CN111113021A - Coaxial component assembly guiding and positioning retaining device - Google Patents
Coaxial component assembly guiding and positioning retaining device Download PDFInfo
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- CN111113021A CN111113021A CN201911339898.4A CN201911339898A CN111113021A CN 111113021 A CN111113021 A CN 111113021A CN 201911339898 A CN201911339898 A CN 201911339898A CN 111113021 A CN111113021 A CN 111113021A
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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
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/002—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units stationary whilst being composed
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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
- B23P19/001—Article feeders for assembling machines
- B23P19/002—Article feeders for assembling machines orientating the articles
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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
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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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
- B23P19/10—Aligning parts to be fitted together
- B23P19/102—Aligning parts to be fitted together using remote centre compliance devices
- B23P19/105—Aligning parts to be fitted together using remote centre compliance devices using sensing means
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Abstract
The invention relates to a coaxial component assembly guiding and positioning retaining device, belonging to the field of precision assembly; the device comprises an assembly execution mechanism, a visual guide and detection mechanism, a material tray transportation mechanism, a marble platform, a control system host, a compressed air source and a vacuum generator; wherein, the marble platform is horizontally arranged; the assembly executing mechanism, the visual guide and detection mechanism, the material tray conveying mechanism and the control system host are all arranged on the marble platform; the assembly executing mechanism is arranged above the material tray conveying mechanism in a spanning mode; the visual guide and detection mechanism is fixedly arranged above one axial end of the material tray conveying mechanism; the compressed air source and the vacuum generator are both communicated with the assembly actuating mechanism; the assembly executing mechanism, the visual guide and detection mechanism and the material tray conveying mechanism are driven and controlled by the control system host; the invention realizes the automatic alignment, guidance, positioning and holding functions when the precision parts are assembled on the same axis.
Description
Technical Field
The invention belongs to the field of precision assembly, and relates to a coaxial component assembly guiding and positioning retaining device.
Background
In the field of inertial navigation, the processing and assembling precision of inertial navigation devices has important influence on the navigation precision, core parts such as a gyroscope floater, a quartz accelerometer, a motor rotor assembly and the like have extremely high requirements on the assembling precision, and particularly the coaxiality requirement of a quartz and meter torquer is less than or equal to 20 mu m. At present, the assembly of the components is mostly manually assembled, the assembly is completed by means of the cooperation of eyes and hands of skilled workers, the assembly precision is limited, and meanwhile, the consistency of the assembly quality is difficult to guarantee.
Disclosure of Invention
The technical problem solved by the invention is as follows: the defects of the prior art are overcome, the coaxial component assembly guiding and positioning retaining device is provided, and the automatic alignment, guiding, positioning and retaining functions of the precision parts during coaxial assembly are realized.
The technical scheme of the invention is as follows:
a coaxial component assembly guiding and positioning retaining device comprises an assembly executing mechanism, a visual guiding and detecting mechanism, a material tray conveying mechanism, a marble platform, a control system host, a compressed air source and a vacuum generator; wherein, the marble platform is horizontally arranged; the assembly executing mechanism, the visual guide and detection mechanism, the material tray conveying mechanism and the control system host are all arranged on the marble platform; the assembly executing mechanism is arranged above the material tray conveying mechanism in a spanning mode; the visual guide and detection mechanism is fixedly arranged above one axial end of the material tray conveying mechanism; the compressed air source and the vacuum generator are both communicated with the assembly actuating mechanism; the assembly executing mechanism, the visual guide and detection mechanism and the material tray conveying mechanism are driven and controlled by the control system host.
In the above coaxial component assembly guiding and positioning holding device, the tray transport mechanism includes a linear material conveying sliding table, a first assembly part, a second assembly part, a third assembly part, a fourth assembly part sliding block, a sliding block and a tray; wherein, the material conveying linear sliding table is of a sliding rail structure; the material conveying linear sliding table is horizontally and fixedly arranged on the upper surface of the marble platform; the sliding block is arranged on the upper surface of the material conveying linear sliding table; the sliding block is in sliding fit with the material conveying linear sliding table; the material tray is fixedly arranged on the upper surface of the sliding block; the first assembling part, the second assembling part, the third assembling part and the fourth assembling part slide block are all placed at the top of the material disc.
In the above coaxial component assembly guiding and positioning holding device, the assembly executing mechanism includes a portal frame, an air nozzle bracket, a driving cylinder, a first positioning tool, a second positioning tool, 2 suction nozzle buffer springs, a first air nozzle and a second air nozzle; the portal frame vertically stretches over the material conveying linear sliding table; the air nozzle bracket is arranged on the side wall of a cross beam at the top of the portal frame; the air nozzle support moves relative to the portal frame 6 in freedom degree; the driving cylinder is fixedly arranged on the air nozzle bracket; the first air nozzle and the second air nozzle are arranged on the side wall of the air nozzle bracket; the first air nozzle and the second air nozzle are axially, vertically and symmetrically arranged at the bottom of the driving air cylinder; the first positioning tool is arranged on the side wall of the axial bottom end of the first air nozzle; the second positioning tool is arranged on the side wall of the axial bottom end of the second air nozzle; wherein the axial top end of the 1 suction nozzle buffer spring is contacted with the bottom of the driving cylinder; the axial bottom end is contacted with the top of the first air nozzle; the axial top ends of the other 1 suction nozzle buffer springs are contacted with the bottom of the driving cylinder; the axial bottom end is contacted with the top of the second air nozzle.
In the coaxial component assembly guiding and positioning retaining device, the compressed air source is communicated with the driving cylinder to provide power for the driving cylinder; the vacuum generator is respectively communicated with the first air nozzle and the second air nozzle and provides suction for the first air nozzle and the second air nozzle.
In the above coaxial component assembly guiding and positioning holding device, the working process of the guiding and positioning holding device is as follows:
placing a first assembly part, a second assembly part, a third assembly part and a fourth assembly part slide block in a material tray; the control slide block drives the material tray to move to the position below the assembly executing mechanism along the material conveying linear sliding table; the driving cylinder drives the air nozzle support to move, so that the first air nozzle is aligned with the material tray; the vacuum generator provides power for the first air nozzle to absorb and release the first assembly part, the second assembly part and the fourth assembly part sliding block; and finishing the assembly of the first assembly part, the second assembly part, the third assembly part and the fourth assembly part slide block.
In the coaxial component assembly guiding and positioning retaining device, when the material tray moves along the material conveying linear sliding table, the material tray is monitored by the visual guiding and detecting mechanism; when the tray moves to the right position, the movement is stopped.
In the above coaxial component assembly guiding and positioning retaining device, the assembly process of the first assembly part, the second assembly part, the third assembly part and the fourth assembly part slide block is as follows:
a groove is formed in the upper surface of the third assembling part; sucking a second assembly part through a first air nozzle; and the second assembly part is coaxially placed in the groove of the third assembly part; sucking a first assembling part through a first air nozzle; placing the first fitting part coaxially on top of the second fitting part; sucking a fourth assembling part sliding block through a first air nozzle, and placing the fourth assembling part sliding block on the top of the first assembling part; and (5) finishing assembly.
In the above coaxial component assembly guiding and positioning holding device, the second air nozzle and the second positioning tool implement backup replacement of the first air nozzle and the first positioning tool.
In the above coaxial component assembly guiding and positioning holding device, the first positioning tool includes a fixed cylinder and a clamping device; the fixed cylinder is axially and vertically fixedly installed on the side wall of the first air nozzle; the clamping device is of a three-claw structure; the three claws are uniformly distributed along the circumferential direction; the clamping device extends into the fixed cylinder to move relative to the fixed cylinder in the vertical direction.
In the above coaxial component assembly guiding and positioning holding device, when the assembly of the first assembly part, the second assembly part, the third assembly part and the fourth assembly part slider is completed; the clamping device vertically moves downwards and extends into the groove of the third assembly part; the three claws of the clamping device clamp the outer walls of the fourth assembly part sliding block, the first assembly part and the second assembly part; the fourth assembly part sliding block, the first assembly part and the second assembly part are kept coaxial; meanwhile, the fixed cylinder is controlled to be coaxial with the third assembly part through the visual guide and detection mechanism, so that the coaxial holding of the part sliding block, the first assembly part, the second assembly part and the third assembly part is realized.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the invention, through the organic combination of the tray transportation part, the assembly execution part, the visual guidance and detection part and the electrical control part, the automatic assembly can be realized, the assembly efficiency of parts can be improved, and the practicability is very strong;
(2) the invention provides double insurance for the precision of coaxial assembly by using a mode of visual guidance and positioning of the positioning device, and improves the reliability and the assembly quality of the coaxial assembly;
(3) in the design of the invention, the force sensor is adopted to detect and feed back the contact between the suction nozzle and the part, so that the damage of the suction nozzle to the part can be prevented, and meanwhile, the machine vision is adopted to detect and feed back the assembly quality, thereby improving the intelligent level of the device.
Drawings
FIG. 1 is a schematic view of a guidance and positioning retaining device of the present invention;
FIG. 2 is a schematic view of a tray transport mechanism of the present invention;
FIG. 3 is a schematic view of an assembly actuator according to the present invention;
FIG. 4 is a schematic view of the assembly of 4 assembled parts of the present invention;
fig. 5 is a schematic view of a first positioning tool of the present invention.
Detailed Description
The invention is further illustrated by the following examples.
The invention provides a practical and reliable guiding and positioning device for automatic assembly of coaxial parts, which realizes the functions of automatic alignment, guiding, positioning and keeping during coaxial assembly of precision parts.
As shown in fig. 1, the guiding and positioning holding device is characterized in that: the device comprises an assembly execution mechanism 1, a visual guide and detection mechanism 2, a material tray transportation mechanism 3, a marble platform 4, a control system host 5, a compressed air source 6 and a vacuum generator 7; wherein the marble platform 4 is horizontally placed; the assembly executing mechanism 1, the visual guide and detection mechanism 2, the material tray conveying mechanism 3 and the control system host 5 are all arranged on the marble platform 4; the assembly executing mechanism 1 is arranged above the material tray conveying mechanism 3 in a spanning mode; the visual guide and detection mechanism 2 is fixedly arranged above one axial end of the material tray conveying mechanism 3; the compressed air source 6 and the vacuum generator 7 are both communicated with the assembly actuating mechanism 1; the assembly executing mechanism 1, the visual guide and detection mechanism 2 and the material tray conveying mechanism 3 are driven and controlled by the control system host 5.
As shown in fig. 2, the tray transport mechanism 3 includes a linear material conveying sliding table 31, a first assembly part 32, a second assembly part 33, a third assembly part 34, a fourth assembly part sliding block 35, a sliding block 36 and a tray 37; wherein, the material conveying linear sliding table 31 is of a sliding rail structure; the material conveying linear sliding table 31 is horizontally and fixedly arranged on the upper surface of the marble platform 4; the slide block 36 is arranged on the upper surface of the material conveying linear sliding table 31; the sliding block 36 is in sliding fit with the material conveying linear sliding table 31; the tray 37 is fixedly arranged on the upper surface of the slide block 36; the first assembly part 32, the second assembly part 33, the third assembly part 34 and the fourth assembly part slide block 35 are all placed on the top of the material tray 37.
As shown in fig. 3, the assembly executing mechanism 1 includes a gantry 11, an air nozzle support 12, a driving cylinder 13, a first positioning tool 14, a second positioning tool 15, 2 suction nozzle buffer springs 16, a first air nozzle 17 and a second air nozzle 18; the portal frame 11 vertically crosses and is arranged above the material conveying linear sliding table 31; the air nozzle bracket 12 is arranged on the side wall of a beam at the top of the portal frame 11; the air nozzle support 12 moves relative to the portal frame 116 in freedom; the driving cylinder 13 is fixedly arranged on the air nozzle support 12; the first air nozzle 17 and the second air nozzle 18 are arranged on the side wall of the air nozzle support 12; the first air nozzle 17 and the second air nozzle 18 are axially, vertically and symmetrically arranged at the bottom of the driving air cylinder 13; the first positioning tool 14 is arranged on the side wall of the axial bottom end of the first air nozzle 17; the second positioning tool 15 is arranged on the side wall of the axial bottom end of the second air nozzle 18; the axial top end of 1 suction nozzle buffer spring 16 is contacted with the bottom of the driving cylinder 13; the axial bottom end is contacted with the top of the first air nozzle 17; the axial top ends of the other 1 suction nozzle buffer spring 16 are contacted with the bottom of the driving cylinder 13; the axial bottom end is in contact with the top of the second nozzle 18. The compressed air source 6 is communicated with the driving cylinder 13 and provides power for the driving cylinder 13; the vacuum generator 7 is respectively communicated with the first air nozzle 17 and the second air nozzle 18 to provide suction for the first air nozzle 17 and the second air nozzle 18.
The working process of the guiding and positioning holding device is as follows:
placing the first assembly parts 32, the second assembly parts 33, the third assembly parts 34 and the fourth assembly part slide 35 in a tray 37; the control slide block 36 drives the material tray 37 to move to the lower part of the assembly actuating mechanism 1 along the material conveying linear sliding table 31; when the material tray 37 moves along the material conveying linear sliding table 31, monitoring is carried out through the visual guide and detection mechanism 2; when the tray 37 moves to the right position, the movement is stopped. The driving air cylinder 13 drives the air nozzle support 12 to move, so that the first air nozzle 17 is aligned with the material tray 37; the vacuum generator 7 provides power for the first air nozzle 17 to suck and release the first assembly part 32, the second assembly part 33 and the fourth assembly part slide block 35; the assembly of the first assembly parts 32, the second assembly parts 33, the third assembly parts 34, and the fourth assembly part slider 35 is completed as shown in fig. 4.
The assembly process of the first assembly part 32, the second assembly part 33, the third assembly part 34 and the fourth assembly part slide block 35 is as follows:
the upper surface of the third assembling part 34 is provided with a groove; sucking the second fitting part 33 through the first air nozzle 17; and the second fitting part 33 is coaxially placed in the groove of the third fitting part 34; sucking the first fitting part 32 through the first air nozzle 17; placing the first fitting part 32 coaxially on top of the second fitting part 33; sucking the fourth assembling part sliding block 35 through the first air tap 17, and placing the fourth assembling part sliding block 35 on the top of the first assembling part 32; and (5) finishing assembly.
As shown in fig. 5, the first positioning tool 14 includes a fixed cylinder 141 and a gripping device 142; wherein, the fixed cylinder 141 is axially and vertically fixed on the side wall of the first air nozzle 17; the gripping device 142 is of a three-jaw structure; the three claws are uniformly distributed along the circumferential direction; the gripping device 142 protrudes into the fixed cylinder 141, and is vertically moved relative to the fixed cylinder 141. After the first assembly part 32, the second assembly part 33, the third assembly part 34 and the fourth assembly part slide block 35 are assembled; the gripping device 142 moves vertically downward, extending into the groove of the third fitting part 34; and the three claws of the gripping device 142 grip the outer walls of the fourth assembling part slide block 35, the first assembling part 32 and the second assembling part 33; the fourth assembling part sliding block 35, the first assembling part 32 and the second assembling part 33 are kept coaxial; meanwhile, the fixed cylinder 141 is controlled to be coaxial with the third fitting part 34 by the visual guide and detection mechanism 2, so that the coaxial holding of the part slider 35, the first fitting part 32, the second fitting part 33, and the third fitting part 34 is realized. The second air nozzle 18 and the second positioning tool 15 realize backup replacement of the first air nozzle 17 and the first positioning tool 14.
In the invention, the planeness of the marble platform 4 is required to be better than 50um, and the platform part is provided with a vacuum generator 7 and an air compressor 6 (or the pressure of the same air source is more than 0.3Mpa and less than 1 Mpa). The stroke ranges of the material conveying linear sliding tables 31 are all larger than 500 mm.
The camera of the visual guide and detection mechanism 2 can be a CMOS camera or a CCD camera, the number of pixels is more than 1000 ten thousand pixels, and the height between the camera and the assembly platform is 200 mm-400 mm; the focal length range of the lens is 50 mm-100 mm.
The diameter size range of the assembly parts is 5mm-50mm, and the assembly characteristic is a revolving body characteristic.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (10)
1. A coaxial component assembly guiding and positioning retaining device is characterized in that: the device comprises an assembly execution mechanism (1), a visual guide and detection mechanism (2), a material tray transportation mechanism (3), a marble platform (4), a control system host (5), a compressed air source (6) and a vacuum generator (7); wherein the marble platform (4) is horizontally arranged; the assembly executing mechanism (1), the visual guide and detection mechanism (2), the material tray conveying mechanism (3) and the control system host (5) are all arranged on the marble platform (4); the assembly executing mechanism (1) is arranged above the material tray conveying mechanism (3) in a spanning mode; the visual guide and detection mechanism (2) is fixedly arranged above one axial end of the material tray conveying mechanism (3); the compressed air source (6) and the vacuum generator (7) are both communicated with the assembly actuating mechanism (1); the assembly executing mechanism (1), the visual guide and detection mechanism (2) and the material tray conveying mechanism (3) are driven and controlled by the control system host (5).
2. The coaxial component assembly guiding and positioning and retaining device of claim 1, wherein: the material tray conveying mechanism (3) comprises a material conveying linear sliding table (31), a first assembling part (32), a second assembling part (33), a third assembling part (34), a fourth assembling part sliding block (35), a sliding block (36) and a material tray (37); wherein, the material conveying linear sliding table (31) is of a sliding rail structure; the material conveying linear sliding table (31) is horizontally and fixedly arranged on the upper surface of the marble platform (4); the sliding block (36) is arranged on the upper surface of the material conveying linear sliding table (31); the sliding block (36) is in sliding fit with the material conveying linear sliding table (31); the material tray (37) is fixedly arranged on the upper surface of the sliding block (36); the first assembling part (32), the second assembling part (33), the third assembling part (34) and the fourth assembling part sliding block (35) are all placed at the top of the material tray (37).
3. The coaxial component assembly guiding and positioning and retaining device of claim 2, wherein: the assembly executing mechanism (1) comprises a portal frame (11), an air nozzle support (12), a driving air cylinder (13), a first positioning tool (14), a second positioning tool (15), 2 suction nozzle buffer springs (16), a first air nozzle (17) and a second air nozzle (18); the portal frame (11) vertically crosses over the material conveying linear sliding table (31); the air nozzle support (12) is arranged on the side wall of a cross beam at the top of the portal frame (11); the air nozzle support (12) moves relative to the portal frame (11)6 in freedom degree; the driving cylinder (13) is fixedly arranged on the air nozzle bracket (12); the first air nozzle (17) and the second air nozzle (18) are arranged on the side wall of the air nozzle bracket (12); the first air nozzle (17) and the second air nozzle (18) are axially, vertically and symmetrically arranged at the bottom of the driving air cylinder (13); the first positioning tool (14) is arranged on the side wall of the axial bottom end of the first air nozzle (17); the second positioning tool (15) is arranged on the side wall of the axial bottom end of the second air nozzle (18); wherein the axial top end of 1 suction nozzle buffer spring (16) is contacted with the bottom of the driving cylinder (13); the axial bottom end is contacted with the top of the first air nozzle (17); the axial top ends of the other 1 suction nozzle buffer spring (16) are contacted with the bottom of the driving cylinder (13); the axial bottom end is contacted with the top of the second air nozzle (18).
4. The coaxial component assembly guiding and positioning and retaining device of claim 3, wherein: the compressed air source (6) is communicated with the driving cylinder (13) and provides power for the driving cylinder (13); the vacuum generator (7) is respectively communicated with the first air nozzle (17) and the second air nozzle (18) to provide suction for the first air nozzle (17) and the second air nozzle (18).
5. The coaxial component assembly guiding and positioning and retaining device of claim 4, wherein: the working process of the guiding and positioning holding device is as follows:
placing a first assembly part (32), a second assembly part (33), a third assembly part (34) and a fourth assembly part slider (35) in a tray (37); the control slide block (36) drives the material tray (37) to move to the lower part of the assembly actuating mechanism (1) along the material conveying linear sliding table (31); the driving cylinder (13) drives the air nozzle bracket (12) to move, so that the first air nozzle (17) is aligned to the material tray (37); the vacuum generator (7) provides power for the first air nozzle (17) to suck and release the first assembly part (32), the second assembly part (33) and the fourth assembly part sliding block (35); and finishing the assembly of the first assembly part (32), the second assembly part (33), the third assembly part (34) and the fourth assembly part sliding block (35).
6. The coaxial component assembly guiding and positioning and retaining device of claim 5, wherein: when the material tray (37) moves along the material conveying linear sliding table (31), monitoring is carried out through the visual guide and detection mechanism (2); when the tray (37) moves to the right position, the movement is stopped.
7. The coaxial component assembly guiding and positioning and retaining device of claim 6, wherein: the assembling process of the first assembling part (32), the second assembling part (33), the third assembling part (34) and the fourth assembling part sliding block (35) is as follows:
the upper surface of the third assembling part (34) is provided with a groove; sucking a second assembly part (33) through a first air tap (17); and the second fitting part (33) is coaxially placed in the groove of the third fitting part (34); sucking a first assembly part (32) through a first air tap (17); placing the first fitting part (32) coaxially on top of the second fitting part (33); sucking a fourth assembling part sliding block (35) through a first air nozzle (17), and placing the fourth assembling part sliding block (35) on the top of the first assembling part (32); and (5) finishing assembly.
8. The coaxial component assembly guiding and positioning and retaining device of claim 7, wherein: and the second air nozzle (18) and the second positioning tool (15) realize backup replacement of the first air nozzle (17) and the first positioning tool (14).
9. The coaxial component assembly guiding and positioning and retaining device of claim 8, wherein: the first positioning tool (14) comprises a fixed cylinder (141) and a clamping device (142); wherein, the fixed cylinder (141) is axially and vertically fixed on the side wall of the first air nozzle (17); the clamping device (142) is of a three-claw structure; the three claws are uniformly distributed along the circumferential direction; the clamping device (142) extends into the fixed cylinder (141) and moves relative to the fixed cylinder (141) along the vertical direction.
10. The coaxial component assembly guiding and positioning and retaining device of claim 9, wherein: after the first assembly part (32), the second assembly part (33), the third assembly part (34) and the fourth assembly part sliding block (35) are assembled; the clamping device (142) moves vertically downwards and extends into the groove of the third assembly part (34); the three claws of the clamping device (142) clamp the outer walls of the fourth assembly part sliding block (35), the first assembly part (32) and the second assembly part (33); the fourth assembling part sliding block (35), the first assembling part (32) and the second assembling part (33) are kept coaxial; meanwhile, the fixed cylinder (141) is controlled to be coaxial with the third assembling part (34) through the visual guide and detection mechanism (2), and coaxial holding of the part sliding block (35), the first assembling part (32), the second assembling part (33) and the third assembling part (34) is achieved.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911339898.4A CN111113021B (en) | 2019-12-23 | 2019-12-23 | Coaxial component assembly guiding and positioning retaining device |
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|---|---|---|---|
| CN201911339898.4A CN111113021B (en) | 2019-12-23 | 2019-12-23 | Coaxial component assembly guiding and positioning retaining device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113218347A (en) * | 2021-04-20 | 2021-08-06 | 大连理工大学 | Device for coaxially assembling and measuring rotating member |
| CN114505798A (en) * | 2022-03-04 | 2022-05-17 | 合肥工业大学 | Pin shaft assembling centering guide device |
| CN115781271A (en) * | 2022-11-10 | 2023-03-14 | 北京理工大学 | High-precision assembling and aligning device of gyroscope frame |
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| CN113218347A (en) * | 2021-04-20 | 2021-08-06 | 大连理工大学 | Device for coaxially assembling and measuring rotating member |
| CN113218347B (en) * | 2021-04-20 | 2022-01-18 | 大连理工大学 | Device for coaxially assembling and measuring rotating member |
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| CN115781271A (en) * | 2022-11-10 | 2023-03-14 | 北京理工大学 | High-precision assembling and aligning device of gyroscope frame |
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