Self-adaptive flexible assembly tool and use method therefor

Abstract

A self-adaptive flexible assembly tool, comprising a fixed portion and a lower top plate (5) which are sequentially provided, and a rotating mechanism connected between the fixed portion and the lower top plate (5). The fixed portion is connected to an assembling mechanism; the lower top plate (5) is connected to a part being assembled; the rotating mechanism can drive said part on the lower top plate (5) to swing in the X direction and the Y direction and rotate in the Z direction, thereby realizing self-adaptive flexible assembly of a product during assembly and positioning; lifting / lowering devices (4) are provided between the fixed portion and the lower top plate (5); and when the lifting / lowering device (4) extend out, the lifting / lowering device (4) can be supported between the fixed portion and the lower top plate (5), and the whole self-adaptive flexible assembly tool can be rigid. By means of simple adjustment of the lifting / lowering devices, the whole tool can be switched between flexible and rigid modes, so that said part can be accurately positioned, the tool can adapt to products of different sizes, and the compatibility is high. Further provided is a use method for a self-adaptive flexible assembly tool.

Description

Adaptive flexible assembly tool and use method thereof Technical Field

[0001] The present invention relates to the technical field of mechanical production auxiliary equipment, and more particularly to an adaptive flexible assembly tool and a method for using the same. Background Art

[0002] Positional error between the assembly part and the assembled part is a major factor affecting the feasibility of automated assembly. Solutions for correcting assembly positional error include mechanical positioning, visual positioning, and flexible compensation. Mechanical positioning uses specialized tooling to position the product; visual positioning determines product position information through visual scanning and feeds this information back to the assembly system; and compensation units utilize automatic compensation units installed at the gripping end of the assembly part, enabling flexible position correction when resistance is encountered during assembly.

[0003] When product interface sizes vary significantly, mechanical positioning tooling is difficult to integrate with all products, resulting in high tooling costs and lengthy mold changeover times. Visual positioning also places high demands on ambient illumination and product surface quality. Existing flexible compensation units are only suitable for smaller products. Therefore, when assembly components vary significantly in size, require high positioning accuracy, and have large component sizes, the above solutions are not applicable. For example, the following two patents both pertain to mechanical positioning:

[0004] The application number is 201920583151.2, and the patent name is a utility model patent for an assembly tool for the bracket and bottom cover on the outer cylinder of an automobile shock absorber. The patent comprises: a base, a bracket placement platform on the base, a bracket positioning platform in the middle of the bracket placement platform, a bottom cover placement slot in the middle of the bracket positioning platform, a clamping column and a backrest frame with a backrest, a backrest slot in the backrest, a ball plunger on each side of the backrest slot, a positioning rod passing through the backrest, an annular boss on the rod body of the positioning rod, a spring mounted on the positioning rod between the annular boss and the backrest, a positioning head at the top of the positioning rod, and a press-fitting die with a pressure head at the bottom, located above the base. The above-mentioned assembly tool can quickly, reliably and accurately assemble the bracket and bottom cover to the outer cylinder, thereby greatly improving assembly efficiency and accuracy. Workers only need to place the bottom cover, bracket and outer cylinder on the assembly tool, and the assembly tool will automatically assemble, which can greatly reduce workers' labor intensity. This tooling improves assembly efficiency and accuracy, but its structure is relatively complex and there is also a technical problem of being difficult to be compatible with all products.

[0005] Application number 201720148393.X, titled "A Utility Model Patent for a Flexible Assembly Tooling Structure for Unmanned Aerial Vehicles," utilizes reconfigurable, modular tooling components, requiring only a small number of tooling parts to be designed and manufactured to complete the assembly tooling required for different aircraft models or different configurations of the same aircraft model." Specifically, a support base provides support for the various components; a rotating mechanism is secured to brackets on both sides of the support base; a standard frame is positioned between the rotating mechanisms on the support base and connected to the rotating mechanisms via a rotating shaft; a profile plate and joint locator are mounted to the standard frame via connectors; and a transverse plate and drilling template are secured to the profile plate via connectors. This flexible assembly tooling structure shortens the design and manufacturing cycle for UAV assembly tooling, reduces the number and types of tooling, and lowers manufacturing costs, providing a practical and efficient assembly tooling solution for UAV manufacturing and production needs. It also achieves a "one-size-fits-all" design, manufacturing, and use model for UAV assembly tooling. The tooling described in this patent is suitable for assembling different UAV components, reducing the number of tooling components and manufacturing costs. However, it addresses the issue of positional error between the assembling and assembled parts.

[0006] Summary of the Invention

[0007] The technical problem to be solved by the present invention is to design an adaptive flexible assembly tool to solve the technical problems of poor compatibility of the existing assembly tool and position error when the assembly tool assembles the assembly part and the assembled part.

[0008] The above-mentioned purpose of the present invention is achieved through the following technical solutions:

[0009] An adaptive flexible assembly tool comprises a fixed part, a lower top plate and a rotating mechanism connected between the fixed part and the lower top plate, which are arranged in sequence; the fixed part is connected to the assembly mechanism, and the lower top plate is connected to the assembled part; the rotating mechanism comprises a connecting rod and a rotating joint fixedly connected to each other, the connecting rod is fixedly connected to the fixed part, and the rotating joint is connected to the lower top plate, and the rotating joint drives the lower top plate to swing in the X and Y directions and rotate in the Z direction; a lifting device is also provided between the fixed part and the lower top plate, the lifting device is installed on the lower top plate, and the lifting device has an output end, and the output end faces the fixed part.

[0010] The adaptive flexible assembly tooling described in the present invention can switch between flexibility and rigidity. Specifically, when the output end of the lifting device is not in contact with the fixed portion, the lower top plate connected by the rotating joint can move freely in the X, Y, and Z directions. When the output end of the lifting device extends and supports between the fixed portion and the lower top plate, the entire tooling becomes rigid. This simple structure and operation can achieve the tooling's switching between flexibility and rigidity, enabling adaptive flexible assembly during product positioning and improving automated assembly accuracy and efficiency. Furthermore, the tooling can accommodate the assembly of products of varying sizes, reducing the number of tooling pieces and production costs while eliminating the need for mold changes and improving production efficiency.

[0011] Furthermore, the fixed part includes an upper transition flange, a lower transition flange and an upper top plate that are fixedly connected in sequence; the upper transition flange is connected to the assembly mechanism; the lower transition flange is T-shaped, and the thinner end of the T-shaped lower transition flange passes through the upper top plate and is fixedly connected to the connecting rod.

[0012] The connecting rod can also be fixedly connected to the lower transition flange. In the present invention, a T-shaped lower transition flange is provided. The T-shaped structure not only limits the Z-axis position of the upper top plate, but also facilitates the positioning and installation of the upper top plate. In the present invention, the lower transition flange and the upper top plate are connected by fasteners. The connecting rod is threadedly connected to the lower transition flange.

[0013] Furthermore, the rotary joint is a spherical bearing, the bearing seat of which is mounted on the lower top plate. The spherical bearing enables the tooling to swing freely in the X and Y directions and rotate freely in the Z direction. The rotary joint in the present invention can also be a floating joint.

[0014] Furthermore, the lifting device is a pneumatic cylinder, an electric cylinder, a hydraulic device or a screw pair.

[0015] Furthermore, an elastic structure with elasticity is connected between the upper top plate and the lower top plate to increase the damping between the upper top plate and the lower top plate, reduce the instability of the entire mechanism during movement, and improve the assembly operation rhythm.

[0016] Furthermore, the tooling is applied to disk-type parts, and the upper top plate and the lower top plate are both cylindrical.

[0017] The present invention also provides a method for using the adaptive flexible assembly tooling described above, wherein the output end of the lifting device is retracted and does not contact the fixed part, and the rotary joint can swing freely in the X and Y directions and rotate freely in the Z direction, thereby realizing flexible positioning of the assembly mechanism; the output end of the lifting device is extended, so that the lifting device is supported between the upper top plate and the lower top plate, so that the rotary joint cannot rotate freely, thereby realizing rigid positioning of the assembly mechanism; the switching of the assembly mechanism between flexible positioning and rigid positioning is realized by adjusting the stroke of the output end of the lifting device.

[0018] Furthermore, the parallelism between the upper top plate and the lower top plate is ensured by adjusting the output end stroke of the lifting device.

[0019] The present invention has the following beneficial effects:

[0020] The present invention provides an adaptive flexible assembly tool and a method for using the same. The tool comprises a fixed portion, a lower top plate, and a rotating mechanism connected between the fixed portion and the lower top plate, the fixed portion is connected to the assembly mechanism, and the lower top plate is connected to the assembled parts. The rotating mechanism can drive the assembled parts on the lower top plate to swing in the X and Y directions and rotate in the Z direction, thereby realizing adaptive flexible assembly during product assembly and positioning. A lifting device (such as a cylinder) is provided on the fixed portion and the lower top plate. The lifting device extends out and supports between the fixed portion and the lower top plate, and can also make the entire adaptive flexible assembly tool rigid. By simply adjusting the lifting device, the entire tool can be switched between flexibility and rigidity. The assembled parts can be accurately positioned, and can adapt to the equipment of different products with large size differences, with high compatibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0022] Figure 1 is a schematic diagram of the structure of an adaptive flexible assembly tool.

[0023] 1-upper transition flange, 2-lower transition flange, 3-upper top plate, 4-lifting device, 5-lower top plate, 6-rotating joint, 7-connecting rod. DETAILED DESCRIPTION

[0024] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered by the claims.

[0025] Example

[0026] According to the analysis of background technology, the main solutions for automatically correcting assembly position errors include mechanical positioning, visual positioning, and flexible compensation methods. However, each method has its own shortcomings. Among them, the tooling used in the mechanical positioning method has the disadvantage of low automated assembly accuracy. Moreover, when the product interface sizes vary greatly, the mechanical positioning tooling is difficult to be compatible with all products, and there are technical problems such as high tooling costs and long mold change times. This application is aimed at these problems and provides an adaptive flexible assembly tooling to solve the problem of flexible automatic adjustment of assembly and assembled parts position errors. Because of its flexibility, it can realize flexible automatic adjustment of assembly and assembled parts position errors during positioning, and it can also adapt to the assembly of products of different sizes. The adaptive flexible assembly tooling described in this embodiment is applied to the assembly of disc parts, and the specific structural analysis is as follows:

[0027] An adaptive flexible assembly tool, as shown in Figure 1, includes a fixed part, a lower top plate 5 and a rotating mechanism connected between the fixed part and the lower top plate 5, which are arranged in sequence; the fixed part is connected to the assembly mechanism, and the lower top plate 5 is connected to the assembled part; the rotating mechanism includes a connecting rod 7 and a rotating joint 6 that are fixedly connected to each other, the connecting rod 7 is fixedly connected to the fixed part, and the rotating joint 6 is connected to the lower top plate 5, and the rotating joint 6 drives the lower top plate to swing in the X and Y directions and rotate in the Z direction; a lifting device 4 is also provided between the fixed part and the lower top plate 5, and the lifting device 4 is installed on the lower top plate 5, and the lifting device 4 has an output end, and the output end faces the fixed part.

[0028] As shown in the figure, the fixed portion includes an upper transition flange 1, a lower transition flange 2, and an upper top plate 3, which are fixedly connected in sequence. The upper transition flange 1 is connected to the assembly mechanism. The lower transition flange 2 is T-shaped, and the thinner end of the T-shaped lower transition flange 2 passes through the upper top plate 3 and is fixedly connected to the connecting rod 7. The lower transition flange 2 and the upper top plate 3 are connected by fasteners. The connecting rod 7 is threadedly connected to the lower transition flange 2.

[0029] In this embodiment, the rotating joint 6 is a spherical bearing, and the lifting device 4 is a cylinder. Both the upper and lower plates 3 and 5 are cylindrical, and there are three cylinders, evenly distributed around the center of the lower plate 5. The spherical bearing's seat is mounted on the lower plate, connected to the lower plate 5 via fasteners. The spherical bearing enables the fixture to swing freely in the X and Y directions and rotate freely in the Z direction.

[0030] A spring is further connected between the upper top plate 3 and the lower top plate 5 to increase the damping between the upper top plate 3 and the lower top plate 5, reduce the instability of the entire mechanism during movement, and improve the assembly operation rhythm.

[0031] The method of using the above-mentioned adaptive flexible assembly tooling is as follows:

[0032] The assembly mechanism is a manipulator, and the upper transition flange 1 is fixedly connected to the manipulator. The output end of the lifting device 4 is driven to retract. At this time, the output end is not in contact with the fixed part, and the rotary joint 6 can swing freely in the X and Y directions and rotate freely in the Z direction, thereby realizing flexible positioning of the assembly mechanism; the output end of the lifting device 4 extends, and the three cylinders are pushed to the upper top plate 3. The upper top plate 3 and the lower top plate 5 are in a parallel state. The lifting device 4 is supported between the upper top plate 3 and the lower top plate 5 to realize the limitation of the spherical bearing, ensuring that it cannot rotate automatically, thereby realizing the rigid positioning of the assembly mechanism; by adjusting the stroke of the output end of the lifting device 4, the assembly mechanism can be automatically switched between flexible positioning and rigid positioning. Adjust the stroke of the cylinder to ensure the parallelism between the upper top plate 3 and the lower top plate 5. This embodiment realizes the adaptive flexible assembly of disc parts, improving the precision and efficiency of automated assembly.

[0033] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of the present invention.

Claims

1. An adaptive flexible assembly tooling, characterized in that, it includes a fixed part, a lower top plate (5) arranged in sequence, and a rotating mechanism connected between the fixed part and the lower top plate (5); the fixed part is connected to the assembly mechanism, and the lower top plate (5) is connected to the part to be assembled; the rotating mechanism includes a connecting rod (7) and a rotating joint (6) fixedly connected to each other, the connecting rod (7) is fixedly connected to the fixed part, the rotating joint (6) is connected to the lower top plate (5), and the rotating joint (6) drives the lower top plate (5) to swing in the X and Y directions and rotate in the Z direction; a lifting device (4) is further arranged between the fixed part and the lower top plate (5), the lifting device (4) is installed on the lower top plate (5), and the lifting device (4) has an output end, and the output end faces the fixed part.

2. The adaptive flexible assembly tooling according to claim 1, characterized in that, the fixed part includes an upper transition flange (1), a lower transition flange (2) and an upper top plate (3) fixedly connected in sequence; the upper transition flange (1) is connected to the assembly mechanism; the lower transition flange (2) is T-shaped, and the thinner end of the T-shaped lower transition flange (2) passes through the upper top plate (3) and is fixedly connected to the connecting rod (7).

3. The adaptive flexible assembly tooling according to claim 2, characterized in that, the rotating joint (6) is a spherical bearing, and the bearing seat of the spherical bearing is installed on the lower top plate (5).

4. The adaptive flexible assembly tooling according to claim 1, characterized in that, the lifting device (4) is a cylinder, an electric cylinder, a hydraulic device or a lead screw pair.

5. The adaptive flexible assembly tooling according to claim 2, characterized in that, an elastic structure with elasticity is further connected between the upper top plate (3) and the lower top plate (5) to increase the damping between the upper top plate (3) and the lower top plate (5).

6. The adaptive flexible assembly tooling according to claim 1, characterized in that, the tooling is applied to disc-shaped parts, and both the upper top plate (3) and the lower top plate (5) are cylindrical.

7. A method for using the adaptive flexible assembly tooling according to any one of claims 1 to 6, characterized in that, the output end of the lifting device (4) contracts, and the output end does not contact the fixed part, and the rotating joint (6) can swing freely in the X and Y directions and rotate freely in the Z direction to realize the flexible positioning of the assembly mechanism; the output end of the lifting device (4) extends, so that the lifting device (4) supports between the upper top plate (3) and the lower top plate (5), and the rotating joint (6) cannot rotate freely, realizing the rigid positioning of the assembly mechanism; by adjusting the stroke of the output end of the lifting device (4), the switching between the flexible positioning and the rigid positioning of the assembly mechanism is realized.

8. The method for using the adaptive flexible assembly tooling according to claim 7, characterized in that, by adjusting the stroke of the output end of the lifting device (4), the parallelism between the upper top plate (3) and the lower top plate (5) is ensured.

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