Precision measurement assembly method for hemispherical components

Abstract

This invention relates to the field of precision assembly technology and provides a method for precision measurement and assembly of a hemispherical assembly. The method involves gripping the hemispherical assembly and placing it on a hemispherical fixture, with the bottom of the hemispherical assembly supported by a contour support block. Four-axis stages on both sides, along with the contour support block and the hemispherical assembly, move towards a precision measuring stage. Axial and radial displacement gauges measure the axes of the two hemispherical assemblies, and real-time alignment is achieved using the four-axis stage 1. A flat plate is used for alignment and pressing to adjust the posture of the two hemispherical assemblies. After posture adjustment, the hemispherical assemblies are snapped together, and the docking force is obtained in real-time by a force sensor, ensuring complete snapping of the two hemispherical assemblies. Finally, a heat source is used to uniformly heat the snapping area of ​​the two hemispherical assemblies to complete the assembly. This invention integrates measurement and assembly, measuring the axial and radial offset of the two hemispherical assemblies in real time, enabling real-time error acquisition and posture adjustment during the hemispherical assembly process, ensuring the alignment of the two hemispherical assemblies at all times, and greatly improving assembly accuracy.

Description

Technical Field

[0001] This invention relates to the field of precision assembly technology, and more specifically, to a method for precision measurement and assembly of a hemispherical assembly. Background Technology

[0002] In current manufacturing, spherical shell components are widely used to contain specific substances such as gases, liquids, and solids. Spherical shell components are typically assembled from two precisely sized hemispherical assemblies to achieve specific functional requirements. However, during actual assembly, the two hemispherical assemblies often fail to achieve ideal assembly precision due to factors such as machining errors, material deformation, and the assembly environment. Therefore, to ensure the assembly precision of spherical shell components, a new assembly method needs to be designed to address the problem of insufficient assembly precision of hemispherical assemblies.

[0003] Patent document CN219484736U discloses a welding device for hollow metal spheres. This device uses vacuum suction cups on the end faces of both a first and second vacuum fixture, with grooves on the end faces of the suction cups. These grooves attract the shell of the metal sphere, and a heat source is placed above the shell for welding. However, this device is only suitable for hollow spheres and cannot be applied to large-mass spheres. It cannot guarantee axial alignment during suction cup adsorption, and errors occurring during assembly cannot be detected until the finished product. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the purpose of this invention is to provide a method for precision measurement and assembly of hemispherical components.

[0005] A precision measurement and assembly method for a hemispherical assembly according to the present invention includes the following steps:

[0006] S1. The truss hand grabs the hemispherical assembly and places it on the hemispherical fixing fixture;

[0007] S2. The bottom of the hemispherical assembly is supported by contoured support blocks;

[0008] S3, the two sides of the four-axis stage, the contour support block and the hemispherical assembly move toward the precision measuring stage;

[0009] S4. Axial and radial displacement gauges measure the axes of the two hemispherical components to determine whether the axes are aligned and adjust them in real time using the four-axis stage 1.

[0010] S5. The precision measuring stage is moved out and the plate is driven to rotate from the initial position to between the two hemispherical components, and the two hemispherical components are driven to move closer until they contact the sides of the plate.

[0011] S6. The telescopic suction cup retracts, and the four-axis stage is aligned and pressed flat to adjust the posture of the two hemispherical components.

[0012] S7. After the orientation adjustment is completed, the telescopic suction cup extends and attaches to the hemispherical component;

[0013] S8, the two sides of the four-axis stage drive the hemispherical assembly to retract, and the flat plate rotates back to the initial position;

[0014] S9. The two sides of the four-axis stage move together and the hemispherical components are snapped together. The force sensor obtains the docking force in real time. Combined with the flattening and alignment of the four-axis stage, the two hemispherical components are fully snapped together.

[0015] S10. The telescopic suction cup retracts and disengages from the hemispherical assembly. The heat source is activated, and the four-axis stage rotates the hemispherical assembly, causing the two hemispherical assemblies to be evenly heated at the engagement point to complete the assembly.

[0016] Preferably, in step S1, the truss hand uses a spherical gripper to grip the hemispherical assembly, and the spherical gripper can conform to the shape of the hemispherical assembly.

[0017] Preferably, the contouring support block in step S2 can fit the outer diameter of the hemispherical component so that when the hemispherical component is placed on the contouring support block, the axis of the hemispherical component is horizontal.

[0018] The lower end of the contour support block is equipped with a support platform slide rail, which allows it to move forward or backward together with the hemispherical component, thereby achieving synchronous movement of the four-axis platform, the contour support block, and the hemispherical component.

[0019] Preferably, the four-axis stage in step S3 includes a first support, two opposing support seats arranged on the first support, and an intermediate connecting body arranged on the support seats. The support seats can move on the first support in any of the forward, backward, left, or right directions, and the intermediate connecting body can move up or down on the support seats and can rotate itself.

[0020] Preferably, the axial and radial displacement gauges in step S4 are fixed on both sides of the rotating device. When the four-axis stage on both sides and the contour support block carrying the hemispherical assembly move towards the precision measuring stage to wait for engagement, the axial and radial displacement gauges can measure the axis data of the hemispherical assembly on both sides and provide real-time feedback. The axial and radial displacement gauges are divided into two groups: one group measures axial runout and the other group measures radial runout. Both measuring structures are arranged on the rotating device, so that both measurement results are calculated after one revolution. The radial runout is obtained by acquiring the full-circle point data through rotation, fitting the axis form, and combining it with the existing calibration data to determine the radial tilt error. The axial runout is obtained by acquiring the distance data of the axial acquisition point, fitting it into a plane, and thus obtaining the axial tilt status.

[0021] Preferably, after the axial and radial displacement gauges feed back the measured runout data, the four-axis stage on both sides moves to make the two hemispherical assemblies axially aligned.

[0022] Preferably, in step S5, when the four-axis stage and the hemispherical assembly are about to be close to the center engagement point, the precision measuring stage is moved out via the slide rail, and the plate is rotated from the initial position to between the two hemispherical assemblies via the rotating device.

[0023] Preferably, in step S6, the telescopic suction cup automatically releases and retracts after the hemispherical assembly is attached to the flat plate, and extends and is fixed by suction after the four-axis stage has finished adjusting the posture. In step S6, the four-axis stage adjusts the posture by pressing and aligning the two hemispherical assemblies to achieve the flattening and alignment of the vertical end faces of the flat plate.

[0024] Preferably, the real-time acquisition of the docking force in step S9 is achieved through a force sensor. The four-axis stage returns to the alignment posture of the vertical end faces of the mating and bonding plates of the two hemispherical components, and at the same time, it determines whether the two hemispherical components are fully engaged by combining the docking force given by the force sensor.

[0025] Preferably, in step S10, to avoid the telescopic suction cup from affecting the structure of the telescopic suction cup during the heating process of the heat source, the telescopic suction cup is released from the hemispherical assembly and retracted before the heat source heats it to avoid being heated.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 1. The method in this invention integrates measurement and assembly, and can measure the axial and radial offset of the two hemispherical components in real time. It can obtain the error and adjust the posture in real time during the assembly of the hemispherical components, and always ensure the alignment of the two hemispherical components, so as to minimize the error before assembly and greatly improve the assembly accuracy.

[0028] 2. The assembly method provided by this invention can minimize the impact of assembly errors caused by various external factors, such as gravity, during the assembly process, thereby greatly improving the assembly accuracy. Attached Figure Description

[0029] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0030] Figure 1 This is a flowchart illustrating the present invention.

[0031] Figure 2 This is a schematic diagram of the overall structure of the assembly table of the present invention;

[0032] Figure 3 This is a front view of the assembly table of the present invention;

[0033] Figure 4 This is a top view of the assembly table of the present invention;

[0034] Figure 5This is a schematic diagram of the movable coordinate system of the four-axis stage of the present invention;

[0035] Figure 6 This is a schematic diagram showing the alignment of the two hemispherical components with the flat plate of the present invention;

[0036] Figure 7 This is a schematic diagram of the axial and radial measurements of the precision measuring table of the present invention;

[0037] Figure 8 This is a side view of the four-axis stage and hemispherical fixture for mounting the force sensor according to the present invention.

[0038] The diagram shows:

[0039] Four-axis stage 1;

[0040] Support 11;

[0041] First support 12;

[0042] Intermediate connector 13;

[0043] Hemispherical fixture 2;

[0044] Force sensor 21;

[0045] Four-axis stage transition piece 22;

[0046] 23 telescopic suction cups;

[0047] Hemispherical contouring tooling 24;

[0048] Hemispherical component 3;

[0049] Precision measuring stage 4;

[0050] Measuring table slide rail 41;

[0051] Rotating device 42;

[0052] 43 axial and radial displacement gauges;

[0053] First displacement gauge 431;

[0054] Second displacement gauge 432;

[0055] Tablet 44;

[0056] Truss Hand 5;

[0057] 6-spherical gripper;

[0058] Support platform 7;

[0059] Support platform slide rail 71;

[0060] Contouring support block 72;

[0061] Second support 73;

[0062] Heat source 8. Detailed Implementation

[0063] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0064] This invention provides a precision measurement and assembly method for a hemispherical assembly, such as... Figures 1 to 8 As shown, it includes the following steps:

[0065] S1. Truss arm 5 grabs hemispherical component 3 and places it in hemispherical fixing fixture 2;

[0066] The truss arm 5 uses a spherical gripper 6 to grip the hemispherical component 3. The spherical gripper 6 can conform to the shape of the hemispherical component 3, reducing the error in picking and placing the hemispherical component 3. The hemispherical fixing fixture 2 is installed on the four-axis table 1. Specifically, the four-axis table 1 includes a first support 12, two opposing support seats 11 arranged on the first support 12, and an intermediate connecting body 13 arranged on the support seats 11. The support seats 11 can move in any direction (front, back, left, right) on the first support 12, and the intermediate connecting body 13 can move up or down on the support seats 11 and can rotate itself. The front and back directions can be understood as... Figure 5 The X-axis direction is considered the same as the Y-axis direction (left and right), and the Z-axis direction (up and down). The hemispherical fixture 2 includes a force sensor 21, a four-axis stage transition piece 22, a telescopic suction cup 23, and a hemispherical contouring fixture 24. The hemispherical assembly 3 is fitted into the hemispherical contouring fixture 24. One side of the four-axis stage transition piece 22 is mounted on the intermediate connecting body 13 and can rotate simultaneously with the intermediate connecting body 13. The outer side of the hemispherical contouring fixture 24 is mounted on the other side of the four-axis stage transition piece 22. The inner side of the hemispherical contouring fixture 24 is a concave spherical surface that matches the hemispherical assembly 3. The contouring fixture 24 has a through hole in the middle. One end of the telescopic suction cup 23 is fixed to the four-axis stage transition piece 22, and the other end of the telescopic suction cup 23 passes through the through hole and is used to adsorb the hemispherical component 3 located in the concave spherical surface of the hemispherical contouring fixture 24, thereby adsorbing and fixing the hemispherical component 3 and preventing it from shifting. Under the adsorption force of the telescopic suction cup 23, the hemispherical component 3 is attached to the hemispherical contouring fixture 24, making the fixing steel frame of the hemispherical component 3 stable. The force sensor 21, the four-axis stage transition piece 22, the telescopic suction cup 23, and the hemispherical contouring fixture 24 are all arranged coaxially with the hemispherical component 3.

[0067] S2. The bottom of the hemispherical component 3 is supported by the contour support block 72;

[0068] When the hemispherical component 3 is placed on the contour support block 72, the axis of the hemispherical component 3 is horizontal, which facilitates subsequent assembly and fastening. The lower end of the contour support block 72 is provided with a support platform slide rail 71, which can move forward or backward together with the hemispherical component 3, so as to realize the synchronous movement of the four-axis platform 1, the contour support block 72, and the hemispherical component 3.

[0069] S3, the two sides of the four-axis stage 1, the contour support block 72 and the hemispherical component 3 move toward the precision measuring stage 4;

[0070] The intermediate connecting body 13 on the four-axis stage 1 can move horizontally in the X, Y, and Z directions and rotate around the axis of the hemispherical assembly 3.

[0071] S4, axial and radial displacement gauges 43 measure the axes of the two hemispherical components 3 to determine whether the axes are aligned and adjust them in real time through the four-axis stage 1;

[0072] S5. The precision measuring stage 4 is moved out and rotated out of the plate 44 to between the two hemispherical components 3, and the two hemispherical components 3 are driven to move closer until they contact the two sides of the plate 44.

[0073] The precision measuring stage 4 includes a measuring stage slide rail 41, a rotating device 42 slidably mounted on the measuring stage slide rail 41, axial and radial displacement gauges 43, and a plate 44. The axial and radial displacement gauges 43 are fixed on both sides of the rotating device 42, and the plate 44 is fixed on one side of the rotating device 42. The rotating device 42 can drive the axial and radial displacement gauges 43 to rotate around the axis. The rotating device 42 can slide on the measuring stage slide rail 41, allowing it to move between a detection position and a non-interference position. The detection position is directly opposite the two hemispherical components 3. The position refers to the coaxial arrangement of the two hemispherical components 3 and the rotating device 42. The non-interference position is the position where the rotating device 42 does not affect the assembly of the two hemispherical components 3. Furthermore, to minimize the length of the measuring stage slide rail 41, the non-interference position is defined as the position that just does not interfere with the assembly of the two hemispherical components 3 and is closest to the center of the detection position. When the rotating device 42 is in the detection position, it can drive the axial and radial displacement gauges 43 to rotate, thus detecting whether the two hemispherical components 3 are aligned when they move closer together. When the two four-axis stages 1 and the contour support block 72 carry the hemispherical components 3 to the precision measuring stage 4 for engagement, the axial and radial displacement gauges 43 can measure the axial data of the two hemispherical components 3 and provide real-time feedback.

[0074] Specifically, the axial and radial displacement gauges 43 are divided into two groups (first displacement gauge 431, second displacement gauge 432). One group measures axial runout, and the other measures radial runout. Both measuring structures are arranged on the same rotating device 42, so that the results of both measurements can be calculated after one rotation. The radial runout is obtained by acquiring full-circle point data through rotation, fitting the axis shape, and combining it with existing calibration data to determine the radial tilt error. The axial runout is obtained by acquiring the distance data of the axial acquisition points, fitting it into a plane, and thus obtaining the axial tilt status. The axial and radial displacement gauges 43 detect in real time whether the hemispherical components 3 installed on the four-axis stage 1 on both sides are aligned and coinciding, and make fine adjustments in the direction of error deviation through the four-axis stage 1 to ensure that the hemispherical components 3 on the four-axis stage 1 on both sides are always aligned and coinciding within the specified error range.

[0075] Furthermore, before the two hemispherical components 3 come into contact, the rotating device 42 is slid along the measuring table slide rail 41 to a non-interference position. The rotating device 42 can drive the plate 44 to rotate between the two hemispherical components 3. At this time, the two hemispherical components 3 move closer and abut against the plate 44. The attitude of the hemispherical components 3 can be adjusted by the plane of the plate 44, so that the assembly surfaces of the two hemispherical components 3 are aligned. At this time, the adjusted hemispherical components 3 have a memory function. After the attitude of the hemispherical components 3 is adjusted, the two hemispherical components 3 are driven to separate from each other by a certain distance, so that the plate 44 can leave the position between the two hemispherical components 3 without being squeezed by the hemispherical components 3. After the attitude of the hemispherical components 3 is adjusted, the plate 44 is driven to leave the position between the two hemispherical components 3. Then the assembly operation between the two hemispherical components 3 is completed.

[0076] S6. The telescopic suction cup 23 retracts, and the four-axis stage 1 is pressed flat and aligned for posture adjustment.

[0077] After the hemispherical component 3 is attached to the flat plate 44, the telescopic suction cup 23 automatically releases the hemispherical component 3 and retracts, waiting for the four-axis stage 1 to complete the posture adjustment before extending and adsorbing; the four-axis stage 1 and the hemispherical contouring fixture 24 are aligned and flattened to achieve the alignment of the vertical end faces of the two hemispherical components 3 attached to the flat plate 44.

[0078] S7. After the posture adjustment is completed, the telescopic suction cup 23 extends to pick up and fix the hemisphere;

[0079] After the vertical ends of the two hemispherical components 3 are aligned with the flat plate 44, the telescopic suction cup 23 extends and adsorbs the hemispherical components 3 to prevent the hemispherical components 3 from shifting.

[0080] S8, both sides of the four-axis platform 1 retracts, and the flat plate 44 rotates back to its original position;

[0081] The two four-axis stages 1 move back to their initial positions on both sides, and the precision measuring stage 4 rotates the plate 44 back to its initial position through the rotating device 42.

[0082] S9. The two four-axis stage 1s move together and the two hemispherical components 3 snap together. The force sensor 21 obtains the docking force in real time. Combined with the flattening and alignment of the four-axis stage 1, the hemispherical components 3 are fully snapped together.

[0083] The docking force is acquired in real time through the force sensor 21, which can provide real-time feedback on the docking force generated when the two hemispherical components 3 are fastened. After the four-axis stage 1 retracts and waits for the plate 44 to rotate, the four-axis stage 1 returns to the position where the vertical ends of the two hemispherical components 3 are aligned with the plate 44 to achieve the fastening of the hemispherical components 3. During the fastening process, the docking force given by the force sensor 21 is used to determine whether the two hemispherical components 3 are fully fastened.

[0084] S10, the telescopic suction cup 23 retracts and detaches from the hemispherical assembly, the heat source 8 starts, and the four-axis stage 1 rotates the hemispherical assembly 3 for uniform heating.

[0085] After the two hemispherical components 3 are fastened together, in order to avoid the telescopic suction cup 23 from affecting the structure of the telescopic suction cup 23 during the heating process of the heat source 8, the telescopic suction cup 23 is loosened and retracted before the heat source 8 heats up to avoid being heated; when the heat source 8 is started, the two four-axis stage 1s rotate the hemispherical component 3 synchronously around the axis direction through the hemispherical contouring tool 24, so that the hemispherical component 3 is heated evenly around the whole circle.

[0086] This invention provides a measurement and assembly method that integrates measurement, posture adjustment, and assembly. It can adjust errors in real time during the assembly process, promptly detect assembly problems, and greatly improve work efficiency and assembly accuracy.

[0087] The working principle of this invention is as follows:

[0088] Specifically, such as Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8As shown, after the upper and lower hemispherical components 3 are delivered to their positions, the gantry arm 5 moves to the loading area and uses the spherical gripper 6 to pick up the upper and lower hemispherical components 3 respectively. The hemispherical components 3 are placed on the hemispherical fixing fixtures 2 on the two four-axis tables 1. After placement, the gantry arm 5 is withdrawn, and the contour support blocks 72 on both sides support the lower end of the hemispherical components 3. The two four-axis tables 1 move towards the center simultaneously. The contour support blocks 72 move towards the center along with the support table slide rails 71 and the four-axis tables 1 carrying the hemispherical components 3. During the movement, the axis and radial direction on the precision measuring table 4 are measured. The displacement gauge 43 monitors the runout data in real time and adjusts the alignment via the four-axis stage 1. When the two hemispherical components 3 are about to snap together, the precision measuring stage 4 retracts to the end away from the heat source 8 via the slide rail 41. The rotating device 42 rotates the plate 44 to the snapping end face of the two hemispherical components 3, and the two hemispherical components 3 are attached to the plate 44. After the hemispherical components 3 are attached to the plate 44, the telescopic suction cup 23 automatically releases the hemispherical components 3 and retracts, waiting for the four-axis stage 1 to complete the posture adjustment before extending and adsorbing. The four-axis stage 1 and the hemispherical contouring fixture 24 are aligned and flattened for adjustment. The two hemispherical components 3 are aligned with the vertical end faces of the plate 44. After the two hemispherical components 3 are aligned with the vertical end faces of the plate 44, the telescopic suction cup 23 extends and suctions the hemispherical components 3 to prevent them from shifting. The two four-axis stages 1 move back to their initial positions. The precision measuring stage 4 rotates the plate 44 back to its initial position using the rotating device 42. The four-axis stage 1 retracts and waits for the plate 44 to complete its rotation before returning to the alignment position of the two hemispherical components 3 with the vertical end faces of the plate 44, thus achieving the alignment of the hemispherical components. During the snap-fitting process, the force sensor 21 simultaneously determines whether the two hemispherical components 3 are fully snapped together. After the two hemispherical components 3 are snapped together, in order to avoid the telescopic suction cup 23 affecting the structure of the telescopic suction cup 23 during the heating process of the heat source 8, the telescopic suction cup 23 is released from the hemispherical component 3 and retracted before the heat source 8 heats up, so as to avoid being heated. When the heat source 8 is started, the two four-axis stage 1s on both sides rotate the hemispherical component 3 synchronously around the axis direction through the telescopic suction cup 23 and the hemispherical contouring tool 24, so that the hemispherical component 3 is heated evenly around the whole circle.

[0089] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0090] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A method for precision measurement and assembly of a hemispherical assembly, characterized in that, Includes the following steps: S1. The truss hand (5) grabs the hemispherical assembly (3) and places it on the hemispherical fixing fixture (2); S2, The bottom of the hemispherical assembly (3) is supported by the contour support block (72); S3, the two sides of the four-axis stage (1) and the contour support block (72) and the hemispherical assembly (3) move toward the precision measuring stage (4); S4, Axial and radial displacement gauges (43) measure the axis of the two hemispherical components (3) to determine whether the axis is aligned and adjust it in real time by using a four-axis table (1); S5. The precision measuring stage (4) is moved out and the plate (44) is driven to rotate from the initial position to between the two hemispherical components (3), and the two hemispherical components (3) are driven to move closer until they contact the sides of the plate (44); S6. The telescopic suction cup (23) retracts, and the four-axis stage (1) is aligned and pressed flat to adjust the posture of the two hemispherical components (3). S7. After the posture adjustment is completed, the telescopic suction cup (23) extends and sucks on the hemispherical component (3). S8, the two sides of the four-axis stage (1) drive the hemispherical assembly (3) to retract, and the flat plate (44) rotates back to the initial position; S9. The two sides of the four-axis stage (1) move together, the hemispherical component (3) snaps together and the docking force is obtained in real time through the force sensor (21). Combined with the flattening and alignment of the four-axis stage (1) to adjust the posture position, the two hemispherical components (3) are fully snapped together. S10, the telescopic suction cup (23) retracts and disengages from the hemispherical assembly (3), the heat source (8) is activated, and the four-axis stage (1) rotates the hemispherical assembly (3) so that the two hemispherical assemblies (3) are evenly heated at the joint to complete the assembly; The hemispherical fixing fixture (2) is installed on the four-axis table (1); The hemispherical fixture (2) includes a force sensor (21), a four-axis stage transition piece (22), a telescopic suction cup (23), and a hemispherical contouring fixture (24). The hemispherical assembly (3) is fitted inside the hemispherical contouring fixture (24). One side of the four-axis stage transition piece (22) is mounted on the intermediate connecting body (13) and can rotate simultaneously with the intermediate connecting body (13). The outer side of the hemispherical contouring fixture (24) is mounted on the other side of the four-axis stage transition piece (22). The inner side of the hemispherical contouring fixture (24) is a concave spherical surface that matches the hemispherical assembly (3). The hemispherical contouring fixture (24) has a through hole in the middle. One end of the telescopic suction cup (23) is fixed on the four-axis stage transition piece (22). The other end of the telescopic suction cup (23) passes through the through hole and is used to adsorb the hemispherical assembly (3) located in the concave spherical surface of the hemispherical contouring fixture (24). The precision measuring stage (4) includes a measuring stage slide rail (41), a rotating device (42) slidably mounted on the measuring stage slide rail (41), axial and radial displacement gauges (43), and a plate (44). The axial and radial displacement gauges (43) are fixed on both sides of the rotating device (42), and the plate (44) is fixed on one side of the rotating device (42).

2. The precision measurement and assembly method for a hemispherical assembly according to claim 1, characterized in that, In step S1, the truss hand (5) uses a spherical gripper (6) to grip the hemispherical component (3), and the spherical gripper (6) can fit the shape of the hemispherical component (3).

3. The precision measurement and assembly method for a hemispherical assembly according to claim 1, characterized in that, In step S2, the contour support block (72) can fit the outer diameter of the hemispherical component (3) so that when the hemispherical component (3) is placed on the contour support block (72), the axis of the hemispherical component (3) is horizontal. The lower end of the contour support block (72) is provided with a support platform slide rail (71) so that it can move forward or backward together with the hemispherical component (3) to achieve synchronous movement of the four-axis stage (1), the contour support block (72), and the hemispherical component (3).

4. The precision measurement and assembly method for a hemispherical assembly according to claim 1, characterized in that, The four-axis stage (1) in step S3 includes a first support (12), two opposing support seats (11) arranged on the first support (12), and an intermediate connecting body (13) arranged on the support seats (11). The support seats (11) can move on the first support (12) in any of the forward, backward, left, and right directions. The intermediate connecting body (13) can move up or down on the support seats (11) and can rotate itself.

5. The precision measurement and assembly method for a hemispherical assembly according to claim 1, characterized in that, In step S4, the axial and radial displacement gauges (43) are fixed on both sides of the rotating device (42). When the four-axis stage (1) on both sides and the contour support block (72) carry the hemispherical assembly (3) to the precision measuring stage (4) and wait for them to be fastened, the axial and radial displacement gauges (43) can measure the axis data of the hemispherical assembly (3) on both sides and provide real-time feedback. The axial and radial displacement gauges (43) are divided into two groups, one group measures axial runout and the other group measures radial runout. Both measuring structures are arranged on the rotating device (42), so that the two measurement results are calculated after one rotation. The radial runout is obtained by rotating to obtain the full circle point data, fitting the axis form, and combining the existing calibration data to judge the radial tilt error. The axial runout is obtained by the distance data of the axial acquisition point, fitting it into a plane, and thus obtaining the axial tilt status.

6. The precision measurement and assembly method for a hemispherical assembly according to claim 5, characterized in that, After the axial and radial displacement gauges (43) feed back the measured runout data, the four-axis stage (1) on both sides moves to make the two hemispherical components (3) axially align.

7. The precision measurement and assembly method for a hemispherical assembly according to claim 1, characterized in that, In step S5, when the four-axis stage (1) and the hemispherical assembly (3) are about to be close to the center of the engagement, the precision measuring stage (4) is moved out through the measuring stage slide rail (41), and the flat plate (44) is rotated from the initial position to between the two hemispherical assemblies (3) through the rotating device (42).

8. The precision measurement and assembly method for a hemispherical assembly according to claim 1, characterized in that, In step S6, the telescopic suction cup (23) automatically releases and retracts after the hemispherical assembly (3) is attached to the flat plate (44), and waits for the four-axis stage (1) to adjust its posture before extending and adsorbing and fixing it. In step S6, the four-axis stage (1) adjusts its posture to flatten and align the vertical end faces of the two hemispherical assemblies (3) attached to the flat plate (44).

9. The method for precision measurement and assembly of a hemispherical assembly according to claim 1, characterized in that, In step S9, the real-time acquisition of the docking force is achieved through the force sensor (21). The four-axis stage (1) returns to the vertical end face alignment posture of the two hemispherical components (3) and the mating plate (44). At the same time, the docking force given by the force sensor (21) is used to determine whether the two hemispherical components (3) are fully engaged.

10. The method for precision measurement and assembly of a hemispherical assembly according to claim 1, characterized in that, In step S10, to avoid the telescopic suction cup (23) from affecting the structure of the telescopic suction cup (23) during the heating process of the heat source (8), the telescopic suction cup (23) is released from the hemispherical assembly (3) and retracted before the heat source (8) heats it to avoid being heated.

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