CN113878323A - Force control sensor-based double-shaft hole assembly robot device and method - Google Patents
Force control sensor-based double-shaft hole assembly robot device and method Download PDFInfo
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- CN113878323A CN113878323A CN202111144231.6A CN202111144231A CN113878323A CN 113878323 A CN113878323 A CN 113878323A CN 202111144231 A CN202111144231 A CN 202111144231A CN 113878323 A CN113878323 A CN 113878323A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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Abstract
The invention relates to the technical field of workpiece assembly, in particular to a force control sensor-based double-shaft hole assembly robot device and a force control sensor-based double-shaft hole assembly robot method, which comprises a base shaft workpiece and a double-hole workpiece, wherein the double-hole workpiece is internally provided with a mounting hole, the mounting hole is matched with the shaft workpiece, the base is internally provided with a moving assembly capable of moving a movable disc, the base is internally provided with a supporting assembly capable of enabling the movable disc to move more stably, the top of the movable disc is provided with a connecting mechanism for moving a mounting plate, and the mounting plate is internally provided with a clamping and mounting mechanism capable of mounting the shaft workpiece; according to the invention, the clamping and mounting mechanism is arranged, the shaft workpiece is clamped by the clamping piece in the mounting plate, the shaft workpiece and the mounting hole in the double-hole workpiece can violently go downstairs when the shaft workpiece and the mounting hole in the double-hole workpiece are opposite to each other, and the pressure sensor pushes the shaft workpiece into the mounting hole through the hydraulic rod when detecting that the pressure is suddenly increased, so that the accurate mounting of the shaft workpiece is completed.
Description
Technical Field
The invention relates to the technical field of workpiece assembly, in particular to a double-shaft hole assembly robot device and method based on a force control sensor.
Background
Assembly techniques have been developed with ever increasing demands on product quality and increased production volumes. At the initial development stage of the machine manufacturing industry, the multifunctional filing, grinding, scraping, hammering, screw tightening and other operations are assembled to match and connect the parts. At the end of the 18 th century, the product batch size is increased, the processing quality is improved, and accordingly, the interchangeability assembly is realized. For example, in 1789, 1 million smoothbore guns with interchangeable parts were manufactured by e.huttney, usa, and an inexperienced child worker was able to perform the assembly work by means of a special jig, and the man-hours were considerably shortened. In the early and middle of the 19 th century, the interchangeable assembly is gradually popularized to products such as clocks, small weapons, textile machinery, sewing machines and the like. While the interchangeability assembly is developed, the assembly line production is also developed, and a perfect automobile assembly line appears in the beginning of the 20 th century. Later, automated assembly was further developed.
The double-shaft hole assembly robot device based on the force control sensor is mainly suitable for single-shaft hole assembly, rarely has a device suitable for multi-shaft hole assembly, is inconvenient to carry out accurate control when assembling multi-shaft holes, and leads to instable installation, and the assembly of large-scale workpieces is mainly multi-shaft hole assembly.
Disclosure of Invention
The invention aims to provide a force control sensor-based double-shaft hole assembly robot device and a force control sensor-based double-shaft hole assembly robot method, and the device comprises a base shaft workpiece and a double-hole workpiece, wherein mounting holes are formed in the double-hole workpiece, the mounting holes are matched with the shaft workpiece, a moving assembly capable of moving a movable disc is arranged in a base, a supporting assembly capable of enabling the movable disc to move more stably is arranged in the base, a connecting mechanism used for moving a mounting plate is arranged at the top of the movable disc, and a clamping and mounting mechanism capable of mounting the shaft workpiece is arranged in the mounting plate; centre gripping installation mechanism includes hydraulic stem, buffer board, electric putter and holder, hydraulic stem fixed connection be in inside the mounting panel, buffer board fixed connection be in hydraulic stem one end, electric putter fixed connection be in inside the mounting panel, holder fixed connection be in electric putter one end.
Optionally, the movable assembly comprises a threaded rod, an installation block and a driving motor, the threaded rod is rotatably connected inside the base, the driving motor is fixedly connected to one side of the base, the threaded rod is fixedly connected to the output end of the driving motor, the installation block is fixedly connected to the bottom of the movable plate, and the installation block is matched with the threaded rod.
Optionally, the supporting component comprises a sliding block, a connecting shaft and a roller, the sliding block is fixedly connected to the bottom of the movable disc, a sliding groove is formed in the base, an installation cavity is formed in the bottom of the sliding groove, the sliding block is located in the installation cavity, the connecting shaft is rotatably connected to the inside of the installation cavity, and the roller is fixedly connected to the side wall of the connecting shaft.
Optionally, a roller groove is formed in the slider, the roller is matched with the roller groove, the slider is connected to the inside of the mounting cavity in a sliding mode through the roller and the roller groove, the roller is provided with a plurality of rollers, and the plurality of rollers are evenly arranged on two sides of the slider.
Optionally, the supporting component further comprises an oil delivery pipe and an oil sprayer, an oil storage tank is formed in the bottom of the installation cavity, the oil sprayer is fixedly connected inside the installation cavity, and the oil delivery pipe is fixedly connected between the bottom of the oil storage tank and the connecting end of the oil sprayer.
Optionally, lubricating oil is filled in the oil storage tank.
Optionally, the connecting mechanism comprises a fixing plate, a rotating base, a first mechanical arm, a second mechanical arm, a first servo motor, a second servo motor, a third servo motor and a connecting piece, the fixed plate is fixedly arranged at the top of the movable plate, the rotating base is rotatably connected inside the fixed plate, the first servo motor is fixedly connected with one side of the rotating base, the first mechanical arm is fixedly connected with the output end of the first servo motor, the first mechanical arm is movably connected to the top of the rotating base through the first servo motor, the second mechanical arm is movably connected with one end of the first mechanical arm through the second servo motor, the connecting piece swing joint be in second arm one end, the connecting piece fixed connection be in the third servo motor output, third servo motor is located connecting piece one side.
Optionally, the mounting plate is fixedly connected to one end of the connecting piece.
Optionally, the clamping and mounting mechanism further comprises a backing plate, a first connecting plate, a second connecting plate, a first guide rail and a second guide rail, a plurality of movable grooves are arranged in the clamping piece, the first guide rail and the second guide rail are fixedly connected in the plurality of movable grooves, the first connecting plate and the second connecting plate are both fixedly connected to one side of the backing plate, the first connecting plate is connected to the side wall of the second guide rail in a sliding manner, the second connecting plate is connected with the side wall of the first guide rail in a sliding way, the backing plate is connected with one side of the clamping piece in a sliding way through the first connecting plate and the second connecting plate, a spring is fixedly connected between one side of the first connecting plate and the inner wall of the movable groove and is positioned on the side wall of the second guide rail, and a pressure sensor is fixedly arranged in the first guide rail, and the second connecting plate is matched with the pressure sensor.
Optionally, the electric push rod is arranged in the mounting plate, so that the electric push rod can push the clamping piece to move, the clamping piece can clamp the shaft workpiece, the backing plate can slide on one side of the clamping piece through the first connecting plate, the second connecting plate, the first guide rail and the second guide rail, when the clamping piece clamps the shaft workpiece, the backing plate can prevent the clamping piece from damaging the shaft workpiece, and when the shaft workpiece is installed, the shaft workpiece is moved to the position above the double-hole workpiece through the matching of the connecting mechanism and the moving assembly, the pressure sensor in the first guide rail starts to work, when the shaft workpiece and the mounting hole in the double-hole workpiece are aligned with the shaft workpiece, the shaft workpiece can violently go downstairs, and when the pressure sensor detects that the pressure is suddenly increased, the shaft workpiece is pushed into the mounting hole through the hydraulic rod to finish the accurate mounting of the shaft workpiece, the buffer plate moved by the hydraulic rod can prevent the hydraulic rod from damaging the shaft workpiece in the pushing process.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the clamping and mounting mechanism is arranged, the shaft workpiece is clamped by the clamping piece in the mounting plate, the shaft workpiece and the mounting hole in the double-hole workpiece can violently go downstairs when the shaft workpiece and the mounting hole in the double-hole workpiece are opposite to each other, and the pressure sensor pushes the shaft workpiece into the mounting hole through the hydraulic rod when detecting that the pressure is suddenly increased, so that the accurate mounting of the shaft workpiece is completed.
2. According to the invention, the moving assembly is arranged, the driving motor operates to drive the threaded rod to rotate in the base, and the mounting block at the bottom of the movable disc drives the movable disc to move at the top of the base when the threaded rod rotates.
3. According to the invention, the support component is arranged, when the movable disc moves, the sliding block at the bottom of the movable disc is driven to move, the sliding block slides in the base through the inner roller groove and the rollers in the mounting cavity, the movable disc can move more stably through the support of the sliding block and the rollers, the lubricating oil can be stored in the oil storage groove by arranging the oil storage groove at the bottom of the mounting cavity, the lubricating oil in the oil storage groove can be sprayed to the connecting part of the rollers and the connecting shaft through the oil sprayer and the oil conveying pipe, the lubricating of the rollers is realized, and the rollers can rotate more stably.
4. According to the invention, the connecting mechanism can rotate at the top of the fixed plate through the rotary base, the first servo motor can drive the first mechanical arm to rotate at the top of the rotary base through the arrangement of the first servo motor, the second servo motor can drive the second mechanical arm to rotate at one end of the first mechanical arm through the arrangement of the second servo motor, the third servo motor can drive the connecting piece to rotate at one end of the second mechanical arm through the arrangement of the third servo motor, and the mounting plate can be driven to move through fixedly connecting the mounting plate at one end of the connecting piece.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the backside structure of the present invention;
FIG. 3 is a cross-sectional view of the base of the present invention;
FIG. 4 is an enlarged view taken at A of FIG. 3 according to the present invention;
FIG. 5 is a cross-sectional view of the mounting plate structure of the present invention;
FIG. 6 is a schematic view of a clip according to the present invention;
fig. 7 is a partial cross-sectional view of a clip of the present invention.
The reference numbers illustrate:
1. a base; 2. a threaded rod; 3. a chute; 4. a movable tray; 5. mounting blocks; 6. a fixing plate; 7. rotating the base; 8. a first robot arm; 9. a second mechanical arm; 10. a first servo motor; 11. a second servo motor; 12. a third servo motor; 13. a connecting member; 14. mounting a plate; 15. a shaft workpiece; 16. a dual-hole workpiece; 17. mounting holes; 18. a drive motor; 19. a slider; 20. a mounting cavity; 21. a connecting shaft; 22. a roller; 23. an oil storage tank; 24. an oil delivery pipe; 25. an oil injector; 26. a hydraulic lever; 27. a buffer plate; 28. an electric push rod; 29. a clamping member; 30. a base plate; 31. a first connecting plate; 32. a second connecting plate; 33. a first guide rail; 34. a second guide rail.
The objects, features, and advantages of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-7, the invention provides a double-shaft hole assembly robot device and method based on a force control sensor, comprising a base 1, a shaft workpiece 15 and a double-hole workpiece 16, wherein a mounting hole 17 is formed in the double-hole workpiece 16, the mounting hole 17 is matched with the shaft workpiece 15, a moving assembly capable of moving a movable disc 4 is arranged in the base 1, a supporting assembly capable of enabling the movable disc 4 to move more stably is arranged in the base 1, a connecting mechanism for moving a mounting plate 14 is arranged at the top of the movable disc 4, and a clamping and mounting mechanism capable of mounting the shaft workpiece 15 is arranged in the mounting plate 14; the shaft workpiece 15 is clamped through the clamping and mounting mechanism, the position of the shaft workpiece 15 is controlled through the connecting mechanism and the moving assembly, the shaft workpiece 15 is mounted through the clamping and mounting mechanism when the shaft workpiece 15 is located at the mounting hole 17, the clamping force of the clamping piece 29 in the clamping and mounting mechanism is controlled through the force control sensors arranged in the first mechanical arm 8 and the second mechanical arm 9, over-tight or over-loose clamping is prevented, the robot monitors the change of the force in real time, a coordinate system of the force, the direction of the stress, the magnitude of the force, the type of the force and the limitation of position deviation are defined, and therefore the force control function is achieved.
Referring to fig. 2 and 3, the moving assembly comprises a threaded rod 2, a mounting block 5 and a driving motor 18, the threaded rod 2 is rotatably connected inside the base 1, the driving motor 18 is fixedly connected to one side of the base 1, the threaded rod 2 is fixedly connected to the output end of the driving motor 18, the mounting block 5 is fixedly connected to the bottom of the movable disc 4, and the mounting block 5 is matched with the threaded rod 2; the threaded rod 2 is driven to rotate inside the base 1 through the operation of the driving motor 18, and the movable disc 4 is driven to move at the top of the base 1 through the installation block 5 at the bottom of the movable disc 4 when the threaded rod 2 rotates.
Referring to fig. 3 and 4, the support assembly includes a sliding block 19, a connecting shaft 21 and rollers 22, the sliding block 19 is fixedly connected to the bottom of the movable disc 4, a sliding groove 3 is formed in the base 1, a mounting cavity 20 is formed at the bottom of the sliding groove 3, the sliding block 19 is located in the mounting cavity 20, the connecting shaft 21 is rotatably connected to the inside of the mounting cavity 20, the rollers 22 are fixedly connected to the side wall of the connecting shaft 21, roller grooves are formed in the sliding block 19, the rollers 22 are matched with the roller grooves, the sliding block 19 is slidably connected to the inside of the mounting cavity 20 through the rollers 22 and the roller grooves, the rollers 22 are provided with a plurality of rollers 22, the plurality of rollers 22 are uniformly arranged on two sides of the sliding block 19, the support assembly further includes an oil delivery pipe 24 and an oil injector 25, an oil storage groove 23 is formed at the bottom of the mounting cavity 20, the oil injector 25 is fixedly connected to the bottom of the oil storage groove 23 and a connecting end of the oil delivery pipe 24, lubricating oil is filled in the oil storage tank 23; when the movable disc 4 moves, the sliding block 19 at the bottom of the movable disc 4 is driven to move, the sliding block 19 slides inside the base 1 through the roller groove inside and the roller 22 inside the mounting cavity 20, the movable disc 4 moves more stably through the support of the sliding block 19 and the roller 22, lubricating oil can be stored inside the oil storage groove 23 by arranging the oil storage groove 23 at the bottom of the mounting cavity 20, the lubricating oil inside the oil storage groove 23 can be sprayed to the joint of the roller 22 and the connecting shaft 21 through the oil sprayer 25 and the oil delivery pipe 24, the roller 22 is lubricated, and the roller 22 rotates more stably.
Referring to fig. 1 and 2, the connecting mechanism includes a fixed plate 6, a rotating base 7, and a first robot arm 8, the device comprises a second mechanical arm 9, a first servo motor 10, a second servo motor 11, a third servo motor 12 and a connecting piece 13, wherein a fixed plate 6 is fixedly arranged at the top of a movable plate 4, a rotating base 7 is rotatably connected inside the fixed plate 6, the first servo motor 10 is fixedly connected to one side of the rotating base 7, the first mechanical arm 8 is fixedly connected to the output end of the first servo motor 10, the first mechanical arm 8 is movably connected to the top of the rotating base 7 through the first servo motor 10, the second mechanical arm 9 is movably connected to one end of the first mechanical arm 8 through the second servo motor 11, the connecting piece 13 is movably connected to one end of the second mechanical arm 9, the connecting piece 13 is fixedly connected to the output end of the third servo motor 12, the third servo motor 12 is positioned at one side of the connecting piece 13, and a mounting plate 14 is fixedly connected to one end of the connecting piece 13; make coupling mechanism can rotate at fixed plate 6 top through rotating base 7, make first servo motor 10 can drive first arm 8 and rotate at rotating base 7 top through setting up first servo motor 10, make second servo motor 11 can drive second arm 9 and rotate in 8 one ends of first arm through setting up second servo motor 11, make third servo motor 12 can drive connecting piece 13 and rotate in 9 one ends of second arm through setting up third servo motor 12, through with mounting panel 14 fixed connection in 13 one end of connecting piece, make connecting piece 13 can drive mounting panel 14 and remove.
Referring to fig. 5, 6 and 7, the clamping and mounting mechanism includes a hydraulic rod 26, a buffer plate 27, an electric push rod 28 and a clamping member 29, the hydraulic rod 26 is fixedly connected inside the mounting plate 14, the buffer plate 27 is fixedly connected at one end of the hydraulic rod 26, the electric push rod 28 is fixedly connected inside the mounting plate 14, the clamping member 29 is fixedly connected at one end of the electric push rod 28, the clamping and mounting mechanism further includes a backing plate 30, a first connecting plate 31, a second connecting plate 32, a first guide rail 33 and a second guide rail 34, a plurality of movable slots are formed inside the clamping member 29, the first guide rail 33 and the second guide rail 34 are both fixedly connected inside the plurality of movable slots, the first connecting plate 31 and the second connecting plate 32 are both fixedly connected to one side of the backing plate 30, the first connecting plate 31 is slidably connected to a side wall of the second guide rail 34, the second connecting plate 32 is slidably connected to a side wall of the first guide rail 33, the backing plate 30 is slidably connected to one side of the clamping member 29 through the first connecting plate 31 and the second connecting plate 32, a spring is fixedly connected between one side of the first connecting plate 31 and the inner wall of the movable groove, the spring is positioned on the side wall of the second guide rail 34, a pressure sensor is fixedly installed in the first guide rail 33, and the second connecting plate 32 is matched with the pressure sensor; the clamping piece 29 can clamp the shaft workpiece 15 by installing the electric push rod 28 in the mounting plate 14 so that the electric push rod 28 can push the clamping piece 29 to move, the backing plate 30 can slide on one side of the clamping piece 29 by the first connecting plate 31, the second connecting plate 32, the first guide rail 33 and the second guide rail 34, the backing plate 30 can prevent the clamping piece 29 from damaging the shaft workpiece 15 when the clamping piece 29 clamps the shaft workpiece 15, the pressure sensor in the first guide rail 33 starts to work when the shaft workpiece 15 and the mounting hole 17 in the double-hole workpiece 16 are aligned with each other by the connecting mechanism and the moving assembly to move the shaft workpiece 15 to the upper side of the double-hole workpiece 16, the shaft workpiece 15 can be violently descended when the shaft workpiece 15 and the mounting hole 17 in the double-hole workpiece 16 are aligned with each other, the shaft workpiece 15 is pushed into the mounting hole 17 by the hydraulic rod 26 when the pressure sensor detects that the pressure is suddenly increased, and the accurate mounting of the shaft workpiece 15 is completed, the buffer plate 27 moved by the hydraulic rod 26 can prevent the hydraulic rod 26 from damaging the shaft workpiece 15 during the pushing process.
The working process and principle of the invention are as follows: when a double-shaft hole workpiece needs to be assembled, the electric push rod 28 is arranged in the mounting plate 14, so that the electric push rod 28 can push the clamping piece 29 to move, the clamping piece 29 can clamp the shaft workpiece 15, the backing plate 30 can slide on one side of the clamping piece 29 through the first connecting plate 31, the second connecting plate 32, the first guide rail 33 and the second guide rail 34, the backing plate 30 can prevent the clamping piece 29 from damaging the shaft workpiece 15 when the clamping piece 29 clamps the shaft workpiece 15, the connecting mechanism can rotate on the top of the fixing plate 6 through the rotating base 7 when the shaft workpiece 15 is mounted, the first servo motor 10 can drive the first mechanical arm 8 to rotate on the top of the rotating base 7 through the first servo motor 10, the second servo motor 11 can drive the second mechanical arm 9 to rotate at one end of the first mechanical arm 8 through the second servo motor 11, the third servo motor 12 is arranged to drive the connecting piece 13 to rotate at one end of the second mechanical arm 9, the mounting plate 14 is fixedly connected at one end of the connecting piece 13, the connecting piece 13 can drive the mounting plate 14 to move, the drive motor 18 operates to drive the threaded rod 2 to rotate in the base 1, the mounting block 5 at the bottom of the movable disc 4 drives the movable disc 4 to move at the top of the base 1 when the threaded rod 2 rotates, the movable disc 4 drives the sliding block 19 at the bottom of the movable disc 4 to move when the movable disc 4 moves, the sliding block 19 slides in the base 1 through the inner roller groove and the roller 22 in the mounting cavity 20, the movable disc 4 is supported by the sliding block 19 and the roller 22 to move more stably, the lubricating oil can be stored in the oil storage groove 23 by arranging the oil storage groove 23 at the bottom of the mounting cavity 20, and the lubricating oil in the oil storage groove 23 can be sprayed to the joint of the roller 22 and the connecting shaft 21 through the oil sprayer 25 and the oil delivery pipe 24, the roller 22 is lubricated, the roller 22 is more stable in rotation, when the shaft workpiece 15 is moved above the double-hole workpiece 16 through matching, the pressure sensor in the first guide rail 33 starts to work, when the shaft workpiece 15 and the mounting hole 17 in the double-hole workpiece 16 violently go downstairs, the pressure sensor pushes the shaft workpiece 15 to the mounting hole 17 through the hydraulic rod 26 when detecting that the pressure is suddenly increased, the accurate mounting of the shaft workpiece 15 is completed, and the buffer plate 27 moved by the hydraulic rod 26 can prevent the hydraulic rod 26 from damaging the shaft workpiece 15 in the pushing process.
While the invention has been described in further detail in connection with specific embodiments thereof, it will be understood that the invention is not limited thereto, and that various other modifications and substitutions may be made by those skilled in the art without departing from the spirit of the invention, which should be considered to be within the scope of the invention as defined by the appended claims.
Claims (10)
1. A double-shaft hole assembling robot device and method based on a force control sensor comprise a base (1), a shaft workpiece (15) and a double-hole workpiece (16), wherein a mounting hole (17) is formed in the double-hole workpiece (16), the mounting hole (17) is matched with the shaft workpiece (15), and the device is characterized in that:
a moving assembly capable of moving the movable disc (4) is arranged in the base (1), a supporting assembly capable of enabling the movable disc (4) to move more stably is arranged in the base (1), a connecting mechanism used for moving the mounting plate (14) is arranged at the top of the movable disc (4), and a clamping and mounting mechanism capable of mounting a shaft workpiece (15) is arranged in the mounting plate (14);
centre gripping installation mechanism includes hydraulic stem (26), buffer board (27), electric putter (28) and holder (29), hydraulic stem (26) fixed connection be in inside mounting panel (14), buffer board (27) fixed connection be in hydraulic stem (26) one end, electric putter (28) fixed connection be in inside mounting panel (14), holder (29) fixed connection be in electric putter (28) one end.
2. The force-controlled sensor-based biaxial hole assembly robot device and method according to claim 1, wherein: remove the subassembly and include threaded rod (2), installation piece (5) and driving motor (18), threaded rod (2) rotate to be connected inside base (1), driving motor (18) fixed connection be in base (1) one side, threaded rod (2) fixed connection be in driving motor (18) output, installation piece (5) fixed connection be in activity dish (4) bottom, installation piece (5) with threaded rod (2) phase-match.
3. The force-controlled sensor-based biaxial hole assembly robot device and method according to claim 1, wherein: the supporting component comprises a sliding block (19), a connecting shaft (21) and a roller (22), the sliding block (19) is fixedly connected to the bottom of the movable disc (4), a sliding groove (3) is formed in the base (1), an installation cavity (20) is formed in the bottom of the sliding groove (3), the sliding block (19) is located in the installation cavity (20), the connecting shaft (21) is rotatably connected to the inside of the installation cavity (20), and the roller (22) is fixedly connected to the side wall of the connecting shaft (21).
4. The force-controlled-sensor-based biaxial hole assembly robot device and method according to claim 3, wherein: a roller groove is formed in the sliding block (19), the roller (22) is matched with the roller groove, the sliding block (19) is connected to the inside of the mounting cavity (20) in a sliding mode through the roller (22) and the roller groove, the roller (22) is provided with a plurality of rollers, and the rollers (22) are evenly arranged on two sides of the sliding block (19).
5. The force-controlled-sensor-based biaxial hole assembly robot device and method according to claim 3, wherein: the supporting component further comprises an oil delivery pipe (24) and an oil sprayer (25), an oil storage groove (23) is formed in the bottom of the installation cavity (20), the oil sprayer (25) is fixedly connected inside the installation cavity (20), and the oil delivery pipe (24) is fixedly connected between the bottom of the oil storage groove (23) and the connecting end of the oil sprayer (25).
6. The force-controlled-sensor-based biaxial hole assembly robot device and method according to claim 5, wherein: lubricating oil is filled in the oil storage tank (23).
7. The force-controlled sensor-based biaxial hole assembly robot device and method according to claim 1, wherein: the connecting mechanism comprises a fixing plate (6), a rotating base (7), a first mechanical arm (8), a second mechanical arm (9), a first servo motor (10), a second servo motor (11), a third servo motor (12) and a connecting piece (13), wherein the fixing plate (6) is fixedly arranged at the top of the movable disc (4), the rotating base (7) is rotatably connected inside the fixing plate (6), the first servo motor (10) is fixedly connected at one side of the rotating base (7), the first mechanical arm (8) is fixedly connected at the output end of the first servo motor (10), the first mechanical arm (8) is movably connected at the top of the rotating base (7) through the first servo motor (10), the second mechanical arm (9) is movably connected at one end of the first mechanical arm (8) through the second servo motor (11), connecting piece (13) swing joint be in second arm (9) one end, connecting piece (13) fixed connection be in third servo motor (12) output, third servo motor (12) are located connecting piece (13) one side.
8. The force-controlled sensor-based biaxial hole assembly robot device and method as claimed in claim 1 or 7, wherein: the mounting plate (14) is fixedly connected to one end of the connecting piece (13).
9. The force-controlled sensor-based biaxial hole assembly robot device and method according to claim 1, wherein: the clamping installation mechanism further comprises a backing plate (30), a first connecting plate (31), a second connecting plate (32), a first guide rail (33) and a second guide rail (34), a plurality of movable grooves are formed in the clamping piece (29), the first guide rail (33) and the second guide rail (34) are fixedly connected in the movable grooves, the first connecting plate (31) and the second connecting plate (32) are fixedly connected to one side of the backing plate (30), the first connecting plate (31) is slidably connected to the side wall of the second guide rail (34), the second connecting plate (32) is slidably connected to the side wall of the first guide rail (33), the backing plate (30) is slidably connected to one side of the clamping piece (29) through the first connecting plate (31) and the second connecting plate (32), a spring is fixedly connected between one side of the first connecting plate (31) and the inner wall of the movable groove, the spring is located second guide rail (34) lateral wall, first guide rail (33) inside fixed mounting has pressure sensor, second connecting plate (32) with pressure sensor phase-match.
10. The force-controlled sensor-based biaxial hole assembly robot device and method according to claim 1, wherein: the electric push rod (28) is arranged in the mounting plate (14) so that the electric push rod (28) can push the clamping piece (29) to move, the clamping piece (29) can clamp the shaft workpiece (15), the backing plate (30) can slide on one side of the clamping piece (29) through the first connecting plate (31), the second connecting plate (32), the first guide rail (33) and the second guide rail (34), the backing plate (30) can prevent the clamping piece (29) from damaging the shaft workpiece (15) when the clamping piece (29) clamps the shaft workpiece (15), and when the shaft workpiece (15) is mounted through the cooperation of the connecting mechanism and the moving assembly to move the shaft workpiece (15) to the upper part of the double-hole workpiece (16), the pressure sensor in the first guide rail (33) starts to work, the shaft workpiece (15) and the mounting hole (17) in the double-hole workpiece (16) can violently descend downwards, pressure sensor detects when pressure increases suddenly through hydraulic stem (26) with axle work piece (15) propelling movement to mounting hole (17) inside this moment, accomplishes the accurate installation to axle work piece (15), can prevent through buffer board (27) that hydraulic stem (26) removed that hydraulic stem (26) from damaging axle work piece (15) at the propelling movement in-process.
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| CN202111144231.6A CN113878323A (en) | 2021-09-28 | 2021-09-28 | Force control sensor-based double-shaft hole assembly robot device and method |
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| CN202111144231.6A CN113878323A (en) | 2021-09-28 | 2021-09-28 | Force control sensor-based double-shaft hole assembly robot device and method |
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| CN113247479A (en) * | 2021-04-23 | 2021-08-13 | 中建八局第二建设有限公司 | Guide rail for transferring concrete hopper |
| CN214128927U (en) * | 2020-10-16 | 2021-09-07 | 暨南大学 | Artificial intervertebral disc prosthesis clamp |
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| CN109048568A (en) * | 2018-08-13 | 2018-12-21 | 扬州晶胜源机电有限公司 | A kind of quick grinding apparatus of new energy wind power generation blade production |
| CN108890616A (en) * | 2018-08-30 | 2018-11-27 | 广东宏穗晶科技服务有限公司 | One kind puts together machines people |
| CN211163950U (en) * | 2019-11-28 | 2020-08-04 | 佛山市三水小豆豆种植园儿童服务部 | Dismounting manipulator for industrial robot |
| CN111109039A (en) * | 2020-02-13 | 2020-05-08 | 李甲明 | Agricultural machine is with planting seedling device |
| CN214128927U (en) * | 2020-10-16 | 2021-09-07 | 暨南大学 | Artificial intervertebral disc prosthesis clamp |
| CN113247479A (en) * | 2021-04-23 | 2021-08-13 | 中建八局第二建设有限公司 | Guide rail for transferring concrete hopper |
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Application publication date: 20220104 |