Automatic Assembly Fixture And Assembly Operation Control For Flexible Components

Flexible accelerometers are commonly used sensors in inertial navigation systems.With the advancement of parts manufacturing technology,the assembly accuracy and efficiency of its core components have become key constraints affecting the production of final products.At present,the assembly of flexible accelerometers is mostly in the manual or semi-automatic stage,and frequent material transfer and loading and unloading operations are required between different assembly processes and equipment,and product performance and productivity are affected by human factors.Therefore,the development of automatic assembly equipment and multi-machine collaboration to realize the entire assembly automation has become an important way to improve product quality and output.Research on the assembly of a small component in flexible acceleration,analyze the characteristics of parts and assembly requirements,develop assembly equipment.The whole equipment is built according to the modular concept,and the functional modules are coordinated by computer control to complete the assembly process automatically,avoiding manual intervention.In order to overcome the adhesion of small parts,a new type of automatic assembly fixture is designed.Gas disturbance is used to realize the separation of parts from the operating device and to ensure the concentricity.The automatic compression frame ensures that the relative position of the parts is fixed after assembly.According to the structural characteristics of the equipment and the assembly requirements of the parts,the specific work flow of the assembly equipment is planned,and the hierarchical structure of the design assembly control software is adopted to make the equipment run automatically under program control.Programs are written in object-oriented languages,and are classified and packaged according to functions,which improves the reusability of the program and facilitates later maintenance.During the assembly process,the feedback information of the real-time monitoring system is used for error self-checking to improve the robustness of the program.Assembling equipment,circular rail conveyor belt,SCARA robot and production information management system form an intelligent production line,which realizes the automation of the whole process of small parts from loading to assembly locking and final unloading.The assembly program has a PLC and MES system.The interface of interaction and communication can transmit loading and unloading instructions and feedback assembly parameters and equipment operating status.The equipment adopts the control strategy of look-and-move.The microscopic machine vision system collects part images during the assembly process,sets the lighting source parameters for different part reflective characteristics,compares the classic digital image processing methods in the Open CV open source vision library,and finally determines the bilateral The combination of filtering and Canny edge detection operator extracts the edge information in the part picture,filters the part contour points from the image edge and stores them,based on the principle of least squares to fit straight lines and circles to the part contours,and determines the information of the combined straight lines and circles The accurate position and angle information of each part guide the assembly operation module to perform corresponding actions.Analyze the system errors caused by modular design of assembly equipment,establish image coordinate system,visual measurement coordinate system and assembly operation coordinate system,calibrate camera pixels and the angle between coordinate systems,establish a mathematical model for error compensation,and stored in the assembly control software in the form of function.The function can be called when coordinate conversion is needed to ensure assembly accuracy.After calibrating and compensating the system error,the actual assembly experiment is carried out according to the established work flow.The result shows that the assembly accuracy meets the design requirements,and the assembly consistency is good and the efficiency is high.