Thin-wall part assembling device and method

Abstract

The invention provides a thin-wall part assembling device and method. The device comprises a base, a rotating shaft and a rotating shaft, the clamping assembly is arranged on the base and used for fixing the thin-wall part; the image acquisition assembly is used for acquiring image information of the end face of the thin-wall part; and the centering assembly is electrically connected with the image acquisition assembly and is used for fixing a wall piece cover, determining position information of the end face of the thin-wall piece according to the end face image information and assembling the wall piece cover on the end face of the thin-wall piece in an interference manner according to the position information of the end face of the thin-wall piece. Hard collision between the thin-wall part and the wall part cover in the assembling process can be avoided, damage caused by improper assembling of the thin-wall part is reduced, the product percent of pass is increased, and the rejection rate and the production cost are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of workpiece assembly, in particular to a thin-walled workpiece assembly device and method. Background Art

[0002] In the field of mechanical manufacturing, the quality of the finished assembly of the upper and lower covers and cylindrical parts, which are key components of the device, will directly affect the operating performance of the equipment. The upper and lower covers are thin-walled disc-shaped parts with a wall thickness of less than 0.5mm. Such thin-walled parts are fragile and face great challenges during the assembly process. Existing conventional automated assembly equipment has obvious defects when assembling upper and lower covers and cylindrical parts. Due to positioning errors, the edges of the upper and lower covers are easily damaged by bumps, which not only affects the appearance quality of the product, but may also reduce the performance and service life of the product, making it difficult to ensure the high precision of the interference fit of the components and the consistency of the finished product. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a thin-walled component assembly device and method, which can avoid hard collision between thin-walled components and wall component covers during assembly, reduce damage to thin-walled components caused by improper assembly, improve product qualification rate, and reduce scrap rate and production costs.

[0004] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0005] A thin-walled component assembly device, comprising:

[0006] Base;

[0007] A tightening assembly provided on the base, used for fixing the thin-walled part;

[0008] An image acquisition component, used for acquiring image information of the end surface of the thin-walled part;

[0009] The centering component electrically connected to the image acquisition component is used to fix the wall cover and determine the position information of the end face of the thin-walled component based on the end face image information. According to the end face position information of the thin-walled component, the wall cover is interference fitted on the end face of the thin-walled component.

[0010] Optionally, the tightening assembly includes: at least one set of clamps; wherein each set of clamps is arranged side by side and fixed to the base through a clamp bracket;

[0011] Each set of clamps includes:

[0012] An upper clamp and a lower clamp corresponding to the upper clamp;

[0013] Among them, the upper clamp and the lower clamp both have semicircular clamping surfaces, and the upper clamp moves up and down through the cylinder connecting assembly, so that the clamping surfaces of the upper clamp and the lower clamp form a clamping space for fixing thin-walled parts, the cylinder connecting assembly is fixed to the top surface of the clamp bracket, and the lower clamp is fixed to the bottom surface of the clamp bracket.

[0014] Optionally, gaskets are provided on the semicircular clamping surfaces of the upper clamp and the lower clamp.

[0015] Optionally, the image acquisition component includes:

[0016] Support frame;

[0017] A plurality of visual cameras fixed on the support frame, used for collecting end surface image information of the thin-walled part fixed on the clamping assembly;

[0018] The annular lighting matrix device fixedly connected to the plurality of visual cameras is used to illuminate the end surface of the thin-walled part.

[0019] Optionally, the support frame is also provided with a visual camera adjustment mechanism for adjusting the longitudinal position of the visual camera.

[0020] Optionally, the centering component includes:

[0021] Pressure head height adjustment mechanism;

[0022] A pressure head longitudinal guide rail provided on the pressure head height adjustment mechanism;

[0023] A pressure head disposed on the pressure head longitudinal guide rail, the wall cover being fixed to the pressure head;

[0024] A pressure head tip is arranged at the center of the pressure head.

[0025] Optionally, the assembly device further comprises:

[0026] A support assembly disposed on the base, the support assembly being used to cooperate with the clamping assembly to fix the thin-walled part;

[0027] The support assembly comprises:

[0028] Cylinder support;

[0029] at least one V-shaped groove provided on the cylinder support;

[0030] A V-shaped groove height adjustment mechanism is arranged on the cylinder support and is used to adjust the height of the V-shaped groove.

[0031] Optionally, a slide rail is horizontally provided on the base, and the support assembly is arranged on the slide rail.

[0032] The present invention also provides a thin-walled component assembly method, which is applied to the thin-walled component assembly device as described above, and the method comprises:

[0033] Collect end face image information of the thin-walled part fixed on the clamping component;

[0034] Determining position information of the end face of the thin-walled part according to the end face image information;

[0035] According to the end surface position information of the thin-walled component, the wall component cover is interference fitted on the end surface of the thin-walled component.

[0036] Optionally, determining the position information of the end face of the thin-walled member according to the end face image information, and interference fitting the wall member cover to the end face of the thin-walled member according to the end face position information of the thin-walled member, comprises:

[0037] Based on a plurality of partial image information of the end surface of the thin-walled part;

[0038] According to the plurality of partial image information, arc simulation of boundary lines in four directions of the end surface of the thin-walled part is performed to obtain arc simulation results;

[0039] The arc simulation result is synthesized with the whole circle to obtain the spatial position of the calculated circle center;

[0040] Comparing the pre-position of the center of the wall cover with the spatial position of the calculated center of the circle to obtain the displacement vectors of the wall cover in various directions;

[0041] According to the displacement vector, the pressing head is controlled to move to the spatial position where the calculated circle center is located; and the top end of the pressing head is controlled to interference fit the wall cover to the end face of the thin-walled part.

[0042] The above solution of the present invention includes at least the following beneficial effects:

[0043] The above solution of the present invention obtains the image information of the end face of the thin-walled component through the image acquisition component, and the centering component can accurately determine the position of the end face of the thin-walled component based on this information. This effectively solves the problem of large positioning errors in the traditional assembly method, realizes high-precision interference assembly between the wall cover and the end face of the thin-walled component, greatly improves the assembly quality, ensures stable and reliable product performance, reduces equipment failures and performance degradation caused by insufficient assembly accuracy, and extends the service life of the equipment.

[0044] Conventional automated assembly equipment is prone to causing damage to the edges of thin-walled parts due to positioning errors. This device uses accurate position information for assembly. The centering component can accurately control the assembly position and force of the wall cover, avoiding hard collisions between thin-walled parts and wall covers during assembly, reducing damage to thin-walled parts caused by improper assembly, improving product qualification rate, and reducing scrap rate and production costs.

[0045] The automated image acquisition and centering assembly process reduces the tedious steps of manual measurement and adjustment, shortens the assembly time, and improves production efficiency. At the same time, the system can quickly respond to and process image information, timely control the centering components for assembly operations, and achieve efficient operation of the assembly process, which is especially suitable for batch production to meet large-scale production needs.

[0046] The device is suitable for the assembly of various thin-walled parts and wall covers. It can complete the assembly of products of different specifications by simply adjusting the corresponding parameters of the image acquisition component and the centering component according to the size and shape of different workpieces. It has strong versatility and flexibility, and can be widely used in assembly production of different industries and product types, reducing the equipment procurement cost of enterprises. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a structural schematic diagram of the thin-walled component assembly device of the present invention;

[0048] Figure 2 is a schematic structural diagram of a support assembly of the present invention;

[0049] Figure 3 It is a structural schematic diagram of the image acquisition component of the present invention;

[0050] Description of reference numerals:

[0051] 1. Base; 2. Gasket; 3. Lower clamp; 4. Upper clamp; 5. Clamp bracket; 51. Top surface; 52. Bottom surface; 6. Cylinder connection assembly; 7. Visual camera; 701. First camera; 702. Second camera; 703. Third camera; 704. Fourth camera; 8. Illumination matrix device; 9. Support frame; 10. Pressure head height adjustment mechanism; 11. Pressure head longitudinal guide rail; 12. Pressure head; 13. Pressure head top; 14. Cylinder bracket; 15. V-groove; 16. V-groove height adjustment mechanism; 17. Slide rail, 18. Visual camera adjustment mechanism. DETAILED DESCRIPTION

[0052] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0053] like Figure 1 As shown, an embodiment of the present invention provides a thin-walled component assembly device, comprising:

[0054] Base 1;

[0055] A tightening assembly provided on the base 1, used for fixing the thin-walled part;

[0056] An image acquisition component, used for acquiring image information of the end surface of the thin-walled part;

[0057] The centering component electrically connected to the image acquisition component is used to fix the wall cover and determine the position information of the end face of the thin-walled component based on the end face image information. According to the end face position information of the thin-walled component, the wall cover is interference fitted on the end face of the thin-walled component.

[0058] In this embodiment, the image acquisition component obtains the image information of the end face of the thin-walled component, and the centering component can accurately determine the position of the end face of the thin-walled component based on this information. This effectively solves the problem of large positioning errors in the traditional assembly method, realizes high-precision interference assembly between the wall cover and the end face of the thin-walled component, greatly improves the assembly quality, ensures stable and reliable product performance, reduces equipment failures and performance degradation caused by insufficient assembly accuracy, and extends the service life of the equipment.

[0059] Conventional automated assembly equipment is prone to causing damage to the edges of thin-walled parts due to positioning errors. This device uses accurate position information for assembly. The centering component can accurately control the assembly position and force of the wall cover, avoiding hard collisions between thin-walled parts and wall covers during assembly, reducing damage to thin-walled parts caused by improper assembly, improving product qualification rate, and reducing scrap rate and production costs.

[0060] The automated image acquisition and centering assembly process reduces the tedious steps of manual measurement and adjustment, shortens the assembly time, and improves production efficiency. At the same time, the system can quickly respond to and process image information, timely control the centering components for assembly operations, and achieve efficient operation of the assembly process, which is especially suitable for batch production to meet large-scale production needs.

[0061] The device is suitable for the assembly of various thin-walled parts and wall covers. It can complete the assembly of products of different specifications by simply adjusting the corresponding parameters of the image acquisition component and the centering component according to the size and shape of different workpieces. It has strong versatility and flexibility, and can be widely used in assembly production of different industries and product types, reducing the equipment procurement cost of enterprises.

[0062] In an optional embodiment of the present invention, the tightening assembly includes: at least one set of clamps; wherein each set of clamps is arranged side by side and fixed to the base 1 through a clamp bracket 5;

[0063] Each set of clamps includes:

[0064] An upper clamp 4 and a lower clamp 3 corresponding to the upper clamp 4;

[0065] Among them, the upper clamp 4 and the lower clamp 3 both have semicircular clamping surfaces, and the upper clamp 4 moves up and down through the cylinder connecting assembly 6, so that the clamping surfaces of the upper clamp 4 and the lower clamp 3 form a clamping space for fixing thin-walled parts, and the cylinder connecting assembly 6 is fixed to the top surface 51 of the clamp bracket 5, and the lower clamp 3 is fixed to the bottom surface 52 of the clamp bracket 5.

[0066] In this embodiment, the upper clamp 4 and the lower clamp 3 both have semicircular clamping surfaces, which can better fit the shape of thin-walled parts, especially for circular or nearly circular thin-walled parts, and can achieve all-round uniform clamping. This avoids deformation or damage of thin-walled parts due to excessive local force caused by uneven clamping force, ensures that the thin-walled parts maintain a stable position during the assembly process, and provides a reliable basis for subsequent precise assembly.

[0067] The upper clamp 4 is moved up and down by the cylinder connection assembly 6. The cylinder can provide stable and large power, so that the upper clamp 4 and the lower clamp 3 can be quickly closed and generate sufficient clamping force to firmly fix the thin-walled parts to prevent them from displacement during the assembly process and ensure assembly accuracy.

[0068] By adjusting the stroke of the cylinder connection assembly 6, the distance between the upper clamp 4 and the lower clamp 3 can be changed, so as to adapt to thin-walled parts with different outer diameters. This feature enhances the versatility of the clamping assembly, and enterprises do not need to equip thin-walled parts of different sizes with a variety of different clamping devices, thereby reducing production costs and improving equipment utilization.

[0069] The application of the cylinder connection assembly 6 enables the clamping process to be automatically controlled and can be seamlessly connected with the automation system of the entire assembly device. Compared with the manual clamping method, it greatly improves the clamping efficiency, reduces the manual operation time and labor intensity, adapts to the needs of modern industrial automation production, and improves the overall production efficiency.

[0070] The cylinder has a fast response speed and can complete the lifting and lowering action of the upper clamp 4 in a short time, thereby realizing rapid clamping and loosening of thin-walled parts, further improving the rhythm of the assembly process, and contributing to high-speed and efficient assembly production.

[0071] The clamp is fixed on the base 1 through the clamp bracket 5, the cylinder connection assembly 6 corresponding to the upper clamp 4 is fixed to the top surface 51 of the clamp bracket 5, and the lower clamp 3 is fixed to the bottom surface 52 of the clamp bracket 5. This structural design makes the entire clamping assembly have high stability and rigidity. When subjected to a large clamping force and vibration during assembly, the structure can be kept stable, the clamping error caused by structural deformation can be reduced, and the reliability and consistency of clamping can be improved.

[0072] In an optional embodiment of the present invention, a gasket 2 is provided on the semicircular clamping surface of both the upper clamp 4 and the lower clamp 3 .

[0073] In this embodiment, the gasket 2 is usually made of a material with a soft texture and a smooth surface, such as rubber, nylon, etc. When clamping a thin-walled part, the gasket 2 can isolate the clamp from the thin-walled part to prevent the clamp from directly contacting the surface of the thin-walled part, thereby preventing the metal surface of the clamp from scratching the surface of the thin-walled part during the clamping process, thereby ensuring the appearance quality of the thin-walled part, which is particularly important for some thin-walled parts with high surface quality requirements.

[0074] Since the gasket 2 has a certain elasticity, it can deform to a certain extent under the action of the clamping force, thereby evenly dispersing the clamping force, reducing the local pressure on the surface of the thin-walled part, avoiding indentations on the surface of the thin-walled part due to excessive pressure, and ensuring the flatness and smoothness of the surface of the thin-walled part.

[0075] The material of the gasket 2 generally has a large friction coefficient, which can increase the friction between the clamping surface and the thin-walled part when clamping the thin-walled part, making the thin-walled part more stable in the clamped state and less likely to slide or move. This is very critical for situations where the precise position of the thin-walled part needs to be maintained during the assembly process, and helps to improve the accuracy and reliability of the assembly.

[0076] For some thin-walled parts with smooth surfaces and hard materials, ordinary clamping surfaces may not provide enough friction to ensure the clamping effect. The presence of the gasket 2 can effectively solve this problem. Regardless of whether the thin-walled part is made of metal or other materials such as plastic, the friction increased by the gasket 2 can achieve stable clamping.

[0077] Thin-walled parts of different batches or different specifications may have certain dimensional errors. The gasket 2 has a certain thickness and elasticity, which can compensate for these dimensional errors to a certain extent. By replacing gaskets 2 of different thicknesses, the clamp can be adapted to thin-walled parts of more different sizes, improving the versatility and applicability of the clamp, reducing the need to replace the clamp due to changes in the size of thin-walled parts, and reducing production costs.

[0078] In an optional embodiment of the present invention, the image acquisition component includes:

[0079] Support frame 9;

[0080] A plurality of visual cameras 7 fixed on the support frame 9, used to collect end surface image information of the thin-walled component fixed on the clamping assembly;

[0081] The annular lighting matrix device 8 fixedly connected to the plurality of visual cameras 7 is used to illuminate the end surface of the thin-walled part.

[0082] In this embodiment, the multiple visual cameras 7 are fixed on the support frame 9, and can shoot the end face of the thin-walled part from different angles and positions, thereby achieving full coverage of the end face of the thin-walled part. The image information from different perspectives complements each other, can provide richer and more accurate details, and is helpful to accurately identify the features of the end face of the thin-walled part, such as edge contours, hole positions, surface defects, etc., and provide a reliable basis for the subsequent precise assembly of the centering components.

[0083] The annular lighting matrix device 8 is fixedly connected to multiple visual cameras 7, and can provide uniform, blind-angle-free lighting for the end faces of thin-walled parts. This annular lighting method can effectively eliminate the shadow and reflection problems caused by single-direction lighting, making the images collected by the visual cameras 7 clearer and more realistic, avoiding the interference of shadows and reflections on feature recognition and position detection, and improving the quality and availability of image information.

[0084] The visual camera 7 and the annular lighting matrix device 8 are fixedly installed by the support frame 9, ensuring their position stability during the image acquisition process. This can avoid camera jitter or lighting deviation caused by factors such as equipment vibration and displacement, ensure the consistency and comparability of each acquired image, improve the accuracy and reliability of data acquisition, and provide a stable basis for data analysis and processing.

[0085] The support frame 9 can usually be designed to have a certain degree of adjustability, and can flexibly adjust the position and angle of the visual camera 7 and the illumination intensity and angle of the annular lighting matrix device 8 according to the size, shape and assembly requirements of the thin-walled workpiece. This adjustability enables the image acquisition component to adapt to different working scenes and workpiece features, thereby improving the versatility and adaptability of the device.

[0086] Specifically, Figure 3 As shown, the plurality of visual cameras 7 include four groups of first cameras 701 , second cameras 702 , third cameras 703 and fourth cameras 704 arranged in a rectangular shape.

[0087] The four cameras shoot the end face of the thin-walled component from the four vertices of the rectangle, covering the entire end face area in all directions without blind spots. This layout ensures that any features on the end face of the thin-walled component, including edge contours, surface defects, hole positions, etc., can be clearly captured by at least one camera. By integrating and analyzing the images collected by the four cameras, complete and accurate information about the end face of the thin-walled component can be obtained, providing a reliable basis for subsequent assembly operations.

[0088] Cameras in different positions can observe the end faces of thin-walled parts from different angles, which helps capture some subtle features that are easily overlooked from a single perspective. For example, some features may be difficult to see in a certain direction due to occlusion or reflection, but may be clearly displayed in images taken by cameras in other directions. Multi-directional image acquisition improves the recognition accuracy of thin-walled part end face features and helps to more accurately determine the position and posture of thin-walled parts.

[0089] Cameras in different positions can observe the end faces of thin-walled parts from different angles, which helps capture some subtle features that are easily overlooked from a single perspective. For example, some features may be difficult to see in a certain direction due to occlusion or reflection, but may be clearly displayed in images taken by cameras in other directions. Multi-directional image acquisition improves the recognition accuracy of thin-walled part end face features and helps to more accurately determine the position and posture of thin-walled parts.

[0090] Multiple groups of cameras can cross-verify the measurement results and reduce the errors that may be caused by single camera measurement. If a camera has a measurement deviation, the data collected by other cameras can be supplemented and corrected, thereby improving the reliability and accuracy of the overall measurement. This redundant design enhances the fault tolerance of the image acquisition system and ensures the accurate acquisition of spatial position information.

[0091] Multiple groups of cameras can cross-verify the measurement results and reduce the errors that may be caused by single camera measurement. If a camera has a measurement deviation, the data collected by other cameras can be supplemented and corrected, thereby improving the reliability and accuracy of the overall measurement. This redundant design enhances the fault tolerance of the image acquisition system and ensures the accurate acquisition of spatial position information.

[0092] Different thin-walled parts may have different reflective properties and textures on their surfaces, and some surface features may be difficult to identify at certain angles. The multi-directional shooting of four sets of cameras can increase the chance of capturing clear surface features. Even if there are reflections, shadows or complex textures on the surface of thin-walled parts, their positions and features can be accurately determined by comprehensive analysis of images from multiple cameras.

[0093] The four cameras can collect real-time information about the position changes of thin-walled parts during the assembly process. The data analysis module can adjust the movement of the centering components in a timely manner based on these real-time data to ensure that the wall cover and the thin-walled parts always maintain the correct relative position. This real-time monitoring and feedback mechanism can correct deviations in the assembly process in a timely manner, avoid assembly failures or parts damage caused by position offset, and improve the stability and reliability of the assembly process.

[0094] In actual operation, if a camera fails or is damaged, the other three cameras can still provide some useful information, allowing the system to continue working and ensure a certain assembly accuracy as much as possible. This improves the fault tolerance of the image acquisition component, reduces the risk of the entire assembly system shutting down due to a single camera failure, and ensures production continuity.

[0095] In an optional embodiment of the present invention, a visual camera adjustment mechanism 18 is further provided on the support frame 9 for adjusting the longitudinal position of the visual camera 7 .

[0096] Different thin-walled parts may have different thicknesses and heights. By adjusting the longitudinal position of the visual camera 7 through the visual camera adjustment mechanism 18, the camera can maintain the best focusing distance with the end face of the thin-walled part. This ensures that the captured image is clear and sharp, so that the features on the end face of the thin-walled part, such as edges, hole positions, surface defects, etc., can be more accurately captured and identified, providing more accurate information for subsequent centering and assembly.

[0097] During the production process, thin-walled parts of various specifications are encountered, and their heights and sizes vary greatly. The visual camera adjustment mechanism 18 enables the visual camera 7 to flexibly adapt to these workpieces of different specifications. For taller or shorter thin-walled parts, the longitudinal position of the camera can be adjusted to meet the image acquisition requirements, without the need to equip each specification of workpiece with a specific image acquisition device, which greatly improves the versatility and applicability of the device and reduces production costs.

[0098] The appropriate longitudinal position enables the visual camera 7 to shoot from the best viewing angle, reducing the measurement error caused by viewing angle deviation. This helps to improve the measurement accuracy of the position and size of the thin-walled parts, and further improves the accuracy and stability of the entire assembly process.

[0099] In an optional embodiment of the present invention, the centering component includes:

[0100] Pressure head height adjustment mechanism 10;

[0101] A pressure head longitudinal guide rail 11 provided on the pressure head height adjustment mechanism 10;

[0102] A pressure head 12 disposed on the pressure head longitudinal guide rail 11, and the wall cover is fixed on the pressure head 12;

[0103] A pressing head tip 13 disposed at the center of the pressing head 12;

[0104] The controller placed in the ram height adjustment mechanism 10 is used to receive the end face image information of the thin-walled workpiece collected by multiple visual cameras 7; determine the position information of the end face of the thin-walled workpiece based on the end face image information, and control the ram height adjustment mechanism 10 to adjust the vertical position of the ram based on the end face position information of the thin-walled workpiece, and control the ram longitudinal guide rail 11 to adjust the longitudinal position of the ram 12, and control the ram cylinder to adjust the horizontal position of the ram 12. The controller is also used to control the ram top cylinder to drive the ram top 13 to interference fit the wall cover on the end face of the thin-walled workpiece.

[0105] In this embodiment, the controller can accurately determine the position information of the end face of the thin-walled part based on the image information of the end face of the thin-walled part collected by multiple visual cameras 7. Based on this, the controller can respectively control the pressure head height adjustment mechanism 10, the pressure head longitudinal guide rail 11 and the pressure head cylinder to accurately adjust the position of the pressure head 12 in the vertical, longitudinal and horizontal directions. This enables the pressure head 12 to drive the wall cover to accurately align with the end face of the thin-walled part, achieving high-precision interference assembly, effectively solving the assembly deviation problem caused by inaccurate positioning in the traditional assembly method, and greatly improving the assembly quality and performance stability of the product.

[0106] The pressure head tip 13 is located at the center of the pressure head 12 and is driven by the pressure head tip cylinder controlled by the controller. During the assembly process, the pressure head tip 13 can accurately align with the center position of the thin-walled part to ensure that the wall cover and the center of the thin-walled part are strictly aligned, further improving the centering and accuracy of the assembly and avoiding assembly defects caused by center offset.

[0107] In actual production, various assembly conditions and requirements may be encountered. The controller can flexibly adjust the action parameters of each adjustment mechanism and cylinder according to specific image information and assembly requirements, so that the centering component can cope with different assembly challenges, such as different interference requirements, assembly angle requirements, etc., further enhancing the flexibility and practicality of the device.

[0108] The controller can accurately control the movement speed and strength of the pressure head height adjustment mechanism 10, the pressure head longitudinal guide rail 11, the pressure head cylinder and the pressure head top cylinder. In the process of assembling the wall cover to the end face of the thin-walled part, damage to the thin-walled part and the wall cover due to excessive force or unstable movement can be avoided. The smooth assembly process helps to protect the side wall of the thin-walled part from damage, and at the same time ensures the integrity of the wall cover, thereby improving the qualified rate of the product.

[0109] The pressure head tip 13 can evenly transfer pressure to the wall cover during assembly, so that the wall cover is evenly stressed during the process of combining with the thin-walled part. This helps to avoid deformation of the wall cover or the thin-walled part due to excessive local pressure, further protects the workpiece, and ensures assembly quality.

[0110] In an optional embodiment of the present invention, Figure 2 As shown, the assembly device also includes:

[0111] A support assembly provided on the base 1, the support assembly being used to cooperate with the clamping assembly to fix the thin-walled part;

[0112] The support assembly comprises:

[0113] Cylinder support 14;

[0114] At least one V-shaped groove 15 is provided on the cylinder support 14;

[0115] A V-shaped groove height adjustment mechanism 16 is provided on the cylinder support 14 for adjusting the height of the V-shaped groove 15 .

[0116] In this embodiment, the support assembly and the clamping assembly cooperate with each other to fix the thin-walled parts from different positions. The clamping assembly mainly clamps the thin-walled parts at specific positions, while the support assembly provides additional support points for the thin-walled parts through the cylinder bracket 14 and the V-shaped groove 15 thereon. For thin-walled parts of longer or larger sizes, this multi-position support method can effectively prevent them from shaking, bending or deformation during the assembly process, ensuring that the thin-walled parts maintain a stable position and posture throughout the assembly process, laying the foundation for high-precision assembly operations.

[0117] The design of the V-shaped groove 15 can be well adapted to cylindrical or nearly cylindrical thin-walled parts. The V-shaped structure can support the thin-walled parts from two directions, increase the contact area with the thin-walled parts, make the supporting force evenly distributed on the surface of the thin-walled parts, avoid local stress concentration causing damage to the thin-walled parts, and further improve the stability of the support.

[0118] The V-groove height adjustment mechanism 16 can accurately adjust the height of the V-groove 15. During the assembly process, by adjusting the height of the V-groove 15, the thin-walled component can be placed in an ideal horizontal position or a specific assembly height, ensuring the assembly accuracy between the end face of the thin-walled component and the wall component cover. This is particularly important for strict interference assembly, which can effectively avoid assembly problems caused by height deviation of thin-walled components and improve the assembly quality and performance of the product.

[0119] Stable support and precise height adjustment help thin-walled parts to be better aligned with the wall cover. When the centering assembly is being assembled, the thin-walled parts are more accurately and stably positioned under the support assembly, making the centering process smoother and enabling the wall cover to be more accurately assembled to the end face of the thin-walled parts, reducing assembly errors and improving assembly centering and coaxiality.

[0120] When the V-shaped groove 15 contacts the thin-walled part, due to its large contact area and uniform support force, it can reduce the local pressure on the surface of the thin-walled part and reduce the risk of surface scratches, indentations, etc. This is very critical for thin-walled parts with high surface quality requirements and helps to improve the appearance quality and overall performance of the product.

[0121] Uniform support force distribution can avoid stress concentration on the surface of thin-walled parts. Stress concentration may cause cracks, deformation and other problems in thin-walled parts during assembly or subsequent use. The reasonable design of support components effectively reduces this risk and improves the reliability and service life of thin-walled parts.

[0122] The V-groove height adjustment mechanism 16 of the support assembly can adapt the V-groove 15 to thin-walled parts of different outer diameters and heights. By adjusting the height and position of the V-groove 15, suitable support can be provided for thin-walled parts of various specifications, thereby enhancing the versatility of the assembly device for different workpieces and reducing the cost of enterprises equipping multiple sets of equipment for products of different specifications.

[0123] At least one V-shaped groove 15 is provided on the cylinder support 14, and the number and position of the V-shaped grooves 15 can be flexibly selected and the support mode can be adjusted according to the specific shape, size and assembly requirements of the thin-walled part. This flexibility enables the assembly device to cope with various complex assembly conditions, and improves the applicability and flexibility of the device.

[0124] In an optional embodiment of the present invention, a slide rail 17 is horizontally provided on the base 1 , and the support assembly is disposed on the slide rail 17 .

[0125] In this embodiment, different thin-walled parts may have different lengths. By arranging the support assembly on the slide rail 17, the support assembly can be moved horizontally along the slide rail 17, so as to adjust the support position according to the actual length of the thin-walled part. For longer thin-walled parts, the support assembly can be moved to a suitable position to provide more reasonable support for the thin-walled parts and avoid deformation of the thin-walled parts due to the large span; for shorter thin-walled parts, the position of the support assembly can also be flexibly adjusted to ensure that it effectively supports the thin-walled parts, thereby enhancing the adaptability of the assembly device to thin-walled parts of different specifications.

[0126] In the actual assembly process, different assembly processes and procedures may be used, and different requirements may be placed on the support position and method of the thin-walled parts. The mobility of the support assembly on the slide rail 17 enables it to be flexibly adjusted according to the specific assembly process, better cooperate with the centering assembly, the tightening assembly, etc. to complete the assembly task, and improve the flexibility and diversity of the assembly process.

[0127] During the assembly process, even after the initial position adjustment, there may still be some slight deviations. The mobility of the support assembly on the slide rail 17 allows for fine adjustment of its position to further optimize the support effect on the thin-walled component. By accurately adjusting the support position, the thin-walled component can be placed in a more ideal assembly position, the assembly accuracy of the wall component cover and the thin-walled component can be improved, the assembly error can be reduced, and the quality stability of the product can be ensured.

[0128] When the centering component performs assembly operations based on the information provided by the image acquisition component, the support component can be appropriately moved on the slide rail 17 to cooperate with the centering process. For example, during the centering process, fine-tuning the position of the support component can better align the thin-walled part with the wall cover, improve the centering and coaxiality of the assembly, and thus improve the accuracy and quality of the entire assembly.

[0129] In addition to thin-walled parts of different lengths, other types of workpieces with large differences in shape and size can also be provided with appropriate support by adjusting the position of the support assembly on the slide rail 17. This enables the assembly device to be compatible with more types of workpieces, expands the scope of application of the device, improves the versatility and utilization of the equipment, and reduces the equipment procurement cost for the enterprise.

[0130] Specifically, the support assembly, the clamping assembly, the image acquisition assembly and the centering assembly are horizontally arranged on the base 1 in sequence, the support assembly is used to support and fix the tail end of the thin-walled part, and the clamping assembly is used to fix the middle end and the head end of the thin-walled part. The image acquisition assembly and the centering assembly face the end of the thin-walled part when working, and are staggered with the end of the thin-walled part at other times.

[0131] An embodiment of the present invention further provides a thin-walled component assembly method, which is applied to the thin-walled component assembly device as described above, and the method comprises:

[0132] Step 41, collecting end surface image information of the thin-walled component fixed on the clamping component;

[0133] Step 42, determining the position information of the end face of the thin-walled part according to the end face image information;

[0134] Step 43: according to the end surface position information of the thin-walled component, the wall component cover is interference fitted on the end surface of the thin-walled component.

[0135] In this embodiment, by collecting the end face image information of the thin-walled part fixed on the clamping assembly and determining the position information of its end face based on it, the specific position and posture of the thin-walled part in space can be accurately obtained. Compared with the traditional assembly method, this positioning method based on image information can avoid human measurement errors and mechanical positioning deviations, greatly improving the accuracy of positioning. This enables the wall cover to accurately align with the end face of the thin-walled part during the assembly process, achieving high-precision interference assembly, thereby ensuring the assembly quality and performance stability of the product.

[0136] Accurate position information provides a reliable basis for the assembly of the wall cover. The centering component can accurately control the movement trajectory and force of the pressure head 12 according to the determined position information, so that the wall cover can be combined with the end face of the thin-walled part at an accurate angle and position, effectively reducing errors such as gaps and offsets caused by inaccurate assembly positions, and improving assembly accuracy and consistency.

[0137] In the traditional assembly process, due to inaccurate positioning, the wall cover and the thin-walled part may collide hard during assembly, resulting in damage to the edge of the thin-walled part or scratches on the surface. However, this assembly method uses image information to accurately determine the position of the thin-walled part, and the centering component can achieve smooth and accurate assembly operations, avoiding hard contact between the wall cover and the thin-walled part, thereby reducing the risk of damage to the thin-walled part during assembly and improving the product yield.

[0138] According to the precise position information, the centering assembly can more reasonably control the movement of the pressure head tip 13, so that the wall cover can evenly contact and apply pressure to the end surface of the thin-walled part during the assembly process. This uniform pressure distribution can avoid deformation or damage of the thin-walled part due to excessive local pressure, and further protect the integrity of the thin-walled part.

[0139] In an optional embodiment of the present invention, step 42, determining the position information of the end face of the thin-walled part according to the end face image information, includes:

[0140] Based on a plurality of partial image information of the end surface of the thin-walled part;

[0141] According to the plurality of partial image information, arc simulation of boundary lines in four directions of the end surface of the thin-walled part is performed to obtain arc simulation results;

[0142] The arc simulation result is synthesized with the whole circle to obtain the spatial position of the calculated circle center.

[0143] In an optional embodiment of the present invention, step 43, according to the end surface position information of the thin-walled member, interference-fitting the wall member cover to the end surface of the thin-walled member, comprises:

[0144] Comparing the pre-position of the center of the wall cover with the spatial position of the calculated center of the circle to obtain the displacement vectors of the wall cover in various directions;

[0145] According to the displacement vector, the pressure head 12 is controlled to move to the spatial position where the calculated circle center is located; and the pressure head tip 13 is controlled to interference fit the wall cover to the end face of the thin-walled part.

[0146] Specifically, the thin-walled component assembly method includes:

[0147] 1. Collection and preprocessing

[0148] Obtaining partial image information: The multiple visual cameras 7 (such as the first camera 701, the second camera 702, the third camera 703 and the fourth camera 704 arranged in a rectangular shape) collect end surface image information of the thin-walled part from different angles, and these image information will be divided into multiple partial image information.

[0149] Image preprocessing: Preprocess each collected image, including grayscale, noise reduction (such as using Gaussian filtering to remove noise in the image), enhancement (such as histogram equalization to improve image contrast), and other operations to improve the accuracy of subsequent processing.

[0150] 2. Arc simulation

[0151] Edge detection: Use an edge detection algorithm (such as the Canny algorithm) to perform edge detection on each preprocessed partial image to obtain the edge contour of the end face of the thin-walled part in all directions.

[0152] Arc fitting: In each partial image, select several feature points related to the edge of the thin-walled part end face (for example, select a point every certain pixel). Based on these feature points, use the least squares method to perform arc fitting.

[0153] Assume that the feature point selected in a partial image is \((x_i,y_i)\),

[0154] For the equation of a circle \((xa)^2+(yb)^2=r^2\),

[0155] By minimizing \(\sum_{i=1}^{n}[(x_i-a)^2+(y_i-b)^2-r^2]^2\), we can solve the center \((a,b)\) and radius \(r\) to obtain the arc parameters corresponding to each partial image. Since the arc simulation is performed on the boundary lines in four directions, four sets of arc parameters in different directions will be obtained.

[0156] 3. Synthesize and calculate the center position of the circle

[0157] Full circle synthesis: Integrate the arc simulation results in four directions. Assume that the centers of the arcs in the four directions are \((a_1,b_1)\), \((a_2,b_2)\), \((a_3,b_3)\), \((a_4,b_4)\), and the radii are \(r_1\), \(r_2\), \(r_3\), \(r_4\). In order to obtain a more accurate center position, the weighted average method can be used (the weights can be determined according to the accuracy of the camera, shooting angle and other factors, assuming that the weights are \(w_1\), \(w_2\), \(w_3\), \(w_4\), and \(w_1+w_2+w_3+w_4=1\)).

[0158] Calculate the coordinates of the synthesized circle center\((X_c,Y_c)\):

[0159] \(X_c=w_1a_1+w_2a_2+w_3a_3+w_4a_4\)\(Y_c=w_1b_1+w_2b_2+w_3b_3+w_4b_4\);

[0160] Considering that the thin-walled part is an object in three-dimensional space, it is also necessary to combine the camera calibration information (such as the camera's extrinsic parameter matrix, which contains the camera's rotation and translation information) to convert the two-dimensional image coordinates into three-dimensional space coordinates \((X,Y,Z)\) to obtain the spatial position of the calculated circle center.

[0161] 4. Calculate the displacement vector

[0162] Determine the preset position of the center of the wall cover: The placement position of the wall cover on the pressure head 12 is known, and the preset position of the center of the wall cover in the device coordinate system is recorded as \((X_0, Y_0, Z_0)\).

[0163] Calculation deviation: Calculate the deviation between the pre-position of the center of the wall cover and the spatial position of the center of the thin-walled part end surface calculation. \(\DeltaX=X-X_0\)\(\DeltaY=Y-Y_0\)\(\DeltaZ=Z-Z_0\)

[0164] Get the displacement vector: The displacement vector \(\vec{d}\) is \((\DeltaX,\DeltaY,\DeltaZ)\), which represents the distance and direction that the wall cover needs to move in each direction so that its center coincides with the center of the end face of the thin-walled part.

[0165] 5. Control the movement and assembly of the pressure head

[0166] Control the movement of the pressure head 12: According to the displacement vector \((\DeltaX,\DeltaY,\DeltaZ)\), the controller controls the pressure head height adjustment mechanism 10 to adjust the position of the pressure head 12 in the vertical direction (corresponding to the \(Z\) direction), controls the pressure head longitudinal guide rail 11 to adjust the longitudinal position of the pressure head 12 (assuming the \(X\) direction), and controls the pressure head cylinder to adjust the horizontal position of the pressure head 12 (assuming the \(Y\) direction), so that the pressure head 12 drives the wall cover to move to the spatial position where the center of the circle is calculated.

[0167] Interference fitting: When the pressure head 12 moves to the target position, the controller controls the pressure head top cylinder to drive the pressure head top 13 to interference fit the wall cover to the end face of the thin-walled part. During the assembly process, the pressure sensor can monitor the pressure force to ensure that the pressure force is within the appropriate range to ensure the quality of the interference fitting. If the pressure force is too large or too small, the movement speed and stroke of the pressure head top 13 can be adjusted in time to ensure a smooth assembly process.

[0168] The beneficial effects brought by this embodiment include:

[0169] 1. High-precision positioning, accurate acquisition of the position of thin-walled parts: By processing multiple partial image information of the end face of thin-walled parts, the end face features of thin-walled parts can be analyzed comprehensively and carefully. When performing arc simulation of boundary lines in four directions, the boundary lines in each direction can reflect the position information of the thin-walled parts in that direction. Combining the information in four directions greatly improves the accuracy of determining the position of thin-walled parts. For example, in the case where thin-walled parts may have slight tilt or eccentricity, this multi-directional analysis can accurately capture these deviations, and the accuracy is significantly improved compared to single-direction measurement or positioning methods.

[0170] Accurately calculate the center position: The arc simulation results are combined with the whole circle to calculate the spatial position of the center, taking into account the overall shape of the end face of the thin-walled part and the boundary conditions in all directions. The center position obtained in this way is based on the result of a comprehensive analysis of the entire end face, which is more accurate and reliable than simply calculating the center based on some feature points, providing a solid foundation for subsequent high-precision assembly.

[0171] 2. Efficient assembly, fast determination of displacement vector: By comparing the pre-position of the center of the wall cover with the calculated spatial position of the center of the thin-walled part end face, the displacement vector of the wall cover in all directions can be quickly obtained. This method based on precise calculation avoids the process of repeated trial and error and manual adjustment in traditional assembly, greatly shortens the time required to determine the assembly position, and improves assembly efficiency.

[0172] Automatic control assembly: According to the displacement vector, the pressure head 12 is controlled to move to the target position, and the pressure head tip 13 is controlled to perform interference assembly. The whole process can be automated. Automatic assembly reduces manual intervention, not only improves the assembly speed, but also ensures the consistency and stability of the assembly process, which is particularly suitable for large-scale production scenarios.

[0173] 3. Reduce assembly errors and reduce the impact of human factors: The entire assembly process is mainly based on image information processing and precise calculation, which reduces the errors caused by human measurement, judgment and operation. In traditional assembly, manual measurement and adjustment are easily affected by factors such as operator skill level and fatigue, while this image analysis-based method can ensure the accuracy and stability of assembly and improve the consistency of product quality.

[0174] Precisely control the assembly position: By accurately calculating the displacement vector and precisely controlling the movement of the pressure head 12, it is possible to ensure that the wall cover is accurately assembled onto the end face of the thin-walled part, thereby avoiding poor assembly due to assembly position deviation, such as uneven gaps, inconsistent interference, and other problems, and effectively reducing the scrap rate.

[0175] 4. Strong adaptability, suitable for thin-walled parts of different specifications: No matter how the size and shape of the thin-walled parts change, as long as the image information of its end face can be collected, the above method can be used for position analysis and assembly. For thin-walled parts with different outer diameters, thicknesses or slightly different shapes, the end face position information can be accurately calculated by processing and analyzing the image information, achieving high-precision assembly, and improving the versatility and adaptability of the assembly method.

[0176] Coping with complex assembly environments: In actual production, there may be various interference factors in the assembly environment, such as light changes, vibrations, etc. This method is based on image analysis. Through comprehensive processing of multiple sub-image information, it can eliminate the influence of interference factors to a certain extent, accurately obtain the position information of thin-walled parts, and ensure the smooth progress of the assembly process.

[0177] It should be noted that the method is a method corresponding to the above-mentioned device, and all implementation methods in the above-mentioned device embodiments are applicable to the embodiments of the method and can achieve the same technical effects.

[0178] The thin-walled component assembly device and method described above can solve the problem of poor assembly alignment caused by the missing outer circular positioning surface at one end, ensure that the center of the wall component cover and the thin-walled component are accurately aligned, and ensure the consistency and stability of product quality.

[0179] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A thin-walled parts assembly device, characterized in that: include: Base (1); A tightening assembly provided on the base (1) and used for fixing the thin-walled part; An image acquisition component, used for acquiring image information of the end surface of the thin-walled part; The centering component electrically connected to the image acquisition component is used to fix the wall cover and determine the position information of the end face of the thin-walled component based on the end face image information. According to the end face position information of the thin-walled component, the wall cover is interference fitted on the end face of the thin-walled component.

2. The thin-walled component assembly device according to claim 1, characterized in that: The tightening assembly comprises: at least one set of clamps; wherein each set of clamps are arranged side by side and fixed on the base (1) via a clamp bracket (5); Each set of clamps includes: An upper clamp (4) and a lower clamp (3) arranged corresponding to the upper clamp (4); Wherein, the upper clamp (4) and the lower clamp (3) both have semicircular clamping surfaces, and the upper clamp (4) moves up and down through a cylinder connection assembly (6), so that the clamping surfaces of the upper clamp (4) and the lower clamp (3) form a clamping space for fixing thin-walled parts, and the cylinder connection assembly (6) is fixed to the top surface (51) of the clamp bracket (5), and the lower clamp (3) is fixed to the bottom surface (52) of the clamp bracket (5).

3. The thin-walled component assembly device according to claim 2, characterized in that: Gaskets (2) are provided on the semicircular clamping surfaces of the upper clamp (4) and the lower clamp (3).

4. The thin-walled component assembly device according to claim 1, characterized in that: The image acquisition component comprises: Support frame (9); A plurality of visual cameras (7) fixed on the support frame (9) and used for collecting end surface image information of the thin-walled component fixed on the clamping component; An annular lighting matrix device (8) fixedly connected to the plurality of visual cameras is used to illuminate the end surface of the thin-walled part.

5. The thin-walled component assembly device according to claim 4, characterized in that: The support frame (9) is also provided with a visual camera adjustment mechanism (18) for adjusting the longitudinal position of the visual camera (7).

6. The thin-walled component assembly device according to claim 4 or 5, characterized in that: The centering assembly comprises: Pressure head height adjustment mechanism (10); A pressure head longitudinal guide rail (11) provided on the pressure head height adjustment mechanism (10); A pressure head (12) disposed on the pressure head longitudinal guide rail (11), and the wall cover is fixed on the pressure head (12); A pressure head tip (13) is arranged at the center of the pressure head (12).

7. The thin-walled component assembly device according to claim 1, characterized in that: The assembly device also includes: A support assembly arranged on the base (1), the support assembly being used to cooperate with the clamping assembly to fix the thin-walled part; The support assembly comprises: Cylinder support (14); at least one V-shaped groove (15) provided on the cylinder support (14); A V-shaped groove height adjustment mechanism (16) is provided on the cylinder support (14) for adjusting the height of the V-shaped groove (15).

8. The thin-walled component assembly device according to claim 7, characterized in that: A slide rail (17) is horizontally arranged on the base (1), and the support assembly is arranged on the slide rail (17).

9. A method for assembling thin-walled parts, characterized in that: Applied to the thin-walled component assembly device according to any one of claims 1 to 8, the method comprises: Collect end face image information of the thin-walled part fixed on the clamping component; Determining position information of the end face of the thin-walled part according to the end face image information; According to the end surface position information of the thin-walled component, the wall component cover is interference fitted on the end surface of the thin-walled component.

10. The thin-walled component assembly method according to claim 9, characterized in that: Determining the position information of the end face of the thin-walled component according to the end face image information, and fitting the wall component cover to the end face of the thin-walled component by interference fitting according to the end face position information of the thin-walled component, including: Based on a plurality of partial image information of the end surface of the thin-walled part; According to the plurality of partial image information, arc simulation of boundary lines in four directions of the end surface of the thin-walled part is performed to obtain arc simulation results; The arc simulation result is synthesized with the whole circle to obtain the spatial position of the calculated circle center; Comparing the pre-position of the center of the circle of the wall cover with the spatial position of the calculated center of the circle, to obtain the displacement vectors of the wall cover in various directions; According to the displacement vector, controlling the pressure head (12) to move to the spatial position where the calculated circle center is located; and The pressure head tip (13) is controlled to interference fit the wall cover onto the end surface of the thin-walled part.

Images