Automatic Assembly Control And Software For Miniature Elastic Components

Miniature elastic components are widely used in accelerometers,gyroscopes and other devices due to their small size and easy integration.At present,the assembly of small flexible components is mainly based on the assembly method with manual participation,so that the consistency of parts assembly and the efficiency of assembly production are inevitably affected.In view of the above situation,an automated assembly method was designed and developed.By completing the control of the hardware system and assembly process,the automatic assembly of miniature elastic components was completed.Firstly,aiming at how to automate the parts operation and loading and unloading process,complete the automatic assembly and locking operation tasks of small parts,a new type of clamp locking unit is designed and developed,which cooperates with the mechanical arm,loading fixture and assembly fixture Coordination realizes assembly and locking of parts,improves assembly efficiency,and effectively avoids interference of assembly factors by human factors.In order to realize the automatic loading and unloading process,an automatic loading and unloading module was developed.By realizing the automatic transportation and fixing of the assembly fixture,the problem of automatic and continuous transportation of materials in the assembly process was solved.According to the hardware system and parts assembly requirements,the system assembly process control method is designed.Communication interaction ensures the transportation of equipment and external materials.The assembly control mode of Look and Move,the feedback control of the force sensor in the vertical direction,and the segmented control of the speed ensure the stability and efficiency of the assembly process.The assembly control system software is designed based on the hierarchical software architecture of task messages,without manual intervention and judgment to realize automatic assembly.The processing of visual images and the acquisition of pose information of miniature elastic are the key parts of automatic assembly.In the image processing stage,noise filtering and edge detection methods suitable for miniature elastic components were selected.Aiming at the problem of edge information extraction when parts adopt the designated area method to obtain points,the consistency of the edge of the parts and the redundancy of interference information lead to the failure of edge information extraction.The methods of adaptive rough screening and fine screening for the edge information of parts are designed to improve To improve the robustness of the part recognition process,and at the same time,aiming at the problems of small camera field of view and large part size,an image stitching method based on edge information was designed to ensure the recognition requirements of large-size parts.In order to further ensure assembly accuracy and improve the stability of the assembly process.The system tolerance of the assembly system is analyzed,and the angle calibration compensation is performed on the visual coordinate system,the assembly operation module coordinate system,and the image coordinate system to ensure the accuracy of the assembly system.At the same time,the assembly process was optimized,and the relative position control strategy of the clamp and parts was designed to ensure the consistency and reliability of the assembly precision of the picking micro parts,improve the stability of the assembly system assembly process,and achieve the accuracy requirements of the assembly system.Finally,the assembly experiment is carried out on the automatic precision assembly system.The results show that the components have high assembly accuracy and consistency after assembly.