【摘要】 微型悬丝摆式加速度计惯性组件的构成零件多,形状及尺寸跨度大,易变形。目前,该组件主要采用人工装配,效率低,精度难以保证。为此,研制了专用悬丝摆式加速度计惯性组件自动装配设备。设备采用反射棱镜和单相机,从而实现了立体测量功能,并且设计了专用工装夹具。基于硬件设计和装配任务要求,制定了包含互适应的先看后动反馈控制策略,以及工装夹具保证+视觉/力觉反馈调整的精度控制策略。基于分层软件架构和模块化思想,开发了悬丝摆式加速度计惯性组件自动装配控制软件,实现了自动定位与装配功能。实验表明,摆组件的平行度小于15μm,对称度小于20μm,位置精度优于15μm,装配精度满足使用要求。更多还原

【Abstract】 The inertial component of miniature wire suspended pendulum accelerometer has many parts whose span is large in shape and size, and these parts are easy to deform. At present, the components are still manually assembled, which is inefficient and difficult to guarantee. To this end, the special assembly equipment for the inertial components of the wire suspended pendulum accelerometer was developed. The device used a reflective prism to achieve stereo measurement function with a single camera, and a special fixture was designed. Based on this hardware design and assembly task requirements, a first-view and post-motion feedback control strategy with mutual adaptation and a precision control strategy for tooling fixture+visual/force-aware feedback adjustment were developed. Based on the layered software architecture and modularization idea, the automatic assembly control software for the inertial components of the wire suspended pendulum accelerometer was developed, and the positioning and assembly functions were realized. Experiments show that the parallelism and flatness of the inertial components are less than 15 μm, the symmetry is less than 20 μm, the position accuracy is better than 15 μm, and the assembly accuracy meets the requirements for use.更多还原