轴孔水平装配工艺参数对装配接触力影响分析

发布时间：2019-02-21 16:54

【摘要】：近年来,随着先进制造技术和机器人技术的迅速发展,对航空航天、微电子、智能家居等各行业产品的尺寸、精度和质量的要求也越来越高。因此,在产品的生产过程中为保证产品质量,精密装配是很重要的一道工序。在各精密装配作业中,最典型且最广泛的工作模式是轴孔类零件的精密装配。为提高生产效率,缩短装配周期,适应现代化大批量生产的需要,国内外公司都在推广使用由装配机器人构成的自动化装配系统。装配方向也由手工化、刚性化向自动化、柔性化方向发展。某型产品由于工艺上的要求,需要采用水平装配的方式在保证质量的前提下提高效率。在国内,水平装配由于其装配过程扰动多,相关研究少,成为一大技术难题。本项课题做了一个缩比实验,分析了位置、姿态、速度等装配工艺参数对装配效果的影响,为轴孔水平装配的顺利进行提供了理论基础和数据支持。本文主要研究内容概括为如下几个组成部分:首先,本文分析总结了轴孔装配的国内外发展现状,根据轴孔水平装配的研究现状,确定本文的研究内容,提出了一种以上部柔索吊装水平装配系统为主体的水平柔性装配方法。其次,通过对有倒角长细轴插轴入孔的装配过程进行动力学分析,推导出了轴孔装配过程中各装配阶段的装配力表达式,指出影响装配力的主要因素,为柔顺装置的设计提供了理论依据。同时,还对轴孔装配过程中容易出现的卡阻和楔紧现象作了深入的研究,并提出了避免或消除卡阻与楔紧现象的措施。再次,根据轴孔装配工艺要求和技术要求,分别对装配系统、测量系统和控制系统进行了设计,并用Solidworks进行模型建立以及试验样机的搭建;在已有实验条件下,巧妙设计实验测量方案完成测量任务;并对测量系统中各种传感器、变送器、同步数据采集卡,控制系统中伺服电机、上位机等的工作原理和选型作了详细分析。最后,进行了装配实验,测试了位置、姿态、装配进给速度等装配工艺参数对装配效果的影响。得出在装配过程中位置对装配效果的影响最大;俯仰姿态由于其本身的可调节范围很小,姿态的调整对吊装力和力矩的变化并不是很明显;装配进给速度这里取5mm/s为宜。
[Abstract]:In recent years, with the rapid development of advanced manufacturing technology and robot technology, the requirements for the size, precision and quality of products in aerospace, microelectronics, smart home and other industries are becoming higher and higher. Therefore, in order to ensure product quality, precision assembly is a very important process. In all precision assembly operations, the most typical and most extensive working mode is the precision assembly of shaft hole parts. In order to improve production efficiency, shorten assembly cycle and meet the needs of modern mass production, domestic and foreign companies are popularizing the use of automatic assembly systems composed of assembly robots. The direction of assembly is also developed from manual, rigid to automation and flexibility. Due to the requirement of technology, a certain type of product needs to use horizontal assembly to improve its efficiency under the premise of ensuring quality. In China, horizontal assembly has become a big technical problem because of the disturbance of assembly process and the lack of related research. In this paper, a scaling experiment is done to analyze the influence of position, posture and speed on the assembly effect, which provides a theoretical basis and data support for the horizontal assembly of shaft holes. The main research contents of this paper are summarized as follows: firstly, this paper analyzes and summarizes the development of shaft hole assembly at home and abroad, according to the research status of horizontal assembly of shaft holes, determines the research content of this paper. In this paper, a method of horizontal flexible assembly with more than one part cable hoisting horizontal assembly system as the main body is presented. Secondly, through the dynamic analysis of the assembly process in which the shaft is inserted into the hole with chamfering long and thin shaft, the expression of assembly force in each assembly stage of the shaft hole assembly is derived, and the main factors influencing the assembly force are pointed out. It provides a theoretical basis for the design of compliance device. At the same time, the paper also makes a deep research on the phenomenon of blocking and wedge tightening, and puts forward some measures to avoid or eliminate the phenomenon of clamping and wedge tightening. Thirdly, according to the requirements of shaft hole assembly process and technology, the assembly system, measurement system and control system are designed, and the model is built with Solidworks and the test prototype is built. Under the existing experimental conditions, the experimental measurement scheme is designed skillfully to accomplish the measurement task. The working principle and selection of various sensors, transducers, synchronous data acquisition cards, servo motors and upper computers in the control system are analyzed in detail. Finally, the effect of assembly process parameters such as position, posture and feed speed on the assembly effect is tested. It is concluded that the position has the greatest influence on the assembly effect in the assembly process; the pitch attitude is not obvious to the lifting force and torque because of its small adjustable range, and the 5mm/s is suitable for assembly feed speed.
【学位授予单位】：沈阳理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH161.7

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