悬丝摆式加速度计底座组件自动装配与焊接控制  

Automatic assembly and welding control of base components of suspended pendulum accelerometer

作　　者：任同群[1] 桑永胜 曹润嘏 吴晗 王晓东[1] REN Tongqun;SANG Yongsheng;CAO Rungu;WU Han;WANG Xiaodong(State Key Laboratory of High-performance Precision Manufacturing,Dalian University of Technology,Dalian 116085,China)

机构地区：[1]大连理工大学高性能精密制造全国重点实验室,辽宁大连116085

出　　处：《光学精密工程》2023年第16期2395-2405,共11页Optics and Precision Engineering

基　　金：辽宁省“兴辽英才计划”资助项目(No.XLYC2002020);国家重点研发计划资助项目(No.2019YFB1310901)。

摘　　要：悬丝摆式加速度计具有小型化、大量程和抗冲击的特点,在航空航天领域得到广泛的应用。其底座与摆组件的精密装配,目前仍以人工装配为主,具有装配精度差、悬丝张紧力不易控制,人工焊接时焊接参数难以保证、焊点质量不佳等问题,导致产品的良品率较低。为此,研发了一套悬丝摆式加速度计底座组件自动装配与焊接设备。根据零件特点与装配环境,采用视觉与力觉反馈控制,实现底座与摆组件位姿和悬丝张紧力的自动调整。基于C++语言,开发了分层架构的控制软件。设计温度反馈控制的焊接工艺流程与焊接策略,并通过有限元仿真与焊接实验进行验证。实验结果表明:该设备可实现自动装配与焊接功能,底座组件的装配精度与焊接质量符合技术指标要求,提高了产品质量。Suspended pendulum accelerometers are widely used in the aerospace field because of the advan⁃tages of miniaturization,a large measuring range,and impact resistance.The precision assembly of the base and pendulum components is still mainly manual,with poor assembly accuracy,unstable suspension tension,unguaranteed welding parameters,and poor solder joint quality.These result in a low product yield.To address this,a set of automatic assembly and welding equipment for the pendulum accelerome⁃ter base components was developed in this study.According to the characteristics of the parts and the as⁃sembly environment,using visual and force feedback control realizes the automatic adjustment of the pos⁃ture and suspension tension of the base and swing components.Control software for the layered architec⁃ture was developed based on the C++language.A welding process and welding strategy controlled by temperature feedback were designed,and they were verified by finite element simulation and a welding ex⁃periment.The experimental results show that the equipment can realize automatic assembly and welding functions,and the assembly accuracy of the base assembly meets the requirements of the technical indica⁃tors,which improves the product quality.

关 键 词：加速度计底座组件 视觉与力觉反馈 分层架构软件 温度反馈 自动装配与焊接 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]