An automatic assembly device and method for small-gap fitting of a special-shaped shaft tube

By combining a collaborative robot system with a six-dimensional force sensor, the automated and precise positioning and assembly of irregularly shaped shaft tubes were achieved, solving the problem of assembling small-clearance shaft holes and improving production efficiency and product quality.

CN122165167APending Publication Date: 2026-06-09BEIJING HANGTIAN XINFENG MECHANICAL EQUIP
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
BEIJING HANGTIAN XINFENG MECHANICAL EQUIP
Filing Date
2026-02-11
Publication Date
2026-06-09

AI Technical Summary

Technical Problem

Existing technologies make it difficult to automate the assembly of small-clearance shaft holes, especially the precise positioning and smooth insertion of irregularly shaped shaft tubes, resulting in low production efficiency and unstable product quality.

Method used

The system employs a collaborative robot execution system, a clamping machine tool system, and a feeding and detection system, combined with a six-dimensional force sensor and impedance control algorithm. Through pneumatic grippers and steering cylinders, it achieves automatic identification, positioning, and assembly of irregularly shaped shaft tubes, and controls the shaft tube insertion process in stages.

Benefits of technology

It improves the automation level of irregular shaft tube assembly, reduces manual operation, prevents parts damage, and improves production efficiency and product quality.

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Abstract

This invention relates to an automated assembly device and method for irregularly shaped shaft tubes with small clearance fits. The device comprises a collaborative robot execution system (1), a clamping machine tool system (2), and a feeding and detection system (3). The collaborative robot execution system (1) is mounted on the clamping machine tool system (2), and the feeding and detection system (3) is located beside the clamping machine tool system (2). This invention is applied to automated product assembly lines, saving the manual labor required for identifying the direction of irregularly shaped shaft tubes and assembling multi-stage stepped holes. This reduces the proportion of manual labor and prevents damage to the assembled products due to manual operation. It improves product quality and increases production efficiency.
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