精密加速度计组件自动装配及焊接系统

Automatic Assembly and Welding System for Precision Accelerometer Components

悬丝摆式加速度计广泛应用于航空、航天、惯性导航等领域,其装配质量对加速度测量精度有很大的影响,其关键组件的装配涉及位置和姿态的调整,同时悬丝在装配中需要控制张紧力并完成焊接。针对悬丝摆式加速度计组件的精密装配,研发了集成力、温度传感器和机器视觉的精密装配及焊接系统。采用相机配合转台实现待装配零件视觉测量,完成零件特征点的识别定位;利用精密滑台和转台调整待装配零件位姿;直线电机运动结合力反馈实现装配过程中零件间隙调整以及张紧力控制;开发专用焊接单元,实现在紧凑空间内对微小器件的自动温控焊接。试验结果表明,该系统能够完成加速度计组件自动装配及焊接,装配结果满足技术指标要求,焊点无虚焊,摆组件内边缘相对于磁钢边缘间隙偏差小于10μm,悬丝中心相对于加速度计底座地面位置精度优于20μm,悬丝张紧力偏差控制在±5 mN之内,能够达到产品装配质量要求。

Suspension wire pendulum accelerometer is widely used in aviation,aerospace,inertial navigation and otherfields,and its assembly quality has a great influence on the accuracy of acceleration measurement.The assembly of its key components involves the adjustment of position and posture,and the suspension wire needs to control the tension force and complete welding during assembly.Aiming at the precision assembly of suspension wire pendulum accelerometer components,a precision assembly and welding system integrating force,temperature sensors and machine vision has been developed.The camera is used with the turntable to realize the visual measurement of the parts to be assembled and complete the identification and positioning of the feature points of the parts;The position and posture of the parts to be assembled are adjusted by the precision sliding table and the turntable;The linear motor motion combined with force feedback realizes the gap adjustment and tension control of the parts during assembly;Develop a special welding unit to realize automatic temperature control welding of micro devices in compact space.The experimental results show that the system can complete the automatic assembly and welding of accelerometer components.The assembly results meet the requirements of technical indicators and the solder joints without virtual welding.The gap deviation between the inner edge of the pendulum assembly and the edge of the magnetic steel is less than 10μm,the position accuracy of the center of the suspension wire relative to the ground of the accelerometer base is better than 20μm,and the tension deviation of suspension wire is controlled within±5 mN.It can meet the product assembly quality requirements.