CN113618354B - Weak-rigidity thin-wall arc assembly device and method - Google Patents
Weak-rigidity thin-wall arc assembly device and method Download PDFInfo
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- CN113618354B CN113618354B CN202110850965.XA CN202110850965A CN113618354B CN 113618354 B CN113618354 B CN 113618354B CN 202110850965 A CN202110850965 A CN 202110850965A CN 113618354 B CN113618354 B CN 113618354B
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 49
- 230000003068 static effect Effects 0.000 claims description 10
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 4
- 229910052802 copper Inorganic materials 0.000 claims description 4
- 239000010949 copper Substances 0.000 claims description 4
- 230000008569 process Effects 0.000 abstract description 6
- 238000009434 installation Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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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
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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Abstract
In order to solve the technical problem that the existing weak-rigidity thin-wall arc is difficult to realize automatic proportioning, the embodiment of the invention provides a weak-rigidity thin-wall arc assembly device and a method, comprising the following steps: the guiding tool is used for placing the weak-rigidity thin-wall circular arc and guiding one end of the weak-rigidity thin-wall circular arc to the position of the ring installing groove of the workpiece to be assembled; the clamping mechanism is used for clamping the weak-rigidity thin-wall circular 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 guide tool, the clamping mechanism and the industrial robot realize an automatic process of loading the weak-rigidity thin-wall circular arc into the ring loading groove of the workpiece to be assembled, so that manual assembly is avoided, and the assembly efficiency of the weak-rigidity thin-wall circular arc is improved.
Description
Technical Field
The invention relates to a device and a method for assembling a weak-rigidity thin-wall arc.
Background
With the development of the intelligent manufacturing field, both product processing and product assembly are expected to improve the automation level of equipment so as to achieve the purposes of improving the efficiency and the digitizing level.
The weak-rigidity thin-wall arc has weak rigidity and the curvature of the loading end of the weak-rigidity thin-wall arc is inconsistent. In addition, the diameter of the weak rigidity thin-wall arc is smaller than the diameters of the two assembled workpieces. Therefore, the automatic assembly of the weak-rigidity thin-wall circular arc has great difficulty, and the existing assembly mode adopts manual assembly.
Disclosure of Invention
In order to solve the technical problem that the existing weak-rigidity thin-wall arc is difficult to realize automatic proportioning, 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 assembly device, including:
the guiding tool is used for placing the weak-rigidity thin-wall circular arc and guiding one end of the weak-rigidity thin-wall circular arc to the position of the ring installing groove of the workpiece to be assembled;
the clamping mechanism is used for clamping the weak-rigidity thin-wall circular arc on the guide tool; and
The industrial robot is used for being 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 the workpiece to be assembled, and the outer side of the protection arc is adapted to the arc 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 and is contacted with the weak-rigidity thin-wall arc, so that a space is generated 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 groove of the workpiece to be assembled and is used for guiding the weak-rigidity thin-wall arc to be assembled into the ring groove of the workpiece to be assembled.
Further, the guide tool further comprises: and the constraint arc is arranged at 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 includes:
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 the industrial robot and provided with a static clamping head; and
The clamping cylinder is arranged on the fixed clamping plate and is provided with a movable clamping head for driving the movable clamping head to reciprocate between the movable clamping head and the static clamping head so as to clamp and loosen the weak-rigidity thin-wall circular arc;
The industrial robot is connected with the clamping cylinder.
Further, the movable clamping head is a copper clamping movable head.
Further, one end of the weak-rigidity thin-wall arc, which is far away from the guide arc, is provided with a screw, and a ring fixing screw hole matched with the screw is arranged on a ring groove cavity corresponding to the inlet of the ring mounting groove of the workpiece to be assembled; the tangential point position of the circle where the guide arc is located and the ring mounting groove of the workpiece to be assembled is offset to the guide arc by 5mm at the center of the ring fixing screw hole.
Further, when in installation, 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 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 shape of the weak-rigidity thin-wall arc in the clamping space as a movement track until the clamping mechanism moves from one end of the guide arc to the other end of the guide arc so that the corresponding part arc of the weak-rigidity thin-wall arc enters the 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, executing the step S4;
s4, the industrial robot drives the clamping mechanism to push the weak-rigidity thin-wall circular arc through a screw at one end of the weak-rigidity thin-wall circular arc far away from the guide arc until the weak-rigidity circular arc completely enters the ring-installing groove, and then assembly is completed.
Further, in the assembly 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 device and the method for assembling the weak-rigidity thin-wall circular arcs, disclosed by the embodiment of the invention, the automatic process of assembling the weak-rigidity thin-wall circular arcs 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 assembly efficiency of the weak-rigidity thin-wall circular arcs is improved.
Drawings
In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the drawings that are needed in the examples will be briefly described below, it being understood that the following drawings only illustrate some examples of the present invention and therefore should not be considered as limiting the scope, and that other related drawings may be obtained from these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic side view of a weak-rigidity thin-wall arc assembly device.
Fig. 2 is a schematic structural view of a weak-rigidity thin-wall arc assembling device.
Fig. 3 is a schematic structural view of a workpiece to be assembled and a guide tool.
Fig. 4 is a schematic exploded view of a workpiece to be assembled.
Fig. 5 is a schematic structural diagram of the guide tool.
Fig. 6 is a schematic structural view of the clamping mechanism.
Fig. 7 is a schematic structural view of a weak rigid thin-walled arc.
Fig. 8 is a schematic structural view of the workpiece to be assembled and the guide tool in a recumbent view.
In the drawings, the reference numerals and corresponding part names:
In the figure, a 1-clamping cylinder, a 2-fixed clamping plate, a 3-movable clamping head, a 4-static clamping head, a 5-industrial robot, a 6-supporting ground, a 7-workpiece to be assembled, an 8-weak rigidity thin-wall arc, a 9-annular cavity, a 10-first workpiece, an 11-annular groove, a 12-second workpiece, a 13-guide ring, a 14-protection arc, a 15-waist-shaped hole, a 16-guide arc, a 17-constraint arc, 18-screws, 19-pin shafts, 20-clamping spaces and 21-annular fixed screw holes.
Detailed Description
For the purpose of making apparent the objects, technical solutions and advantages of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present invention and the descriptions thereof are for illustrating the present invention only and are not to be construed as limiting 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: no such specific details are necessary to practice the invention. In other instances, well-known structures, circuits, materials, or methods have not been described in detail in order not to obscure the invention.
Throughout the specification, references to "one embodiment," "an embodiment," "one example," or "an example" mean: a particular feature, structure, or characteristic described in connection with the embodiment or example is included within at least one embodiment of the invention. Thus, the appearances of the phrases "in one embodiment," "in an example," or "in 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. Moreover, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and that the illustrations are not necessarily drawn to scale. The term "and/or" as used herein 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", "high", "low", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the scope of the present invention.
Examples
In order to solve the technical problem that the existing weak-rigidity thin-wall arc is difficult to realize automatic proportioning, an embodiment of the invention provides a weak-rigidity thin-wall arc assembly device, which is shown by referring to fig. 1-8, and comprises: the guiding tool is used for placing the weak-rigidity thin-wall circular arc and guiding one end of the weak-rigidity thin-wall circular arc to the position of the ring installing groove of the workpiece to be assembled; the clamping mechanism is used for clamping the weak-rigidity thin-wall circular 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 assembly device for the weak-rigidity thin-wall arc is used for loading the weak-rigidity thin-wall arc into a workpiece 7 to be assembled in a 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 work piece 7 to be assembled includes a first work piece 10 and a second work piece 12; the first workpiece is sleeved with the second workpiece; an annular ring groove cavity 9 is formed in the circumferential direction of the joint of the second workpiece, a ring mounting groove 11 is formed in the connecting part of the first workpiece and the second workpiece, and the positions of the ring mounting groove and the ring groove cavity are opposite; the purpose of the weak-rigidity thin-wall arc assembling device is to assemble the weak-rigidity thin-wall arc into the annular ring groove cavity through the ring assembling groove.
The guiding tool is sleeved on the flange of the first workpiece 10, one end of the weak-rigidity thin-wall arc is guided to the position of the ring installing 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 weak-rigidity thin-wall arc of the corresponding part.
The corresponding part refers to an arc-shaped part from the clamping position of the clamping mechanism to the weak-rigidity thin-wall arc between the positions of the weak-rigidity thin-wall arc close to the inlet of the ring mounting groove.
The industrial robot drives the clamping mechanism to clamp the weak-rigidity thin-wall arc 8, and the arc-shaped part of the corresponding part of the weak-rigidity thin-wall arc is repeatedly sent 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 weak-rigidity thin-wall arc is installed.
Therefore, the weak-rigidity circular ring assembly device provided by the embodiment of the invention realizes an automatic process of loading the weak-rigidity thin-wall circular arc into the ring loading 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 and guiding the weak-rigidity thin-wall arc into the ring 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 the workpiece to be assembled, and the outer side of the protection arc is adapted to the arc 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 contacted with the weak-rigidity thin-wall arc, so that a space is generated between the protection arc and the weak-rigidity thin-wall arc; and
The guide arc 16 is arranged between the guide ring 13 and the protection arc 14, and a clamping space 20 for clamping the weak-rigidity thin-wall arc is formed; the other end of the guide arc is close to the ring groove of the workpiece to be assembled and is used for guiding the weak-rigidity thin-wall arc to be assembled into the ring groove of the workpiece to be assembled.
Optionally, the guiding tool further includes: and the constraint arc 17 is arranged outside 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.
Referring to fig. 5, the guiding tool comprises a guiding ring 13 and a protecting 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 causing scratches on the workpiece to be assembled.
In order to facilitate the clamping of the weak rigidity thin-wall arc, a space is reserved between the protection arc 14 and two sides of the weak rigidity thin-wall arc, which are close to each other, an arc expanding piece is further arranged on the guide ring, and optionally, the arc expanding piece 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 19 provided in the waist-shaped hole.
Referring to fig. 5, a protection arc 14 is arranged above a pin 19, and a weak rigidity thin-wall arc 8 is arranged below the pin; therefore, the situation that the weak-rigidity thin-wall arc 8 is clung to the outer side of the protection arc is avoided, and clamping operation is facilitated on the weak-rigidity thin-wall arc 8.
The guide ring is also provided with a guide arc 16; a clamping space 20 for clamping the weak-rigidity thin-wall arc is arranged between the guide arc 16 and the protection arc 14; reference is made to fig. 5. When the weak-rigidity thin-wall circular arc is placed on the guide ring, the weak-rigidity thin-wall circular arc is exposed outside at the part of the clamping space 20, so that the industrial robot can conveniently clamp the weak-rigidity thin-wall circular arc at the part of the clamping space 20 in the clamping space 20, and under the clamping, the right end (shown in fig. 5) of the weak-rigidity thin-wall circular arc is conveyed into the ring groove under the guidance of the guide arc, thereby facilitating the industrial robot to repeatedly load the corresponding part of the weak-rigidity thin-wall circular arc into the ring groove cavity 9, and finally realizing that the weak-rigidity thin-wall circular arc is installed in the ring groove cavity in the form of a circular arc.
To facilitate gripping, optionally, the gripping 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 and is provided with a movable clamping head 3 for driving the movable clamping head to reciprocate between the movable clamping head and the static clamping head so as to clamp and loosen the weak-rigidity thin-wall circular arc; the industrial robot is connected with the clamping cylinder, so that the robot can conveniently control the clamping cylinder to clamp and unclamp.
Referring to fig. 6, the clamping mechanism includes: the clamping cylinder 1, the fixed clamping plate 2, the static clamping head 4 and the movable clamping head 3; the clamping cylinder is arranged below the fixed clamping plate 2, and a static clamping head 4 is arranged in front of the fixed clamping plate; the actuating end in front of the clamping cylinder is provided with a movable clamping head 3; when the clamping operation is carried out, the industrial robot is connected with the clamping cylinder to control the telescopic movement of the clamping cylinder, so that the movable clamping head 3 is driven to move towards the static clamping head 4, and the weak-rigidity thin-wall circular arc can be clamped between the movable clamping head 3 and the static clamping head 4 during the clamping operation, so that the weak-rigidity thin-wall circular arc is clamped. 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 fixing screw hole 21 matched with the screw is arranged on a ring groove cavity 9 corresponding to the inlet of a ring mounting groove 11 of a workpiece to be assembled; the tangential point position of the circle where the guide arc is located and the ring mounting groove of the workpiece to be assembled is offset to the guide arc by 5mm at the center of the ring fixing screw hole.
Referring to fig. 8, the tangential point of the ring where the guide arc is located and the ring installing groove is set at the position of the center of the ring fixing screw hole, which is offset by 5mm to 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 screw 18 is a copper screw.
Optionally, the portion of the thin-walled arc of weak rigidity that contacts the pilot arc is flush with the pilot arc when installed.
In a second aspect, an embodiment of the present invention provides an assembling method using the weak-rigidity thin-wall 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 shape of the weak-rigidity thin-wall arc in the clamping space as a movement track until the clamping mechanism moves from one end of the guide arc to the other end of the guide arc so that the corresponding part arc of the weak-rigidity thin-wall arc enters the 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, executing the step S4;
s4, the industrial robot drives the clamping mechanism to push the weak-rigidity thin-wall circular arc through a screw at one end of the weak-rigidity thin-wall circular arc far away from the guide arc until the weak-rigidity circular arc completely enters the ring-installing groove, and then assembly is completed.
Further, in the assembly process, the connecting end of the industrial robot connected with the clamping mechanism is always vertical to the supporting ground.
The assembly apparatus described with reference to fig. 1-8, the apparatus method comprising:
S101, clamping an arc part of a weak-rigidity thin-wall arc in a 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 movement track, so that the clamping mechanism moves from the clamping position to the inlet end of the guide arc (namely, the end of the guide arc far away from the ring-mounting groove), and then moves from the inlet end of the guide arc to the end of the guide arc close to the ring-mounting groove, and at the moment, the part of the arc of the weak-rigidity thin-wall arc enters the ring-mounting groove and slides into the ring-groove cavity 9;
S103, loosening the weak-rigidity thin-wall arc by the industrial robot, moving the arc to the position above the clamping space 20 again, and returning to 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 installed in the annular groove cavity 9.
S104, mounting the screw 18 on the weak-rigidity thin-wall arc into the circular fixing screw hole 21; specifically, the industrial robot drives the clamping mechanism to move to the position where the screw is tangent to the pin shaft 19, and the robot drives the clamping mechanism to push the weak-rigidity thin-wall circular arc 8 to completely enter the annular groove cavity through the screw, so that the screw is installed in the annular fixing screw hole 21, and the assembly is completed.
Therefore, the embodiment of the invention realizes the automatic process of loading the weak-rigidity thin-wall circular arc into the ring loading 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.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (6)
1. A weak rigidity thin wall circular arc assembly device, comprising:
the guiding tool is used for placing the weak-rigidity thin-wall circular arc and guiding one end of the weak-rigidity thin-wall circular arc to the position of the ring installing groove of the workpiece to be assembled;
the clamping mechanism is used for clamping the weak-rigidity thin-wall circular 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; the guide 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 the workpiece to be assembled, and the outer side of the protection arc is adapted to the arc 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 and is contacted with the weak-rigidity thin-wall arc, so that a space is generated 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 is used for guiding the weak-rigidity thin-wall arc to be mounted in the ring-mounting groove of the workpiece to be assembled; the guide tool further comprises: the constraint arc is arranged at 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; 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; the clamping mechanism comprises:
the fixed clamping plate is used for being connected with the industrial robot and provided with a static clamping head; and
The clamping cylinder is arranged on the fixed clamping plate and is provided with a movable clamping head for driving the movable clamping head to reciprocate between the movable clamping head and the static clamping head so as to clamp and loosen the weak-rigidity thin-wall circular arc;
The industrial robot is connected with the clamping cylinder.
2. The weak-rigidity thin-wall arc fitting apparatus according to claim 1, wherein the movable holding head is a copper holding movable head.
3. The weak-rigidity thin-wall arc assembling device according to claim 1, wherein one end of the weak-rigidity thin-wall arc, which is far away from the guide arc, is provided with a screw, and an inlet of a ring-mounting groove of a workpiece to be assembled is provided with a ring fixing screw hole matched with the screw; the tangential point position of the circle where the guide arc is located and the ring mounting groove of the workpiece to be assembled is offset to the guide arc by 5mm at the center of the ring fixing screw hole.
4. The apparatus of claim 1, wherein the portion of the thin-walled arc of weakness that contacts the pilot arc is flush with the pilot arc when installed.
5. A method of assembling using the weak-rigidity thin-wall arc assembling apparatus according to any one of claims 1 to 4, comprising:
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 shape of the weak-rigidity thin-wall arc in the clamping space as a movement track until the clamping mechanism moves from one end of the guide arc body to the other end of the guide arc body so that the corresponding part arc of the weak-rigidity thin-wall arc enters the 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 one 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 circular arc through a screw at one end of the weak-rigidity thin-wall circular arc far away from the guide arc until the weak-rigidity circular arc completely enters the ring-installing groove, and then assembly is completed.
6. The assembly method of claim 5, wherein the connection end of the industrial robot to the clamping mechanism is always perpendicular to the support ground during assembly.
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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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| CN113618354A CN113618354A (en) | 2021-11-09 |
| CN113618354B true CN113618354B (en) | 2024-04-19 |
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