精密微小装配中的传感器与测量技术

装配是高性能精密微小器件或产品制造过程中的关键环节,由于零件及其关键结构的尺寸微小,微小装配必然是基于传感器与测量技术的精密装配。在微小零件装配过程中,需要精确测量待装配零件之间的相对位置和姿态的偏差,控制配合零件之间的接触力或接触状态。首先对用于精密微小装配的传感器技术进行了概述;然后结合精密微小装配中的应用需求,对机器视觉、力觉等主要传感器与测量技术进行了综述,并分析了精密测量与装配控制的技术与方法,旨在对精密装配相关的技术开发、装配设备研制提供参考和借鉴。     

基于机器视觉的微小型零件精密装配

基于机器视觉的精密装配是实现微小型零件自动组装的重要方法.所研制的基于机器视觉的自动装配系统解决了某小型产品装配中的关键问题,其中包括待装配的零件尺寸相差大、形状和特征多样、表面质量差别较大、需要同时保证组装的位置精度和形位公差等.采用Canny边缘提取、圆的最小二乘拟合、轮廓提取、质心主轴计算、图像拼接等方法实现了待装配零件的识别定位,通过设备坐标系统的转换保证了小型零件的精确装配.实验结果表明装配精度小于40μm.     

精密微小型零件自动装配系统显微机器视觉的照明自动优化

为了在微小型零件装配过程中始终获得质量最佳的零件图像,对显微视觉照明光强的自动优化问题进行了研究。为实现对零件的轮廓边缘与表面细节的照明,基于同轴光源与环形光源开发了照明自动控制系统。对比分析了四种图像质量评价函数的照明优化性能,提出了基于Roberts梯度和函数的图像质量评测方法,并应用于研制的装配系统。装配实验结果表明,光强优化过程快速准确,光强优化后目标边缘的对比度显著增强,消除了零件误识别现象,满足微小型零件高精度装配自动化的要求。     

微小型零件自动装配的软件设计与实现

针对微小型零件的装配问题,搭建了四轴微装配系统,利用VC++平台开发了微小型零件自动装配软件,实现了可视化人机交互式装配.微装配系统软件设计模式采用分层架构的思想,通过分析类和对象的关系,采用创建类的方式封装了微装配软件系统架构的主要模块.软件模块包括运动控制、气动控制、图像采集与处理、模板数据管理、示教再现以及相机标定.采用面向对象的方式实现了各个模块间的数据交换,创建了机器视觉与示教再现相结合的自动装配控制模式.装配测试表明:该系统运行平稳,装配过程中无需人工干预,可以很好地实现不同尺寸微小型零件的自动装配;软件具有很好的重复性、人机交互性和稳定性.     

飞机薄壁组件数字化柔性装配研究

现有的飞机装配工装仍沿用专用装配型架装配飞机组件,是制约飞机研发、制造,增加资源耗费,装配效用亟待提高。当前,飞机数字化设计及制造、装配工装定位柔性化、装配工装装夹柔性化等柔性装配基础技术已基本成熟,飞机柔性化装配系统构建正当其时。飞机薄壁组件样式繁多、数量庞大,装配难度相对较大,但曲面连续性好,装配工艺大同小异,数字量少,为柔性化装配创造了条件,是飞机柔性化装配重要突破口。     

精密装配机器人型号样机的研制

研制了我国第一台高性能精密装配机器人,该机器人是一台带有多传感器和多任务操作系统且可离线编程的高速、高精度、四轴ＳＣＡＲＡ平面关节型智能精密装配机器人原型样机,简要介绍了机器人各部分的工作原理以及整台样机在性能上与美国８０年代产品ＡＤＥＰＴｏｎｅ的对比。     

基于真空吸附的微器件受力分析研究

微装配的对象主要是微米级或亚毫米级尺寸的微器件,这些微器件的轻、小、薄、软的特征对微夹持器的夹持方式和夹持力的控制提出了非常严格的要求和限制。本文针对平板类微器件设计了一种真空吸附式微夹持系统,不仅可以吸附不同形状和尺寸的零件,而且可以实现零件位姿的调整和接触力的检测。在只考虑范德华力的情况下,本文重点建立了微器件的吸附力学模型,为实现稳定吸附与释放提供了计算依据。最后完成了精度要求为平行度误差不大于8μm的微组件装配实验,装配效果良好。     

高精度多环片自动装配控制技术

为了实现对微小环片零件的自动化装配,搭建了自动装配系统.通过4根直线导向轴与4个直线轴承来提高系统的导向精度和刚度.采用直线导轨进行各装配作业模块之间的切换,保证了微小环片零件的自动装配与取出.在环片的装配方向上,螺旋升降机和光栅尺实现环片的位置精度控制.在Lab VIEW编程环境中,采用分层软件架构和模块化控制思想,避免了不必要的数据循环检测与丢失,能够达到环片组件的装配精度要求.控制系统分为系统初始化模块、参数设置模块、装配模块和取出模块,自动装配系统通过各个模块间的相互交流配合完成装配任务.采用本文中自动装配系统装配环片的实验结果表明,环片零件装配的最大位置误差为26μm,垂直度误差为17μm,平均装配时间为75 s/片,可满足环片组件所需的精度要求.     

新能源汽车电池包装配生产技术

在新能源汽车上,电池系统发挥着重要的作用。随着新能源汽车的市场需求日益增大,电池包的研发工作和装配生产技术越来越受关注。电池包装配线多布置在单独的车间内,按功能划分为不同生产区,根据产品装配工艺的要求,配备装配、充电、试验、输送等设备,完成合格电池包的装配任务。     

跨尺度微小型零件的测量与装配

针对跨尺度微小型零件的精密装配中显微视觉视场狭小与零件的特征尺寸跨度较大相矛盾的问题,研究了跨尺度零件的位姿检测技术,基于高、低倍显微视觉单元研制了自动装配系统,系统采用模块化体系结构及先看后动的装配控制模式.提出局部特征拼接法实现了跨尺度零件的定位测量,使用标定尺对系统坐标系之间的误差角进行了标定,采用参考基准法辅助对显微视觉单元切换后的装配基准进行定位.设计测试模板对系统测量精度进行了验证,结果显示高倍显微视觉单元的同轴度测量精度优于1.5 μm,平行度精度优于1μm.利用研制的装配系统进行了装配实验,实验结果表明,关键零件的装配精度满足工艺要求.该装配系统可稳定、可靠地完成跨尺度微小型零件的自动装配.     

Meeting demand variation using flexible U-shaped assembly lines

Nowadays, companies must be able to provide a higher degree of product customisation to fulfil the needs of the increasingly sophisticated customer demand. This can only be achieved by having flexible production systems, able to cope with extended product ranges and with the uncertainty and variability of demand in the current market environment. The purpose of this paper is to present a contribution related to facilities design that accounts for this issue, by presenting flexible U-shaped line configurations for an assembly system. In this type of line, whenever the production volume or product mix changes, the only modification in the line will be the number of operators working in the line, as the physical workstations remain fixed. The relevance of the problem is stated and a heuristic procedure, based on ant colony algorithms, developed to address this problem is described. The results of the application of the proposed procedure to an assembly line of a major manufacturer of electronic security systems are reported.     

ASSEMBLY CAPACITY MIX PLANNING WITH PRODUCT-FLEXIBLE TECHNOLOGY AND FIXTURES

Product changeover is becoming increasingly critical in planning assembly capacity which may be manual or automated with supporting part-holding and conveying devices. The basic choice is between assembly systems that are more product-specific, such as dedicated assembly heads, and those that are relatively flexible, such as manual or robotic systems. A rigid system would require frequent transitions as product variety increases, and may nullify any scale economies. A flexible system, on the other hand, though more expensive, can incorporate product changeovers more easily and would therefore require less transitions, creating scope economies. A quantitative analysts to study such interactions of system parameters with a view to developing understanding and procedures for dynamic planning of flexible assembly capacity is the objective of this paper.     

Transfer Printing Techniques for Materials Assembly and Micro/Nanodevice Fabrication

Transfer printing represents a set of techniques for deterministic assembly of micro‐and nanomaterials into spatially organized, functional arrangements with two and three‐dimensional layouts. Such processes provide versatile routes not only to test structures and vehicles for scientific studies but also to high‐performance, heterogeneously integrated functional systems, including those in flexible electronics, three‐dimensional and/or curvilinear optoelectronics, and bio‐integrated sensing and therapeutic devices. This article summarizes recent advances in a variety of transfer printing techniques, ranging from the mechanics and materials aspects that govern their operation to engineering features of their use in systems with varying levels of complexity. A concluding section presents perspectives on opportunities for basic and applied research, and on emerging use of these methods in high throughput, industrial‐scale manufacturing.     

Assembly and Self‐Assembly of Nanomembrane Materials—From 2D to 3D

Nanoscience and nanotechnology offer great opportunities and challenges in both fundamental research and practical applications, which require precise control of building blocks with micro/nanoscale resolution in both individual and mass‐production ways. The recent and intensive nanotechnology development gives birth to a new focus on nanomembrane materials, which are defined as structures with thickness limited to about one to several hundred nanometers and with much larger (typically at least two orders of magnitude larger, or even macroscopic scale) lateral dimensions. Nanomembranes can be readily processed in an accurate manner and integrated into functional devices and systems. In this Review, a nanotechnology perspective of nanomembranes is provided, with examples of science and applications in semiconductor, metal, insulator, polymer, and composite materials. Assisted assembly of nanomembranes leads to wrinkled/buckled geometries for flexible electronics and stacked structures for applications in photonics and thermoelectrics. Inspired by kirigami/origami, self‐assembled 3D structures are constructed via strain engineering. Many advanced materials have begun to be explored in the format of nanomembranes and extend to biomimetic and 2D materials for various applications. Nanomembranes, as a new type of nanomaterials, allow nanotechnology in a controllable and precise way for practical applications and promise great potential for future nanorelated products.     

基于AutoCAD平台下装配图明细表生成系统的开发

提出了在AutoCAD平台下装配图的明细表系统的算法及开发过程,从而实现了装配图明细表管理过程的自动化和智能化,提高了设计效率,保证了图纸信息与明细表的汇总信息高度一致,因而更有利于实现计算机辅助工艺设计(CAPP).     

Application of a computer-based approach to designing real-time control software for an integrated robotic assembly and automated storage/retrieval system†

The typical factory automation system contains a number of programmable automation devices such as robots, automatic storage/retrieval systems (AS/RSs) and automatically guided vehicles (AGVs). Real-time control system software (RTCS) is needed for integrating these devices into a synchronized manufacturing system (SMS). However, development of this RTCS software could be hampered by excessively long software development backlogs which are currently averaging about 30 months in the typical US corporation. This paper presents a structured methodology for the development of the specifications for such software. This methodology is illustrated by applying it to an automated system for producing highway traffic signs. This system consists of an assembly robot with an automatic tool changer, an AS/RS and a reciprocating table     

Flexible thermoelectric materials and devices: From materials to applications

With the ever-growing development of multifunctional and miniature electronics, the exploring of high-power microwatt-milliwatt self-charging technology is highly essential. Flexible thermoelectric materials and devices, utilizing small temperature difference to generate electricity, exhibit great potentials to provide the continuous power supply for wearable and implantable electronics. In this review, we summarize the recent progress of flexible thermoelectric materials, including conducting polymers, organic/inorganic hybrid composites, and fully inorganic materials. The strategies and approaches for enhancing the thermoelectric properties of different flexible materials are detailed overviewed. Besides, we highlight the advanced strategies for the design of mechanical robust flexible thermoelectric devices. In the end, we point out the challenges and outlook for the future development of flexible thermoelectric materials and devices.