Actuator and assembling system and method for assembling T/R assembly of array antenna

Abstract

The invention relates to an actuator and assembling system and method for assembling a T / R assembly of an array antenna. Machine vision identification is adopted, a mechanical arm is guided to grab the T / R assembly and position the assembling position, a system controller is used for controlling the actuator to tighten screws for fixing, the whole process is automatically completed, the assembling efficiency is greatly improved, and the influence of human factors on the assembling quality is reduced. When the actuator executes, the method that screws are fed on the two sides at the same time is adopted, the posture of the T / R assembly in the assembling process is convenient to control, and the problem that the axial pre-tightening force on the two sides of the T / R assembly is not easy to control due to single-side screw feeding is solved. Meanwhile, force / displacement coupling control is used in the tightening process, compared with a traditional single torque control method, the control precision of the axial pre-tightening force of the screws is improved, and vibration disengagement prevention and long fatigue life of thread assembly are both considered. The actuator and assembling system and method for assembling the T / R assembly of the array antenna are suitable for intelligent assembly in the array radar manufacturing process.

Description

technical field [0001] The invention belongs to the technical field of radar manufacturing, and in particular relates to an actuator, an assembly system and a method for assembling an array antenna T / R assembly. Background technique [0002] The high-precision integrated array antenna is a key component of the early warning detection system, which acts as the "eye" of the national defense system and plays a pivotal role in modern warfare. An array antenna is generally composed of tens of thousands of units, that is, T / R components, and the accurate assembly of a large number of T / R components is related to the performance of the array antenna. However, as far as the inventor knows, there is currently no automated equipment for array antenna assembly on the market, and the assembly is still mainly manual, with problems such as poor assembly quality, long cycle time, and low efficiency. At the same time, automated assembly solutions in other fields are generally not applicabl...

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Problems solved by technology

However, as far as the inventor knows, there is currently no automated equipment for array antenna assembly on the market, and the assembly is still mainly manual, with problems such as poor assembly quality, long cycle time, and low efficiency.

At the same time, automated assembly solutions in other fields are generally not applicable or cannot meet the assembly requirements of T / R components. For example, Chinese patent CN107538208A proposes a screw-tightening manipulator using machine vision. The screw coordinates are corrected in real time through the hand-eye camera, but the screw-tightening process The tightening method of open-loop control is used, and the control accuracy of the axial pretightening force of the screw cannot meet the assembly requirements of the T / R assembly

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