Automatic truss assembling device and assembling method thereof

Abstract

The invention provides an automatic truss assembling device and an assembling method thereof, and belongs to the technical field of truss assembling. The problem that flexibility and adaptability of an existing truss assembling device are limited under certain specific working conditions is solved. The device comprises a connector and a node, the connector is installed on the node, the connector comprises a rear cover, a shell, a fixed gripper and a torsional spring, the rear cover is connected with the shell, one end of the torsional spring is connected with the interior of the shell, the other end of the torsional spring makes contact with the fixed gripper, the fixed gripper is installed in the shell, and connecting parts facing different directions are arranged on the node. The connecting part is connected with the rear cover through a bolt, threads are arranged on the inner surface of the shell, and threads are arranged on the outer surface of the mounting part of the fixed gripper and connected with the threads on the inner surface of the shell. The automatic assembling machine is mainly used for automatic assembling of trusses.

Description

Technical Field

[0001] The invention belongs to the technical field of truss assembly, and in particular relates to an automatic truss assembly device and an assembly method thereof. Background Art

[0002] In recent years, with the development of automation technology, truss assembly has gradually developed in the direction of automation. Automated truss assembly methods can significantly improve production efficiency, reduce labor costs, and improve assembly accuracy. At present, common automated assembly trusses are mainly completed by related robots, including simple industrial robot assembly, laser welding robot assembly, modular robot assembly, etc. The background of automated mechanical truss assembly devices mainly comes from the manufacturing industry's demand for improving production efficiency, reducing labor costs and improving accuracy. With the advancement of industry, intelligent and automated production has become a trend. This type of device combines robotics technology, precision control technology, sensor technology, etc., and is widely used in automotive, aviation and other fields. In recent years, with the maturity of artificial intelligence and machine learning technology, truss assembly devices have gradually achieved higher autonomy and adaptability, and can handle complex parts and cope with different assembly tasks. However, automated assembly systems are usually optimized for specific truss designs. If the truss design changes, the system may need to reprogram or adjust the equipment. This adjustment process may be complicated and time-consuming, affecting the flexibility of the system.

[0003] In the application of automated truss assembly devices, there are several common solutions that can provide efficient and accurate solutions according to different production needs and environments. The robot arm assembly solution is widely used in the assembly of large truss structures. This solution uses multi-axis robot arms to complete the grasping, handling, positioning and assembly of parts through precise motion control. With the help of visual systems and sensors, the robot can sense the position and status of parts in real time to ensure that each component is accurately placed in the specified position. The robot arm is suitable for production tasks with high precision and high repeatability requirements, especially in the automotive, aviation and other industries. Although it requires a higher initial investment, its high efficiency and precision make the long-term operation cost recoverable. The collaborative robot assembly solution is a flexible automation solution suitable for production environments that require human-machine collaboration. Cobots can complete assembly tasks together with human operators, providing flexible adaptability , especially suitable for small-batch, multi-variety production scenarios. Cobots can not only complete the grasping, moving and installation of parts, but also work with workers during the assembly process to enhance work efficiency. Compared with traditional robots, Cobots have lower load and speed, but they can quickly adapt to different production needs and are ideal for complex or personalized truss assembly tasks. The vision-guided assembly solution integrates advanced vision systems and uses 3D cameras or laser scanners to detect the position and posture of truss components in real time, and guides the assembly system to perform precise operations through data feedback. This solution is particularly suitable for complex truss structures and high-precision assembly requirements, and can ensure the precise docking of each component during the assembly process. By cooperating with robots or automated tools, the vision-guided system not only improves assembly accuracy, but also enhances the flexibility and adaptability of the system, enabling it to handle components of different specifications and shapes.

[0004] At present, the flexibility and adaptability of automated assembly systems are limited in some cases. Although modern systems can cope with a certain degree of product diversity and changes, the adaptability and adjustment capabilities of the system are still challenges for some highly complex or non-standardized truss assembly tasks, especially in small-batch and diversified production environments. Frequent switching of production tasks may cause the system to need to be constantly reprogrammed or adjusted, which increases the complexity and adjustment time of the system. Secondly, technical complexity is also a major challenge for automated assembly devices. Since these systems integrate a variety of high-end technologies, such as robotics, machine vision, sensor control, etc., their operation and maintenance require highly specialized technicians. When equipment fails, the complexity of repair and recovery is high, which may lead to production interruptions and affect the normal operation of the production line. Although the automation system can improve assembly accuracy, it is still difficult to completely replace manual labor under certain specific working conditions. For example, for some complex assembly tasks that require flexible judgment and adjustment, the intelligence level of the automation device cannot fully match the meticulous operation of humans. Summary of the invention

[0005] In view of this, the present invention aims to provide an automated truss assembly device and an assembly method thereof, so as to solve the problem that the flexibility and adaptability of the existing truss assembly device are limited under certain specific working conditions.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] An automated truss assembly device comprises an interface and a node, wherein the interface is mounted on the node, the interface comprises a back cover, an outer shell, a fixed gripper and a torsion spring, the back cover is connected to the outer shell, one end of the torsion spring is connected to the inside of the outer shell, and the other end is in contact with the fixed gripper, and the fixed gripper is mounted in the outer shell.

[0008] Furthermore, the node is provided with connection parts facing different directions.

[0009] Furthermore, the connecting portion is connected to the rear cover via bolts.

[0010] Furthermore, the inner surface of the shell is provided with threads, and the outer surface of the mounting portion of the fixed gripper is provided with threads and is threadedly connected to the inner surface of the shell.

[0011] Furthermore, the inner diameter of the shell port decreases in the radial direction.

[0012] Furthermore, the fixing portion of the fixed gripper is conical and the cone is divided into four parts, which are evenly distributed on the end surface of the mounting portion of the fixed gripper in an annular direction.

[0013] Furthermore, a fixing groove for fixing the torsion spring is provided in the shell.

[0014] An assembly method of an automated truss assembly device comprises the following steps:

[0015] Step 1: Prefabricate connecting parts facing different directions on the nodes as needed, and connect the rear cover to the connecting parts with bolts;

[0016] Step 2: Place the truss rod at the port of the fixed gripper in the housing by the robotic arm;

[0017] Step 3: Control the truss rod to move into the shell, and the torsion spring begins to release when it senses the external force;

[0018] Step 4: Driven by the torsion spring, the fixed gripper rotates and extends out of the housing to the maximum stroke, and the position of the fixed gripper is fixed. At this time, the gripping portion of the fixed gripper locks the end of the truss rod.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. When the truss rods are placed at the interface, the present invention can automatically extend and bite the ends of the rods and firmly fix them, so as to achieve the effect of rapid assembly of the truss. In addition, the device has relatively high precision and strength in connecting the trusses, is easy to operate, has a high degree of automation, and has a good connection effect.

[0021] 2. The nodes of the present invention can be prefabricated with assembly connection parts facing different directions as needed to adapt to different truss connection forms.

[0022] 3. The gripping portion of the fixed gripper of the present invention is conical, and the cone is divided into four parts, leaving a shrinkage space. When the fixed gripper moves toward the outside of the shell, it cooperates with the special-shaped outlet at the front end of the shell to achieve clamping and fixing of the end of the truss rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0024] Figure 1 It is a structural schematic diagram of an automated truss assembly device according to the present invention;

[0025] Figure 2 is a schematic diagram of a six-joint node;

[0026] Figure 3 The structure of the interface is shown in Figure 2. Figure 1 ;

[0027] Figure 4 The structure of the interface is shown in Figure 2. Figure 2 ;

[0028] Figure 5 is a cross-sectional view of the interface;

[0029] Figure 6 is a schematic diagram of the structure of the shell;

[0030] Figure 7 This is an exploded diagram of the interface;

[0031] Figure 8 is a schematic diagram of the interior of the housing;

[0032] Fig. 9 It is a schematic diagram of the structure of the fixed gripper.

[0033] 1-interface, 2-node, 3-back cover, 4-housing, 5-fixed gripper, 6-torsion spring. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely explain the technical solutions in the embodiments of the present invention. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict, and the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0035] See also Figure 1-9 To describe this embodiment, an automated truss assembly device includes an interface 1 and a node 2, wherein the interface 1 is installed on the node 2, and the interface 1 includes a back cover 3, a shell 4, a fixed gripper 5 and a torsion spring 6, wherein the back cover 3 is connected to the shell 4, one end of the torsion spring 6 is connected to the inside of the shell 4, and the other end is in contact with the fixed gripper 5, wherein the fixed gripper 5 is installed in the shell 4, and the node 2 is provided with a connection portion facing different directions, and the connection portion is connected to the back cover 3 by bolts, and the inner surface of the shell 4 is provided with a thread, and the outer surface of the mounting portion of the fixed gripper 5 is provided with a thread and is threadedly connected to the inner surface of the shell 4.

[0036] This embodiment uses Figure 2 Taking the six-joint node 2 in the figure as an example, firstly, a connection part facing six different directions is provided on the node 2 according to needs, and each connection part is connected to the back cover 3 of the interface 1 by bolts. The truss rod is placed at the port of the fixed gripper 5 in the shell 4 by the mechanical arm, and the truss rod is controlled to move into the shell 4. When the torsion spring 6 senses the external force and begins to release, the fixed gripper 5 is driven by the torsion spring 6 to rotate and extend out of the shell 4 to the maximum stroke, and the position of the fixed gripper 5 is fixed. At this time, the gripping part of the fixed gripper 5 locks the end of the truss rod. This process In the figure, since the inner diameter at the port of the shell 4 decreases radially, the fixed part of the fixed gripper 5 is conical and the cone is divided into four parts, which are evenly distributed on the end face of the mounting part of the fixed gripper 5 in the circumferential direction. Therefore, when the fixed gripper 5 rotates outward, it cooperates with the front end outlet of the shell whose inner diameter decreases radially, so that the inner diameter of the fixed gripper 5 shrinks when it is extended, and then it can grasp the end of the truss rod, thereby realizing the rapid assembly of the truss rod. In addition, the device for connecting the trusses has relatively high precision and strength, is simple to operate, has a high degree of automation, and has a good connection effect.

[0037] Especially in a narrow or complex environment, the working range of the robot arm is limited and it is impossible to reach the installation position of some truss rods. The device can completely overcome the problem of limited working range of the robot arm when assembled in a narrow or complex environment, and the accuracy of the vision-guided assembly depends on the resolution of the camera and the accuracy of the algorithm. Low precision will lead to assembly errors. The device can fix the ends of the truss rods during the rotation process by fixing the gripping portion of the gripper 5 and the special shape at the front end outlet of the shell 4, thereby having higher accuracy and reducing assembly errors. Extreme temperature and humidity conditions may affect the performance of the robot and the camera and the characteristics of the materials, leading to problems in the assembly process. The truss rods of the device are placed at the interface 1 by the robot arm, the torsion spring 6 is released, and the fixed gripper 5 is released and rotated. The fixed gripper 5 is driven by the torsion spring 6 to rotate out of the shell 4 and reach the maximum stroke, so that the fixed gripper 5 is fixed in position. In this process, the diameter is simultaneously contracted and the rod ends are locked to achieve the effect of automatically assembling the truss.

[0038] Furthermore, a fixing groove for fixing the torsion spring 6 is provided in the housing 4 .

[0039] Furthermore, an assembly method of an automated truss assembly device comprises the following steps:

[0040] Step 1: Prefabricate connecting parts facing different directions on the node 2 as needed, and connect the rear cover 3 to the connecting parts by bolts;

[0041] Step 2: Place the truss rod at the port of the fixed gripper 5 in the housing 4 by using the robot arm;

[0042] Step 3: Control the truss rod to move into the housing 4, and the torsion spring 6 starts to release after sensing the external force;

[0043] Step 4: Driven by the torsion spring 6, the fixed gripper 5 rotates and extends out of the housing 4 to the maximum stroke, and the position of the fixed gripper 5 is fixed. At this time, the gripping portion of the fixed gripper 5 locks the end of the truss rod.

[0044] The embodiments of the present invention disclosed above are only used to help illustrate the present invention. The embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. According to the content of this specification, many modifications and changes can be made. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well.

Claims

1. An automated truss assembly device, characterized in that: The invention comprises an interface (1) and a node (2), wherein the interface (1) is mounted on the node (2), and the interface (1) comprises a back cover (3), a shell (4), a fixed gripper (5) and a torsion spring (6), wherein the back cover (3) is connected to the shell (4), one end of the torsion spring (6) is connected to the inside of the shell (4), and the other end is in contact with the fixed gripper (5), and the fixed gripper (5) is mounted inside the shell (4).

2. The automated truss assembly device according to claim 1, characterized in that: The node (2) is provided with connection parts facing different directions.

3. The automated truss assembly device according to claim 2, characterized in that: The connecting portion is connected to the rear cover (3) via bolts.

4. The automated truss assembly device according to claim 1, characterized in that: The inner surface of the outer shell (4) is provided with threads, and the outer surface of the mounting portion of the fixed gripper (5) is provided with threads and is threadedly connected to the inner surface of the outer shell (4).

5. The automated truss assembly device according to claim 4, characterized in that: The inner diameter of the front end outlet of the housing (4) decreases in the radial direction.

6. The automated truss assembly device according to claim 4, characterized in that: The fixing portion of the fixing gripper (5) is conical and the cone is divided into four parts, which are evenly distributed in the circumferential direction on the end surface of the mounting portion of the fixing gripper (5).

7. The automated truss assembly device according to claim 1, characterized in that: A fixing groove for fixing the torsion spring (6) is provided in the housing (4).

8. An assembly method of an automated truss assembly device according to any one of claims 1 to 7, characterized in that: It includes the following steps: Step 1: prefabricate connecting parts facing different directions on the node (2) as needed, and connect the rear cover (3) to the connecting parts by bolts; Step 2: Using a robotic arm, place the truss rod at the port of the fixed gripper (5) in the housing (4); Step 3: Control the truss rod to move into the housing (4), and the torsion spring (6) begins to release after sensing the external force; Step 4: The fixed gripper (5) is driven by the torsion spring (6) to rotate out of the housing (4) to the maximum stroke, and the position of the fixed gripper (5) is fixed. At this time, the gripping portion of the fixed gripper (5) locks the end of the truss rod.

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