Shaft compensation module for floating fine positioning of special-shaped part and using method

Abstract

The shaft compensation module comprises a workbench, a compensation mechanism is arranged at the bottom of the workbench, the compensation mechanism comprises a first sliding block fixedly arranged at the bottom of the workbench, and a first fixing block is arranged at the bottom of the first sliding block in a sliding mode; a first moving plate is fixedly arranged at the bottom of the first fixing block, a second sliding block is fixedly arranged at the bottom of the first moving plate, a second fixing block is slidably arranged at the bottom of the second sliding block, a second moving plate is fixedly arranged at the bottom of the second fixing block, and the moving direction of the second moving plate is perpendicular to the moving direction of the first moving plate; according to the shaft compensation module for floating fine positioning of the special-shaped part, by arranging the compensation mechanism, after the rigid pin is assembled, the second connecting hole loses the benchmark, the floating compensation effect can be generated when the floating pin is connected, and the centering degree of the floating pin and the second connecting hole is improved.

Description

Technical Field

[0001] This invention relates to the field of positioning mechanism technology, and in particular to a shaft compensation module for floating precision positioning of irregularly shaped parts and its usage method. Background Technology

[0002] Assembly of irregularly shaped parts is a common process in mechanical manufacturing, electronic engineering, and precision instruments. It refers to the process of combining parts with significant differences in shape, size, material, or function into a complete component or product through specific processes. This type of assembly is widely found in industries such as automobile manufacturing, hardware tools, and consumer electronics.

[0003] When assembling rivets on irregularly shaped parts, the rivet holes need to be positioned. However, due to the non-standard shape and poor outer contour accuracy of irregularly shaped parts, it is difficult for the rivet to be accurately aligned with the rivet hole during positioning, resulting in inaccurate positioning.

[0004] Therefore, a shaft compensation module for floating precision positioning of irregularly shaped parts is proposed to solve the above problems. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a shaft compensation module and a method for floating and precise positioning of irregular parts, so as to solve the problems existing in the background technology.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a shaft compensation module for floating precision positioning of irregular parts, comprising a worktable, a clamping device provided on the top of the worktable, an irregular part placed on the clamping device, the irregular part including a first connecting hole for connecting a rigid pin and a second connecting hole for connecting a floating pin, a first through hole for the rigid pin to pass through and a second through hole for the floating pin to pass through on the worktable, and a compensation mechanism provided at the bottom of the worktable; The compensation mechanism includes a first slider fixedly disposed at the bottom of the workbench, a first fixed block slidably disposed at the bottom of the first slider, a first movable plate fixedly disposed at the bottom of the first fixed block, a second slider fixedly disposed at the bottom of the first movable plate, a second fixed block slidably disposed at the bottom of the second slider, a second movable plate fixedly disposed at the bottom of the second fixed block, and the movement direction of the second movable plate is perpendicular to the movement direction of the first movable plate. A support frame is fixedly installed at the bottom of the workbench, and a first spring pin is installed on the support frame. A first fixed plate is fixedly installed at the top of the workbench. The first fixed plate is concentrically arranged with the first through hole. The top of the first spring pin is fixedly connected to the bottom of the first fixed plate. A fastening block is fixedly installed at the bottom of the second moving plate. A second spring pin is fixedly installed on the fastening block. A second fixed plate is fixedly installed at the bottom of the second moving plate. The bottom of the second fixed plate is fixedly connected to the top of the second spring pin.

[0007] By adopting the above solution, when the rigid pin is assembled, the second connecting hole loses its reference, and the floating pin will float when connected. A compensation mechanism is used to compensate for the connection and improve the centering of the floating pin and the second connecting hole.

[0008] Preferably, a first guide shaft is connected inside the first spring pin, the top of the first guide shaft passes through the first through hole and is located inside the first connecting hole, and a second guide shaft is connected inside the second spring pin, the top of the second guide shaft passes through the second through hole and is located inside the second connecting hole.

[0009] The installation of guide shafts improves assembly accuracy and prevents rigid and floating pins from being installed crookedly. The installation of spring pins prevents the guide shaft from falling off under gravity after the rigid and floating pins are installed.

[0010] Preferably, the first movable plate is provided with a through-hole groove, through which the bottom of the support frame, the bottom of the first guide shaft, and the bottom of the second guide shaft all pass.

[0011] By adopting the above solution, the through-hole groove reduces the space required for the compensation mechanism, making it more suitable for small-space operations; on the other hand, because the positioning fluctuation range is small, the through-hole groove can meet smaller compensation requirements.

[0012] Preferably, the support frame is an L-shaped frame, with the top of the vertical end of the support frame fixedly disposed at the bottom of the workbench, and the first spring pin fixed to the horizontal end of the support frame.

[0013] By adopting the above solution, the support force on the first guide shaft is increased on the one hand, and the smaller compensation requirement is met on the other hand.

[0014] Preferably, the top of the first fixing block is provided with a first track, the first track groove is a dovetail groove, the bottom of the first slider is provided with a first connecting block that cooperates with the first track, the first connecting block is slidably connected in the first track, the top of the second fixing block is provided with a second track, the second track is a dovetail groove, the bottom of the second slider is provided with a second connecting block, the second connecting block is slidably connected in the second track.

[0015] By adopting the above solution, the dovetail groove and the matching connecting block improve the stability of the connection and prevent the slider from falling off the fixed block.

[0016] Preferably, a pneumatic gripper for centering the second guide shaft and the second connecting hole is provided below the worktable.

[0017] By adopting the above scheme, when the assembly of the floating pin loses its positioning reference after the rigid pin is assembled, the pneumatic gripper clamps the second guide shaft and restricts the horizontal movement of the second guide shaft, so that the second guide shaft serves as the positioning reference for the floating pin.

[0018] Preferably, two first fixing blocks and two first sliders are provided and are located on both sides of the through-hole groove, and two second fixing blocks and two second sliders are provided and are located on the other two sides of the through-hole groove.

[0019] The above scheme improves the stability of the moving plate by using two symmetrically arranged fixed blocks and sliders.

[0020] A method for using a shaft compensation module for floating precision positioning of irregularly shaped parts includes the following steps: S1. Insert the rigid pin into the first connecting hole and continue to push the rigid pin downward. The rigid pin pushes the first guide shaft to move downward. When the rigid pin is fully installed in the first connecting hole, the first guide shaft is locked in the first spring pin, and the rigid pin assembly is completed. S2. The pneumatic gripper rises to grasp the second guide shaft. When the second guide shaft moves in the X direction, the second spring pin connected to the second guide shaft moves accordingly, and the second fixed plate at the top of the second spring pin moves accordingly, thereby driving the second moving plate to move in the X direction. The second connecting block on the second moving plate and the second slider connected to the second connecting block move as a whole in the X direction, thereby causing the first moving plate and the first fixed block to move in the X direction. When the second guide shaft moves in the Y direction, the second spring pin connected to the second guide shaft moves accordingly, the second fixed plate at the top of the second spring pin moves accordingly, thereby driving the second moving plate to move in the Y direction, and the second connecting block on the second moving plate moves in the Y direction. S3. Insert the floating pin into the second connecting hole and continue to push the floating pin downward. The floating pin pushes the second guide shaft to move downward. When the floating pin is fully installed in the second connecting hole, the second guide shaft is locked in the second spring pin, and the floating pin assembly is completed.

[0021] The beneficial effects of this invention are: After the rigid pin is assembled, the second connecting hole loses its reference, causing the floating pin to float during connection. A compensation mechanism is used to compensate for this, improving the centering of the floating pin and the second connecting hole. A pneumatic gripper rises to grasp the second guide shaft. When the second guide shaft moves in the X direction, the second spring pin connected to it moves accordingly, as does the second fixed plate at its top. This, in turn, drives the second moving plate to move in the X direction. The second connecting block on the second moving plate and the second slider connected to it move as a whole in the X direction, causing the first moving plate and the first fixed block to move in the X direction, thus compensating for the X direction. When the second guide shaft moves in the Y direction, the second spring pin connected to it moves accordingly, as does the second fixed plate at its top. This, in turn, drives the second moving plate to move in the Y direction, causing the second connecting block on the second moving plate to move in the Y direction, thus compensating for the Y direction. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 This is a schematic diagram of the structure of the present invention.

[0023] Figure 2 This is a schematic diagram showing the positional relationship between the compensation mechanism and the clamping device of the present invention.

[0024] Figure 3 This is a front view showing the positional relationship between the compensation mechanism and the clamping device of the present invention.

[0025] Figure 4 This is a first-view schematic diagram of the compensation mechanism of the present invention.

[0026] Figure 5 This is a second-view schematic diagram of the compensation mechanism of the present invention.

[0027] Figure 6 This is a schematic diagram of a partial structure of the irregularly shaped part of the present invention.

[0028] Explanation of reference numerals in the attached figures: 1. Workbench; 2. Clamping device; 3. Irregularly shaped part; 31. First connecting hole; 32. Second connecting hole; 4. Compensation mechanism; 411. First moving plate; 4111. Through hole groove; 412. First fixing block; 4121. First track; 413. First slider; 4131. First connecting block; 414. First spring pin; 415. First guide shaft; 416. First fixed plate; 417. Support frame; 421. Second moving plate; 4221. Second track; 422. Second fixing block; 423. Second slider; 4231. Second connecting block; 424. Second spring pin; 425. Second guide shaft; 426. Second fixed plate; 427. Fastening block; 43. Pneumatic gripper. Detailed Implementation

[0029] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0030] Reference Figures 1 to 6 According to one embodiment of the present invention, a shaft compensation module for floating precision positioning of irregular parts is provided. This shaft compensation module for floating precision positioning of irregular parts includes a worktable 1, a clamping device 2 is provided on the top of the worktable 1, an irregular part 3 is placed on the clamping device 2, the irregular part 3 includes a first connecting hole 31 for connecting a rigid pin and a second connecting hole 32 for connecting a floating pin, the worktable 1 is provided with a first through hole for the rigid pin to pass through and a second through hole for the floating pin to pass through, and a compensation mechanism 4 is provided at the bottom of the worktable 1. The compensation mechanism 4 includes a first slider 413 fixedly mounted on the bottom of the workbench 1, a first fixing block 412 slidably mounted on the bottom of the first slider 413, a first moving plate 411 fixedly mounted on the bottom of the first fixing block 412, a second slider 423 fixedly mounted on the bottom of the first moving plate 411, a second fixing block 422 slidably mounted on the bottom of the second slider 423, and a second moving plate 421 fixedly mounted on the bottom of the second fixing block 422. The movement direction of the second moving plate 421 is perpendicular to the movement direction of the first moving plate 411. A support frame 417 is fixedly installed at the bottom of the workbench 1, and a first spring pin 414 is installed on the support frame 417. A first fixed plate 416 is fixedly installed at the top of the workbench 1, and the first fixed plate 416 is concentrically arranged with the first through hole. The top of the first spring pin 414 is fixedly connected to the bottom of the first fixed plate 416. A fastening block 427 is fixedly installed at the bottom of the second moving plate 421, and a second spring pin 424 is fixedly installed on the fastening block 427. A second fixed plate 426 is fixedly installed at the bottom of the second moving plate 421, and the bottom of the second fixed plate 426 is fixedly connected to the top of the second spring pin 424. The first slider 413 moves in the X direction, and the second slider 423 moves in the Y direction. The rigid pin and floating pin are existing technologies used to assemble irregularly shaped parts 3, which are to be connected.

[0031] Reference Figure 1 , Figure 2 and Figure 6 In this embodiment, a clamping device 2 is fixedly installed on the workbench 1, and the irregular part 3 is placed in the clamping device 2. The irregular part 3 includes a first connecting hole 31 and a second connecting hole 32 to be assembled. The first connecting hole 31 is used to connect a rigid pin, and the second connecting hole 32 is used to connect a floating pin. The workbench 1 is provided with a first through hole and a second through hole corresponding to the first connecting hole 31 and the second connecting hole 32, respectively.

[0032] Reference Figure 2 and Figure 4 In this embodiment, the compensation mechanism 4 includes a first movable plate 411, a first fixed block 412 is fixedly disposed on the top of the first movable plate 411, and a first slider 413 that can slide along the X direction is disposed on the top of the first fixed block 412. The top of the first slider 413 is fixedly connected to the bottom of the worktable 1. Further, a vertical through-hole groove 4111 is disposed in the middle of the first movable plate 411, and two first fixed blocks 412 and two first sliders 413 are disposed. Two first fixed blocks 412 and two first sliders 413 are symmetrically disposed on both sides of the through-hole groove 4111.

[0033] Reference Figures 3 to 5 In this embodiment, a support frame 417 and a first spring pin 414 are fixedly provided at the bottom of the workbench 1. The support frame 417 is an L-shaped frame, and the vertical end of the support frame 417 is fixed on the workbench 1. A first guide shaft 415 is connected inside the first spring pin 414. The top of the first guide shaft 415 passes through the first through hole and the upper edge of the first guide shaft 415 does not exceed the upper edge of the first connecting hole 31. The bottom of the first guide shaft 415 is connected to the horizontal end of the support frame 417. The first guide shaft 415 can move up and down, and the support frame 417 does not restrict the up and down movement of the first guide shaft 415.

[0034] Specifically, a horizontally floating steel ball is provided in the horizontal end of the support frame 417. Under normal conditions, two steel balls in the first guide shaft 415 are pressed and fixed at a certain height. When the first guide shaft 415 moves up and down, the floating steel balls in the support frame 417 move towards each other and cancel the fastening force on the first guide shaft 415. The vertical end of the support frame 417 passes through the through hole groove 4111 and the horizontal end is located below the first moving plate 411. The bottom of the first connecting shaft also passes through the through hole groove 4111 and is located below the first moving plate 411.

[0035] Reference Figure 3 In this embodiment, a first fixing plate 416 is fixedly installed on the top of the workbench 1. The first fixing plate 416 is located below the clamping device 2. The first fixing plate 416 is concentrically arranged with the first through hole. The top of the first spring pin 414 passes through the first through hole and is fixedly connected to the bottom of the first fixing plate 416.

[0036] Reference Figure 2 and Figure 4 In this embodiment, a second slider 423 is fixedly provided at the bottom of the first moving plate 411, and a second fixing block 422 that can slide along the Y direction is slidably provided at the bottom of the second slider 423. A second moving plate 421 is fixedly provided at the bottom of the second fixing block 422. Furthermore, there are two second fixing blocks 422 and two second sliders 423, which are symmetrically arranged on both sides of the through hole groove 4111.

[0037] Reference Figures 3 to 5 In this embodiment, two fastening blocks 427 are fixedly installed at the bottom of the second moving plate 421, and a second spring pin 424 is fixedly installed at the bottom of the worktable 1. A second guide shaft 425 is connected inside the second spring pin 424. The top of the second guide shaft 425 passes through the second through hole and the upper edge of the second guide shaft 425 does not exceed the upper edge of the second connecting hole 32. The bottom of the second guide shaft 425 is connected between the two fastening blocks 427. The second guide shaft 425 can move up and down. The support frame 417 does not restrict the up and down movement of the first guide shaft 415. The connection method of the fastening blocks 427 and the second guide shaft 425 is the same as the connection method and principle of the support frame 417 and the first guide shaft 415.

[0038] Reference Figure 3 and Figure 4 In this embodiment, a second fixed plate 426 is fixedly provided at the bottom of the second movable plate 421, and the bottom of the second fixed plate 426 is fixedly connected to the top of the second spring pin 424.

[0039] Reference Figure 2In this embodiment, a pneumatic gripper 43 is provided below the worktable 1. The pneumatic gripper 43 is located below the second guide shaft 425. The pneumatic gripper 43 is used to center the second guide shaft 425 and the second connecting hole 32. The second guide shaft 425 can move up and down in the gripper of the pneumatic gripper 43. Therefore, the pneumatic gripper 43 only plays a centering role and does not play a fastening role.

[0040] Reference Figure 5 In this embodiment, the top of the first fixing block 412 is provided with a first track 4121 in the Y direction, the first track 4121 is a dovetail groove, the bottom of the first slider 413 is provided with a first connecting block 4131 that cooperates with the first track 4121, the first connecting block 4131 is slidably connected in the first track 4121, the top of the second fixing block 422 is provided with a second track 4221 in the X direction, the second track 4221 is a dovetail groove, the bottom of the second slider 423 is provided with a second connecting block 4231, the second connecting block 4231 is slidably connected in the second track 4221.

[0041] The method for using the shaft compensation module for floating precision positioning of irregularly shaped parts includes the following steps: Step 1: Insert the rigid pin into the first connecting hole 31 and continue to push the rigid pin downward. The rigid pin pushes the first guide shaft 415 downward. When the rigid pin is fully installed in the first connecting hole 31, the first guide shaft 415 is locked in the first spring pin 414, and the rigid pin assembly is completed.

[0042] Specifically, refer to Figures 2 to 6 The rigid pin has a reference, so it does not float when assembled. After the rigid pin is inserted into the first connecting hole 31, the bottom of the rigid pin abuts against the top of the first guide shaft 415. The first guide shaft 415 guides the rigid pin to ensure that it is smoothly installed into the first connecting hole 31. During this assembly process, the first guide shaft 415 is pushed downward and moves downward within the first spring pin 414. At the same time, the support frame 417 releases the pressure on the first guide shaft 415. When the rigid pin is fully installed into the first connecting hole 31, the first guide shaft 415 stops moving and is fixed to the first spring pin 414. The support frame 417 resumes the pressure on the first guide shaft 415. The design of the first spring pin 414 and the support frame 417 prevents the first guide shaft 415 from falling due to gravity.

[0043] The second step involves the pneumatic gripper 43 rising to grasp the second guide shaft 425. When the second guide shaft 425 moves in the X direction, the second spring pin 424 connected to the second guide shaft 425 moves accordingly, and the second fixed plate 426 at the top of the second spring pin 424 moves accordingly, thereby driving the second moving plate 421 to move in the X direction. The second connecting block 4231 on the second moving plate 421 and the second slider 423 connected to the second connecting block 4231 move as a whole in the X direction, thereby causing the first moving plate 411 and the first fixed block 412 to move in the X direction, thus achieving compensation in the X direction. When the second guide shaft 425 moves in the Y direction, the second spring pin 424 connected to the second guide shaft 425 moves accordingly, and the second fixed plate 426 at the top of the second spring pin 424 moves accordingly, thereby driving the second moving plate 421 to move in the Y direction. The second connecting block 4231 on the second moving plate 421 moves in the Y direction to achieve compensation in the Y direction.

[0044] Specifically, refer to Figures 2 to 6 When the rigid pin is inserted into the first connecting hole 31, the first connecting hole 31 loses its positioning reference. When assembling the floating pin, the floating pin will have a misalignment problem. Therefore, the first connecting hole 31 and the floating pin must be aligned first. The pneumatic gripper 43 rises and grasps the second guide shaft 425. The second guide shaft 425 is slightly moved and then restricted under the force of the pneumatic gripper 43. At this time, the second guide shaft 425 is concentric with the second connecting hole 32 and serves as the reference for the assembly of the floating pin. When the second guide shaft 425 moves in the X direction, the second spring pin 424 is driven to move together, which causes the second fixed plate 426 and the second moving plate 421 to move in the same direction. Furthermore, the second fixed block 422 and the second slider 423 move in the same direction as a whole. The first moving plate 411, which is fixed to the second slider 423, moves in the same direction along the first slider 413, thereby achieving compensation in the X direction.

[0045] When the second guide shaft 425 moves in the Y direction, the second spring pin 424 is driven to move together, which in turn causes the second fixed plate 426 and the second moving plate 421 to move in the same direction, and the second fixed block 422 moves along the track direction of the second slider 423 to achieve compensation in the Y direction.

[0046] Third step: Insert the floating pin into the second connecting hole 32 and continue to push the floating pin downward. The floating pin pushes the second guide shaft 425 downward. When the floating pin is fully installed in the second connecting hole 32, the second guide shaft 425 is locked in the second spring pin 424, and the floating pin assembly is completed.

[0047] It is worth noting that the assembly method of the floating pin and the rigid pin is the same as that of the rigid pin. The process of assembling the rigid pin and the floating pin is realized by an external automated assembly mechanism. The floating pin has a very small degree of floating during positioning, which is sufficient when the pneumatic gripper opens.

[0048] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A shaft compensation module for floating precision positioning of irregularly shaped parts, comprising a worktable (1), characterized in that: The workbench (1) is provided with a clamping device (2) on top, and a special-shaped part (3) is placed on the clamping device (2). The special-shaped part (3) includes a first connecting hole (31) for connecting a rigid pin and a second connecting hole (32) for connecting a floating pin. The workbench (1) is provided with a first through hole for the rigid pin to pass through and a second through hole for the floating pin to pass through. The workbench (1) is provided with a compensation mechanism (4) at the bottom. The compensation mechanism (4) includes a first slider (413) fixedly disposed at the bottom of the workbench (1), a first fixing block (412) slidably disposed at the bottom of the first slider (413), a first moving plate (411) fixedly disposed at the bottom of the first fixing block (412), a second slider (423) fixedly disposed at the bottom of the first moving plate (411), a second fixing block (422) slidably disposed at the bottom of the second slider (423), a second moving plate (421) fixedly disposed at the bottom of the second fixing block (422), and the movement direction of the second moving plate (421) is perpendicular to the movement direction of the first moving plate (411). A support frame (417) is fixedly installed at the bottom of the workbench (1). A first spring pin (414) is installed on the support frame (417). A first fixed plate (416) is fixedly installed at the top of the workbench (1). The first fixed plate (416) is concentrically arranged with the first through hole. The top of the first spring pin (414) is fixedly connected to the bottom of the first fixed plate (416). A fastening block (427) is fixedly installed at the bottom of the second moving plate (421). A second spring pin (424) is fixedly installed on the fastening block (427). A second fixed plate (426) is fixedly installed at the bottom of the second moving plate (421). The bottom of the second fixed plate (426) is fixedly connected to the top of the second spring pin (424).

2. The shaft compensation module for floating precision positioning of irregularly shaped parts according to claim 1, characterized in that: The first spring pin (414) is connected to a first guide shaft (415), the top of the first guide shaft (415) passes through the first through hole and is located in the first connecting hole (31). The second spring pin (424) is connected to a second guide shaft (425), the top of the second guide shaft (425) passes through the second through hole and is located in the second connecting hole (32).

3. The shaft compensation module for floating precision positioning of irregularly shaped parts according to claim 2, characterized in that: The first movable plate (411) is provided with a through-hole groove (4111), and the bottom of the support frame (417), the bottom of the first guide shaft (415) and the bottom of the second guide shaft (425) all pass through the through-hole groove (4111).

4. The shaft compensation module for floating precision positioning of irregularly shaped parts according to claim 2, characterized in that: The support frame (417) is an L-shaped frame. The top of the vertical end of the support frame (417) is fixedly set at the bottom of the workbench (1), and the first spring pin (414) is fixed at the horizontal end of the support frame (417).

5. The shaft compensation module for floating precision positioning of irregularly shaped parts according to claim 1, characterized in that: The first fixing block (412) is provided with a first track (4121) at the top, the first track (4121) is a dovetail groove, the first slider (413) is provided with a first connecting block (4131) at the bottom that cooperates with the first track (4121), the first connecting block (4131) is slidably connected in the first track (4121), the second fixing block (422) is provided with a second track (4221) at the top, the second track (4221) is a dovetail groove, the second slider (423) is provided with a second connecting block (4231) at the bottom, the second connecting block (4231) is slidably connected in the second track (4221).

6. The shaft compensation module for floating precision positioning of irregularly shaped parts according to claim 2, characterized in that: Below the worktable (1) is a pneumatic gripper (43) for centering the second guide shaft (425) and the second connecting hole (32).

7. The shaft compensation module for floating precision positioning of irregularly shaped parts according to claim 3, characterized in that: Two of the first fixing block (412) and the first slider (413) are respectively provided and located on both sides of the through hole groove (4111). Two of the second fixing block (422) and the second slider (423) are respectively provided and located on the other two sides of the through hole groove (4111).

8. The method of using the shaft compensation module for floating precision positioning of irregularly shaped parts according to any one of claims 1-7, characterized in that: Includes the following steps: S1. Insert the rigid pin into the first connecting hole (31) and continue to push the rigid pin downward. The rigid pin pushes the first guide shaft (415) downward. When the rigid pin is fully installed in the first connecting hole (31), the first guide shaft (415) is locked in the first spring pin (414), and the rigid pin assembly is completed. S2. The pneumatic gripper (43) rises and grabs the second guide shaft (425). When the second guide shaft (425) moves in the X direction, the second spring pin (424) connected to the second guide shaft (425) moves accordingly. The second fixed plate (426) at the top of the second spring pin (424) moves accordingly, thereby driving the second moving plate (421) to move in the X direction. The second connecting block (4231) on the second moving plate (421) and the second slider (423) connected to the second connecting block (4231) move in the X direction as a whole, thereby causing the first moving plate (411) and the first fixed block (412) to move in the X direction. When the second guide shaft (425) moves in the Y direction, the second spring pin (424) connected to the second guide shaft (425) moves accordingly, and the second fixed plate (426) at the top of the second spring pin (424) moves accordingly, thereby driving the second moving plate (421) to move in the Y direction, and the second connecting block (4231) on the second moving plate (421) moves in the Y direction; S3. Insert the floating pin into the second connecting hole (32) and continue to push the floating pin downward. The floating pin pushes the second guide shaft (425) downward. When the floating pin is fully installed in the second connecting hole (32), the second guide shaft (425) is locked in the second spring pin (424), and the floating pin assembly is completed.

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