Self-adaptive bushing press-fitting device and control method

Abstract

The invention discloses a self-adaptive bushing press-fitting device and a control method. The system comprises a camera, a six-dimensional force sensor, a clamping and pressing mechanism, a reducing guide assembly and a position control mechanism. The camera is connected with the six-dimensional force sensor and the robot mechanical arm through a support. The six-dimensional force sensor is connected with the clamping and pressing mechanism through a flange; the position control mechanism is connected with the clamping and pressing assembly and the variable-diameter guide mechanism; after a rib plate is placed, the clamping and pressing mechanism clamps the lining, the lining is placed at the designated position above a rib plate mounting hole according to the position, recognized by the camera, of the mounting hole, the position control mechanism drives the variable-diameter guide assembly to penetrate through an inner hole of the rib plate to make contact with the lining, and the six-dimensional force sensor monitors the stress state of the lining in real time; the variable-diameter guide assembly and the clamping and pressing mechanism move synchronously to complete press fitting of the lining. The press-fitting device and the control method have the advantages that the self-adaptive bushing press-fitting control method has the design advantages of high accuracy, high reliability, controllability and intelligence, the production efficiency is greatly improved, and the reject ratio of products is reduced.

Description

TECHNICAL FIELD

[0001] The application relates to a self-adaptive bushing press-fitting device and a control method. BACKGROUND

[0002] As a key mechanical assembly process, bushing press-fitting is developed from the core needs of the connection strength, positioning accuracy and reliability of parts. With the development of industrial automation and precision manufacturing, especially the stringent requirements for quality consistency in the fields of automobiles, aerospace and the like, the bushing press-fitting technology gradually evolves towards high precision, controllability and intelligence.

[0003] In the field of assembly of aviation structural parts, a large number of small assembly parts using aluminum alloy press-fitted steel bushings are adopted. Due to the large difference in the structures of the body parts and the multiple sizes of the bushing hole diameters, the bushing press-fitting is currently completed by workers in cooperation with hand presses. The differences in the part fitting tolerances and the bushing freezing time lead to the differences in the bushing press-fitting force, and the existing hand presses cannot accurately control the real-time pressure, so that quality problems such as the failure of the bushing press-fitting and the damage of the base part by the bushing are prone to occur in the press-fitting process. In addition, the workers are close to liquid nitrogen, which has the risk of low-temperature frostbite caused by improper operation. Therefore, industrial robots are adopted to completely replace manual work, realize the automation and accurate control of the bushing press-fitting, and greatly improve the production efficiency and quality stability. SUMMARY

[0004] The core of the application is to provide a self-adaptive bushing press-fitting device and a control method, which relates to the field of press-fitting technology of interference-fitted parts such as bushings and bearings, and comprises a camera 1, a six-dimensional force sensor 4, a clamping mechanism 6, a variable-diameter guide assembly 12 and a position control mechanism. The camera 1 is fixedly connected with a support 2 through bolts. The support 2 is fixedly connected with a robot mechanical arm 3 through bolts and a six-dimensional force sensor 4. The six-dimensional force sensor 4 is connected with the clamping assembly 6 through a flange 5. The position control mechanism is connected with the clamping assembly 6 and the variable-diameter guide mechanism 12 through bolts and nuts.

[0005] Before the press-fitting device works, the to-be-installed rib plate 13 is first placed at the press-fitting position, the clamping mechanism 6 clamps the bushing 14 after being cooled by liquid nitrogen, the camera 1 identifies the spatial coordinate position of the installation hole, then the bushing 14 is placed at the specified position above the installation hole of the rib plate 13, the position control mechanism drives the variable-diameter guide assembly 12 to pass through the inner hole of the rib plate 13 and contact the bushing 1, the clamping mechanism 6 press-fits the bushing 14 into the rib plate 13, the variable-diameter guide assembly 12 and the clamping mechanism 6 keep synchronous movement during the press-fitting process, and the six-dimensional force sensor 4 monitors the stress state of the bushing 14 in real time, and the press-fitting of the bushing 14 is completed when the axial force output by the six-dimensional force sensor 4 reaches the set value.

[0006] Further, the position control mechanism comprises the first telescopic arm 7, the first fixed joint 8, the second telescopic arm 9, the second fixed joint 10 and the third telescopic arm 11; the first fixed joint 8 is fixedly connected with the first telescopic arm 7 and the second telescopic arm 9 through screw nuts respectively; the second fixed joint 10 is fixedly connected with the second telescopic arm 9 and the third telescopic arm 11 through screw nuts respectively; the position control mechanism can ensure the self-adaptive adjustment of the position of the variable-diameter guide assembly 12 according to the size of the rib plate 13 mounting hole.

[0007] Further, the first telescopic arm 7 is fixedly connected with the clamping and pressing assembly 6 through screw nuts; the third telescopic arm 11 is fixedly connected with the variable-diameter guide assembly 12 through screw nuts.

[0008] Further, the clamping and pressing assembly 6 comprises the shell 6-1, the pressing mechanism 6-2 and the clamping jaw 6-3; three clamping jaws 6-3 are circumferentially distributed and mounted on the T-shaped slide rail of the pressing mechanism 6-2, and the clamping range is adjusted by sliding along the T-shaped rail;

[0009] Further, the variable-diameter guide assembly 12 is composed of the first flat key 12-1, the transmission shaft 12-2, the rotating disc 12-3, the variable-diameter part 12-4, the machine body 12-5, the motor 12-6, the sleeve tooth 12-7, the second flat key 12-8 and the third flat key 12-9; the rotating disc 12-3 is rotatably connected with the transmission shaft 12-2 through the first flat key 12-1; the variable-diameter part 12-4 is installed on the T-shaped slide rail of the machine body 12-5, the variable-diameter part 12-4 is installed in the arc-shaped groove of the rotating disc 12-3 in a cylindrical structure, the motor 12-6 rotates to drive the rotating disc 12-3 to rotate in the same direction, and at the same time, the six variable-diameter parts 12-4 move along the arc-shaped groove of the rotating disc 12-3 on the T-shaped rail of the machine body 12-5; the motor 12-6 is fixedly connected with the machine body 12-5 through screws; the sleeve tooth 12-7 is rotatably connected with the transmission shaft 12-2 through the second flat key 12-8 and rotatably connected with the motor 12-6 through the third flat key 12-9.

[0010] The embodiment of the present application also provides a control method of the self-adaptive bushing press-fitting device, the control method is applied to the press-fitting device, and the control method comprises the following steps:

[0011] When the pressing device works, first, the rib plate 13 to be installed is placed in the position to be pressed and fixed, the pawl 6-3 clamps the bushing 14 cooled by liquid nitrogen, the camera 1 identifies the spatial coordinate position of the rib plate 13 mounting hole, the robot arm 3 moves the bushing 14 to the specified position above the rib plate 13 mounting hole, at this time, the position control mechanism starts to drive the variable-diameter guide assembly 12 to act, first, the six evenly distributed variable-diameter components 12-4 move to the corresponding matching size of the rib plate 13 mounting hole under the rotation of the motor 12-6 according to the output of the control system, then move through the rib plate 13 mounting hole to the bushing 14, the contact surface angle of the variable-diameter component 12-4 is consistent with the chamfer angle of the bushing 14 inner hole, the contact state with the bushing 14 is controlled through the internal force sensor of the variable-diameter component 12-4, at this time, the positioning work before pressing is completed; then the pressing mechanism 6-2 starts to work to press the bushing 14 into the rib plate 13, during the pressing process, the variable-diameter guide assembly 12 and the clamping mechanism 6 keep synchronous movement, at the same time, the six-dimensional force sensor 4 monitors the force state of the bushing 14 in real time, the six-dimensional force sensor 4 can detect three forces and three torques at the same time, and output the size and direction of the force applied to the bushing 14 in real time, when the axial force output by the six-dimensional force sensor 4 reaches the set value, the pressing of the bushing 14 is completed.

[0012] The self-adaptive bushing pressing control method has the design advantages of high accuracy, high reliability, controllability and intelligence, greatly improves the production efficiency, and reduces the unqualified rate of products; compared with the traditional method of clamping first and then pressing by a press, the clamping mechanism greatly improves the production efficiency; the variable-diameter guide assembly realizes the pressing of bushings and rib plates of different specifications, solves the problem of frequent tool replacement, simplifies the pressing process, and improves the production efficiency; the six-dimensional force sensor can detect three forces and three torques at the same time, and output the size and direction of the applied force in real time, has high precision and high response ability. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 is a schematic view of a self-adaptive bushing pressing device according to the present application;

[0014] Figure 2 is Figure 1 the structure schematic view of the clamping mechanism;

[0015] Figure 3 is Figure 1 the structure schematic view of the variable-diameter guide assembly;

[0016] Figure 4 is Figure 1 the working schematic view of the variable-diameter guide assembly;

[0017] BRIEF DESCRIPTION OF DRAWINGS

[0018] 1 camera; 2 support; 3 robot arm; 4 six-dimensional force sensor; 5 flange; 6 clamping mechanism; 6-1 housing; 6-2 pressing mechanism; 6-3 claw; 7 first telescopic arm; 8 first fixed joint; 9 second telescopic arm; 10 second fixed joint; 11 third telescopic arm; 12 variable diameter guide assembly; 12-1 first flat key; 12-2 transmission shaft; 12-3 rotating disc; 12-4 variable diameter part; 12-5 machine body; 12-6 motor; 12-7 toothed sleeve; 12-8 second flat key; 12-9 third flat key; 13 rib plate; 14 bushing. DETAILED DESCRIPTION

[0019] The technical solutions of the present application will be described in detail below with reference to the accompanying drawings.

[0020] In combination Figures 1 to 4 In this embodiment, the self-adaptive bushing press-fitting device comprises a camera 1, a six-dimensional force sensor 4, a clamping mechanism 6, a variable diameter guide assembly 12, and a position control mechanism; the camera 1 is fixedly connected with the support 2 by bolts; the support 2 is fixedly connected with the robot arm 3 by bolts and the six-dimensional force sensor 4; the six-dimensional force sensor 4 is connected with the clamping mechanism 6 through the flange 5; the position control mechanism is connected with the clamping mechanism 6 and the variable diameter guide mechanism 12 through bolts and nuts, respectively.

[0021] The position control mechanism is composed of a first telescopic arm 7, a first fixed joint 8, a second telescopic arm 9, a second fixed joint 10, and a third telescopic arm 11; the first fixed joint 8 is fixedly connected with the first telescopic arm 7 and the second telescopic arm 9 through screws and nuts, respectively; the second fixed joint 10 is fixedly connected with the second telescopic arm 9 and the third telescopic arm 11 through screws and nuts, respectively; the position control mechanism can ensure the self-adaptive adjustment of the position of the variable diameter guide assembly 12 according to the size of the rib plate 13 mounting hole;

[0022] In addition, the first telescopic arm 7 is fixedly connected with the clamping mechanism 6 through screws and nuts; the third telescopic arm 11 is fixedly connected with the variable diameter guide assembly 12 through screws and nuts;

[0023] As shown in Figure 2 The clamping mechanism 6 comprises a housing 6-1, a pressing mechanism 6-2, and a claw 6-3; the three claws 6-3 are circumferentially distributed and mounted on the T-shaped slide rail of the pressing mechanism 6-2, and the grabbing range is adjusted by sliding along the T-shaped rail;

[0024] As shown in Figure 3As shown, the variable diameter guide assembly 12 consists of a first flat key 12-1, a drive shaft 12-2, a rotating disk 12-3, a variable diameter component 12-4, a machine body 12-5, a motor 12-6, a gear sleeve 12-7, a second flat key 12-8, and a third flat key 12-9; the rotating disk 12-3 and the drive shaft 12-2 rotate through the first flat key 12-1; the variable diameter component 12-4 is mounted on the T-shaped slide rail of the machine body 12-5, and the variable diameter component 12-4 has a cylindrical structure. The structure is installed in the arc-shaped groove of the rotating disk 12-3. The rotation of the motor 12-6 drives the rotating disk 12-3 to rotate in the same direction. At the same time, the six variable diameter components 12-4 move along the arc-shaped groove of the rotating disk 12-3 on the T-shaped track of the machine body 12-5. The motor 12-6 is fixedly connected to the machine body 12-5 by screws. The sleeve gear 12-7 rotates with the transmission shaft 12-2 through the second flat key 12-8 and rotates with the motor 12-6 through the third flat key 12-9.

[0025] like Figure 4 As shown, the interaction between the rotating disk 12-3 and the diameter-changing component 12-4 in the diameter-changing guide assembly 12 is as follows: when the motor 12-6 rotates in the direction of the arrow, it drives the rotating disk 12-3 to rotate in the same direction. At the same time, the six diameter-changing components 12-4 move in the expanding direction along the arc groove of the rotating disk 12-3 on the T-shaped track of the machine body 12-5; conversely, the six components move in the contracting direction towards the diameter-changing component 12-4.

[0026] Before the pressing device operates, the rib plate 13 to be installed is first placed in the pressing position and fixed. The chuck 6-3 grips the bushing 14 after liquid nitrogen cooling and shrinkage. The camera 1 identifies the spatial coordinates of the mounting hole of the rib plate 13. The robot arm 3 moves the bushing 14 to the designated position above the mounting hole of the rib plate 13. At this time, the position control mechanism starts to drive the variable diameter guide assembly 12. First, the six evenly distributed variable diameter components 12-4 move to the corresponding mating size of the mounting hole according to the diameter of the mounting hole of the rib plate 13 output by the control system, under the rotation of the motor 12-6, and then pass through the mounting hole of the rib plate 13 towards... When the bushing 14 moves, the contact surface angle of the variable diameter component 12-4 is consistent with the chamfer angle of the inner hole of the bushing 14. The contact state with the bushing 14 is controlled by the internal force sensor of the variable diameter component 12-4. At this time, the positioning work before pressing is completed. Then the pressing mechanism 6-2 starts to work to press the bushing 14 into the rib plate 13. During the pressing process, the variable diameter guide component 12 and the clamping mechanism 6 move synchronously. The six-dimensional force sensor 4 can detect three forces and three torques at the same time, and output the magnitude and direction of the force on the bushing 14 in real time. When the axial force output by the six-dimensional force sensor 4 reaches the set value, the pressing of the bushing 14 is completed.

[0027] The beneficial effects of this invention are: the adaptive bushing press-fitting control method of this invention has the design advantages of high precision, high reliability, controllability and intelligence, which greatly improves production efficiency and reduces the product defect rate.

Claims

1. An adaptive bushing press fitting device, characterized by, The device comprises a camera (1), a six-dimensional force sensor (4), a clamping mechanism (6), a variable-diameter guide assembly (12), and a position control mechanism; the camera (1) is fixedly connected with a support (2) through bolts; the support (2) and the six-dimensional force sensor (4) are fixedly connected with a robot mechanical arm (3) through bolts; the six-dimensional force sensor (4) is connected with the clamping mechanism (6) through a flange (5); the position control mechanism is connected with the clamping assembly (6) and the variable-diameter guide mechanism (12) through bolts and nuts, respectively.

2. The adaptive bushing press fitting device of claim 1, wherein, Before the working of the pressing device, first, place the rib plate (13) to be installed at the position to be pressed, the clamping mechanism (6) clamps the bushing (14) cooled by liquid nitrogen, the camera (1) identifies the spatial coordinate position of the installation hole of the rib plate (13), then places the bushing (14) at the specified position above the installation hole of the rib plate (13), and the position control mechanism drives the variable-diameter guide assembly (12) to pass through the inner hole of the rib plate (13) and contact the bushing (1); the clamping mechanism (6) presses the bushing (14) into the rib plate (13), and the variable-diameter guide assembly (12) and the clamping mechanism (6) keep synchronous movement during the pressing process, while the six-dimensional force sensor (4) monitors the stress state of the bushing (14) in real time, and the pressing of the bushing (14) is completed when the axial force output by the six-dimensional force sensor (4) reaches the set value.

3. The adaptive bushing press fitting device of claim 1, wherein, The position control mechanism comprises a first telescopic arm (7), a first fixed joint (8), a second telescopic arm (9), a second fixed joint (10), and a third telescopic arm (11); the first fixed joint (8) is fixedly connected with the first telescopic arm (7) and the second telescopic arm (9) through screws and nuts, respectively; the second fixed joint (10) is fixedly connected with the second telescopic arm (9) and the third telescopic arm (11) through screws and nuts, respectively; the position control mechanism can ensure the self-adaptive adjustment of the position of the variable-diameter guide assembly (12) according to the size of the installation hole of the rib plate (13).

4. The adaptive bushing press fitting device of claim 3, wherein, The first telescopic arm (7) is fixedly connected with the clamping assembly (6) through screws and nuts; the third telescopic arm (11) is fixedly connected with the variable-diameter guide assembly (12) through screws and nuts.

5. The self-adapting bush press fitting device according to claim 1, wherein, The clamping assembly (6) comprises a shell (6-1), a pressing mechanism (6-2), and a claw (6-3); the three claws (6-3) are circumferentially distributed and installed on the T-shaped slide rail of the pressing mechanism (6-2), and the grabbing range is adjusted by sliding along the T-shaped rail.

6. The adaptive bushing press fitting device of claim 1, wherein, The variable diameter guide assembly (12) is composed of a first flat key (12-1), a transmission shaft (12-2), a rotating disc (12-3), a variable diameter component (12-4), a body (12-5), a motor (12-6), a sleeve tooth (12-7), a second flat key (12-8) and a third flat key (12-9); the rotating disc (12-3) is matched with the transmission shaft (12-2) to rotate through the first flat key (12-1); the variable diameter component (12-4) is installed on the T-shaped slide rail of the body (12-5), the cylindrical structure of the variable diameter component (12-4) is installed in the arc-shaped groove of the rotating disc (12-3), the motor (12-6) rotates to drive the rotating disc (12-3) to rotate in the same direction, and at the same time, the six variable diameter components (12-4) move along the arc-shaped groove of the rotating disc (12-3) on the T-shaped rail of the body (12-5); the motor (12-6) is fixedly connected with the body (12-5) through a screw; the sleeve tooth (12-7) is matched with the transmission shaft (12-2) to rotate through the second flat key (12-8) and matched with the motor (12-6) to rotate through the third flat key (12-9).

7. The self-adapting bushing press-fitting device according to claim 6, wherein, The mutual action relationship between the rotating disc (12-3) and the variable diameter component (12-4) in the variable diameter guide assembly (12) is that when the motor (12-6) rotates in the counterclockwise direction, the rotating disc (12-3) is driven to rotate in the same direction, and at the same time, the six variable diameter components (12-4) move in the expanding direction along the arc-shaped groove of the rotating disc (12-3) on the T-shaped rail of the body (12-5); conversely, the six variable diameter components (12-4) move in the converging direction.

8. A control method of an adaptive bush press-fitting device, characterized by, The control method is applied to the press-fitting device according to any one of claims 1-7, and the control method comprises: Before the press-fitting device works, first, the rib plate (13) to be installed is placed in the position to be press-fitted and fixed, the pawl (6-3) clamps the bushing (14) cooled by liquid nitrogen, the camera (1) identifies the spatial coordinate position of the installation hole of the rib plate (13), the robot arm (3) moves the bushing (14) to the specified position above the installation hole of the rib plate (13), at this time, the position control mechanism starts to drive the variable diameter guide assembly (12) to act, first, the six evenly distributed variable diameter components (12-4) move to the corresponding matching size of the installation hole under the rotation of the motor (12-6) according to the diameter of the installation hole of the rib plate (13), and then move through the installation hole of the rib plate (13) to the bushing (14), the contact surface angle of the variable diameter component (12-4) is consistent with the chamfer angle of the inner hole of the bushing (14), the contact state of the variable diameter component (12-4) and the bushing (14) is controlled through the internal force sensor of the variable diameter component (12-4), at this time, the positioning work before press-fitting is completed; Then, the pressing mechanism (6-2) starts to work to press the bushing (14) into the rib plate (13), and the variable diameter guide assembly (12) and the clamping and pressing mechanism (6) keep synchronous movement during the press-fitting process, and the press-fitting of the bushing (14) is completed when the axial force output by the six-dimensional force sensor (4) reaches the set value.

9. The control method of an adaptive bush press-fitting apparatus according to claim 8, characterized by, The six-dimensional force sensor (4) can detect three forces and three moments at the same time, and output the magnitude and direction of the force received by the bushing (14) in real time.

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