Internal support end effector and assembly method for inner and outer cylinder assembly

Abstract

The present invention provides an internal support type end effector and an assembly method for inner and outer cylinder assembly, comprising: an umbrella-shaped inner support, an auxiliary support electric cylinder, a 3D structured light camera, a lead screw motor, an inclination sensor, a 3D line laser camera and a support frame; the 3D structured light camera and the 3D line laser camera are respectively arranged at the front end and the rear end of the support frame; the lead screw motor and the umbrella-shaped inner support are arranged on the support frame, and the lead screw motor can drive the umbrella-shaped inner support to retract and expand; the auxiliary support electric cylinder and the inclination sensor are arranged on the support frame. The present invention meets the high precision and coaxiality requirements of the inner and outer cylinder assembly process by providing an internal support type end effector structure and an assembly method, improves assembly efficiency and reduces human resource consumption.

Description

Technical Field

[0001] The present invention relates to the field of assembly technology, and in particular, to an internally supported end effector and an assembly method for assembling inner and outer cylinders, and in particular to an internally supported end effector structure and a human-machine collaborative precision assembly method for an inner-mounted cylinder tube. Background Art

[0002] In modern manufacturing, the precision assembly technology of inner and outer cylinders is widely used in the manufacturing process of various high-precision equipment. The precision assembly of inner and outer cylinders requires extremely high relative position and precision between the two cylinders to ensure the performance and stability of the equipment. Especially in the assembly process of some high-precision structural parts, such as mechanical equipment and precision instruments, the precision of cylinder assembly directly affects the quality and service life of the overall equipment.

[0003] At present, the assembly technology of the inner and outer cylinders mainly relies on manual operation and general mechanical equipment for precise adjustment, which has problems such as low efficiency, difficulty in ensuring assembly accuracy, and large manual operation errors. In particular, for those assembly requirements that require high precision, high efficiency and a high degree of automation, traditional assembly methods can no longer meet their development needs. In some high-demand assembly scenarios, the assembly process requires repeated calibration and adjustment, resulting in a long production cycle and high production costs. The assembly systems in the prior art often lack a high degree of optimization for specific assembly requirements, resulting in difficulties in precision control, especially in assembly tasks that require multiple precision adjustments, and often fail to achieve the ideal assembly accuracy.

[0004] Therefore, the internally supported end effector structure and the human-machine collaborative inner mounting cylinder precision assembly method proposed in the present invention are aimed at the defects of the prior art, provide a high-efficiency and high-precision solution, and reduce the errors of manual operation.

[0005] The patent document with the publication number CN205057388U discloses a welding assembly tool for the inner and outer tubes of the pipe with through-hole supports, including a tool base and a plurality of support positioning tools; the upper end surface of the tool base is provided with an outer tube flange positioning groove for positioning the outer tube position and an inner tube flange positioning groove for positioning the inner tube position; upper and lower positioning supports are fixedly provided on the back plate of the support positioning tool, and the support positioning tool is fixed on the tool base, which is used to position and support the positions of multiple positioning support upper sections and multiple support lower sections. The upper section of the support is placed on the upper positioning support of the support positioning tool, and the lower section of the support is placed on the lower positioning support of the support positioning tool, and the positions of the upper section of the support and the lower section of the support are adjusted according to the through-hole of the outer tube and the through-hole of the inner tube; the upper and lower sections of the support are spot welded to the outer tube and the inner tube; and the welding assembly of the inner and outer tubes of the pipe with through-hole supports is realized through the above steps. However, the patent document still has the defect that it cannot achieve the ideal assembly accuracy. Summary of the invention

[0006] In view of the defects in the prior art, an object of the present invention is to provide an internally supported end effector for assembling inner and outer cylinders and an assembly method.

[0007] According to the present invention, an internal support end effector for assembling inner and outer cylinders includes: an umbrella-shaped internal support, an auxiliary support electric cylinder, a 3D structured light camera, a lead screw motor, an inclination sensor, a 3D line laser camera and a support frame;

[0008] The 3D structured light camera and the 3D line laser camera are respectively arranged at the front end and the rear end of the support frame;

[0009] The screw motor and the umbrella-shaped inner support are arranged on the support frame, and the screw motor can drive the umbrella-shaped inner support to contract and expand;

[0010] The auxiliary supporting electric cylinder and the inclination sensor are arranged on the supporting frame.

[0011] The present invention also provides an assembly method for assembling inner and outer cylinders, wherein the inner support end effector for assembling inner and outer cylinders is installed on a robot;

[0012] The specific steps include:

[0013] Step S1: Leveling the outer fixed cylinder located in the assembly area, and installing the auxiliary alignment tool on the leveled outer fixed cylinder;

[0014] Step S2: acquiring the posture and center position of the alignment end faces of the outer fixed cylinder and the inner mounting cylinder through the 3D structured light camera;

[0015] Step S3: obtaining point cloud data of the inner wall of the outer fixed cylinder and the inner wall of the inner mounting cylinder through the 3D line laser camera;

[0016] Step S4: inserting the inner support end effector into the inner mounting cylinder, and then driving the umbrella-shaped inner support to unfold through the screw motor, and propping up the inner mounting cylinder through the unfolded umbrella-shaped inner support;

[0017] Step S5: using the posture and center position of the end face obtained in step S3 and the point cloud data obtained in step S4, guiding the robot to insert the inner mounting cylinder into the leveled outer fixed cylinder;

[0018] Step S6: when the inner installation cylinder reaches the preset position in the outer fixed cylinder, the inner support end effector and the auxiliary alignment tool are relatively fixed, and then the auxiliary support electric cylinder is extended to support and fix the outer fixed cylinder;

[0019] Step S7: using a connector to lock the inner mounting cylinder in the outer fixing cylinder, and then shrinking the umbrella-shaped inner support and retracting the auxiliary support electric cylinder, so that the robot evacuates the assembly area;

[0020] Step S8: removing the auxiliary alignment tool from the outer fixed cylinder.

[0021] Preferably, in step S2, the end faces of the outer fixed cylinder and the inner mounting cylinder are photographed at multiple angles by the 3D structured light camera;

[0022] The postures and center positions of the alignment end faces of the outer fixed cylinder and the inner mounting cylinder are fitted by a point cloud clustering algorithm.

[0023] Preferably, in step S3, the inner wall of the outer fixed cylinder and the inner wall of the inner mounting cylinder are scanned in sections by the 3D line laser camera, and point cloud data are acquired by point cloud stitching.

[0024] Preferably, in step S5, during the insertion process, the inclination sensor is used to determine in real time whether the inner mounting cylinder is horizontal, and the judgment information is fed back to the robot, so that the robot calibrates the angle of the inner support end effector through the feedback judgment information.

[0025] Preferably, the inclination sensor transmits the inclination angle relative to the horizontal plane to the robot in real time, and the robot calibrates the angle of the internally-supported end effector in real time through the feedback angle to ensure the horizontal posture of the internally-supported end effector when performing assembly actions.

[0026] Preferably, in step S6, the end pin of the internally supported end effector is inserted into the pin hole of the auxiliary alignment tooling to relatively fix the internally supported end effector and the auxiliary alignment tooling;

[0027] And / or, in the step S7, the inner mounting cylinder is locked in the outer fixing cylinder using screws.

[0028] Preferably, the auxiliary supporting electric cylinder is installed on both sides of the supporting frame, and can support and fix the outer fixed cylinder.

[0029] Preferably, the umbrella-shaped inner supports are provided in two front and rear positions;

[0030] The front and rear two umbrella-shaped inner supports are connected to the central lead screw nut, and the lead screw nut is connected to the lead screw of the lead screw motor;

[0031] The screw motor drives the screw to rotate, and the screw nut on the screw moves accordingly. As the screw nut moves, the connecting rod of the umbrella-shaped inner support moves to support the inner mounting cylinder.

[0032] Preferably, the auxiliary alignment tool is installed on the outer fixed cylinder, and the auxiliary alignment tool is used to fix the inner mounting cylinder;

[0033] The auxiliary alignment tool is equipped with a three-jaw chuck, which is used for radial positioning and fixing.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. The present invention constructs a 3D vision system and utilizes point cloud clustering and splicing methods to achieve automatic alignment of the end faces of the outer fixed cylinder and the inner installed cylinder before assembly and real-time monitoring of the position of the internal support end effector during the assembly process, thereby preventing collisions during assembly and scanning, improving the safety of the assembly process, and ensuring the high-precision requirements for the assembly of the inner and outer cylinders.

[0036] 2. The present invention designs an internal support type end effector structure, utilizes an umbrella-shaped internal support to move the connecting rod to prop up the inner installed cylinder tube, and simultaneously utilizes an auxiliary support electric cylinder to support the outer fixed cylinder, thereby realizing the automated assembly process of the inner and outer cylinders, improving the assembly efficiency, and reducing the human resource consumption.

[0037] 3. In the present invention, an inclination sensor is added to the structure of the internally supported end effector. The inclination sensor is used to determine in real time whether the inner mounting cylinder is horizontal. The robot calibrates the angle of the internally supported end effector through feedback to ensure the horizontal posture and rolling posture of the internally supported end effector when performing assembly actions, thereby avoiding collisions and improving assembly accuracy.

[0038] 4. The present invention realizes a method of assembling a high-precision inner mounting cylinder to an outer fixed cylinder in human-machine collaboration by designing an internally supported end effector and auxiliary alignment tooling, which effectively ensures the coaxiality and precision requirements of the inner mounting cylinder assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0040] Figure 1 is a flow chart of the assembly method of the present invention;

[0041] Figure 2 is a schematic diagram of the general assembly equipment of the present invention;

[0042] Figure 3It is a front view of the internally supported end effector structure of the present invention;

[0043] Figure 4 A top view of the internally supported end effector structure of the present invention;

[0044] Figure 5 It is a front view of the inner-supported end effector of the present invention supporting the inner mounting cylinder;

[0045] Figure 6 To assist in aligning the main view of the tooling;

[0046] Figure 7 This is the side view of the inner and outer cylinder frames after the auxiliary alignment tooling is installed;

[0047] Figure 8 This is the front view after the inner mounting cylinder is assembled to the outer fixed cylinder.

[0048] The figure shows:

[0049] DETAILED DESCRIPTION

[0050] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0051] Embodiment 1:

[0052] like Figure 1-8 As shown, this embodiment provides an internal support type end effector for assembling inner and outer cylinders, including: an umbrella-shaped inner support 21, an auxiliary support electric cylinder 22, a 3D structured light camera 23, a screw motor 24, an inclination sensor 25, a 3D line laser camera 26 and a support frame 27; the 3D structured light camera 23 and the 3D line laser camera 26 are respectively arranged at the front end and the rear end of the support frame 27; the screw motor 24 and the umbrella-shaped inner support 21 are arranged on the support frame 27, and the screw motor 24 can drive the umbrella-shaped inner support 21 to contract and expand; the auxiliary support electric cylinder 22 and the inclination sensor 25 are arranged on the support frame 27.

[0053] The auxiliary support electric cylinder 22 is installed on both sides of the support frame 27, and can support and fix the outer fixed cylinder 3. There are two umbrella-shaped inner supports 21 in front and back; the two front and rear umbrella-shaped inner supports 21 are connected to the central screw nut, and the screw nut is connected to the screw of the screw motor 24; the screw motor 24 drives the screw to rotate, and the screw nut on the screw moves accordingly. As the screw nut moves, the connecting rod of the umbrella-shaped inner support 21 moves to prop up the inner installation cylinder 5. The auxiliary alignment tool 4 is installed on the outer fixed cylinder 3, and the auxiliary alignment tool 4 is used to fix the inner installation cylinder 5; the auxiliary alignment tool 4 is equipped with a three-jaw chuck 41, and the three-jaw chuck 41 is used for radial positioning and fixing.

[0054] This embodiment also provides an assembly method for assembling inner and outer cylinders, wherein the inner support end effector 2 for assembling inner and outer cylinders is installed on the robot 1;

[0055] The specific steps include:

[0056] Step S1: Leveling the outer fixed cylinder 3 located in the assembly area, and installing the auxiliary alignment tool 4 on the leveled outer fixed cylinder 3;

[0057] Step S2: acquiring the posture and center position of the alignment end faces of the outer fixed cylinder 3 and the inner mounting cylinder 5 through the 3D structured light camera 23;

[0058] The end surfaces of the outer fixed cylinder 3 and the inner mounting cylinder 5 are photographed at multiple angles by a 3D structured light camera 23;

[0059] The posture and center position of the alignment end faces of the outer fixed cylinder 3 and the inner mounting cylinder 5 are fitted by a point cloud clustering algorithm.

[0060] Step S3: point cloud data of the inner wall of the outer fixed cylinder 3 and the inner wall of the inner mounting cylinder 5 through the 3D line laser camera 26;

[0061] The inner wall of the outer fixed cylinder 3 and the inner wall of the inner mounting cylinder 5 are scanned in sections by a 3D line laser camera 26, and point cloud data are obtained by point cloud stitching.

[0062] Step S4: inserting the inner support type end effector 2 into the inner mounting cylinder 5, and then driving the umbrella-shaped inner support 21 to unfold through the screw motor 24, and propping up the inner mounting cylinder 5 through the unfolded umbrella-shaped inner support 21;

[0063] Step S5: using the posture and center position of the end face obtained in step S3 and the point cloud data obtained in step S4, guide the robot 1 to insert the inner mounting cylinder 5 into the leveled outer fixed cylinder 3;

[0064] During the insertion process, the inclination sensor 25 determines in real time whether the inner mounting cylinder 5 is horizontal, and feeds back the judgment information to the robot 1, so that the robot 1 calibrates the angle of the inner support end effector 2 according to the feedback judgment information;

[0065] The inclination sensor 25 transmits the inclination angle relative to the horizontal plane to the robot 1 in real time. The robot 1 calibrates the angle of the internally supported end effector 2 in real time through the feedback angle to ensure the horizontal posture of the internally supported end effector 2 when performing the assembly action.

[0066] Step S6: When the inner installation cylinder 5 reaches the preset position in the outer fixed cylinder 3, the inner support end effector 2 and the auxiliary alignment tool 4 are relatively fixed, and then the auxiliary support electric cylinder 22 is extended to support and fix the outer fixed cylinder 3;

[0067] The end pin of the internal support type end effector 2 is inserted into the pin hole of the auxiliary alignment tool 4 to relatively fix the internal support type end effector 2 and the auxiliary alignment tool 4 .

[0068] Step S7: Use a connector to lock the inner mounting cylinder 5 in the outer fixed cylinder 3, then shrink the umbrella-shaped inner support 21 and retract the auxiliary support electric cylinder 22, so that the robot 1 withdraws from the assembly area;

[0069] The inner mounting cylinder 5 is locked in the outer fixing cylinder 3 using screws.

[0070] Step S8: Remove the auxiliary alignment tool 4 from the outer fixed cylinder 3.

[0071] Embodiment 2:

[0072] Those skilled in the art may understand this embodiment as a more specific description of Embodiment 1.

[0073] This embodiment provides an internal support type end effector structure for assembling inner and outer cylinders, including an umbrella-shaped internal support 21, an auxiliary support electric cylinder 22, a 3D structured light camera 23, a lead screw motor 24, an inclination sensor 25, and a 3D line laser camera 26. The internal support type end effector structure is installed on an industrial robot, wherein the front and rear umbrella-shaped internal supports are simultaneously connected to a central lead screw nut, and the lead screw nut is connected to the lead screw motor.

[0074] This embodiment also provides a human-machine collaborative inner side mounting cylinder precision assembly method, which is based on the auxiliary alignment tool and the above-mentioned inner support type end effector structure and includes the following steps:

[0075] S1. Manually install the auxiliary alignment tool on the outer fixed cylinder;

[0076] S2. The 3D structured light camera on the internal support end effector takes pictures of the end faces of the outer fixed cylinder and the inner installation cylinder for alignment;

[0077] S3, the line laser camera on the internal support end effector scans to obtain the point cloud of the inner and outer cylinders, and calculates and obtains the deviation by analyzing and extracting the characteristic spatial posture in the point cloud, so as to guide the robot to perform posture correction when installing the cylinder to achieve precise positioning effect;

[0078] S4, the umbrella-shaped inner support moves the connecting rod to prop up the inner installation cylinder, and the scanning data of the outer fixed cylinder is used to guide the robot to insert the inner installation cylinder into the outer fixed cylinder. The inclination sensor determines in real time whether the inner installation cylinder is horizontal, and the robot calibrates the angle of the inner support end effector through feedback;

[0079] S5. Insert the pin at the end of the actuator into the pin hole of the auxiliary tooling to assist in supporting the electric cylinder to open, support the inner wall of the proximal outer fixed cylinder, and fix the overall position of the inner mounting cylinder;

[0080] S6. Manually tighten the inner mounting cylinder with screws, and the robot leaves the assembly area;

[0081] S7. Manual disassembly of auxiliary alignment tooling.

[0082] The 3D structured light camera 23 is installed at the rear end of the internally supported end effector 2, and can align the posture position of the end face and the center of the outer fixed cylinder 3 and the inner mounting cylinder 5, so that the robot 1 and the internally supported end effector 2 can enter the outer fixed cylinder 3 and the inner mounting cylinder 5 without collision.

[0083] The 3D line laser camera 26 is installed at the front end of the internally supported end effector 2, and can scan the inner wall of the outer fixed cylinder 3 and the inner wall of the inner mounting cylinder 5 to fit the complete posture of the cylinder.

[0084] The auxiliary supporting electric cylinders 22 are installed on both sides to support the outer fixed cylinder 3 .

[0085] The front and rear umbrella-shaped inner supports 21 are simultaneously connected to the central lead screw nut, and the lead screw nut is connected to the lead screw motor 24 .

[0086] The screw motor 24 drives the screw to rotate, and the screw nut moves accordingly, so that the connecting rod of the umbrella-shaped inner support 21 moves to support the inner mounting cylinder 5.

[0087] The inclination sensor 25 transmits the inclination angle relative to the horizontal plane to the robot 1 in real time. The robot 1 calibrates the angle of the internally supported end effector 2 in real time through the feedback angle to ensure the horizontal posture of the internally supported end effector 2 when performing assembly actions, avoid collision and improve assembly accuracy.

[0088] The 3D structured light camera 23 in step S1 can take multi-angle photos of the end faces in advance before scanning the inner walls of the outer fixed cylinder 3 and the inner mounting cylinder 5, and fit the posture and center position of the end faces of the outer fixed cylinder 3 and the inner mounting cylinder 5 through the built-in point cloud clustering algorithm of the 3D structured light camera 23, and guide the robot 1 equipped with the internal support end effector 2 to enter the outer fixed cylinder 3 and the inner mounting cylinder 5 to use the 3D line laser camera 26 for precise positioning scanning.

[0089] In order to prevent collision during scanning, the 3D line laser camera 26 in step S2 uses segmented scanning posture estimation and then point cloud stitching. During the scanning posture process, it can monitor in real time whether the internal support end effector 2 is in a safe position.

[0090] The auxiliary tooling 4 in step S4 is installed on the outer fixed cylinder 3 to fix the inner mounting cylinder 5 , and a three-jaw chuck 41 is installed on the auxiliary tooling for radial positioning and fixing.

[0091] The present embodiment relates to the field of assembly, specifically, to the technical field of precision assembly of inner and outer cylinders, and provides an internally supported end effector structure and a human-machine collaborative precision assembly method for an inner mounted cylinder.

[0092] This embodiment provides an internally supported end effector structure and an assembly method to meet the high precision and coaxiality requirements of the inner and outer cylinder assembly process, thereby improving assembly efficiency and reducing human resource consumption.

[0093] Embodiment 3:

[0094] This embodiment provides an internal support type end effector suitable for precise assembly of the outer fixed cylinder and the inner installation cylinder of the inner and outer cylinders, such as Figure 3 , Figure 4 , Figure 5 As shown, it includes an umbrella-shaped inner support, an auxiliary support electric cylinder, a 3D structured light camera, a lead screw motor, an inclination sensor, and a 3D line laser camera; the front and rear umbrella-shaped inner supports are simultaneously connected to the central lead screw nut, and the lead screw nut is connected to the lead screw motor; the 3D structured light camera is installed at the rear end of the inner support type end effector; the auxiliary support electric cylinder is installed on both sides; and the 3D line laser camera is installed at the front end of the inner support type end effector.

[0095] Furthermore, the 3D structured light camera can align the outer fixed cylinder and the inner mounting cylinder, so that the robot and the internally supported end effector can enter the outer fixed cylinder and the inner mounting cylinder without collision.

[0096] Furthermore, the 3D line laser camera can scan the inner wall of the outer fixed cylinder and the inner wall of the inner installation cylinder to fit the complete posture of the cylinder.

[0097] Furthermore, the auxiliary supporting electric cylinders on both sides can be extended to support the outer fixed cylinder.

[0098] Furthermore, the screw motor drives the screw to rotate, and the screw nut moves accordingly, and the connecting rod of the umbrella-shaped inner support moves to support the inner mounting cylinder.

[0099] Furthermore, the inclination sensor transmits the inclination angle relative to the horizontal plane to the robot in real time. The robot calibrates the angle of the internally supported end effector in real time through the feedback angle to ensure the horizontal posture of the internally supported end effector when performing assembly actions, avoid collision and improve assembly accuracy.

[0100] Based on the internal support end effector and the auxiliary alignment tooling, this embodiment provides a human-machine collaborative inner side mounting cylinder precision assembly method, including the following steps:

[0101] S1. Manually install the auxiliary alignment tool on the outer fixed cylinder;

[0102] S2. The 3D structured light camera on the internal support end effector takes pictures of the end faces of the outer fixed cylinder and the inner installation cylinder for alignment;

[0103] S3, the line laser camera on the internal support end effector scans to obtain the point cloud of the inner and outer cylinders, and calculates and obtains the deviation by analyzing and extracting the characteristic spatial posture in the point cloud, so as to guide the robot to perform posture correction when installing the cylinder to achieve precise positioning effect;

[0104] S4, the umbrella-shaped inner support moves the connecting rod to prop up the inner installation cylinder, and the scanning data of the outer fixed cylinder is used to guide the robot to insert the inner installation cylinder into the outer fixed cylinder. The inclination sensor determines in real time whether the inner installation cylinder is horizontal, and the robot calibrates the angle of the inner support end effector through feedback;

[0105] S5. Insert the pin at the end of the actuator into the pin hole of the auxiliary tooling to assist in supporting the electric cylinder to open, support the inner wall of the proximal outer fixed cylinder, and fix the overall position of the inner mounting cylinder;

[0106] S6. Manually tighten the inner mounting cylinder with screws, and the robot leaves the assembly area;

[0107] S7. Manual disassembly of auxiliary alignment tooling.

[0108] The specific assembly process is:

[0109] The outer fixed cylinder 3 is transported to the assembly area by the AGV. After the outer fixed cylinder 3 is leveled, the auxiliary alignment tool 4 is manually installed on the outer fixed cylinder 3. Before scanning the inner wall of the outer fixed cylinder 3 and the inner installation cylinder 5, the 3D structured light camera 23 in the terminal vision system of the robot 1 takes multi-angle photos of the end face in advance. The point cloud clustering algorithm built into the 3D structured light camera 23 is used to fit the posture and center position of the alignment end face of the outer fixed cylinder 3 and the inner installation cylinder 5. The robot 1 is guided to carry the inner support type end effector 2 into the outer fixed cylinder 3 and the inner installation cylinder 5 and use the 3D line laser camera 26 to scan. After obtaining the position, the 3D line laser camera 26 in the terminal vision system of the robot 1 is used to scan the inner wall of the outer fixed cylinder and the inner installation cylinder 5. Through the form of segmented scanning posture initial estimation and then point cloud splicing, during the scanning posture process, it can be monitored in real time whether the inner support type end effector 2 is in The safe position and guiding robot perform posture correction when installing the cylinder to achieve precise positioning effect. After entering the inner installation cylinder tube 5, the umbrella-shaped inner support 21 on the inner support end effector 2 is driven by the screw motor 22 to move the connecting rod, drive the screw to rotate, and the screw nut moves accordingly. The connecting rod of the umbrella-shaped inner support 21 moves to prop up the inner installation cylinder 5, and use the scanning data of the outer fixed cylinder 3 to guide the robot to insert the inner installation cylinder tube 5 into the outer fixed cylinder 3. The inclination sensor 25 determines in real time whether the inner installation cylinder 5 is horizontal. The robot 1 calibrates the angle of the inner support end effector 2 through feedback, and the pin at the end of the actuator 2 is inserted into the pin hole of the auxiliary tooling 4. The auxiliary support electric cylinder 24 is opened to support the inner wall of the proximal outer fixed cylinder 3 and keep the overall position of the inner installation cylinder 5 fixed. The inner installation cylinder 5 is manually locked with screws, and the robot 1 withdraws from the assembly area. The auxiliary alignment tooling 4 is manually disassembled, and the overall assembly process is completed.

[0110] The present invention provides an internal support type end effector structure and an assembly method, thereby meeting the high precision and coaxiality requirements of the inner and outer cylinder assembly process, improving the assembly efficiency and reducing the human resource consumption.

[0111] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0112] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. An assembly method for assembling inner and outer cylinders, characterized in that: An internal support end effector (2) for assembling inner and outer cylinders is used, comprising: an umbrella-shaped internal support (21), an auxiliary support electric cylinder (22), a 3D structured light camera (23), a screw motor (24), an inclination sensor (25), a 3D line laser camera (26), and a support frame (27); The 3D structured light camera (23) and the 3D line laser camera (26) are respectively arranged at the front end and the rear end of the support frame (27); The screw motor (24) and the umbrella-shaped inner support (21) are arranged on the support frame (27), and the screw motor (24) can drive the umbrella-shaped inner support (21) to retract and expand; The auxiliary support electric cylinder (22) and the inclination sensor (25) are arranged on the support frame (27); An internal support end effector (2) for assembling the inner and outer cylinders is mounted on the robot (1); The specific steps include: Step S1: leveling the outer fixed cylinder (3) located in the assembly area, and installing the auxiliary alignment tool (4) on the leveled outer fixed cylinder (3); Step S2: acquiring the posture and center position of the alignment end faces of the outer fixed cylinder (3) and the inner mounting cylinder (5) through the 3D structured light camera (23); Step S3: acquiring point cloud data of the inner wall of the outer fixed cylinder (3) and the inner wall of the inner mounting cylinder (5) by means of the 3D line laser camera (26); Step S4: inserting the inner support end effector (2) into the inner mounting cylinder (5), and then driving the umbrella-shaped inner support (21) to unfold via the screw motor (24), and propping up the inner mounting cylinder (5) via the unfolded umbrella-shaped inner support (21); Step S5: using the posture and center position of the end face obtained in step S3 and the point cloud data obtained in step S4, guiding the robot (1) to insert the inner mounting cylinder (5) into the leveled outer fixed cylinder (3); Step S6: when the inner mounting cylinder (5) reaches a preset position in the outer fixed cylinder (3), the inner support end effector (2) and the auxiliary alignment tool (4) are relatively fixed, and then the auxiliary support electric cylinder (22) is extended to support and fix the outer fixed cylinder (3); Step S7: using a connecting piece to lock the inner mounting cylinder (5) in the outer fixed cylinder (3), and then shrinking the umbrella-shaped inner support (21) and retracting the auxiliary support electric cylinder (22), so that the robot (1) is withdrawn from the assembly area; Step S8: removing the auxiliary alignment tool (4) from the outer fixed cylinder (3).

2. The assembly method for assembling inner and outer cylinders according to claim 1, characterized in that: In the step S2, the end surfaces of the outer fixed cylinder (3) and the inner mounting cylinder (5) are photographed at multiple angles by the 3D structured light camera (23); The postures and center positions of the alignment end faces of the outer fixed cylinder (3) and the inner mounting cylinder (5) are fitted by a point cloud clustering algorithm.

3. The assembly method for assembling inner and outer cylinders according to claim 1, characterized in that: In step S3, the inner wall of the outer fixed cylinder (3) and the inner wall of the inner mounting cylinder (5) are scanned in sections by the 3D line laser camera (26), and point cloud data are obtained by point cloud splicing.

4. The assembly method for assembling inner and outer cylinders according to claim 1, characterized in that: In step S5, during the insertion process, the inclination sensor (25) is used to determine in real time whether the inner mounting cylinder (5) is horizontal, and the determination information is fed back to the robot (1), so that the robot (1) calibrates the angle of the inner support end effector (2) based on the fed-back determination information.

5. The assembly method for assembling inner and outer cylinders according to claim 4, characterized in that: The tilt sensor (25) transmits the tilt angle relative to the horizontal plane to the robot (1) in real time, and the robot (1) calibrates the angle of the internally supported end effector (2) in real time through the feedback angle, thereby ensuring the horizontal posture of the internally supported end effector (2) when performing an assembly action.

6. The assembly method for assembling inner and outer cylinders according to claim 1, characterized in that: In the step S6, the end pin of the internally supported end effector (2) is inserted into the pin hole of the auxiliary alignment tool (4), so that the internally supported end effector (2) and the auxiliary alignment tool (4) are relatively fixed; And / or, in the step S7, the inner mounting cylinder (5) is locked in the outer fixed cylinder (3) using screws.

7. The assembly method for assembling inner and outer cylinders according to claim 1, characterized in that: The auxiliary support electric cylinder (22) is installed on both sides of the support frame (27) and is capable of supporting and fixing the outer fixed cylinder (3).

8. The assembly method for assembling inner and outer cylinders according to claim 1, characterized in that: The umbrella-shaped inner supports (21) are arranged in two front and rear portions; The two front and rear umbrella-shaped inner supports (21) are connected to a central screw nut, and the central screw nut is connected to a screw of the screw motor (24); The screw motor (24) drives the screw to rotate, and the screw nut on the screw moves accordingly. As the screw nut moves, the connecting rod of the umbrella-shaped inner support (21) moves so that it supports the inner mounting cylinder (5).

9. The assembly method for assembling inner and outer cylinders according to claim 1, characterized in that: The auxiliary alignment tool (4) is installed on the outer fixed cylinder (3), and the auxiliary alignment tool (4) is used to fix the inner mounting cylinder (5); The auxiliary alignment tool (4) is provided with a three-jaw chuck (41), and the three-jaw chuck (41) is used for radial positioning and fixing.

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