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Mechanical arm force control assembling device and method

An assembly device and manipulator technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as less than ±0.01mm, difficult shaft hole assembly, etc., to prevent scratch damage, improve assembly efficiency, and reduce production cost effect

Inactive Publication Date: 2016-06-08
SHENYANG SIASUN ROBOT & AUTOMATION
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In the prior art, the assembly of shaft parts and hole parts using manipulators is realized by the accuracy of the manipulator itself. The repeat positioning accuracy of existing manipulators can generally reach up to ±0.01mm, while most of the accuracy is lower than ±0.01mm. 0.01mm, which makes it difficult to achieve high-precision shaft hole assembly by the existing assembly method relying on the precision of the manipulator itself

Method used

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  • Mechanical arm force control assembling device and method
  • Mechanical arm force control assembling device and method

Examples

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Embodiment 1

[0035] see figure 1 , this embodiment discloses a manipulator force control assembly device, including a manipulator main body 3 with a complete movable mechanism, a control system (not shown), a force sensor 4, a gripper 5 and an assembly platform 6 provided with a clamp; The system is installed inside the manipulator main body 3; the force sensor 4 is installed at the end of the manipulator main body 3 and connected to the control system; the gripper 5 is installed on the force sensor 4; the assembly platform 6 is arranged on the side of the manipulator main body 3, located Directly below hand 5.

[0036] The main body 3 of the manipulator undertakes the overall movement function, and drives the shaft workpiece 1 for assembly movement. The control system is equivalent to the "brain" of the device, used for processing and analyzing data information, and ordering the manipulator main body 3 to perform corresponding movements. The force sensor 4 is used to detect the contact ...

Embodiment 2

[0043] The present invention also provides a mechanical hand force control assembly method, comprising the following steps:

[0044] S01, fix the hole workpiece 2 on the assembly platform 6, the manipulator main body 3 drives the gripper 5 to grab and clamp the shaft workpiece 1, so that the shaft workpiece 1 is facing the hole workpiece 2 axially;

[0045] S02. The manipulator main body 3 drives the shaft workpiece 1 for axial trial assembly. If the force sensor 4 detects that the contact force during the trial assembly is zero, the assembly is performed directly;

[0046] S03. If the force sensor 4 detects that the contact force during the trial assembly is not zero, the control system analyzes and commands the manipulator main body 3 to drive the shaft workpiece 1 to find the hole center position of the hole workpiece 2 for reassembly.

[0047] see figure 2 , further, the step S03 includes the following steps:

[0048] S031. If the force sensor 4 detects that the contact...

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Abstract

The invention provides a mechanical arm force control assembling device and method. The mechanical arm force control assembling device comprises a mechanical arm body provided with a complete moving mechanism, a control system, a force sensor, a clamping hand and an assembling platform provided with a clamp. The control system is installed inside the mechanical arm body. The force sensor is installed at the end of the mechanical arm body and connected with the control system. The clamping hand is installed on the force sensor. The assembling platform is arranged on the lateral portion of the mechanical arm body and located under the clamping hand. According to the mechanical arm force control assembling device and method, high-precision assembly of a shaft and a hole is guaranteed through pressure recognition assembly.

Description

technical field [0001] The invention relates to the field of mechanical assembly, in particular to a mechanical hand force control assembly device and an assembly method. Background technique [0002] In the field of machinery, the assembly of shafts and holes is a common type of assembly. In modern production, the assembly of shafts and holes is generally done by manipulators. [0003] In the prior art, the assembly of shaft parts and hole parts using manipulators is realized by the accuracy of the manipulator itself. The repeat positioning accuracy of existing manipulators can generally reach up to ±0.01mm, while most of the accuracy is lower than ±0.01mm. 0.01mm, which makes it difficult to achieve high-precision shaft hole assembly by the existing assembly method relying on the accuracy of the manipulator itself. [0004] It is not difficult to see that there are certain defects in the prior art. Contents of the invention [0005] The technical problem to be solved ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23P19/12B25J9/00
Inventor 何伟全李学威边弘晔何元一吴琼徐冰
Owner SHENYANG SIASUN ROBOT & AUTOMATION
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