伺服机构大尺寸组件自动装配技术研究

发布时间：2018-06-08 19:58

本文选题：伺服机构 + 自动装配　；参考：《中国航天科技集团公司第一研究院》2017年硕士论文

【摘要】：目前伺服机构大尺寸组件装配仍采用传统手工装配方式,密封装配是关键环节,靠人工经验和后续验证保证,装配参数无法量化,装配工装简易。因此,对伺服机构大尺寸组件自动装配技术进行研究。首先,对产品的装配流程及实现自动装配系统需解决的关键技术进行了分析。对研究内容进行了提炼,主要包括装配设备设计、密封装配仿真和“可感知力”的智能夹具等三方面研究内容,提出了总体技术路线方案;最后,为了保证设备精度满足指标要求,对自动装配系统精度进行了分析。其次,针对伺服机构大尺寸组件密封装配环节中密封件装配质量无法实时评判的问题,提出建立密封结构装配力预测模型的方法。建立装配力有限元分析模型,分析了影响装配力的关键因素,结合压装试验确定了模型的具体参数,结果表明预测模型结果与实验结果趋势相同,验证了预测模型的合理性。最终得到密封件正常装配状态下装配力-装配路径曲线的包络范围,为实时监测密封装配质量提供了判断依据。然后,对夹具可进一步研究的智能点进行了分析,并根据现有条件和研究背景,确定了进一步研究“可感知力”的智能夹具;在设备夹具方案的基础上,布置了三维力传感器,对夹具实现“感知力”这一智能点展开了研究,进行了详细的理论力学分析,得到工件接触点受力情况的数学模型,从理论上初步验证该研究点可行。最后,总结了设备的总体研制方案,概述了设备工作原理,并对设备的机械关键部件、系统测量方案和控制方案进行了详细叙述;在研制好的设备上,分别进行了密封仿真和智能夹具的相关实验,并对实验数据进行了处理和分析。
[Abstract]:At present, the large size assembly of servo mechanism still adopts the traditional manual assembly method. Sealing assembly is the key link. The assembly parameters can not be quantified and assembly tools are easy to be assembled by manual experience and subsequent verification. Therefore, the automatic assembly technology of large size components of servo mechanism is studied. First of all, the assembly process and the key technology to realize the automatic assembly system are analyzed. The research contents are refined, including the design of assembly equipment, the simulation of sealing assembly and the intelligent fixture of "perceptible force", and the overall technical route is put forward. In order to ensure that the precision of the equipment meets the requirements, the precision of the automatic assembly system is analyzed. Secondly, aiming at the problem that the assembly quality of sealing parts can not be judged in real time during the sealing assembly of large size components of servo mechanism, a method to establish the assembly force prediction model of sealing structure is put forward. The finite element analysis model of assembly force is established, the key factors affecting assembly force are analyzed, and the specific parameters of the model are determined in combination with the press loading test. The results show that the predicted model results are the same as the experimental results, and the rationality of the prediction model is verified. Finally, the envelope range of assembly force-assembly path curve under normal assembly state of sealing parts is obtained, which provides a basis for real-time monitoring of sealing assembly quality. Then, the intelligent points of the fixture which can be further studied are analyzed, and according to the existing conditions and the research background, the intelligent fixture to further study the "perceptible force" is determined, and the three-dimensional force sensor is arranged on the basis of the fixture scheme of the equipment. In this paper, the realization of "perceptual force" of the fixture is studied, and the detailed theoretical mechanical analysis is carried out, and the mathematical model of the force on the contact point of the workpiece is obtained, and the feasibility of the research point is preliminarily verified theoretically. Finally, the overall development scheme of the equipment is summarized, the working principle of the equipment is summarized, and the key components of the equipment, the system measurement scheme and the control scheme are described in detail. The sealing simulation and intelligent fixture experiments were carried out respectively, and the experimental data were processed and analyzed.
【学位授予单位】：中国航天科技集团公司第一研究院
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TG95

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