• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2024, Vol. 60 ›› Issue (7): 34-44.doi: 10.3901/JME.2024.07.034

• 机器人及机构学 • 上一篇    下一篇

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点胶机器人撞针磨损建模与不确定性分析

刘水清, 付锦园, 沈骁, 韩旭   

  1. 河北工业大学机械工程学院 天津 300401
  • 收稿日期:2023-04-24 修回日期:2023-08-12 出版日期:2024-04-05 发布日期:2024-06-07
  • 通讯作者: 韩旭,男,1968年出生,博士,教授,博士研究生导师。主要研究方向为复杂装备先进设计理论与方法。E-mail:xhan@hebut.edu.cn
  • 作者简介:刘水清,女,1989年出生,博士,讲师,硕士研究生导师。主要研究方向为材料/结构可靠性及失效机理。E-mail:liushuiqing0824@126.com;付锦园,男,1998年出生,硕士研究生。主要研究方向为冲击微动磨损。E-mail:fjy18238941292@163.com;沈骁,男,1996年出生,硕士研究生。主要研究方向为材料/结构可靠性及失效机理。E-mail:sx961216@163.com;
  • 基金资助:
    国家自然科学基金(52205260,52175222)、教育部“春晖计划”合作科研项目(HZKY20220253)和河北省自然科学基金(E2021202140)资助项目。

Wear Modeling and Uncertainty Analysis of Impact Needle for Dispensing Robot

LIU Shuiqing, FU Jingyuan, SHEN Xiao, HAN Xu   

  1. School of Mechanical Engineering, Hebei University of Technology, Tianjin 300401
  • Received:2023-04-24 Revised:2023-08-12 Online:2024-04-05 Published:2024-06-07

摘要: 点胶机器人利用压电堆叠驱动撞针上下往复高速运动产生压力差实现喷射点胶,从而达到半导体与电子器件表面封装的目的。囿于核心零部件撞针磨损畸变导致使役精度寿命降低是点胶机器人最主要的故障模式之一。撞针材料为粉末冶金工艺制备的硬质合金,存在空隙率、晶粒度等材料微观结构差异性;撞针磨损涉及材料微观结构差异性和撞针冲击频率、轴向行程等多源不确定性因素影响,物理建模困难;与此同时,现有磨损模型基于宏观冲击条件构建,鲜有考虑硬质合金撞针材料的非均质特性。综合考虑撞针材料微观结构差异性与使役条件不确定性,构建多因素耦合冲击微动磨损模型。利用二次衍生的λ-PDF方法对撞针涉及的磨损参量进行不确定性建模,利用降维积分方法对撞针磨损情况进行不确定性传播分析。结果表明,所建模型和所提方法可以很好反映撞针冲击微动磨损情况,为国产长寿命、高精度、高可靠性点胶机器人的保质设计提供新视角和新方法。

关键词: 冲击微动磨损, 多源不确定性, 磨损模型, 不确定性传播

Abstract: The dispensing robot uses piezoelectric stack to drive the impact needle up and down reciprocating high speed motion to generate pressure difference to achieve spraying dispensing, so as to achieve the purpose of semiconductor and electronic device surface packaging. One of the most important failure modes of dispensing robot is the reduction of service accuracy life due to the wear distortion of core parts impact needle. The impact needle material is the WC-Co cemented carbide prepared by powder metallurgy technology, and there are microstructure differences of materials such as voidage and grain size. It is difficult to build a physical model for impact needle wear, which involves the difference of microstructure, the impact frequency and the axial travel. At the same time, existing wear models were constructed based on macroscopic impact conditions, and rarely consider heterogeneous properties of cemented carbide materials. In this paper, a multi-factor coupling impact fretting wear model is established considering the microstructure difference of the impact needle material and the uncertainty of operating conditions. The uncertainty modeling of the wear parameters involved in the impact needle is carried out by the quadratic derivation λ-PDF method, and the uncertainty propagation of the wear is analyzed by the dimensionality reduction integral method. The results show that the model and the proposed method can well reflect the impact fretting wear of the impact needle, and provide a new perspective and a new method for the quality protection design of domestic long-life, high-precision and high-reliability dispensing robot.

Key words: impact-fretting wear, multi-source uncertainties, wear model, propagation of uncertainty

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