Automatic precision assembly system for trans-scale miniature parts

RUAN Ye; REN Tong-qun; WANG Xiao-dong; WANG Li-ding

doi:10.3788/OPE.20152313.0259

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Automatic precision assembly system for trans-scale miniature parts

更新时间：2020-08-13

- Automatic precision assembly system for trans-scale miniature parts
- Optics and Precision Engineering Vol. 23, Issue 10z, Pages: 259-265(2015)
- 作者机构：
  
  1. 大连理工大学辽宁省微纳米技术及系统重点实验室,辽宁大连,中国,116024
  2. 大连理工大学精密与特种加工教育部重点实验室,辽宁大连,116024
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20152313.0259
  CLC： TP272;TP242.3
- Received：05 April 2015，
  
  Revised：20 May 2015，
  
  Published：14 November 2015
- 稿件说明：
移动端阅览
阮冶, 任同群, 王晓东等. 跨尺度微小零件自动精密装配系统[J]. 光学精密工程, 2015,23(10z): 259-265

RUAN Ye, REN Tong-qun, WANG Xiao-dong etc. Automatic precision assembly system for trans-scale miniature parts[J]. Editorial Office of Optics and Precision Engineering, 2015,23(10z): 259-265
阮冶, 任同群, 王晓东等. 跨尺度微小零件自动精密装配系统[J]. 光学精密工程, 2015,23(10z): 259-265 DOI： 10.3788/OPE.20152313.0259.

RUAN Ye, REN Tong-qun, WANG Xiao-dong etc. Automatic precision assembly system for trans-scale miniature parts[J]. Editorial Office of Optics and Precision Engineering, 2015,23(10z): 259-265 DOI： 10.3788/OPE.20152313.0259.

摘要

研制了一种自动精密装配系统以解决跨尺度尺寸结构的零件精密装配问题。基于对装配任务的分析

系统采用了模块化体系结构

包括计算机控制及人机交互模块、3-DOF(自由度)作业机械臂模块、1-DOF作业工作台模块、4-DOF视觉测量与螺纹副装配模块、1-DOF零件上料模块以及作业工具库模块等6部分。根据跨尺度零件特点与装配精度要求

该系统的视觉测量模块采用基于Look and Move模式的控制策略;针对视觉检测盲点的问题

机械臂模块基于力/位混合控制策略;螺纹副装配模块采用扭矩/时间的控制方法来实现螺纹装配预紧力的一致性。对某微小型器件进行了装配试验。结果表明:装配后的零件同轴度误差小于13

m;平行度误差小于10

满足微小型器件装配的同轴度和平行度要求。

Abstract

An automated precision assembly system for the part with a trans-scale structure is developed in the paper. Based on the analysis of assembly task

the system uses a modular architecture

including computer control and human-machine interaction module

3-DOF(Degree of Freedom) operation manipulator module

1-DOF operation workstation module

4-DOF visual measurement and screw assembly module

1-DOF charging module and operation tool library module. According to the characteristics of the trans-scale part and assembly accuracy

the visual measurement module of this system is based on the Look and Move mode control strategy. To solve the problem of blind spot detection

the manipulator module is based on impedance control strategy to control the force of part assembly and the screw assembly module adopts the torque/time control method to realize the consistency of the pre-tightening force of the screw assembly. The results of assembly experiment for a miniature device show that the error of the coaxial degree is less than 13

m and the parallelism degree is less than 10

m. The assembly accuracy meets assembly requirements of miniature devices.

关键词

Keywords

references

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