the industrial camera 713 is mounted on the Z-direction moving module 707 and located above the radiation unit fixture 703. The radiation element size parameters can be extracted with an industrial camera.
As shown in fig. 27-30, the XY two-axis driving module of this embodiment includes an X-direction moving module 705 and a Y-direction moving module 706, the X-direction moving module 705 and the Y-direction moving module 706 are respectively installed on the supporting frame 701, the X-direction moving module 705 is movably installed on the Y-direction moving module 706, and the radiation unit fixture 703 is movably installed on the X-direction moving module 705. The X-direction moving module 705 is installed on the Y-direction moving module 706 through the installation support plate 720, and is slidably connected to the support platform through the guide rails 719.
As shown in fig. 27-30, the YZ two-axis driving module of this embodiment includes a third Y-axis module 708 and a third Z-axis module 709, where the third Y-axis module 708 is installed in the supporting frame 701, the third Z-axis module 709 is movably installed on the third Y-axis module 708, and an electrically adjustable plug fixture is installed on the third Z-axis module 709.
As shown in fig. 29, the electrical tilt plug fixture of this embodiment includes a first clamping plate 714 and a second clamping plate 715, the first clamping plate 715 is installed on the Z-direction module 709, a clamping edge extends outward from an upper end of the first clamping plate 714, a first clamping groove is disposed on the clamping edge, a second clamping groove is also disposed on the second clamping plate 715, and the second clamping plate 715 is installed on the first clamping plate 714 and closes the first clamping groove and the second clamping groove to clamp the electrical tilt plug 704. The electric regulation plug can be effectively clamped by utilizing the closure of the clamping grooves.
As shown in fig. 27-30, the upper surface of the supporting frame 701 of this embodiment is provided with an operation through hole 717, and the radiation unit fixture 703 moves in the operation through hole 717 under the driving of the XY two-axis driving module.
The electrical property tester of this embodiment may be HP4284A, or may be other devices capable of testing the electrical property of the radiation unit.
The electrical performance testing device of this embodiment works by clamping the radiation unit 100 in the radiation unit fixture 703, and mounting the radiation unit fixture 703 on the X-direction moving module 705; the radiation unit tooling fixture 703 is driven to the lower part of the industrial camera 713 by the X-direction moving module 705 and the Y-direction moving module 706, the size parameters (mainly the size of the edge) of the radiation unit 100 are extracted by the industrial camera 713, then the XY two-axis driving module drives the radiation unit tooling fixture 703 to exit from the shooting position, then the XY two-axis driving module and the YZ two-axis driving module are matched to move the electric adjusting plug 704 to the lower part of the radiation unit 100 and drive the electric adjusting plug 704 to be inserted into the radio frequency connector 104 at the bottom of the radiation unit 100, and the electric performance of the single radiation unit 100 is tested; after the electrical performance of a group of 8 radiation units 100 is tested, the group of 8 radiation units 100 is assembled on the bottom plate 107 to form a radiation unit assembly 109, the radiation unit assembly 109 is installed on the radiation unit tooling fixture 703, the radiation unit tooling fixture 703 is driven to the lower part of the industrial camera 713 by using the XY two-axis driving module, the size parameters (mainly, the opening edge gap size and the uniformity thereof) of each radiation unit 100 on the radiation unit assembly 109 are extracted by using the industrial camera 713, and then the XY two-axis driving module drives the radiation unit tooling fixture 703 to exit from the shooting position; moving the electrically tunable plug 704 to the lower part of the radiation unit assembly 109 by matching the XY two-axis driving module and the YZ two-axis driving module, and driving the electrically tunable plug 704 to be inserted into the radio frequency connector 104 at the bottom of each radiation unit 100 in the radiation unit assembly 109, so as to test the electrical property of each radiation unit 100; according to the test result, the influence of the assembly parameters of the radiation unit assembly 109 on the electrical performance of the radiation unit 100 is obtained.
The electrical property testing device of this embodiment adopts XY diaxon drive module and YZ diaxon drive module cooperation, drives radiating element frock clamp and electricity plug removal respectively, can realize radiating element and the quick detection of subassembly electrical property thereof, has improved efficiency of software testing, also lays the basis for the size parameter of follow-up radiating element and electrical property correlation analysis. The electrical property testing device of the embodiment can realize rapid detection of the electrical properties of the radiation unit and the components thereof, can drive the high-precision servo module mechanism, and realizes accurate positioning of the radiation unit tool clamp.
The electrical performance testing device can improve electrical performance testing efficiency, facilitates subsequent research on the relation between the assembly size and the electrical performance of the radiation unit and the assembly of the radiation unit, and guides reasonable setting of assembly parameters. Through the combination of the multi-axis movement mechanism and the quick-change tool fixture, the radiation unit and the components thereof are quickly transferred and the main working equipment is matched, and the high-precision movement characteristic of the two-axis driving module is utilized, so that the quick assembly with high precision, high efficiency and low cost is realized.
The electrical performance test method of the radiation unit and the components thereof comprises the following steps:
s1, clamping the radiation unit 100 in the radiation unit tool clamp 703, and installing the radiation unit tool clamp 703 on the XY two-axis driving module;
s2, driving the radiation unit tool clamp 703 to the lower part of the industrial camera 713 by using the XY two-axis driving module, extracting the size parameters of the radiation unit 100 by using the industrial camera 713, then moving the electric adjusting plug 704 to the lower part of the radiation unit 100 by matching the XY two-axis driving module and the YZ two-axis driving module, and driving the electric adjusting plug 704 to be inserted into the radio frequency connector 104 at the bottom of the radiation unit 100 to test the electric performance of the single radiation unit 100;
s3, after testing the electrical performance of a group of single radiation units 100, assembling the group of radiation units 100 on a bottom plate 107 to form a radiation unit assembly 109, then installing the radiation unit assembly 109 on a radiation unit tooling fixture 703, driving the radiation unit tooling fixture 703 to the lower part of an industrial camera 713 by utilizing an XY two-axis driving module, and extracting the size parameters of each radiation unit 100 on the radiation unit assembly 109 by utilizing the industrial camera 713;
s4, moving the electrical tuning plug 704 to the lower side of the radiation unit assembly 109 by using the XY two-axis driving module and the YZ two-axis driving module, and driving the electrical tuning plug 704 to be inserted into the radio frequency connector 104 at the bottom of each radiation unit 100 in the radiation unit assembly 109, so as to test the electrical performance of each radiation unit 100;
s5, obtaining the effect of the assembling parameters of the radiation unit assembly 109 on the electrical performance of the radiation unit 100 according to the test result.
The cooperation of XY diaxon drive module and YZ diaxon drive module is adopted to this embodiment, drives radiating element frock clamp and electricity respectively and transfers the plug to remove, can realize radiating element and the quick detection of subassembly electric property thereof, has improved efficiency of software testing, also lays the basis for the size parameter of follow-up radiating element and electric property correlation analysis.
Example 6
As shown in fig. 31 to fig. 36, the bottom plate mounting unit 500 includes a quick-change fixture and an overturning tool, the quick-change fixture includes a positioning tool plate 501, a pressing plate driving device 502 and a pressing plate 503, the pressing plate driving device 502 is mounted at one end of the positioning tool plate 501 and connected to the pressing plate 503, the pressing plate 503 is arranged in parallel with the positioning tool plate 501, and is driven by the pressing plate driving device 502 to move to above the positioning tool plate 501 to press the flange plate 101 of the radiation unit 100 on the bottom plate 107 of the positioning tool plate 501; the positioning tool plate 501 is installed on the turning tool and is turned over under the driving of the turning tool. Since the assembly of the radiation unit 100 to the base plate 107 requires mounting work on both sides of the base plate 107, the turning operation during the assembly process can be performed by mounting the quick-change jig on the turning tool.
This embodiment is through setting up quick change anchor clamps and upset frock, utilizes clamp plate drive arrangement drive clamp to compress tightly the location to the radiating element ring flange, then recycles upset frock drive quick change anchor clamps upset, screws up fixedly from the bottom to bottom plate and ring flange, has improved assembly precision and qualification rate, has solved traditional bottom plate and radiating element's accurate installation location problem, has improved the stability and the uniformity of assembly precision.
As shown in fig. 31, the apparatus of this embodiment further includes a guide rail 504, the guide rail 504 is mounted on the lower side surface of the positioning tool plate 501, and the pressing plate 503 is slidably connected to the guide rail 504. The guide rail can provide a guide for the movement of the pressure plate on the positioning tool plate.
As shown in fig. 31, 33-36, the guide rails 504 of the present embodiment are two and arranged in parallel on the lower side of the positioning tool plate 501. The two guide rails ensure the moving stability of the bottom plate.
As shown in fig. 31, one end of the pressing plate 503 of this embodiment is provided with a plurality of pressing teeth 505 arranged at intervals, the pressing plate 503 moves above the positioning tool plate 501 to enable the radiation units 100 to be correspondingly arranged in the intervals between the pressing teeth 503, and the pressing teeth 503 press the flange plate 101 of the radiation unit 100. A plurality of pressure teeth 503 are comb-shaped structures, and each pressure tooth 503 can compress tightly the flange plate 101 of two adjacent radiation units 100 for positioning, so that the stability of the radiation units 100 is ensured, and the compression joint effect is better.
As shown in fig. 31, there are two pressure plate driving devices 502 and two pressure plates 503 in the present embodiment, the two pressure plate driving devices 502 are respectively disposed at two ends of the positioning tooling plate 501, the two pressure plates 503 are respectively disposed at two sides of the positioning tooling plate 501 oppositely, and the two pressure plates 503 are driven by the corresponding pressure plate driving devices 502 to approach or separate from each other. The two groups of pressing plate driving devices 502 drive the pressing plates 503, so that the two rows of radiation units 100 on the bottom plate 107 can be pressed and positioned simultaneously without mutual interference. The pressing plate driving device 502 may be an air cylinder.
As shown in fig. 31, 33-36, the quick-change clamp of this embodiment further includes a first mounting plate 506, the positioning tool plate 501 is mounted on the first mounting plate 506, the positioning tool plate 501 and the first mounting plate 506 are respectively provided with correspondingly arranged assembling through holes, and the guide rail 504 is mounted on the first mounting plate 506. The first mounting panel can provide the support for the guide rail, and the setting of assembly through-hole on location frock board and the first mounting panel is convenient for operate the bottom plate after the quick change anchor clamps upset.
As shown in fig. 32 to 36, the turning tool of the present embodiment includes a turning driving device 507 and a second mounting plate 508, a driving end of the turning driving device 507 is connected to the second mounting plate 508 and drives the second mounting plate 508 to turn, the positioning tool plate 501 is mounted on the second mounting plate 508, and the second mounting plate 508 is provided with an operation hole 509. Due to the arrangement of the operation holes in the second mounting plate, the bottom plate is operated after the quick-change clamp on the second mounting plate is driven to turn over by the turning driving device. Specifically, the overturning driving device 507 includes a motor 515 and a reversing speed reducer 514, the motor 515 is connected with the reversing speed reducer 514, and the reversing speed reducer 514 is connected with a side support plate of the second mounting plate 508 through a coupling 513.
As shown in fig. 32-36, the assembling apparatus of this embodiment further includes a positioning driving device 510 and a positioning pin 511, the second mounting plate 508 is provided with a positioning hole 512, and the positioning driving device 510 is connected to the positioning pin 511 and can drive the positioning pin 511 to extend into the positioning hole 512 to position the second mounting plate 508. Before or after the quick-change clamp is turned over, the positioning driving device 510 can be used to drive the positioning pin 511 to be inserted into the positioning hole 512 of the second mounting plate 508, so as to lock and position the second mounting plate 508.
Specifically, the positioning driving device 510 is an air cylinder. The number of the positioning driving devices 510 can be two, each positioning driving device 510 is connected to one positioning pin 511, and the two positioning driving devices 510 can be respectively fixed on two sides of the turnover driving device 507 to respectively position the second mounting plate 508.
As shown in fig. 33-36, the assembling apparatus of this embodiment further includes a four-axis robot 517, a third screw arranging machine 520 and a third nail locking gun 516, the four-axis robot 517 and the turning driving device 507 are installed on an assembling platform 518, one end of the turning driving device 507 is connected to the second mounting plate 508, the other end of the second mounting plate 508 is rotatably connected to the assembling platform 518, the assembling platform 518 is provided with a turning hole, and the second mounting plate 508 and the components thereon can be turned in the turning hole 519. The operating end of the four-axis robot 517 is connected with the third nail locking gun 516 and drives the nail locking gun 516 to move, and the nail locking gun 516 takes out the screw from the third screw arranging machine 520 and screws the overturned bottom plate 107 and the flange plate 101 of the radiation unit 100 to be fixed from the screw hole 108 on the positioning tooling plate 501. The four-axis robot 517 of this embodiment is not only responsible for transporting the nail locking gun 516, but also responsible for flexible loading and unloading by installing the robot gripper on the four-axis robot, and can respectively grab the radiation unit 100 and send it onto the bottom plate 107, thereby completing the assembly with the bottom plate 107. The four-axis robot 517 of this embodiment may be of an IRB1200 model, or of another model. The third screw aligner 520 may be of the LSD-P1001 type or of any other type. The nailer 516 may be a DDK MFT-240M10-S model, or may be another model.
The working process of this embodiment is to mount the bottom plate 107 on the positioning tooling plate 501, then place the radiation units 100 on the bottom plate 107 of the positioning tooling plate 501, place two rows of radiation units 100 on the bottom plate 107, so that a plurality of square holes on the bottom plate are arranged corresponding to the round holes on the flange of the radiation unit 100, as shown in fig. 37, two rows of square holes are provided on each bottom plate 107, and correspond to the round holes on the flange 101 of the radiation unit 100 respectively; the two pressing plates 503 are driven by the pressing plate driving device 502 to move relatively along the guide rail 504, and the flanges 101 of the radiation units 100 are pressed on the bottom plate 107, and each pressing plate 503 presses the flanges 101 of a row of radiation units 100; then, the positioning tool plate 501 is turned over by 180 degrees by using a turning tool, so that the bottom of the bottom plate 107 is arranged upwards; and driving a third nail locking gun 516 by using a four-axis robot 517 to take out the screw from the third screw arranging machine 520, moving the screw to the position corresponding to the bottom plate 107, and screwing and fixing the bottom plate 107 and the flange plate 107 of the radiation unit 100 from the bottom of the bottom plate 107.
The requirement for high-precision installation of the bottom plate and the radiation unit in a narrow space is fully considered, the automation of the assembling process of the bottom plate and the radiation unit is realized by adopting a digital assembling means, and the problems of difficult operation, low efficiency and low success rate in the traditional assembling process are solved. The embodiment combines the four-axis robot and the quick-change tool clamp, so that the radiation unit and the bottom plate are quickly transferred, and the high-precision motion characteristic of the radiation unit is utilized, so that the high-precision, high-efficiency and low-cost quick assembly is realized.
The method for assembling the radiating element bottom plate and the bracket comprises the following steps:
s1, mounting the bottom plate 107 on the positioning tooling plate 501, then clamping the radiation unit 100 by using a four-axis robot and placing the radiation unit 100 on the bottom plate 107 of the positioning tooling plate 501;
s2, after all the radiation units (generally 8, or any other number) are put in place, the pressing plate driving device 502 is used to drive the pressing plate 503 to move toward the middle of the positioning tooling plate 501, and the flange 101 of the radiation unit 100 is pressed on the bottom plate 107;
s3, the four-axis robot retreats out of the range of the quick-change clamp, and then the positioning tool plate 501 is turned by 180 degrees by using a turning tool, so that the bottom of the bottom plate 107 is arranged upwards, and the mounting position of the screw is exposed;
s4, a four-axis robot 517 is used for driving a third nail gun 516 to take out a screw from a third screw arranging machine 520, then the screw is moved to a mounting position above the bottom plate, and the bottom plate 107 and the flange 107 of the radiation unit 100 are screwed and fixed from the bottom of the bottom plate 107 by the screw; and after the screws are completely installed, clamping the assembled radiation unit assembly by using a clamping jaw of the four-axis robot, and finishing blanking.
This embodiment utilizes clamp plate drive arrangement drive clamp plate to compress tightly the location to the radiating element ring flange, then recycles upset frock drive quick change anchor clamps upset, screws up fixedly bottom plate and ring flange from the bottom, has improved assembly precision and qualification rate, has solved traditional bottom plate and radiating element's accurate installation location problem, has improved the stability and the uniformity of assembly precision.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (22)

1. A flexible automatic assembly production system for a radiation unit is characterized by comprising a matching block mounting unit, a matching block measuring unit, a connector mounting unit, an electrical performance testing unit and a bottom plate mounting unit, wherein the matching block mounting unit, the matching block measuring unit, the connector mounting unit and the electrical performance testing unit are sequentially arranged to form a radiation unit production line, and the bottom plate mounting unit is positioned on one side of the radiation unit production line and is arranged close to the electrical performance testing unit; a feeding platform and a discharging platform are further arranged on one side of the radiation unit production line, and the discharging platform is arranged close to the bottom plate mounting unit;
the matching block mounting unit comprises a matching block clamp and a radiation unit clamp, an elastic pin is arranged in the radiation unit clamp, a matching block limiting groove is formed in the position, close to the end portion, of one side of the matching block clamp, and a limiting opening communicated with the matching block limiting groove is formed in the end face of one end of the matching block clamp; when the matching block clamp drives the matching block to extend into the radiation unit, the elastic pin in the radiation unit clamp extends into the matching block limiting groove from the limiting opening and abuts against one end of the matching block; the matching block limiting groove is a stepped groove matched with the matching block;
the matching block measuring unit comprises a control system, and a laser measuring head, a two-axis servo module, a quick-change fixture tool and a Z-axis driving mechanism which are respectively connected with the control system, wherein the quick-change fixture tool is installed on the two-axis servo module, and the laser measuring head is installed on the Z-axis driving mechanism and is positioned above the quick-change fixture tool; the quick-change fixture tool is used for clamping a radiation unit, the laser measuring head is used for collecting point location information of a flange plate plane at the bottom of the radiation unit and point location information on a matching block step surface arranged on the inner side wall of the radiation unit and sending the point location information to the control system, and the control system calculates the height of the matching block or/and the distance between the matching block and the flange plate plane according to the point location information;
the connector mounting unit comprises a mounting bracket, a radiation unit clamping mechanism, a press-fitting mechanism and a connector clamping mechanism, the radiation unit clamping mechanism and the press-fitting mechanism are respectively mounted on the mounting bracket, and the connector clamping mechanism is mounted on the press-fitting mechanism and is positioned above the radiation unit clamping mechanism; the press-mounting mechanism comprises a press cylinder and a press plate, the press cylinder is mounted in the mounting bracket, the driving end of the press cylinder is connected with the press plate, the press plate is positioned above the mounting bracket, the middle part of the press plate is provided with an assembling through hole for assembling a radio frequency connector, and the connector clamping mechanism is mounted on the press plate; the press-mounting mechanism further comprises a linear bearing, the linear bearing is mounted in the mounting bracket, and the pressing plate is mounted on the linear bearing;
the electrical property testing unit comprises a supporting frame, an XY two-axis driving module, a YZ two-axis driving module, an electrical property tester, a supporting frame and a radiation unit tool clamp, wherein the XY two-axis driving module, the YZ two-axis driving module, the electrical property tester, the supporting frame and the radiation unit tool clamp are arranged on the supporting frame;
the base plate mounting unit comprises a quick-change clamp and an overturning tool, the quick-change clamp comprises a positioning tool plate, a pressing plate driving device, a guide rail and a pressing plate, the pressing plate driving device is mounted at one end of the positioning tool plate and connected with the pressing plate, the pressing plate and the positioning tool plate are arranged in parallel, and the pressing plate is driven by the pressing plate driving device to move to the position above the positioning tool plate so as to press a flange of the radiation unit on a base plate of the positioning tool plate; the positioning tool plate is arranged on the overturning tool and overturned under the driving of the overturning tool; the guide rail is installed on the downside of location frock board, clamp plate sliding connection be in on the guide rail.
2. The automated assembly production system for the flexibility of a radiating element according to claim 1, further comprising a marking unit disposed proximate to the matching block mounting unit.
3. The radiation unit flexible automatic assembly production system according to claim 1, further comprising a plurality of flexible feeding and discharging robots, wherein at least one flexible feeding and discharging robot is arranged between the area where the feeding table and the discharging table are located and the radiation unit production line, between the matching block mounting unit and the matching block measuring unit, and between the connector mounting unit and the electrical property testing unit.
4. The automated assembly production system for the flexibility of the radiation unit according to claim 1, wherein the matching block fixture is provided with a split slit, and the split slit extends to an end face of one end of the matching block along a length direction of the matching block fixture, so that one end of the matching block fixture forms a split structure.
5. The automated assembly production system for the flexibility of the radiation unit according to claim 1, wherein the radiation unit clamp comprises a clamping portion and a tool support, the clamping portion is mounted on the tool support, the clamping portion comprises a clamping cylinder and a pneumatic clamping jaw, and the clamping cylinder drives the pneumatic clamping jaw to clamp the radiation unit; the clamping part is provided with a bracket, the bracket crosses the clamping cylinder and penetrates through the pneumatic clamping jaw to be arranged, and the elastic pin is installed on the bracket; the tool support is provided with an assembling plate, and the assembling plate is provided with an assembling hole matched with the pneumatic clamping jaw.
6. The automated assembly production system of the radiation unit flexibility, according to claim 5, characterized in that the radiation unit fixture further comprises a pressing portion, the pressing portion comprises a pressing plate and a pressing cylinder, the pressing cylinder is mounted on the tool rack, the pressing plate is in a Z-shaped structure, one end of the pressing plate is mounted at the driving end of the pressing cylinder, the middle of the pressing plate is located at one side of the pressing cylinder, the other end of the pressing plate is arranged close to the assembling plate and provided with a limiting port for the radiation unit to pass through, and the limiting port is arranged corresponding to the assembling hole.
7. The automated assembly production system for the flexibility of the radiation unit according to claim 6, further comprising a first laser sensor and a Y-axis module, wherein the first laser sensor is mounted on the assembly plate, the pressing cylinder is mounted on the Y-axis module, and a blocking piece corresponding to the first laser sensor is arranged on the pressing plate; the Y-axis module drives the pressing cylinder to move in a direction parallel to the assembling plate, and when the blocking piece triggers limiting information of the first laser sensor, the pressing cylinder drives the pressing plate to press the radiation unit.
8. The radiation unit flexible automatic assembly production system according to claim 1, wherein the matching block mounting unit further comprises a positioning mechanism, the positioning mechanism comprises a tool frame, a first clamping cylinder, a first pneumatic clamping jaw, a second clamping cylinder and a second pneumatic clamping jaw, the first clamping cylinder is mounted on the tool frame, a driving end of the first clamping cylinder is connected with the first clamping cylinder and drives the two first pneumatic clamping jaws to open and close, the first pneumatic clamping jaw is located above the tool frame and spaced from the tool frame, and a matching block clamping hole for clamping a matching block is formed after the two first pneumatic clamping jaws are closed; the driving end of the second clamping cylinder is connected with a second pneumatic clamping jaw, the second clamping cylinder is installed on the tool frame, a through hole is formed in the tool frame, and the second pneumatic clamping jaw extends out of the through hole to the space and clamps and positions a matching block clamp in the space.
9. The flexible automated assembly production system of claim 1, wherein the matching block mounting unit further comprises a first triaxial module and a first nailing gun, and the first nailing gun is mounted on the first triaxial module and driven by the first triaxial module to move in XYZ three directions; and/or, further comprising a second laser sensor mounted on the mounting plate.
10. The radiation unit flexible automatic assembly production system according to claim 1, wherein the quick-change clamp tool comprises a clamping cylinder, a pressing cylinder, a clamping jaw and a clamping arm, two driving ends of the clamping cylinder are respectively connected with the clamping jaw for clamping the radiation unit, and a driving end of the pressing cylinder is connected with the clamping arm for pressing the radiation unit.
11. The automated assembly production system for the flexibility of the radiation unit according to claim 10, wherein the fixture quick-change tool further comprises a fixing platform, and the fixing platform is mounted on the two-axis servo module; the clamping cylinder with the compressing cylinder is installed respectively inside the fixed platform, the fixed platform is provided with a tooling plate, the tooling plate is provided with a working hole, two driving ends of the clamping cylinder are connected with the clamping jaw through the working hole respectively, and the clamping arm is located outside the tooling plate and presses the radiation unit under the driving of the compressing cylinder.
12. The automated assembly production system for the flexibility of the radiant unit according to claim 1, wherein the connector clamping mechanism comprises two connector clamping cylinders and two connector pneumatic clamping jaws, the two connector clamping cylinders are respectively oppositely mounted on the pressing plate, and the driving ends of the connector clamping cylinders are respectively connected with the connector pneumatic clamping jaws; the front side of the motion direction of the connector pneumatic clamping jaw is provided with a limiting block, and the connector pneumatic clamping jaw is connected with the limiting block in a sliding mode.
13. The automated assembly production system for the flexibility of the radiation unit according to claim 12, wherein the bottom of the limiting block is provided with a sliding groove, and the top of the limiting block is provided with a convex block; the pneumatic clamping jaw of the connector comprises a clamping part and a limiting part, wherein the limiting part is positioned above the rear side of the clamping part, the clamping part is connected in the sliding groove in a sliding mode, and when the clamping part moves to a preset position, the limiting part is abutted to the lug.
14. The automated assembly production system of claim 1, wherein the connector mounting unit further comprises a second triaxial module and a second nail gun, and the second nail gun is mounted on the second triaxial module and driven by the second triaxial module to move in XYZ three directions.
15. The automated assembly production system of claim 1, wherein the radiation unit tooling fixture comprises a clamping positioning plate, a clamping cylinder and a pneumatic clamping jaw, the clamping cylinder is mounted at the bottom of the clamping positioning plate, the pneumatic clamping jaw is located above the clamping positioning plate, and a driving rod of the clamping cylinder penetrates through the clamping positioning plate and is connected with and drives the pneumatic clamping jaw; the pneumatic clamping jaw is characterized in that the number of the clamping cylinders is at least two, each group of the clamping cylinders comprises at least two clamping cylinders, and each clamping cylinder is connected with one pneumatic clamping jaw.
16. The flexible automated assembly production system of claim 1, wherein the electrical performance testing unit further comprises an industrial camera, the support frame is provided with an industrial camera support, the industrial camera support is provided with a Z-direction moving module, and the industrial camera is mounted on the Z-direction moving module and located above the radiation unit tooling fixture.
17. The automated assembly production system for the flexibility of the radiation units according to claim 1, wherein a plurality of pressing teeth arranged at intervals are arranged at one end of the pressing plate, the pressing plate moves towards the upper side of the positioning tooling plate to enable the radiation units to be correspondingly arranged in the intervals among the pressing teeth, and the pressing teeth are used for pressing and connecting the flange plates of the radiation units.
18. The radiation unit flexible automatic assembly production system according to claim 1, wherein the number of the pressing plate driving devices and the number of the pressing plates are two, the two pressing plate driving devices are respectively arranged at two ends of the positioning tooling plate, the two pressing plates are respectively arranged at two sides of the positioning tooling plate in an opposite manner, and the two pressing plates are driven by the corresponding pressing plate driving devices to approach or separate from each other.
19. The automatic assembly production system for the flexibility of the radiation unit according to claim 1, wherein the overturning tool comprises an overturning driving device and a second mounting plate, a driving end of the overturning driving device is connected with the second mounting plate and drives the second mounting plate to overturn, the positioning tool plate is mounted on the second mounting plate, and the second mounting plate is provided with an operation hole.
20. The automated assembly production system for the flexibility of the radiation unit according to claim 19, further comprising a positioning driving device and a positioning pin, wherein the second mounting plate is provided with a positioning hole, and the positioning driving device is connected with the positioning pin and can drive the positioning pin to extend into the positioning hole to position the second mounting plate.
21. The radiation unit flexible automatic assembly production system according to claim 2, wherein the marking unit comprises a laser marker, a two-axis driving mechanism and a smoke dust removal system, the laser marker is mounted on the two-axis driving mechanism and moves under the driving of the two-axis driving mechanism to mark the radiation unit below the laser marker, and the smoke dust removal system removes smoke dust from a marking environment.
22. A flexible automatic assembly production method of a radiation unit is characterized by comprising the following steps:
s1, assembling the matching block into the radiation unit by using the matching block mounting unit, and detecting the distance between the matching block and the plane of the flange plate of the radiation unit by using the matching block measuring unit;
s2, installing the radio frequency connector on the flange plate of the radiation unit by using the connector installation unit, and detecting the electrical property of the radio frequency connector by using the electrical property test unit;
and S3, assembling the radiating element on the bottom plate mounting unit, and detecting the electrical property of the radio frequency connector of the radiating element on the bottom plate again by using the electrical property testing unit.
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