摘要
自动化装配在制造业中占有重要地位,而箱体部件是装配作业中的常见结构。在分析箱体部件结构和装配特点的基础上,运用CAD/CAM的参数化建模功能,设计以三台机器人为主体的箱体自动化装配线,建立了随行夹具及其工装快换装置的三维模型。设计基于RCC的软浮动机械手抓取模块并提出一种激光位移传感器与PLC结合使用的孔相位找正方法。实现了箱体零件与装配工艺的并行设计,缩短了开发周期,一定程度上提高了机器人装配的柔顺性,改善了轴孔装配质量,减少复杂计算,节约了开发成本。
Automatic assembly system plays an important role in the Manufacturer Industry,and box-type parts are common structures in automatic assembly. After analyses of feature about box-type parts and their assembly,the parametric modeling function based on CAD / CAMis applied to build an automatic assembly line which mainly includes three robots and set up three-dimensional models of movable fixture and its tool changers. Manipulator module based on RCC is designed and a method to localize hole by using laser displacement sensor and PLC is proposed. Through these methods,concurrent design between parts and assembly process can be realized,and then the development period can be shortened. To a certain extent,the flexibility of robot assembly and the quality of peg-in-hole assembly are improved,the complicated calculations also can be reduced and development cost is saved.
出处
《组合机床与自动化加工技术》
北大核心
2016年第3期120-122,共3页
Modular Machine Tool & Automatic Manufacturing Technique
关键词
三维建模
随行夹具
机械手抓取模块
孔相位找正
three-dimensional modeling
movable fixture
manipulator module
hole localization
