【摘要】 为面向生产线实现微小零件的全自动装配,对装配前自动上料、装配后零件的自动锁紧、机械臂模块设计和装配过程中零件视觉定位策略等问题进行了研究。首先,系统采用模块化设计结构,设计了装配作业模块,视觉测量模块,装配平台模块和上料平台模块四部分,为适应生产线操作实现自动化装配,设计了自动上下料模块。然后,为实现多种零件的稳定拾取和装配设计了集成力传感器单元和柔性单元的机械臂,同时设计了锁紧夹具能够实现零件装配后的自动锁紧。最后,针对零件制定合理的装配策略,利用视觉测量的方法获得零件的位置和位姿信息实现零件的装配。实验结果表明:该装配系统可以实现微小零件自动装配的任务。更多还原

【Abstract】 In order to realize the automatic assembly of small parts for the production line, the problems of automatic loading before assembly, automatic locking of parts after assembly, design of mechanical arm module and visual positioning strategy of parts during assembly are studied. First, the system uses a modular design structure. According to the requirements, the assembly operation module, the visual measurement module, the assembly platform module and the loading platform module are designed. In order to realize the automatic assembly for the operation of the production line, an automatic loading and unloading module is also designed. Then, in order to achieve stable picking and assembly of various parts, a mechanical arm integrating the force sensor unit and the flexible unit is designed, and the locking clamp is designed in order to realize automatic locking after the parts are assembled. Finally, a reasonable assembly strategy is developed for the parts, and the position and pose information of the parts are obtained by means of visual measurement to realize the assembly of the parts. The experimental results show that the assembly system can realize the task of assembling small parts.更多还原