Coaxial assembly device and method for shaft end ring frame based on multi-dimensional force feedback human-machine cooperation

Abstract

The application provides a shaft end ring frame coaxial assembly device and method based on multi-dimensional force feedback man-machine cooperation, and solves the problems of large weight of a shaft end assembly, a center body and a ring frame, existing manual assembly, difficult shaft end alignment, repeated assembly process and low assembly efficiency. The device comprises a marble table top, an assembly module and a control module. The assembly module comprises a sliding table support frame, an X-axis right sliding table, a shaft end floating table, a ring frame floating table, a center body support tool, a six-dimensional force sensor, an X-axis left sliding table, an angular displacement table, a Y-axis sliding table, a Y-axis sliding table support tool, a lifting cylinder and a ring frame floating table mounting plate, which can meet the demand of transverse low stress assembly among the shaft end assembly, the center body and the ring frame, realizes rotation running after shaft hole assembly, and makes the assembly center coincide with the rotation center.

Description

Technical Field

[0001] This invention relates to a coaxial assembly device and method for shaft end ring frame based on multidimensional force feedback and human-machine collaboration, belonging to the field of automated assembly technology. Background Technology

[0002] Assembly is a crucial step in product manufacturing, and shaft-hole assembly is a common and typical assembly method in many high-precision manufacturing fields. It mainly refers to inserting a shaft part into a hole part. The smaller the clearance between the shaft and the hole, the more exponentially the assembly difficulty increases. Even a tiny error can lead to assembly failure or damage to the parts. Therefore, how to complete shaft-hole assembly with small clearance under relatively small contact forces has always been a technical challenge.

[0003] The shaft-end assembly, central body, and ring frame are important components of an inertial system, such as... Figure 5 , 6 As shown in Figure 7, the inertial system ring frame assembly is currently still done manually. Since the inner ring frame assembly includes the central body assembly, which is quite heavy, it requires two people to align the shaft ends. In addition, considering the small gap between the shaft ends and the ring frame, the alignment is difficult. The existing manual operation method makes shaft end assembly difficult and the coaxial assembly accuracy is not high. Summary of the Invention

[0004] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide an automated device and method for coaxial assembly of shaft end ring frame based on multi-dimensional force feedback human-machine collaboration, which meets the requirements for low-stress lateral assembly of three parts: shaft end component, center body and ring frame, and realizes the rotational running-in after shaft hole assembly, so that the assembly center coincides with the rotation center.

[0005] The technical solution of this invention is: In a first aspect, the present invention proposes a coaxial assembly device for a shaft end ring frame based on multidimensional force feedback human-machine collaboration, comprising: a marble countertop 1, an assembly module and a control module; The assembly module is used to achieve low-stress lateral assembly between three parts: shaft end assembly, center body, and ring frame. The assembly module includes: slide support frame 2, X-axis right slide 3, shaft end floating stage 4, ring frame floating stage 5, center body support fixture 6, six-dimensional force sensor 7, X-axis left slide 8, angular displacement stage 9, Y-axis slide 10, Y-axis slide support fixture 11, lifting cylinder 12, and ring frame floating stage mounting plate 13. The center body is placed on the center body support fixture 6. The support arc surfaces on both sides of the center body support fixture 6 are in contact with the outer ring surface of the center body assembly, and the positioning pins are tightened. The inner ring shaft assembly hole of the ring frame is aligned with the hole of the ring frame floating table 5 and fastened with screws. The shaft end assembly is fixed to the shaft end floating table 4 with bolts. The slide support frame 2 is fixed on the marble tabletop 1 and is used to support the X-axis right slide 3 and the X-axis left slide 8. The X-axis right slide 3 and the X-axis left slide 8 are fixedly installed on the top of the shaft end floating platform 4. The X-axis right slide 3 and the X-axis left slide 8 are used to drive the shaft end floating platform 4 fixed on the top to move in the X direction, so that the shaft end assembly fixed on the shaft end floating platform 4 enters the central body and the ring frame hole. The aforementioned ring-frame floating platform 5 is fixed on the ring-frame floating platform mounting plate 13, and the ring-frame floating platform mounting plate 13 is fixed on the marble countertop 1. A Y-axis slide support fixture 11 is also installed on the ring-frame floating platform mounting plate 13. The Y-axis slide 10 is fixed on the Y-axis slide support fixture 11 and is used to drive the central body to move along the Y-axis direction. The Y-axis slide support fixture 11 is threadedly connected to the lifting cylinder 12. When the lifting cylinder 12 lifts up, it lifts the Y-axis slide support fixture 11, which drives the Y-axis slide 10, the angular displacement platform 9, the six-dimensional force sensor 7, the central body support fixture 6, and the central body to move up and down along the Z-axis direction. The mounting hole of the lifting cylinder 12 is fixed to the inside of the marble countertop 1 by bolts. An angular displacement stage 9 is installed on the Y-axis slide 10. The angular displacement stage 9 is used to drive the central body to adjust its angle and posture. A six-dimensional force sensor 7 is installed on the angular displacement stage 9. The six-dimensional force sensor 7 is fastened to the central body support fixture 6 above it by screws. The six-dimensional force sensor 7 is used to provide real-time feedback on the value of the assembly force change during the assembly process. The control module is used to collect the assembly force data of the six-dimensional force sensor 7 during the assembly process of the shaft end assembly, the central body, and the ring frame, and to control the movement of the X-axis right slide 3, the X-axis left slide 8, the angular displacement stage 9, the Y-axis slide 10, and the lifting cylinder 12 to achieve low-stress assembly.

[0006] Furthermore, the shaft end floating table 4 realizes adjustment in two degrees of freedom, namely displacement in the Z direction and rotation around the Z axis. The shaft end floating table 4 includes a shaft end clamping fixture 41, a shaft end runout limiting bracket 42, a spring shaft bracket 43, and a shaft end floating table connecting plate 44. The shaft end clamping fixture 41 is used to position and fasten the shaft end assembly. The shaft end clamping fixture 41 is engraved with loading alignment lines to prevent the shaft end assembly from being misaligned with the threaded hole of the ring frame. The spring shaft bracket 43 is fastened to the shaft end floating table connecting plate 44 by bolts. The spring shaft bracket 43 has a built-in guide shaft and an outer spring support to realize the adjustment of the Z-direction displacement of the shaft end assembly. The guide shaft and the shaft end clamping fixture 41 are connected by a needle roller bearing to realize the rotation of the shaft end assembly around the Z-axis. The shaft end runout limiting bracket 42 is fastened to the shaft end floating table connecting plate 44 by bolts. Two rubber blocks are provided on the shaft end runout limiting bracket 42 to limit the angle of adjustment of the Z-direction rotation angle of the shaft end assembly.

[0007] Furthermore, the shaft end clamping fixtures 41 of the two shaft end floating stages 4 are coaxially opposite each other, and their axes are along the X-axis direction.

[0008] Furthermore, the ring frame floating platform 5 realizes adjustment in two degrees of freedom, namely displacement in the Y direction and rotation around the Y axis. The ring frame floating platform 5 includes a ring frame floating platform bracket 51, a ring frame floating platform support shaft 52, and a ring frame rotation limit block 53. The ring frame floating platform support 51 has a U-shaped structure. The upper part of the U-shaped structure has two inner holes along the Y-axis. The ring frame floating platform support shaft 52 and the inner holes of the ring frame floating platform support 51 are clearance fit and connected by needle roller bearings. The outer ring of the needle roller bearing is installed with an interference fit with the inner hole of the ring frame floating platform support 51, and the inner ring of the needle roller bearing is clearance fit with the ring frame floating platform support shaft 52. Relative to the ring frame floating platform support 51, the ring frame floating platform support shaft 52 can translate and rotate in the Y direction. The ring frame rotation limit stop 53 is fixed to the ring frame floating platform bracket 51 by screws to limit the rotation amplitude of the ring frame so as to achieve micro-adjustment of the angle.

[0009] Furthermore, the two ring frame floating platform support shafts 52 are set along the Y-axis direction.

[0010] Furthermore, the lifting cylinder 12 is used to completely separate the central body support fixture 6 from the central body after the shaft end assembly is installed into the central body and the ring frame hole, so that the operator has space to rotate the central body for rotation and running-in.

[0011] Furthermore, during the assembly of the central body and the shaft end assembly, the assembly force on the central body is sensed in real time by the six-dimensional force sensor 7. Based on the feedback value, the displacement of the Y-axis slide 10 and the angle of the angular displacement stage 9 are adjusted to achieve active compliance in the Y direction.

[0012] Furthermore, the Y-axis slide support fixture 11 includes a fixture table and four guide shafts. The bottom of the guide shafts is fixedly installed on the ring frame floating table mounting plate 13. The lifting cylinder 12 is threadedly connected to the fixture table to drive the fixture table, causing the fixture table to rise or fall along the guide shafts. The Y-axis slide 10 is installed on the fixture table, thereby causing the fixture table, Y-axis slide 10, angular displacement stage 9, six-dimensional force sensor 7, central body support fixture 6, and the central body as a whole to move up and down along the Z-axis.

[0013] Secondly, the present invention also proposes an assembly method for a coaxial assembly device for a shaft end ring frame based on multi-dimensional force feedback human-machine collaboration, comprising the following steps: S1: Initialization: Power on, the origin of the motion mechanism in the assembly module is returned to zero, and the parameters of the control module are restored to their initial settings. S2: Place the center part on the center body support fixture 6, that is, the support arc surfaces on both sides of the center body support fixture 6 are in contact with the annular surface of the center part assembly, and the positioning pins are close together. S3: Pull the ring frame floating table support shaft 52 out of the ring frame floating table bracket 51. The operator holds the ring frame and aligns the ring shaft assembly hole inside the ring frame with the hole in the ring frame floating table bracket 51. Then insert the ring frame floating table support shaft 52 and fasten the ring frame to the ring frame floating table support shaft 52 with screws. S4: Hold the shaft end assembly, scribing lines on it, and then use bolts to fix it to the shaft end clamping fixture 41; S5: Control the X-axis right slide 3 to step to the left and the X-axis left slide 8 to step to the right, with a step size of 0.2mm. Then, collect the force signal from the six-dimensional force sensor and calculate whether the force signal exceeds the threshold. If it exceeds the threshold, adjust the Y-axis slide 10 and the angular displacement stage 9, and then perform the stepping again. If it does not exceed the threshold, the X-axis right slide 3 steps to the left until it moves into position, and the X-axis left slide 8 steps to the right until it moves into position. S6: The operator manually removes the shaft end clamping fixture 41 that fastens the shaft end, and then moves the left X-axis slide 8 and the right X-axis slide 3 to their initial positions. S7: The operator slowly rotates the end cap of the shaft end assembly to align the threaded hole of the end cap with the threaded hole on the end face of the ring frame, and then uses an M3 screw to initially tighten and position it. S8: The lifting cylinder 12 descends, causing the central body support fixture 6 to completely separate from the central body. The operator rotates the central body, causing it to rotate around the assembly axis. After running-in, the screws are tightened. S9: Remove the ring frame from the ring frame floating platform support shaft 52. The assembly of the shaft end assembly, the center body, and the ring frame is complete.

[0014] This invention includes at least the following beneficial technical effects: (1) The present invention adopts the method of horizontal assembly of shaft end assembly. The advantage is that after the shaft hole is assembled, the assembly center and the rotation center can be made to coincide through the form of rotation running-in. (2) The present invention integrates active compliance and passive compliance mechanisms, that is, it adjusts through real-time measurement information of force feedback and relies on the micro-force adaptive characteristics of the device, giving full play to the advantages of the two assembly methods; (3) The present invention designs a human-machine collaborative assembly process, which realizes the simultaneous contact of the assembly surfaces of the shaft end assembly, the central body and the ring frame, that is, the three are assembled at the same time; (4) The present invention designs two sets of floating table mechanical structures, namely shaft end floating table 4 and ring frame floating table 5, for passive compliant assembly. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the coaxial assembly device of the shaft end ring frame of the present invention; Figure 2 This is a schematic diagram from another angle of the coaxial assembly device of the shaft end ring frame of the present invention; Figure 3 This is a schematic diagram of the shaft-end floating platform structure of the present invention; Figure 4 This is a schematic diagram of the ring frame floating platform structure of the present invention; Figure 5 This is a schematic diagram of the shaft end assembly; Figure 6 This is a schematic diagram of the central body; Figure 7 This is a schematic diagram of the ring frame.

[0016] Explanation of reference numerals in the attached diagram: 1. Marble tabletop; 2. Slide support frame; 3. Right X-axis slide; 4. Loading tray; 5. Floating ring frame; 6. Central body support fixture; 7. Six-dimensional force sensor; 8. Left X-axis slide; 9. Angular displacement stage; 10. Y-axis slide; 11. Y-axis slide support fixture; 12. Lifting cylinder; 13. Floating ring frame mounting plate; 41. Shaft end clamping fixture 41; 42. Shaft end runout limiting bracket; 43. Spring shaft bracket; 44. Shaft end floating table connecting plate; 51. Ring frame floating platform support; 52. Ring frame floating platform support shaft; 53. Ring frame rotation limit stop. Detailed Implementation

[0017] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0018] This invention discloses a coaxial assembly device for shaft end rings based on multi-dimensional force feedback and human-machine collaboration, such as... Figure 1 As shown, the assembly includes a marble countertop 1, an assembly module, and a control module. The marble countertop 1 serves as the support structure for the assembly module, which is used to achieve low-stress lateral assembly between three parts: the shaft end assembly, the central body, and the ring frame. The control module is used to collect data on the assembly force from the six-dimensional force sensor 7 during the assembly process of the shaft end assembly and the central body, and to control the movement of the actuating mechanism in the assembly module to achieve low-stress assembly.

[0019] The coaxial assembly device for shaft end ring frame based on multidimensional force feedback human-machine collaboration adopts the method of lateral assembly of shaft end components. After the shaft hole is assembled, the assembly center and the rotation center can be made to coincide through the running-in process. At the same time, it integrates active compliance and passive compliance mechanisms, that is, it adjusts through real-time measurement information of force feedback, and also relies on the micro-force adaptive characteristics of the device, giving full play to the advantages of the two assembly methods.

[0020] Specifically, such as Figure 1 and Figure 2As shown, the assembly module includes: slide support frame 2, X-axis right slide 3, shaft end floating stage 4, ring frame floating stage 5, central body support fixture 6, six-dimensional force sensor 7, X-axis left slide 8, angular displacement stage 9, Y-axis slide 10, Y-axis slide support fixture 11, lifting cylinder 12, and ring frame floating stage mounting plate 13. The center body is placed on the center body support fixture 6. The support arc surfaces on both sides of the center body support fixture 6 are in contact with the outer ring surface of the center body assembly, and the positioning pins are tightened. The inner ring shaft assembly hole of the ring frame is aligned with the hole of the ring frame floating table 5 and fastened with screws. The shaft end assembly is fixed to the shaft end floating table 4 with bolts. The slide support frame 2 is fixed on the marble tabletop 1 and is used to support the X-axis right slide 3 and the X-axis left slide 8. The X-axis right slide 3 and the X-axis left slide 8 are fixedly installed on the top of the shaft end floating platform 4. The X-axis right slide 3 and the X-axis left slide 8 are used to drive the shaft end floating platform 4 fixed on the top to move in the X direction, so that the shaft end assembly fixed on the shaft end floating platform 4 enters the central body and the ring frame hole. The aforementioned ring-frame floating platform 5 is fixed on the ring-frame floating platform mounting plate 13, and the ring-frame floating platform mounting plate 13 is fixed on the marble countertop 1. A Y-axis slide support fixture 11 is also installed on the ring-frame floating platform mounting plate 13. The Y-axis slide 10 is fixed on the Y-axis slide support fixture 11 and is used to drive the central body to move along the Y-axis direction. The Y-axis slide support fixture 11 is threadedly connected to the lifting cylinder 12. When the lifting cylinder 12 lifts up, it lifts the Y-axis slide support fixture 11, which drives the Y-axis slide 10, the angular displacement platform 9, the six-dimensional force sensor 7, the central body support fixture 6, and the central body to move up and down along the Z-axis direction. The mounting hole of the lifting cylinder 12 is fixed to the inside of the marble countertop 1 by bolts. An angular displacement stage 9 is installed on the Y-axis slide 10. The angular displacement stage 9 is used to drive the central body to adjust its angle and posture. A six-dimensional force sensor 7 is installed on the angular displacement stage 9. The six-dimensional force sensor 7 is fastened to the central body support fixture 6 above it by screws. The six-dimensional force sensor 7 is used to provide real-time feedback on the value of the assembly force change during the assembly process. The control module is used to collect the assembly force data of the six-dimensional force sensor 7 during the assembly process of the shaft end assembly, the central body, and the ring frame, and to control the movement of the X-axis right slide 3, the X-axis left slide 8, the angular displacement stage 9, the Y-axis slide 10, and the lifting cylinder 12 to achieve low-stress assembly.

[0021] The Y-axis slide support fixture 11 includes a fixture table and four guide shafts. The bottom of the guide shafts is fixedly mounted on the ring frame floating table mounting plate 13. The lifting cylinder 12 is threadedly connected to the fixture table to drive the fixture table, causing the fixture table to rise or fall along the guide shafts. The Y-axis slide 10 is mounted on the fixture table, thereby causing the fixture table, the Y-axis slide 10, the angular displacement stage 9, the six-dimensional force sensor 7, the central body support fixture 6, and the central body as a whole to move up and down along the Z-axis.

[0022] The main function of the slide support frame 2 is to fix and position the center body; the main function of the X-axis right slide 3 and X-axis left slide 8 is to drive the shaft end floating platform 4 fixed above it to move left and right in the X direction, so that the shaft end assembly fixed on the shaft end floating platform 4 enters the hole between the center body and the ring frame; the shaft end floating platform 4 mainly fixes the shaft end assembly and provides Z-direction angle and displacement adjustment space for the assembly process of the shaft end assembly, ring frame, and center body; the ring frame floating platform 5 mainly fixes the ring frame and provides Y-direction angle and displacement adjustment space for the assembly process of the shaft end assembly and ring frame; the function of the center body support fixture 6 is to fix the center body and connect the center body to the six-dimensional force sensor 7; the main function of the six-dimensional force sensor 7 is... The system uses real-time sensing of the assembly force on the central body. During the assembly of the central body and the shaft end assembly, the displacement and angle of the Y-axis slide 10 and the angular displacement stage 9 can be adjusted based on the feedback value from the force sensor, thereby achieving active compliance in the Y direction. The angular displacement stage 9 mainly adjusts the angle of the central body in the Y-axis direction. The Y-axis slide 10 mainly adjusts the displacement of the central body in the Y-axis direction. The Y-axis slide support fixture 11 and the ring frame floating table mounting plate 13 are transition fixtures, mainly serving a connecting function. The main function of the lifting cylinder 12 is to completely disengage the central body support fixture 6 from the central body after the shaft end assembly is installed into the holes of the central body and the ring frame, allowing the operator space to rotate the central body for rotation and running-in.

[0023] like Figure 3 As shown, the shaft end floating table 4 realizes adjustment in two degrees of freedom, namely displacement in the Z direction and rotation around the Z axis. The shaft end floating table 4 includes a shaft end clamping fixture 41, a shaft end runout limiting bracket 42, a spring shaft bracket 43, and a shaft end floating table connecting plate 44. The shaft end clamping fixture 41 is used to position and fasten the shaft end assembly. The shaft end clamping fixture 41 is engraved with loading alignment lines to prevent the shaft end assembly from being misaligned with the threaded hole of the ring frame. The spring-loaded shaft bracket 43 is fastened to the shaft-end floating table connecting plate 44 by bolts. The spring-loaded shaft bracket 43 has an internal guide shaft and an outer spring support to adjust the Z-direction displacement of the shaft-end assembly. The guide shaft and the shaft-end clamping fixture 41 are connected by a needle roller bearing to allow the shaft-end assembly to rotate around the Z-axis. The shaft-end runout limiting bracket 42 is fastened to the shaft-end floating table connecting plate 44 by bolts. Two rubber stops are provided on the shaft-end runout limiting bracket 42 to limit the angle of adjustment of the Z-direction rotation of the shaft-end assembly. The shaft-end clamping fixtures 41 of the two shaft-end floating tables 4 are coaxially opposite each other, and their axes are along the X-axis.

[0024] The main function of the shaft end clamping fixture 41 is to position and fasten the shaft end assembly; the main function of the shaft end runout limiting bracket 42 is to limit the Z-axis rotation angle of the shaft end assembly; the main function of the spring shaft bracket 43 is to support the shaft end assembly and adjust the Z-axis angle and position of the shaft end assembly with the center body and ring frame during assembly; the shaft end floating table connecting plate 44 is for the transfer work, and its main function is to fix the shaft end floating table 4 to the table surface of the X-axis right slide table 3 and the X-axis left slide table 8.

[0025] like Figure 4 As shown, the ring frame floating platform 5 realizes adjustment in two degrees of freedom, namely displacement in the Y direction and rotation around the Y axis. The ring frame floating platform 5 includes a ring frame floating platform bracket 51, a ring frame floating platform support shaft 52, and a ring frame rotation limit block 53. The ring frame floating platform support 51 has a U-shaped structure. The upper part of the U-shaped structure has two inner holes along the Y-axis. The ring frame floating platform support shaft 52 and the inner holes of the ring frame floating platform support 51 are clearance fit and connected by needle roller bearings. The outer ring of the needle roller bearing is installed with an interference fit with the inner hole of the ring frame floating platform support 51, and the inner ring of the needle roller bearing is clearance fit with the ring frame floating platform support shaft 52. Relative to the ring frame floating platform support 51, the ring frame floating platform support shaft 52 can translate and rotate in the Y direction. The ring frame rotation limit stop 53 is fixed to the ring frame floating platform bracket 51 by screws to limit the rotation amplitude of the ring frame, so as to achieve fine adjustment of the angle. The two ring frame floating platform support shafts 52 are set along the Y-axis direction.

[0026] The floating ring platform 5 can achieve adjustment in two degrees of freedom: displacement in the Y-axis and rotation around the Y-axis. Its structure includes a floating ring platform bracket 51, a floating ring platform support shaft 52, and a ring platform rotation limit stop 53. The main function of the floating ring platform bracket 51 is to support the ring frame at the assembly height; the floating ring platform support shaft 52 can translate and rotate in the Y-axis direction, providing translational and rotational freedom in the Y-axis direction for the assembly of the ring frame and the shaft end assembly; the ring platform rotation limit stop 53 mainly functions to limit the rotation amplitude of the ring frame, allowing for fine-tuning of the angle.

[0027] The lifting cylinder 12 is used to completely separate the central body support fixture 6 from the central body after the shaft end assembly is installed into the central body and the ring frame hole, so that the operator has space to rotate the central body for rotation and running-in.

[0028] During the assembly of the central body and the shaft end assembly, the assembly force on the central body is sensed in real time by the six-dimensional force sensor 7. Based on the feedback value, the displacement of the Y-axis slide 10 and the angle of the angular displacement stage 9 are adjusted to achieve active compliance in the Y direction.

[0029] This invention also proposes a method for low-lateral stress assembly of three parts—shaft end assembly, central body, and ring frame—in a coaxial assembly device based on multi-dimensional force feedback and human-machine collaboration, comprising the following steps: S1: Equipment initialization: The equipment is powered on, the coordinate origin of each motion mechanism is returned to zero, and the system parameters are restored to their initial settings. S2: Place the center part on the center body support fixture 6, that is, the supporting arc surfaces on both sides of the center body support fixture 6 are in contact with the annular surface of the center part assembly, and the positioning pins are tightened.

[0030] S3: Pull the ring frame floating table support shaft 52 out of the ring frame floating table bracket 51. The operator holds the ring frame and aligns the ring shaft assembly hole inside the ring frame with the hole in the ring frame floating table bracket 51. Then insert the ring frame floating table support shaft 52 and fasten the ring frame to the ring frame floating table support shaft 52 with screws. S4: Hold the shaft end assembly, scribing lines on it, and then use bolts to fix it to the shaft end clamping fixture 41; S5: The controller controls the X-axis right slide 3 to step to the left and the X-axis left slide 8 to step to the right, with a step size of 0.2mm. Then, it collects the force signal from the six-dimensional force sensor, calculates whether the force signal exceeds the threshold, and determines it after testing. If it exceeds the threshold, it is solved, and the Y-axis slide 10 and angular displacement stage 9 are adjusted. After adjustment, the stepping is performed again. If it does not exceed the threshold, the X-axis slide steps from right to left until the X-axis slide moves to the right and the X-axis left slide 8 steps to the right until the X-axis left slide 8 moves to the right. S6: The operator manually removes the shaft end clamping fixture 41 that secures the shaft end, and then moves the left X-axis slide 8 and the right X-axis slide 3 to their initial positions.

[0031] S7: The operator slowly rotates the end cap of the shaft end assembly to align the threaded hole of the end cap with the threaded hole on the end face of the ring frame, and then uses an M3 screw to initially tighten and position it.

[0032] S8: The lifting cylinder 12 descends, causing the central body support fixture 6 to completely detach from the central body. The operator rotates the central body, causing it to rotate around the assembly axis. After running-in, the screws are tightened.

[0033] S9: Remove the ring frame from the ring frame floating platform support shaft 52. The assembly of the shaft end assembly, the center body, and the ring frame is complete.

[0034] The parts of this invention not described in detail are common knowledge to those skilled in the art.

Claims

1. A coaxial assembly device for shaft end ring frame based on multi-dimensional force feedback human-machine collaboration, characterized in that, include: Marble countertop (1), assembly module and control module; The assembly module is used to realize the low-stress lateral assembly of the three parts: shaft end assembly, center body, and ring frame. The assembly module includes: slide support frame (2), X-axis right slide (3), shaft end floating stage (4), ring frame floating stage (5), center body support fixture (6), six-dimensional force sensor (7), X-axis left slide (8), angular displacement stage (9), Y-axis slide (10), Y-axis slide support fixture (11), lifting cylinder (12), and ring frame floating stage mounting plate (13). The center body is placed on the center body support fixture (6). The support arc surfaces on both sides of the center body support fixture (6) are in contact with the outer ring surface of the center body assembly, and the positioning pins are close together. The inner ring shaft assembly hole of the ring frame is aligned with the hole of the ring frame floating table (5) and fastened with screws. The shaft end assembly is fixed to the shaft end floating table (4) with bolts. The slide support frame (2) is fixed on the marble tabletop (1) to support the X-axis right slide (3) and the X-axis left slide (8); the X-axis right slide (3) and the X-axis left slide (8) are fixedly installed above the shaft end floating platform (4), which is used to drive the shaft end floating platform (4) fixed above to move in the X direction, so that the shaft end assembly fixed on the shaft end floating platform (4) enters the center body and the ring frame hole; The aforementioned ring frame floating platform (5) is fixed on the ring frame floating platform mounting plate (13), and the ring frame floating platform mounting plate (13) is fixed on the marble countertop (1); the ring frame floating platform mounting plate (13) is also equipped with a Y-axis slide support fixture (11), and the Y-axis slide (10) is fixed on the Y-axis slide support fixture (11) to drive the central body to move along the Y-axis direction; the Y-axis slide support fixture (11) is threadedly connected to the lifting cylinder (12), and the lifting cylinder (12) lifts up the Y-axis slide support fixture (11), driving the Y-axis slide (10), the angular displacement platform (9), the six-dimensional force sensor (7), the central body support fixture (6) and the central body to move up and down along the Z-axis direction; the mounting hole of the lifting cylinder (12) is fixed to the inside of the marble countertop (1) by bolts; An angular displacement stage (9) is installed on the Y-axis slide (10). The angular displacement stage (9) is used to drive the central body to adjust its angle and posture. A six-dimensional force sensor (7) is installed on the angular displacement stage (9). The six-dimensional force sensor (7) is fastened to the central body support fixture (6) by screws. The six-dimensional force sensor (7) is used to provide real-time feedback on the value of the assembly force change during the assembly process. The control module is used to collect data on the assembly force of the six-dimensional force sensor (7) during the assembly process of the shaft end assembly, the central body, and the ring frame, and to control the movement of the X-axis right slide (3), the X-axis left slide (8), the angular displacement stage (9), the Y-axis slide (10), and the lifting cylinder (12) to achieve low-stress assembly.

2. The coaxial assembly device for shaft end ring frame based on multi-dimensional force feedback human-machine collaboration according to claim 1, characterized in that: The shaft end floating table (4) realizes adjustment in two degrees of freedom, namely displacement in the Z direction and rotation around the Z axis. The shaft end floating table (4) includes a shaft end clamping fixture (41), a shaft end sway limit bracket (42), a spring shaft bracket (43), and a shaft end floating table connecting plate (44). The shaft end clamping fixture (41) is used to position and fasten the shaft end assembly. The shaft end clamping fixture (41) has a feeding alignment line to prevent the shaft end assembly from deviating too much from the threaded hole of the ring frame. The spring shaft bracket (43) is fastened to the shaft end floating table connecting plate (44) by bolts. The spring shaft bracket (43) has a built-in guide shaft and an outer spring support to realize the adjustment of the Z-direction displacement of the shaft end assembly. The guide shaft and the shaft end clamping fixture (41) are connected by a needle roller bearing to realize the rotation of the shaft end assembly around the Z-axis. The shaft end runout limit bracket (42) is fastened to the shaft end floating table connecting plate (44) by bolts. Two rubber blocks are provided on the shaft end runout limit bracket (42) to limit the angle of adjustment of the Z-direction rotation angle of the shaft end assembly.

3. The coaxial assembly device for shaft end ring frame based on multi-dimensional force feedback human-machine collaboration according to claim 2, characterized in that: The shaft end clamping fixtures (41) of the two shaft end floating stages (4) are coaxially opposite each other, and the axis is along the X-axis direction.

4. The coaxial assembly device for shaft end ring frame based on multi-dimensional force feedback human-machine collaboration according to claim 2, characterized in that: The ring frame floating platform (5) realizes adjustment in two degrees of freedom, namely displacement in the Y direction and rotation around the Y axis. The ring frame floating platform (5) includes a ring frame floating platform bracket (51), a ring frame floating platform support shaft (52), and a ring frame rotation limit block (53). The ring frame floating platform support (51) has a U-shaped structure. The upper part of the U-shaped structure has two inner holes along the Y-axis. The ring frame floating platform support shaft (52) and the inner hole of the ring frame floating platform support (51) are in clearance fit and connected by needle roller bearings. The outer ring of the needle roller bearing is installed with an interference fit with the inner hole of the ring frame floating platform support (51), and the inner ring of the needle roller bearing is in clearance fit with the ring frame floating platform support shaft (52). Relative to the ring frame floating platform support (51), the ring frame floating platform support shaft (52) can translate and rotate in the Y direction. The ring frame rotation limit stop (53) is fixed to the ring frame floating platform bracket (51) by screws to limit the rotation amplitude of the ring frame so as to achieve micro-adjustment of the angle.

5. The coaxial assembly device for shaft end ring frame based on multi-dimensional force feedback human-machine collaboration according to claim 4, characterized in that: Two ring frame floating platform support shafts (52) are set along the Y-axis direction.

6. The coaxial assembly device for shaft end ring frame based on multi-dimensional force feedback human-machine collaboration according to claim 1, characterized in that: The lifting cylinder (12) is used to completely separate the central body support fixture (6) from the central body after the shaft end assembly is installed into the central body and the ring frame hole, so that the operator has space to rotate the central body and perform a rotational run-in.

7. The coaxial assembly device for shaft end ring frame based on multi-dimensional force feedback human-machine collaboration according to claim 1, characterized in that: When assembling the central body and the shaft end assembly, the assembly force on the central body is sensed in real time by a six-dimensional force sensor (7). Based on the feedback value, the displacement of the Y-axis slide (10) and the angle of the angular displacement stage (9) are adjusted to achieve active compliance in the Y direction.

8. The coaxial assembly device for shaft end ring frame based on multi-dimensional force feedback human-machine collaboration according to claim 1, characterized in that: The Y-axis slide support fixture (11) includes a fixture table and four guide shafts. The bottom of the guide shafts is fixedly installed on the ring frame floating table mounting plate (13). The lifting cylinder (12) is threaded to the fixture table and drives the fixture table to rise or fall along the guide shafts. The Y-axis slide (10) is installed on the fixture table, thereby causing the fixture table, Y-axis slide (10), angular displacement stage (9), six-dimensional force sensor (7), central body support fixture (6) and the central body as a whole to move up and down along the Z-axis.

9. An assembly method for a coaxial assembly device for a shaft end ring frame based on multi-dimensional force feedback human-machine collaboration as described in claim 4, characterized in that, include: S1: Initialization: Power on, the origin of the motion mechanism in the assembly module is returned to zero, and the parameters of the control module are restored to their initial settings. S2: Place the center part on the center body support fixture (6), that is, the support arc surfaces on both sides of the center body support fixture (6) fit with the annular surface of the center part assembly, and the positioning pins are close together; S3: Pull the ring frame floating platform support shaft (52) out of the ring frame floating platform bracket (51), hold the ring frame and align the ring shaft assembly hole inside the ring frame with the hole position of the ring frame floating platform bracket (51), then insert the ring frame floating platform support shaft (52) and fasten the ring frame to the ring frame floating platform support shaft (52) with screws; S4: Hold the shaft end assembly, scribing lines on it, and then use bolts to fix it to the shaft end clamping fixture (41); S5: Control the right slide (3) of the X-axis to step to the left and the left slide (8) of the X-axis to step to the right, with a step size of 0.2mm. Then, collect the force signal from the six-dimensional force sensor and calculate whether the force signal exceeds the threshold. If it exceeds the threshold, adjust the Y-axis slide (10) and the angular displacement stage (9) and then step again. If it does not exceed the threshold, the right slide (3) of the X-axis will step to the left until it moves to the position, and the left slide (8) of the X-axis will step to the right until it moves to the position. S6: The operator manually removes the shaft end clamping fixture (41) that fastens the shaft end, and then moves the left slide (8) and right slide (3) of the X-axis to their initial positions. S7: The operator slowly rotates the end cap of the shaft end assembly to align the threaded hole of the end cap with the threaded hole on the end face of the ring frame, and then uses an M3 screw to initially tighten and position it. S8: The lifting cylinder (12) descends, causing the central body support fixture (6) to completely separate from the central body. The operator rotates the central body, causing it to rotate around the assembly shaft. After running-in, the screws are tightened. S9: Remove the ring frame from the ring frame floating platform support shaft (52), and the assembly of the shaft end assembly, center body and ring frame is completed.

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