A hinge oil tube assembly apparatus and method of assembly

Abstract

The application discloses a hinge oil pipe assembly device and assembly method, aiming at solving the technical problems that the existing intermittent rotary workbench cannot simultaneously consider precision and efficiency when assembling the hinge oil pipe assembly, and the vibration, inertia and centrifugal force generated by the workbench rotation and work station transfer cause the oil pipe telescopic rod through hole and the riveting hole of the triangular piece to be misaligned, causing the rivet collision, part scratch and deformation, and the existing solutions cannot simultaneously consider precision and efficiency. The device comprises an intermittent rotary workbench, a multi-station mechanism, a matching control module, a sensing module and the like; the method comprises a cooperative process of vibration monitoring, deviation determination, active compensation and rivet riveting, and can realize real-time monitoring of the vibration state, accurate identification of the hole deviation and compensation, and ensure that the two holes are coaxial and then riveted. The application realizes high-precision and high-efficiency assembly in a vibration environment, effectively improves the production yield, reduces the cost, is suitable for large-scale production, has a reasonable structure, is convenient to operate and has high automation.

Description

Technical Field

[0001] This invention relates to the field of hardware hinge assembly technology, specifically to a hinge oil pipe assembly device and assembly method. Background Technology

[0002] The oil pipe assembly is a core component of a hydraulic hinge. This assembly is usually made up of a triangular piece and an oil pipe riveted together with pins. The assembly accuracy directly affects the overall performance and service life of the hydraulic hinge. Therefore, there are high requirements for the automated assembly quality of the oil pipe assembly.

[0003] To improve the assembly efficiency of tubing components and meet the needs of large-scale production, existing automated assembly lines generally use rotary worktables for parts transportation and assembly. This assembly mode is equipped with a control mechanism and a series of mechanisms such as stacking group feeding, triangular feeding, pin insertion, riveting, and finished product unloading are arranged around the rotation direction of the rotary worktable. This enables multi-station synchronous operation and effectively improves assembly efficiency.

[0004] However, existing rotary worktables inevitably generate vibrations during rotation. Combined with the inertia and centrifugal force from the transfer and rotation of several workstations, this can cause misalignment of the through holes on the oil pipe telescopic rod used for riveting with the triangular parts during assembly (since the telescopic rod is smaller than the cylinder part of the oil pipe, the fixture only clamps the cylinder part of the oil pipe). Specifically, at the pin-piercing station, the riveting hole and the through hole of the triangular part are misaligned, causing the pin to collide with the through hole when it passes through the riveting hole and the through hole, resulting in scratches and deformation of the parts and affecting the production yield. Summary of the Invention

[0005] To address the aforementioned problems in the prior art, the present invention provides a hinged tubing assembly device and assembly method.

[0006] The objective of this invention can be achieved through the following technical solutions: A hinged tubing assembly assembly device and method, comprising the following steps: S1. Vibration monitoring steps: The feeding mechanism sends the triangular piece and oil pipe into the fixture and clamps them in the feeding station. At this time, the through hole in the telescopic rod of the oil pipe is aligned with the riveting hole in the triangular piece. After the fixture rotates with the worktable to the nail insertion station and completes the positioning, the sensing module is used to detect the overall average value of the vibration intensity during the transmission process between the feeding station and the riveting station, and feeds the vibration data back to the control module. S2, Deviation Judgment Step: The control module judges the received vibration data. If the vibration data is greater than the threshold M1, the recognition module is triggered. The recognition module recognizes and images the through hole and the riveting hole, and identifies the angle between their axes and feeds it back to the control module. If the angle A between the axes is greater than the threshold M2, the process proceeds to step S3; otherwise, it proceeds to step S4. If the vibration data is less than the threshold M1, proceed to step S4; S3, Active Compensation Step: Based on the axis angle data fed back by the vision positioning module, the control module controls the active compensation actuator to drive the piston rod to move until the axis of the through hole and the riveting hole are coaxial, and then proceeds to step S4. S4. Riveting Step: The control module controls the rivet-through mechanism to pass the pin through the riveting hole of the hinge triangle and the through hole of the hydraulic oil pipe at the same time. Then, the worktable is rotated so that the pin enters the riveting station for riveting.

[0007] Furthermore, in step S2, the identification module synchronously identifies the distance h between the axes of the through hole and the riveting hole. If the distance h is greater than the threshold M3 and / or the included angle A is greater than the threshold M2, then proceed to step S3; otherwise, proceed to step S4.

[0008] Furthermore, the control module has preset distance reference threshold M30 and included angle reference threshold M20 corresponding to the standard aperture R0 of the through hole. The control module calculates the actual thresholds M2 and M3 based on R0, M30, M20 and the actual aperture R1 of the through hole, M2=a*M20*R1 / R0, M3=b*M30*R1 / R0; where a and b are adjustment coefficients.

[0009] Further, in step S2, the control module calculates the comprehensive influence parameter Q=k1*A+k2*h based on the included angle A and the distance h; and if the comprehensive influence parameter Q is greater than the preset value M4, the control module proceeds to step S3; otherwise, it proceeds to step S4, where k1+k2=1 and k2 / k1=M2 / M3.

[0010] Furthermore, the control module has a preset standard threshold M10 for the average vibration intensity corresponding to the standard aperture R0 of the through hole. The control module corrects the actual threshold M1 corresponding to the average vibration intensity to B1 times based on R0 and the standard threshold M10, where B1=c*R1 / R0; and c is the adjustment coefficient.

[0011] Furthermore, after receiving the vibration intensity data, the control module generates a curve P(Z) showing the change of vibration intensity Z over time. The control module calculates the integral value J of the curve P(Z) in real time. When the control module detects that the integral value J is greater than the set value, it corrects the actual threshold M1 corresponding to the average vibration intensity downward.

[0012] The present invention also includes a hinged tubing assembly assembly device for implementing the above-mentioned hinged tubing assembly method, comprising an intermittently rotating worktable, a feeding station, a nail insertion station, and a riveting station arranged sequentially around the worktable, as well as a control module, a sensing module, an identification module, an active compensation actuator, a nail insertion mechanism, and a clamp. The clamps are evenly installed on the worktable to clamp and fix the triangular pieces and oil pipes; The sensing module is installed at the nail-threading station to detect the overall average vibration intensity of the fixture as it rotates from the loading station to the nail-threading station, and transmits the vibration data to the control module. The identification module is set up for the nail-piercing station and is used to identify the included angle and distance between the axes of the through hole of the oil pipe telescopic rod and the riveting hole of the triangular piece. The active compensation actuator is electrically connected to the control module and is used to drive the oil pipe piston rod to move under the control of the control module to achieve deviation compensation; The pin-passing mechanism is set up corresponding to the pin-passing station to pass the pin through the through hole and the rivet hole; All modules and mechanisms are coordinated and linked by the control module.

[0013] Furthermore, it also includes a control panel.

[0014] The beneficial effects of this invention are as follows: the vibration intensity during the transmission process is monitored in real time by the sensing module, the deviation between the through hole and the riveting hole is identified by the identification module, and the deviation is compensated by the active compensation actuator, forming a "monitoring-judgment-compensation" control, which avoids the collision problem between the pin and the through hole when the pin is inserted, effectively reduces defects such as scratches, deformation and scrap of parts, and improves the production yield. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the assembly method of the present invention. Detailed Implementation

[0016] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0017] The following disclosure provides many different embodiments or examples for implementing different structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0018] As in the example: The oil pipe assembly is a core component of a hydraulic hinge. This assembly is usually made up of a triangular piece and an oil pipe riveted together with pins. The assembly accuracy directly affects the overall performance and service life of the hydraulic hinge. Therefore, there are high requirements for the automated assembly quality of the oil pipe assembly.

[0019] To improve the assembly efficiency of tubing components and meet the needs of large-scale production, existing automated assembly lines generally use rotary worktables for parts transportation and assembly. This assembly mode is equipped with a control mechanism and a series of mechanisms such as stacking group feeding, triangular feeding, pin insertion, riveting, and finished product unloading are arranged around the rotation direction of the rotary worktable. This enables multi-station synchronous operation and effectively improves assembly efficiency.

[0020] However, existing rotary worktables inevitably generate vibrations during rotation. Combined with the inertia and centrifugal force from the transfer and rotation of several workstations, this can cause misalignment of the through holes on the oil pipe telescopic rod used for riveting with the triangular parts during assembly (since the telescopic rod is smaller than the cylinder part of the oil pipe, the fixture only clamps the cylinder part of the oil pipe). Specifically, at the pin-piercing station, the riveting hole and the through hole of the triangular part are misaligned, causing the pin to collide with the through hole when it passes through the riveting hole and the through hole, resulting in scratches and deformation of the parts, affecting production yield and assembly efficiency.

[0021] Based on this, please refer to Figure 1 A method for assembling a hinged tubing assembly includes the following steps: S1. Vibration monitoring step: The feeding mechanism sends the triangular piece and oil pipe into the corresponding clamping area of ​​the special fixture in the feeding station according to the preset part positioning parameters. The fixture clamps and fixes the triangular piece and oil pipe cylinder through a pneumatic elastic clamping structure (refer to the patent document with application number "201910991141.7"). During this process, the through hole in the telescopic rod of the oil pipe is aligned with the riveting hole in the triangular piece to avoid initial position deviation. Subsequently, the fixture rotates with the intermittently rotating worktable at a preset step angle, gradually moving to the nail-piercing station. During the movement, the sensing module is activated. This sensing module uses a common vibration data acquisition device to detect preset monitoring points in the middle of the oil pipe cylinder body, collecting vibration data in real time throughout the entire transmission process from the loading station to the nail-piercing station. The sensor transmits the collected discrete vibration signals to the control module, which filters and reduces noise on the vibration data, calculates the overall average vibration intensity during the transmission process, and then feeds back the processed vibration data to the judgment unit of the control module in real time.

[0022] S2. Deviation Judgment Step: The judgment unit of the control module receives the overall average vibration intensity data transmitted by the sensor module after filtering and noise reduction, and starts the preset judgment algorithm to compare the vibration data with the actual threshold M1 that has been stored and corrected in the control module in advance. The threshold M1 has been dynamically corrected according to the actual hole diameter R1 of the through hole to adapt to the specifications of the currently assembled oil pipe assembly, so as to avoid misjudgment or missed judgment due to improper threshold adaptation.

[0023] If the overall average value of the monitored vibration intensity is greater than the preset threshold M1, it means that the vibration intensity exceeds the preset safety range during the entire transmission process of the fixture rotating from the loading station to the pin-threading station with the workbench. This vibration exceeding the safety range, combined with the inertia and centrifugal force generated by the rotation of the workbench, can easily cause the oil pipe telescopic rod to deviate slightly or rotate, which in turn causes the through hole on the oil pipe telescopic rod and the riveting hole on the triangular piece to misalign, affecting the accuracy of subsequent pin-threading and riveting. At this time, the control module sends a start command to the recognition module, triggering the recognition module to enter the working state. The two industrial cameras in the recognition module start synchronously and aim at the through hole of the oil pipe telescopic rod and the riveting hole of the triangular piece respectively to perform high-definition imaging. During the imaging process, a supplementary lighting mechanism is used to ensure that the image is clear, without blur or shadows, providing a high-quality image foundation for subsequent hole position recognition. Subsequently, the image processing unit performs a series of conventional processing such as contour extraction, feature point matching, and edge calibration on the two high-definition images to identify the center position of the through hole and the riveting hole, and then calculates the included angle A between the two axes and the vertical distance h between the axes. The calculated included angle A and distance h are fed back to the judgment unit of the control module in real time in the form of digital signals. After receiving the data of the included angle A and the distance h, the judgment unit of the control module compares them with the preset actual thresholds M2 and M3 respectively. If the included angle A is greater than the threshold M2 and / or the distance h is greater than the threshold M3, that is, if either of these conditions is met, it means that the misalignment between the through hole and the riveting hole has exceeded the preset assembly tolerance range. If the pin is directly inserted, it is easy for the pin to collide with the through hole, causing scratches and deformation of the parts. Therefore, the active compensation process needs to be initiated. The control module sends a preparation command to the active compensation actuator and enters the S3 active compensation step. Conversely, if the included angle A is less than or equal to the threshold M2 and the distance h is less than or equal to the threshold M3, it means that the misalignment between the two holes is within the preset assembly tolerance range. No active compensation is required, and the assembly can directly enter the S4 pin insertion and riveting step, so that the assembly efficiency is not affected.

[0024] Furthermore, if the overall average value of the monitored vibration intensity is less than or equal to the preset threshold M1, it indicates that the vibration intensity of the fixture during the transmission process with the worktable is within a safe range. This weak vibration is insufficient to overcome the clamping force of the fixture and will not cause the oil pipe telescopic rod to deviate. Therefore, it can be determined that the through hole on the oil pipe telescopic rod and the riveting hole on the triangular piece still maintain the initial coaxial alignment state and there will be no misalignment problem. There is no need to start the identification module to identify the hole position, and directly enter the S4 riveting step. While ensuring the assembly accuracy, the assembly efficiency is maximized and unnecessary process time is avoided.

[0025] In other embodiments, the parameter storage unit of the control module pre-stores a distance reference threshold M30 and an included angle reference threshold M20 corresponding to the standard bore diameter R0 (i.e., the standard size of the through hole of the tubing telescopic rod specified in the design drawings). These two sets of reference thresholds can be verified through a limited number of tests. Before the actual assembly operation begins, the operator will input the actual bore diameter R1 of the tubing assembly to be assembled to the control module through the control panel. After receiving the actual bore diameter parameter, the control module automatically calls the preset threshold calculation algorithm, and calculates the actual threshold M2 (axis included angle determination threshold) and threshold M3 (axis distance determination threshold) adapted to the current part specifications by combining the pre-stored R0, M30, and M20 parameters. The specific calculation formulas are: M2=a*M20*R1 / R0, M3=b*M30*R1 / R0. Here, 'a' and 'b' are adjustable correction coefficients, with a preset value range of 0.8-1.2. These coefficients can be flexibly adjusted by operators based on actual assembly conditions, part machining errors, and production yield requirements. For example, when the part machining accuracy is high and the assembly gap is small, the values ​​of 'a' and 'b' can be appropriately reduced to lower the stringency of the judgment threshold and avoid efficiency loss due to overcompensation. When the part machining accuracy is low and vibration interference is large, the values ​​of 'a' and 'b' can be appropriately increased to raise the stringency of the judgment threshold and ensure the accuracy of deviation identification. This allows for accurate adaptation of the threshold to oil pipe assemblies of different specifications and machining accuracy, effectively avoiding misjudgments and missed judgments caused by a fixed threshold. This further improves the adaptability and stability of the entire assembly process and ensures that the assembly accuracy of oil pipe assemblies of different specifications can meet the preset standards. It should be noted that changes in the actual diameter R1 of the through hole have a direct and critical impact on threshold calculation, deviation judgment accuracy, and subsequent assembly processes. This impact permeates the entire process of threshold correction, deviation judgment, and compensation, specifically manifesting in the following aspects: First, when R1 is smaller than the standard diameter R0 of the through hole, meaning the actual size of the through hole for the tubing telescopic rod is too small, the calculated results of M2 and M3 will decrease accordingly according to the above calculation formula. This is because when R1 is small, the clearance between the pin and the through hole will naturally increase, and there may even be a tendency for an interference fit. Even if there is a small axial angle A or axial distance h between the two holes, it is very easy for the pin to collide with the inner wall of the through hole, causing scratches, deformation, or even preventing the pin insertion operation. Therefore, it is necessary to increase the stringency of the judgment threshold. By reducing M2 and M3, it is ensured that as long as the misalignment between the two holes reaches a small value, an active compensation step will be triggered. Accurate compensation will make the axes of the two holes coaxial, avoiding collision problems and ensuring assembly accuracy. Second, when R1 is greater than the standard bore diameter R0, meaning the actual size of the through hole in the tubing telescopic rod is too large, the calculated results of M2 and M3 will increase accordingly according to the above calculation formula. This is because when R1 is larger, the clearance between the pin and the through hole will naturally increase. Even if there is a certain axial angle A or axial distance h between the two holes, the pin can still pass through both holes smoothly without collision damage to the parts. Therefore, there is no need to set the judgment threshold too low. Appropriately increasing M2 and M3 can avoid over-compensation, reduce the time consumption caused by the compensation process, and balance assembly accuracy and efficiency. At the same time, a larger R1 also means that the fault tolerance space of the through hole itself is increased, and the impact of small misalignments caused by vibration on assembly will be reduced accordingly. At this time, while reasonably increasing the threshold, it can also avoid misjudgment caused by an excessively small threshold, ensuring that parts that meet the assembly requirements do not need to go through the compensation process and can directly enter the pin riveting step.

[0026] In other embodiments, the control module can calculate the comprehensive influence parameter Q=k1*A+k2*h based on the included angle A and the distance h; where k1+k2=1, and k2 / k1=M2 / M3. The purpose of this setting is to solve the problem that "both included angle A and distance h do not exceed the corresponding thresholds M2 and M3, but the combined effect of the two may still lead to pin collision and part damage," thus avoiding the technical limitations of single parameter judgment and ensuring the comprehensiveness and accuracy of deviation judgment. Specifically, in the pin riveting process of the hinge oil pipe assembly, the misalignment deviation between the through hole of the oil pipe telescopic rod and the riveting hole of the triangular piece is not a single dimension. The two deviation parameters, the included angle A of the axis and the distance h of the axis (when the two axes are not on the same plane), often exist simultaneously, and their influence on the pin-driving process is not independent, but rather superimposed and interactive. Even if the individual parameters do not exceed the preset tolerance, the combined deviation after superposition may still exceed the assembly safety threshold, causing assembly defects. When the included angle of the axes A≤M2 and the distance between the axes h≤M3, from the perspective of single parameter judgment logic, the misalignment of the two holes is within the safe range. However, in the actual assembly process, if both have a certain degree of deviation, the combined effect will cause the fitting clearance between the pin and the through hole to be compressed. Especially in the scenario where the actual diameter R1 of the oil pipe through hole is small and the fitting clearance between the pin and the through hole is small, it may cause the pin to collide slightly with the inner wall of the through hole. This may not only cause scratches and deformation on the surface of the parts, but also problems such as poor pin insertion and pin jamming, which seriously affect the assembly quality and production efficiency. In the scenario where R1 is large, although the fitting clearance is large, the superimposed deviation may still cause uneven contact between the pin and the hole wall after the pin passes through, which may lead to subsequent riveting loosening, part shaking and other hidden dangers, affecting the overall structural stability of the oil pipe assembly. Therefore, the control module calculates the comprehensive influence parameter Q to determine the special case of "single parameter qualified, comprehensive deviation exceeding the standard". If the comprehensive influence parameter Q is greater than the preset value M4, it means that the deviation after the two are added has exceeded the assembly safety range, and it is necessary to enter the S3 active compensation step. Through the accurate adjustment of the active compensation actuator, the comprehensive deviation is completely eliminated to ensure that the two hole axes are coaxial. Conversely, if Q≤M4, it means that the comprehensive influence after the two are added is within the preset safety tolerance range, and no active compensation is required. It can directly enter the S4 riveting step, which ensures the assembly accuracy while avoiding the process time caused by over-compensation, thus balancing accuracy and efficiency.

[0027] The formula Q=k1*A+k2*h here is not set arbitrarily, but is a reasonable expression derived from a limited number of experiments based on actual assembly needs, the weight of deviation impact, and threshold adaptation logic. Its rationality is mainly reflected in the following four aspects, ensuring that the formula can reflect the comprehensive impact of the misalignment of the two holes: First, the rationality of weight allocation, that is, the values of k1 and k2 follow the logic of k2 / k1=M2 / M3 and k1+k2=1, which realizes the accurate matching between the influence weight of deviation parameters and the judgment threshold. The axis included angle A and the axis distance h have different degrees of influence on the piercing process, and this degree of influence is directly related to the corresponding judgment thresholds M2 and M3. A larger threshold indicates that the allowable deviation range of this parameter is larger, and its influence weight on the piercing assembly is relatively smaller; a smaller threshold indicates that the allowable deviation range of this parameter is smaller, and its influence weight on the piercing assembly is relatively larger. The setting of k2 / k1=M2 / M3 in the formula realizes the adaptation logic of "the influence weight is inversely proportional to the threshold". For example, when M2<M3, it indicates that the allowable deviation of the axis included angle A is smaller and its influence on assembly is greater. At this time, k1>k2, that is, the included angle A occupies a higher weight in the comprehensive parameter Q, ensuring that the deviation parameter with greater influence is considered as a priority; on the contrary, when M2>M3, the axis distance h has a greater influence, and k2>k1, making the distance h occupy a dominant position in the Q value calculation, so as to avoid deviation misjudgment caused by unreasonable weight allocation. Meanwhile, the setting of k1+k2=1 limits the comprehensive influence parameter Q within a reasonable numerical range, enabling it to be accurately compared with the preset threshold M4, avoiding abnormal large or small Q values caused by weight superposition, and ensuring the stability and reliability of the judgment logic; Second, the formula linearly superimposes the two key deviation parameters of the axis included angle A and the axis distance h, which conforms to the actual law of the influence of two-hole misalignment on the piercing. In the actual assembly process, the deviation caused by the axis included angle A is "the axes of the pin and the through hole are not collinear", which will cause a lateral force between the pin and the inner wall of the through hole when the pin penetrates; the deviation caused by the axis distance h is "the center offset between the pin and the through hole", which will cause a radial force between the pin and the inner wall of the through hole when the pin penetrates. These two forces are superimposed on each other, jointly affecting the smoothness of pin penetration and the integrity of parts. The linear superposition calculation method can reflect this superposition effect, and has a simple and efficient calculation logic, which adapts to the judgment requirements of the control module — the control module can quickly receive the detection data of A and h, obtain the Q value through simple linear calculation without complex algorithm operation, ensure the real-time performance of deviation judgment, meet the efficient operation requirements of the automated assembly line, and avoid affecting production efficiency due to excessive calculation time; In summary, the calculation formula of the comprehensive influence parameter Q not only follows the actual law of deviation influence, but also is highly coordinated with the entire deviation judgment system and threshold correction logic. With scientific weight allocation, efficient calculation and strong adaptability, it can accurately capture scenarios where a single parameter is qualified but the comprehensive deviation exceeds the standard, effectively avoid the problem of missed judgment, provide a scientific and reliable basis for deviation judgment, further improve the accuracy and practicability of the entire assembly method, and ensure the dual improvement of assembly quality and production efficiency.

[0028] In addition, the control module has a preset standard threshold M10 for the average vibration intensity corresponding to the standard aperture R0 of the through hole. This standard threshold M10 is a benchmark parameter that has been verified by a limited number of tests and is based on the assembly characteristics and vibration tolerance limits of different specifications of tubing assemblies. Its value is accurately matched with R0. Different R0s correspond to different structural stiffness and vibration resistance of the tubing telescopic rod. The larger the R0, the higher the structural stiffness of the tubing telescopic rod and the stronger the vibration resistance. The corresponding M10 value can be appropriately relaxed. The smaller the R0, the weaker the structure of the tubing telescopic rod and the weaker the vibration resistance. The corresponding M10 value is more stringent, ensuring that the standard threshold M10 can provide a scientific and unified benchmark for the vibration judgment of tubing assemblies of different specifications. In actual assembly operations, the control module does not directly use the standard threshold M10 as the actual threshold for vibration judgment. Instead, it dynamically corrects M10 based on the actual aperture R1 of the through hole of the oil pipe assembly to be assembled, and corrects the actual threshold M1 corresponding to the average vibration intensity to B1 times the standard threshold M10. The specific correction formula is B1=c*R1 / R0. When R1 is greater than the standard through-hole diameter R0, meaning the actual size of the through-hole of the tubing telescopic rod is too large, according to the correction formula B1=c*R1 / R0, since R1 is greater than R0, the ratio of R1 / R0 is greater than 1. In this case, the value of M1 is too large, which means that the vibration judgment standard is appropriately relaxed, reducing unnecessary identification and compensation processes. While ensuring smooth nail insertion and avoiding collisions, it also takes into account production efficiency and part protection. At the same time, the risk of deviation and missed judgment may be compensated by the subsequent comprehensive parameter Q. When R1 is less than the standard through-hole diameter R0, meaning the actual size of the through-hole of the tubing telescopic rod is too small, according to the correction formula B1=c*R1 / R0, since R1 is less than R0, the ratio of R1 / R0 is less than 1. In this case, the value of M1 is too small, which means that the vibration judgment standard is more stringent. It promptly triggers the identification module to detect the hole position, avoiding the impact of vibration accumulation on the riveting quality, and adapting to the assembly accuracy requirements when R1 is too large.

[0029] Where c is an adjustable correction coefficient, with a preset value range of 0.9-1.1. It can be flexibly adjusted by the operator according to the actual production conditions. For example, when the production environment has large vibration interference and the part processing accuracy is low, the value of c can be appropriately increased to make the actual threshold M1 more stringent and avoid the risk of hole misalignment caused by vibration in advance. When the production environment is relatively stable and the part processing accuracy is high, the value of c can be appropriately decreased to relax the vibration judgment standard, avoid over-triggering the recognition module, and improve assembly efficiency. Through this correction logic, the actual threshold M1 is accurately matched with the current assembly part specifications and production conditions, ensuring the accuracy and flexibility of vibration judgment.

[0030] In other embodiments, after receiving the vibration data transmitted by the sensing module, the control module processes and analyzes the vibration data in real time to generate a dynamic curve P(Z) showing the change of vibration intensity Z over time. This curve intuitively reflects the trend, fluctuation amplitude, and duration of vibration intensity changes throughout the entire transmission process from the loading station to the pin-threading station, providing a more comprehensive data analysis basis for accurately determining the impact of vibration. Based on this, the control module calculates the integral value J of the vibration intensity curve P(Z) in real time. The formula for calculating the integral value J is J = Where t0 is the time interval from the loading station to the pin insertion station, and the physical meaning of the integral value J is the cumulative effect of vibration intensity during the entire transmission process. Even if the average vibration intensity does not exceed the actual threshold M1, if the vibration duration is long and the fluctuations are frequent, a large cumulative vibration effect will be generated. This cumulative effect may still cause a slight displacement of the oil pipe telescopic rod, causing hole misalignment. The single average vibration intensity cannot capture this cumulative effect (there are fluctuations in instantaneous values, such as one instantaneous value being high and the other being low, so the average value is not actually high, but the instantaneous value has a large impact on the through hole displacement). The integral value J can quantify this cumulative vibration effect and fill the gap in the determination of the single vibration average value. When the control module detects that the integral value J is greater than the preset cumulative vibration threshold, it automatically corrects the actual threshold M1 corresponding to the average vibration intensity downwards, that is, appropriately reducing the value of M1 to make the vibration judgment standard more stringent. At this time, even if the average vibration intensity in the subsequent transmission process is slightly lower than the M1 before correction, as long as it reaches the corrected M1, the recognition module will be triggered to identify the hole position, avoiding missed judgment of hole misalignment caused by cumulative vibration effect. If the integral value J is less than or equal to the preset value, it means that the cumulative vibration effect is within the safe range, and there is no need to correct M1; the original vibration judgment standard can be maintained. Through this logic of "real-time monitoring - integral calculation - dynamic correction", the actual threshold M1 is dynamically and adaptively adjusted. It can not only accurately deal with the impact of instantaneous vibration, but also effectively avoid the assembly risks caused by cumulative vibration effect, further improving the flexibility, accuracy and comprehensiveness of deviation judgment, and ensuring stable and reliable assembly accuracy in vibration environment.

[0031] S3, Active Compensation Step: The control module sends control commands to the active compensation actuator based on the axis angle A and axis distance h (or comprehensive influence parameter Q) fed back by the identification module. The active compensation actuator (industrial robot) accurately clamps the oil pipe piston rod and drives the piston rod to move according to the preset adjustment trajectory until the axes of the through hole and the riveting hole are coaxial. During the compensation process, the identification module works continuously to monitor the position status of the two holes in real time and feeds back the monitoring data to the control module to form a closed-loop control to ensure the compensation accuracy. After the compensation is completed, the process proceeds to step S4.

[0032] S4. Riveting Step: After the control module confirms that the through hole and the riveting hole are coaxial and the deviation meets the preset tolerance, it controls the rivet-through mechanism to pass the pin through both the riveting hole of the hinge triangular piece and the through hole of the hydraulic oil pipe at the same time, ensuring that the pin passes smoothly through both holes and avoids collision. Subsequently, the intermittent rotating worktable continues to rotate, sending the rivet-through part to the riveting station. The riveting mechanism completes the riveting process, making the triangular piece and the oil pipe firmly connected to form a complete hinge oil pipe assembly. After the riveting is completed, the fixture is released, the worktable continues to rotate, and the finished product is transported to the unloading station. At the same time, new parts to be assembled enter the rivet-through station with the fixture and enter the next round of assembly cycle, realizing continuous and large-scale production.

[0033] This invention also includes a hinged tubing assembly assembly device for implementing the aforementioned hinged tubing assembly method. The device includes an intermittently rotating worktable, a loading station, a pin-insertion station, and a riveting station arranged sequentially around the worktable, and a control module, a sensing module, an identification module, an active compensation actuator, a pin-insertion mechanism, and a clamp. The clamp is evenly mounted on the worktable for clamping and fixing the triangular piece and the tubing. The sensing module is installed at the pin-insertion station to detect the overall average vibration intensity of the clamp during its rotation from the loading station to the pin-insertion station and transmits the vibration data to the control module. The identification module is positioned corresponding to the pin-insertion station to identify the axial angle and axial distance between the tubing telescopic rod through-hole and the triangular piece riveting hole. The active compensation actuator is electrically connected to the control module and drives the tubing piston rod under the control of the control module to achieve deviation compensation. The pin-insertion mechanism is positioned corresponding to the pin-insertion station to pass the pin through the through-hole and the riveting hole. All modules and mechanisms are coordinated and linked by the control module. Each module is coordinated and linked through the control module to realize the fully automated operation of the entire process of feeding, vibration monitoring, deviation judgment, compensation, nail insertion, riveting, and unloading. This reduces manual intervention, lowers the intensity of manual labor, avoids errors caused by manual operation, and improves the consistency of the assembly process, making it suitable for large-scale industrial production applications. The mechanical structures in this application can all refer to the structures and conventional technical means in the patent document with application number "201910991141.7"; they will not be elaborated further here.

[0034] The device also includes a control panel, which allows direct input of various adjustment parameters. It is easy to operate and allows staff to flexibly adjust the equipment according to production needs, thereby improving production efficiency and equipment applicability and meeting the requirements of large-scale production.

[0035] For those skilled in the art, various other corresponding changes and modifications can be made based on the technical solutions and concepts described above, and all such changes and modifications should fall within the protection scope of the claims of this invention.

[0036] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this application pertains. The terms “first,” “second,” “third,” and similar terms used in this patent application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an” or “a” and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms “comprising” or “including” and similar terms mean that the elements or objects preceding “comprising” or “including” encompass the elements or objects listed following “comprising” or “including” and their equivalents, and do not exclude other elements or objects. The “multiple” mentioned in the embodiments of this application refers to two or more. A and / or B indicate three possibilities: A; B; and A and B.

[0037] The above description is merely an exemplary embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and such modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for assembling a hinged tubing assembly, characterized in that, Includes the following steps: S1. Vibration monitoring steps: The feeding mechanism sends the triangular piece and oil pipe into the fixture and clamps them in the feeding station. At this time, the through hole in the telescopic rod of the oil pipe is aligned with the riveting hole in the triangular piece. After the fixture rotates with the worktable to the nail insertion station and completes the positioning, the sensing module is used to detect the overall average value of the vibration intensity during the transmission process between the feeding station and the riveting station, and feeds the vibration data back to the control module. S2, Deviation Judgment Step: The control module judges the received vibration data. If the vibration data is greater than the threshold M1, the recognition module is triggered. The recognition module recognizes and images the through hole and the riveting hole, and identifies the angle between their axes and feeds it back to the control module. If the angle A between the axes is greater than the threshold M2, the process proceeds to step S3; otherwise, it proceeds to step S4. If the vibration data is less than the threshold M1, proceed to step S4; S3, Active Compensation Step: Based on the axis angle data fed back by the vision positioning module, the control module controls the active compensation actuator to drive the piston rod to move until the axis of the through hole and the riveting hole are coaxial, and then proceeds to step S4. S4, Riveting Step: The control module controls the rivet-through mechanism to pass the pin through the riveting hole of the hinge triangle and the through hole of the hydraulic oil pipe at the same time. Then the worktable is rotated so that the pin enters the riveting station for riveting. In step S2, the identification module synchronously identifies the distance h between the axes of the through hole and the riveting hole. If the distance h is greater than the threshold M3 and / or the included angle A is greater than the threshold M2, then proceed to step S3; otherwise, proceed to step S4. The control module has preset distance reference thresholds M30 and included angle reference thresholds M20 corresponding to the standard aperture R0 of the through hole. The control module calculates the actual thresholds M2 and M3 based on R0, M30, M20, and the actual aperture R1 of the through hole, where M2 = a. M20 R1 / R0, M3=b M30 R1 / R0; where a and b are both adjustment coefficients; The control module has a preset standard threshold M10 for the average vibration intensity corresponding to the standard aperture R0 of the through hole. Based on R0 and the standard threshold M10, the control module corrects the actual threshold M1 corresponding to the average vibration intensity to a factor of B1, where B1 = c. R1 / R0; where c is the adjustment coefficient; After receiving the vibration intensity data, the control module generates a curve P(Z) showing the change of vibration intensity Z over time. The control module calculates the integral value J of the curve P(Z) in real time. When the control module detects that the integral value J is greater than the set value, it corrects the actual threshold M1 corresponding to the average vibration intensity downward.

2. The method for assembling the hinged tubing assembly according to claim 1, characterized in that, In step S2, the control module calculates the comprehensive influence parameter Q=k1 based on the included angle A and the distance h. A+k2 h; and if the comprehensive influence parameter Q is greater than the preset value M4, the control module enters step S3; otherwise, it enters step S4, where k1+k2=1 and k2 / k1=M2 / M3.

3. A hinged tubing assembly assembly apparatus for implementing the hinged tubing assembly assembly method according to any one of claims 1-2, characterized in that, It includes an intermittently rotating worktable, a feeding station, a nail-threading station, and a riveting station arranged sequentially around the worktable, as well as supporting control modules, sensing modules, identification modules, active compensation actuators, nail-threading mechanisms, and fixtures; The clamps are evenly installed on the worktable to clamp and fix the triangular pieces and oil pipes; The sensing module is installed at the nail-threading station to detect the overall average vibration intensity of the fixture as it rotates from the loading station to the nail-threading station, and transmits the vibration data to the control module. The identification module is set up for the nail-piercing station and is used to identify the included angle and distance between the axes of the through hole of the oil pipe telescopic rod and the riveting hole of the triangular piece. The active compensation actuator is electrically connected to the control module and is used to drive the oil pipe piston rod to move under the control of the control module to achieve deviation compensation; The pin-passing mechanism is set up corresponding to the pin-passing station to pass the pin through the through hole and the rivet hole; All modules and mechanisms are coordinated and linked by the control module.

4. The hinged tubing assembly assembly device according to claim 3, characterized in that, It also includes the control panel.

Images