Spiral plug-in mounting method for large-sized shaft-hole workpiece

Abstract

The invention provides a spiral plug-in mounting method for a large-sized shaft-hole workpiece and belongs to the technical field of assembly of the large-sized shaft-hole workpieces. According to theimplementation process of the spiral plug-in mounting method, a mechanical arm receives a motion instruction of an upper computer and operates the large-sized workpiece shaft to be inserted into a large-sized workpiece hole in a reciprocating spiral motion manner, a force sensor monitors the contact force / moment between the shaft and the hole in real time, the upper computer utilizes the pose ofthe tail end of the mechanical arm in the assembly process and the contact force / moment between the shaft and the hole to achieve the function of adjusting the relative poses between the shaft and the hole, meanwhile the upper computer is used for monitoring the jamming state of shaft-hole assembly and adjusting the motion parameters of spiral plug-in mounting, so that the friction resistance between the large-sized workpiece shaft and the large-sized workpiece hole is reduced, and mechanical jamming is avoided. By the adoption of the spiral plug-in mounting method for the large-sized shaft hole workpiece, in the assembly process of the large-sized shaft-hole workpieces, mechanical jamming can be more easily avoided, the operation method is simple and easy to operate, and the assembly efficiency and assembly success rate can be effectively improved.

Description

technical field [0001] The invention relates to the field of assembling large-size shaft-hole workpieces, in particular to a screw-inserting method for assembling large-size shaft-hole workpieces. Background technique [0002] Assembly operation is one of the most important links in the manufacturing process, which directly determines the final quality of the product, and shaft hole assembly is the most common and important form of cooperation in assembly operations. At present, most of the assembly links in the industrial field are still completed by manual operation or semi-automatic tooling. With the development of automation technology, it has become a trend to use robots to realize automatic assembly operations. [0003] The mechanical jamming problem in the shaft hole assembly process is the main reason for the failure of robot automated shaft hole assembly. The gap between the shaft holes varies from a few millimeters to a few microns according to the process require...

AI Technical Summary

Problems solved by technology

On the basis of the existing active and compliant assembly method, the present invention makes it easier for the mechanical arm to avoid mechanical jamming during the assembly process of large-size shaft hole workpieces. The operation method is simple and easy, and the assembly efficiency and assembly success can be effectively improved. Rate

Images