Conductive slip ring brush wire pressure automatic measuring and adjusting device
By using a combination of a robot arm and a high-precision force sensor in the conductive slip ring brush wire pressure measurement device, the automatic measurement and adjustment of the conductive slip ring brush wire pressure is achieved, and the problem of low measurement accuracy and efficiency in the prior art is solved. Significantly improves production efficiency.
Patent Information
- Application Number
- CN202411342521.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-25
- Publication Date
- 2024-12-27
AI Technical Summary
In the prior art, the conductive slip ring brush wire pressure measurement accuracy is low, the efficiency is low, and the manual adjustment efficiency is low, resulting in poor measurement stability and operator fatigue.
An automatic measurement and adjustment device for the conductive slip ring brush wire pressure including a workbench, a robotic arm, a probe assembly and a fixture assembly is designed. Automatic measurement and adjustment is achieved using a robotic arm and a high-precision force sensor, and through the stylus and fixture assembly Automatically measure and adjust the brushing pressure.
Automatic measurement and automatic adjustment of the conductive slip ring brush pressure is realized, which improves measurement accuracy and efficiency, saves more than 80% of the operating time, and significantly improves production efficiency.
Smart Images
Figure CN119197845A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of intelligent manufacturing of spacecraft products, and in particular relates to a device for automatically measuring and adjusting the pressure of a conductive slip ring brush. Background Art
[0002] The coarse pointing mechanism (CPA), solar panel drive mechanism (SADA), and control torque gyro (CMG) are the core components of the satellite. The solar panel drive mechanism is a key project of the satellite, and its success or failure determines the success or failure of the satellite. As a key component of CPA, SADA, and CMG, the conductive slip ring is mainly used for the transmission of power and signals between the rotating and fixed structures. The brush wire pressure of the conductive slip ring directly affects the performance of the conductive slip ring, including static contact resistance, electrical noise, insulation, friction torque, life, etc. Therefore, in the production and development process, the brush wire pressure of the conductive slip ring needs to be strictly controlled, and the control accuracy is generally within 0.02N.
[0003] At present, the brush wire pressure of the conductive slip ring is usually obtained by manual measurement. The measurement principle is as follows: Figure 1 As shown, the specific operation is: connect the contacts at both ends of the multimeter 100 to the brush wire 200 and the simulated ring body 300 respectively, and then set the multimeter 100 to the buzzer gear. When the fine wire on the gram meter 400 stretches the brush wire 200 to leave the simulated ring body 300 (the other end of the brush wire 200 is isolated from the simulated ring body 300 by a piece of paper), the multimeter 100 stops buzzing, and the reading on the gram meter 400 at this moment is the pressure value of the brush wire 200. When the pressure value of the brush wire 200 does not meet the design value, it is necessary to manually adjust the angle of the brush wire 00, and then repeat the measurement of the pressure value of the brush wire 200 until it meets the requirements. It can be seen that the measuring point of the manual measurement method is not the actual contact position, and the measurement stability is poor, the measurement accuracy is low, and the measurement efficiency is low. Moreover, when the pressure value of the brush wire does not meet the index requirements, the angle of the brush wire needs to be manually adjusted, and then the measurement is performed, and the adjustment efficiency is low. In addition, due to the special structure of the conductive slip ring and the buzzing mode of the multimeter, the long measurement time can easily cause ear and eye fatigue of the operator. Summary of the invention
[0004] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art and to provide a conductive slip ring brush wire pressure automatic measurement and adjustment device, aiming to solve the problems of low manual measurement accuracy and low measurement efficiency, and to realize automatic measurement and automatic adjustment of brush wire pressure.
[0005] In order to solve the above technical problems, the present invention discloses a conductive slip ring brush wire pressure automatic measurement and adjustment device, comprising: a workbench, a mechanical arm, a probe assembly and a fixture assembly;
[0006] The robot arm and fixture assembly are mounted on the table top of the workbench by bolts;
[0007] The probe assembly is mounted at the end effector of the robot arm.
[0008] In the above-mentioned conductive slip ring brush wire pressure automatic measurement and adjustment device, the table surface area of the workbench is 0.8 meters × 0.8 meters, and the height is 0.7 meters.
[0009] In the above-mentioned conductive slip ring brush wire pressure automatic measurement and adjustment device, the repeatability positioning accuracy of the robot arm is better than 0.1mm.
[0010] In the above-mentioned conductive slip ring brush wire pressure automatic measurement and adjustment device, the probe assembly includes: a mechanical arm connector, a force sensor and a probe; wherein the probe is mounted on the force sensor by screws, the force sensor is mounted on the mechanical arm connector by screws, and the mechanical arm connector is mounted on the execution end of the mechanical arm by bolts.
[0011] In the above-mentioned conductive slip ring brush wire pressure automatic measurement and adjustment device, the accuracy of the force sensor is better than 0.01N.
[0012] In the above-mentioned conductive slip ring brush wire pressure automatic measurement and adjustment device, the fixture assembly includes: two pressure plates and a base; wherein the brush wire assembly is fixed to the base through the two pressure plates, and the base is installed on the table surface of the workbench through bolts.
[0013] In the above-mentioned conductive slip ring brush wire pressure automatic measurement and adjustment device, the brush wire assembly is composed of a plurality of brush wires (200).
[0014] In the above-mentioned automatic measurement and adjustment device for the brush wire pressure of the conductive slip ring, when working:
[0015] Install the brush assembly on the base of the fixture assembly and press it with two pressing plates; touch the three surfaces of the brush assembly with a probe to establish the XYZ coordinate system of the workpiece;
[0016] Program the motion trajectory of the robot arm and automatically measure the pressure of each brush wire of the brush wire assembly through the probe assembly;
[0017] When it is determined based on the measurement results that the pressure of a certain brush wire A does not meet the preset pressure requirement, the robotic arm controls the measuring needle to automatically push the brush wire A to adjust the angle α of the brush wire A, and then the pressure of the brush wire A is automatically measured again by the measuring probe assembly until the preset pressure requirement is met.
[0018] In the above-mentioned conductive slip ring brush wire pressure automatic measurement and adjustment device, when the mechanical arm controls the measuring needle to automatically push the brush wire A to adjust the angle α of the brush wire A, the adjustment point is selected to be 3 to 5 mm away from the root of the brush wire A.
[0019] In the above-mentioned conductive slip ring brush wire pressure automatic measurement and adjustment device, when the pressure of each brush wire of the brush wire assembly is automatically measured by the probe assembly, the probe is operated by the robotic arm to push the brush wire from the original position to the working position at the intersection point O. At this moment, the reading of the force sensor is the pressure of the brush wire.
[0020] The present invention has the following advantages:
[0021] (1) The present invention discloses an automatic measuring and adjusting device for the pressure of a conductive slip ring brush wire, which realizes the automatic measurement, automatic interpretation and automatic adjustment of the contact pressure of an elastic element (conductive slip ring brush wire).
[0022] (2) The present invention discloses an automatic measurement and adjustment device for the pressure of a conductive slip ring brush, which fully utilizes the convenience of mechanical arm operation and can operate stably, accurately and efficiently, saving more than 80% of the time compared with manual operation.
[0023] (3) The present invention discloses an automatic measurement and adjustment device for the brush wire pressure of a conductive slip ring, which adopts a high-precision force sensor as a measuring element, thereby improving the measurement accuracy, which can reach 0.0025N. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] Figure 1 It is the measurement principle diagram of the existing manual measurement method;
[0025] Figure 2 It is a structural schematic diagram of a conductive slip ring brush wire pressure automatic measurement and adjustment device in an embodiment of the present invention;
[0026] Figure 3 is a schematic structural diagram of a probe assembly in an embodiment of the present invention;
[0027] Figure 4 yes Figure 3 AA section view;
[0028] Figure 5 is a stereogram of a probe assembly in an embodiment of the present invention;
[0029] Figure 6 is a structural schematic diagram of a clamp assembly in an embodiment of the present invention;
[0030] Figure 7 is a three-dimensional diagram of a clamp assembly in an embodiment of the present invention;
[0031] Figure 8 The present invention is a working principle diagram of a device for automatically measuring and adjusting the brush wire pressure of a conductive slip ring in an embodiment of the present invention. DETAILED DESCRIPTION
[0032] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments disclosed in the present invention will be further described in detail below with reference to the accompanying drawings.
[0033] Reference Figure 2 In this embodiment, the conductive slip ring brush wire pressure automatic measurement and adjustment device includes: a workbench 1, a mechanical arm 2, a probe assembly 3 and a fixture assembly 4. The mechanical arm 2 and the fixture assembly 4 are mounted on the table of the workbench 1 by bolts; the probe assembly 3 is mounted on the execution end of the mechanical arm 2.
[0034] In this embodiment, the workbench 1 is the installation base of the device, and any common platform on the market can be selected. The workbench 1 has a table area of 0.8 m×0.8 m and a height of 0.7 m.
[0035] In this embodiment, the actuator of the device is bolted to the table of the workbench 1. For safety reasons, a collaborative robot with a higher safety factor on the market can be selected. At the same time, in order to ensure the operation accuracy, the repeatability of the robot arm 2 should be better than 0.1mm.
[0036] In this embodiment, if Figures 3 to 5 As shown, the probe assembly 3 may specifically include: a mechanical arm connection 31, a force sensor 32 and a probe 33. The probe 33 is mounted on the force sensor 32 by screws, the force sensor 32 is mounted on the mechanical arm connection 31 by screws, and the mechanical arm connection 31 is mounted on the execution end of the mechanical arm 2 by bolts. In order to ensure the measurement accuracy, the accuracy of the force sensor 32 should be better than 0.01N.
[0037] In this embodiment, the brush wires of the conductive slip ring exist in the form of an assembly, that is, a plurality of brush wires 200 constitute a brush wire assembly 5; the clamp assembly 4 is used to fix the brush wire assembly 5. Figures 6-7 As shown, the fixture assembly 4 may specifically include: two pressing plates 41 and a base 42 ; wherein the brush assembly 5 is fixed on the base 42 via the two pressing plates 41 , and the base 42 is mounted on the table surface of the workbench 1 via bolts.
[0038] In this embodiment, the working process of the device mainly includes brush wire assembly calibration, brush wire pressure test, brush wire pressure adjustment, etc. Specifically, first, install the brush wire assembly 5 on the base 42 of the fixture assembly 4 and press it with two pressure plates 41; use the probe 33 to touch the three surfaces of the brush wire assembly 5 respectively to establish the XYZ coordinate system of the workpiece. Then, program the motion trajectory of the robot 2, and automatically measure the pressure of each brush wire of the brush wire assembly 5 through the probe assembly 3; specifically, as shown in FIG. Figure 8As shown, the measuring needle 33 can be operated by the robot arm 2 to push the brush wire from the original position (dashed line) to the working position (solid line) at the tangent point O. At this moment, the reading of the force sensor 32 is the pressure of the brush wire. Further, when it is determined according to the measurement result that the pressure of a certain brush wire A does not meet the preset pressure requirement, the measuring needle 33 is automatically pushed by the robot arm 2 to adjust the angle α of the brush wire A, and then the pressure of the brush wire A is automatically measured again by the probe assembly 3 until the preset pressure requirement is met. Among them, when the measuring needle 33 is automatically pushed by the robot arm 2 to adjust the angle α of the brush wire A, in order to make the brush wire easier to produce plastic deformation, the adjustment point can be selected to be 3 to 5 mm away from the root of the brush wire A.
[0039] Based on the above embodiment, a specific example is given below for explanation.
[0040] Taking the measured pressure data of 12 brush wires of a product as a reference, the brush wire pressure measured 8 times is calculated as shown in Table 1, and the standard deviation of each set of data is 0.003264. Therefore, the volatility of the measured data is very small, and the data has high reliability.
[0041]
[0042] Table 1, data table of 8 measurements of 12 brush wires of a certain product (unit: N)
[0043] After the application of the automatic measurement and adjustment device for the conductive slip ring brush wire pressure, the adjustment time of various models of products was statistically analyzed, and it was found that the adjustment time of the robotic arm saved more than 80% of the time compared with manual adjustment, which greatly improved the production efficiency.
[0044] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.
[0045] The contents not described in detail in the specification of the present invention belong to the common knowledge of the professionals in this field.
Claims
1. A device for automatically measuring and adjusting the brush wire pressure of a conductive slip ring, characterized in that: include: A workbench (1), a mechanical arm (2), a probe assembly (3) and a fixture assembly (4); The mechanical arm (2) and the fixture assembly (4) are mounted on the table surface of the workbench (1) by means of bolts; The probe assembly (3) is installed at the execution end of the mechanical arm (2).
2. The conductive slip ring brush wire pressure automatic measurement and adjustment device according to claim 1 is characterized in that: The workbench (1) has a table area of 0.8 m×0.8 m and a height of 0.7 m.
3. The conductive slip ring brush wire pressure automatic measurement and adjustment device according to claim 1 is characterized in that: The repeatability of the positioning of the robot arm (2) is better than 0.1 mm.
4. The conductive slip ring brush wire pressure automatic measurement and adjustment device according to claim 1 is characterized in that: The probe assembly (3) comprises: a mechanical arm connecting member (31), a force sensor (32) and a measuring needle (33); wherein the measuring needle (33) is mounted on the force sensor (32) by means of screws, the force sensor (32) is mounted on the mechanical arm connecting member (31) by means of screws, and the mechanical arm connecting member (31) is mounted on the execution end of the mechanical arm (2) by means of bolts.
5. The conductive slip ring brush wire pressure automatic measurement and adjustment device according to claim 4 is characterized in that: The accuracy of the force sensor (32) is better than 0.01N.
6. The conductive slip ring brush wire pressure automatic measurement and adjustment device according to claim 4 is characterized in that: The clamp assembly (4) comprises: two pressing plates (41) and a base (42); wherein the brush assembly (5) is fixed on the base (42) via the two pressing plates (41), and the base (42) is mounted on the table surface of the workbench (1) via bolts.
7. The conductive slip ring brush wire pressure automatic measurement and adjustment device according to claim 6 is characterized in that: The brush wire assembly (5) is composed of a plurality of brush wires (200).
8. The conductive slip ring brush wire pressure automatic measurement and adjustment device according to claim 7, characterized in that: When working: The brush wire assembly (5) is mounted on the base (42) of the fixture assembly (4) and is pressed tightly with two pressing plates (41); the three surfaces of the brush wire assembly (5) are touched respectively with a measuring needle (33) to establish an XYZ coordinate system of the workpiece; The motion trajectory of the robot arm (2) is programmed, and the pressure of each brush wire of the brush wire assembly (5) is automatically measured through the probe assembly (3); When it is determined based on the measurement result that the pressure of a certain brush wire A does not meet the preset pressure requirement, the mechanical arm (2) controls the measuring needle (33) to automatically push the brush wire A to adjust the angle α of the brush wire A, and then the measuring head assembly (3) automatically measures the pressure of the brush wire A again until the preset pressure requirement is met.
9. The conductive slip ring brush wire pressure automatic measurement and adjustment device according to claim 8, characterized in that: When the measuring needle (33) is controlled by the mechanical arm (2) to automatically push the brush wire A to adjust the angle α of the brush wire A, the adjustment point is selected to be 3 to 5 mm away from the root of the brush wire A.
10. The conductive slip ring brush wire pressure automatic measurement and adjustment device according to claim 8, characterized in that: When the pressure of each brush wire of the brush wire assembly (5) is automatically measured by the probe assembly (3), the mechanical arm (2) operates the probe needle (33) to push the brush wire from the original position to the working position at the tangent point O. At this moment, the reading of the force sensor (32) is the pressure of the brush wire.