面向多种复杂零件的高精度人机协同装配系统

High Precision Man-machine Collaborative Assembly System for Complex Parts

实现复杂三维结构体及小刚度零件的自动装配是极其困难的,为了解决此类零件难以夹持以及夹持变形的难题,分别设计了针对复杂结构的本体件快换夹持器和针对小刚度零件的气囊柔性夹持器以及针对微小平板类零件真空吸附式夹持器,并融合高精度调整技术以及合理的检测技术设计了一台面向多种复杂零件的高精度人机协同装配系统。使用Abaqus仿真计算了气囊柔性夹持器对小刚度零件夹持变形的影响,零件特征面的弹性变形仅为1μm。通过装配间隙仅为3.2μm的轴孔对位装配实验,证明了该装配系统能完成零件间2μm～3μm高精度装配。该装配系统能够解放劳动力,提高生产装配的自动化。

It is very difficult to realize the automatic assembly of complex three-dimensional structures and uhra-small rigidity parts. A quick change type gripper for complex structures, an air-filled gripper for ultra-small rigidity parts and a vac-sorb gripper for micro plate parts are presented separately in order to solve this problem. With high precision adjustment technology and reasonable detection technology, the high-precision human-machine assembly system is designed and devel- oped. The deformation influence to the ultra-small rigidity part of the air-filled gripper is simulated and calculated Abaqus software. The elastic deformation of the feature surface is only 1 p,m. The assembly experiment of the shaft and hole with only 3.2μm assembly gap has proved that the assembly system can accomplish the high precision assembly between the part clearances of 2p, m-3μm. The assembly system can liberate the labor force and improve the automation of production as- sembly.