基于工业机器人的水接头自动装配系统设计  

Design of Water Joint Automatic Assembly System Based on Industrial Robot

作　　者：王旭敏[1] 刘敏[1] 杨帆[1] WANG Xumin;LIU Min;YANG Fan(Nanjing Research Institute of Electronics Technology,Nanjing 210039,China)

机构地区：[1]南京电子技术研究所,江苏南京210039

出　　处：《电子机械工程》2021年第4期51-56,共6页Electro-Mechanical Engineering

摘　　要：水接头装配是相控阵雷达液冷系统装配的重要工序,自动装配系统可以解决传统手工装配方式效率低、装配质量一致性差、装配过程数据无法记录的问题。文中依据水接头装配工艺,分析了水接头装配的定位要求,结合机器人的技术特点,设计开发了一套基于工业机器人的水接头自动装配系统,通过增加第七轴运动系统和基于机器视觉的独立误差修正机构解决了机器人覆盖范围小以及绝对定位精度低的问题。系统由六轴工业机器人、第七轴运动系统、交互式水接头供料系统、螺钉自动供钉锁固系统、独立误差修正系统、水接头移栽系统、控制系统等共同构成,实现水接头装配自动化,装配过程数据采集智能化。系统在实际使用中性能稳定、可靠,满足产品生产装配要求。The water joint assembly is an important process of the assembly of liquid cooling system for phased array radar.The automatic assembly system can solve the problems of low efficiency,poor consistency of assembly quality and unrecorded assembly process data in traditional manual assembly.According to the assembly process of water joint,the positioning requirements of water joint assembly are analyzed.Combined with the technical characteristics of robot,a set of water joint automatic assembly system based on industrial robot is designed and developed.By adding the seventh axis motion system and the independent error correction mechanism based on machine vision,the problems of small coverage and low absolute positioning accuracy of robot are solved.The system is composed of six axis industrial robot,seventh axis motion system,interactive water joint feeding system,automatic screw feeding and locking system,independent error correction system,water joint transplanting system,control system,etc.It realizes assembly automation,intelligent assembly process data collection,stable and reliable performance in actual use,and meets the assembly quality requirements of products.

关 键 词：工业机器人 误差修正 标校 视觉导引 末端定位 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置] TP24[自动化与计算机技术—控制科学与工程]