| 摘要 |
The invention relates to a device for inserting and crimping a ring on an attachment rod in a hole, comprising a robot, a monitoring and control system and an end tool designed to crimp the ring on the rod. The end tool includes a crimping device and a ring installation device which are solidly connected to a fine-positioning device, by means of which the end tool is attached to an end element of the robot. A ring insertion subassembly of the ring installation device and a crimping nose of the crimping device can move on the end tool so as to be positioned alternatively on an axis of an attachment to be installed, with no controlled movement of the robot when the end tool has been pre-positioned. |
