A folding hinged coupling assembly device and method for a pin shaft with a non-through hole

Abstract

The present invention discloses a device and method for assembling a pin shaft hinged in a non-transparent hole of a folding hinged pair, which relates to the technical field of assembling folding hinged pairs, including a workbench and a mechanical gripping mechanism. The mechanical gripping mechanism is arranged at the left end of the workbench, and the workbench is provided with a pin shaft conveying mechanism, a pre-positioning mechanism, a final positioning mechanism and a motion platform. The motion platform is connected to the pre-positioning mechanism, and the final positioning mechanism is arranged at the right end of the motion platform. The present invention adopts the above-mentioned device and method for assembling a pin shaft hinged in a non-transparent hole of a folding hinged pair, which overcomes the difficulties such as the lack of precise connection between the outer surface of the base part and the folding part and the assembled surface, and the small assembly space, eliminates the influence of inaccurate positioning caused by machining errors between the clamping surface and the positioning surface of the part, realizes automatic alignment of the high coaxiality of the pin shaft hole axis, and ensures the axial displacement of the pin shaft to the predetermined position.

Description

Technical Field

[0001] The present invention relates to the technical field of assembling folding hinged parts, and in particular to a hinged assembly device and method for a pin shaft in a non-through hole of a folding hinged part. Background Art

[0002] Folding hinged parts are assembled by inserting two cylindrical pins into the pin holes of the base and folding parts. The base and folding parts of this folding hinged part have complex and irregular structures and lack a precise dimensional relationship with the assembled surface, making it impossible to accurately position them directly through the external surface. Furthermore, the assembly space of this folding hinged part is small and limited, and it is a blind installation structure with pins in non-transparent holes. Furthermore, during assembly, the pin hole coaxiality requirements are extremely high, and the assembly clearance is extremely small. This makes automated assembly of this folding hinged part difficult, placing tremendous pressure on existing manufacturers to mass-produce it.

[0003] Currently published technologies for the automated assembly of pins in hinged structures include: mechanism guidance, which gradually guides the pin into the pin hole through a mechanism; and coaxiality detection, which uses visual methods and other methods to detect coaxiality in real time and provide feedback to the system for alignment. However, for the assembly of pins in non-transparent holes in folding hinged parts, the small assembly space and restricted field of view make it impossible to set up mechanism guidance or use visual methods, making these technologies difficult to apply. Furthermore, due to the extremely high coaxiality requirements and extremely small assembly clearance requirements, especially the lack of precise dimensional relationship between the outer surface of the hinged part and the surface being assembled, it cannot be used as a positioning surface. Research on automated assembly technologies for these parts is very limited. Summary of the Invention

[0004] The purpose of the present invention is to provide a folding hinged coupler with a non-through hole pin shaft hinged assembly device and method, which has the advantages of accurate and efficient assembly.

[0005] To achieve the above-mentioned objectives, the present invention provides a pin-hinged assembly device for a folding hinged coupler with a non-transparent hole, comprising a workbench and a mechanical grasping mechanism, the mechanical grasping mechanism being arranged at the left end of the workbench, the workbench being provided with a pin conveying mechanism, a pre-positioning mechanism, a final positioning mechanism and a motion platform, the motion platform being connected to the pre-positioning mechanism, the final positioning mechanism being arranged at the right end of the motion platform, the motion platform comprising an X-direction horizontal motion platform and a Y-direction horizontal motion platform, the Y-direction horizontal motion platform being arranged at the right end of the pin conveying mechanism.

[0006] Preferably, the pre-positioning mechanism includes a base part pre-positioning component and a folding part pre-positioning component, and the folding part pre-positioning component and the base part pre-positioning component both include a clamping body, a floating placement bracket, a first clamping assembly and a second clamping assembly, the second clamping assembly is connected to the clamping body, the clamping body is floatingly installed with the first clamping assembly, and the rear end of the clamping body is connected to the floating placement bracket.

[0007] Preferably, the final positioning mechanism includes a base, a Z-direction vertical motion platform, and a pneumatic chuck assembly, the pneumatic chuck assembly is connected to the Z-direction vertical motion platform, the Z-direction vertical motion platform is connected to the base, and the base is connected to the workbench.

[0008] Preferably, the pneumatic chuck assembly includes a base chuck component and a folding chuck component. The upper parts of the base chuck component and the folding chuck component are connected to the Z-axis vertical motion platform through the base, and the lower parts are connected to the positioning pin shaft. The axes between the positioning pin shafts of the base chuck component and the folding chuck component are at the same height and parallel.

[0009] Preferably, the mechanical grasping mechanism includes a grasping body, a pneumatic grasping end effector and a control system. The control system is arranged at the lower part of the grasping body, and the upper part of the grasping body is connected to the pneumatic grasping end effector.

[0010] Preferably, the pneumatic gripping end effector includes a bracket, a clamping mechanism, a paddle and a push rod, the push rod and the paddle are connected to the bracket, the lower end of the bracket is connected to the clamping mechanism, and the upper end of the bracket is connected to the gripping body.

[0011] Preferably, the X-axis horizontal motion platform is connected to the base member pre-positioning component, and the Y-axis horizontal motion platform is connected to the folding member pre-positioning component.

[0012] A method for using a hinge assembly device for a folding hinged coupler with a non-through hole inner pin shaft comprises the following steps:

[0013] S1. Grabbing and placing pre-positioning process: The machine grasping mechanism grasps the base part and the folding part and respectively places them in the base part pre-positioning component and the folding part pre-positioning component for initial positioning and floating clamping;

[0014] S2, final positioning process: the pin holes of the base part and the folding part are respectively split and aligned to achieve accurate final positioning of the pin holes;

[0015] S3, automatic clamping of base parts and folding parts;

[0016] S4, automatic pin conveying process: the X-axis horizontal motion platform aligns the pin hole of the folding part with the pin output port of the pin conveying device; the pin conveying device sequentially conveys the two pins into the pin holes of the folding part;

[0017] S5, automatic docking process: the X-axis horizontal motion platform and the Y-axis horizontal motion platform move the base part and the folding part through the CNC program so that their pin holes are coaxial;

[0018] S6. Pins are dialed in for articulation: The program controls the mobile mechanical grasping mechanism, and the mobile robot dials the two pins on the left and right sides of the paddle into the pin holes of the base part and the folding part respectively, thereby realizing the articulated assembly of the base part and the folding part;

[0019] S7. Remove the mating parts.

[0020] Preferably, S2 comprises the following steps:

[0021] S21, the Y-axis horizontal motion platform moves the base component to the bottom of the base component chuck component;

[0022] S22, the X-axis horizontal motion platform moves the folding piece to below the folding piece clamping assembly;

[0023] S23, the Z-axis vertical motion platform moves the final positioning mechanism downward to the specified position;

[0024] S24. The positioning pins under the chuck component of the base part and the chuck component of the folding part are simultaneously aligned with the pin holes of the base part and the folding part according to the self-positioning reference principle to achieve accurate final positioning of the pin holes.

[0025] Preferably, S3 comprises the following steps:

[0026] S31, the first clamping assembly performs adaptive follow-up clamping on the base member and the folding member respectively;

[0027] S32, the second clamping assembly clamps the mounting end of the first clamping assembly to fix it, so as to achieve the fixed posture of the base member and the folding member after the pin shaft hole is finally positioned;

[0028] S33, the base part chuck component and the folding part chuck component respectively withdraw the positioning pin shaft, and the Z-axis vertical motion platform makes them rise to their original position.

[0029] Therefore, the present invention adopts the above-mentioned folding hinged coupler non-through hole pin shaft hinged assembly device and method, which has the following beneficial effects:

[0030] (1) The final positioning device of the combination of the base part and the folding part pin hole provided by the present invention follows the "self-positioning reference principle", that is, the assembled pin hole itself is used as the final positioning reference for alignment, which overcomes the difficulties such as the lack of precise dimensional connection between the surface of the base part and the folding part and the assembled surface, rough surface, and limited assembly space, eliminates the influence of inaccurate positioning caused by machining errors on the clamping surface and the positioning surface of the parts, realizes automatic alignment of the pin hole axis with high coaxiality, and ensures the axial displacement of the pin to the predetermined position.

[0031] (2) The pneumatic clamping mechanism provided by the present invention adopts a secondary clamping process method. The first clamping component can be floatingly adaptively clamped without destroying the final positioning posture of the base part and the folding part pin shaft hole. The second clamping component can fix the final positioning posture of the base part and the folding part pin shaft hole to ensure that the docking motion platform realizes the coaxial docking of the base part / folding part pin shaft hole through the CNC program.

[0032] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a structural schematic diagram of an embodiment of a hinged assembly device for a folding hinged couple with a non-through hole inner pin shaft according to the present invention;

[0034] Figure 2 This is a schematic diagram of the hinged assembly of the pin shaft in the non-through hole of the folding hinged coupler of the present invention;

[0035] Figure 3 This is a schematic diagram of the folding hinged coupler after the present invention is completed;

[0036] Figure 4 This is a schematic diagram of the structure of the machine grasping mechanism of the present invention;

[0037] Figure 5 Schematic diagram of the structure of the pneumatic gripping end effector of the present invention;

[0038] Figure 6 Schematic diagram of the pre-positioning mechanism structure of the present invention;

[0039] Figure 7 Schematic diagram of the final positioning mechanism structure of the present invention;

[0040] Figure 8 This is a schematic diagram of the structure of the basic chuck component of the present invention;

[0041] Figure 9 This is a schematic structural diagram of the folding piece clamp component of the present invention;

[0042] Figure 10 This is a schematic diagram of the pneumatic chuck assembly of the present invention clamping the base member and the folding member;

[0043] Reference numerals

[0044] 1. Mechanical gripping mechanism; 11. Grasping body; 12. Pneumatic gripping end effector; 121. Bracket; 122. Clamping mechanism; 123. Paddle; 124. Push rod; 13. Control system; 2. Pre-positioning mechanism; 21. Pre-positioning component of base part; 22. Pre-positioning component of folding part; 23. Clamping body; 24. Floating placement bracket; 25. First clamping assembly; 26. Second clamping assembly; 3. Workbench; 4. Final positioning mechanism; 41. Base; 42. Z-axis vertical motion platform; 43. Base; 44. Pneumatic chuck assembly; 441. Base part chuck assembly; 442. Folding part chuck assembly; 45. Positioning pin; 5. Pin transport mechanism; 6. Motion platform; 61. Y-axis horizontal motion platform; 62. X-axis horizontal motion platform; 7. Base part; 8. Folding part; 9. Pin I; 10. Pin II. DETAILED DESCRIPTION

[0045] The technical solution of the present invention is further described below with reference to the accompanying drawings and embodiments.

[0046] Unless otherwise defined, the technical or scientific terms used in the present invention shall have the usual meanings understood by persons of ordinary skill in the field to which the present invention belongs. The words "first", "second" and similar terms used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" mean that the elements or objects preceding the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" 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 object being described changes, the relative positional relationship may also change accordingly.

[0047] Example

[0048] See also Figure 1-10 The present invention provides a pin-shaft hinged assembly device for a folding hinged coupler with a non-transparent hole, comprising a workbench 3 and a mechanical grasping mechanism 1. The mechanical grasping mechanism 1 is arranged at the left end of the workbench 3. The workbench 3 is provided with a pin-shaft conveying mechanism 5, a pre-positioning mechanism 2, a final positioning mechanism 4 and a motion platform 6. The motion platform 6 is connected to the pre-positioning mechanism 2. The final positioning mechanism 4 is arranged at the right end of the motion platform 6. The motion platform 6 includes an X-axis horizontal motion platform 62 and a Y-axis horizontal motion platform 61. The Y-axis horizontal motion platform 61 is arranged at the right end of the pin-shaft conveying mechanism 5.

[0049] The pre-positioning mechanism 2 includes a base part pre-positioning component 21 and a folding part pre-positioning component 22. The folding part pre-positioning component 22 is arranged on the X-direction horizontal motion platform 62, and the base part pre-positioning component 21 is arranged on the Y-direction horizontal motion platform 61. The X-direction horizontal motion platform 62 and the Y-direction horizontal motion platform 61 drive the folding part 8 and the base part 7 to move for final positioning.

[0050] The folding part pre-positioning component 22 and the basic part pre-positioning component 21 both include a clamping body 23, a floating placement bracket 24, a first clamping assembly 25 and a second clamping assembly 26. The mounting end of the first clamping assembly 25 is floatingly mounted on the clamping body 23, and is used for floating adaptively clamping the basic part 7 and the folding part 8 after the clamping pin shaft hole is finally positioned; the second clamping assembly 26 is fixed to the clamping body 23, and is used for clamping the mounting end of the first clamping assembly 25 to fix it. The rear end of the clamping body 23 is connected to the floating placement bracket 24, and the floating placement bracket 24 is used for the initial pre-positioning of the basic part 7 and the folding part 8.

[0051] The final positioning mechanism 4 includes a base 41, a Z-direction vertical motion platform 42, and a pneumatic chuck assembly 44. The pneumatic chuck assembly 44 is connected to the Z-direction vertical motion platform 42. The pneumatic chuck assembly 44 is installed at the output end of the Z-direction vertical motion platform 42 and can move along the Z-direction vertical direction. The Z-direction vertical motion platform 42 is connected to the base 41, and the base 41 is connected to the workbench 3.

[0052] The pneumatic chuck assembly 44 can drive the positioning pin 45 to clamp and insert the pin holes of the base part 7 and the folding part 8 to achieve the final positioning of the pin holes of the base part 7 and the folding part 8. The pneumatic chuck assembly 44 includes a base part chuck component 441 and a folding part chuck component 442. The upper parts of the base part chuck component 441 and the folding part chuck component 442 are connected to the Z-direction vertical motion platform 42 through the base 43, and the lower parts are connected to the positioning pin 45. The axes between the positioning pins 45 of the base part chuck component 441 and the folding part chuck component 442 are at the same height and parallel.

[0053] The mechanical grasping mechanism 1 is used to sequentially grasp the base component, folding component, and assembled folding articulated component from a workbench. The mechanical grasping mechanism 1 includes a grasping body 11, a pneumatic grasping end effector 12, and a control system 13. The control system 13 is used to control the mechanical grasping mechanism 1. The control system 13 is disposed at the lower portion of the grasping body 11, and the upper portion of the grasping body 11 is connected to the pneumatic grasping end effector 12. The pneumatic grasping end effector 12 includes a bracket 121, a clamping mechanism 122, a paddle 123, and a push rod 124. The push rod 124 and the paddle 123 are connected to the bracket 121. The lower end of the bracket 121 is connected to the clamping mechanism 122. The clamping mechanism 122 is used to grasp the base component 7, the folding component 8, and the assembled folding articulated component. The paddle 123 and the push rod 124 are used to dial in the paddle pin for assembly. The upper end of the bracket is connected to the grasping body.

[0054] A method for assembling a hinged pin shaft with a non-through hole in a folding hinged coupling comprises the following steps:

[0055] S1, the process of grabbing and placing the base part 7 and the folding part 8 in a pre-positioning manner

[0056] S11, the mechanical grasping mechanism 1 grasps the base component 7 to the clamp body 23 of the base component pre-positioning component 21 for initial positioning and floating clamping;

[0057] S12, the mechanical grasping mechanism 1 grasps the folding piece 8 and places it in the clamping body 23 of the folding piece pre-positioning component 22 for initial positioning and floating clamping;

[0058] S2, final positioning process of base part 7 and folding part 8

[0059] S21, the Y-axis horizontal motion platform 61 moves the base member 7 to below the final positioning mechanism 4;

[0060] S22, the X-axis horizontal motion platform 62 moves the folding member 8 to below the final positioning mechanism 4;

[0061] S23, the Z-direction vertical motion platform 42 moves the final positioning mechanism 4 downward to the designated position;

[0062] S24, the positioning pins 45 on the final positioning mechanism 4 of the base member 7 and the folding member 8 simultaneously perform split action and pin alignment on the pin holes of the base member and the folding member according to the self-positioning reference principle, thereby achieving accurate final positioning of the pin holes;

[0063] S3, automatic clamping process of base part 7 and folding part 8

[0064] S31, the first clamping assembly 25 performs adaptive follow-up clamping on the base member 7 and the folding member 8 respectively;

[0065] S32, the second clamping assembly 26 clamps the mounting end of the first clamping assembly 25 to fix it, so as to achieve the fixed posture of the base member 7 and the folding member 8 after the pin shaft holes are finally positioned;

[0066] S33, the base part chuck component 441 and the folding part chuck component 442 are respectively removed from the positioning pin shaft 45, and the Z-axis vertical motion platform 42 is raised to the original position;

[0067] S4. Automatic pin transport process

[0068] S41, the X-axis horizontal motion platform 62 aligns the pin hole of the folding member 8 with the pin output port of the pin transport mechanism 5 through the numerical control program;

[0069] S42, the pin conveying mechanism 5 sequentially delivers the pin I9 and the pin II10 into the pin holes of the folding member 8;

[0070] S5, automatic docking process of base part 7 and folding part 8

[0071] S51, the motion platform moves the base member 7 and the folding member 8 through the numerical control program so that their pin holes are coaxial;

[0072] S6, pin dialing in articulation process

[0073] S61. The program controls the mobile mechanical grasping mechanism 1 to align the paddle 123 on the grasping body 11 with the joint of the two pins that have been inserted into the holes and insert the paddle 123 into the joint surface of the two pins. The mobile robot then paddles the two pins on the left and right of the paddle 123 into the pin holes of the base member 7 and the folding member 8, respectively, to achieve the articulated assembly of the base member 7 and the folding member 8.

[0074] S7, the process of removing the matching parts

[0075] S71, the first clamping assembly 25 and the second clamping assembly 26 are released;

[0076] S72, the X-axis horizontal motion platform 62 moves the assembled folding hinged parts to a designated position;

[0077] S73, the grabbing body 11 drives the clamping mechanism 122 to grab the folding hinged coupler to complete the blanking.

[0078] Therefore, the present invention adopts the above-mentioned folding hinged parts pin shaft hinged assembly device and method in non-transparent holes. The final positioning mechanism is aligned according to the "self-positioning reference principle", that is, the assembled pin shaft hole itself is used as the final positioning reference. It overcomes the problems of no precise dimensional connection between the base part and the folding part appearance and the assembled surface, rough surface, and narrow and limited assembly space. It eliminates the influence of inaccurate positioning caused by machining errors on the clamping surface and the positioning surface of the parts, realizes high coaxiality automatic alignment of the pin shaft hole axis, and ensures the axial displacement of the pin shaft to the predetermined position. The pneumatic clamping mechanism provided by the present invention adopts a secondary clamping process method. The first clamping component can be floating and adaptively clamped without destroying the final positioning posture of the base part and the folding part pin shaft hole. The second clamping component can fix the posture of the base part and the folding part pin shaft hole after final positioning, ensuring that the docking motion platform realizes the coaxial docking of the base part / folding part pin shaft hole through the numerical control program.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the same. 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 solutions of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A hinge assembly device for a folding hinged coupler with a non-through hole inner pin shaft, characterized by: It includes a workbench and a mechanical grasping mechanism. The mechanical grasping mechanism is arranged at the left end of the workbench. The workbench is provided with a pin conveying mechanism, a pre-positioning mechanism, a final positioning mechanism and a motion platform. The motion platform is connected to the pre-positioning mechanism. The final positioning mechanism is arranged at the right end of the motion platform. The motion platform includes an X-axis horizontal motion platform and a Y-axis horizontal motion platform. The Y-axis horizontal motion platform is arranged at the right end of the pin conveying mechanism. The pre-positioning mechanism includes a base pre-positioning component and a folding component pre-positioning component, and the folding component pre-positioning component and the base pre-positioning component each include a clamping body, a floating placement bracket, a first clamping assembly and a second clamping assembly, the second clamping assembly is connected to the clamping body, the clamping body is floatingly installed with the first clamping assembly, and the rear end of the clamping body is connected to the floating placement bracket; The final positioning mechanism includes a base, a Z-direction vertical motion platform, and a pneumatic chuck assembly, wherein the pneumatic chuck assembly is connected to the Z-direction vertical motion platform, the Z-direction vertical motion platform is connected to the base, and the base is connected to the workbench; The mechanical grasping mechanism includes a grasping body, a pneumatic grasping end effector and a control system. The control system is arranged at the lower part of the grasping body, and the upper part of the grasping body is connected to the pneumatic grasping end effector.

2. A folding hinge assembly device for a non-through hole inner pin of a hinged coupling according to claim 1, characterized in that: The pneumatic chuck assembly includes a basic chuck component and a folding chuck component. The upper parts of the basic chuck component and the folding chuck component are connected to the Z-axis vertical motion platform through the base, and the lower parts are connected to the positioning pin shaft. The axes between the positioning pin shafts of the basic chuck component and the folding chuck component are at the same height and parallel.

3. A folding hinge assembly device for a non-through-hole inner pin of a hinged coupling according to claim 2, characterized in that: The pneumatic grabbing end effector includes a bracket, a clamping mechanism, a paddle and a push rod. The push rod and the paddle are connected to the bracket, the lower end of the bracket is connected to the clamping mechanism, and the upper end of the bracket is connected to the grabbing body.

4. A folding hinge assembly device for a non-through-hole inner pin of a hinged coupling according to claim 3, characterized in that: The X-direction horizontal motion platform is connected to the pre-positioning component of the base part, and the Y-direction horizontal motion platform is connected to the pre-positioning component of the folding part.

5. A method for using the folding hinged coupler non-through hole inner pin hinge assembly device according to any one of claims 1 to 4, characterized in that: The following steps are involved: S1. Grabbing and placing pre-positioning process: The machine grasping mechanism grasps the base part and the folding part and respectively places them in the base part pre-positioning component and the folding part pre-positioning component for initial positioning and floating clamping; S2, final positioning process: the pin holes of the base part and the folding part are respectively split and aligned to achieve accurate final positioning of the pin holes; S3, automatic clamping of base parts and folding parts; S4, automatic pin conveying process: the X-axis horizontal motion platform aligns the pin hole of the folding part with the pin output port of the pin conveying device; the pin conveying device sequentially conveys the two pins into the pin holes of the folding part; S5, automatic docking process: the X-axis horizontal motion platform and the Y-axis horizontal motion platform move the base part and the folding part through the CNC program so that their pin holes are coaxial; S6. Pins are dialed in for articulation: The program controls the mobile mechanical grasping mechanism, and the mobile robot dials the two pins on the left and right sides of the paddle into the pin holes of the base part and the folding part respectively, thereby realizing the articulated assembly of the base part and the folding part; S7. Remove the mating parts.

6. The method for using the hinge assembly device for the folding hinged coupler with a non-through hole inner pin according to claim 5, characterized in that: S2 includes the following steps: S21, the Y-axis horizontal motion platform moves the base component to the bottom of the base component chuck component; S22, the X-axis horizontal motion platform moves the folding piece to below the folding piece clamping assembly; S23, the Z-axis vertical motion platform moves the final positioning mechanism downward to the specified position; S24. The positioning pins under the chuck component of the base part and the chuck component of the folding part are simultaneously aligned with the pin holes of the base part and the folding part according to the self-positioning reference principle to achieve accurate final positioning of the pin holes.

7. The method for using the hinge assembly device for the folding hinged coupler with a non-through hole inner pin according to claim 6, characterized in that: S3 includes the following steps: S31, the first clamping assembly performs adaptive follow-up clamping on the base member and the folding member respectively; S32, the second clamping assembly clamps the mounting end of the first clamping assembly to fix it, so as to achieve the fixed posture of the base member and the folding member after the pin shaft hole is finally positioned; S33, the base part chuck component and the folding part chuck component respectively withdraw the positioning pin shaft, and the Z-axis vertical motion platform makes them rise to their original position.

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