Design Of Automatic Assembly Equipment And Fixture For Steel Magnet Assembly

As an important part of inertial navigation device,accelerometer can be used to sense the acceleration of moving carrier along a certain direction.The more uniform the magnetic steel supplied by the magnetic steel component of the torquer in the accelerometer is,the smaller the nonlinear error of the accelerometer will be,so the assembly accuracy of the magnetic steel component can directly affect the sensing accuracy of the accelerometer.Past accelerometer magnetic steel component assembly,dispensing operations such as mostly by artificial,tweezers and other tools,or a microscope under the auxiliary of semi-automatic equipment,its dependence on the operator’s personal skill level,and low efficiency,poor consistency,assembly procedure,so the urgent need for the development of new magnetic steel components accelerometer high precision automatic assembly equipment in order to solve this problem.Based on accelerometer magnetic steel component assembly task requirements,design a set of assembly,lock,dispensing,measurement,and other functions as one of the precision automatic assembly system,and a split type fast automatic locking assembly fixture and locking method,and the error source of the assembly system were analyzed,and then through the simulation computation simulation of assembly process,optimize the structure of the mechanical arm.Firstly,based on the modular design idea,the assembly tasks were decomposed,and the overall hardware structure of the high precision automatic assembly equipment and its assembly process were designed.The assembly equipment is divided into 8 modules,which are assembly operation module,precision measurement module based on machine vision,feeding manipulator module,working table module,feeding turntable module,feeding platform module,dispensing position calibration module,platform and bracket.The assembly operation module is the main execution module,which is responsible for assembly,locking and other operations.Precision measurement module based on machine vision is responsible for monitoring the pose of assembly parts,and takes the way of seeing first and moving then to adjust the pose.The workbench module is responsible for mounting the fixture during assembly.Feeding manipulator module is responsible for fast loading and unloading;The feeding turntable module can move the assembly fixture from the feeding side to the assembly side to realize the parallel operation of assembly and feeding.The feeding platform module can realize the loading of assembly fixture with large capacity.The dispensing position calibration module is used to calibrate the Z direction position after replacing the dispensing head.Finally,the assembly process is designed.Secondly,according to the characteristics of the parts to be assembled and the requirements of the assembly task,the locking process was formulated,and a set of automatic assembly fixtures for positioning,locking and loading and unloading of parts was designed.The automatic assembly fixture is mainly composed of three parts,namely,the locking plate,the locking bottom plate and the feeding bracket.Lock plate is mainly used to provide compression force for the base parts to fix the magnetic steel components;The locking bottom plate is used to fix the magnetic steel parts,and it is used with the locking plate to achieve locking.The feeding bracket can be used for positioning the locking plate,the locking bottom plate and the base when loading and unloading,and can also provide auxiliary support when dispensing.Finally,the main error sources of the magnetic steel automatic assembly system were analyzed,and the assembly process was simulated by using simulation software.The deformation of the end of the magnetic steel assembly manipulator caused by magnetic interference force in the assembly process was calculated and analyzed,and the mechanical structure of the magnetic steel assembly manipulator was optimized accordingly.