Self-adaptive floating pin press-in mechanism and press-in method

Abstract

The invention discloses a self-adaptive floating pin press-in mechanism and a press-in method, which are applied to the technical field of floating pin press-in mechanisms. A vertical sliding seat is movably connected to the mechanical arm based on an X-Y direction self-adaptive floating assembly arranged in the horizontal direction, a mounting seat of a U-shaped structure is slidably connected to the vertical sliding seat based on a Z-direction floating table, and a pin pressing electric cylinder is fixedly connected to the top of the mounting seat in the vertical direction. The telescopic end of the pin pressing electric cylinder is detachably and fixedly connected with a pin pressing block used for pressing a pin based on a quick-change assembly, and the bottom of the mounting base is detachably and fixedly connected with a supporting block used for abutting against the bottom of a supporting pin hole based on the quick-change assembly. The device has the technical effects that the structure is simple, and the precision in the assembly process is improved.

Description

Technical Field

[0001] The invention relates to the technical field of floating pin pressing mechanisms, and in particular to an adaptive floating pin pressing mechanism and a pressing method. Background Art

[0002] Castings and die-casting parts are commonly used in the production process of medium and large product shells. They are widely used in important components such as automobile engines, chassis, transmission systems, steering systems, etc. During the production and assembly process, external positioning (pin positioning) is often required to prevent the assembled product from shifting in position after being subjected to force, causing unstable product functions.

[0003] However, due to the limitations of the production process of castings and die-cast parts, the product appearance tolerance is large, which may cause the pin to be offset and the product to be damaged during the pin pressing process. The existing pin pressing mechanisms disclosed on the market are usually only able to achieve fixed-position pin pressing, or detect the pin hole position through a visual camera to adjust the position of the pin. However, this increases the cost and cannot guarantee sufficient recognition accuracy. Therefore, it is necessary to design a device that can achieve adaptive floating pin pressing to solve this problem. Summary of the invention

[0004] The first object of the present invention is to provide an adaptive floating pin press-in mechanism, which has the advantages of simple structure and improved accuracy during assembly.

[0005] The above technical purpose of the present invention is achieved through the following technical solutions: an adaptive floating pin pressing mechanism, comprising a robotic arm; a vertical sliding seat is movably connected to the robotic arm based on an XY-direction adaptive floating component arranged along the horizontal direction, and a U-shaped mounting seat is slidably connected to the vertical sliding seat based on a Y-direction floating platform, a pressing pin electric cylinder is fixedly connected to the top of the mounting seat along the vertical direction, a pressing pin block is detachably fixedly connected to the telescopic end of the pressing pin electric cylinder based on a quick-change component, and a support block for abutting the bottom of the support pin hole is detachably fixedly connected to the bottom of the mounting seat based on the quick-change component.

[0006] The present invention is further configured as follows: the XY-axis adaptive floating component includes a fixed seat fixedly connected to the robot arm and a first floating seat movably connected to the fixed seat based on the X-axis floating platform; the first floating seat is movably connected to a second floating seat based on the Y-axis floating platform; the fixed seat is symmetrically fixedly connected at both ends along the X direction and the Y direction with a first centering component and a second centering component for realizing automatic centering of the first floating seat and the second floating seat.

[0007] The present invention is further configured such that: the first centering component and the second centering component both use electromagnet blocks.

[0008] The present invention is further configured as follows: a first displacement grating scale for detecting the offset distance of the first floating seat relative to the fixed seat along the X direction is fixedly connected to the fixed seat, and a second displacement grating scale for detecting the offset distance of the second floating seat relative to the first floating seat along the Y direction is fixedly connected to the second floating seat, the first displacement grating scale and the second displacement grating scale are coupled with the first centering component and the second centering component, and the input current size of the electromagnet block is controlled to control the magnetic force size of the electromagnet block, thereby realizing fast and accurate centering of the first floating seat and the second floating seat.

[0009] The present invention is further configured such that the X-direction floating platform, the Y-direction floating platform and the Z-direction floating platform all use cross roller guide rails to meet the requirements of high rigidity and high pressure pinning.

[0010] The present invention is further configured as follows: the two ends of the vertical sliding seat along the vertical direction are fixedly connected with mounting plates, and the two ends of the mounting seat along the vertical direction are connected to the mounting plates based on Z-direction floating springs.

[0011] The present invention is further configured as follows: the quick-change assembly includes at least one cam sleeve fixedly connected to the telescopic end of the pinning electric cylinder or the mounting seat, the cam sleeve is provided with a cam groove, and also includes a quick-release seat fixedly connected to the telescopic end of the pinning electric cylinder or the mounting seat, the quick-release seat is rotatably connected to a cam knob, the cam knob is fixedly connected to a protrusion that is stuck in the cam groove, and the pinning block and the support block are fixedly connected to the quick-release seat.

[0012] The present invention is further configured such that: the pressing pin block is a magnetic block.

[0013] A second object of the present invention is to provide an adaptive floating pin press-in method, which has the advantages of simple structure and improved accuracy during the assembly process.

[0014] The above technical objectives of the present invention are achieved through the following technical solutions: an adaptive floating pin pressing method, using an adaptive floating pin pressing mechanism as described in any of the above technical solutions; comprising: Step 1: The robot arm drives the pin shaft to move to the location where the pin hole is required for preliminary positioning and places the workpiece in the middle of the mounting seat; Step 2: The pin pressing electric cylinder drives the pin pressing block and the pin shaft to descend to the pin hole. During the pressing process, the pin shaft is driven to float adaptively in the horizontal direction through the XY-axis adaptive floating component so that the pin shaft coincides with the axis center line of the pin hole, thereby completing the pin pressing; Step 3: After the pin is pressed, the XY-axis adaptive floating assembly returns to the initial centering state.

[0015] In summary, the present invention has the following beneficial effects: 1. On the robot arm, the vertical sliding seat is movably connected based on the XY-direction adaptive floating component, and on the vertical sliding seat, the mounting seat is movably connected based on the Y-direction floating platform. At the same time, a pin pressing electric cylinder is set on the top of the mounting seat, and a support block is set at the bottom of the mounting seat. The robot arm drives the pin shaft to move to the required pin hole for preliminary positioning, and then the pin pressing electric cylinder drives the pin pressing block and the pin shaft to descend to the pin hole. Since chamfers are provided on the pin shaft and the pin hole, the chamfers are used as positioning during the insertion of the pin shaft into the pin hole so that the XY-direction adaptive floating component drives the pin shaft to adaptively float in the horizontal direction so that the pin shaft coincides with the axis center line of the pin hole, thereby completing the pin pressing. The XY-axis adaptive floating assembly is provided with a first floating seat on a fixed seat and a second floating seat is movably connected to the first floating seat, and a first centering assembly and a second centering assembly are provided. During the pinning process, the force of the pin hole on the pin shaft drives the first floating seat and the second floating seat to adaptively float until the pin shaft moves to a position that coincides with the axial center line of the pin hole to complete the pinning. The structure is simple, and damage to the workpiece during the pinning process is avoided, and the accuracy of the pinning is ensured. At the same time, a first displacement grating ruler and a second displacement grating ruler coupled with the first centering assembly and the second centering assembly are provided respectively. When the pinning is completed, the first displacement grating ruler and the second displacement grating ruler are used to detect the offset distances of the first floating seat and the second floating seat respectively, and the input current of the electromagnet block is controlled to control the magnetic force of the electromagnet block, thereby realizing fast and accurate centering of the first floating seat and the second floating seat, thereby improving the centering efficiency. 2. The pin block and the support block are both detachably fixedly connected to the telescopic end of the pin electric cylinder and the bottom of the mounting seat based on the quick-change assembly. The quick-change assembly opens a cam groove on the cam sleeve and sets a cam knob on the quick-release seat. When the size of the pin needs to be replaced, the quick-release seat can be quickly removed and replaced from the telescopic end of the pin electric cylinder or the mounting seat by rotating the cam knob so that the protrusion on the cam knob is disengaged from the cam groove. After the replacement is completed, just rotate the cam knob. The operation is simple and has a wide range of adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of this embodiment; Figure 2 yes Figure 1 A magnified schematic diagram of part A; Figure 3 is a cross-sectional view of the overall structure of this embodiment; Figure 4 yes Figure 3 An enlarged schematic diagram of part B.

[0017] Figure numerals: 1. Robot arm; 2. XY-axis adaptive floating assembly; 21. Fixed seat; 22. X-axis floating table; 23. First floating seat; 24. Y-axis floating table; 25. Second floating seat; 26. First centering assembly; 27. Second centering assembly; 28. First displacement grating scale; 29. ​​Second displacement grating scale; 3. Vertical sliding seat; 31. Mounting plate; 32. Z-axis floating spring; 4. Z-axis floating table; 5. Mounting seat; 6. Pinning electric cylinder; 7. Quick-change assembly; 71. Cam sleeve; 72. Cam groove; 73. Quick-release seat; 74. Cam knob; 75. Bump; 8. Pinning block; 9. Support block. DETAILED DESCRIPTION

[0018] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0019] Embodiment 1: refer to Figures 1 to 4 , an adaptive floating pin pressing mechanism, including a mechanical arm 1, on which a vertical sliding seat 3 is movably connected based on an XY-direction adaptive floating component 2 arranged along the horizontal direction, a U-shaped mounting seat 5 is slidably connected on the vertical sliding seat 3 based on a Z-direction floating platform 4, a pressing pin electric cylinder 6 is fixedly connected to the top of the mounting seat 5 along the vertical direction, a pressing pin block 8 for pressing the pin is detachably fixedly connected to the telescopic end of the pressing pin electric cylinder 6 based on a quick-change component 7, and the pressing pin block 8 is a magnetic block so that the pin shaft can be easily adsorbed, and a support block 9 for abutting the bottom of the support pin hole is detachably fixedly connected to the bottom of the mounting seat 5 based on the quick-change component 7, and when pressing the pin, the pin is pressed by the support block 9 The bottom of the hole is supported, and the pin shaft is driven to press downward by the pin pressing electric cylinder 6 so as to be pressed into the pin hole. The pin shaft is driven to move to the required pin hole by the mechanical arm 1 for preliminary positioning. Then the pin pressing electric cylinder 6 drives the pin pressing block 8 and the pin shaft to descend to the pin hole. The pin shaft is provided with a chamfer of C1.0-C1.5, and the pin hole is provided with a chamfer of C1.0. Since the chamfers are provided on the pin shaft and the pin hole, the pin shaft can float within a certain error range during the pin pressing process. During the pin shaft insertion into the pin hole, the chamfer is used as a positioning so that the XY-direction adaptive floating component 2 drives the pin shaft to adaptively float in the horizontal direction so that the pin shaft coincides with the axis center line of the pin hole to complete the pin pressing. In this embodiment, the X-direction floating table 22, the Y-direction floating table 24 and the Z-direction floating table all use cross roller guides to meet the pin pressing requirements of high rigidity and high pressure.

[0020] refer to Figure 1 and Figure 2Specifically, the XY-direction adaptive floating component 2 includes a fixed seat 21 fixedly connected to the robot arm 1 and a first floating seat 23 movably connected to the fixed seat 21 based on an X-direction floating platform 22. A second floating seat 25 is movably connected to the first floating seat 23 based on a Y-direction floating platform 24. A first centering component 26 and a second centering component 27 for realizing automatic centering of the first floating seat 23 and the second floating seat 25 are symmetrically fixedly connected at both ends of the fixed seat 21 along the X direction and along the Y direction. The first centering component 26 and the second centering component 27 both use electromagnet blocks so that the centering efficiency and centering accuracy of the first floating seat 23 and the second floating seat 25 can be controlled by the magnitude of the electromagnetic force. A first centering component 26 and a second centering component 27 are fixedly connected to the fixed seat 21 for detecting the offset distance of the first floating seat 23 relative to the fixed seat 21 along the X direction. A displacement grating scale 28 is fixedly connected to the second floating seat 25 with a second displacement grating scale 29 for detecting the offset distance of the second floating seat 25 relative to the first floating seat 23 along the Y direction. The first displacement grating scale 28 and the second displacement grating scale 29 are coupled with the first centering component 26 and the second centering component 27. The input current of the electromagnet block is controlled to control the magnetic force of the electromagnet block, thereby achieving rapid and accurate centering of the first floating seat 23 and the second floating seat 25. After the pinning is completed, the first displacement grating scale 28 and the second displacement grating scale 29 are used to detect the offset distance of the first floating seat 23 and the second floating seat 25 respectively, and the input current of the electromagnet block is controlled to control the magnetic force of the electromagnet block, thereby achieving rapid and accurate centering of the first floating seat 23 and the second floating seat 25, thereby improving the centering efficiency.

[0021] refer to Figure 3 and Figure 4 Specifically, the quick-change assembly 7 includes at least one cam sleeve 71 fixedly connected to the telescopic end of the pinning electric cylinder 6 or the mounting seat 5, a cam groove 72 is formed on the cam sleeve 71, and also includes a quick-release seat 73 fixedly connected to the telescopic end of the pinning electric cylinder 6 or the mounting seat 5, a cam knob 74 is rotatably connected to the quick-release seat 73, a protrusion 75 that is fixedly connected to the cam knob 74 and is snapped into the cam groove 72, the pinning block 8 and the support block 9 are fixedly connected to the quick-release seat 73, and when the size of the pin needs to be replaced, the quick-release seat 73 can be quickly disassembled and replaced from the telescopic end of the pinning electric cylinder 6 or the mounting seat 5 by rotating the cam knob 74 so that the protrusion 75 on the cam knob 74 is disengaged from the snapping of the cam groove 72. After the replacement is completed, the cam knob 74 can be rotated, which is simple to operate and has a wide range of adaptability.

[0022] Embodiment 2: An adaptive floating pin pressing method, using an adaptive floating pin pressing mechanism as shown in Example 1, comprises: Step 1, the robot arm 1 drives the pin shaft to move to the location where the pin hole is required for preliminary positioning and places the workpiece in the middle of the mounting seat 5; Step 2, the pinning electric cylinder 6 drives the pinning block 8 and the pin shaft to descend to the pin hole. During the pressing process, the pin shaft is driven to float adaptively in the horizontal direction through the XY-direction adaptive floating component 2 so that the pin shaft coincides with the axis center line of the pin hole to complete the pinning; Step 3: After the pin is pressed, the XY-axis adaptive floating component 2 returns to the initial centering state.

[0023] This specific embodiment is only an explanation of the present invention, and it is not a limitation of the present invention. After reading this specification, those skilled in the art can make creative modifications to this embodiment as needed, but as long as it is within the scope of the claims of the present invention, it will be protected by the patent law.

Claims

1. An adaptive floating pin pressing mechanism, comprising a mechanical arm (1); characterized in that: The robot arm (1) is movably connected to a vertical sliding seat (3) based on an XY-direction adaptive floating assembly (2) arranged along the horizontal direction, and the vertical sliding seat (3) is slidably connected to a mounting seat (5) with a U-shaped structure based on a Z-direction floating platform (4), and the top of the mounting seat (5) is fixedly connected to a pinning electric cylinder (6) along the vertical direction, and the telescopic end of the pinning electric cylinder (6) is detachably fixedly connected to a pinning block (8) for pinning based on a quick-change assembly (7), and the bottom of the mounting seat (5) is detachably fixedly connected to a support block (9) for abutting the bottom of a support pin hole based on the quick-change assembly (7).

2. The adaptive floating pin pressing mechanism according to claim 1, characterized in that: The XY-direction adaptive floating component (2) comprises a fixed seat (21) fixedly connected to the robot arm (1) and a first floating seat (23) movably connected to the fixed seat (21) based on an X-direction floating platform (22); a second floating seat (25) movably connected to the first floating seat (23) based on a Y-direction floating platform (24); and a first centering component (26) and a second centering component (27) for realizing automatic centering of the first floating seat (23) and the second floating seat (25) are symmetrically fixedly connected at both ends of the fixed seat (21) along the X direction and along the Y direction.

3. The adaptive floating pin pressing mechanism according to claim 2, characterized in that: The first centering component (26) and the second centering component (27) both use electromagnet blocks.

4. The adaptive floating pin pressing mechanism according to claim 3, characterized in that: The fixed seat (21) is fixedly connected with a first displacement grating ruler (28) for detecting the offset distance of the first floating seat (23) relative to the fixed seat (21) along the X direction, and the second floating seat (25) is fixedly connected with a second displacement grating ruler (29) for detecting the offset distance of the second floating seat (25) relative to the first floating seat (23) along the Y direction. The first displacement grating ruler (28) and the second displacement grating ruler (29) are coupled with the first centering component (26) and the second centering component (27). Based on controlling the input current of the electromagnet block, the magnetic force of the electromagnet block is controlled, thereby realizing the first floating seat (23) and the second floating seat (25) to be quickly and accurately centered.

5. The adaptive floating pin pressing mechanism according to claim 2, characterized in that: The X-direction floating platform (22), the Y-direction floating platform (24) and the Z-direction floating platform (4) all use cross roller guide rails to meet the requirements of high rigidity and high pressure pinning.

6. The adaptive floating pin pressing mechanism according to claim 1, characterized in that: The two ends of the vertical sliding seat (3) are fixedly connected to a mounting plate (31) along the vertical direction, and the two ends of the mounting seat (5) along the vertical direction are connected to the mounting plate (31) based on a Z-direction floating spring (32).

7. The adaptive floating pin pressing mechanism according to claim 1, characterized in that: The quick-change assembly (7) comprises at least one cam sleeve (71) fixedly connected to the telescopic end of the pinning electric cylinder (6) or the mounting seat (5), the cam sleeve (71) being provided with a cam groove (72), and further comprises a quick-release seat (73) fixedly connected to the telescopic end of the pinning electric cylinder (6) or the mounting seat (5), the quick-release seat (73) being rotatably connected to a cam knob (74), the cam knob (74) being fixedly connected to a protrusion (75) which is inserted into the cam groove (72), the pinning block (8) and the support block (9) being fixedly connected to the quick-release seat (73).

8. The adaptive floating pin pressing mechanism according to claim 1, characterized in that: The pressing pin block (8) is a magnetic block.

9. An adaptive floating pin pressing method, using an adaptive floating pin pressing mechanism as described in any one of claims 1 to 8 above; characterized in that: include: Step 1, the robot arm (1) drives the pin shaft to move to the location where the pin hole is required for preliminary positioning and places the workpiece in the middle of the mounting seat (5); Step 2, the pin pressing electric cylinder (6) drives the pin pressing block (8) and the pin shaft to descend to the pin hole. During the pressing process, the pin shaft is driven to float adaptively in the horizontal direction through the XY-axis adaptive floating component (2) so that the pin shaft coincides with the axis center line of the pin hole, thereby completing the pin pressing; Step 3: After the pin is pressed, the XY-axis adaptive floating component (2) returns to the initial centering state.

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