基于多信息算法融合的电子元件精准装配研究

Research on Precise Assembly of Electronic Components Based on Multi-information Algorithm Fusion

机器人是现代化工业制造与生产的重要装备之一。随着市场需求向小批量、多品种和柔性化方向快速发展,基于多信息融合的机器人协作系统将为高端精密制造产业赋能。该研究着眼于精密电子元件装配领域,聚焦手眼系统的精准对位和精密插装技术,通过建立待插元件与非均质薄板的接触状态模型,分析其双重位移融合的力位运动特性,并结合视觉检测与跟踪技术,提出一种融合视觉、力觉和编码器信息的复合型控制算法。基于电子元件装配平台,该研究进行了元件插装对比实验和信息融合算法的装配实验,结果表明,对齐阶段的定位精度在0.185 pixels以内,装配阶段的接触状态判定和调节算法保障了元件与插槽的安全有效装配。

Robots are important equipment in modern industrial manufacturing and production.As products move towards small batch,multi-variety,and flexibility,robot collaboration systems based on multi-information fusion enable high-end precision manufacturing industries.This research focuses on the precision alignment and insertion technology of a hand-eye cooperation system in the field of precision electronic component assembly.By establishing a contact state model between electronic components and heterogeneous plates,the motion characteristics of force and displacement are analyzed.A compound control algorithm integrating visual,force sense,and encoder information is proposed,combined with visual inspection and tracking technology.Component insertion comparison experiments and assembly experiments based on algorithm fusion are carried out on the electronic component assembly platform.The results show that the positioning accuracy in the alignment phase is within 0.185 pixels.The contact state judgment and adjustment algorithm in the assembly stage ensures the safe and effective assembly of components.