CN111069873A - Precision assembly robot system and assembly method thereof - Google Patents
Precision assembly robot system and assembly method thereof Download PDFInfo
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- CN111069873A CN111069873A CN202010023588.8A CN202010023588A CN111069873A CN 111069873 A CN111069873 A CN 111069873A CN 202010023588 A CN202010023588 A CN 202010023588A CN 111069873 A CN111069873 A CN 111069873A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 109
- 230000002093 peripheral effect Effects 0.000 claims description 14
- 230000005389 magnetism Effects 0.000 claims description 5
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 4
- 239000000741 silica gel Substances 0.000 claims description 4
- 229910002027 silica gel Inorganic materials 0.000 claims description 4
- 238000000354 decomposition reaction Methods 0.000 claims description 3
- 229920001296 polysiloxane Polymers 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 description 7
- 230000009471 action Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 229920002379 silicone rubber Polymers 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
本发明公开了一种精密装配机器人系统及其装配方法，包括测量系统、轴承套筒、微动平台和控制装置；测量系统包括前端装置和后端装置；前端装置可拆卸地安装于轴承套筒的前端；后端装置可拆卸地安装于轴承套筒的后端；前端装置包括定位工装和前端测距机构，定位工装套设于轴承套筒前端；前端测距机构固定设置于定位工装；后端装置包括加持机构和后端测距机构；加持机构套设于轴承套筒后端；后端测距机构固定设置于加持机构；加持机构与微动平台可移动地连接；微动平台、前端测距机构和后端测距机构分别与控制装置电性连接；还包括其装配方法。本发明可有效获得轴孔相对位置信息，降低装配时候的碰撞冲击，提高工作效率。
The invention discloses a precision assembly robot system and an assembly method thereof, comprising a measurement system, a bearing sleeve, a micro-moving platform and a control device; the measurement system includes a front end device and a rear end device; the front end device is detachably mounted on the bearing sleeve The front end of the bearing sleeve; the rear end device is detachably installed on the rear end of the bearing sleeve; the front end device includes a positioning tool and a front end distance measuring mechanism, and the positioning tool is sleeved on the front end of the bearing sleeve; the front end distance measuring mechanism is fixedly arranged on the positioning tool; The end device includes a holding mechanism and a back-end ranging mechanism; the holding mechanism is sleeved on the rear end of the bearing sleeve; the back-end ranging mechanism is fixedly arranged on the holding mechanism; the holding mechanism is movably connected with the micro-movement platform; The ranging mechanism and the back-end ranging mechanism are respectively electrically connected with the control device; and an assembling method thereof is also included. The invention can effectively obtain the relative position information of the shaft hole, reduce the collision impact during assembly, and improve the work efficiency.
Description
Technical Field
The invention relates to installation of a printing machine sleeve, in particular to a precision assembly robot system and an assembly method thereof.
Background
A bearing sleeve, called a shaft sleeve for short, of a printing machine is a device arranged between a roller of the printing machine and a machine body shell and aims to prevent the roller from directly rubbing the machine body shell. The diameter of the mechanism is 300mm, and the weight of the mechanism is large and can reach more than 40 kg; the assembly precision is required to be high, and the matching precision is required to be within 5 mu m, so the assembly is extremely difficult. The current assembly method is manual assembly, the efficiency is very low, and only 1-2 can be assembled every day; the labor intensity of workers is high, and a lot of assembly workers have the problem of lumbar vertebra protrusion due to the fact that the workers need to squat for operation. At present, although the relative pose measurement scheme of the through hole of the bearing sleeve wallboard of the printing machine and a sample grinder are adopted, the problems of mechanism sag, collision and the like caused by large shaft sleeve mass are not considered, the former can cause assembly failure, and the latter can damage the through hole and the sleeve.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a precision assembly robot system and an assembly method thereof, which solve the problems that the efficiency is very low, the labor intensity of workers is high, a shaft sleeve and a through hole are easily damaged, and the mechanism is sagged and collided due to the high quality of the shaft sleeve in the existing measurement scheme because the relative pose between the bearing sleeve and the through hole of a wallboard is felt by the force of the workers in the existing manual assembly process, obtain the relative position information of the shaft hole, reduce the collision impact in the assembly process and improve the working efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
a precision assembly robot system comprises a measuring system, a bearing sleeve, a micro-motion platform and a control device; the measuring system comprises a front-end device and a rear-end device; the front end device is detachably arranged at the front end of the bearing sleeve; the rear end device is detachably arranged at the rear end of the bearing sleeve; the front end device comprises a positioning tool and a front end distance measuring mechanism, the rear side of the positioning tool is matched with the front end of the bearing sleeve, and the positioning tool is sleeved at the front end of the bearing sleeve; the front-end distance measuring mechanism is fixedly arranged on the positioning tool; the rear end device comprises a clamping mechanism and a rear end distance measuring mechanism; the clamping mechanism is matched with the rear end of the bearing sleeve and sleeved at the rear end of the bearing sleeve; the rear-end distance measuring mechanism is fixedly arranged on the clamping mechanism; the clamping mechanism is movably connected with the micro-motion platform; the micro-motion platform, the front-end distance measuring mechanism and the rear-end distance measuring mechanism are respectively electrically connected with the control device.
Further, the device also comprises a flexible mechanism; the clamping mechanism is movably connected with the micro-motion platform through the flexible mechanism, and the flexible mechanism is used for compensating assembly errors and improving assembly accuracy.
Furthermore, the flexible mechanism comprises an upper plate, a silica gel pad and a lower plate; the upper plate is fixedly connected with the clamping mechanism; the lower plate is fixedly connected with the top of the micro-motion platform; the upper plate and the lower plate are movably connected through a locking device, and the locking device is used for limiting the moving range between the upper plate and the lower plate; the silica gel pad is arranged between the upper plate and the lower plate.
Furthermore, the micro-motion platform comprises a plurality of micro-motion electric cylinders, a moving plate and a bottom plate, the bottom of the moving plate is rotatably connected with one end of each micro-motion electric cylinder, and the other end of each micro-motion electric cylinder is rotatably connected with the bottom plate; the lower plate is fixedly connected with the moving plate; the control device controls the micro electric cylinder to rotate and move so as to control the moving plate to move and rotate, and therefore the position of the lower plate is adjusted so as to adjust the position of the measuring system.
Furthermore, the outer diameter of the positioning tool is smaller than the outer diameter of the middle part of the bearing sleeve, and the middle part of the bearing sleeve is matched with the wallboard through hole, so that the positioning tool can penetrate into the wallboard through hole to help position the bearing sleeve into the wallboard through hole.
Further, the front-end distance measuring mechanism comprises a plurality of laser micrometers; the positioning tool is provided with a plurality of laser micrometers for measuring the distance between the positioning tool and the wall of the wall plate after entering the wall plate through hole, and the robot can adjust the position of the positioning tool through the measured distance to know that the measured distances are equal, so that the positioning tool and the wall plate through hole are centered.
Furthermore, a protruding periphery is arranged on the rear side of the positioning tool, a periphery edge groove in the front end of the bearing sleeve is matched with the protruding periphery, and the rear side of the positioning tool is sleeved on the periphery edge groove through the protruding periphery. The raised periphery is used to removably attach the front end assembly to the bearing sleeve.
Furthermore, the rear side of the positioning tool is provided with certain magnetism, namely the raised periphery is provided with magnetism and is adsorbed on the peripheral edge groove, so that the connection relationship between the positioning tool and the bearing sleeve is more stable.
Further, the positioning tool comprises a tool upper part and a tool lower part, and the tool upper part is detachably connected with the tool lower part. The upper part and the lower part of the tool are semicircular and are assembled into the circular positioning tool; the middle parts of the upper part and the lower part of the tool are hollow, and the laser micrometers are fixedly arranged in the upper part and the lower part of the tool respectively.
Furthermore, the upper part of the tool is detachably connected with the lower part of the tool through a hinged hole bolt.
Furthermore, the rear-end distance measuring mechanism comprises a plurality of laser distance measuring devices; the laser range finders are respectively and fixedly arranged on the clamping mechanism. The laser range finder is used for measuring the distance between the laser range finder and the wall plate of the printing machine.
Further, the clamping mechanism comprises a clamping upper part and a clamping lower part, and the clamping upper part is detachably connected with the clamping lower part; the clamping upper part and the clamping lower part are sleeved in front of the outer edge of the periphery of the rear end of the bearing sleeve; the upper clamping part is semicircular, and the inner diameter of the upper clamping part is matched with the outer diameter of the middle part of the bearing sleeve; the clamping lower part comprises a clamping structure and a connecting structure, and the clamping structure is fixedly connected with the connecting structure; the clamping structure is semicircular, and the inner diameter of the clamping structure is matched with the outer diameter of the middle part of the bearing sleeve; the connecting structure is fixedly connected with the upper plate, the clamping structure is sleeved in front of the outer edge, and the outer edge is clamped in a groove between the connecting structure and the clamping structure. The front end faces of the upper holding part and the lower holding part are provided with a plurality of laser range finders.
An assembly method based on the precision assembly robot system is applied to the precision assembly of the bearing sleeve through the precision assembly robot system, the assembly efficiency and the assembly accuracy are improved, and the method comprises the following steps:
the method comprises the following steps: when the micro-motion platform of the precision assembly robot is not in a working state and the measuring system is in a decomposition state, sleeving a positioning tool of the measuring system on a peripheral edge groove of the bearing sleeve; sleeving a clamping mechanism of the measuring system in front of the outer edge of the bearing sleeve; fixedly connecting the clamping mechanism with the flexible mechanism;
further, sleeving the upper part and the lower part of the positioning tool on the peripheral edge groove, and then fixedly connecting the upper part and the lower part of the positioning tool; clamping the outer edge of the bearing sleeve into a groove between a clamping structure and a connecting structure of a clamping lower part of the clamping mechanism, buckling the clamping upper part of the clamping mechanism in front of the outer edge of the bearing sleeve, and fixedly connecting the clamping upper part and the clamping lower part; and fixedly mounting the connecting structure on an upper plate of the flexible mechanism.
Step two: when the positioning tool is not inserted into the wallboard through hole, the laser micrometer of the positioning tool does not work, the laser range finder of the clamping mechanism works, and the measured distance between the laser range finder and the wallboard of the printing machine is transmitted to the control device;
step three: and setting a reading change threshold value of the laser range finder according to the distance between the laser range finder and the wallboard of the printing machine when the micro-motion platform does not work, wherein the threshold value is continuously reduced along with the fact that the micro-motion platform moves the laser range finder to enable the laser range finder to be close to the through hole of the wallboard. The control device judges the number of the laser range finders with the reading number exceeding a threshold value, obtains a rough position relation between the measuring system and the wall plate through hole, and controls the micro-motion platform to move the measuring system so as to roughly align the bearing sleeve with the wall plate through hole;
step four: the control device controls the micro-motion platform to move the measuring system, the positioning tool is inserted into the wallboard through hole, 6 non-contact laser micrometers uniformly distributed on the positioning tool measure the distance between the periphery of the positioning tool and the wall of the wallboard through hole, and data are transmitted to the control device;
step five: the control device receives data to obtain the relative position posture of the positioning tool in the wall plate through hole and the wall of the through hole;
step six: according to the obtained relative position, the control device controls the micro-motion platform to adjust the movement of the measuring system, and finally the positioning tool and the wallboard through hole are axially aligned;
step seven: the laser range finder continues to measure the distance between the laser range finder and the wallboard of the printing machine and transmits the distance to the control device, the control device obtains the position relation between the measuring system and the wallboard of the printing machine according to the data of the laser range finder and the size of the measuring system, and the movement speed of the micro-motion platform is properly adjusted according to the position relation model, so that the closer the measuring system is to the wallboard of the printing machine, the slower the movement speed is, and when the measuring system is in contact with the wallboard of the printing machine, the movement speed of the measuring system is close to 0;
step eight: the flexible mechanism flexibly compensates assembly errors, and the micro-motion platform accurately assembles the bearing sleeve into the wallboard through hole to complete assembly;
step nine: after the assembly is completed, the positioning tool and the clamping mechanism are taken down from the bearing sleeve, and then the bearing sleeve to be assembled is mounted on the next bearing sleeve to be assembled for the next assembly.
The invention has the beneficial effects that:
1. by using the precision assembly robot system, the position information feedback of the full assembly process can be realized, so that the position error can be corrected in real time, and the assembly accuracy is improved.
2. The measuring system can reduce the approaching speed when the tool approaches the through hole but is not inserted into the through hole, so that the approaching speed of the tool to the wall plate around the through hole and the inner wall of the through hole is lower, the collision impact during assembly is reduced, and the workpiece is prevented from being damaged.
3. The precision assembly robot system adopts full-automatic intelligent operation, does not need manual assembly, can improve the working efficiency, reduces the labor intensity of workers and improves the assembly accuracy.
4. The passive flexibility is utilized for assembly, and a six-dimensional force sensor with higher price is not needed, so that the cost is reduced.
Drawings
FIG. 1 is an exploded view of an embodiment of the present invention;
FIG. 2 is a schematic view of a structural assembly according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a front-end apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a portion of an embodiment of the present invention;
FIG. 5 is a schematic view of a usage status of the embodiment of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings, and it should be noted that the following examples are provided to illustrate the detailed embodiments and specific operations based on the technical solutions of the present invention, but the scope of the present invention is not limited to the examples.
Example 1
As shown in fig. 1-5, a precision assembly robot system comprises a measuring system, a bearing sleeve 2, a micro-motion platform 6 and a control device (not marked in the figures); the measuring system comprises a front-end device 1 and a back-end device 3; the front end device 1 is detachably arranged at the front end of the bearing sleeve 2; the rear end device 3 is detachably mounted at the rear end of the bearing sleeve 2; the front end device 1 comprises a positioning tool 11 and a front end distance measuring mechanism, the rear side of the positioning tool 11 is matched with the front end of the bearing sleeve 2, and the positioning tool 11 is sleeved at the front end of the bearing sleeve 2; the front-end distance measuring mechanism is fixedly arranged on the positioning tool 11; the rear end device 3 comprises a clamping mechanism 31 and a rear end distance measuring mechanism; the clamping mechanism 31 is matched with the rear end of the bearing sleeve 2, and the clamping mechanism 31 is sleeved at the rear end of the bearing sleeve 2; the rear-end distance measuring mechanism is fixedly arranged on the clamping mechanism 31; the clamping mechanism 31 is movably connected with the micro-motion platform 6; micro-motion platform 6, front end range finding mechanism and rear end range finding mechanism respectively with controlling means electric connection, controlling means is used for receiving and analysis the numerical value that front end range finding mechanism and rear end range finding mechanism measured and carry out the analysis to it, controls according to the analysis result the action of micro-motion platform 6 makes bearing sleeve 2 can assemble smoothly in the through-hole of printing machine wallboard 4. The control device can be installed at a proper place according to actual conditions.
In the precision assembly robot system, the control device makes the micro-motion platform 6 react according to the data measured by the front-end distance measuring mechanism and the rear-end distance measuring mechanism, and the bearing sleeve 2 is precisely assembled in the wallboard through hole 5 of the wallboard 4 of the printing machine. Front end device 1 is arranged in realizing with the axle centering of wallboard through-hole 5, helps bearing sleeve 2 and the cooperation of wallboard through-hole 5, wherein location frock 11 is used for stretching into in the wallboard through-hole 5, guide promptly 2 front ends of bearing sleeve get into in the wallboard through-hole 5, front end ranging mechanism is used for measuring location frock 11 gets into behind the wallboard through-hole 5 with the distance between the pore wall of the through-hole on the printing machine wallboard 4, according to front end ranging mechanism's reading can the accurate measurement location frock 11 with the positional relationship of wallboard through-hole 5.
When the front end unit 1 is axially aligned with the wall plate through hole 5, the assembling operation is started. However, during the process of moving the front end device 1 to the wallboard through hole 5, the measurement system inevitably sags due to the heavy weight of the measurement system, which may cause the middle outer periphery of the bearing sleeve 2, i.e. the matching surface of the bearing sleeve 2 and the wallboard through hole 5 to be likely to collide and block with the wallboard through hole 5, which may easily damage the bearing sleeve 2 and the wallboard through hole 5 and affect the assembling efficiency and the assembling effect.
The clamping mechanism 31 is used for fixedly supporting the bearing sleeve 2, the rear-end distance measuring mechanism is used for measuring the distance between the rear-end device 3 and the printing machine wallboard 4 and transmitting data to the control device, the control device can calculate the position relation between the measuring system and the printing machine wallboard 4 according to the size of the measuring system, and control the micro-motion platform 6 to properly adjust the moving speed of the measuring system according to the position relation, so that the moving speed is slower when the measuring system is closer to the printing machine wallboard 4 and is close to 0 when the measuring system is contacted with the printing machine wallboard 4, the impact of the bearing sleeve 2 assembled into the wallboard through hole 5 is reduced, and the assembly is completed.
In this embodiment, the control device may be a controller such as a programmable logic controller, and can implement intelligent automatic control of a mechanism connected to the controller after receiving data.
Further, a flexible mechanism 7 is also included; the clamping mechanism 31 is movably connected with the micro-motion platform 6 through the flexible mechanism 7; the flexible mechanism 7 is used for compensating assembly errors and improving assembly accuracy.
Further, the flexible mechanism 7 includes an upper plate 71, a silicone pad 72, and a lower plate 73; the upper plate 71 is fixedly connected with the clamping mechanism 31; the lower plate 73 is fixedly connected with the top of the micro-motion platform 6; the upper plate 71 and the lower plate 73 are movably connected through a locking device 74, and the locking device 74 is used for limiting the moving range between the upper plate 71 and the lower plate 73; the silica gel pad 72 is arranged between the upper plate 71 and the lower plate 73, provides flexibility for relative movement between the upper plate 71 and the lower plate 73, compensates assembly errors between the measuring system and the wallboard through hole 5, and improves assembly effect and assembly efficiency. In this embodiment, the locking device 74 may be a bolt or other structural member.
Further, the micro-motion platform 6 comprises a plurality of micro-motion electric cylinders 62, a moving plate 61 and a bottom plate 63, wherein the bottom of the moving plate 61 is rotatably connected with one end of the micro-motion electric cylinder 62, and the other end of the micro-motion electric cylinder 62 is rotatably connected with the bottom plate 63; the lower plate 73 is fixedly connected with the moving plate 61; the control device is electrically connected with the micromotion electric cylinder 62. The control device controls the micro electric cylinder 62 to rotate and move, and further controls the moving plate 61 to move and rotate, so as to adjust the position of the lower plate 73, and further adjust the position of the measuring system. In the embodiment, the micro-motion platform 6 adopts a six-degree-of-freedom micro-motion platform 6, and comprises 6 micro-motion electric cylinders 62, wherein the micro-motion electric cylinders 62 can move and rotate towards X, Y and the Z-axis direction, and the moving distance and the rotating direction are controlled by the control device.
Further, the external diameter of location frock 11 is less than the middle part external diameter of bearing sleeve 2, because the middle part of bearing sleeve 2 with wallboard through-hole 5's looks adaptation, consequently location frock 11 can alternate into wallboard through-hole 5, help the location bearing sleeve 2 arrives in the wallboard through-hole 5. In this embodiment, the diameter of the positioning tool 11 is 295 mm. After the assembly is completed, the diameter of the positioning tool 11 is smaller than that of the wallboard through hole 5, so that the positioning tool 11 is easy to detach and only a bolt needs to be loosened.
Further, the front-end distance measuring mechanism comprises a plurality of laser micrometers 12; the laser micrometer 12 is arranged on the positioning tool 11 and used for measuring the distance between the positioning tool 11 and the wall plate through hole 5 after the positioning tool 11 enters the wall plate through hole, and the robot can adjust the position of the positioning tool 11 through the measured distance to know that the measured distances are equal, so that the positioning tool 11 and the wall plate through hole 5 are axially centered. In the present embodiment, the laser micrometer 12 is used as the noncontact laser micrometer 12.
Furthermore, a protruding peripheral edge 111 is arranged on the rear side of the positioning tool 11, a peripheral edge groove 21 in the front end of the bearing sleeve 2 is matched with the protruding peripheral edge 111, and the rear side of the positioning tool 11 is sleeved on the peripheral edge groove 21 through the protruding peripheral edge 111. The raised rim 111 is used to detachably connect the front end unit 1 to the bearing sleeve 2.
Furthermore, the rear side of the positioning tool 11 has a certain magnetism, that is, the raised periphery 111 has magnetism and is sleeved and adsorbed on the periphery side groove 21, so that the connection relationship between the positioning tool 11 and the bearing sleeve 2 is more stable.
Further, the positioning tool 11 comprises a tool upper portion 112 and a tool lower portion 113, and the tool upper portion 112 and the tool lower portion 113 are detachably connected. The upper part 112 and the lower part 113 of the tool are semicircular and are assembled into the circular positioning tool 11; the middle parts of the upper tool part 112 and the lower tool part 113 are hollow, and the laser micrometers 12 are respectively and fixedly arranged inside the upper tool part 112 and the lower tool part 113. In this embodiment, the laser micrometers 12 are provided in two sets, each set includes 3 laser micrometers 12, and the laser micrometers are uniformly distributed inside the upper tool part 112 and the lower tool part 113. In actual production practice, the number and positions of the laser micrometers 12 can be set as required by actual circumstances.
Further, the upper tool part 112 is detachably connected to the lower tool part 113 by a hinge bolt 114.
Further, the rear-end distance measuring mechanism comprises a plurality of laser distance measuring devices 32; the plurality of laser range finders 32 are respectively and fixedly arranged on the clamping mechanism 31. The laser range finder 32 is used to measure the distance between the laser range finder 32 and the printer wall panel 4.
Further, the clamping mechanism 31 comprises a clamping upper part 311 and a clamping lower part 312, wherein the clamping upper part 311 is detachably connected with the clamping lower part 312; the clamping upper part 311 and the clamping lower part 312 are sleeved in front of the outer edge 22 of the rear end periphery of the bearing sleeve 2; the clamping upper part 311 is semicircular, and the inner diameter of the clamping upper part 311 is matched with the outer diameter of the middle part of the bearing sleeve 2; the holding lower part 312 comprises a holding structure 3121 and a connecting structure 3122, the holding structure 3121 is fixedly connected with the connecting structure 3122; the holding structure 3121 is semicircular, the inner diameter of the holding structure 3121 is matched with the middle outer diameter of the bearing sleeve 2, the connecting structure 3122 is fixedly connected with the upper plate 71, the holding structure 3121 is sleeved in front of the outer edge 22, and the outer edge 22 is clamped in a groove 3123 between the connecting structure 3122 and the holding structure 3121. The front end faces of the upper clamping part 311 and the lower clamping part 312 are provided with a plurality of laser range finders 32, in this embodiment, the number of the laser range finders 32 is 3, and the laser range finders are uniformly distributed on the front end faces of the upper clamping part 311 and the lower clamping part 312; the two ends of the upper clamping part 311 and the lower clamping part 312 are contacted with each other and fixedly connected through bolts; the diameter of the clamping mechanism 31 is larger than 300 mm.
It should be noted that the outer diameters of the clamping upper part 311 and the clamping lower part 312 are slightly larger than the middle outer diameter of the bearing sleeve 2, so that the laser distance meter 32 is basically arranged around the bearing sleeve 2, and the relative position relationship between the bearing sleeve 2 and the wallboard through hole 5 can be judged through the relative position relationship between the laser distance meter 32 and the wallboard through hole 5.
When the front-end device 1 is not inserted into the wallboard through hole 5, the laser micrometer 12 does not enter a working state at this time, and the laser range finder 32 is in a working state, in this embodiment, 3 distances between the laser range finder 32 and the printer wallboard 4 can be obtained.
According to the time when the micro-motion platform 6 does not move, the distance between the laser range finder 32 and the printing machine wall plate 4, the control device sets the reading threshold value of the laser range finder 32, the threshold value is a variable quantity, along with the movement of the top plate of the micro-motion platform 6, the laser range finder 32 is close to the through hole, and the threshold value is also continuously reduced. If the distance between the laser range finder 32 and the wall panel is measured to exceed a set threshold, it indicates that the laser beam emitted from the laser range finder 32 hits the inside of the through hole, causing the distance measured by the laser range finder 32 to become the distance between it and the object outside the wall panel. In this embodiment, if the axial center of the bearing sleeve 2 is offset from the wall plate through hole 5, a maximum of 2 rangefinder laser beams may hit the inside of the through hole. The rough position relationship between the bearing sleeve 2 and the wall plate through hole 5 can be judged according to the number of the distance measuring devices with the reading values exceeding the threshold value, and the rough position relationship is fed back to the robot, so that the robot moves the bearing sleeve 2 by moving the rear end device 3, and the bearing sleeve 2 is roughly aligned with the wall plate through hole 5.
In this embodiment, the laser micrometer 12 and the laser rangefinder 32 may be replaced with instruments having similar functions.
The main technical indexes of the embodiment are as follows:
(1) and (3) measuring precision: the linear error is less than or equal to 1 μm, and the measurement angle error is less than or equal to 0.2';
(2) installation and matching precision: linear error ≦ 5 μm;
(3) six-degree-of-freedom micro-motion platform 6: the bearing capacity is not less than 50KG, and the moving distance in the XYZ direction is not less than 100 mm;
(4) six servo electric cylinders; each index of each electric cylinder is as follows: rated thrust: ≧ 600N, stroke: ≧ 200mm, rated speed: ≧ 200mm/s, maximum speed: ≧ 330mm/s, motor power: not less than 0.35KW, motor working voltage: 380V.
Example 2
As shown in fig. 1 to 5, an assembling method based on the precision assembling robot system in embodiment 1 is applied to precisely assemble a bearing sleeve 2 by the precision assembling robot system, and improves assembling efficiency and accuracy, and includes the following steps:
the method comprises the following steps: when the micro-motion platform 6 of the precision assembly robot is not in a working state and the measuring system is in a decomposition state, the positioning tool 11 of the measuring system is sleeved on the peripheral edge groove 21 of the bearing sleeve 2; sleeving a clamping mechanism 31 of the measuring system in front of the outer edge of the bearing sleeve 2; fixedly connecting the clamping mechanism 31 with the flexible mechanism 7;
description of the drawings: this installation process did not exceed 3 minutes.
Further, the upper part and the lower part of the positioning tool 11 are sleeved on the peripheral edge groove 21 and then fixedly connected with the upper part and the lower part of the positioning tool; clamping the outer edge of the bearing sleeve 2 into a groove between the holding structure 3121 and the connecting structure 3122 of the holding lower part 312 of the holding mechanism 31, buckling the holding upper part 311 of the holding mechanism 31 in front of the outer edge of the bearing sleeve 2, and fixedly connecting the holding upper part 311 and the holding lower part 312; the connecting structure 3122 is fixedly mounted to the upper plate 71 of the flexible mechanism 7.
Description of the drawings: the upper part of the tool and the lower part of the tool are fixedly connected through a hinged hole bolt; the clamping upper part 311 and the clamping lower part 312 are fixedly connected by bolts.
Step two: when the positioning tool 11 is not inserted into the wallboard through hole 5, the laser micrometer of the positioning tool 11 does not work, the laser range finder 32 of the clamping mechanism 31 works, and the measured distance between the laser range finder 32 and the wallboard 4 of the printing machine is transmitted to the control device;
step three: and setting a reading change threshold value of the laser range finder 32 according to the distance between the laser range finder 32 and the wall plate 4 of the printing machine when the micro-motion platform 6 is not in operation, wherein the reading change threshold value is continuously reduced as the micro-motion platform 6 moves the laser range finder 32 to enable the laser range finder to be close to the wall plate through hole 5. The control device judges the number of the laser range finders 32 with the reading exceeding the threshold value, obtains the rough position relation between the measuring system and the wall plate through hole 5, and controls the micro-motion platform 6 to move the measuring system so as to roughly align the bearing sleeve 2 with the wall plate through hole 5.
Step four: the control device controls the micro-motion platform 6 to move the measuring system, the positioning tool 11 is inserted into the wallboard through hole 5, 6 non-contact laser micrometers uniformly distributed on the positioning tool 11 measure the distance between the periphery of the positioning tool 11 and the wall of the wallboard through hole 5, and data are transmitted to the control device;
description of the drawings: the non-contact laser micrometer measures the distance between the positioning tool 11 and the wall of the through hole by using a laser spot projected on the wall of the through hole 5 of the wallboard, so that the control device can calculate the position of the positioning tool 11 in the through hole 5 of the wallboard.
Step five: the control device receives the data to obtain the relative position posture of the positioning tool 11 in the wall plate through hole 5 and the wall of the through hole;
step six: according to the obtained relative position, the control device controls the micro-motion platform 6 to adjust the movement of the measuring system, and finally the positioning tool 11 and the wallboard through hole 5 are axially aligned;
description of the drawings: in order to realize the accurate assembly between the bearing sleeve 2 and the wallboard through hole 5, the positioning tool 11 of the wallboard through hole 5 needs to enter into the axial alignment of the wallboard through hole 5, so that the axial alignment of the bearing sleeve 2 and the wallboard through hole 5 can be realized to a certain extent by the assembly action after the positioning tool is ensured, and the assembly accuracy is improved.
Step seven: the laser range finder 32 continuously measures the distance between the laser range finder and the wall plate 4 of the printing machine and transmits the distance to the control device, the control device obtains the position relation between the measuring system and the wall plate 4 of the printing machine according to the data of the laser range finder 32 and the size of the measuring system, and the movement speed of the micro-motion platform 6 is properly adjusted according to the position relation model, so that the closer the measuring system is to the wall plate 4 of the printing machine, the slower the movement speed is, and when the measuring system is in contact with the wall plate 4 of the printing machine, the movement speed of the measuring system is close to 0;
description of the drawings: and in the sixth step, after the positioning tool 11 and the wallboard through hole 5 are axially aligned, the assembling action is started. However, during the process of moving the positioning tool 11 to the wallboard through hole 5, due to the heavy weight of the measuring system itself and the bearing sleeve 2, the measuring system and the bearing sleeve 2 will inevitably sag, which may cause the middle outer periphery of the bearing sleeve 2, i.e. the matching surface of the bearing sleeve 2 and the wallboard through hole 5 to be likely to collide with the wallboard through hole 5 and be jammed, which may easily damage the bearing sleeve 2 and the wallboard through hole 5 and affect the assembling efficiency and the assembling effect. It is therefore desirable to reduce the speed at which the bearing sleeve 2 approaches the wall plate through bore 5 to reduce collisions therebetween.
Step eight: the flexible mechanism 7 flexibly compensates assembly errors, and the micro-motion platform 6 accurately assembles the bearing sleeve 2 into the wallboard through hole 5 to complete assembly;
description of the drawings: a silicon rubber pad 72 is arranged between the upper plate 71 and the lower plate 73 of the flexible mechanism 7, so that the moving distance and the moving direction between the upper plate 71 and the lower plate 73 can be compensated, the installation error can be effectively compensated, and the assembly between the bearing sleeve 2 and the wallboard through hole 5 is more accurate.
Step nine: after the assembly is completed, the positioning tool 11 and the clamping mechanism 31 are taken down from the bearing sleeve 2, and then are mounted on the bearing sleeve 2 to be assembled next time for assembly.
Description of the drawings: this disassembly process did not exceed 2 minutes.
Compared with the traditional assembly method, the assembly method based on the precision assembly robot system in the embodiment 1 can realize position information feedback in the whole assembly process, the control device can correct position errors in real time, reduce collision impact and avoid damaging workpieces, assembly is carried out by utilizing passive flexibility, a high-price six-dimensional force sensor is not needed, and therefore cost is reduced.
Various corresponding changes and modifications can be made by those skilled in the art based on the above technical solutions and concepts, and all such changes and modifications should be included in the protection scope of the present invention.
Claims (10)
1. A precision assembly robot system comprises a bearing sleeve, and is characterized by further comprising a measuring system, a micro-motion platform and a control device; the measuring system comprises a front-end device and a rear-end device; the front end device is detachably arranged at the front end of the bearing sleeve; the rear end device is detachably arranged at the rear end of the bearing sleeve; the front end device comprises a positioning tool and a front end distance measuring mechanism, the rear side of the positioning tool is matched with the front end of the bearing sleeve, and the positioning tool is sleeved at the front end of the bearing sleeve; the front-end distance measuring mechanism is fixedly arranged on the positioning tool; the rear end device comprises a clamping mechanism and a rear end distance measuring mechanism; the clamping mechanism is matched with the rear end of the bearing sleeve and sleeved at the rear end of the bearing sleeve; the rear-end distance measuring mechanism is fixedly arranged on the clamping mechanism; the clamping mechanism is movably connected with the micro-motion platform; the micro-motion platform, the front-end distance measuring mechanism and the rear-end distance measuring mechanism are respectively electrically connected with the control device.
2. The precision assembly robotic system of claim 1, further comprising a flexible mechanism; the clamping mechanism is movably connected with the micro-motion platform through the flexible mechanism.
3. The precision assembly robotic system of claim 2, wherein the flexible mechanism comprises an upper plate, a silicone pad, and a lower plate; the upper plate is fixedly connected with the clamping mechanism; the lower plate is fixedly connected with the top of the micro-motion platform; the upper plate and the lower plate are movably connected through a locking device; the silica gel pad is arranged between the upper plate and the lower plate.
4. The precision assembly robot system of claim 1, wherein the micro-motion platform comprises a moving plate, a bottom plate and a plurality of micro-motion electric cylinders, wherein the bottom of the moving plate is rotatably connected with one end of each micro-motion electric cylinder, and the other end of each micro-motion electric cylinder is rotatably connected with the bottom plate; the control device is electrically connected with the micro electric cylinder.
5. The precision assembly robot system of claim 1, wherein the front-end ranging mechanism comprises a plurality of laser micrometers; a plurality of laser micrometers are arranged on the positioning tool; the rear-end distance measuring mechanism comprises a plurality of laser distance measuring devices; the laser range finders are respectively and fixedly arranged on the clamping mechanism.
6. The precision assembly robot system according to claim 1, wherein a raised periphery is arranged on the rear side of the positioning tool, a peripheral edge groove at the front end of the bearing sleeve is matched with the raised periphery, and the rear side of the positioning tool is sleeved on the peripheral edge groove through the raised periphery; the raised periphery is provided with magnetism and is sleeved and adsorbed on the peripheral edge groove.
7. The precision assembly robot system of claim 1, wherein the positioning tool comprises a tool upper portion and a tool lower portion, and the tool upper portion is detachably connected with the tool lower portion; the upper part and the lower part of the tool are semicircular and are assembled into the circular positioning tool; the middle parts of the upper part and the lower part of the tool are hollow, and a plurality of laser micrometers are fixedly arranged in the upper part and the lower part of the tool respectively; the outer diameter of the positioning tool is smaller than the outer diameter of the middle part of the bearing sleeve.
8. The precision assembly robotic system of claim 1, wherein the clamping mechanism comprises a clamping upper portion and a clamping lower portion, the clamping upper portion being removably connected to the clamping lower portion; the clamping upper part and the clamping lower part are sleeved in front of the outer edge of the rear end periphery of the bearing sleeve.
9. The precision assembly robot system of claim 8, wherein the clamping upper portion is semicircular, and the inner diameter of the clamping upper portion is matched with the outer diameter of the middle portion of the bearing sleeve; the clamping lower part comprises a clamping structure and a connecting structure, and the clamping structure is fixedly connected with the connecting structure; the clamping structure is semicircular, the inner diameter of the clamping structure is matched with the outer diameter of the middle of the bearing sleeve, the clamping structure is sleeved in the front of the outer edge, and the outer edge is clamped in a groove between the connecting structure and the clamping structure.
10. An assembling method of a precision assembling robot system for precisely assembling a bearing sleeve by the precision assembling robot system as set forth in claim 1, comprising the steps of:
the method comprises the following steps: when the micro-motion platform of the precision assembly robot is not in a working state and the measuring system is in a decomposition state, sleeving a positioning tool of the measuring system on a peripheral edge groove of the bearing sleeve; sleeving a clamping mechanism of the measuring system in front of the outer edge of the bearing sleeve; fixedly connecting the clamping mechanism with the flexible mechanism;
step two: when the positioning tool is not inserted into the wallboard through hole, the laser micrometer of the positioning tool does not work, the laser range finder of the clamping mechanism works, and the measured distance between the laser range finder and the wallboard of the printing machine is transmitted to the control device;
step three: and setting a reading change threshold value of the laser range finder according to the distance between the laser range finder and the wallboard of the printing machine when the micro-motion platform does not work, wherein the threshold value is continuously reduced along with the fact that the micro-motion platform moves the laser range finder to enable the laser range finder to be close to the through hole of the wallboard. The control device judges the number of the laser range finders with the reading number exceeding a threshold value, obtains a rough position relation between the measuring system and the wall plate through hole, and controls the micro-motion platform to move the measuring system so as to roughly align the bearing sleeve with the wall plate through hole;
step four: the control device controls the micro-motion platform to move the measuring system, the positioning tool is inserted into the wallboard through hole, 6 non-contact laser micrometers uniformly distributed on the positioning tool measure the distance between the periphery of the positioning tool and the wall of the wallboard through hole, and data are transmitted to the control device;
step five: the control device receives data to obtain the relative position posture of the positioning tool in the wall plate through hole and the wall of the through hole;
step six: according to the obtained relative position, the control device controls the micro-motion platform to adjust the movement of the measuring system, and finally the positioning tool and the wallboard through hole are axially aligned;
step seven: the laser range finder continues to measure the distance between the laser range finder and the wallboard of the printing machine and transmits the distance to the control device, the control device obtains the position relation between the measuring system and the wallboard of the printing machine according to the data of the laser range finder and the size of the measuring system, and the movement speed of the micro-motion platform is properly adjusted according to the position relation model, so that the closer the measuring system is to the wallboard of the printing machine, the slower the movement speed is, and when the measuring system is in contact with the wallboard of the printing machine, the movement speed of the measuring system is close to 0;
step eight: the flexible mechanism flexibly compensates assembly errors, and the micro-motion platform accurately assembles the bearing sleeve into the wallboard through hole to complete assembly;
step nine: after the assembly is completed, the positioning tool and the clamping mechanism are taken down from the bearing sleeve, and then the bearing sleeve to be assembled is mounted on the next bearing sleeve to be assembled for the next assembly.
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