Automatic assembly method and system for assembly in narrow lock cavity of folding hinge matching part

Abstract

The invention discloses an automatic assembly method and system for components in a narrow lock cavity of a folding hinge coupling part, and relates to the technical field of automatic assembly. Comprising a secondary positioning method for a basic part of a folding hinge matching part, a method for automatically and sequentially loading a lock rod with a special-shaped inclined surface, a sliding block and a lock head into a narrow lock cavity, a method for automatically loading a reset spring and a conversion stopper into the narrow lock cavity, and a method for automatically and simultaneously inserting a screw sleeve into holes in the two side surfaces of the basic part and a side hole of the conversion stopper in the lock cavity. According to the automatic assembly method and system for the assembly in the narrow lock cavity of the folding hinge coupling part, the secondary positioning method has the advantages that errors caused by external references can be reduced or eliminated, and the positioning precision is improved.

Description

Technical Field

[0001] The invention relates to the technical field of automatic assembly, and in particular to a method and system for automatically assembling components in a narrow lock cavity of a folding hinged coupler. Background Art

[0002] Folding articulated couplers are foldable structural parts used in aerospace and military fields. They are usually composed of a base part and a folding rudder hinged by a pin. In order to ensure that the folding articulated couplers can be folded and unfolded reliably, an initial lock assembly is installed in the lock cavity of the base part. The initial lock assembly includes: lock rod, slider, lock head, reset spring and conversion block, screw sleeve and other parts. In the folded state, the folding articulated couplers occupy a small space and are easy to transport and store; in the unfolded state, the folding articulated couplers have a large working area and can be used for support, protection, and bearing. Since the lock cavity space of the base part of such folding articulated couplers is very narrow, especially the lock rod, slider, and lock head are all inclined surfaces, the assembly process is very easy to slip and cannot be accurately positioned. The screw sleeve is blindly inserted into the front and rear side holes of the base and the side hole of the reset block in the lock cavity at the same time. Because the assembly gap is less than 0.1mm, it is extremely difficult even for manual work, and automated assembly faces major technical challenges. With the increasing number of batch production of products, how to achieve the automated assembly of such folding articulated couplers has become a bottleneck problem that needs to be solved urgently. Summary of the invention

[0003] The purpose of the present invention is to provide a method and system for automatically assembling components in a narrow lock cavity of a folding hinged coupler, so as to solve the problem that the traditional method is limited by the size of the operating space tool and the low assembly precision.

[0004] To achieve the above object, the present invention provides a method and system for automatically assembling components in a narrow lock cavity of a folding hinged couple, comprising the following steps:

[0005] Step 1: Assemble the lock rod, the slider and the lock head, using the outer surface of the assembly part as the rough reference, and clamp the base part in floating pre-positioning. Then, use the assembled feature as the fine reference to align through the alignment mechanism to achieve fine reference positioning, and clamp the base part to perform vacuum adsorption assembly work;

[0006] Step 2: Re-match the reset spring and the conversion block, use the outer surface of the assembly part as the rough reference, and clamp the base part in floating pre-positioning. Then, use the assembled feature as the fine reference to align through the alignment mechanism to achieve fine reference positioning, and clamp the base part to perform flip clamping assembly work;

[0007] Step three, install the screw sleeve. First, use the outer surface or certain features of the assembly to be used as a rough reference, and clamp the base part in a floating pre-positioning manner. Then, use the assembled feature as a fine reference and align it through the alignment mechanism to achieve fine reference positioning. Clamp and fix the base part for assembly and tightening.

[0008] Preferably, step one comprises the following steps:

[0009] S11, placing the base component to be assembled on the clamp body, and pre-positioning it using a pre-positioning tool on the clamp body;

[0010] S12, moving the latch mechanism to the upper part of the first hole to be assembled, determining the position of the first hole to be assembled by the latch head, and pressing the clamping mechanism downward to fix the position of the first hole to be assembled;

[0011] S13, retracting the latch mechanism, and flipping the base part to be assembled to an angle α through the motion platform;

[0012] S14, adsorbing and rotating the rotatable vacuum adsorption mechanism to the lock head installation direction, moving it to the second position of the base assembly hole, releasing the lock head vacuum suction nozzle, and keeping the lock head at the second position of the assembly hole;

[0013] S15, by setting an error correction detection mechanism at the bottom, the installation of the lock is detected, and the error correction mechanism is used to correct the lock by moving it up and down to promote the lock to be assembled in place;

[0014] S16, self-locking the lock sleeve, moving the slider vacuum suction nozzle to a position above the lock head of the base assembly hole, and releasing the slider vacuum suction nozzle to assemble the slider to a position above the lock head;

[0015] S17, moving the vacuum suction nozzle of the locking rod to a position above the third assembly hole of the base component, and releasing the vacuum suction nozzle of the locking rod from assembling the locking rod;

[0016] S18, start the visual camera to detect the posture of the assembled parts;

[0017] S19, the clamping mechanism is released, and the base component is sent to the unloading position through the motion platform for the next processing.

[0018] Preferably, step 2 comprises the following steps:

[0019] S21, placing the base component to be assembled on the clamp body, and pre-positioning it using a pre-positioning tool on the clamp body;

[0020] S22, moving the latch mechanism to the upper part of the fourth hole to be assembled, determining the position of the fourth hole to be assembled by the latch head, and pressing the clamping mechanism downward to fix the position of the fourth hole to be assembled;

[0021] S23, retracting the latch mechanism, and flipping the base part to be assembled to an angle β through the motion platform;

[0022] S24, the material taking claw mechanism grabs and moves the reset spring and the conversion block from the material tray to the fourth assembly hole of the base component, and releases the claw of the material taking claw mechanism to make the reset spring and the conversion block fall into the fourth assembly hole;

[0023] S25, moving the latch mechanism to the top of the assembly hole 4, and aligning the latch head with the assembly position of the reset spring in the assembly state;

[0024] S26, starting the visual camera to detect the posture of the assembled parts;

[0025] S27, the clamping mechanism is released, and the base component is sent to the threaded sleeve processing position through the motion platform.

[0026] Preferably, step three comprises the following steps:

[0027] S31, placing the base component to be assembled on the clamp body, and pre-positioning it using a pre-positioning tool on the clamp body;

[0028] S32, moving the screw installation mechanism and the screws and screwdriver inside the screw installation mechanism upward from the initial position to a safe position;

[0029] S33, the positioning mechanism, the screw sleeve installation mechanism, the right screwdriver, the holes on both sides of the base part and the side holes of the conversion stopper in the lock cavity are concentric;

[0030] S34, aligning the side hole of the base member and the side hole of the conversion block member in the lock cavity by means of a positioning mechanism, and pressing down by a pressing mechanism to fix the position of the side hole;

[0031] S35, dropping the screw sleeve to the bottom of the screw sleeve installation mechanism, making the screw sleeve concentric with the positioning mechanism and the assembly hole, driving the screw sleeve and the screwdriver to move leftward to the right side hole position of the base member through the screw sleeve installation mechanism, and detecting the position of the screw sleeve installation mechanism through a sensor;

[0032] S36, move the right screwdriver forward to the left and tighten it so that the screw sleeve enters the right hole of the base component, keep the screw sleeve installation mechanism, the screw sleeve and the right screwdriver stationary, and move the positioning mechanism back to the left;

[0033] S37, the screw installation mechanism drives the internal screw and the left screwdriver to move rightward to the left side hole position of the base component, and the position of the screw installation mechanism is detected by the sensor;

[0034] S38, the left screwdriver moves forward to the left and tightens the screw so that the screw enters the right side hole of the base component and enters the assembled screw sleeve on the right side;

[0035] S39, moving the left screwdriver and the screw installation mechanism to the left to return to the initial position, and moving the right screwdriver and the screw sleeve installation mechanism to the right to return to the initial position;

[0036] S310, finally the clamping mechanism is released, and the base component is sent to the unloading position through the motion platform to complete the unloading.

[0037] A system for automatic assembly of components in a narrow lock cavity of a folding hinged couple, comprising a lock rod slider and lock head installation station, a return spring and shift block installation station and a screw sleeve installation station, wherein the screw sleeve installation station, the return spring and shift block installation station and the lock rod slider and lock head installation station are arranged in sequence, and the screw sleeve installation station, the return spring and shift block installation station and the lock rod slider and lock head installation station all comprise a motion platform, a clamping body and a clamping mechanism, wherein the clamping mechanism is arranged on the upper part of the clamping body, and the clamping body is arranged on the upper part of the motion platform.

[0038] Preferably, the lock rod slider and the lock head installation station further includes a latch mechanism and a vacuum adsorption mechanism, and the vacuum adsorption mechanism and the latch mechanism are both arranged at the end of the clamping mechanism.

[0039] Preferably, the vacuum adsorption mechanism includes a driving device, a vacuum generator and a vacuum suction nozzle, three vacuum suction nozzles are provided, the three vacuum suction nozzles are all connected to the vacuum generator, and the three vacuum generators are all connected to the driving device through a connecting rod.

[0040] Preferably, the reset spring and the conversion block installation station also includes a latch mechanism and a material picking claw mechanism, and the material picking claw mechanism completes the clamping and placement of the reset spring and the conversion block through the interaction and cooperation of the claw cylinder, sensor, controller and actuator.

[0041] Preferably, the screw sleeve installation station also includes a positioning mechanism, a screwdriver, a screw installation mechanism and a screw sleeve installation mechanism, and the screw installation mechanism and the screw sleeve installation mechanism both include a mobile pneumatic mechanism, a suction nozzle mechanism, a vacuum generator and a detection sensor.

[0042] Therefore, the present invention adopts the above-mentioned method and system for automatically assembling components in a narrow lock cavity of a folding hinged couple, which has the following beneficial effects:

[0043] (1) In order to solve the problem of automatic assembly of the initial lock assembly in the narrow lock cavity of the folding hinged pair, the self-positioning reference principle was proposed. That is, the characteristics of the assembled object itself are used as the precise assembly positioning reference when the base part is assembled. The lock cavity space that exists in traditional assembly is very narrow, especially the lock rod, slider, lock head are all inclined surfaces, and the return spring, conversion block and screw sleeve have very small assembly clearance, which makes manual assembly difficult. The assembly process is very easy to slip and cannot be accurately positioned. It is converted into a problem of matching between the alignment mechanism and the assembly hole and components. Based on this principle, the automatic assembly of the lock rod and slider with special-shaped inclined surfaces, the lock head, the return spring and the conversion block and the screw sleeve is realized, which greatly improves the assembly accuracy.

[0044] (2) The advantage of using the secondary positioning method is that it can reduce or eliminate the error caused by external reference and improve positioning accuracy.

[0045] (3) In view of the problems that the reset spring and the conversion block cannot be accurately and automatically installed in the narrow lock cavity during traditional assembly, and that the reset spring is not in the correct position after assembly is completed during traditional assembly, a alignment mechanism is used to determine the position of the assembly hole, and an innovative and advantageous method is proposed to use a latch mechanism to correct the reset spring to achieve accurate and automatic assembly of the reset spring and the conversion block.

[0046] (4) In order to solve the problems of non-concentricity, inability to automatically align the side holes, and inability to punch holes in traditional assembly, the alignment mechanism, the screw sleeve, the screw assembly device, and the screwdriver are innovatively coordinated to solve the problems of the side holes not being able to automatically align and inability to punch holes, and the screw sleeve can be inserted into the side hole of the base component and the side hole of the conversion block in the lock cavity at the same time.

[0047] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a schematic diagram of the structure of the lock rod slider and the lock head installation station after the assembly is completed;

[0049] Figure 2 It is a schematic diagram of the assembly contents of the lock rod, the slider and the lock head in the lock rod and the lock head installation station of the present invention, in which the lock rod, the slider and the lock head are automatically and sequentially installed into a narrow lock cavity;

[0050] Figure 3 The structure diagram of the assembly process of the lock rod slider and the lock head installation station of the present invention is shown in FIG. Figure 1 ;

[0051] Figure 4 The structure diagram of the assembly process of the lock rod slider and the lock head installation station of the present invention is shown in FIG. Figure 2 ;

[0052] Figure 5It is a schematic diagram of the structure after the reset spring, the conversion stopper and the screw sleeve of the present invention are assembled;

[0053] Figure 6 It is a cross-sectional view after the screw sleeve of the present invention is assembled;

[0054] Figure 7 It is a structural schematic diagram of the assembly process of the return spring and the shifting gear installation station of the present invention;

[0055] Figure 8 It is a structural schematic diagram of the assembly process of the return spring, the conversion stopper and the screw sleeve of the present invention;

[0056] Fig. 9 This is a structural schematic diagram of the assembly process of the screw sleeve installation station of the present invention;

[0057] Fig.10 It is a schematic diagram of the self-positioning reference assembly technology route in the present invention;

[0058] Reference numerals

[0059] 1. Motion platform; 2. Clamp body; 3. Latch mechanism; 31. Latch head; 4. Clamping mechanism; 5. Vacuum adsorption mechanism; 51. Lock head vacuum nozzle; 52. Slider vacuum nozzle; 53. Lock rod vacuum nozzle; 6. Material picking jaw mechanism; 61. Clamp; 7. Positioning mechanism; 8. Screw installation mechanism; 9. Screw sleeve installation mechanism; 10. Left screwdriver; 11. Right screwdriver; 12. Assembly hole one; 13. Lock head; 14. Assembly hole two; 15. Lock sleeve; 16. Slider; 17. Assembly hole three; 18. Lock rod; 19. Reset spring; 20. Switching gear; 21. Screw; 22. Screw sleeve; 23. Assembly hole four; 24. Left face; 25. Right face. DETAILED DESCRIPTION

[0060] The technical solution of the present invention is further described below through the accompanying drawings and embodiments.

[0061] Unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0062] Example

[0063] See also Figure 1-10 The present invention provides a method for automatically assembling components in a narrow lock cavity of a folding hinged couple, comprising the following steps:

[0064] Step 1: Assemble the locking rod 18, the slider 16 and the lock head 13, using the outer surface of the assembly part as the rough reference, and clamp the base part in floating pre-positioning. Then, use the assembled feature as the fine reference to align through the alignment mechanism to achieve fine reference positioning, and clamp the base part to perform vacuum adsorption assembly.

[0065] S11, placing the base component to be assembled on the clamp body 2, and pre-positioning it using a pre-positioning tool on the clamp body 2.

[0066] S12, move the latch mechanism 3 to the position and extend the latch head 31 to insert it into the hole 12 to be assembled. It should be noted that it does not need to be inserted to the bottom. It is only necessary to align the hole 12 to be assembled by the latch head 31 to determine the position of the hole 12 to be assembled. Then, the clamping mechanism 4 is pressed down to fix the position of the hole 12 to be assembled.

[0067] S13, the latch head 31 is retracted and the latch mechanism 3 is retracted, and the base member above it is tilted to an angle α through the motion platform 1, so as to prepare for assembling the lock head 13.

[0068] S14, adsorb and rotate the rotatable vacuum adsorption mechanism 5 to the installation direction of the lock head 13, move it to the position of the second assembly hole 14 of the base component, release the lock head vacuum suction nozzle 51, and remove the rotatable vacuum adsorption mechanism 5, so that the lock head 13 is kept at the position of the second assembly hole 14.

[0069] S15, by setting an error correction detection mechanism at the bottom, whether the lock head 13 is installed in place is detected, and the error correction mechanism is used to correct the lock head 13 by moving it up and down to prompt the lock head to be assembled in place.

[0070] S16, the locking sleeve 15 is self-locked to prevent sliding when installing the slider 16 and affecting the assembly, the slider vacuum suction nozzle 52 is moved to the position above the locking head of the base assembly hole, and the slider vacuum suction nozzle 52 is released to assemble the slider 16 to the position above the locking head.

[0071] S17, move the lock rod vacuum suction nozzle 53 to a position above the base component assembly hole 17, and release the lock rod vacuum suction nozzle 53 from assembling the lock rod 18.

[0072] S18, after the lock 13, the slider 16 and the lock rod 18 are installed, the visual camera is started to detect the posture of the assembled parts. The visual camera has high-resolution and high-precision image processing capabilities, and can accurately determine whether the lock 13, the slider 16 and the lock rod 18 are fully assembled and whether the posture meets the requirements.

[0073] S19, the clamping mechanism 4 is released, and the base component is sent to the unloading position through the moving platform 1 for the next processing step.

[0074] Step 2: Transfer and match the reset spring 19 and the conversion block 20, and use the outer surface of the assembly part as the rough reference to float and pre-position the base part, and then use the assembled feature as the fine reference to align through the alignment mechanism to achieve fine reference positioning, and clamp the base part to perform the flip clamp assembly work.

[0075] S21, placing the base component to be assembled on the clamp body 2, and pre-positioning it using a pre-positioning tool on the clamp body 2.

[0076] S22, move the latch mechanism 3 to the position and extend the latch head 31, so that it is inserted into the fourth assembly hole 23. It should be noted that it is not inserted to the bottom, and the fourth assembly hole 23 is only required to be aligned by the latch head 31 to determine the position of the fourth assembly hole 23. Then the clamping mechanism 4 is pressed down to fix the position of the fourth assembly hole 23.

[0077] S23, retract the latch mechanism 3, flip the base member to be assembled to an angle β through the motion platform 1, and prepare for assembling the return spring 19 and the shifting member 20.

[0078] S24, the reset spring 19 has been installed in the slot of the conversion block 20. At this time, the conversion block 20 can be clamped separately, and the material picking clamp mechanism 6 uses the clamp 61 to grab and move the reset spring 19 and the conversion block 20 from the material tray to the base assembly hole four 23, so that the assembly hole four 23 and the conversion block 20 are roughly in a vertical line, and then the clamp 61 of the material picking clamp mechanism 6 is released to allow the reset spring 19 and the conversion block 20 to fall into the assembly hole four 23, and then the material picking clamp mechanism 6 is moved to a safe position so as not to affect the next step of assembly.

[0079] S25, move the latch mechanism 3 to above the assembly hole four 23, align the latch head 31 with the assembly state reset spring 19, and then extend the latch mechanism 3 and the latch head 31, so that the latch head 31 is inserted into the assembly state reset spring 19 in the assembly hole four 23. It is not necessary to insert it to the bottom, but only to correct the state of the assembly state reset spring 19 that is not in the correct position.

[0080] S26, start the visual camera to detect the posture of the assembled parts. The visual camera has high-resolution and high-precision image processing capabilities, and can accurately determine whether the return spring 19 and the conversion block 20 are fully assembled and whether the posture meets the requirements.

[0081] S27, the clamping mechanism 4 is released, and the base component is sent to the threaded sleeve processing position through the moving platform 1.

[0082] Step 3: Install the screw sleeve 22. First, use the outer surface or some features of the part to be assembled as a rough reference, clamp the base part in floating pre-positioning, and then use the assembled feature as a fine reference to align through the alignment mechanism to achieve fine reference positioning. On this basis, clamp the base part and fix it for assembly and tightening.

[0083] S31, placing the base component to be assembled on the clamp body 2, and pre-positioning it using a pre-positioning tool on the clamp body 2;

[0084] S32, moving the screw installation mechanism 8 and the screw 21 and the screwdriver therein upward from the initial position to a safe position without affecting the positioning of the positioning mechanism 7;

[0085] S33, the positioning mechanism 7, the screw sleeve installation mechanism 9, the right screwdriver 11, the holes on both sides of the base part and the side holes of the conversion stopper in the lock cavity are concentric;

[0086] S34, move the positioning mechanism 7 to the right and insert it into the side hole of the base component. It should be noted that it does not need to be inserted to the bottom. The positioning mechanism 7 is only needed to align the side hole of the base component and the side hole of the conversion block in the lock cavity to determine the position of the side hole. Then the pressing mechanism 4 is pressed down to fix the position of the side hole;

[0087] S35, drop the screw sleeve 22 to the bottom position of the screw sleeve installation mechanism 9, make the screw sleeve 22 concentric with the positioning mechanism 7, the screw sleeve installation mechanism 9, the right screwdriver 11 and the assembly hole, and prepare for the assembly of the screw sleeve 22;

[0088] S36, the screw sleeve installation mechanism 9 drives the screw sleeve 22 and the right screwdriver 11 that have fallen into place to move leftward to the position of the right side hole 25 of the base member, and the sensor detects whether the screw sleeve installation mechanism 9 has moved to the right side hole 25 of the base member;

[0089] S37, move the right screwdriver 11 forward to the left and tighten it so that the screw sleeve 22 enters the right side hole 25 of the base member, keep the screw sleeve installation mechanism 9, the screw sleeve 22 and the right screwdriver 11 stationary, and move the positioning mechanism 7 back to the left;

[0090] S38, move the screw installation mechanism 8 and the screw 21 inside and the left screwdriver 10 downward from the safety position to the initial position, drop the screw 21 to the bottom position of the screw installation mechanism 8, make the screw 21 and the screw installation mechanism 8 and the left screwdriver 10 inside, the parts and the assembly hole concentric, and prepare for the assembly of the screw 21;

[0091] S39, the screw installation mechanism 8 drives the internal screw 21 and the left screwdriver 10 to move rightward to the position of the left side hole 24 of the base component, and the sensor detects whether the screw installation mechanism 8 moves to the left side hole 24 of the base component;

[0092] S310, moving the left screwdriver 10 forward to the left and tightening the screw 21 so that the screw 21 enters the right side hole 25 of the base member and enters the assembled screw sleeve 22 on the right side;

[0093] S311, finally, the left screwdriver 10 and the screw installation mechanism 8 are moved to the left to return to the initial position, and the right screwdriver 11 and the screw sleeve installation mechanism 9 are moved to the right to return to the initial position. Finally, the clamping mechanism 4 is released, and the base member is sent to the unloading position through the motion platform 1 to complete the unloading.

[0094] A system for automatically assembling components in a narrow lock cavity of a folding hinged couple, comprising a lock rod slider and lock head installation station, a return spring and shift stopper installation station and a screw sleeve installation station, wherein the screw sleeve installation station, the return spring and shift stopper installation station and the lock rod slider and lock head installation station are arranged in sequence, and the screw sleeve installation station, the return spring and shift stopper installation station and the lock rod slider and lock head installation station all comprise a motion platform 1, a clamp body 2 and a clamping mechanism 4, wherein the clamping mechanism 4 is arranged on the upper part of the clamp body 2, and the clamp body 2 is arranged on the upper part of the motion platform 1.

[0095] The motion platform 1 is used to move to different assembly angles and different positions to complete subsequent operations when assembly operations are required at different assembly angles or different positions. The motion mode can be a slide rail, a slide table, a motor and a lead screw, or a slide table, a slide rail and a cylinder. There are many ways.

[0096] The pre-positioning tool on the clamp body 2 is used to pre-position the base part. The pre-positioning tool can be in the form of two pins on one side, positioning pins, mandrels or cone tips, support pins, etc. The methods can be varied and determined according to the characteristics of the base part. The purpose is to limit the degree of freedom of the base part itself so that it can only float within a smaller range, thereby confirming the approximate position of the hole to be assembled.

[0097] The clamping mechanism 4 acts on the base component to fix the base component after the final positioning is completed. The clamping mechanism 4 can be compressed by air pressure, which is a clamping mechanism composed of pneumatic components such as cylinders and air valves. When the air source is connected, the piston in the cylinder will move under the action of air pressure, thereby driving the clamping plate or pressure head to compress the base component. The clamping mechanism 4 firmly fixes the base component in the required position by applying sufficient pressure to prevent the base component from moving or falling off due to external force, thereby ensuring the accuracy and stability of subsequent operations.

[0098] The lock rod slider and lock head installation station also includes a latch mechanism and a vacuum adsorption mechanism, and the vacuum adsorption mechanism and the latch mechanism are both arranged at the end of the clamping mechanism.

[0099] The latch mechanism 3 can be a pneumatic or hydraulic latch mechanism, which uses air pressure or hydraulic pressure to drive the extension and contraction of the latch to achieve the fixation of the base member. The main function of the latch mechanism 3 is to fix and position through the interaction between the latch and the pin hole, slot and other components.

[0100] The vacuum adsorption mechanism includes a driving device, a vacuum generator and a vacuum suction nozzle. Three vacuum suction nozzles are provided. The three vacuum suction nozzles are all connected to the vacuum generator, and the three vacuum generators are all connected to the driving device through a connecting rod. The vacuum adsorption mechanism 5 can be composed of a rotating mechanism and an adsorption mechanism. Its rotating mechanism can adopt a rotating driving device to ensure that the vacuum suction nozzle can rotate freely within a certain range. Its vacuum suction nozzle can be composed of a suction nozzle and a vacuum generator. The vacuum generator can suck air into the vacuum suction nozzle, thereby generating an adsorption force to firmly adsorb the parts on the suction nozzle. The rotatable vacuum adsorption mechanism enables the mechanism to adapt to parts of different shapes, sizes and positions; it can also firmly adsorb parts, avoiding the risk of parts falling off or shifting during operation, and ensuring the accuracy and reliability of the mechanism when grasping and placing parts.

[0101] The reset spring and shifting member installation station also includes a latch mechanism 3 and a material picking clamp mechanism 6. The material picking clamp mechanism 6 completes the clamping and placement of the reset spring 19 and the shifting member 20 through the interaction and cooperation of the clamp cylinder, sensor, controller and actuator.

[0102] The screw sleeve installation station also includes a positioning mechanism 7, a screwdriver, a screw installation mechanism 8 and a screw sleeve installation mechanism 9, the screw installation mechanism 8 and the screw sleeve installation mechanism 9 both include a screw 21 and a screw sleeve 22 with an assembly, and each contains a screwdriver that can generally be moved and tightened, the screw installation mechanism 8 and the screw sleeve installation mechanism 9 are usually composed of a movable pneumatic mechanism, a suction nozzle mechanism, a vacuum generator and an in-place detection sensor, etc., the screw installation mechanism 8 and the screw sleeve installation mechanism 9 can be made to move horizontally or vertically, the screw 21 or the screw sleeve 22 can be sucked and placed in a specified position by the pneumatic mechanism, the screw installation mechanism 8, the screw sleeve installation mechanism 9, the screw 21 and the screw sleeve 22 can also be detected to see whether they are moved into place, and the mechanisms interact and cooperate to accurately assemble the screw 21 and the screw sleeve 22. The specifications of the screw mounting mechanism 8 and the screw sleeve mounting mechanism 9 are designed according to the sizes of the screw 21 and the screw sleeve 22. The screw mounting mechanism 8 and the screw sleeve mounting mechanism 9 should accurately match the sizes of the screw 21 and the screw sleeve 22. Through precise design, stable transmission and positioning of the screw 21 and the screw sleeve 22 during assembly can be ensured to avoid displacement during the assembly process.

[0103] The screwdriver can be a tightening gun or an electric screwdriver to tighten the threaded sleeve 22 and the screw 21, and a pneumatic mechanism can be used to extend or retract the screwdriver.

[0104] The positioning mechanism 7 can be a pneumatic or hydraulic mechanism, and the air pressure or hydraulic pressure is used to drive the expansion and contraction of the positioning mechanism 7 to achieve the fixation of the base member. The main function of the positioning mechanism 7 is to fix and position through the interaction between the latch and the matching component.

[0105] Therefore, the present invention adopts the above-mentioned method and system for automatic assembly of components in a narrow lock cavity of a folding hinged pair. Aiming at the difficulty of automatic assembly of the initial lock component in a narrow lock cavity of a folding hinged pair, the self-positioning reference principle is proposed, that is, the characteristics of the assembled object itself are used as the precise assembly positioning reference when the base part is assembled, and the lock cavity space existing in the traditional assembly is very narrow, especially the lock rod, slider, lock head are all inclined surfaces, and the reset spring, conversion block and screw sleeve have very small assembly gaps, which are difficult to assemble manually. The assembly process is very easy to slip and cannot be accurately positioned, which is converted into a matching problem between the alignment mechanism and the assembly hole and components. Based on this principle, the automatic assembly of the lock rod and slider with special-shaped inclined surfaces, the lock head, the reset spring and the conversion block and the screw sleeve is realized, which greatly improves the assembly accuracy. The advantage of using the secondary positioning method is that it can reduce or eliminate the error caused by the external reference and improve the positioning accuracy.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A method for automatically assembling components in a narrow lock cavity of a folding hinged couple, characterized in that: The following steps are involved: Step 1: Assemble the lock rod, the slider and the lock head, using the outer surface of the assembly part as the rough reference, and clamp the base part in floating pre-positioning. Then, use the assembled feature as the fine reference to align through the alignment mechanism to achieve fine reference positioning, and clamp the base part to perform vacuum adsorption assembly work; Step 2: Re-match the reset spring and the conversion block, use the outer surface of the assembly part as the rough reference, and clamp the base part in floating pre-positioning. Then, use the assembled feature as the fine reference to align through the alignment mechanism to achieve fine reference positioning, and clamp the base part to perform flip clamping assembly work; Step three, install the screw sleeve. First, use the outer surface or certain features of the assembly to be used as a rough reference, and clamp the base part in a floating pre-positioning manner. Then, use the assembled feature as a fine reference and align it through the alignment mechanism to achieve fine reference positioning. Clamp and fix the base part for assembly and tightening.

2. The method for automatically assembling components in a narrow lock cavity of a folding hinged couple according to claim 1, characterized in that: Step one includes the following steps: S11, placing the base component to be assembled on the clamp body, and pre-positioning it using a pre-positioning tool on the clamp body; S12, moving the latch mechanism to the upper part of the first hole to be assembled, determining the position of the first hole to be assembled by the latch head, and pressing the clamping mechanism downward to fix the position of the first hole to be assembled; S13, retracting the latch mechanism, and flipping the base part to be assembled to an angle α through the motion platform; S14, adsorbing and rotating the rotatable vacuum adsorption mechanism to the lock head installation direction, moving it to the second position of the base assembly hole, releasing the lock head vacuum suction nozzle, and keeping the lock head at the second position of the assembly hole; S15, by setting an error correction detection mechanism at the bottom, the installation of the lock is detected, and the error correction mechanism is used to correct the lock by moving it up and down to promote the lock to be assembled in place; S16, self-locking the lock sleeve, moving the slider vacuum suction nozzle to a position above the lock head of the base assembly hole, and releasing the slider vacuum suction nozzle to assemble the slider to a position above the lock head; S17, moving the vacuum suction nozzle of the locking rod to a position above the third assembly hole of the base component, and releasing the vacuum suction nozzle of the locking rod from assembling the locking rod; S18, start the visual camera to detect the posture of the assembled parts; S19, the clamping mechanism is released, and the base component is sent to the unloading position through the motion platform for the next processing.

3. The method for automatically assembling components in a narrow lock cavity of a folding hinged couple according to claim 2, characterized in that: Step 2 includes the following steps: S21, placing the base component to be assembled on the clamp body, and pre-positioning it using a pre-positioning tool on the clamp body; S22, moving the latch mechanism to the upper part of the fourth hole to be assembled, determining the position of the fourth hole to be assembled by the latch head, and pressing the clamping mechanism downward to fix the position of the fourth hole to be assembled; S23, retracting the latch mechanism, and flipping the base part to be assembled to an angle β through the motion platform; S24, the material taking claw mechanism grabs and moves the reset spring and the conversion block from the material tray to the fourth assembly hole of the base component, and releases the claw of the material taking claw mechanism to make the reset spring and the conversion block fall into the fourth assembly hole; S25, moving the latch mechanism to the top of the assembly hole 4, and aligning the latch head with the assembly position of the reset spring in the assembly state; S26, starting the visual camera to detect the posture of the assembled parts; S27, the clamping mechanism is released, and the base component is sent to the threaded sleeve processing position through the motion platform.

4. The method for automatically assembling components in a narrow lock cavity of a folding hinged couple according to claim 3, characterized in that: Step three includes the following steps: S31, placing the base component to be assembled on the clamp body, and pre-positioning it using a pre-positioning tool on the clamp body; S32, moving the screw installation mechanism and the screws and screwdriver inside the screw installation mechanism upward from the initial position to a safe position; S33, the positioning mechanism, the screw sleeve installation mechanism, the right screwdriver, the holes on both sides of the base part and the side holes of the conversion stopper in the lock cavity are concentric; S34, aligning the side hole of the base member and the side hole of the conversion block member in the lock cavity by means of a positioning mechanism, and pressing down by a pressing mechanism to fix the position of the side hole; S35, dropping the screw sleeve to the bottom of the screw sleeve installation mechanism, making the screw sleeve concentric with the positioning mechanism and the assembly hole, driving the screw sleeve and the screwdriver to move leftward to the right side hole position of the base member through the screw sleeve installation mechanism, and detecting the position of the screw sleeve installation mechanism through a sensor; S36, move the right screwdriver forward to the left and tighten it so that the screw sleeve enters the right hole of the base component, keep the screw sleeve installation mechanism, the screw sleeve and the right screwdriver stationary, and move the positioning mechanism back to the left; S37, the screw installation mechanism drives the internal screw and the left screwdriver to move rightward to the left side hole position of the base component, and the position of the screw installation mechanism is detected by the sensor; S38, the left screwdriver moves forward to the left and tightens the screw so that the screw enters the right side hole of the base component and enters the assembled screw sleeve on the right side; S39, moving the left screwdriver and the screw installation mechanism to the left to return to the initial position, and moving the right screwdriver and the screw sleeve installation mechanism to the right to return to the initial position; S310, finally the clamping mechanism is released, and the base component is sent to the unloading position through the motion platform to complete the unloading.

5. A system using the method for automatically assembling components in a narrow lock cavity of a folding hinged couple as described in any one of claims 1 to 4, characterized in that: It includes a lock rod slider and lock head installation station, a reset spring and shift gear installation station and a screw sleeve installation station. The screw sleeve installation station, the reset spring and shift gear installation station and the lock rod slider and lock head installation station are arranged in sequence. The screw sleeve installation station, the reset spring and shift gear installation station and the lock rod slider and lock head installation station all include a motion platform, a clamping body and a clamping mechanism. The clamping mechanism is arranged on the upper part of the clamping body, and the clamping body is arranged on the upper part of the motion platform.

6. A system for automatic assembly of components in a narrow lock cavity of a folding hinged couple according to claim 5, characterized in that: The lock rod slider and lock head installation station also includes a latch mechanism and a vacuum adsorption mechanism, and the vacuum adsorption mechanism and the latch mechanism are both arranged at the end of the clamping mechanism.

7. A system for automatic assembly of components in a narrow lock cavity of a folding hinged couple according to claim 6, characterized in that: The vacuum adsorption mechanism comprises a driving device, a vacuum generator and a vacuum suction nozzle. Three vacuum suction nozzles are provided, and the three vacuum suction nozzles are all connected to the vacuum generator. The three vacuum generators are all connected to the driving device through a connecting rod.

8. The system of the method for automatically assembling components in a narrow lock cavity of a folding hinged couple according to claim 7, characterized in that: The reset spring and conversion block installation station also includes a latch mechanism and a material picking claw mechanism. The material picking claw mechanism completes the clamping and placement of the reset spring and the conversion block through the interaction and cooperation of the claw cylinder, sensor, controller and actuator.

9. A system for automatic assembly of components in a narrow lock cavity of a folding hinged couple according to claim 8, characterized in that: The screw sleeve installation station also includes a positioning mechanism, a screwdriver, a screw installation mechanism and a screw sleeve installation mechanism. The screw installation mechanism and the screw sleeve installation mechanism both include a mobile pneumatic mechanism, a suction nozzle mechanism, a vacuum generator and a detection sensor.

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