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Device and method for realizing axle hole assembly by utilizing flexibility of robot

A robotic and flexible technology, used in manipulators, program-controlled manipulators, metal processing, etc., can solve the problems of low positioning accuracy of fixtures, assembly failures, and restrictions on popularization and application, to eliminate position uncertainty, reduce positioning accuracy and The effect of the requirement of robot operation accuracy

Inactive Publication Date: 2012-11-21
JIANGSU SANLI HYDRAULIC MACHINERY
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  • Abstract
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Problems solved by technology

Therefore, if the positioning accuracy of the fixture is not high, or the position and orientation of the hole changes during the assembly process, the assembly will fail.
This defect limits the popularization and application of these methods in actual production
[0005] At present, in some high-precision assembly links, because it is difficult to precisely fix the position and orientation of the holes, the assembly task can only be completed manually

Method used

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  • Device and method for realizing axle hole assembly by utilizing flexibility of robot
  • Device and method for realizing axle hole assembly by utilizing flexibility of robot
  • Device and method for realizing axle hole assembly by utilizing flexibility of robot

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Embodiment Construction

[0042] In order to make the purpose of the present invention, technical solutions and advantages clearer, now with the figure 1 The installation of the shaft 4 into the hole 51 on the cylindrical assembly body 5 shown in is a specific example, and the specific implementation manner of the present invention will be further described in detail.

[0043] Such as figure 1 As shown, at least two sets of clamping devices that can extend to the inside and retract to the outside are installed on the base 2, and the positioning bolt 21 is fixed on the position of the base 2 surrounded by all the clamping devices. Among all the clamping devices, The action points of at least one pair of clamping devices are on a straight line passing through and perpendicular to the center line of the positioning pin 21. Here, a pair of clamping devices satisfying this condition is defined as a pair of reference clamping devices, and the positioning pin 21 is defined as a pair of reference clamping devi...

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Abstract

The invention discloses a device and method for realizing axle hole assembly by utilizing flexibility of a robot. The device comprises a base, at least two sets of clamping mechanisms, a robot and a vision sensor, wherein the vision sensor is used for sending a center position of an obtained hole to a controller of the robot; the robot is provided with four freedom degrees which comprise the freedom degree translated along the direction of three shafts of a three-dimensional coordinate system established by utilizing the center position of the hole as a circle centre and the freedom degree rotated around at least one shaft; and the controller of the robot can be used for increasing the gain of a position ring moving along the three shafts so that a claw installed at the tail end of the robot obtains the flexibility for automatically regulating claw gestures under the action of a reacting force applied by the shafts while in contact with the shafts.

Description

technical field [0001] The invention belongs to the field of mechatronics, and relates to a device and a method for realizing shaft hole assembly by utilizing the flexibility of a robot. Background technique [0002] In the process of industrial production, high-precision and high-reliability automatic assembly is the most important and urgent problem to be solved. The assembly task of putting the shaft into the hole is the most basic task in assembly, and the quality of its assembly has an important impact on the quality of the product. For example, the assembly of engine pistons, piston pins and connecting rods is a typical shaft-hole assembly. The accuracy of assembly will directly affect the performance of the engine. If the assembly accuracy is not high, its service life will be greatly shortened. [0003] The assembly problem of the shaft and the hole has aroused extensive attention of researchers, and many shaft-hole assembly methods have been proposed. Earlier rese...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23P19/04B25J9/10B25J19/00
Inventor 乔红苏建华仼冬淳
Owner JIANGSU SANLI HYDRAULIC MACHINERY
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