【作者】 王晓东； 张习文； 罗怡； 朱萃； 王林；

【Author】 Wang Xiaodong~(1,2) Zhang Xiwen~1 Luo Yi~(1,2) Zhu Cui~1 Wang Lin~1 (1 Key Laboratory for Micro/Nano Technology and System of Liaoning Province,Dalian University of Technology,Dalian116024; 2 Key Laboratory for Precision and Non-traditional Machining Technology of Ministry of Education,Dalian University of Technology,Dalian,116024)

【机构】 辽宁省微纳米技术及系统重点实验室大连理工大学； 大连理工大学精密与特种加工教育部重点实验室；

【摘要】 装配是精密微小型产品制造中的关键,针对某微小型器件的自动装配研制了装配系统,实现了尺寸跨度较大、形状不同并具有相对位置、姿态以及联接锁紧力要求的多个微小型零件的精密装配。研究了装配过程中的位置与姿态、装配力、微小螺纹副装配扭矩的测量与控制。装配系统有机械式和吸附式两种微小夹钳以适应多种不同大小和形状零件的操作。视觉测量系统采用高、低倍显微光学镜头和工业CCD相机,并与精密运动平台配合使用,兼顾测量精度与效率,实现对不同尺寸零件位置和姿态的测量。采用图像拟合、设置中间基准、对精密运动平台夹角进行补偿等方法提高视觉系统的测量精度,系统同轴度测量误差小于1.5μm,平行度测量误差优于1μm。采用应变式微力传感器作为微力测量的力传感元件,力的控制采用阻抗控制策略,接触力控制精度优于1mN。采用扭矩传感器对螺纹副装配过程中的扭矩进行实时测量,通过提高步进电机细分数及安装柔性联轴器等方式使扭矩平滑传递,实现了对M1.4螺纹副装配过程中微小扭矩的精密测量及控制。更多还原

【Abstract】 Assembly is the key aspect for manufacturing of precise miniature product.An assembly system was developed for automatic assembly of a set of miniature parts,with large difference in shape,size and high accuracy of position,attitude and tightening force for joining.In this research,the measurement and control of position and attitude,fine assembly force and micro assembly torque in the assembly procedured were realized.Mechanical gripper and vacuum gripper were integrated in the system for manipulating the parts with different size and shape.Low and high magnification lens and industrial CCD camera were used,and in cooperation with precise stages to fulfill the measurement of position and attitude of different parts satisfying the requirement of both accuracy and efficiency.To improve the measuring accuracy of vision system,image detection and fitting,reference setting and stage angle compensation were applied.The system coaxiality measurement error was less than 1.5μm and parallelism measurement error was less than 1.0μm.Strain type micro force sensor was utilized and impedance control strategy was applied,which make the touch force control accuracy less than 1.0mN.Micro torque sensor was adopted to detecting the real-time torque during screw thread assembling and stepping motor subdivision,flexible coupler were applied to make the torque smoothly transferred,all of which help precisely measuring and controlling the micro torque during M1.4 miniature screw thread assembly.更多还原