CN113770674A - Assembling device and assembling method - Google Patents
Assembling device and assembling method Download PDFInfo
- Publication number
- CN113770674A CN113770674A CN202111097614.2A CN202111097614A CN113770674A CN 113770674 A CN113770674 A CN 113770674A CN 202111097614 A CN202111097614 A CN 202111097614A CN 113770674 A CN113770674 A CN 113770674A
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- Prior art keywords
- assembly
- air bearing
- assembling
- cavity
- assembly body
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000005259 measurement Methods 0.000 claims abstract description 14
- 230000000007 visual effect Effects 0.000 claims abstract description 12
- 239000002184 metal Substances 0.000 claims description 15
- 238000009423 ventilation Methods 0.000 claims description 6
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
In order to solve the technical problem that when an assembly error is the same as or equivalent to an assembly precision in an automatic assembly process in the prior art, an assembly is easy to collide to cause damage or rejection of the assembly, an embodiment of the invention provides an assembly device and an assembly method, and the assembly device comprises: the air bearing workbench is used for placing a first assembly body matched with the second assembly body; a multi-axis robot for assembling a second assembly body to the first assembly body; and a rotating bracket comprising: the axial support is used for being rotatably connected with the radial support so that the radial support can rotate around the axial direction of the axial support to enable the camera on the radial support to enter and exit the assembly area; and the radial support is used for rotatably connecting the camera, so that the camera can rotate around the axial direction of the radial support to realize visual measurement of the assembling position of the first assembly body and/or the second assembly body. The embodiment of the invention realizes the self-adaptive adjustment of the assembly process, and avoids the damage to the assembly body in the assembly process.
Description
Technical Field
The invention relates to an assembling device and an assembling method.
Background
Automated assembly techniques are widely used in modern industrial production, but many precise and ultra-precise assembly operations still depend on manual work. The most significant cause of this phenomenon is that the "flexibility" of automated assembly techniques is currently still a large gap from the "flexibility" of humans. In the automatic assembly process, assembly errors of products such as installation errors, clamping errors, measurement errors and movement errors are inevitable, and when the assembly errors are the same as or equal to the assembly accuracy, the probability of collision of assembly bodies in the automatic assembly process is increased sharply. For a precision assembly, the collision is likely to cause great damage to parts of the assembly and even cause rejection of parts, which may cause great loss.
Disclosure of Invention
In order to solve the technical problem that when an assembly error is the same as or equal to assembly accuracy in an automatic assembly process in the prior art, an assembly is easy to collide to cause damage or rejection of the assembly, the embodiment of the invention provides an assembly device and an assembly method.
The embodiment of the invention is realized by the following technical scheme:
in a first aspect, an embodiment of the present invention provides an assembly apparatus, including:
the air bearing workbench is used for placing a first assembly body matched with the second assembly body;
a multi-axis robot for assembling a second assembly body to the first assembly body; and
a rotating bracket, comprising:
the axial support is used for being rotatably connected with the radial support so that the radial support can rotate around the axial direction of the axial support to enable the camera on the radial support to enter and exit the assembly area; and
the radial support is used for rotatably connecting the camera, so that the camera can rotate around the axial direction of the radial support to realize visual measurement of the assembling position of the first assembling body and/or the second assembling body.
Further, the multi-axis robot is provided with a clamp for clamping the second assembly body.
Further, the device also comprises a base; the air bearing workbench, the multi-axis robot and the rotating support are all arranged on the base.
Further, a contact alarm is arranged on the air bearing workbench; one electric connection end of the contact alarm is electrically connected with the metal shell of the air bearing workbench; and the other electric connection end of the contact alarm is electrically connected with a rotor of the air bearing workbench.
Further, the air bearing table includes:
the radial metal shell is provided with a cavity with one open end;
the rotor is movably and hermetically connected with the cavity, and one end of the rotor extends out of the opening of the cavity and is connected with the workbench; and
and the ventilation channel is arranged in the radial metal shell and is communicated with the cavity so that gas enters a gap between the cavity and the rotor to realize the control of the lifting motion of the rotor in the cavity by controlling the gas pressure.
Further, the rotor is movably and hermetically connected with the cavity through an air bearing; the air bearing is a cylindrical air bearing or a hemispherical air bearing.
Further, the air bearing worktable further comprises:
a base housing; and
the backing ring is arranged between the radial metal shell and the base shell;
the backing ring and the base shell are both provided with channels which are communicated with the ventilation channel; the channel is connected with a gas supply joint; and a throttling plug is arranged at the joint of the vent passage and the cavity.
Further, the camera is a CCD camera.
In a second aspect, an embodiment of the present invention provides an assembling method for the assembling apparatus, including:
visually measuring the positions of the first assembly body and the second assembly body;
calculating the relative position relation of the first assembly body and the second assembly body according to the visual measurement to generate a motion instruction;
and sending the motion command to enable the multi-axis robot to execute the motion operation according to the motion command.
Further, the method also comprises the following steps:
initialization: and (4) calibrating the system before assembly, and establishing a system coordinate system as a unified reference of various motion relations.
Compared with the prior art, the embodiment of the invention has the following advantages and beneficial effects:
according to the assembling device and the assembling method provided by the embodiment of the invention, the visual measurement is carried out on the assembling positions of the first assembling body and the second assembling body through the rotating support and the camera, the motion control parameters of the multi-axis robot are generated through the visual measurement to control the motion of the multi-axis robot, and the assembling processes of the two assembling bodies are adaptively adjusted through the air bearing workbench, so that the adaptive adjustment of the assembling process is realized, and the damage to the assembling bodies in the assembling process is avoided.
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 view of the structure of the assembling device.
FIG. 2 is a schematic structural diagram of an air bearing table.
FIG. 3 is a flow chart illustrating an assembly method.
Reference numbers and corresponding part names in the drawings:
1-a base; 2-an air bearing worktable; 3-axial support; 4-contact alarm; 5-a cable; 6-a female fitting; 7-a radial scaffold; 8-a camera spindle; 9-a CCD camera; 10-male fitting; 11-a clamp; 12-a multi-axis robot; 13-a base housing; 14-a backing ring; 15-a rotor; 16-a radial metal shell; 17-a workbench; 18-a choke plug; 19-gas supply connection.
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 when an assembly error is the same as or equivalent to an assembly precision in an automatic assembly process in the prior art, an assembly is easy to collide to cause damage or rejection of the assembly, an embodiment of the present invention provides an assembly apparatus, which is shown in fig. 1 to 2 and includes: the air bearing workbench 2 is used for placing a first assembly body matched with a second assembly body; a multi-axis robot for assembling a second assembly body to the first assembly body; and a rotating bracket comprising: the axial support 3 is used for being rotatably connected with the radial support so that the radial support can rotate around the axial direction of the axial support to enable the camera on the radial support to enter and exit the assembly area; and the radial support 7 is used for rotatably connecting the camera, so that the camera can rotate around the axial direction of the radial support to realize visual measurement of the assembling position of the first assembly body and/or the second assembly body.
Therefore, visual measurement is carried out on the assembly positions of the first assembly body and the second assembly body through the rotary support and the camera, the motion control parameters of the multi-axis robot are generated through the visual measurement to control the motion of the multi-axis robot, and the assembly processes of the two assembly bodies are adaptively adjusted through the air bearing workbench, so that the adaptive adjustment of the assembly process is realized, and the damage of the assembly process to the assembly bodies is avoided.
Optionally, the first assembly is a male fitting 10 and the second assembly is a female fitting 6.
Further, the camera is a CCD camera.
Wherein the assembly area is a spatial area where the first assembly and the second assembly are directly opposite or not completely directly opposite.
Further, the device also comprises a base 1; the air bearing workbench 2, the multi-axis robot 12 and the rotating support are all arranged on the base 1.
Further, a contact alarm 4 is arranged on the air bearing workbench; one electric connection end of the contact alarm is electrically connected with the metal shell of the air bearing workbench; and the other electric connection end of the contact alarm is electrically connected with a rotor of the air bearing workbench.
Optionally, a female assembly 6 is placed on the air bearing table and a contact alarm 4 is connected via two cables 5. The contact alarm 4 is connected with the rotor of the air bearing worktable 2 through one cable 5 and is connected with the shell of the air bearing worktable 2 through the other cable 5. When the self-adaptive adjustment of the air bearing workbench exceeds a certain limit in the assembly process, the rotor and the shell are in short circuit conduction, the contact alarm 4 gives an alarm and triggers an assembly emergency stop instruction of the control system, and therefore the purpose of protecting products and equipment is achieved.
Further, the multi-axis robot is provided with a jig 11 for holding the second assembly body.
Referring to fig. 1, the multi-axis robot is assembled by holding the second assembly body by a jig 11.
The multi-axis robot 12 is an assembly actuator, and has a jig 11 attached to its end to hold the male assembly 10 and perform an automatic assembly operation.
Further, the air bearing table 2 includes:
a radial metal shell 16 provided with a cavity having one end opened;
the rotor 15 is movably and hermetically connected with the cavity, and one end of the rotor extends out of the opening of the cavity and is connected with a workbench 17; and
and the ventilation channel is arranged in the radial metal shell and is communicated with the cavity so that gas enters a gap between the cavity and the rotor to realize the control of the lifting motion of the rotor in the cavity by controlling the gas pressure.
Further, the rotor is movably and hermetically connected with the cavity through an air bearing; the air bearing is a cylindrical air bearing or a hemispherical air bearing.
Further, the air bearing worktable further comprises: a base housing 13; and a backing ring 14 disposed between the radial metal shell 16 and the base shell; the backing ring and the base shell are both provided with channels which are communicated with the ventilation channel; the channel is connected with a gas supply joint 19; a throttle plug 18 is arranged at the joint of the vent passage and the cavity.
The base shell 13 is a mounting reference of the air bearing workbench, and is provided with a throttling plug 18 connected with a backing ring 14 and an air supply joint 19. The backing ring 14 is connected to a radial metal casing 16 on which a choke plug 18 is mounted.
The rotor 15 is installed in a precision gap composed of a base shell 13, a backing ring 14 and a radial metal shell 16, and a worktable plate 17 is installed at the upper part of the rotor. When the air supply joint 19 introduces high-pressure air into the cavity through the air passage, the rotor 15 floats, and the system has self-adaptive adjustment capability.
Therefore, when a small amount of positioning errors or centering errors exist in the assembling process of the two assembling bodies, the assembling device can ensure that the assembling process is completed smoothly through self-adaptive capacity, and damage to related products is avoided.
In a second aspect, an embodiment of the present invention provides an assembling method of the assembling apparatus, which is shown in fig. 3, and includes:
visually measuring the positions of the first assembly body and the second assembly body;
calculating the relative position relation of the first assembly body and the second assembly body according to the visual measurement to generate a motion instruction;
and sending the motion command to enable the multi-axis robot to execute the motion operation according to the motion command.
Further, the method also comprises the following steps:
initialization: and (4) calibrating the system before assembly, and establishing a system coordinate system as a unified reference of various motion relations.
In the assembly process of the device provided by the embodiment of the invention, if the self-adaptive movement deviation of the air bearing workbench is too large, an alarm is triggered, the assembly process is immediately terminated, and the assembly process is reversely exited.
Therefore, the assembling device and the assembling method provided by the embodiment of the invention can obviously reduce the requirements of the automatic assembling device on the installation precision, the clamping precision, the measurement precision and the positioning precision of the precision product, and can greatly improve the safety and the reliability of the automatic assembling process.
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. An assembly device, comprising:
the air bearing workbench is used for placing a first assembly body matched with the second assembly body;
a multi-axis robot for assembling a second assembly body to the first assembly body; and
a rotating bracket, comprising:
the axial support is used for being rotatably connected with the radial support so that the radial support can rotate around the axial direction of the axial support to enable the camera on the radial support to enter and exit the assembly area; and
the radial support is used for rotatably connecting the camera, so that the camera can rotate around the axial direction of the radial support to realize visual measurement of the assembling position of the first assembling body and/or the second assembling body.
2. The assembly apparatus of claim 1, wherein the multi-axis robot is provided with a gripper for gripping the second assembly body.
3. The mounting apparatus of claim 1, further comprising a base; the air bearing workbench, the multi-axis robot and the rotating support are all arranged on the base.
4. The assembly apparatus of claim 1, wherein said air bearing table is provided with a contact alarm; one electric connection end of the contact alarm is electrically connected with the metal shell of the air bearing workbench; and the other electric connection end of the contact alarm is electrically connected with a rotor of the air bearing workbench.
5. The assembly apparatus of claim 1, wherein the air bearing table comprises:
the radial metal shell is provided with a cavity with one open end;
the rotor is movably and hermetically connected with the cavity, and one end of the rotor extends out of the opening of the cavity and is connected with the workbench; and
and the ventilation channel is arranged in the radial metal shell and is communicated with the cavity so that gas enters a gap between the cavity and the rotor to realize the control of the lifting motion of the rotor in the cavity by controlling the gas pressure.
6. The assembly apparatus of claim 1, wherein the rotor is movably sealed to the cavity by an air bearing; the air bearing is a cylindrical air bearing or a hemispherical air bearing.
7. The assembly apparatus of claim 1, wherein the air bearing table further comprises:
a base housing; and
the backing ring is arranged between the radial metal shell and the base shell;
the backing ring and the base shell are both provided with channels which are communicated with the ventilation channel; the channel is connected with a gas supply joint; and a throttling plug is arranged at the joint of the vent passage and the cavity.
8. The assembly device of claim 1, wherein the camera is a CCD camera.
9. A method of assembling an assembly device according to any one of claims 1 to 8, comprising:
visually measuring the positions of the first assembly body and the second assembly body;
calculating the relative position relation of the first assembly body and the second assembly body according to the visual measurement to generate a motion instruction;
and sending the motion command to enable the multi-axis robot to execute the motion operation according to the motion command.
10. The method of assembling of claim 9, further comprising:
initialization: and (4) calibrating the system before assembly, and establishing a system coordinate system as a unified reference of various motion relations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111097614.2A CN113770674A (en) | 2021-09-18 | 2021-09-18 | Assembling device and assembling method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111097614.2A CN113770674A (en) | 2021-09-18 | 2021-09-18 | Assembling device and assembling method |
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| Publication Number | Publication Date |
|---|---|
| CN113770674A true CN113770674A (en) | 2021-12-10 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111097614.2A Pending CN113770674A (en) | 2021-09-18 | 2021-09-18 | Assembling device and assembling method |
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| CN (1) | CN113770674A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115077920A (en) * | 2022-06-21 | 2022-09-20 | 大连理工大学 | Multistage turbine part assembly deformation test equipment |
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| CN211778556U (en) * | 2019-11-25 | 2020-10-27 | 江苏工大金凯高端装备制造有限公司 | T-shaped small-hole throttling air-flotation rotary table |
| CN112345520A (en) * | 2020-09-28 | 2021-02-09 | 台州学院 | Medical accessory assembly detection method and device based on deep learning |
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| US6140931A (en) * | 1998-01-13 | 2000-10-31 | Toshiba Kikai Kabushiki Kaisha | Spindle state detector of air bearing machine tool |
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Application publication date: 20211210 |