微小易损零件的精密装配及接触控制

摘要

Since the vulnerable miniature part is easy to be damaged during the process of assembly, finite element method is used to analyze the assembly stress of the weak area. A micro-assembly system based on machine vision and laser displacement sensor was developed. The system included one mechanical gripper with 3 DOFs, one precise vision system and laser displacement sensor with 3 DOFs and a special fixture. Precise positioning in XY-plane was realized by machine vision system. The contact state in Z-axis was detected and controlled by the closed-loop system composed of laser displacement sensor and IPC. The detection accuracy of contact state attains 2 μm.%针对某微小易损零件在装配过程中易损坏的问题,采用有限元仿真对其薄弱部分的装配应力进行了分析.搭建了一套基于机器视觉和激光位移传感器的微装配系统,该系统主要包括1个3自由度机械手,1个3自由度精密视觉系统与测距传感模块和一套专用夹具.采用机器视觉系统实现了目标零件在XY平面内的精确定位.采用激光位移传感器与工控机所组成的闭环系统对目标零件装配过程中Z轴方向上的接触状态进行检测和控制,接触状态检测精度优于2μm.