精密摆组件装配设备自标定方法

精密装配设备中各运动滑台存在安装误差,影响装配精度;目前,多采用装配设备内部集成的显微视觉系统,借助特制标定板进行线性标定;但该方法中的误差参数顺序标定,解算具有关联性,无法避免误差传递与累积的问题,且精密装配设备空间有限,标定板一般较难安装;为此,基于精密摆组件装配设备,提出一种通用自标定方法,该方法不借助标定板,仅需要在装配作业空间中由视觉系统跟踪设备自身固定特征的若干任意点位,再结合粒子群优化（Particle Swarm Optimization, PSO）完成误差参数的统一求解,最后根据推导的误差补偿模型实现误差补偿;实验证明,该方法与线性标定相比精度及稳定性均明显提高,标定精度在5 μm以内,为精密装配设备提供了简单有效的标定方案。     

多尺度异型零件精密装配关键技术研究与系统开发

随着对操作的精度和可靠性的要求越来越高,精密装配技术与系统近年来受到广泛的关注。本文分析了自动精密装配领域的国内外研究现状,结合以点火靶装配为应用对象的多尺度异型零件精密装配研究,从装配对象、装配系统、系统标定、控制策略以及装配实现等方面探讨精密微装配的发展、关键技术及研究成果。     

用于汽车动力总成装配的工业机器人技术

在过去的40年里,工业机器人在大多数劳动强度大或重复性高的制造领域里已经超过了人类。但在机械装配领域,工业机器人的发展然仍落后于工业产业对它的期望。由于装配工作要求快速、精密和可靠,传统的工业机器人日前还不能完成某些装配作业。     

精密1号装配机器人控制系统的设计与实现

精密１号机器人是国家８６３计划智能机器人主题立项研制的一台ＳＣＡＲＡ结构的４轴装配机器人．它采用直接驱动技术，具有较高的运动速度和定位精度，配有高性能的视觉和力觉传感器．本文介绍了精密１号装配机器人控制系统的体系结构、设计思想和功能特点．精密１号机器人控制系统以Ｉｎｔｅｌ公司的ｉＳＢＣ３８６／１２系列计算机和ｉＲＭＸⅢ实时多任务操作系统为基础，采用上、下两级分布式计算机结构．控制系统除具有一般的机器人控制器的功能外，还具有用户多任务编程、可基于视觉和力觉传感器信息控制、离线编程和图形动画仿真等特性．应用这个系统控制精密１号机器人进行了装配作业的实验     

基于视觉的遥操作机器人精密装配系统

针对遥操作精密装配问题,基于视觉伺服,并通过图形图像叠加等方法,加入了有效的人工辅助措施,很好地利用了人类智能,增强了精密作业系统的鲁棒性和可实现性,并最终实现了遥操作精密装配．     

“精密1号”装配机器人

该型号样机的研究目标是研制一台带有多传感器（二维视觉、六维力传感器）、多任务操作、可离线编程的高速、高精度、4轴SCARA平面关节型、直接驱动伺服控制的智能精密装配机器人原型样机。它的主要设计原则是以掌握精密装配机器人的设计与制造技术为主,攻克并集成多项关键技术研制高性能精密装配机器人。 “精密1号”装配机器人的主要总体功能为:具有直接驱动型4轴平面关节,速度高、精度高;     

用Visual C++开发装配机器人微机屏幕示教盒

文章用VC＋＋6．0开发了一个精密装配机器人微机屏幕示教盒。该示教盒是基于PC机的精密装配机器人语言编程系统平台的组成部分。用户可通过鼠标操作该屏幕示教盒实现装配机器人的在线示教编程,从而可以替代传统的用单片机制作的示教盒。     

基于机器视觉的卫星天线模块自动精密装配技术

针对卫星天线模块自动化精密装配需求,介绍一种基于机器视觉的机器人自动精密装配方法。通过6自由度工业机器人和相机建立Eye-in-Hand和Eye-to-Hand混合的自动装配系统,对系统进行手眼标定,从而确定相机、机器人、工具之间的相互位置关系,通过图像处理获取装配位置像素坐标,并通过坐标变换将像素坐标点转换为机器人基坐标点,控制机器人完成天线模块自动装配。装配时通过Eye-to-Hand和Eye-in-Hand系统分别直接定位天线模块上连接器公头和母头位置,消除连接器安装位置误差和模块外壳加工尺寸误差对定位精度的影响,该系统通过一次标定即可实现机器人末端工具在距目标物体垂直距离相同情况下X/Y任意位置的定位功能。实验结果证明该方法准确可行,所设系统满足50μm装配公差天线模块的自动精密装配要求。     

精密Ⅰ号装配机器人新型控制系统研制

针对精密Ｉ号装配机器人存在的问题,介绍了自行研制的新型精密Ｉ号装配机器人控制系统。它利用双系统背板和带 Ｓｅｍａｐｈｏｒｅ逻辑单元的双端口 ＲＡＭ建立了紧耦合双机系统。改善了原有系统的开放性和可靠性。设计了新系统上的软件系统。建立了一个完整的装配机器人控制平台。     

机器人化装配过程中的规则与判断支持

装配作业是一种精细复杂的智能控制作业.机器人化装配需要知识与判断的支持.本文阐述了装配作业的目标、主要装配关系和装配动作.给出了一组有关零部件拆卸装配的基本规则.探讨了约束的一种表征和移动拆卸的判断算法,在二维平面内验证了判断算法的可行性,给出了判断框图及源程序.     

Hybrid universal handling systems for micro component assembly

Highly sophisticated machining techniques make it possible to manufacture ultra precise micro components as small as 100 μm3. These micro components are normally mounted onto larger macroscopic components before being incorporated into, e.g., medical, telecommunication or sensor technology products. In view of the highly inflexible systems currently available, the work carried out by the Fraunhofer IPT with funding from the SFB 440 focuses on the development of a hybrid, universally applicable fine positioning system. The system consists of an assembly head which, with the aid of an integrated six-axis fine positioning unit and an integrated sensor unit for referencing the assembly position, gives a conventional positioning system such as an articulated robot arm the ability to perform highly precise micro assembly processes. This provides the context for the development work carried out by the Fraunhofer IPT into assembly head design concepts. The first step involved investigating the positioning behavior of a conventional articulated robot arm, and then analyzing the demands placed on the assembly head. This is followed by the development and optimization of the miniaturized guidance, actuator and sensor components that are needed for the construction of a robust, highly precise six-axis fine adjustment system. The result of this work includes a set of linear guides, the size of a matchbox, with air bearings. The prototype guides set up at the Fraunhofer IPT have a non-contact interface, which makes it possible to convey compressed air without friction or force.     

基于符号的装配建模方法研究

在以装配符号的定义实现产品装配设计语义抽象表达的基础上，对产品装配建模过程中装配语义的表达、装配语义与装配约束的转化及维护技术进行研究．提出基于装配符号的约束规则集描述，实现产品装配设计信息的传递，并采用装配符号关系图对产品装配设计语义与约束进行动态维护．通过产品装配信息从抽象到具体、从模糊到精确的转化，实现产品装配设计系统对抽象、模糊、动态关联的产品装配设计信息的表达、传递和维护．     

Development of assembly system with quick and low-cost installation

ABSTRACT

Cell production systems for assembly operations generally require tool changes using several hands and a customized work table. The initial setting and resetting of the assembly system are costly. We implemented a system comprising the use of only two hands and without the requirement of tool changers. In addition, multiple sensors are used to perform tasks robustly to avoid errors. The peg-in-hole task is performed robustly against errors without the precise positioning of objects. The objective is to develop a system that is lean and agile and can be set up quickly. We evaluate this system based on the task-board and assembly tasks during the assembly challenge in the industrial robotics category of the World Robot Summit 2018.     

Fuzzy logic control of automated screw fastening

In this paper, we present an intelligent control strategy for automated screw fastening. In automated assembly processes, there are often found dedicated stations for various types/sizes of screw fastening. Problems found in current processes include cross-threading, screw jamming, slippage and the need to apply precise torque. The intelligent controller developed here supervises the integrated process of an electric driver mounted on a robotic positioning system to fasten screws. The new scheme controls continuously the motion and driving stages to avoid process-caused failures, to achieve a desired precise torque and to detect bad parts at early stages of the assembly. Initial simulation results are encouraging.     

Programming and control of a two-hand assembly system

This paper presents the implementation of an original cooperating system for precise assembly operations. The whole mechanical architecture consists of a conventional manipulator robot and a micro-manipulator setting in parallel. The micro-manipulator used is a manipulator-gripper in a left hand configuration. The mechanism of the manipulator-gripper was designed to achieve active or passive fine compliant motions. Some details of its technology are given. A real-time distributed computer system has been developed for coordinated-motion control. Programming assignments are explained. For complex assembly tasks, automatic fine motion strategies are obtained by a rule-based expert system.     

汽车变速箱零部件装配自动测量系统

汽车变速箱装配过程中部分零部件分装涉及到选择调整垫片的过程,垫片尺寸是否合适将直接影响变速箱整体的装配质量,为了满足新型号变速箱的数字化生产需求以及提高生产系统的工作准确性,需要将人工经验为主导的传统制造模式向轻量化、智能化的新型制造模式转化.本文结合某企业MQ250变速箱装配线的具体需求,为了提高生产现场的数字化程度以及对测量任务的管理能力,设计并实现了一套新型的变速箱零部件装配的测量系统.首先根据相对测量的原理,设计了测量模块,并分析了测量模块最优化的问题,最终通过最小二乘法实现了测量模块的优化.经过实际生产情况表明,本测量系统适应了MQ250变速箱零部件的装配需求,保证装配效率的情况下提升了整体装配质量,提高了装配生产线的数字化水平.     

基于汇编语言的精确延时的实现

在单片机系统的很多应用中都需要用到延时程序,采用汇编语言来编写延时程序,可以精确地控制延时时间,生成的程序代码少,提高执行效率.运用汇编语言设计了一个10ms精确延时子程序,并通过Keil软件进行模拟运算,结果证明该程序达到了预期的效果.     

虚拟环境中组合夹具装配库的应用研究

虚拟环境为组合夹具的虚拟装配提供了有效的技术手段。针对组合夹具通用化、标准化的特点,采用“标记”的方法作为虚拟环境中元件精确定位和装配对的装配关系建立的基础。“标记”具有几何意义清晰、简便高效的特点,在虚拟环境中是组合夹具元件装配关系建立的几何基础,针对元件的功能表面建立“标记”,并以“标记”作为装配定位的基础,实现了虚拟环境中组合夹具的装配。系统采取夹具元件、组件、实例三层数据库结构进行管理,以标记作为约束建立装配关系,提高了设计效率,利于设计知识和设计经验的保存和在利用。在自主开发的虚拟装配系统中,对相关的方法和技术进行了实例验证。     

Optimization of a multi-Constant Work-in-Process semiconductor assembly and test factory based on performance evaluation

This paper considers a semiconductor assembly and test factory which is a three-segment-Constant Work-in-Process (CONWIP) system with overlapping machines. In the system, three types of carts circulate for meeting the physical requirements. The optimization problem in setting the suitable total Work-in-Process (WIP) level and the distribution in the three loops from the view of the trade-off between the throughput and the WIP level for the system is addressed. In the proposed model, the system is firstly modeled as a three-loop closed queue network and we propose an approximate method to evaluate the performance. The accuracy of the evaluation method was illustrated by numerical experiments, indicating that the method is fairly precise. Secondly, a Genetic Algorithm is designed to obtain near optimal results based on the performance evaluation. The semiconductor assembly and test system case as well as the application procedure were carried out in detail.