| 主权项 |
1. A device for inserting and crimping a ring on a rod of an attachment, accordingly to a longitudinal axis Z, placed in a hole, comprising:
a robot having an end element; a monitoring and control system; and an end tool capable of crimping the ring on the rod, said end tool including a crimping device comprising a crimping nose and a ring insertion device for installing the ring, wherein the end tool comprises a fine-positioning device to move accurately relative to the end element of the robot according to the longitudinal axis Z and to an axis X substantially perpendicular to axis Z and to an axis Y substantially perpendicular to the axis X and to the axis Z, by means of which fine-positioning device of the end tool is fixed to the end element of the robot, and wherein a base plate is connected to the end element of the robot, wherein the fine-positioning device is operable to move relative to the end element of the robot, when prepositioned, according to the X and/or Y axis, in order to position the ring insertion device, or alternatively to position the crimping nose of the crimping device on an axis of an attachment to be installed, wherein the relative position between an axis of an outlet of a ring transport channel of the ring insertion device and an axis of the crimping nose, said axes being substantially parallel to an axis of the attachment when the end tool is in position to install and crimp a ring, is substantially constant, and wherein the fine-positioning device includes a motorized translation table with the three axes X, Y and Z substantially perpendicular to one another, at least one axis, the Z axis, being position substantially parallel to the axis of the crimping nose. |
