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CN103862281B - A kind of assembly method of micro part - Google Patents

A kind of assembly method of micro part Download PDF

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Publication number
CN103862281B
CN103862281B CN201410088433.7A CN201410088433A CN103862281B CN 103862281 B CN103862281 B CN 103862281B CN 201410088433 A CN201410088433 A CN 201410088433A CN 103862281 B CN103862281 B CN 103862281B
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parts
assembly
seat
micro
base
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Chinese (zh)
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CN103862281A (en
Inventor
王晓东
罗怡
张兰芳
辛明哲
张习文
陈亮
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Dalian University of Technology
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Dalian University of Technology
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16BDEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B11/00Connecting constructional elements or machine parts by sticking or pressing them together, e.g. cold pressure welding
    • F16B11/006Connecting constructional elements or machine parts by sticking or pressing them together, e.g. cold pressure welding by gluing

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)

Abstract

本发明属于精密装配技术领域,具体是一种用于微小型零件的装配方法,其特征在于:首先将微小型零件弹簧片置于设有真空吸附装置的装配底座上,调整好位置后将真空吸附电磁阀打开,位于底座上的直径孔将尺寸为几毫米的微小型零件吸附固定住,点胶粘剂,操作机械手,拾取尺寸为几十微米的微小型零件,调整位置将其置于几毫米的微小型零件上,旋下摆件调整压板,保持夹具的吸附块、微小型零件以及基座一同固定在装配夹具单元上,这样可起到对微小型零件的位置和姿态的保持作用。该装配方法适用于微小型零件的装配,在装配过程中可固定微小型零件的位置,防止其扰动变形,提高了装配精度。

The invention belongs to the technical field of precision assembly, and specifically relates to an assembly method for micro-sized parts. The adsorption solenoid valve is opened, and the diameter hole on the base absorbs and fixes the tiny parts with a size of a few millimeters. Apply adhesive, operate the manipulator, pick up the tiny parts with a size of tens of microns, and adjust the position to place them within a few millimeters. On the micro parts, unscrew the pendant to adjust the pressure plate, and keep the suction block of the fixture, the micro parts and the base fixed on the assembly fixture unit together, so as to maintain the position and posture of the micro parts. The assembly method is suitable for the assembly of small and small parts, and the position of the small and small parts can be fixed during the assembly process to prevent disturbance and deformation thereof and improve the assembly precision.

Description

一种微小型零件的装配方法A method of assembling micro parts

技术领域technical field

本发明属于精密装配技术领域,涉及一种微小型零件的装配方法。The invention belongs to the technical field of precision assembly, and relates to an assembly method of miniature parts.

背景技术Background technique

精密装配是精密微小型产品制造中的关键,近年来,国内外针对微小型零件的自动装配系统及装配方法进行了研究并取得了一定的成果。然而针对尺寸跨度较大、形状不同并具有相对位置、姿态要求的多个微小型零件的精密装配,如大尺寸零件为几十毫米的刚性零件,小尺寸零件为几毫米的挠性零件,传统的装配方法是首先装配尺寸相对较大的零件,然后再将尺寸较小的零件装配上去。采用这种装配方法,装配过程中后装配的尺寸较小的零件位置不易固定且易受力产生扰动变形,从而导致其装配精度较低。Precision assembly is the key to the manufacture of precision micro-miniature products. In recent years, domestic and foreign researches on automatic assembly systems and assembly methods for micro-miniature parts have achieved certain results. However, for the precise assembly of multiple micro-small parts with large size spans, different shapes, and relative position and attitude requirements, such as rigid parts with tens of millimeters for large parts and flexible parts with small parts for several millimeters, traditional The best assembly method is to assemble relatively large parts first, and then assemble smaller parts. With this assembly method, the position of the post-assembled smaller parts is not easy to fix and is easily disturbed and deformed by force during the assembly process, resulting in low assembly accuracy.

发明内容Contents of the invention

为固定微小型零件,减小扰动变形,提高微小型零件的装配精度,本发明提供一种提高微小型零件装配精度的装配方法。该装配方法包括一套装配装置,通过该装配装置可实现微小型零件的装配过程。微小型零件包括三个零件,其中零件A、B为尺寸、形状相同的长方体零件,最大尺寸处不超过4mm,最小尺寸处不超过0.05mm;零件C为三角形支架结构,最长边不超过20mm。In order to fix the micro parts, reduce disturbance deformation and improve the assembly accuracy of the micro parts, the invention provides an assembly method for improving the assembly accuracy of the micro parts. The assembling method includes a set of assembling devices, through which the assembling process of miniature parts can be realized. Micro-miniature parts include three parts, among which parts A and B are cuboid parts with the same size and shape, the largest dimension does not exceed 4mm, and the smallest dimension does not exceed 0.05mm; part C is a triangular bracket structure, and the longest side does not exceed 20mm .

(1)搭建装配装置。装配装置包含零件上料座、装配固定座、装配夹具底座、夹具气路联接底座、真空发生装置、调整压板、左右导向轴及紧固旋钮。其位置关系为:零件上料座与装配固定座水平置于装配夹具底座上,两者之间有间隔。装配夹具底座与夹具气路联接底座联接,夹具气路联接底座与真空发生装置相通,形成真空吸附气路。左右导向轴分别置于零件上料座与装配固定座的两侧。(1) Build the assembly device. The assembly device includes a part feeding seat, an assembly fixing seat, an assembly fixture base, a fixture air circuit connection base, a vacuum generating device, an adjustment pressure plate, left and right guide shafts and a fastening knob. The positional relationship is: the part feeding seat and the assembly fixing seat are horizontally placed on the assembly jig base, and there is an interval between them. The base of the assembly fixture is connected with the connecting base of the clamp air path, and the connecting base of the fixture air path communicates with the vacuum generating device to form a vacuum adsorption air path. The left and right guide shafts are respectively placed on both sides of the part feeding seat and the assembly fixing seat.

(2)装配时先将待装配零件置于零件上料座上。在装配固定座的左右两边分别设置两个直径孔,两直径孔间距为7mm,不超过三角架的底边长。在装配过程中,从零件上料座上夹持零件A、B分别置于零件装配底座的直径孔上,打开真空吸附装置,将零件A、B吸附固定住;(2) When assembling, first place the parts to be assembled on the part loading seat. Two diameter holes are respectively arranged on the left and right sides of the assembly fixing seat, and the distance between the two diameter holes is 7mm, which does not exceed the length of the bottom side of the tripod. During the assembly process, the parts A and B are clamped from the part feeding seat and placed on the diameter holes of the part assembly base respectively, and the vacuum adsorption device is turned on to adsorb and fix the parts A and B;

(3)夹持零件C移动到零件装配基座的上方,水平放置并且保证此三角形支架的底边两个角分别与零件A、B对齐;(3) Move the clamped part C to the top of the part assembly base, place it horizontally and ensure that the two corners of the bottom edge of the triangular bracket are aligned with parts A and B respectively;

(4)将调整压板安装在导向轴上,使用紧固旋钮将其轻轻压下,使零件C与零件A、B胶粘在一起,装配结束。(4) Install the adjusting pressure plate on the guide shaft, and use the fastening knob to gently press it down, so that part C is glued together with parts A and B, and the assembly is completed.

本发明的效果和益处是改变了传统的装配策略,先装配微小型零件,再装配较大尺寸的零件,减小了对微小零件的扰动。该装配方法能够提高零件的装配精度,加快装配过程,提高生产效率。The effect and benefit of the invention is that the traditional assembling strategy is changed, and the tiny parts are assembled first, and then the larger-sized parts are assembled, which reduces the disturbance to the tiny parts. The assembling method can improve the assembling precision of the parts, speed up the assembling process and improve the production efficiency.

附图说明Description of drawings

图1是装配夹具单元示意图。Fig. 1 is a schematic diagram of an assembly fixture unit.

图2是装配固定底座示意图。Fig. 2 is a schematic diagram of assembling the fixed base.

图中:1右紧固旋钮;2调整压板;3右导向轴;4尺寸零件;5装配固定底座;6装配夹具底座;7夹具气路联接底座;8右微小型零件;9拾取吸附块;10左微小型零件;11左紧固旋钮;12左导向轴;13零件上料座;14左直径孔;15右直径孔。In the figure: 1. Right fastening knob; 2. Adjusting pressure plate; 3. Right guide shaft; 4. Size parts; 5. Assembling fixed base; 6. Assembling fixture base; 10 left tiny parts; 11 left fastening knob; 12 left guide shaft; 13 parts feeding seat; 14 left diameter hole; 15 right diameter hole.

具体实施方式detailed description

下面结合技术方案和附图详细叙述本发明的具体实施案例。The specific implementation cases of the present invention will be described in detail below in conjunction with the technical solutions and accompanying drawings.

第一步:将待装配的尺寸零件4、右微小型零件8、左微小型零件10置于零件上料座13;The first step: place the size parts 4 to be assembled, the right small parts 8, and the left small parts 10 on the part loading seat 13;

第二步:移动机械臂使夹钳位于工具台上方,控制夹钳开合,使其夹取吸附针头。控制机械臂运动,将已夹取吸附针头的夹钳移动至零件上料座13,打开真空发生装置,吸附位于零件上料座13上的右微小型零件8,并将其移动至装配固定底座5上方;Step 2: Move the mechanical arm so that the clamp is located above the tool table, and control the opening and closing of the clamp so that it can pick up the adsorption needle. Control the movement of the mechanical arm, move the clamp that has picked up the adsorption needle to the part loading seat 13, turn on the vacuum generating device, absorb the right micro-sized part 8 on the part loading seat 13, and move it to the assembly fixed base 5 above;

第三步:将右微小型零件8置于装配固定底座5上的右直径孔15上方,在视觉系统的检测下,使其与装配固定底座5的边缘保持一定的平行度,打开真空发生装置,使装配固定底座5上的右直径孔15成真空状态,吸附并固定右微小型零件8。Step 3: Place the right tiny part 8 above the right diameter hole 15 on the assembly and fixing base 5, and keep it parallel to the edge of the assembly and fixing base 5 under the detection of the vision system, and turn on the vacuum generating device , Make the right diameter hole 15 on the assembly fixed base 5 into a vacuum state, absorb and fix the right tiny parts 8.

第四步:重复第二步,将左微小型零件10移动至装配固定底座5上方;The fourth step: repeat the second step, and move the left tiny part 10 above the assembly fixed base 5;

第五步:将左微小型零件10置于装配固定底座5上的左直径孔14上方,在视觉系统的检测下,使其与装配固定底座5及右微小型零件8的边缘保持一定的平行度。打开真空发生装置,使装配固定底座5上的左直径孔14形成真空状态,吸附并固定左微小型零件10;Step 5: Place the left micro-small part 10 above the left diameter hole 14 on the assembly fixed base 5, and keep it parallel to the edge of the assembly fixed base 5 and the right micro-small part 8 under the detection of the vision system Spend. Open the vacuum generating device, make the left diameter hole 14 on the assembly fixed base 5 form a vacuum state, absorb and fix the left micro-sized part 10;

第六步:将胶粘剂分别点在右微小型零件8和左微小型零件10上;Step 6: Apply the adhesive to the right micro-part 8 and the left micro-part 10 respectively;

第七步:移动夹钳将吸附针头放回原处,并夹起拾取吸附块9;控制机械臂运动,将已夹取拾取吸附块9的夹钳移动至零件上料座13,打开真空发生装置,吸附位于零件上料座13上的尺寸零件4,并将其移动至装配固定底座5上方;Step 7: Move the clamp to put the adsorption needle back to the original position, and pick up the adsorption block 9; control the movement of the mechanical arm, move the clamp that has picked up the adsorption block 9 to the part loading seat 13, and turn on the vacuum generator device, which absorbs the size parts 4 located on the parts feeding seat 13, and moves them to the top of the assembly fixed base 5;

第八步:将尺寸零件4置于装配固定底座5上方,利用视觉系统确定尺寸零件4的位置姿态;控制机械臂运动,使其与涂有胶粘剂的右微小型零件8和左微小型零件10轻轻接触,利用微力传感器控制接触力大小,防止零件产生形变;Step 8: Place the size part 4 above the assembly fixed base 5, and use the vision system to determine the position and posture of the size part 4; control the movement of the mechanical arm so that it is in contact with the right small part 8 and the left small part 10 coated with adhesive Gently contact, use the micro force sensor to control the contact force to prevent deformation of parts;

第九步:先将调整压板2安装在左导向轴12、右导向轴3上,并用左紧固旋钮11、右紧固旋钮1进行固定,此时,作为保持夹具的拾取吸附块9、尺寸零件4以及基座一同固定在装配夹具单元上,这样拾取吸附块9可起到对微小型零件的位置和姿态的保持作用,与基座压紧在一块。经过高温处理后,胶粘剂产生作用,取下拾取吸附块,以保证装配精度不被破坏,从而实现了微小型零件与基座的精密装配。Step 9: First install the adjustment platen 2 on the left guide shaft 12 and the right guide shaft 3, and fix it with the left fastening knob 11 and the right fastening knob 1. At this time, the pick-up adsorption block 9, the size of the holding fixture The parts 4 and the base are fixed together on the assembly fixture unit, so that picking up the adsorption block 9 can maintain the position and posture of the tiny parts and be pressed together with the base. After high-temperature treatment, the adhesive will work, and the pick-up block will be removed to ensure that the assembly accuracy will not be damaged, thereby realizing the precise assembly of micro-sized parts and the base.

Claims (1)

1. an assembly method for micro part, is characterized in that following steps:
Micro part comprises three parts: part A, part B and part C; The cuboid that part A and part B are size, shape is identical, the maximum of cuboid is no more than 4mm, and the minimum place of cuboid is 0.05mm; Part C is triangular supports structure, and longest edge is no more than 20mm;
The first step: build assembling device: assembling device comprises part material loading seat, is mounted with seat, assembling jig base, fixture gas circuit connect base, vacuum generating device, adjustment pressing plate, the left and right axis of guide and tightening knob; Part material loading seat be mounted with a level and be placed on assembling jig base, have interval between the two; Assembling jig base connects base with fixture gas circuit and connects, and fixture gas circuit connects base and communicates with vacuum generating device, forms vacuum suction gas circuit; The left and right axis of guide is placed in part material loading seat and the both sides being mounted with seat respectively;
Second step: part to be assembled is placed on part material loading seat; Arrange two diametric hole respectively at the right and left being mounted with seat, two diametric hole spacing are 7mm, are no more than the bottom side length of tripod; In assembling process, holding parts AB is all placed in and is mounted with in the diametric hole of seat, opens vacuum absorption device, part A, B absorption is fixed;
3rd step: holding parts C moves to the top being mounted with seat, horizontal positioned also ensures to align with part A, B respectively in the Liang Ge angle, base of triangular supports;
4th step: be arranged on the axis of guide by adjustment pressing plate, uses tightening knob to be depressed, makes part C and part A, B glued together, the assembling of end micro part.
CN201410088433.7A 2014-03-11 2014-03-11 A kind of assembly method of micro part Expired - Fee Related CN103862281B (en)

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