CN112906165A - Automatic part sorting and assembling method, device and equipment and computer readable medium - Google Patents
Automatic part sorting and assembling method, device and equipment and computer readable medium Download PDFInfo
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Abstract
The invention relates to a method, a device, equipment and a computer readable medium for automatically sorting and assembling parts, wherein the method comprises the following steps: acquiring information of a working space and parts to be assembled in the sight direction of an operator from the viewpoint position of the operator in real time; the method comprises the steps of determining the tooth shape of a flexible gear by using a functional relation of contact, stress and deformation of an industrial robot and two three-dimensional entity spaces arranged on a flange plate clamp at the front end of the industrial robot, obtaining discrete points of a curved surface of a rigid gear according to a gear meshing principle, and performing simulation calculation through a regression equation to generate the tooth shape of the rigid gear. The method is based on the design digital model of the harmonic reducer, takes the actual deviation of the part as a variable, calculates the corresponding relation of accumulated difference of the part to transmission precision through dynamic simulation, automatically matches an optimal value, greatly lightens the dependence on ultrahigh precision of the part and the unpredictability of final assembly to the result of the reducer assembly, and has strong practicability and guidance.
Description
Technical Field
The invention relates to the technical field of automatic sorting and assembling of parts, in particular to an automatic sorting and assembling method, device and equipment for parts and a computer readable medium.
Background
In order to meet the requirement of ultrahigh transmission precision, the harmonic speed reducer and other precision speed reducers are required to have transmission precision with almost zero backlash, and the aim is achieved by adopting a mode that the processing precision of each part is improved infinitely, so that the tolerance range of each part is almost zero, great challenges are brought to manufacturing equipment, cutters, tools and the like, the cost is greatly improved, and the effect is uncontrollable.
Disclosure of Invention
In order to overcome the technical defects in the prior art, the invention provides a method, a device, equipment and a computer readable medium for automatically sorting and assembling parts, which are based on a harmonic reducer design digital analog, take actual part deviation as a variable, calculate the corresponding relation of accumulated difference of the parts to transmission precision through dynamic simulation, automatically match an optimal value, greatly reduce the dependence on ultrahigh precision of the parts and the unpredictability of final assembly on a reducer assembly result, have strong practicability and guidance, and can effectively solve the problems in the background art.
In order to solve the above technical problems, the technical solutions of the method, the apparatus and the computer readable medium for automatically sorting and assembling parts provided by the present invention are as follows:
in a first aspect, an embodiment of the present invention discloses an automatic component sorting and assembling method, including the following steps:
acquiring information of a working space and parts to be assembled in the sight direction of an operator from the viewpoint position of the operator in real time;
the method comprises the steps of determining the tooth shape of a flexible gear by using a functional relation of contact, stress and deformation of an industrial robot and two three-dimensional entity spaces arranged on a flange plate clamp at the front end of the industrial robot, obtaining discrete points of a curved surface of a rigid gear according to a gear meshing principle, and performing simulation calculation through a regression equation to generate the tooth shape of the rigid gear.
In any of the above schemes, preferably, the method for automatically sorting and assembling parts further includes determining a clearance value of the zero backlash not greater than 0.5arcmin wheel train through simulation research.
In any of the above schemes, preferably, the method for automatically sorting and assembling parts further includes calculating a part accumulated difference value by calculating in a reverse direction: Σ § = ∑ Wn+ ∑ßn。
In any of the above solutions, preferably, the method for automatically sorting and assembling parts further includes reversely calculating a radial tolerance according to the gap value: betan =∫y1+y2+┄┄+yn。
On any one of the abovePreferably, the method for automatically sorting and assembling parts further comprises the step of reversely calculating the axial tolerance according to the clearance: sigma Wn =∫X1+X2+┄┄+Xn。
In any of the above solutions, it is preferable that the automatic component sorting and assembling method further includes optimally matching component assembly, that is, cumulative difference value of tolerance & ≦ Σ.
In a second aspect, an automatic component sorting and assembling apparatus, = includes:
the acquisition module is used for acquiring information of an operation space and parts to be assembled in the sight line direction of an operator from the viewpoint position of the operator in real time;
and the processing module is used for determining the tooth shape of the flexible gear by adopting the functional relation of contact, stress and deformation of the industrial robot and two three-dimensional entity spaces arranged on a flange plate clamp at the front end of the industrial robot, obtaining discrete points of the curved surface of the rigid gear according to the gear meshing principle, and performing simulation calculation through a regression equation to generate the tooth shape of the rigid gear.
In a third aspect, an automatic component sorting and assembling apparatus includes:
a memory for storing a computer program;
a processor for implementing the steps of the method for automatically sorting and assembling parts according to any one of claims 1 to 7 when executing the computer program.
In a fourth aspect, a computer-readable medium has stored thereon a computer program which, when executed by a processor, implements the method for automatically sorting and assembling parts as described.
The invention has the beneficial effects that: the method is based on the design digital model of the harmonic reducer, takes the actual deviation of the part as a variable, calculates the corresponding relation of accumulated difference of the part to transmission precision through dynamic simulation, automatically matches an optimal value, greatly lightens the dependence on ultrahigh precision of the part and the unpredictability of final assembly to the result of the reducer assembly, and has strong practicability and guidance.
The invention optimally combines the components aiming at the ultra-high precision requirement of the harmonic reducer to form the optimal assembly relation to achieve the optimal effect, can be widely applied to the field of assembly of ultra-high precision planetary reducers, RV reducers and the like, greatly reduces the random rate of assembly, and not only reduces the high-precision dependence on the components for the machine of the ultra-high precision reducer, but also can achieve the ultra-high precision transmission effect.
By applying the algorithm, 35 sets of CSG17-100 model harmonic reducer parts processed on site by our company are grouped and assembled, the precision of all the processed parts is within the range of 3-5 levels, the tolerance of part of the processed parts is within the range of 6 levels, a matching assembly list is calculated by the software, 33 sets of transmission precision is less than or equal to 0.36arcmin, 1 set of transmission precision is 0.5arcmin, 1 set of transmission precision is 0.55arcmin, the consistency is 94.3 percent, and the achievement rate is higher than that of manual free assembly by more than 46 percent. Then, the assembly is carried out continuously for 3 batches of 30 sets of the sleeve, and the consistency is over 95 percent.
Drawings
The drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification.
FIG. 1 is a schematic diagram of the meshing curve and the clearance calculation of a harmonic drive gear according to the automatic part sorting and assembling method.
Fig. 2 is a schematic diagram of the motion tracks of the steel wheel and the flexible wheel of the automatic part sorting and assembling method according to the invention.
Fig. 3 is a schematic diagram of loose point fitting of a flexible gear tooth profile and a steel wheel conjugate tooth profile of the automatic component sorting and assembling method according to the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
For better understanding of the above technical solutions, the technical solutions of the present invention will be described in detail below with reference to the drawings and the detailed description of the present invention.
Example (b):
as shown in fig. 1 to fig. 3, an embodiment of the present invention discloses an automatic component sorting and assembling method, including the following steps:
acquiring information of a working space and parts to be assembled in the sight direction of an operator from the viewpoint position of the operator in real time;
the method comprises the steps of determining the tooth shape of a flexible gear by using a functional relation of contact, stress and deformation of an industrial robot and two three-dimensional entity spaces arranged on a flange plate clamp at the front end of the industrial robot, obtaining discrete points of a curved surface of a rigid gear according to a gear meshing principle, and performing simulation calculation through a regression equation to generate the tooth shape of the rigid gear.
In any of the above schemes, preferably, the method for automatically sorting and assembling parts further includes determining a clearance value of the zero backlash not greater than 0.5arcmin wheel train through simulation research.
In any of the above schemes, preferably, the method for automatically sorting and assembling parts further includes calculating a part accumulated difference value by calculating in a reverse direction: Σ § = ∑ Wn+ ∑ßn。
In any of the above solutions, preferably, the method for automatically sorting and assembling parts further includes reversely calculating a radial tolerance according to the gap value: betan =∫y1+y2+┄┄+yn。
In any of the above solutions, preferably, the method for automatically sorting and assembling parts further includes calculating an axial tolerance according to the gap reversal: sigma Wn =∫X1+X2+┄┄+Xn。
In any of the above solutions, it is preferable that the automatic component sorting and assembling method further includes optimally matching component assembly, that is, cumulative difference value of tolerance & ≦ Σ.
In a second aspect, an automatic component sorting and assembling apparatus, = includes:
the acquisition module is used for acquiring information of an operation space and parts to be assembled in the sight line direction of an operator from the viewpoint position of the operator in real time;
and the processing module is used for determining the tooth shape of the flexible gear by adopting the functional relation of contact, stress and deformation of the industrial robot and two three-dimensional entity spaces arranged on a flange plate clamp at the front end of the industrial robot, obtaining discrete points of the curved surface of the rigid gear according to the gear meshing principle, and performing simulation calculation through a regression equation to generate the tooth shape of the rigid gear.
In a third aspect, an automatic component sorting and assembling apparatus includes:
a memory for storing a computer program;
a processor for implementing the steps of the method for automatically sorting and assembling parts according to any one of claims 1 to 7 when executing the computer program.
In a fourth aspect, a computer-readable medium has stored thereon a computer program which, when executed by a processor, implements the method for automatically sorting and assembling parts as described.
The invention has the beneficial effects that: the method is based on the design digital model of the harmonic reducer, takes the actual deviation of the part as a variable, calculates the corresponding relation of accumulated difference of the part to transmission precision through dynamic simulation, automatically matches an optimal value, greatly lightens the dependence on ultrahigh precision of the part and the unpredictability of final assembly to the result of the reducer assembly, and has strong practicability and guidance.
The invention optimally combines the components aiming at the ultra-high precision requirement of the harmonic reducer to form the optimal assembly relation to achieve the optimal effect, can be widely applied to the field of assembly of ultra-high precision planetary reducers, RV reducers and the like, greatly reduces the random rate of assembly, and not only reduces the high-precision dependence on the components for the machine of the ultra-high precision reducer, but also can achieve the ultra-high precision transmission effect.
By applying the algorithm, 35 sets of CSG17-100 model harmonic reducer parts processed on site by our company are grouped and assembled, the precision of all the processed parts is within the range of 3-5 levels, the tolerance of part of the processed parts is within the range of 6 levels, a matching assembly list is calculated by the software, 33 sets of transmission precision is less than or equal to 0.36arcmin, 1 set of transmission precision is 0.5arcmin, 1 set of transmission precision is 0.55arcmin, the consistency is 94.3 percent, and the achievement rate is higher than that of manual free assembly by more than 46 percent. Then, the assembly is carried out continuously for 3 batches of 30 sets of the sleeve, and the consistency is over 95 percent.
An automatic parts sorting and assembling device, comprising: a memory for storing a computer program; and the processor is used for realizing the steps of the automatic part sorting and assembling method when executing the computer program.
The processor is used for controlling the overall operation of the measuring equipment so as to complete all or part of the steps in the automatic part sorting and assembling method. The memory is used to store various types of data to support operation at the measuring device, which may include, for example, instructions for any application or method operating on the measuring device, as well as application-related data, such as contact data, messaging, pictures, audio, video, and so forth. The Memory may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk. The multimedia components may include a screen and an audio component. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may further be stored in a memory or transmitted through a communication component. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface provides an interface between the processor and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component is used for carrying out wired or wireless communication between the measuring equipment and other equipment. Wireless communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more of them, so that the corresponding communication component may include: Wi-Fi module, bluetooth module, NFC module.
In an exemplary embodiment, the measuring Device may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above-mentioned automatic component sorting and assembling method.
In another exemplary embodiment, a computer readable storage medium including program instructions is further provided, which when executed by a processor, implement the steps of the automatic parts sorting and assembling method described above. For example, the computer readable storage medium may be the above-mentioned memory including program instructions executable by the processor of the measuring apparatus to perform the above-mentioned automatic parts sorting and assembling method.
Corresponding to the above method embodiment, the embodiment of the present disclosure further provides a readable storage medium, and a readable storage medium described below and an automatic component sorting and assembling method described above may be referred to in correspondence with each other.
A readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of the automatic component sorting and assembling method according to the above-mentioned method embodiments.
The readable storage medium may be a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and various other readable storage media capable of storing program codes.
Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that various changes, modifications and substitutions can be made without departing from the spirit and scope of the invention as defined by the appended claims. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. An automatic sorting and assembling method for parts is characterized by comprising the following steps:
acquiring information of a working space and parts to be assembled in the sight direction of an operator from the viewpoint position of the operator in real time;
the method comprises the steps of determining the tooth shape of a flexible gear by using a functional relation of contact, stress and deformation of an industrial robot and two three-dimensional entity spaces arranged on a flange plate clamp at the front end of the industrial robot, obtaining discrete points of a curved surface of a rigid gear according to a gear meshing principle, and performing simulation calculation through a regression equation to generate the tooth shape of the rigid gear.
2. The method for automatically sorting and assembling parts according to claim 1, further comprising determining the clearance value of the zero backlash less than or equal to 0.5arcmin wheel train through simulation research.
3. The method for automatically sorting and assembling parts according to claim 2, further comprising calculating a part accumulated difference value by calculating a reverse direction: Σ § = ∑ Wn+ ∑ßn。
4. The method for automatically sorting and assembling parts according to claim 3, further comprising the step of calculating the radial tolerance in reverse according to the clearance value: betan =∫y1+y2+┄┄+yn。
5. The method for automatically sorting and assembling parts according to claim 4, further comprising calculating the axial tolerance reversely according to the clearance: sigma Wn =∫X1+X2+┄┄+Xn。
6. The method for automatically sorting and assembling parts according to claim 5, further comprising the step of optimally matching parts for assembly, i.e. the cumulative difference of tolerances & ≦ Σ.
7. An automatic sorting and assembling device for parts is characterized by comprising:
the acquisition module is used for acquiring information of an operation space and parts to be assembled in the sight line direction of an operator from the viewpoint position of the operator in real time;
and the processing module is used for determining the tooth shape of the flexible gear by adopting the functional relation of contact, stress and deformation of the industrial robot and two three-dimensional entity spaces arranged on a flange plate clamp at the front end of the industrial robot, obtaining discrete points of the curved surface of the rigid gear according to the gear meshing principle, and performing simulation calculation through a regression equation to generate the tooth shape of the rigid gear.
8. An automatic part sorting and assembling device is characterized by comprising:
a memory for storing a computer program;
a processor for implementing the steps of the method for automatically sorting and assembling parts according to any one of claims 1 to 7 when executing the computer program.
9. A computer-readable medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the method of any one of claims 1 to 7.
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2021
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Application publication date: 20210604 |