【摘要】：近年來,隨著先進(jìn)制造技術(shù)和機(jī)器人技術(shù)的迅速發(fā)展,對(duì)航空航天、微電子、智能家居等各行業(yè)產(chǎn)品的尺寸、精度和質(zhì)量的要求也越來越高。因此,在產(chǎn)品的生產(chǎn)過程中為保證產(chǎn)品質(zhì)量,精密裝配是很重要的一道工序。在各精密裝配作業(yè)中,最典型且最廣泛的工作模式是軸孔類零件的精密裝配。為提高生產(chǎn)效率,縮短裝配周期,適應(yīng)現(xiàn)代化大批量生產(chǎn)的需要,國內(nèi)外公司都在推廣使用由裝配機(jī)器人構(gòu)成的自動(dòng)化裝配系統(tǒng)。裝配方向也由手工化、剛性化向自動(dòng)化、柔性化方向發(fā)展。某型產(chǎn)品由于工藝上的要求,需要采用水平裝配的方式在保證質(zhì)量的前提下提高效率。在國內(nèi),水平裝配由于其裝配過程擾動(dòng)多,相關(guān)研究少,成為一大技術(shù)難題。本項(xiàng)課題做了一個(gè)縮比實(shí)驗(yàn),分析了位置、姿態(tài)、速度等裝配工藝參數(shù)對(duì)裝配效果的影響,為軸孔水平裝配的順利進(jìn)行提供了理論基礎(chǔ)和數(shù)據(jù)支持。本文主要研究內(nèi)容概括為如下幾個(gè)組成部分:首先,本文分析總結(jié)了軸孔裝配的國內(nèi)外發(fā)展現(xiàn)狀,根據(jù)軸孔水平裝配的研究現(xiàn)狀,確定本文的研究內(nèi)容,提出了一種以上部柔索吊裝水平裝配系統(tǒng)為主體的水平柔性裝配方法。其次,通過對(duì)有倒角長細(xì)軸插軸入孔的裝配過程進(jìn)行動(dòng)力學(xué)分析,推導(dǎo)出了軸孔裝配過程中各裝配階段的裝配力表達(dá)式,指出影響裝配力的主要因素,為柔順裝置的設(shè)計(jì)提供了理論依據(jù)。同時(shí),還對(duì)軸孔裝配過程中容易出現(xiàn)的卡阻和楔緊現(xiàn)象作了深入的研究,并提出了避免或消除卡阻與楔緊現(xiàn)象的措施。再次,根據(jù)軸孔裝配工藝要求和技術(shù)要求,分別對(duì)裝配系統(tǒng)、測量系統(tǒng)和控制系統(tǒng)進(jìn)行了設(shè)計(jì),并用Solidworks進(jìn)行模型建立以及試驗(yàn)樣機(jī)的搭建;在已有實(shí)驗(yàn)條件下,巧妙設(shè)計(jì)實(shí)驗(yàn)測量方案完成測量任務(wù);并對(duì)測量系統(tǒng)中各種傳感器、變送器、同步數(shù)據(jù)采集卡,控制系統(tǒng)中伺服電機(jī)、上位機(jī)等的工作原理和選型作了詳細(xì)分析。最后,進(jìn)行了裝配實(shí)驗(yàn),測試了位置、姿態(tài)、裝配進(jìn)給速度等裝配工藝參數(shù)對(duì)裝配效果的影響。得出在裝配過程中位置對(duì)裝配效果的影響最大;俯仰姿態(tài)由于其本身的可調(diào)節(jié)范圍很小,姿態(tài)的調(diào)整對(duì)吊裝力和力矩的變化并不是很明顯;裝配進(jìn)給速度這里取5mm/s為宜。
[Abstract]:In recent years, with the rapid development of advanced manufacturing technology and robot technology, the requirements for the size, precision and quality of products in aerospace, microelectronics, smart home and other industries are becoming higher and higher. Therefore, in order to ensure product quality, precision assembly is a very important process. In all precision assembly operations, the most typical and most extensive working mode is the precision assembly of shaft hole parts. In order to improve production efficiency, shorten assembly cycle and meet the needs of modern mass production, domestic and foreign companies are popularizing the use of automatic assembly systems composed of assembly robots. The direction of assembly is also developed from manual, rigid to automation and flexibility. Due to the requirement of technology, a certain type of product needs to use horizontal assembly to improve its efficiency under the premise of ensuring quality. In China, horizontal assembly has become a big technical problem because of the disturbance of assembly process and the lack of related research. In this paper, a scaling experiment is done to analyze the influence of position, posture and speed on the assembly effect, which provides a theoretical basis and data support for the horizontal assembly of shaft holes. The main research contents of this paper are summarized as follows: firstly, this paper analyzes and summarizes the development of shaft hole assembly at home and abroad, according to the research status of horizontal assembly of shaft holes, determines the research content of this paper. In this paper, a method of horizontal flexible assembly with more than one part cable hoisting horizontal assembly system as the main body is presented. Secondly, through the dynamic analysis of the assembly process in which the shaft is inserted into the hole with chamfering long and thin shaft, the expression of assembly force in each assembly stage of the shaft hole assembly is derived, and the main factors influencing the assembly force are pointed out. It provides a theoretical basis for the design of compliance device. At the same time, the paper also makes a deep research on the phenomenon of blocking and wedge tightening, and puts forward some measures to avoid or eliminate the phenomenon of clamping and wedge tightening. Thirdly, according to the requirements of shaft hole assembly process and technology, the assembly system, measurement system and control system are designed, and the model is built with Solidworks and the test prototype is built. Under the existing experimental conditions, the experimental measurement scheme is designed skillfully to accomplish the measurement task. The working principle and selection of various sensors, transducers, synchronous data acquisition cards, servo motors and upper computers in the control system are analyzed in detail. Finally, the effect of assembly process parameters such as position, posture and feed speed on the assembly effect is tested. It is concluded that the position has the greatest influence on the assembly effect in the assembly process; the pitch attitude is not obvious to the lifting force and torque because of its small adjustable range, and the 5mm/s is suitable for assembly feed speed.
【學(xué)位授予單位】：沈陽理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TH161.7

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 辛彥秋;吳斌;蘇丹;張賀;;民用航空發(fā)動(dòng)機(jī)脈動(dòng)裝配淺析[J];航空制造技術(shù);2013年20期

2 夏妍春;白躍偉;蔡池蘭;;柔性軸孔裝配策略研究[J];中國機(jī)械工程;2009年18期

3 吳媛媛;譚曉東;趙亮;;機(jī)器人裝配中軸和孔插裝的裝配力分析[J];大連交通大學(xué)學(xué)報(bào);2007年03期

4 劉景泰,吳水華,孫雷,陳濤;基于視覺的遙操作機(jī)器人精密裝配系統(tǒng)[J];機(jī)器人;2005年02期

5 陳曉南,袁叢清,楊培林,龐宣明;微柔順裝置及其力學(xué)分析[J];應(yīng)用力學(xué)學(xué)報(bào);2004年04期

6 王全玉,王曉東;機(jī)器人柔性腕力傳感器及其檢測系統(tǒng)[J];傳感器技術(shù);2004年06期

7 陳立國,孫立寧,榮偉彬;基于顯微視覺與微力覺柔順混合控制的微操作機(jī)器人[J];高技術(shù)通訊;2003年12期

8 費(fèi)燕瓊,趙錫芳;基于旋量的機(jī)器人雙軸孔裝配接觸分析[J];上海交通大學(xué)學(xué)報(bào);2001年01期

9 王玲;柔順裝配中“卡阻”和“楔緊”現(xiàn)象的力學(xué)研究[J];煤礦設(shè)計(jì);1999年05期

10 王玲;柔順裝配中軸、孔插裝過程的力學(xué)分析[J];哈爾濱理工大學(xué)學(xué)報(bào);1999年01期

相關(guān)碩士學(xué)位論文 前1條

1 李海龍;基于視覺/力傳感器的機(jī)器人柔順裝配技術(shù)研究[D];燕山大學(xué);2014年

，

本文編號(hào)：2427691