三维立体电路自动化组装焊接加工研究

Research on Automatic Assembly and Welding of Three-dimensional Circuit

目前,共形天线是我国在预警探测领域的研究热点,其表面分布的三维立体电路由传统人工组装焊接,效率低,批产一致性差,严重制约了共形天线的大规模工程应用。国内关于共形天线的研究主要集中在结构设计方面,尚未实现共形天线表面三维立体电路的自动化组装焊接。文中针对三维立体电路组装焊接需求,设计了自动化加工设备;针对理论模型与实际工件存在差异的问题,提出了基于三维点云数据的路径生成方法,以旋转矩阵代替传统由轴-角表示的三维旋转,简化三维立体电路待加工点的旋转模型,为路径生成提供了更为高效和精确的计算方式。实体加工实验表明,文中设计的设备及提出的路径生成方法可高精度、高质量地完成三维立体电路自动化组装焊接加工。

At present the conformal antenna is a hot research in the field of early warning and detection in China.The threedimensional circuit distributed on its surface is assembled and welded manually,which has low efficiency and poor consistency in batch production,and thus seriously restricts the application of conformal antenna.The domestic research on conformal antenna is mainly focused on structural design and the automatic assembly and welding of three-dimensional circuit on the surface of conformal antenna have not yet been realized.In this paper automatic processing equipment is designed to meet the assembly and welding requirements of three-dimensional circuit.In view of the differences between the theoretical model and the actual workpiece,a path generation method based on three-dimensional point cloud data is proposed and the traditional three-dimensional rotation represented by axle-angle is replaced by a rotation matrix.The simplified rotation model of the point to be processed in the three-dimensional circuit provides a more efficient and accurate calculation method for path generation.The solid machining experiment shows that the equipment designed and the path generation method proposed in this paper can complete the automatic processing of three-dimensional circuit with high precision and high quality.