CN113618354A - Weak-rigidity thin-wall arc assembling device and method - Google Patents
Weak-rigidity thin-wall arc assembling device and method Download PDFInfo
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- CN113618354A CN113618354A CN202110850965.XA CN202110850965A CN113618354A CN 113618354 A CN113618354 A CN 113618354A CN 202110850965 A CN202110850965 A CN 202110850965A CN 113618354 A CN113618354 A CN 113618354A
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- 230000007246 mechanism Effects 0.000 claims abstract description 48
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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Abstract
In order to solve the technical problem that the automatic assembly ratio of the existing weak-rigidity thin-wall arc is difficult, the embodiment of the invention provides a weak-rigidity thin-wall arc assembly device and a method, and the device comprises the following steps: the guiding tool is used for placing the weak rigidity thin-wall arc and guiding one end of the weak rigidity thin-wall arc to the ring mounting groove position of the workpiece to be assembled; the clamping mechanism is used for clamping the weak-rigidity thin-wall arc on the guide tool; and the industrial robot is connected with the clamping mechanism and used for driving the clamping mechanism to move along a track corresponding to the arc of the weak-rigidity thin-wall arc so as to load the weak-rigidity thin-wall arc into the ring loading groove of the workpiece to be assembled. According to the embodiment of the invention, the guiding tool, the clamping mechanism and the industrial robot realize the automatic process of loading the weak rigidity thin-wall arc into the loading ring groove of the workpiece to be assembled, so that manual assembly is avoided, and the assembly efficiency of the weak rigidity thin-wall arc is improved.
Description
Technical Field
The invention relates to a weak rigidity thin-wall arc assembling device and method.
Background
With the development of the intelligent manufacturing field, the automation level of the equipment is expected to be improved no matter product processing or product assembly, so that the purposes of improving the efficiency and the digitization level are achieved.
The thin-wall arc with weak rigidity has weak rigidity and the curvature of the loading end of the thin-wall arc with weak rigidity is not consistent. In addition, the diameter of the thin-wall arc with weak rigidity is smaller than the diameter of the two assembling workpieces. Therefore, the automatic assembly of the thin-wall arc with weak rigidity has great difficulty, and the existing assembly mode adopts manual assembly.
Disclosure of Invention
In order to solve the technical problem that automatic assembly and matching of the existing weak-rigidity thin-wall arc are difficult, the embodiment of the invention provides a device and a method for assembling the weak-rigidity thin-wall arc.
The embodiment of the invention is realized by the following technical scheme:
in a first aspect, an embodiment of the present invention provides a weak-rigidity thin-wall arc assembling device, including:
the guiding tool is used for placing the weak rigidity thin-wall arc and guiding one end of the weak rigidity thin-wall arc to the ring mounting groove position of the workpiece to be assembled;
the clamping mechanism is used for clamping the weak-rigidity thin-wall arc on the guide tool; and
and the industrial robot is connected with the clamping mechanism and used for driving the clamping mechanism to move along a track corresponding to the arc of the weak-rigidity thin-wall arc so as to load the weak-rigidity thin-wall arc into the ring loading groove of the workpiece to be assembled.
Further, the direction frock includes:
the guide ring is used for placing a weak-rigidity thin-wall arc and is sleeved on a workpiece to be assembled;
the protection arc is arranged on the inner side of the guide ring to protect a workpiece to be assembled, and the outer side of the protection arc is adaptive to the arc radian of the inner side of the weak-rigidity thin-wall arc;
the arc expanding piece is arranged on the guide ring between the protection arc and the weak-rigidity thin-wall arc, is in contact with the weak-rigidity thin-wall arc and is used for generating a space between the protection arc and the weak-rigidity thin-wall arc; and
the guide arc is arranged on the guide ring, and a clamping space for clamping the weak-rigidity thin-wall arc is formed between the guide arc and the protection arc;
the other end of the guide arc is close to the ring-mounting groove of the workpiece to be assembled and used for guiding the weak-rigidity thin-wall arc to be mounted in the ring-mounting groove of the workpiece to be assembled.
Further, the direction frock still includes: and the constraint arc is arranged on the outer side of the guide ring and used for constraining the weak-rigidity thin-wall arc so as to prevent the weak-rigidity thin-wall arc from extending out of the guide ring.
Further, the arc expanding piece comprises:
the waist-shaped hole is arranged on the guide ring between the protection arc and the weak-rigidity thin-wall arc; and
the pin shaft is arranged in the waist-shaped hole.
Further, the clamping mechanism includes:
the fixed clamping plate is used for being connected with an industrial robot and is provided with a static clamping head; and
the clamping cylinder is used for being arranged on the fixed clamping plate and is provided with a movable clamping head which is used for driving the movable clamping head to reciprocate between the movable clamping head and the static clamping head so as to clamp and release the weak-rigidity thin-wall arc;
the industrial robot is connected with the clamping cylinder.
Furthermore, the movable clamping head is a copper clamping movable head.
Furthermore, one end of the weak-rigidity thin-wall arc, which is far away from the guide arc, is provided with a screw, and a circular groove cavity corresponding to an inlet of a ring groove of a workpiece to be assembled is provided with a circular ring fixing screw hole matched with the screw; and the position of a tangent point of a circle where the guide arc is located and a ring installing groove of a workpiece to be assembled deviates 5mm from the center of the ring fixing screw hole to the guide arc.
Further, when the device is installed, the contact part of the weak-rigidity thin-wall arc and the guide arc is flush with the guide arc.
In a second aspect, an embodiment of the present invention provides an assembling method using the weak-rigidity thin-wall circular arc assembling apparatus, including:
s1, an industrial robot controls a clamping mechanism to move to a clamping space on a guide tool and clamps a weak-rigidity thin-wall arc;
s2, the industrial robot drives the clamping mechanism to move by taking the arc of the weak rigidity thin-wall arc in the clamping space as a motion track until the clamping mechanism moves from one end of the guide arc to the other end of the guide arc so as to enable the corresponding part of the weak rigidity thin-wall arc to enter a ring-mounting groove of the workpiece to be assembled;
s3, the industrial robot drives the clamping mechanism to loosen and clamp the weak-rigidity thin-wall arc, and the step S1 is returned; if the end of the weak-rigidity thin-wall arc, which is far away from the guide arc, is separated from the arc expanding piece, the step S4 is executed;
s4, the industrial robot drives the clamping mechanism to push the weak rigidity thin-wall arcs through the screws at one end of the weak rigidity thin-wall arcs, which is far away from the guide arc, until the weak rigidity thin-wall arcs completely enter the ring mounting groove, and the assembly is completed.
Furthermore, in the assembling process, the connecting end of the industrial robot connected with the clamping mechanism is always vertical to the supporting ground.
Compared with the prior art, the embodiment of the invention has the following advantages and beneficial effects:
according to the weak-rigidity thin-wall arc assembling device and method, the automatic process of assembling the weak-rigidity thin-wall arc into the ring-assembling groove of the workpiece to be assembled is realized through the guide tool, the clamping mechanism and the industrial robot, so that manual assembly is avoided, and the assembling efficiency of the weak-rigidity thin-wall arc is improved.
Drawings
In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and that for those skilled in the art, other related drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic structural side view of a weak rigidity thin-wall arc assembling device.
Fig. 2 is a structural schematic diagram of a weak rigidity thin-wall arc assembling device.
Fig. 3 is a schematic structural diagram of a workpiece to be assembled and a guiding tool.
Fig. 4 is an exploded view of the workpiece to be assembled.
Fig. 5 is a schematic structural view of the guide tool.
Fig. 6 is a schematic structural view of the clamping mechanism.
Fig. 7 is a structural diagram of a thin-wall arc with weak rigidity.
Fig. 8 is a schematic structural view of a horizontal view of a workpiece to be assembled and a guide tool.
Reference numbers and corresponding part names in the drawings:
in the figure, 1-clamping cylinder, 2-fixed clamping plate, 3-movable clamping head, 4-static clamping head, 5-industrial robot, 6-supporting ground, 7-workpiece to be assembled, 8-thin wall arc with weak rigidity, 9-ring groove cavity, 10-first workpiece, 11-ring groove, 12-second workpiece, 13-guide ring, 14-protection arc, 15-waist-shaped hole, 16-guide arc, 17-constraint arc, 18-screw, 19-pin shaft, 20-clamping space, 21-ring fixing screw hole.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: it is not necessary to employ these specific details to practice the present invention. In other instances, well-known structures, circuits, materials, or methods have not been described in detail so as not to obscure the present invention.
Throughout the specification, reference to "one embodiment," "an embodiment," "one example," or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the invention. Thus, the appearances of the phrases "one embodiment," "an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In the description of the present invention, the terms "front", "rear", "left", "right", "upper", "lower", "vertical", "horizontal", "upper", "lower", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, should not be construed as limiting the scope of the present invention.
Examples
In order to solve the technical problem that the automatic assembly of the existing weak-rigidity thin-wall arc is difficult, an embodiment of the present invention provides a weak-rigidity thin-wall arc assembly apparatus, which is shown with reference to fig. 1 to 8, and includes: the guiding tool is used for placing the weak rigidity thin-wall arc and guiding one end of the weak rigidity thin-wall arc to the ring mounting groove position of the workpiece to be assembled; the clamping mechanism is used for clamping the weak-rigidity thin-wall arc on the guide tool; and the industrial robot is connected with the clamping mechanism and used for driving the clamping mechanism to move along a track corresponding to the arc of the weak-rigidity thin-wall arc so as to load the weak-rigidity thin-wall arc into the ring loading groove of the workpiece to be assembled.
Referring to fig. 1, the weak rigidity thin-wall circular arc assembling device is used for finally loading weak rigidity thin-wall circular arcs into a workpiece 7 to be assembled in a circular ring mode and comprises a guiding tool, a clamping mechanism and an industrial robot 5, wherein the guiding tool is installed on the workpiece to be assembled, and the industrial robot is installed on a supporting ground 6.
Referring to fig. 4, the workpiece 7 to be assembled includes a first workpiece 10 and a second workpiece 12; the first workpiece is sleeved with the second workpiece; an annular ring groove cavity 9 is formed in the circumferential direction of the interface of the second workpiece, a ring installation groove 11 is formed in the connecting portion of the first workpiece and the second workpiece, and the ring installation groove is opposite to the ring groove cavity; the purpose of the weak rigidity thin-wall arc assembling device is to install the weak rigidity thin-wall arc into the annular ring groove cavity through the ring groove.
The guiding tool is sleeved on a flange of the first workpiece 10, one end of the weak-rigidity thin-wall arc is guided to the position of the annular mounting groove through the guiding tool, the weak-rigidity thin-wall arc is clamped through the clamping mechanism, the industrial robot is connected with the clamping mechanism and drives the clamping mechanism to move, and the moving track is consistent with the arc of the corresponding part of the weak-rigidity thin-wall arc.
The corresponding part refers to the arc part of the weak rigidity thin-wall arc between the clamping position of the clamping mechanism and the position of the weak rigidity thin-wall arc close to the inlet of the annular groove.
The industrial robot drives the clamping mechanism to clamp the weak rigidity thin-wall arc 8, and repeatedly sends the arc part of the corresponding part of the weak rigidity thin-wall arc into the annular groove cavity 9 from the annular groove, so that the weak rigidity thin-wall arc is installed in the annular groove cavity in an annular mode, and the installation of the weak rigidity thin-wall arc is realized.
Therefore, the weak rigidity ring assembly device of the embodiment of the invention realizes the automatic process of assembling the weak rigidity thin-wall circular arc into the annular groove of the workpiece to be assembled through the guide tool, the clamping mechanism and the industrial robot, thereby avoiding manual assembly and improving the assembly efficiency of the weak rigidity thin-wall circular arc.
In order to facilitate clamping of the thin-wall arc with weak rigidity and guiding of the thin-wall arc with weak rigidity into the ring installation groove of the workpiece to be assembled, optionally, the guiding tool comprises:
the guide ring 13 is used for placing a weak-rigidity thin-wall arc and is sleeved on a workpiece to be assembled;
the protection arc 14 is arranged on the inner side of the guide ring to protect a workpiece to be assembled, and the outer side of the protection arc is adapted to the arc radian of the inner side of the weak-rigidity thin-wall arc;
the arc expanding piece is arranged on the guide ring between the protection arc 14 and the weak-rigidity thin-wall arc 8 and is in contact with the weak-rigidity thin-wall arc, and is used for generating a space between the protection arc and the weak-rigidity thin-wall arc; and
the guide arc 16 is arranged on the guide ring 13, and a clamping space 20 for clamping the weak-rigidity thin-wall arc is arranged between the guide arc and the protection arc 14; the other end of the guide arc is close to the ring-mounting groove of the workpiece to be assembled and used for guiding the weak-rigidity thin-wall arc to be mounted in the ring-mounting groove of the workpiece to be assembled.
Optionally, the guiding tool further comprises: and the constraint arc 17 is arranged on the outer side of the guide ring and used for constraining the weak rigidity thin-wall arc to prevent the weak rigidity thin-wall arc from extending out of the guide ring.
Referring to fig. 5, the guiding tool comprises a guiding ring 13 and a protection arc 14; the outer side of the guide ring is provided with a constraint arc 17, and the inner side of the guide ring is provided with a protection arc 14, so that the weak-rigidity thin-wall arc is limited on the guide ring through the constraint arc 17 and the protection arc 14; on one hand, the weak rigidity thin-wall arc is prevented from being separated from the guide ring, and on the other hand, the weak rigidity thin-wall arc is prevented from scratching a workpiece to be assembled.
In order to facilitate the clamping of the thin-wall arc with weak rigidity, a space is left between two sides of the protection arc 14 and the thin-wall arc with weak rigidity, and an arc expanding part is further arranged on the guide ring, optionally, the arc expanding part comprises: the waist-shaped hole 15 is arranged on the guide ring between the protection arc and the weak-rigidity thin-wall arc; and a pin shaft 19 provided in the kidney-shaped hole.
Referring to fig. 5, a protection arc 16 is arranged above the pin 19, and a weak-rigidity thin-wall arc 8 is arranged below the pin; therefore, the weak rigidity thin-wall arc 8 is prevented from being tightly attached to the outer side of the protection arc, and the clamping operation of the weak rigidity thin-wall arc 8 is facilitated.
A guide arc 16 is also arranged on the guide ring; a clamping space 20 for clamping the weak-rigidity thin-wall arc is arranged between the guide arc 16 and the protection arc 14; as shown with reference to fig. 5. When the weak rigidity thin-wall arc is placed on the guide ring, the weak rigidity thin-wall arc is exposed outside the part of the clamping space 20, so that the industrial robot can conveniently clamp the weak rigidity thin-wall arc of the part of the clamping space 20 in the clamping space 20, and under the clamping, the right end (figure 5) of the weak rigidity thin-wall arc is fed into the ring groove under the guide of the guide arc, so that the industrial robot can conveniently and repeatedly load the corresponding part of the weak rigidity thin-wall arc into the ring groove cavity 9, and finally the weak rigidity thin-wall arc is installed in the ring groove cavity in the form of the arc.
To facilitate clamping, optionally, the clamping mechanism comprises: the fixed clamping plate 2 is used for being connected with an industrial robot and is provided with a static clamping head 4; the clamping cylinder 1 is arranged on the fixed clamping plate, is provided with a movable clamping head 3 and is used for driving the movable clamping head to reciprocate between the movable clamping head and the static clamping head so as to clamp and release the weak-rigidity thin-wall arc; the industrial robot is connected with the clamping cylinder, so that the robot can control the clamping cylinder to perform clamping and loosening actions conveniently.
Referring to fig. 6, the clamping mechanism includes: the clamping device comprises a clamping cylinder 1, a fixed clamping plate 2, a static clamping head 3 and a movable clamping head 4; the clamping cylinder is arranged below the fixed clamping plate 2, and a static clamping head 3 is arranged in front of the fixed clamping plate; the execution end in front of the clamping cylinder is provided with a movable clamping head 4; when carrying out the centre gripping operation, industrial robot is connected with the die clamping cylinder, controls die clamping cylinder's concertina movement to drive and move the centre gripping head 4 and move to quiet centre gripping head 3, thereby when the centre gripping operation, can be with the centre gripping of weak rigidity thin wall circular arc between moving centre gripping head 4 and quiet centre gripping head 3, realize the centre gripping to weak rigidity thin wall circular arc. Optionally, the movable clamping head is a copper clamping movable head.
In order to facilitate installation, one end of the weak-rigidity thin-wall arc, which is far away from the guide arc, is provided with a screw 18, and a ring groove cavity 9 corresponding to an inlet of a ring groove 11 of a workpiece to be assembled is provided with a ring fixing screw hole 21 matched with the screw; and the position of a tangent point of a circle where the guide arc is located and a ring installing groove of a workpiece to be assembled deviates 5mm from the center of the ring fixing screw hole to the guide arc.
Referring to fig. 8, the tangent point position of the circle of the guide arc and the ring installation groove is arranged at the position where the center of the ring fixing screw hole deviates 5mm from the guide arc, so that the screw 18 at one end of the weak rigidity thin-wall arc far away from the guide arc can just enter the ring fixing screw hole for installation after most of the weak rigidity thin-wall arc enters the ring groove cavity 9. Optionally, the screws 18 are copper screws.
Optionally, when installed, the portion of the thin-walled arc of weak rigidity in contact with the pilot arc is flush with the pilot arc.
In a second aspect, an embodiment of the present invention provides an assembling method using the weak-rigidity thin-wall circular arc assembling apparatus, including:
s1, an industrial robot controls a clamping mechanism to move to a clamping space on a guide tool and clamps a weak-rigidity thin-wall arc;
s2, the industrial robot drives the clamping mechanism to move by taking the arc of the weak rigidity thin-wall arc in the clamping space as a motion track until the clamping mechanism moves from one end of the guide arc to the other end of the guide arc so as to enable the corresponding part of the weak rigidity thin-wall arc to enter a ring-mounting groove of the workpiece to be assembled;
s3, the industrial robot drives the clamping mechanism to loosen and clamp the weak-rigidity thin-wall arc, and the step S1 is returned; if the end of the weak-rigidity thin-wall arc, which is far away from the guide arc, is separated from the arc expanding piece, the step S4 is executed;
s4, the industrial robot drives the clamping mechanism to push the weak rigidity thin-wall arcs through the screws at one end of the weak rigidity thin-wall arcs, which is far away from the guide arc, until the weak rigidity thin-wall arcs completely enter the ring mounting groove, and the assembly is completed.
Furthermore, in the assembling process, the connecting end of the industrial robot connected with the clamping mechanism is always vertical to the supporting ground.
With reference to the assembly apparatus described in fig. 1-8, the apparatus method comprises:
s101, clamping the arc part of the weak-rigidity thin-wall arc in the clamping space 20;
s102, the industrial robot drives the clamping mechanism to move by taking the arc shape of the corresponding part of the weak rigidity thin-wall arc as a motion track, so that the clamping mechanism moves from a clamping position to the inlet end of the guide arc (namely, the end of the guide arc far away from the ring groove), then moves from the inlet end of the guide arc until the end of the guide arc close to the ring groove, and at the moment, part of the weak rigidity thin-wall arc enters the ring groove and slides into the ring groove cavity 9;
s103, the industrial robot loosens the weak rigidity thin-wall arc, moves above the clamping space 20 again, and returns to execute S101 and S102; until the end of the weak rigidity thin-wall arc far away from the guide arc is separated from the arc expanding piece, most of the weak rigidity thin-wall arc is already arranged in the annular groove cavity 9.
S104, mounting the screw 18 on the weak-rigidity thin-wall arc into a circular ring fixing screw hole 21; specifically, the industrial robot drives the clamping mechanism to move to a position where the screw is tangent to the pin shaft 19, the robot drives the clamping mechanism to push the weak-rigidity thin-wall circular arc 8 to enter the annular groove cavity completely through the screw, and the screw is installed in the annular fixing screw hole 21 to complete assembly.
Therefore, the embodiment of the invention realizes the automatic process of loading the weak rigidity thin-wall arc into the loading ring groove of the workpiece to be assembled through the guide tool, the clamping mechanism and the industrial robot, thereby avoiding manual assembly and improving the assembly efficiency of the weak rigidity thin-wall arc.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A weak rigidity thin wall circular arc assembly quality, its characterized in that includes:
the guiding tool is used for placing the weak rigidity thin-wall arc and guiding one end of the weak rigidity thin-wall arc to the ring mounting groove position of the workpiece to be assembled;
the clamping mechanism is used for clamping the weak-rigidity thin-wall arc on the guide tool; and
and the industrial robot is connected with the clamping mechanism and used for driving the clamping mechanism to move along a track corresponding to the arc of the weak-rigidity thin-wall arc so as to load the weak-rigidity thin-wall arc into the ring loading groove of the workpiece to be assembled.
2. The weak-rigidity thin-wall circular arc assembling device of claim 1, wherein the guiding tool comprises:
the guide ring is used for placing a weak-rigidity thin-wall arc and is sleeved on a workpiece to be assembled;
the protection arc is arranged on the inner side of the guide ring to protect a workpiece to be assembled, and the outer side of the protection arc is adaptive to the arc radian of the inner side of the weak-rigidity thin-wall arc;
the arc expanding piece is arranged on the guide ring between the protection arc and the weak-rigidity thin-wall arc, is in contact with the weak-rigidity thin-wall arc and is used for generating a space between the protection arc and the weak-rigidity thin-wall arc; and
the guide arc is arranged on the guide ring, and a clamping space for clamping the weak-rigidity thin-wall arc is formed between the guide arc and the protection arc;
the other end of the guide arc is close to the ring-mounting groove of the workpiece to be assembled and used for guiding the weak-rigidity thin-wall arc to be mounted in the ring-mounting groove of the workpiece to be assembled.
3. The weak-rigidity thin-wall circular arc assembling device of claim 2, wherein the guiding tool further comprises: and the constraint arc is arranged on the outer side of the guide ring and used for constraining the weak-rigidity thin-wall arc so as to prevent the weak-rigidity thin-wall arc from extending out of the guide ring.
4. A thin-walled circular arc fitting apparatus of low rigidity as claimed in claim 3 wherein said arc expanding member comprises:
the waist-shaped hole is arranged on the guide ring between the protection arc and the weak-rigidity thin-wall arc; and
the pin shaft is arranged in the waist-shaped hole.
5. The thin-walled circular arc fitting apparatus of claim 1, wherein the clamping mechanism comprises:
the fixed clamping plate is used for being connected with an industrial robot and is provided with a static clamping head; and
the clamping cylinder is used for being arranged on the fixed clamping plate and is provided with a movable clamping head which is used for driving the movable clamping head to reciprocate between the movable clamping head and the static clamping head so as to clamp and release the weak-rigidity thin-wall arc;
the industrial robot is connected with the clamping cylinder.
6. The thin-walled circular arc fitting apparatus of claim 5 wherein the movable clamping head is a copper clamping movable head.
7. The weak rigidity thin-wall circular arc assembling device of claim 2, wherein one end of the weak rigidity thin-wall circular arc, which is far away from the guide arc, is provided with a screw, and a circular groove cavity corresponding to an inlet of an assembling circular groove of a workpiece to be assembled is provided with a circular ring fixing screw hole matched with the screw; and the position of a tangent point of a circle where the guide arc is located and a ring installing groove of a workpiece to be assembled deviates 5mm from the center of the ring fixing screw hole to the guide arc.
8. A thin-walled circular arc fitting apparatus with low rigidity according to claim 2, wherein the thin-walled circular arc with low rigidity is mounted so that the portion of the arc in contact with the guide arc is flush with the guide arc.
9. An assembling method using the weak rigidity thin-wall circular arc assembling device of any one of claims 2 to 8, characterized by comprising the following steps:
s1, an industrial robot controls a clamping mechanism to move to a clamping space on a guide tool and clamps a weak-rigidity thin-wall arc;
s2, the industrial robot drives the clamping mechanism to move by taking the arc of the weak rigidity thin-wall arc in the clamping space as a motion track until the clamping mechanism moves from one end of the guide arc to the other end of the guide arc so as to enable the corresponding part of the weak rigidity thin-wall arc to enter a ring-mounting groove of the workpiece to be assembled;
s3, the industrial robot drives the clamping mechanism to loosen and clamp the weak-rigidity thin-wall arc, and the step S1 is returned; if the end of the weak-rigidity thin-wall arc, which is far away from the guide arc, is separated from the arc expanding piece, the step S4 is executed;
s4, the industrial robot drives the clamping mechanism to push the weak rigidity thin-wall arcs through the screws at one end of the weak rigidity thin-wall arcs, which is far away from the guide arc, until the weak rigidity thin-wall arcs completely enter the ring mounting groove, and the assembly is completed.
10. An assembling method according to claim 9, wherein the connecting end of the industrial robot to the gripping means is kept perpendicular to the supporting floor all the time during the assembling process.
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| CN202110850965.XA CN113618354B (en) | 2021-07-27 | 2021-07-27 | Weak-rigidity thin-wall arc assembly device and method |
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| CN202110850965.XA CN113618354B (en) | 2021-07-27 | 2021-07-27 | Weak-rigidity thin-wall arc assembly device and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116944835A (en) * | 2023-08-09 | 2023-10-27 | 深圳市金岷江智能装备有限公司 | Motor assembly equipment |
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| JPH02145220A (en) * | 1988-11-24 | 1990-06-04 | Matsushita Electric Ind Co Ltd | Parts insertion device |
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