A shaft parts assembly method and equipment

Abstract

The present invention relates to the technical field of combined processing, and provides a shaft part assembly method and equipment, which is applied to the shaft part assembly equipment for press-fitting and assembling the first and second shaft parts, the shaft part assembly equipment includes an assembly area, a press-fit device and a reverse press-fit device, and the method includes placing the first shaft part with a matching through hole in the assembly area; aligning the second shaft part with the matching through hole, and controlling the press-fit device and applying pressure to press the second shaft part into and penetrate the matching through hole to obtain a preliminary assembly part; obtaining the size data of the second shaft part after penetrating the matching through hole, if the size data exceeds the standard size range, obtaining the error range and encoding, obtaining a feedback electrical signal and controlling the reverse press-fit device to reverse press the preliminary assembly part to obtain the target assembly part. Through the coordinated work of various components, automatic assembly is realized, and the problems of complicated procedures, unstable precision and low efficiency in the operation process are improved.

Description

Technical Field

[0001] The present application relates to the technical field of combined processing, and in particular to a shaft parts assembly method and equipment. Background Art

[0002] In modern manufacturing, shaft parts are key components widely used in various mechanical equipment. Whether it is the automotive industry, aerospace, or robotics, the accuracy and reliability of shaft parts are important factors affecting the performance of the entire machine. With the continuous advancement of science and technology, higher requirements are placed on the assembly accuracy and efficiency of shaft parts.

[0003] Among the related technical means, the traditional method of assembling shaft parts is generally to position and press together manually or with semi-automatic equipment. This method relies on the experience and technical level of the operator. Although it can achieve a certain assembly effect, it has limitations in accuracy and consistency. Especially in the case of high precision requirements, manual operation is difficult to ensure that the size and position of each part are in the ideal state.

[0004] Regarding the above technical solution, although the shaft parts can be assembled manually or semi-automatically, during the operation, due to the manual or semi-automatic assembly method, there are problems such as complicated procedures, unstable precision and low efficiency. Summary of the invention

[0005] In order to improve the problems of complicated procedures, unstable precision and low efficiency due to manual or semi-automatic assembly methods during operation, the present application provides a shaft parts assembly method and equipment, which intelligently controls the assembly process through a preset control system, thereby improving assembly precision and production efficiency.

[0006] The present invention provides a shaft parts assembly method, which is applied to a shaft parts assembly equipment for press-fitting and assembling a first shaft part and a second shaft part, the shaft parts assembly equipment comprising an assembly area, a press-fitting device and a reverse press-fitting device, the assembly method comprising: placing the first shaft part in the assembly area, wherein a matching through hole is provided on the outer peripheral wall of the first shaft part; aligning the second shaft part with the matching through hole, positioning the pressing position of the second shaft part, obtaining pressing position information, inputting the pressing position information into a preset control system, so as to control the pressing device to align with the second shaft part, and then applying pressure to The second shaft-like part is pressed into and passed through the matching through hole to obtain a preliminary assembled part; the size data of the second shaft-like part after passing through the matching through hole is obtained, and the size data is compared with a preset standard size range. If the comparison result exceeds the standard size range, the error range between the size data and the standard size range is obtained, and the error range is encoded to obtain a feedback electrical signal; wherein, the size data is the protruding length of the second shaft-like part after passing through the matching through hole; the feedback electrical signal is input into the control system to control the reverse pressing device to perform reverse pressing on the preliminary assembled part to obtain a target assembled part.

[0007] As a preferred solution, the step of aligning the second shaft-like part with the matching through hole, locating the pressing position of the second shaft-like part, and obtaining the pressing position information includes: taking a picture of the clamped first shaft-like part using a camera configured above the assembly area to obtain the hole position information of the matching through hole, analyzing the hole position information using an edge detection algorithm and Hough transform to obtain the hole position inclination and hole position coordinates; calculating the hole position inclination based on a preset first calculation formula to obtain the inclination angle , the first calculation formula is as follows:

[0008]

[0009] in, is the displacement difference of the hole position information in the vertical direction, is the displacement difference of the hole position information in the horizontal direction; the tilt angle is calculated based on the preset second calculation formula The inclination direction is calculated by calculating the coordinates of the hole position. , the second calculation formula is as follows:

[0010]

[0011] in, and is the coordinate difference of the hole position; using a preset correction formula based on the tilt angle Correct the hole position coordinates to obtain the corrected position coordinates. , the correction formula is as follows:

[0012]

[0013]

[0014] in, and is the original coordinate of the hole position, and is the coordinate of the hole position after correction; the corrected position coordinate is calculated by a preset neural network model and the tilt direction Correction factor , the correction factor The control system generates a control instruction by inputting the control system, and according to the control instruction, a preset robotic arm is controlled to grab the second shaft part and align it with the matching through hole; and the pressing position information of the second shaft part is calculated based on the length dimension of the second shaft part and the hole position information.

[0015] As a preferred solution, the calculation formula for calculating the pressing position information of the second shaft part based on the length dimension of the second shaft part and the hole position information is as follows:

[0016]

[0017] in, For the pressing position information, The preset standard length for the second shaft parts, Preset standard diameter for secondary shaft parts.

[0018] As a preferred embodiment, the step of inputting the pressing position information into a preset control system to control the pressing device to align with the second shaft part, applying pressure to press the second shaft part into and penetrate the matching through hole to obtain a preliminary assembled part includes: inputting the pressing position information into the control system, generating a pressing instruction, and then transmitting the pressing instruction to the pressing device, and after starting the position alignment operation, applying a preset pressure value to make the second shaft part gradually enter the matching through hole, until the second shaft part is penetrated to a preset length, and then the pressing device stops applying pressure to obtain a preliminary assembled part.

[0019] As a preferred embodiment, the step of obtaining the error range between the dimension data and the standard dimension range, encoding the error range, and obtaining a feedback electrical signal includes: obtaining the actual dimension data of the second shaft part after passing through the matching through hole, comparing the actual dimension data with the preset standard dimension range, and determining the error range; digitizing the error range through wavelet transform to obtain an error value and an error direction, encoding the error value and the error direction with an encoder to generate an error coding signal, and converting the error coding signal into a feedback electrical signal through an analog-to-digital converter.

[0020] As a preferred solution, the step of encoding the error value and the error direction using an encoder to generate an error coding signal includes: encoding the error value and the error direction by an encoder, in the encoder, quantizing the error value using Fourier transform to obtain an error quantization value, and directionally quantizing the error direction using principal component analysis to obtain a direction quantization value; combining the error quantization value and the direction quantization value according to a Huffman coding algorithm to obtain preliminary coding data, performing data compression on the preliminary coding data to obtain compressed coding data; verifying the compressed coding data using a cyclic redundancy check to generate a check code, appending the check code to the compressed coding data to obtain target coding data, and inputting the target coding data into a digital signal processor to generate an error coding signal.

[0021] As a preferred embodiment, the step of inputting the feedback electrical signal into the control system to control the reverse pressing device to perform reverse pressing on the preliminary assembled parts to obtain target assembled parts includes: inputting the feedback electrical signal into the control system, the control system analyzing the feedback electrical signal and generating a reverse pressing instruction, transmitting the reverse pressing instruction to the reverse pressing device, after the reverse pressing device starts the position alignment operation, applying a preset pressure value so that the second shaft part gradually enters the mating through hole along the error direction until the entry length of the second shaft part is the same as the error value, and then the reverse pressing device stops applying pressure to obtain the target assembled parts.

[0022] The present application also provides a shaft parts assembly device for press-fitting and assembling a first shaft part and a second shaft part, the shaft parts assembly device includes an assembly area, a press-fitting device and a reverse press-fitting device, the shaft parts assembly device also includes: a placement module for placing the first shaft part in the assembly area, wherein a matching through hole is provided on the outer peripheral wall of the first shaft part; a press-fitting module for aligning the second shaft part with the matching through hole, positioning the press-fitting position of the second shaft part, obtaining press-fitting position information, and inputting the press-fitting position information into a preset control system to control the press-fitting device to align with the second shaft part, and then apply pressure to press the second shaft part. The second shaft part is pressed into and passed through the matching through hole to obtain a preliminary assembled part; a comparison module is used to obtain the size data of the second shaft part after passing through the matching through hole, and compare the size data with a preset standard size range. If the comparison result exceeds the standard size range, the error range between the size data and the standard size range is obtained, and the error range is encoded to obtain a feedback electrical signal; wherein the size data is the length of the second shaft part after passing through the matching through hole; a reverse pressing module is used to input the feedback electrical signal into the control system to control the reverse pressing device to perform reverse pressing on the preliminary assembled part to obtain a target assembled part.

[0023] Compared with the prior art, the present application has the following beneficial effects: stable precision and high efficiency. The first shaft-type parts and the second shaft-type parts are in the preset assembly area, and the sensors and control systems work together to ensure the precise positioning and force control of each pressing step. The measuring device monitors and feeds back the dimensional data in real time, so that the control system can make instant adjustments according to the measurement results to ensure the accuracy and consistency of the assembly. The introduction of the reverse pressing device further improves the fault tolerance rate in the assembly process, and ensures the quality of the final product by automatically correcting the dimensional error. It not only improves the production efficiency, but also reduces the error and labor intensity of manual operation, and realizes high-precision and high-quality automated assembly, improving the problems of cumbersome procedures, unstable precision and low efficiency due to manual or semi-automatic assembly methods during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0025] The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportion or adjustment of size, without affecting the effects and purposes that can be achieved by the present invention, should still fall within the scope of the technical contents disclosed by the present invention.

[0026] Figure 1 It is a schematic flow chart of a shaft parts assembly method provided by an embodiment of the present invention;

[0027] Figure 2 It is a schematic block diagram of the structure of a shaft parts assembly device provided by an embodiment of the present invention.

[0028] Description of reference numerals:

[0029] 10. Shaft parts assembly equipment; 11. Placement module; 12. Pressing module; 13. Comparison module; 14. Reverse pressing module. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0032] It should also be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0033] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0034] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0035] Embodiment 1:

[0036] like Figure 1 As shown, the present application provides a shaft parts assembly method, which is applied to a shaft parts assembly device for press-fitting and assembling a first shaft part and a second shaft part, such as any one of the following: a horizontal CNC lathe, a vertical CNC lathe, and an industrial robot. The shaft parts assembly device includes an assembly area, a press-fit device, and a reverse press-fit device, and the press-fit device and the reverse press-fit device include any one of the following: a hydraulic ejector device, a pneumatic ejector device, an electric mechanical ejector device, and a servo-driven ejector device. The assembly method includes steps S100 to S400, which are as follows:

[0037] Step S100: placing a first shaft-type part in an assembly area, wherein a matching through hole is opened on an outer peripheral wall of the first shaft-type part.

[0038] In this step, the first shaft-like part is accurately placed in the assembly area; specifically, by using a fixture or a positioning device, it is ensured that the matching through hole of the first shaft-like part is aligned with the predetermined position, thereby ensuring the smooth progress of subsequent steps.

[0039] For example, during the assembly of an automobile transmission shaft, the main shaft of the transmission shaft is placed on a positioning platform and fixed with a special fixture to ensure that the mating through-hole is positioned accurately.

[0040] Step S200, align the second shaft part with the matching through hole, locate the pressing position of the second shaft part, obtain the pressing position information, input the pressing position information into a preset control system to control the pressing device to align with the second shaft part, apply pressure to press the second shaft part into and penetrate it into the matching through hole, and obtain a preliminary assembled part.

[0041] In this step, an optical sensor or laser is used to accurately locate the position of the second shaft part; specifically, after the sensor detects the position of the second shaft part, the information is transmitted to the control system, and the control system calculates the optimal pressing path and force, and automatically adjusts the parameters of the pressing device.

[0042] For example, during the assembly process of an industrial robot, the robot's joint axes are precisely aligned through a laser positioning system and assembled using an automatic pressing device.

[0043] Step S300, obtain the dimensional data of the second shaft-type part after it is penetrated by the matching through hole, compare the dimensional data with the preset standard dimensional range, if the comparison result exceeds the standard dimensional range, obtain the error range between the dimensional data and the standard dimensional range, encode the error range, and obtain a feedback electrical signal; wherein the dimensional data is the penetration length of the second shaft-type part after it is penetrated by the matching through hole.

[0044] In this step, high-precision measuring instruments, such as a coordinate measuring machine (CMM), are used to obtain precise dimensional data of the second shaft parts after the fitting through holes are penetrated. Specifically, the measurement data is transmitted to the control system for real-time comparison and analysis.

[0045] For example, in the processing of precision mechanical parts, a three-dimensional coordinate measuring machine is used to measure the dimensions of the processed parts to ensure that they meet the design standards.

[0046] Step S400: Input the feedback electrical signal into the control system to control the reverse pressing device to perform reverse pressing on the preliminary assembled parts to obtain target assembled parts.

[0047] In this step, after receiving the feedback electrical signal, the control system calculates the pressing parameters that need to be adjusted and controls the reverse pressing device to make corrections; specifically, by adjusting the pressure and position of the reverse pressing device, it ensures that the size and position accuracy of the final assembled parts meet the preset requirements.

[0048] For example, in the manufacturing process of medical devices, the preliminarily assembled parts are precisely adjusted through the back-pressing device to ensure the high precision and high quality of the product.

[0049] In this embodiment, the first shaft part is placed in the assembly area, and the matching through hole on the outer wall of the first shaft part is ensured to be in the correct position. Next, the second shaft part is aligned with the matching through hole of the first shaft part and positioned, and the pressing position information is obtained and input into the preset control system. Then, the pressing device applies pressure to press the second shaft part into and pass through the matching through hole of the first shaft part. Subsequently, the dimension data of the second shaft part after passing through the matching through hole is obtained and compared with the preset standard dimension range. If the dimension data exceeds the standard dimension range, a feedback electrical signal is obtained through the coding error range, and the feedback electrical signal is input into the control system to control the reverse pressing device to reverse press the preliminary assembled parts, and finally obtain the target assembled parts. By automatically obtaining and comparing the dimension data, the error in the pressing process can be adjusted in time, the consistency and accuracy of the assembly can be improved, and the error and labor intensity caused by manual operation can be reduced; at the same time, the introduction of the reverse pressing device effectively solves the problem of dimensional deviation, ensures the quality and performance of the final assembled parts, and improves the problems of cumbersome procedures, unstable precision and low efficiency due to manual or semi-automatic assembly methods during operation.

[0050] Embodiment 2:

[0051] In step S200, the second shaft-like part is aligned with the matching through hole, and the pressing position of the second shaft-like part is located to obtain the pressing position information, including: using a camera configured above the assembly area to take a picture of the clamped first shaft-like part to obtain the hole position information of the matching through hole, and using an edge detection algorithm and Hough transform to analyze the hole position information to obtain the hole position inclination and the hole position coordinates.

[0052] By configuring the camera and image processing algorithm, the specific position and angle information of the mating through-hole can be accurately obtained; specifically, the edge detection algorithm can effectively identify the edge position of the through-hole, and the Hough transform algorithm can parse the inclination and specific coordinate information of the hole position, providing accurate data for subsequent pressing.

[0053] For example, by taking multiple images of the first shaft parts with a high-speed camera and analyzing these images with image processing software, very accurate hole position information can be obtained.

[0054] The inclination of the hole position is calculated based on the preset first calculation formula to obtain the inclination angle , the first calculation formula is as follows:

[0055]

[0056] in, is the displacement difference of the hole position information in the vertical direction, is the displacement difference of the hole position information in the horizontal direction.

[0057] Through the first calculation formula, the displacement difference obtained by image processing can be converted into a specific tilt angle; specifically, these calculation results can be used to more accurately adjust the posture of the second shaft part to ensure its optimal fit with the matching through hole.

[0058] For example, by mathematically processing the image data, the inclination of the hole position can be accurately calculated, thereby adjusting the posture of the second axis part during the assembly process.

[0059] The tilt angle is calculated based on the preset second calculation formula Calculate the hole position coordinates to get the tilt direction , the second calculation formula is as follows:

[0060]

[0061] in, and is the coordinate difference of the hole position.

[0062] The second calculation formula is used to convert the tilt angle and position coordinates into a tilt direction; specifically, these data are used to control the movement direction of the robot arm so as to better align the mating through hole. For example, by applying the calculation formula, the specific direction of the hole position can be determined, thereby guiding the robot arm to perform precise alignment.

[0063] Utilizes preset correction formula based on tilt angle Correct the hole position coordinates and obtain the corrected position coordinates , the correction formula is as follows:

[0064]

[0065]

[0066] in, and is the original coordinate of the hole position, and are the coordinates of the hole position after correction.

[0067] The coordinate error caused by tilt can be corrected through the correction formula; specifically, the adjusted coordinates are used to reposition the second shaft part to ensure its accurate docking with the first shaft part.

[0068] For example, by applying a correction formula, coordinate deviations caused by tilt can be compensated, thereby improving assembly accuracy.

[0069] The corrected position coordinates are adjusted by the preset neural network model and tilt direction Correction factor , the correction factor The input control system generates a control instruction, and according to the control instruction, the preset robotic arm is controlled to grab the second shaft part and align it with the matching through hole.

[0070] Through self-learning and adjustment of the neural network model, the corrected coordinate and orientation data can be further optimized; specifically, the neural network can be trained based on a large number of data samples to provide more accurate correction factors and improve assembly accuracy.

[0071] For example, using a neural network model, we can analyze a large amount of historical data, learn the optimal correction strategy, and improve the alignment effect of the robotic arm.

[0072] The pressing position information of the second shaft part is calculated based on the length dimension and hole position information of the second shaft part.

[0073] By calculating the specific dimensional data of the second shaft parts and combining it with the hole position information, the position information of the pressing can be accurately determined; specifically, these data are used to set the action parameters of the pressing device to ensure the smooth progress of the pressing process.

[0074] For example, by measuring the length and diameter of the second shaft part and then combining it with the coordinate information of the hole position, the best pressing position can be determined to improve the assembly effect.

[0075] The calculation formula for calculating the pressing position information of the second shaft part based on the length dimension and hole position information of the second shaft part is as follows:

[0076]

[0077] in, For the pressing position information, The preset standard length for the second shaft parts, Preset standard diameter for secondary shaft parts.

[0078] Through the above calculation formula, the optimal pressing position of the second shaft part can be accurately calculated; specifically, these calculation results are used to guide the action of the pressing device to ensure the accuracy of assembly.

[0079] For example, the above formula can be used to comprehensively consider various parameters, thereby obtaining the optimal pressing position information to guide the actual pressing operation.

[0080] In step S200, the pressing position information is input into a preset control system to control the pressing device to align with the second shaft part, and then pressure is applied to press the second shaft part into and penetrate the matching through hole to obtain the preliminary assembled parts, including: inputting the pressing position information into the control system, generating a pressing instruction, and then transmitting the pressing instruction to the pressing device. After starting the position alignment operation, a preset pressure value is applied to gradually allow the second shaft part to enter the matching through hole until the second shaft part is penetrated to a preset length, and then the pressing device stops applying pressure to obtain the preliminary assembled parts.

[0081] By accurately controlling the pressing process through the control system, the correct installation of the second shaft parts can be ensured; specifically, the control system generates instructions based on the pressing position information to guide the operation of the pressing device to ensure the efficiency and accuracy of the assembly process.

[0082] For example, in actual operation, the control system can monitor the pressing process in real time and make adjustments based on feedback data to ensure that the second shaft part passes through the mating through hole smoothly.

[0083] In step S300, the error range between the dimension data and the standard dimension range is obtained, the error range is encoded, and the step of obtaining a feedback electrical signal includes: obtaining the actual dimension data of the second shaft part after the matching through hole is penetrated, comparing the actual dimension data with the preset standard dimension range, and determining the error range.

[0084] By obtaining actual size data through high-precision measuring equipment, errors occurring during the assembly process can be accurately determined; specifically, these error data are encoded and processed to generate feedback electrical signals for adjusting the assembly process.

[0085] For example, by using a laser rangefinder or other high-precision equipment, the actual size data can be obtained and compared with the standard size to determine the error range.

[0086] The error range is digitized by wavelet transform to obtain the error value and error direction, the error value and error direction are encoded by an encoder to generate an error coding signal, and the error coding signal is converted into a feedback electrical signal by an analog-to-digital converter.

[0087] Through advanced signal processing technology, the error range can be converted into a usable coded signal; specifically, the wavelet transform can refine the error information, and the encoder is responsible for converting this information into an electrical signal for feedback control.

[0088] For example, using wavelet transform technology, complex error data can be subdivided into different frequency bands, thereby processing the error information more accurately.

[0089] Among them, the step of using an encoder to encode the error value and the error direction to generate an error coding signal includes: encoding the error value and the error direction through an encoder, in the encoder, quantizing the error value using Fourier transform to obtain an error quantization value, and using principal component analysis to quantize the error direction to obtain a direction quantization value.

[0090] By combining multiple signal processing algorithms, error information can be better encoded; specifically, Fourier transform and principal component analysis are used to quantify the size and direction of the processing error, making the encoded signal more accurate.

[0091] For example, the error value can be converted into a frequency domain signal through Fourier transform, while principal component analysis can extract the main features of the error direction for further processing.

[0092] The error quantization value and the direction quantization value are combined according to the Huffman coding algorithm to obtain preliminary coded data, and the preliminary coded data is subjected to data compression processing to obtain compressed coded data.

[0093] Data compression through Huffman coding can effectively reduce the amount of coded data; specifically, the error quantization value and the direction quantization value are combined, and compression processing is performed using the Huffman coding algorithm to obtain optimized coded data.

[0094] For example, using the Huffman coding algorithm, the original error data can be effectively compressed, thereby reducing the burden of transmission and processing.

[0095] The compressed coded data is checked by using a cyclic redundancy check to generate a check code, which is then added to the compressed coded data to obtain target coded data, which is then input into a digital signal processor to generate an error coded signal.

[0096] The cyclic redundancy check can ensure the accuracy and integrity of the compressed encoded data; specifically, the check code is used to verify the correctness of the data during transmission and prevent transmission errors of erroneous data.

[0097] For example, using the cyclic redundancy check method, the compressed error data can be checked to ensure accurate data transmission and prevent assembly problems caused by transmission errors.

[0098] In step S400, the feedback electrical signal is input into the control system, the control system analyzes the feedback electrical signal and generates a reverse pressing instruction, which is transmitted to the reverse pressing device. After the reverse pressing device starts the position alignment operation, it applies a preset pressure value to make the second shaft part gradually enter the mating through hole along the error direction until the entry length of the second shaft part is the same as the error value. Then the reverse pressing device stops applying pressure to obtain the target assembly part.

[0099] Through the feedback adjustment mechanism of the control system, errors can be corrected in real time during the assembly process; specifically, the feedback electrical signal is used to guide the reverse pressing device to perform correction operations to ensure the accuracy of the assembly.

[0100] For example, in actual production, through real-time monitoring and feedback adjustment, the assembly deviation of shaft parts can be corrected and the quality of the final product can be improved.

[0101] In this embodiment, by configuring a camera, an image processing algorithm, a high-precision measuring device and advanced signal processing technology, efficient and accurate assembly of shaft parts is achieved. Specifically, by using a camera to capture and obtain hole position information, the hole position inclination and position coordinates are analyzed in combination with an edge detection algorithm and Hough transform to ensure the accuracy of the initial positioning. Based on the preset calculation formula, the hole position inclination angle and direction are accurately calculated, and the position coordinates are adjusted using a correction formula, further improving the accuracy of the data. The corrected data is corrected by a neural network model, a correction factor is generated, and input into the control system to guide the movement of the robot arm to ensure the smooth progress of the pressing process. During the assembly process, the control system monitors and obtains the dimensional data of the second shaft part in real time, and uses signal processing technologies such as wavelet transform and Fourier transform to digitize and encode the error information, generate feedback electrical signals, and guide the reverse pressing device to perform correction operations. Through the above steps, high-precision and high-efficiency automated assembly is achieved, which effectively improves production efficiency and product quality, and reduces the errors and labor intensity caused by manual operation.

[0102] Embodiment 3:

[0103] like Figure 2 As shown, the present application also provides a shaft part assembly device 10 for pressing and assembling a first shaft part and a second shaft part. The shaft part assembly device 10 includes an assembly area, a pressing device and a reverse pressing device. The shaft part assembly device 10 also includes a placement module 11, a pressing module 12, a comparison module 13 and a reverse pressing module 14.

[0104] The placement module 11 is mainly used to place the first shaft-like parts in the assembly area, wherein a matching through hole is opened on the outer peripheral wall of the first shaft-like parts.

[0105] The pressing module 12 is mainly used to align the second shaft part with the matching through hole, locate the pressing position of the second shaft part, obtain the pressing position information, input the pressing position information into a preset control system to control the pressing device to align with the second shaft part, apply pressure to press the second shaft part into and penetrate it into the matching through hole to obtain a preliminary assembled part.

[0106] The comparison module 13 is mainly used to obtain the dimensional data of the second shaft-type part after the fitting through hole is provided, and compare the dimensional data with the preset standard dimensional range. If the comparison result exceeds the standard dimensional range, the error range between the dimensional data and the standard dimensional range is obtained, the error range is encoded, and a feedback electrical signal is obtained; wherein the dimensional data is the protruding length of the second shaft-type part after the fitting through hole is provided.

[0107] The reverse pressing module 14 is mainly used to input the feedback electrical signal into the control system to control the reverse pressing device to perform reverse pressing on the preliminary assembled parts to obtain the target assembled parts.

[0108] In this embodiment, the efficient and precise assembly of the first shaft-like parts and the second shaft-like parts is achieved through the coordinated work of each module in the shaft parts assembly equipment 10. Specifically, the placement module 11 accurately places the first shaft-like parts in the assembly area through a precise positioning device to ensure that the position of the matching through hole is accurate. The pressing module 12 uses a high-precision sensor and a camera to obtain the pressing position information of the second shaft-like parts, and inputs this information into a preset control system, and applies appropriate pressure through a precise pressing device to press the second shaft-like parts into the matching through hole. The comparison module 13 uses a high-precision measuring instrument to obtain the dimensional data of the second shaft-like parts after the matching through hole is penetrated in real time, and compares it with the preset standard dimensional range. If the dimensional data exceeds the standard range, the system will obtain the error range and generate a feedback electrical signal through encoding. After receiving the feedback electrical signal, the reverse pressing module 14 accurately adjusts the reverse pressing device through the control system, and performs reverse pressing on the preliminarily assembled parts to ensure that the size and accuracy of the final target assembled parts meet the requirements.

[0109] It should be noted that technicians in the relevant technical field can clearly understand that for the convenience and simplicity of description, the specific working process of the equipment and each module described above can refer to the corresponding process in the aforementioned shaft parts assembly method embodiment, and will not be repeated here.

[0110] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A shaft parts assembly method, characterized in that: A shaft part assembly device for press-fitting and assembling a first shaft part and a second shaft part, the shaft part assembly device comprising an assembly area, a press-fit device and a reverse press-fit device, and the assembly method comprising: Placing the first shaft-like component in the assembly area, wherein a matching through hole is provided on the outer peripheral wall of the first shaft-like component; The first shaft-type part clamped is photographed by using a camera configured above the assembly area to obtain the hole position information of the matching through hole, and the hole position information is analyzed by using an edge detection algorithm and Hough transform to obtain the hole position inclination and hole position coordinates; the hole position inclination is calculated based on a preset first calculation formula to obtain the inclination angle , the first calculation formula is as follows: in, is the displacement difference of the hole position information in the vertical direction, is the displacement difference of the hole position information in the horizontal direction; the tilt angle is calculated based on the preset second calculation formula The inclination direction is calculated by calculating the coordinates of the hole position. , the second calculation formula is as follows: in, and is the coordinate difference of the hole position; Using a preset correction formula based on the tilt angle Correct the hole position coordinates to obtain the corrected position coordinates. , the correction formula is as follows: in, and is the original coordinate of the hole position, and is the coordinate of the hole position after correction; the corrected position coordinate is calculated by a preset neural network model and the tilt direction Correction factor , the correction factor The control system is input to generate a control instruction, and according to the control instruction, a preset robotic arm is controlled to grab the second shaft part and align it with the matching through hole; the pressing position information of the second shaft part is calculated based on the length dimension of the second shaft part and the hole position information, and the calculation formula is as follows: The calculation formula for calculating the pressing position information of the second shaft part based on the length dimension of the second shaft part and the hole position information is as follows: in, For the pressing position information, The preset standard length for the second shaft parts, The standard diameter of the second shaft part is preset, and the pressing position information is input into a preset control system to control the pressing device to align with the second shaft part, and then apply pressure to press the second shaft part into and penetrate the matching through hole to obtain a preliminary assembled part; Obtaining the dimension data of the second shaft-like part after passing through the matching through hole, comparing the dimension data with a preset standard dimension range, and if the comparison result exceeds the standard dimension range, obtaining the error range between the dimension data and the standard dimension range, encoding the error range, and obtaining a feedback electrical signal; wherein the dimension data is the length of the second shaft-like part after passing through the matching through hole; The feedback electrical signal is input into the control system to control the reverse pressing device to perform reverse pressing on the preliminary assembly parts to obtain target assembly parts.

2. The shaft parts assembly method according to claim 1, characterized in that: The step of inputting the pressing position information into a preset control system to control the pressing device to align with the second shaft part, applying pressure to press the second shaft part into and penetrate the matching through hole to obtain a preliminary assembly part includes: The pressing position information is input into the control system to generate a pressing instruction, which is then transmitted to the pressing device. After the position alignment operation is started, a preset pressure value is applied to allow the second shaft part to gradually enter the matching through hole until the second shaft part is penetrated to a preset length, at which time the pressing device stops applying pressure to obtain a preliminary assembled part.

3. The shaft parts assembly method according to claim 1, characterized in that: The step of obtaining the error range between the size data and the standard size range, encoding the error range, and obtaining a feedback electrical signal comprises: Acquire actual size data of the second shaft-type part after passing through the matching through hole, compare the actual size data with a preset standard size range, and determine an error range; The error range is digitized by wavelet transform to obtain an error value and an error direction, the error value and the error direction are encoded by an encoder to generate an error coding signal, and the error coding signal is converted into a feedback electrical signal by an analog-to-digital converter.

4. The shaft parts assembly method according to claim 3, characterized in that: The step of encoding the error value and the error direction by using an encoder to generate an error coding signal comprises: The error value and the error direction are encoded by an encoder, in which the error value is quantized by Fourier transform to obtain an error quantization value, and the error direction is quantized by principal component analysis to obtain a direction quantization value; Combining the error quantization value and the direction quantization value according to a Huffman coding algorithm to obtain preliminary coded data, and performing data compression processing on the preliminary coded data to obtain compressed coded data; The compressed coded data is checked by using a cyclic redundancy check to generate a check code, which is then added to the compressed coded data to obtain target coded data, which is then input into a digital signal processor to generate an error coded signal.

5. The shaft parts assembly method according to claim 3, characterized in that: The step of inputting the feedback electrical signal into the control system to control the reverse pressing device to reversely press the preliminary assembly parts to obtain the target assembly parts includes: The feedback electrical signal is input into the control system, the control system analyzes the feedback electrical signal and generates a reverse pressing instruction, and the reverse pressing instruction is transmitted to the reverse pressing device. After the reverse pressing device starts the position alignment operation, a preset pressure value is applied to make the second shaft part gradually enter the mating through hole along the error direction until the entry length of the second shaft part is the same as the error value, and then the reverse pressing device stops applying pressure to obtain the target assembly part.

6. A shaft parts assembly device applied to the shaft parts assembly method according to claim 1, used for press-fitting and assembling a first shaft part and a second shaft part, the shaft parts assembly device comprising an assembly area, a press-fit device and a reverse press-fit device, characterized in that: The shaft parts assembly equipment also includes: A placement module, used for placing the first shaft-like part in the assembly area, wherein a matching through hole is provided on the outer peripheral wall of the first shaft-like part; The pressing module is used to take a picture of the clamped first shaft part by using a camera arranged above the assembly area, obtain the hole position information of the matching through hole, analyze the hole position information by using an edge detection algorithm and Hough transform, and obtain the hole position inclination and hole position coordinates; calculate the hole position inclination based on a preset first calculation formula to obtain the inclination angle , the first calculation formula is as follows: in, is the displacement difference of the hole position information in the vertical direction, is the displacement difference of the hole position information in the horizontal direction; the tilt angle is calculated based on the preset second calculation formula The inclination direction is calculated by calculating the coordinates of the hole position. , the second calculation formula is as follows: in, and is the coordinate difference of the hole position; Using a preset correction formula based on the tilt angle Correct the hole position coordinates to obtain the corrected position coordinates. , the correction formula is as follows: in, and is the original coordinate of the hole position, and is the coordinate of the hole position after correction; the corrected position coordinate is calculated by a preset neural network model and the tilt direction Correction factor , the correction factor Input the control system to generate a control instruction, and according to the control instruction, control the preset robotic arm to grab the second shaft part and align it with the matching through hole; calculate the pressing position information of the second shaft part based on the length dimension of the second shaft part and the hole position information, and the calculation formula is as follows: The calculation formula for calculating the pressing position information of the second shaft part based on the length dimension of the second shaft part and the hole position information is as follows: in, For the pressing position information, The preset standard length for the second shaft parts, The standard diameter of the second shaft part is preset, and the pressing position information is input into a preset control system to control the pressing device to align with the second shaft part, and then apply pressure to press the second shaft part into and penetrate the matching through hole to obtain a preliminary assembled part; A comparison module is used to obtain the size data of the second shaft-like part after passing through the matching through hole, compare the size data with a preset standard size range, and if the comparison result exceeds the standard size range, obtain the error range between the size data and the standard size range, encode the error range, and obtain a feedback electrical signal; wherein the size data is the length of the second shaft-like part after passing through the matching through hole; The reverse pressing module is used to input the feedback electrical signal into the control system to control the reverse pressing device to perform reverse pressing on the preliminary assembled parts to obtain target assembled parts.

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