某型摆式加速度计自动盖总成装配系统  

Automatic cover assembly system for a certain type of pendulum accelerometer

作　　者：任同群[1,2] 吴晗 蒋锐锋 介迪 王晓东[1,2] REN Tongqun;WU Han;JIANG Ruifeng;JIE Di;WANG Xiaodong(State Key Laboratory of High-performance Precision Manufacturing,Dalian University of Technology,Dalian 116024,China;Key Laboratory for Micro/Nano Technology and System of Liaoning Province,Dalian University of Technology,Dalian 116024,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116024 [2]大连理工大学微纳米技术及系统辽宁省重点实验室,辽宁大连116024

出　　处：《光学精密工程》2024年第18期2772-2782,共11页Optics and Precision Engineering

基　　金：辽宁省“兴辽英才计划”项目资助(No.XLYC2002020);国家部委基础预研重大项目资助(No.JCYK2016205A003)。

摘　　要：摆式加速度计广泛应用于航空航天、船舶等领域的惯性导航系统中,其装配作业目前主要依赖于人工操作,产品一致性难以保证。鉴于此,本文针对某型摆式加速度计研制了一套自动装配系统。基于宏微结合的设计策略,搭建基于高精度运动滑台的微动平台,以及基于单轴机器人的宏动平台。确立了以微动平台为精调核心,以宏动平台辅助压装并实现不同功能模块工作位置调整的装配机制,同时设计功能模块上中下三层的立体分层式结构,在保证精度的同时避免作业空间的拥挤。引入六轴协作机器人并集成视觉系统,实现作业空间的全覆盖识别和自动化上下料功能。针对磁钢零件磁性力对装配精度的影响,采用零件内部辅助限位的方式,实现零件装配精度的保持。基于刚体变换,对系统进行误差分析并推导了误差补偿模型。实验结果验证,该装配系统的角度装配精度优于±0.03°,压装力精度优于±0.5 N,扭力精度优于±0.003 N·m,满足装配要求,为该型摆式加速度计的批量化生产提供了有力保障。Pendulum accelerometer is widely used in inertial navigation systems of aerospace,shipping and other fields.Its assembly operation currently relies mainly on manual operation,making it difficult to ensure product consistency.In view of this,this article has developed an automatic assembly system for a certain type of pendulum accelerometer.Based on the design strategy of macro-micro combination,a micro-motion platform based on a high-precision motion slide table and a macro-motion platform based on a single-axis robot were built.A assembly mechanism was established with the micro-motion platform as the precision adjustment core and the macro-motion platform assisting in pressing and realizing the adjustment of the working positions of different functional modules.At the same time,a three-layer stacked vertical layered structure was designed for the functional modules to ensure precision while avoiding congestion in the workspace.A six-axis collaborative robot and an integrated vision system were introduced to achieve full-coverage recognition and automatic loading and unloading functions in the workspace.Aiming at the influence of magnetic force of magnetic steel parts on assembly accuracy,the method of auxiliary limiting inside the parts was adopted to maintain the assembly accuracy of parts.Based on rigid body transformation,error analysis of the system is carried out and an error compensation model was derived.Experimental results verify that the angle assembly accuracy of the assembly system is better than±0.03°,the pressing force accuracy is better than±0.5 N,and the torque accuracy is better than±0.003 N·m,meeting the assembly requirements and providing strong support for the mass production of this type of pendulum accelerometer.

关 键 词：摆式加速度计 装配精度 微动平台 作业空间 零件装配 装配作业 装配系统 视觉系统 

分 类 号：TP394.1[自动化与计算机技术—计算机应用技术] TH691.9[自动化与计算机技术—计算机科学与技术]