Research And Development Of WPZJ-01 Precision Assembly System

At present,most of the precision assembly of aeronautical instruments still depends on manual operation.Manual assembly has good flexibility and flexibility,but product consistency and stability are difficult to guarantee,and production efficiency is also low.On the other hand,the productivity and labor cost of products are also increasing,so automated precision assembly has become a trend to replace manual work.This paper developed a WPZJ-01 precision assembly system for a precision assembly part in the aviation field.Firstly,according to the structure of the part,the characteristics of the assembly strategy,combined with the experience of manual assembly,the characteristics of automated assembly and the requirements of visual inspection,to meet the process requirements of automated precision assembly,and rationally plan the new assembly process.Based on the idea of modularization,the system is divided into four functional modules,namely assembly operation module,pedestal installation module,loading module and precision vision measurement module.The assembly operation module is composed of a three-degree-of-freedom moving sliding table and an assembly manipulator.The three-degree-of-freedom moving sliding table realizes the displacement of the working manipulator space.The working manipulator mainly performs the functions of picking,transporting and placing the parts;the main function of the visual inspection module is to complete the pair.The structural feature recognition of the part provides the necessary data for the working robot to reach the assembly position;the pedestal mounting module realizes the stability of the pedestal during the assembly process,and the module is equipped with a turntable and a gluing tool for the gluing operation;the loading module Mainly to achieve the positioning function before and during assembly.In order to achieve the design accuracy of the equipment,a reasonable calibration experiment scheme is developed for the hardware of the precision assembly system.The pixel size unit of the purchased camera is micron,which is only the first decimal point.In the whole field of view,the acquired image of the part will deviate from the actual size of the part by several hundred microns.Therefore,the pixel will be re-calibrated after the camera is installed to improve the accuracy of the pixel size.The linear relationship between the voltage and the pressure of the calibration force sensor is calibrated and the sensor is calibrated.Experiments show that the repetitive positioning accuracy of the guideway is less than 0.5?m by measuring six repetitive positioning accuracy.In order to verify that the precision assembly system meets the technical requirements,a series of validation experiments have been done.The assembly experiments have been carried out for the assembly parts.Through ten assembly experiments,the center distance of the parts after assembly has been measured.The experimental data prove that the center distance of the parts after assembly is less than 10?m.The pressure of metal support assembly test is less than or equal to 7.5N,which proves that the system meets the assembly technical requirements and achieves the goal of the subject.