A multifunctional dispensing table

Abstract

The utility model provides a kind of multifunctional matching table, comprising: rack, first feeding frame, first visual component, discharging table, automatic keying assembly, first manipulator, second feeding frame, second visual component, bearing feeding assembly, assembly table, second manipulator and control system, truss is equipped on rack, first visual component and second visual component are set on truss, first discharging position and second discharging position are equipped on discharging table, first positioning mechanism, second positioning mechanism and third positioning mechanism are equipped on assembly table, control system is connected with first visual component, automatic keying assembly, first manipulator, second visual component, bearing feeding assembly and second manipulator respectively, first feeding frame, discharging table, automatic keying assembly, first manipulator, second feeding frame, bearing feeding assembly, assembly table and second manipulator are all set on rack.The utility model can be automated to complete the automatic selection and assembly of connecting rod component and the automatic keying work of semicircular key.

Description

Technical Field

[0001] This utility model belongs to the field of automation technology, and in particular relates to a multi-functional selection console. Background Technology

[0002] Currently, in the production of assembled crankshafts, processes such as the selection and assembly of connecting rod assemblies, keying, workpiece loading and positioning before crank pin press-fitting are all done manually. For example, the production process for selecting and assembling connecting rod assemblies involves manual selection. Personnel visually identify the crank pin and connecting rod module numbers, comparing them with the ISO selection scheme documents. This confirmation is typically done once when receiving materials and again during assembly at the selection station. After confirmation, the three parts are assembled manually in the following order: connecting rod, needle roller bearing, crank pin. However, with numerous selection options, errors are prone to occur due to visual fatigue, consuming considerable manpower and requiring highly experienced employees. The production process for keying the semi-circular key involves placing the right half-shaft with the crank pin press-fitted on a V-shaped fixture for positioning, manually restricting its swing, and holding the semi-circular key by hand. The semi-circular key is then pressed into the keyway of the right half-shaft by repeatedly striking it with a copper hammer. The hammering usually leaves copper shavings, which need to be manually wiped away after each hammering. However, the right half-shaft and semi-circular key are difficult to position, requiring hammering for keying, which is labor-intensive; press-fitting requires multiple hammerings, consuming manual labor time and generating copper shavings pollution. To achieve automatic selection and assembly of connecting rod assemblies and automatic keying of semi-circular keys, facilitating automated linkage in crankshaft assembly production, it is urgent to develop a multi-functional selection platform capable of automatically selecting and assembling connecting rod assemblies and automatically keying semi-circular keys. Utility Model Content

[0003] The purpose of this utility model is to provide a multi-functional selection and assembly table that can automatically complete the automatic selection and assembly of connecting rod components and the automatic keying of semi-circular keys, while also enabling precise positioning of the connecting rod components, left half-shaft, and right half-shaft.

[0004] This utility model is achieved through the following technical solution: A multi-functional configuration station, comprising: The frame, on which trusses are mounted; The first loading rack is used to hold the left and right half-shafts; The first vision component, located above the first loading rack and mounted on the truss, is used to take photos of the left and right half-axis. The unloading platform has a first unloading position for placing the left half-shaft and a second unloading position for placing the right half-shaft. The automatic keying component is used to press the semi-circular key into the keyway of the right half-shaft. The first robotic arm is used to clamp the left half-shaft on the first loading rack in a specific posture to the first unloading position of the unloading platform, and to clamp the right half-shaft on the first loading rack to the automatic keying device for semi-circular key pressing, and then clamp the right half-shaft after the semi-circular key is pressed in in a specific posture to the second unloading position of the unloading platform. The second feeding rack is used to hold connecting rods and crank pins; The second vision component, located above the second feed rack and mounted on the truss, is used to take photos of the connecting rod and crank pin. The bearing feeding assembly is used to transport needle roller bearings to the target position; The assembly table is equipped with a first positioning mechanism for positioning the connecting rod, a second positioning mechanism for positioning the crank pin, and a third positioning mechanism for positioning the needle roller bearing. The second robotic arm is used to clamp the connecting rod or crank pin on the second loading rack in a specific posture and place it under the second vision component to take a picture. Then, it clamps the connecting rod or crank pin onto the first or second positioning mechanism of the assembly table, and clamps the needle roller bearing at the target position onto the third positioning mechanism of the assembly table to complete the assembly of the connecting rod assembly. The control system is connected to the first vision component, the automatic keying component, the first robotic arm, the second vision component, the bearing feeding component, and the second robotic arm, respectively. The first feeding rack, unloading platform, automatic keying assembly, first robotic arm, second feeding rack, bearing feeding assembly, assembly table, and second robotic arm are all mounted on the machine frame.

[0005] Furthermore, the automatic keying assembly includes a keying base plate, a pressing table, a positioning table, a vibrating mechanism, and a pressing mechanism. The keying base plate is mounted on the frame, and the pressing table, positioning table, vibrating mechanism, and pressing mechanism are mounted on the keying base plate. The pressing table has a material channel and a pressing groove, which are connected. The positioning table has a first positioning groove. The vibrating mechanism includes a vibrating disc, and the discharge plate of the vibrating disc is connected to the material channel of the pressing table. The pressing mechanism is used to press the semi-circular key in the pressing groove into the keyway of the right half-shaft. The first robotic arm is used to clamp the right half-shaft on the first loading rack into the first positioning groove, so that the keyway of the right half-shaft is aligned with the pressing groove.

[0006] Furthermore, the first robotic arm includes a first robotic arm and a first gripper mechanism. The first gripper mechanism includes a first three-finger cylinder, a first gripping block, a pressure block, a pad, and two second gripping blocks. The first three-finger cylinder is mounted on the first robotic arm. The first gripping block and the two second gripping blocks are respectively mounted on the three fingers of the first three-finger cylinder. The first gripping block is L-shaped. The pressure block is detachably mounted on the bottom end of the first gripping block. There are multiple pads with different thicknesses. Each pad can be selectively mounted between the first gripping block and the pressure block. The second gripping block is C-shaped and includes a first horizontal part, a second horizontal part, and a vertical part connecting the first horizontal part and the second horizontal part. The bottom end of the pressure block away from the first gripping block is recessed inward to form a first notch. The bottom end of the second horizontal part away from the vertical part is recessed inward to form a second notch.

[0007] Furthermore, the bearing feeding assembly includes a support base plate, an inclined slide plate, a feeding mechanism, and several pushing mechanisms. The support base plate is mounted on the frame, and front and rear supports are spaced apart on the support base plate. The two ends of the inclined slide plate are respectively mounted on the front and rear supports, and the inclined slide plate is inclined downwards along the direction from the rear support to the front support. Several slides are arranged side by side on the inclined slide plate, and a first limiting block is provided at the end of the slide. The target position is set at the position of the slide on one side of the first limiting block. The feeding mechanism includes a support frame and several guide cylinders for storing needle roller bearings. The support frame is mounted on the rear support, and several mounting slots are respectively provided on one side of several slides. Several guide cylinders are respectively inserted through several mounting slots. Several pushing mechanisms are respectively located on one side of several slides and mounted on the support base plate. Several pushing mechanisms correspond one-to-one with several slides and one-to-one with several guide cylinders. The pushing mechanisms are used to push the needle roller bearings located below the corresponding guide cylinders on the rear support into the corresponding slides.

[0008] Furthermore, the second robotic hand includes a second robotic arm and a second gripper mechanism. The second gripper mechanism includes a second three-finger cylinder and three third gripping blocks. The three third gripping blocks are respectively disposed on the three fingers of the second three-finger cylinder. The third gripping blocks are U-shaped. One end of the U-shaped third gripping block is connected to the finger of the second three-finger cylinder. The other end of the U-shaped third gripping block extends downward to provide an arc-shaped gripping block. The outer arc-shaped surface of the arc-shaped gripping block is a cylindrical surface. The inner arc-shaped surface of the arc-shaped gripping block is formed by connecting multiple vertical planes in sequence. The bottom end of the inner arc-shaped surface of the arc-shaped gripping block is concave inward to form a notch. The side of the notch is formed by connecting multiple vertical planes in sequence. The top surface of the notch is a horizontal plane.

[0009] Furthermore, the first positioning mechanism includes a first positioning seat and a second positioning seat. The first positioning seat is provided with a first positioning pin for positioning the large end of the connecting rod, and the second positioning seat is provided with a second positioning pin for positioning the small end of the connecting rod. The second positioning mechanism includes a second positioning groove disposed on the top of the first positioning pin for placing the crank pin and a third positioning pin disposed on the second positioning groove for positioning the crank pin. The position on the top of the first positioning pin other than the second positioning groove forms the third positioning mechanism.

[0010] Furthermore, the assembly table is provided with a first sensing mounting plate, a second sensing mounting plate, and a third sensing mounting plate. The top of the first sensing mounting plate is provided with a first laser sensor for sensing whether the needle roller bearing is assembled in place. The top of the second sensing mounting plate is provided with a second laser sensor for sensing whether the crank pin is assembled in place. The top of the third sensing mounting plate is provided with a third laser sensor for sensing whether the needle roller bearing is misaligned. A positioning sensor for sensing whether the connecting rod is in place is provided on the assembly table between the first positioning seat and the second positioning seat.

[0011] Furthermore, the first feeding rack is provided with a first feeding groove for the journal end of the right half shaft to pass through and a second feeding groove for the journal end of the left half shaft to pass through; The first unloading position of the unloading platform is provided with a fourth positioning pin for positioning the left half shaft and a first through hole for the journal end of the left half shaft to pass through. The second unloading position of the unloading platform is provided with a fifth positioning pin for positioning the right half shaft and a second through hole for the journal end of the right half shaft to pass through. The unloading platform is provided with a fourth laser sensor for detecting the pressing quality of the semi-circular key on the right half shaft.

[0012] Furthermore, the truss is provided with a first drive assembly and a second drive assembly. The first drive assembly is connected to the first vision assembly and is used to move the first vision assembly above the first loading rack. The second drive assembly is connected to the second vision assembly and is used to move the second vision assembly above the second loading rack.

[0013] Furthermore, the first vision component includes a vision mounting plate, a camera, and a light source bracket. The vision mounting plate is connected to the first driving component, the camera is mounted on the vision mounting plate, the light source bracket is located below the camera and mounted on the vision mounting plate, the light source bracket has a second through hole corresponding to the position of the camera, and a light source is provided on the light source bracket. The structure of the second vision component is the same as that of the first vision component, and the vision mounting plate of the second vision component is connected to the second drive component.

[0014] Compared with existing technologies, the advantages of this invention are as follows: By employing visual recognition, the identification of connecting rod and crank pin module numbers and the comparison of matching schemes are upgraded from manual comparison and confirmation to automatic data collection and online system comparison and confirmation, improving efficiency and reducing labor costs. Furthermore, the combination of vision and robotic arms enables automated assembly of connecting rod components and automatic keying of semi-circular keys, as well as material positioning, providing an automated foundation for subsequent processes. Simultaneously, this invention upgrades the inspection of semi-circular keys after pressing from manual inspection using measuring tools to automatic inspection, with inspection data automatically collected by the system, improving efficiency, reducing labor costs, and enhancing quality assurance capabilities. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the multi-functional selection console of this utility model; Figure 2 This is a schematic diagram of the structure of the first loading rack in the multi-functional optional table of this utility model; Figure 3 This is a schematic diagram of the automatic keystroke assembly in the multi-functional optional console of this utility model; Figure 4 This is a structural schematic diagram of the press-fitting platform in the multi-functional optional platform of this utility model; Figure 5 This is a cross-sectional view of the press-fitting table in the multi-functional optional table of this utility model; Figure 6 This is a schematic diagram of the structure of the positioning platform in the multifunctional optional platform of this utility model; Figure 7 This is a schematic diagram of the structure of the first gripper mechanism in the multi-functional optional table of this utility model; Figure 8 This is a schematic diagram of the first gripper mechanism in the multi-functional optional console of this utility model gripping the right half shaft; Figure 9 This is a schematic diagram of the unloading platform in the multi-functional optional platform of this utility model; Figure 10 This is a schematic diagram of the assembly platform in the multi-functional optional platform of this utility model; Figure 11 This is a schematic diagram of the structure of the multifunctional optional bearing feeding assembly of this utility model; Figure 12 This is another schematic diagram of the multi-functional optional bearing feeding assembly of this utility model; Figure 13 A cross-sectional view of the multifunctional optional bearing feeding assembly of this utility model; Figure 14 This is a schematic diagram of the structure of the L-shaped push plate in the multi-functional optional table of this utility model; Figure 15 This is a schematic diagram of the structure of the fourth positioning seat in the multifunctional optional console of this utility model; Figure 16 This is a schematic diagram of the structure of the second gripper mechanism in the multi-functional optional table of this utility model; Figure 17 This is a schematic diagram of the structure of the third clamping block in the multifunctional optional table of this utility model; Figure 18 This is a schematic diagram of the second gripper mechanism in the multi-functional optional platform of this utility model gripping the connecting rod; Figure 19 This is a schematic diagram of the second gripper mechanism in the multi-functional optional platform of this utility model gripping the crank pin; Figure 20 This is a schematic diagram of the second gripper mechanism in the multi-functional optional table of this utility model gripping the needle roller bearing; Figure 21 This is a schematic diagram of the structure of the first vision component in the multifunctional optional console of this utility model.

[0016] In the diagram, 10-frame, 20-first loading rack, 30-first vision component, 40-unloading platform, 50-automatic keying component, 60-first robotic arm, 70-second loading rack, 80-bearing feeding component, 90-second vision component, 100-assembly table, 200-second robotic arm; 11- Truss, 12- First drive assembly, 13- Second drive assembly; 21-First feeding trough, 22-Second feeding trough; 31-Vision mounting plate, 32-Camera, 33-Light source bracket, 34-Light source; 41-Fourth locating pin, 42-First through hole, 43-Fifth locating pin, 44-Second through hole, 45-Fourth laser sensor; 51-Keying base plate, 511-First support, 52-Pressure pressing table, 521-Material channel, 522-Pressure pressing groove, 53-Positioning table, 531-First positioning groove, 532-Second support, 533-Positioning block, 534-Slider, 535-First sliding groove, 536-Elongated hole, 54-Vibrating material mechanism, 55-Pressure pressing mechanism, 551-Pressure pressing cylinder, 552-Pressure pressing strip; 61-First robotic arm, 62-First three-finger cylinder, 63-First gripping block, 64-Pressure block, 65-Gasket, 66-Second gripping block, 67-First notch, 68-Second notch, 69-First flange; 81-Support base plate, 82-Front support, 83-Rear support, 831-Material bearing base plate, 832-Side plate, 833-Second slide rail, 84-Inclined slide plate, 841-Slide rail, 842-First limiting block, 843-First V-groove, 844-Fourth laser sensor, 845-Separator strip, 85-Feeding mechanism, 851-Support frame, 8511-Mounting groove, 8512-Guide rail pressure strip, 8513-Fourth fixed... Seat, 8514-Pressure plate, 8515-Guide rail groove, 8516-Protrusion, 852-Guide cylinder, 8521-Display groove, 8522-Third through hole, 853-Fifth laser sensor, 854-Guide mounting plate, 86-Pushing mechanism, 861-L-shaped push plate, 8611-Second vertical part, 8612-Third horizontal part, 8613-Second V-groove, 862-Push cylinder, 87-Third positioning seat; 101-First positioning seat, 102-Second positioning seat, 103-First positioning pin, 104-Second positioning pin, 105-Second positioning groove, 106-Third positioning pin, 107-First sensing mounting plate, 108-Second sensing mounting plate, 109-Third sensing mounting plate, 110-First laser sensor, 111-Second laser sensor, 112-Third laser sensor, 113-Position sensor; 201-Second robotic arm, 202-Second three-finger cylinder, 203-Third clamping block, 2031-Fourth horizontal part, 2032-Fifth horizontal part, 2033-Third vertical part, 2034-Fourth through hole, 204-Arc-shaped clamping block, 205-Third notch, 206-Second limiting block, 207-Second flange. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0018] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0019] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this utility model, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0020] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0021] In the description of this utility model, it should be noted that the terms "upper", "lower", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the utility model product is usually placed in during use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0022] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of the multifunctional assembly station of this utility model. A multifunctional assembly station includes a frame 10, a first loading rack 20, a first vision component 30, a unloading platform 40, an automatic keying component 50, a first robotic arm 60, a second loading rack 70, a second vision component 90, a bearing feeding component 80, an assembly platform 100, a second robotic arm 200, and a control system. A truss 11 is provided on the frame 10. The first loading rack 20, unloading platform 40, automatic keying component 50, first robotic arm 60, second loading rack 70, bearing feeding component 80, assembly platform 100, and second robotic arm 200 are all mounted on the frame 10. The control system is connected to the first vision component 30, automatic keying component 50, first robotic arm 60, second vision component 90, bearing feeding component 80, and second robotic arm 200 respectively.

[0023] Please refer to the following: Figure 2 , Figure 2This is a schematic diagram of the structure of the first loading rack in the multifunctional selection console of this utility model. The first loading rack 20 is used to place the left half-shaft and the right half-shaft. In one embodiment, the first loading rack 20 has a first loading groove 21 for the journal end of the right half-shaft to pass through and a second loading groove 22 for the journal end of the left half-shaft to pass through. The left and right half-shafts are loaded by an external robotic arm or manually, which passes the journal ends of the left and right half-shafts downwards through the second loading groove 22 and the first loading groove 21 respectively, and then places the large handle ends of the left and right half-shafts on the loading rack, i.e., placing the left and right half-shafts upside down on the loading rack. In one embodiment, the first loading rack 20 is equipped with a first sensor for detecting whether the left half-shaft is in position and a second sensor for detecting whether the right half-shaft is in position. When the first sensor detects the left half-shaft, it sends a sensing signal to confirm that the left half-shaft is placed on the first loading rack 20. At this time, the left half-shaft can be picked up by the first robotic arm 60. Similarly, when the second sensor detects the right half-shaft, it sends a sensing signal to confirm that the right half-shaft is placed on the first loading rack 20. At this time, the right half-shaft can be picked up by the first robotic arm 60. When both the first and second sensors detect that there is no left or right half-shaft on the first loading rack 20, the external robotic arm is notified to load the shaft.

[0024] The first vision component 30 is located above the first loading rack 20 and is mounted on the truss 11. It is used to take pictures of the left and right half-axis, thereby determining the angle compensation of the left and right half-axis based on the pictures of the left and right half-axis.

[0025] Please refer to the following: Figure 9 , Figure 9This is a schematic diagram of the unloading platform in the multifunctional selection table of this utility model. The unloading platform 40 is provided with a first unloading position for placing the left half-shaft and a second unloading position for placing the right half-shaft. The left and right half-shafts are placed in the first and second unloading positions in a specific posture to achieve precise positioning of the workpiece. In one embodiment, the first unloading position of the unloading platform 40 is provided with a fourth positioning pin 41 for positioning the left half-shaft and a first through hole 42 for the journal end of the left half-shaft to pass through. The second unloading position of the unloading platform 40 is provided with a fifth positioning pin 43 for positioning the right half-shaft and a second through hole 44 for the journal end of the right half-shaft to pass through. The unloading platform 40 is provided with a fourth laser sensor 45 for detecting the pressing quality of the semi-circular key on the right half-shaft. The journal end of the left half-shaft is passed downward through the first through hole 42, and the fourth locating pin 41 is inserted into the pin hole of the left half-shaft, so that the left half-shaft is placed upside down on the unloading table 40, thereby achieving precise positioning of the left half-shaft. Similarly, the journal end of the right half-shaft is passed downward through the second through hole 44, and the fifth locating pin 43 is passed through the pin hole of the right half-shaft, so that the right half-shaft is placed upside down on the unloading table 40, thereby achieving precise positioning of the right half-shaft. The fourth laser sensor 45 is a laser multi-point detection device, located on one side of the second unloading position, aligned with the semi-circular key. By detecting the horizontal distance between multiple points on the semi-circular key plane and the fourth laser sensor 45, the pressing height and flatness of the semi-circular key are analyzed, thereby determining the pressing quality of the semi-circular key. This upgrades the inspection of the semi-circular key after pressing from manual inspection using measuring tools to automatic inspection. The inspection data is automatically collected by the system, improving efficiency, reducing labor costs, and enhancing quality assurance capabilities. In one embodiment, the unloading table 40 is equipped with a third sensor for detecting whether the left half-shaft is in position and a fourth sensor for detecting whether the right half-shaft is in position. The presence of the left and right half-shafts on the unloading table 40 is confirmed by the third and fourth sensors to facilitate integration with subsequent automated processes.

[0026] The automatic keying assembly 50 is used to press the semi-circular key into the keyway of the right half-shaft; the first robot arm 60 is used to clamp the left half-shaft on the first loading rack 20 in a specific posture to the first unloading position of the unloading table 40, and to clamp the right half-shaft on the first loading rack 20 to the automatic keying device for pressing the semi-circular key, and then clamp the right half-shaft after pressing the semi-circular key to the second unloading position of the unloading table 40 in a specific posture.

[0027] Please refer to the following: Figures 3 to 6 , Figure 3 This is a structural schematic diagram of the automatic keystroke assembly in the multifunctional optional console of this utility model. Figure 4 This is a structural schematic diagram of the press-fitting table in the multi-functional optional table of this utility model. Figure 5 This is a cross-sectional view of the multi-functional optional press-fitting table of this utility model. Figure 6This is a schematic diagram of the positioning platform in the multifunctional optional platform of this utility model. Through the cooperation of the first vision component 30, the automatic keying component 50, and the first robotic arm 60, the semi-circular key is pressed into the right half-shaft. In one embodiment, the automatic keying component 50 includes a keying base plate 51, a pressing table 52, a positioning table 53, a vibrating mechanism 54, and a pressing mechanism 55. The keying base plate 51 is mounted on the frame 10, and the pressing table 52, positioning table 53, vibrating mechanism 54, and pressing mechanism 55 are mounted on the keying base plate 51. The pressing table 52 has a material channel 521 and a pressing groove 522, which are connected. The material channel 521 is used to pass the semi-circular key, and its cross-section is square. The width of the material channel 521 matches the width of the horizontal plane and the apex of the arc surface of the semi-circular key. After the semicircular key is ejected from the feed channel 521, it will enter the pressing groove 522. The length direction of the pressing groove 522 is perpendicular to the length direction of the feed channel 521. The positioning table 53 has a first positioning groove 531. The vibrating mechanism 54 includes a vibrating disc, and the discharge plate of the vibrating disc is connected to the feed channel 521 of the pressing table 52. The pressing mechanism 55 is used to press the semicircular key in the pressing groove 522 into the keyway of the right half-shaft. The first robot arm 60 is used to clamp the right half-shaft on the first loading rack 20 into the first positioning groove 531, so that the keyway of the right half-shaft is aligned with the pressing groove 522. The vibrating disc is used to transport the semicircular key into the feed channel 521 in a specific posture. The vibrating disc is an existing structure and can be purchased directly from the market.

[0028] The automatic keying process of the right half-shaft is as follows: When the semi-circular key needs to be pressed, the first vision component 30 takes a picture of the right half-shaft placed on the first loading rack 20. The control system performs visual recognition of the contour based on the picture and performs angle compensation on the right half-shaft based on the visual recognition result. The visual recognition process and angle compensation process are existing technologies and will not be described in detail here. Then, the first robot arm 60 grips the large shank end of the right half-shaft. After the first robot arm 60 performs angle compensation on the right half-shaft, the journal end of the right half-shaft is finally placed into the first positioning groove 531 of the positioning table 53. The first positioning groove 531 can restrict the position of the right half-shaft, thereby helping to ensure the posture of the right half-shaft and achieve precise positioning of the right half-shaft. At this time, the keyway of the right half-shaft is aligned with the pressing groove 522, and the first robot arm 60 fixes the right half-shaft on the positioning table 53. During this process, through the vibration of the vibrating disc, the semi-circular key enters the material channel 521 of the pressing table 52 in a specific posture from the discharge plate of the vibrating disc, and then enters the pressing groove 522 from the material channel 521. At this time, the semi-circular key will keep its flat surface facing the pressing mechanism 55. Finally, the pressing mechanism 55 presses the semi-circular key in the pressing groove 522 into the keyway of the right half-shaft, so that the semi-circular key is interference-fitted in the keyway. After the pressing is completed, the first robot arm 60 pushes the journal end of the right half-shaft after the semi-circular key is pressed in downward through the second through hole 44, and makes the fifth positioning pin 43 pass through the pin hole of the right half-shaft, so that the right half-shaft is placed upside down on the unloading table 40, thereby achieving the precise positioning of the right half-shaft. When the right half-shaft is placed upside down on the unloading table 40, the fourth sensing sensor detects that the right half-shaft is in place and sends a sensing information to confirm that there is a right half-shaft on the unloading table 40. At this time, the pressing quality of the semi-circular key can be detected by the fourth laser sensor 45 on the unloading table 40. After the detection is completed, a qualified or unqualified signal is sent. The external robot arm will transport the right half-shaft with qualified or unqualified pressing of the semi-circular key to the next process or send it out of the production line.

[0029] Before pressing the semi-circular key into the right half-shaft, a photograph of the left half-shaft placed on the first loading rack 20 is taken using the first vision component 30. The control system performs visual contour recognition based on the photograph and compensates for the angle of the left half-shaft based on the visual recognition result. Then, the first robotic arm 60 grips the large shank end of the left half-shaft. After the first robotic arm 60 compensates for the angle of the left half-shaft, the journal end of the left half-shaft is finally passed downward through the first through hole 42, and the fourth positioning pin 41 passes through the pin hole of the left half-shaft, so that the left half-shaft is placed upside down on the unloading table 40, thereby achieving precise positioning of the left half-shaft. When the left half-shaft is placed upside down on the unloading table 40, the third sensing sensor detects that the left half-shaft is in position and sends a sensing information to confirm that the left half-shaft is on the unloading table 40. At this time, the left half-shaft can be moved to the next process by an external robotic arm.

[0030] In one embodiment, a first bracket 511 is provided on the keying base plate 51, and a through hole is provided on the first bracket 511. The pressing mechanism 55 includes a pressing cylinder 551 and a pressing strip 552. The pressing cylinder 551 is mounted on the first bracket 511, and the telescopic end of the pressing cylinder 551 is connected to the pressing strip 552, which passes through the through hole. By extending the pressing cylinder 551, the pressing strip 552 is driven to move along the pressing groove 522, thereby pushing out the semi-circular key in the pressing groove 522 and pressing it into the keyway of the right half-shaft. After pressing is completed, the pressing cylinder 551 retracts, driving the pressing strip 552 to exit the pressing groove 522. In one embodiment, the pressing strip 552 includes a cylinder and a cuboid mounted on the cylinder, and the cylinder is connected to the telescopic end of the pressing cylinder 551. The bottom surface of the cuboid is about the same size as the plane of the semicircular key. When the cuboid pushes the semicircular key, the bottom surface of the cuboid will gradually fit into the plane of the semicircular key, thereby correcting the position of the semicircular key so that the semicircular key can be pressed into the keyway of the right half shaft in the correct position.

[0031] In one embodiment, the positioning stage 53 includes a second support 532 and a positioning block 533. The second support 532 is mounted on the frame 10, and the positioning block 533 is mounted on the second support 532. A first positioning groove 531 is mounted on the positioning block 533 and is semi-conical in shape. The positioning block 533 restricts the position of the right half-shaft through the semi-conical first positioning groove 531, thereby helping to ensure the posture of the right half-shaft and ensuring that the keyway of the right half-shaft is aligned with the press-fit groove 522. In one embodiment, the positioning stage 53 also includes a slider 534 and a bolt. The second support 532 is provided with a first sliding groove 535, and an elongated hole 536 is opened at the bottom of the first sliding groove 535. The slider 534 is slidably mounted in the first sliding groove 535, and a threaded hole is opened on the slider 534 corresponding to the position of the elongated hole 536. The bolt passes through the elongated hole 536 and is threadedly connected to the threaded hole. The slider 534 can be adjusted in the first groove 535 to adjust the installation position of the positioning block 533. This allows the installation position of the positioning block 533 to be adjusted according to the specifications of the journal end of different models of right half shafts. When the journal end of the right half shaft is placed in the first positioning groove 531, the keyway on the shaft diameter end of the right half shaft can be aligned with the press-fit groove 522, thus making it suitable for different models of right half shafts.

[0032] Please refer to the following: Figure 7 and Figure 8 , Figure 7 This is a schematic diagram of the first gripper mechanism in the multifunctional optional platform of this utility model. Figure 8This is a schematic diagram of the first gripper mechanism in the multi-functional optional platform of this utility model gripping the right half shaft. In one embodiment, the first robotic arm 60 includes a first robotic arm 61 and a first gripper mechanism. The first gripper mechanism includes a first three-finger cylinder 62, a first gripping block 63, a pressure block 64, a pad 65, and two second gripping blocks 66. The first three-finger cylinder 62 is disposed on the robotic arm. The first gripping block 63 and the two second gripping blocks 66 are respectively disposed on the three fingers of the first three-finger cylinder 62. The first gripping block 63 is L-shaped. The pressure block 64 is detachably installed at the bottom end of the first gripping block 63. There are multiple pads 65 with different thicknesses. Each pad 65 can be selectively installed between the first gripping block 63 and the pressure block 64. The second gripping block 66 is C-shaped and includes a first horizontal portion, a second horizontal portion, and a first vertical portion connecting the first horizontal portion and the second horizontal portion. The bottom end of the pressure block 64 away from the first gripping block 63 is recessed inward to form a first notch 67. The bottom end of the second horizontal portion away from the first vertical portion is recessed inward to form a second notch 68. Taking the clamping of the right half-shaft as an example, the first three-finger cylinder 62 controls the extension and retraction of the three fingers, causing the first clamping block 63 and the two second clamping blocks 66 to move closer or further apart. This clamps the side of the large shank end of the right half-shaft, simultaneously clamping the side and restricting the bottom surface of the large shank end. Since the bottom surface of the large shank end of the right half-shaft has varying heights, two different clamping blocks are designed. Based on the height distribution of the bottom surface of the right half-shaft, the two second clamping blocks 66 are used for clamping and restricting the lower surface points, specifically by using the notch on the second horizontal part to restrict the lower surface of the bottom surface of the large shank end of the right half-shaft. The first clamping block 63 is used for clamping and restricting the higher surface points. Specifically, by adjusting the thickness of the shim 65, the clamping height of the pressure block 64 on the first clamping block 63 is controlled, while the notch on the pressure block 64 restricts the higher surface of the bottom surface of the large shank end of the right half-shaft. The clamping mechanism clamps the large shank end of the right half-shaft as follows: Figure 8 As shown. Additionally, by adjusting the thickness of the shim 65, different sizes of the right half-shaft can be gripped. The bottom surface of the large shank end of the left half-shaft is similar to that of the right half-shaft, and the first gripper mechanism grips the left half-shaft in the same way as the right half-shaft. The first robotic arm 61 has a multi-axial movable structure. This multi-axial movable structure improves the flexibility of the first robotic arm 60, enabling multi-axial movements and facilitating adjustments to different postures after gripping the workpiece.

[0033] In one embodiment, the top of the first three-finger cylinder 62 is provided with a first flange 69, which is connected to the first robotic arm 61. This arrangement facilitates the connection between the first three-finger cylinder 62 and the first robotic arm 61.

[0034] The second loading rack 70 is used to place connecting rods and crank pins. The second loading rack 70 has a first loading position for placing connecting rods and a second loading position for placing crank pins. The connecting rods are placed flat on the first loading position, and the crank pins are placed vertically on the second loading position. In one embodiment, a fifth sensor is provided on the first loading position, and a sixth sensor is provided on the second loading position. The fifth and sixth sensors detect whether there is a connecting rod on the first loading position and whether there is a crank pin on the second loading position, so as to control the second robotic arm 200 to grip the connecting rods and crank pins on the second loading rack 70.

[0035] The second vision component 90 is located above the second feed rack 70 and is mounted on the truss 11. It is used to take photos of the connecting rod and crank pin, thereby determining the angle compensation of the connecting rod and crank pin based on the photos of the connecting rod and crank pin.

[0036] The bearing feeding assembly 80 is used to transport the needle roller bearing to the target position, realize the precise positioning of the needle roller bearing, and enable the second robot 200 to accurately grasp the needle roller bearing without vision.

[0037] Please refer to the following: Figure 10 , Figure 10This is a schematic diagram of the assembly platform in the multifunctional optional assembly station of this utility model. The assembly platform 100 is equipped with a first positioning mechanism for positioning the connecting rod, a second positioning mechanism for positioning the crank pin, and a third positioning mechanism for positioning the needle roller bearing. The second robot arm 200 is used to clamp the connecting rod or crank pin on the second loading rack 70 in a specific posture and place it under the second vision component 90 for taking a picture. Then, it clamps the connecting rod or crank pin onto the first or second positioning mechanism of the assembly platform 100, and clamps the needle roller bearing at the target position onto the third positioning mechanism of the assembly platform 100 to complete the assembly of the connecting rod assembly. In one embodiment, the first positioning mechanism includes a first positioning seat 101 and a second positioning seat 102. The first positioning seat 101 is provided with a first positioning pin 103 for positioning the large end of the connecting rod, and the second positioning seat 102 is provided with a second positioning pin 104 for positioning the small end of the connecting rod. The second positioning mechanism includes a second positioning groove 105 disposed on the top of the first positioning pin 103 for placing a crank pin, and a third positioning pin 106 disposed on the second positioning groove 105 for positioning the crank pin. The third positioning mechanism is formed at the top of the first positioning pin 103, excluding the second positioning groove 105. When the connecting rod is placed on the first positioning seat 101 and the second positioning seat 102, the first positioning pin 103 is inserted into the large end hole of the connecting rod, and the second positioning pin 104 is inserted into the small end hole of the connecting rod to position the connecting rod. The crank pin is placed in the second positioning groove 105, and its position is positioned by the third positioning pin 106 on the second positioning groove 105. Finally, the needle roller bearing is placed on the first positioning pin 103. At this time, the needle roller bearing is in the large end hole of the connecting rod and sleeved on the outside of the crank pin. This arrangement can better restrict the position of the three parts of the connecting rod assembly and can clearly and accurately detect the positioning of each part. Given the different support surfaces of each part after the connecting rod assembly is assembled, this arrangement provides support while creating a height difference at the bottom of each part, thus providing support points for the overall balance of the connecting rod assembly.

[0038] The system utilizes a second vision component 90, a bearing feeding component 80, and a second robotic arm 200 to identify the model numbers of connecting rods and crank pins, compare matching schemes, and automate the assembly of connecting rod assemblies. The specific process is as follows: The second vision component 90 takes a photograph of the connecting rod and crank pin placed on the second feeding rack 70. The control system performs visual contour recognition based on the photograph and compensates for the angles of the connecting rod and crank pin based on the visually recognized structure. Then, the second robotic arm 200 grips the connecting rod and moves it in a specific posture below the second vision component 90, aligning the model number on the connecting rod upwards with the second vision component 90. The second vision component 90 reads the model number of the connecting rod and performs model number recognition and comparison. After confirming that the connecting rod model number is correct, the second robotic arm 200 places the connecting rod on the first positioning mechanism on the assembly table 100 for positioning. If the connecting rod model number is incorrect, an alarm is issued. Then, the second robotic arm 200 grips the crank pin and moves it in a specific posture below the second vision component 90. At this point, the crank pin's model number is aligned upwards with the second vision component 90. The second vision component 90 reads the crank pin's model number and performs model number recognition and comparison. After confirming that the crank pin's model number is correct, the second robotic arm 200 places the crank pin on the second positioning mechanism on the assembly table 100 for positioning. During this process, the bearing feeding component 80 is used to transport the needle roller bearing to the target position. After the crank pin is placed in the second positioning mechanism, the robotic arm grips the needle roller bearing at the target position and then places the needle roller bearing on the third positioning mechanism, completing the automated assembly of the connecting rod assembly.

[0039] In one embodiment, the assembly platform 100 is provided with a first sensing mounting plate 107, a second sensing mounting plate 108, and a third sensing mounting plate 109. The top of the first sensing mounting plate 107 is provided with a first laser sensor 110 for sensing whether the needle roller bearing is assembled in place. The top of the second sensing mounting plate 108 is provided with a second laser sensor 111 for sensing whether the crank pin is assembled in place. The top of the third sensing mounting plate 109 is provided with a third laser sensor 112 for sensing whether the needle roller bearing is misaligned. A position sensor 113 for sensing whether the connecting rod is in place is provided on the assembly platform 100 between the first positioning seat 101 and the second positioning seat 102. After the connecting rod assembly is assembled, the position of the connecting rod is confirmed by the position sensor 113, which can be a proximity switch. The crank pin is relatively high, so a second laser sensor 111 with a higher height is used to confirm the position of the crank pin. The needle roller bearing is raised by the first locating pin 103, forming a height difference with the connecting rod boundary. The position of the needle roller bearing can be judged by the side of the needle roller bearing. Therefore, the position of the needle roller bearing is confirmed by the first laser sensor 110. The third laser sensor 112 senses the gap to prevent the needle roller bearing from being misaligned. If the third laser sensor 112 emits a sensing signal, the needle roller bearing will be misaligned.

[0040] Please refer to the following: Figures 11 to 13 , Figure 11 This is a schematic diagram of the structure of the multifunctional optional Taichung bearing feeding assembly of this utility model. Figure 12 This is another schematic diagram of the multifunctional optional Taichung bearing feeding assembly of this utility model. Figure 13 This is a cross-sectional view of the multifunctional optional bearing feeding assembly of this utility model. In one embodiment, the bearing feeding assembly 80 includes a support base plate 81, an inclined slide plate 84, a feeding mechanism 85, and several pushing mechanisms 86. The support base plate 81 is mounted on the frame 10, and a front support 82 and a rear support 83 are spaced apart on the support base plate 81. The two ends of the inclined slide plate 84 are respectively mounted on the front support 82 and the rear support 83, and the inclined slide plate 84 is inclined downward along the direction from the rear support 83 to the front support 82. Several slide rails 841 are arranged side by side on the inclined slide plate 84, and a first limiting block 842 is provided at the end of the slide rail 841. The target position is set at the position where the slide rail 841 is located on one side of the first limiting block 842. The feeding mechanism 85 includes a support frame 86. The rear support 83 is equipped with a support frame 851 and a number of guide cylinders 852 for storing needle roller bearings. The support frame 851 is provided on one side of a number of slides 841. The guide cylinders 852 are respectively installed through the number of installation slots 8511. The pusher mechanisms 86 are respectively located on one side of the slides 841 and are provided on the support base plate 81. The pusher mechanisms 86 correspond one-to-one with the slides 841 and one-to-one with the guide cylinders 852. The pusher mechanisms 86 are used to push the needle roller bearings located below the corresponding guide cylinders 852 on the rear support 83 into the corresponding slides 841.

[0041] When in use, the bearing feeding assembly 80 feeds multiple needle roller bearings into the guide cylinder 852 in batches. The needle roller bearings slide naturally inside the guide cylinder 852, achieving coarse positioning of the needle roller bearings. Then, the needle roller bearings are guided down by the guide cylinder 852 onto the rear support 83. There is a gap between the bottom end of the guide cylinder 852 and the top end of the rear support 83. The distance of this gap is equal to the height of one needle roller bearing, or the gap is greater than the height of one needle roller bearing but less than the height of two needle roller bearings. Then, the pusher mechanism 86 pushes the needle roller bearing on the rear support 83, causing the needle roller bearing to move into the corresponding slide rail 841 after passing through the gap between the support frame 851 and the rear support 83. Due to the inclined slide plate 84, the needle roller bearing is guided by gravity and slides down to the first limit block 842 through the slide rail 841. The slide rail 841 and the first limit block 842 achieve precise positioning, ensuring high precision in feeding the needle roller bearing and ensuring accurate grasping of the needle roller bearing by the robot arm without vision. Several slide rails 841 are set on the inclined slide plate 84, and each guide cylinder 852 corresponds to one slide rail 841. The needle roller bearings in each guide cylinder 852 are fed through the corresponding slide rail 841, avoiding collisions between the needle roller bearings and preventing damage to the quality of the needle roller bearings. Furthermore, the several pusher mechanisms 86 are independently controlled and can operate independently, thereby realizing the ejection of one or several needle roller bearings individually.

[0042] In one embodiment, the first limiting block 842 has a first V-groove 843 on one end facing the slide rail 841. The needle roller bearing slides into the first V-groove 843 and is positioned by the first V-groove 843 to ensure the feeding accuracy of the needle roller bearing.

[0043] In one embodiment, a display slot 8521 is provided on the side of the guide cylinder 852 away from the inclined slide plate 84. The number of needle roller bearings inside the guide cylinder 852 can be viewed through the display slot 8521.

[0044] In one embodiment, a fourth laser sensor 844 is provided on the first limiting block 842, and a fifth laser sensor 853 is provided on the support frame 851 on the side of the guide cylinder 852 away from the display slot 8521. A third through hole 8522 is provided on the guide cylinder 852 corresponding to the position of the fifth laser sensor 853. The fourth laser sensor 844 and the fifth laser sensor 853 can be connected to the control system. The fourth laser sensor 844 can monitor whether there is a needle roller bearing in the slide 841. If the fourth laser sensor 844 detects that there is a needle roller bearing in the slide 841, it can transmit the information that a needle roller bearing is present and control the second robot arm 200 to grasp the needle roller bearing in the slide 841. If the fourth laser sensor 844 does not detect that there is a needle roller bearing in the slide 841, it can transmit the information that there is no needle roller bearing and control the corresponding pushing mechanism 86 to push the needle roller bearing into the corresponding slide 841. The third through hole 8522 is located at the bottom of the guide cylinder 852. The fifth laser sensor 853 monitors whether there are enough needle roller bearings in the guide cylinder 852. When a fifth laser sensor 853 detects that there are no needle roller bearings in the third through hole 8522, it means that the needle roller bearings in the corresponding guide cylinder 852 are almost used up. The system is triggered to issue a "needle roller bearing shortage" signal, reminding the staff or robot to add needle roller bearings to the corresponding guide cylinder 852.

[0045] Please refer to the following: Figure 14 and Figure 15 , Figure 14 This is a structural diagram of the L-shaped push plate in the multi-functional optional console of this utility model. Figure 15This is a schematic diagram of the structure of the fourth positioning seat in the multifunctional optional console of this utility model. In one embodiment, a third positioning seat 87 is provided on the support base plate 81. The rear support 83 includes a material-bearing base plate 831 and two side plates 832. The two side plates 832 are located on the side of the third positioning seat 87 away from the front support 82 and are spaced apart on the base plate. The two ends of the material-bearing base plate 831 are respectively located at the top of the two side plates 832. The material-bearing base plate 831 is connected to the inclined slide plate 84. The support frame 851 is provided on the material-bearing base plate 831. The pushing mechanism 86 includes an L-shaped push plate 8. The L-shaped push plate 861 includes a second vertical portion 8611 and a third horizontal portion 8612. The second vertical portion 8611 is connected to the telescopic end of the push cylinder 862. A second groove 833 is provided on the material-bearing base plate 831 for the second vertical portion 8611 to pass through and move. The third horizontal portion 8612 is slidably disposed on the material-bearing base plate 831. By retracting the telescopic end of the push cylinder 862, the second vertical portion 8611 of the L-shaped push plate 861 moves along the corresponding second groove 833, thereby moving the third horizontal portion 8612 of the L-shaped push plate 861. Thus, the needle roller bearing on the material-bearing base plate 831 is pushed into the corresponding slide rail 841 through the third horizontal portion 8612 of the L-shaped push plate 861. In one embodiment, a second V-groove 8613 is provided on the end of the third horizontal portion 8612 facing the slide rail 841. The second V-groove 8613 restricts the movement direction of the needle roller bearing, thereby ensuring that the needle roller bearing can be pushed into the corresponding slide rail 841.

[0046] In one embodiment, the width of the third horizontal portion 8612 is greater than the width of the second vertical portion 8611. The two ends of the width of the third horizontal portion 8612 are slidably disposed on the material-supporting base plate 831, and the material-supporting base plate 831 supports the third horizontal portion 8612, making the movement of the third horizontal portion 8612 more stable.

[0047] In one embodiment, the support frame 851 includes two guide rail strips 8512 disposed at both ends of the top of the material-bearing base plate 831, a fourth positioning seat 8513 disposed on the two guide rail strips 8512, and a pressure plate 8514 disposed on the fourth positioning seat 8513. A plurality of mounting grooves 8511 are respectively disposed on the fourth positioning seat 8513. Guide rail grooves 8515 are formed on opposite sides of each guide rail strip 8512. One end of each of the two outermost third horizontal portions 8612 is slidably disposed within the guide rail grooves 8515 of the two guide rail strips 8512. The plurality of third horizontal portions 8612 are divided into several groups of two adjacent portions. A plurality of protrusions 8516 are provided at the bottom of the fourth positioning seat 8513, each protrusion corresponding to one group of third horizontal portions 8612. The protrusions 8516 are slidably disposed with the two third horizontal portions 8612 in their corresponding groups. A space for the needle roller bearing to pass through is formed between the pressure plate 8514 and the material-bearing base plate 831. The fourth positioning seat 8513 supports and fixes the guide cylinder 852, creating a height difference between the bottom of the guide cylinder 852 and the material-bearing base plate 831, and also a height difference between the guide cylinder 852 and the L-shaped push plate 861. These two different height differences ensure accurate material feeding of the needle roller bearings and the successful ejection of the L-shaped push plate 861. The height difference between the guide cylinder 852 and the L-shaped push plate 861 is less than the height of one needle roller bearing. The guide rail pressure strip 8512 further restricts the movement direction of the two outermost third horizontal sections 8612. Simultaneously, the protrusion 8516 on the fourth positioning seat 8513 restricts the vertical movement of the two corresponding third horizontal sections 8612, further limiting their movement direction.

[0048] In one embodiment, the guide cylinder 852 is provided with a guide mounting plate 854, which is disposed on the fourth positioning seat 8513. The guide cylinder 852 is disposed on the fourth positioning seat 8513 through the guide mounting plate 854, which facilitates the guide cylinder 852 to be disposed through the mounting groove 8511 of the fourth positioning seat 8513.

[0049] In one embodiment, the inclined slide plate 84 is provided with multiple spacer bars 845 at intervals, and a slide rail 841 is formed between two adjacent spacer bars 845. By changing the position between the spacer bars 845, compatibility with more sizes and models of needle roller bearings can be achieved, and the specifications of the first limiting block 842 and the guide cylinder 852 can be changed simultaneously. The flared design at the front end of the slide rail 841 makes it easier for the needle roller bearing to be pushed into the slide rail 841.

[0050] Please refer to the following: Figures 16 to 20 , Figure 16 This is a schematic diagram of the structure of the second gripper mechanism in the multifunctional optional platform of this utility model. Figure 17 This is a schematic diagram of the structure of the third clamping block in the multifunctional optional console of this utility model. Figure 18This is a schematic diagram of the second gripper mechanism in the multi-functional optional platform of this utility model gripping the connecting rod. Figure 19 This is a schematic diagram of the second gripper mechanism in the multi-functional optional platform of this utility model for gripping the crank pin. Figure 20 This is a schematic diagram of the second gripper mechanism in the multifunctional selector of this utility model gripping a needle roller bearing. In one embodiment, the second robotic arm 200 includes a second robotic arm 201 and a second gripper mechanism. The second gripper mechanism includes a second three-finger cylinder 202 and three third gripping blocks 203. The three third gripping blocks 203 are respectively disposed on the three fingers of the second three-finger cylinder 202. The third gripping blocks 203 are U-shaped. One end of the U-shaped third gripping block 203 is connected to the finger of the second three-finger cylinder 202. The other end of the U-shaped third gripping block 203 extends downward to provide an arc-shaped gripping block 204. The arc-shaped outer surface of the arc-shaped gripping block 204 is a cylindrical surface. The arc-shaped inner surface of the arc-shaped gripping block 204 is formed by multiple vertical planes connected in sequence. The bottom end of the arc-shaped inner surface of the arc-shaped gripping block 204 is recessed inward to form a third notch 205. The side of the third notch 205 is formed by multiple vertical planes connected in sequence. The top surface of the third notch 205 is a horizontal plane. The outer surface of the third clamping block 203 is cylindrical, which can satisfy the clamping of hole-type parts. For example, for clamping a connecting rod, the hole feature at the large end of the connecting rod is locked, and the hole at the large end of the connecting rod is restricted. Specifically, the three fingers of the second three-finger cylinder 202 are controlled to push outward, driving the third clamping block 203 and the arc-shaped clamping block 204 to move outward, so that the arc-shaped outer surface of the arc-shaped clamping block 204 supports the inner surface of the hole at the large end of the connecting rod, thereby achieving clamping. Figure 17 As shown. The outer curved surface of the arc-shaped clamping block 204 is designed as a cylindrical surface, which can better fit the inner surface of the connecting rod's large end hole and is compatible with clamping different models of connecting rods. The inner surface of the third clamping block 203 is composed of multiple vertical planes, and the included angle between adjacent vertical planes is an obtuse angle, which can meet the clamping of shaft parts. For example, for clamping crank pins, the outer cylindrical surface feature of the crank pin is locked, and the cylindrical surface of the crank pin is restricted. Specifically, the three fingers of the second three-finger cylinder 202 are controlled to tighten inward, driving the third clamping block 203 and the arc-shaped clamping block 204 to move inward, so that the arc-shaped inner surface of the arc-shaped clamping block 204 clamps the outer cylindrical surface of the crank pin, realizing clamping. Figure 18As shown. The arc-shaped inner surface of the arc-shaped clamping block 204 is composed of multiple vertical planes, which make multi-point contact with the outer cylindrical surface of the crank pin, making the clamping more stable and compatible with different models of crank pins. In one embodiment, the arc-shaped inner surface of the arc-shaped clamping block 204 is composed of three vertical planes connected in sequence. In one embodiment, a second limiting block 206 is provided at the top of the arc-shaped inner surface of the arc-shaped clamping block 204. The second limiting block 206 can be used to limit the position of shaft parts, such as limiting the top of the crank pin. For clamping needle roller bearings, the outer edge cylindrical surface feature of the needle roller bearing is locked, and the outer edge cylindrical surface of the needle roller bearing is restricted. Specifically, the three fingers of the second three-finger cylinder 202 are controlled to tighten inward, driving the third clamping block 203 and the arc-shaped clamping block 204 to move inward, so that the side of the third notch 205 of the arc-shaped clamping block 204 clamps the outer edge cylindrical surface of the needle roller bearing, realizing the clamping, such as Figure 19 As shown, the cylindrical surface of the outer edge of the needle roller bearing is clamped by the side of the third notch 205, ensuring that the arc-shaped clamping block 204 does not contact the needle rollers of the needle roller bearing, thereby avoiding damage to the needle rollers during gripping. The side and top surfaces of the third notch 205 can limit the movement of the needle roller bearing from two directions, and the side of the third notch 205 is also composed of multiple vertical planes with obtuse angles between adjacent vertical planes, achieving multi-point contact with the cylindrical surface of the outer edge of the needle roller bearing, making the gripping more stable and compatible with gripping different types of needle roller bearings. In this way, the second gripper mechanism can grip three parts with different shapes: crank pins, connecting rods, and needle roller bearings, improving handling efficiency and reducing costs.

[0051] In one embodiment, the third clamping block 203 includes a fourth horizontal portion 2031, a fifth horizontal portion 2032, and a third vertical portion 2033 connecting the fourth horizontal portions 2031 and 2032. An arc-shaped clamping block 204 is disposed on the end of the fourth horizontal portion away from the third vertical portion 2033. The fourth horizontal portion 2031 has a plurality of fourth through holes 2034. The fingers of the second three-finger cylinder 202 have threaded holes corresponding to the plurality of fourth through holes 2034. The fourth horizontal portion 2031 is bolted through the fourth through holes 2034 and threadedly connected to the corresponding threaded holes, thus being disposed on the fingers of the second three-finger cylinder 202. The third clamping block 203 and the fingers of the second three-finger cylinder 202 are connected by bolts, ensuring a secure and reliable installation and facilitating the installation and removal of the third clamping block 203. In one embodiment, the third clamping block 203 and the arc-shaped clamping block 204 are made of copper. Copper is a relatively stable material, not easily deformed, and does not easily scratch parts, possessing both stability and economy.

[0052] In one embodiment, a second flange 207 is provided at the top of the second three-finger cylinder 202. The second flange 207 facilitates the mounting of the second three-finger cylinder 202 onto the robotic arm.

[0053] Please refer to the following: Figure 21 , Figure 21 This is a schematic diagram of the structure of the first vision component in the multifunctional selection console of this utility model. In one embodiment, a first drive component 12 and a second drive component 13 are provided on the truss 11. The first drive component 12 is connected to the first vision component 30 and is used to move the first vision component 30 above the first loading rack 20. The second drive component 13 is connected to the second vision component 90 and is used to move the second vision component 90 above the second loading rack 70. The truss 11 is gantry-shaped, and the first drive component 12 and the second drive component 13 are disposed on the top of the truss 11, respectively driving the first vision component 30 and the second vision component 90 to move linearly. The first drive assembly 12 and the second drive assembly 13 can be existing linear motion drive devices, such as lead screw devices. When it is necessary to take pictures of the left and right half-shafts on the first loading rack 20, the first drive assembly 12 moves the first vision assembly 30 above the first loading rack 20 to take pictures of the left and right half-shafts on the first loading rack 20. After taking pictures, the first drive assembly 12 moves the first vision assembly 30 away from the first loading rack 20 to avoid affecting the first robot arm 60's gripping of the left and right half-shafts on the first loading rack 20. Similarly, when it is necessary to take pictures of the connecting rods and crank pins on the second loading rack 70, the second vision component 90 is moved above the second loading rack 70 by the second drive component 13 to take pictures of the connecting rods and crank pins on the second loading rack 70. After taking pictures, the second vision component 90 is moved away from above the second loading rack 70 by the second drive component 13 to avoid affecting the second robot arm 200's gripping of the connecting rods and crank pins on the second loading rack 70. In one embodiment, the first vision component 30 includes a vision mounting plate 31, a camera 32, a light source bracket 33, and a vision light source 34. The vision mounting plate 31 is connected to the first drive component 12. The camera 32 is mounted on the vision mounting plate 31. The light source bracket 33 is located below the camera 32 and mounted on the vision mounting plate 31. The light source bracket 33 has a second through hole 44 corresponding to the position of the camera 32, and the light source 34 is mounted on the light source bracket 33. The structure of the second vision component 90 is the same as that of the first vision component 30. The vision mounting plate 31 of the second vision component 90 is connected to the second drive component 13. The camera 32 is used to take photos, and the visual light source 34 is used for supplementary lighting, which can eliminate environmental interference and improve image quality.

[0054] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Therefore, any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present utility model without departing from the content of the technical solution of the present utility model shall still fall within the scope of the technical solution of the present utility model.

Claims

1. A multi-functional selection console, characterized in that, include: A frame, on which a truss is provided; The first loading rack is used to hold the left and right half-shafts; The first vision component is located above the first loading rack and is mounted on the truss, and is used to take pictures of the left and right half-axis. The unloading platform is provided with a first unloading position for placing the left half-shaft and a second unloading position for placing the right half-shaft. The automatic keying component is used to press the semi-circular key into the keyway of the right half-shaft. The first robotic arm is used to clamp the left half-shaft on the first loading rack in a specific posture to the first unloading position of the unloading platform, and to clamp the right half-shaft on the first loading rack to the automatic keying device for semi-circular key pressing, and then clamp the right half-shaft after the semi-circular key is pressed in to the second unloading position of the unloading platform in a specific posture. The second feeding rack is used to hold connecting rods and crank pins; The second vision component, located above the second feed rack and mounted on the truss, is used to take photos of the connecting rod and crank pin. The bearing feeding assembly is used to transport needle roller bearings to the target position; An assembly table is provided with a first positioning mechanism for positioning the connecting rod, a second positioning mechanism for positioning the crank pin, and a third positioning mechanism for positioning the needle roller bearing. The second robotic arm is used to clamp the connecting rod or crank pin on the second loading rack in a specific posture and place it under the second vision component to take a picture. Then, it clamps the connecting rod or crank pin onto the first or second positioning mechanism of the assembly table, and clamps the needle roller bearing at the target position onto the third positioning mechanism of the assembly table to complete the assembly of the connecting rod assembly. The control system is connected to the first vision component, the automatic keying component, the first robotic arm, the second vision component, the bearing feeding component, and the second robotic arm, respectively. The first loading rack, unloading platform, automatic keying component, first robot arm, second loading rack, bearing feeding component, assembly platform and second robot arm are all mounted on the machine frame.

2. The multi-functional selection console according to claim 1, characterized in that, The automatic keying assembly includes a keying base plate, a pressing table, a positioning table, a vibrating mechanism, and a pressing mechanism. The keying base plate is mounted on the frame, and the pressing table, positioning table, vibrating mechanism, and pressing mechanism are mounted on the keying base plate. The pressing table has a material channel and a pressing groove, which are connected. The positioning table has a first positioning groove. The vibrating mechanism includes a vibrating disc, and the discharge plate of the vibrating disc is connected to the material channel of the pressing table. The pressing mechanism is used to press the semi-circular key in the pressing groove into the keyway of the right half-shaft. The first robotic arm is used to clamp the right half-shaft on the first loading rack into the first positioning groove, so that the keyway of the right half-shaft is aligned with the pressing groove.

3. The multi-functional selection console according to claim 1, characterized in that, The first robotic arm includes a first robotic arm and a first gripper mechanism. The first gripper mechanism includes a first three-finger cylinder, a first gripping block, a pressure block, a pad, and two second gripping blocks. The first three-finger cylinder is mounted on the first robotic arm. The first gripping block and the two second gripping blocks are respectively mounted on the three fingers of the first three-finger cylinder. The first gripping block is L-shaped. The pressure block is detachably mounted on the bottom end of the first gripping block. There are multiple pads with different thicknesses. Each pad can be selectively mounted between the first gripping block and the pressure block. The second gripping block is C-shaped and includes a first horizontal portion, a second horizontal portion, and a vertical portion connecting the first horizontal portion and the second horizontal portion. The bottom end of the pressure block away from the first gripping block is recessed inward to form a first notch. The bottom end of the second horizontal portion away from the vertical portion is recessed inward to form a second notch.

4. The multi-functional selection console according to claim 1, characterized in that, The bearing feeding assembly includes a support base plate, an inclined slide plate, a feeding mechanism, and several pushing mechanisms. The support base plate is mounted on the frame, and front and rear supports are spaced apart on the support base plate. The two ends of the inclined slide plate are respectively mounted on the front and rear supports, and the inclined slide plate is inclined downwards along the direction from the rear support to the front support. Several slides are arranged side by side on the inclined slide plate, and a first limiting block is provided at the end of each slide. The target position is set at the position of the slide on one side of the first limiting block. The feeding mechanism includes a support frame and several guide cylinders for storing needle roller bearings. The support frame is mounted on the rear support, and several mounting slots are respectively provided on one side of each of the several slides. Several guide cylinders are respectively inserted through the several mounting slots. Several pushing mechanisms are respectively located on one side of each of the several slides and mounted on the support base plate. Several pushing mechanisms correspond one-to-one with several slides and one-to-one with several guide cylinders. The pushing mechanism is used to push the needle roller bearings located below the corresponding guide cylinders on the rear support into the corresponding slides.

5. The multi-functional selection console according to claim 1, characterized in that, The second robotic hand includes a second robotic arm and a second gripper mechanism. The second gripper mechanism includes a second three-finger cylinder and three third gripping blocks. The three third gripping blocks are respectively disposed on the three fingers of the second three-finger cylinder. The third gripping blocks are U-shaped. One end of the U-shaped third gripping block is connected to the finger of the second three-finger cylinder. The other end of the U-shaped third gripping block extends downward to form an arc-shaped gripping block. The outer arc-shaped surface of the arc-shaped gripping block is cylindrical. The inner arc-shaped surface of the arc-shaped gripping block is formed by multiple vertical planes connected in sequence. The bottom end of the inner arc-shaped surface of the arc-shaped gripping block is concave inward to form a notch. The side of the notch is formed by multiple vertical planes connected in sequence. The top surface of the notch is horizontal.

6. The multi-functional selection console according to claim 1, characterized in that, The first positioning mechanism includes a first positioning seat and a second positioning seat. The first positioning seat is provided with a first positioning pin for positioning the large end of the connecting rod, and the second positioning seat is provided with a second positioning pin for positioning the small end of the connecting rod. The second positioning mechanism includes a second positioning groove disposed on the top of the first positioning pin for placing the crank pin and a third positioning pin disposed on the second positioning groove for positioning the crank pin. The third positioning mechanism is formed at the position of the top of the first positioning pin other than the second positioning groove.

7. The multi-functional selection console according to claim 6, characterized in that, The assembly platform is provided with a first sensing mounting plate, a second sensing mounting plate, and a third sensing mounting plate. The top of the first sensing mounting plate is provided with a first laser sensor for sensing whether the needle roller bearing is assembled in place. The top of the second sensing mounting plate is provided with a second laser sensor for sensing whether the crank pin is assembled in place. The top of the third sensing mounting plate is provided with a third laser sensor for sensing whether the needle roller bearing is misaligned. The assembly platform is provided with a positioning sensor for sensing whether the connecting rod is in place at a position between the first positioning seat and the second positioning seat.

8. The multi-functional selection console according to claim 1, characterized in that, The first feeding rack has a first feeding groove for the journal end of the right half shaft to pass through and a second feeding groove for the journal end of the left half shaft to pass through. The first unloading position of the unloading platform is provided with a fourth positioning pin for positioning the left half shaft and a first through hole for the journal end of the left half shaft to pass through. The second unloading position of the unloading platform is provided with a fifth positioning pin for positioning the right half shaft and a second through hole for the journal end of the right half shaft to pass through. The unloading platform is provided with a fourth laser sensor for detecting the pressing quality of the semi-circular key on the right half shaft.

9. The multi-functional selection console according to claim 1, characterized in that, The truss is provided with a first drive assembly and a second drive assembly. The first drive assembly is connected to a first vision assembly and is used to move the first vision assembly above the first loading rack. The second drive assembly is connected to a second vision assembly and is used to move the second vision assembly above the second loading rack.

10. The multi-functional selection console according to claim 9, characterized in that, The first vision component includes a vision mounting plate, a camera, and a light source bracket. The vision mounting plate is connected to the first driving component. The camera is mounted on the vision mounting plate. The light source bracket is located below the camera and mounted on the vision mounting plate. The light source bracket has a second through hole corresponding to the position of the camera. The light source bracket is provided with a light source. The structure of the second vision component is the same as that of the first vision component, and the vision mounting plate of the second vision component is connected to the second driving component.

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