A universal nail column automatic installation device and installation method thereof

Abstract

The present invention discloses a universal automatic installation device for nail posts and an installation method thereof, wherein the universal automatic installation device for nail posts comprises a main body support, a quick-change plate for connecting with a manipulator, a positioning assembly for positioning the glass to be installed, two groups of grasping assemblies for grasping the nail posts to be installed, and two groups of mounting assemblies for mounting the nail posts to be installed on the glass to be installed. The whole process of grasping, positioning and installing the nail posts is automated, the manipulator solidifies the activity route and the positioning assembly is used for precise positioning, thereby reducing human errors and improving the accuracy of installation.

Description

Technical Field

[0001] The invention relates to the technical field of automated glass processing, and in particular to a universal nail column automatic installation device and an installation method thereof. Background Art

[0002] A nail column needs to be installed on the front windshield of a car. Currently, the installation of the nail column is mostly completed manually, that is, the operator holds the tooling and installs the nail column at a predetermined position.

[0003] The disadvantage of manual installation is that the installation position and bonding area are manually controlled by the operator, there are many uncontrollable factors and large errors, and the installation efficiency is low and the labor cost is high. Summary of the invention

[0004] The purpose of the present invention is to provide a universal automatic installation device for nail columns in view of the technical defects of large errors and labor-consuming manual installation of nail columns in the prior art.

[0005] Another aspect of the present invention is to provide an installation method of the universal nail column automatic installation device.

[0006] The technical solution adopted to achieve the purpose of the present invention is:

[0007] A universal nail column automatic installation device comprises a main body support, a quick-change plate for connecting with a manipulator, a positioning assembly for positioning a glass to be installed, two groups of grabbing assemblies for grabbing the nail columns to be installed, and two groups of mounting assemblies for mounting the nail columns to be installed on the glass to be installed; the quick-change plate, the positioning assembly, the grabbing assembly and the mounting assembly are respectively mounted on the main body support; each group of the grabbing assemblies is mounted below a group of the mounting assemblies;

[0008] The positioning assembly includes a positioning cylinder, a glass contact block and a distance sensor; the positioning cylinder and the distance sensor are fixed on the main body bracket, the glass contact block is fixed on the output shaft of the positioning cylinder and is driven by the positioning cylinder; the glass contact block contacts the glass to be installed to mark the actual position of the glass to be installed, and the distance sensor senses the position of the glass contact block to indirectly locate the actual position of the glass to be installed;

[0009] The grab assembly includes a clamping cylinder, a grab base and two clamping claws; the clamping cylinder and the grab base are respectively fixedly mounted on the lower surface of the connecting plate; the grab base is formed with a contoured groove consistent with the shape of the nail column to be installed; the two clamping claws are respectively driven by the clamping cylinder to contact and clamp the nail column to be installed or separate and release the nail column to be installed;

[0010] The mounting assembly includes an integral propulsion cylinder fixed on the main support, and a flexible mounting assembly connected to the output shaft of the integral propulsion cylinder and driven by the integral propulsion cylinder to move up and down.

[0011] In the above technical solution, the glass contact block includes a contact block fixedly mounted on the output shaft of the positioning cylinder and a distance detection probe fixedly mounted on the contact block.

[0012] In the above technical solution, the contact surface between the contact block and the glass to be installed is an arc surface to prevent scratching the glass.

[0013] In the above technical solution, two sliders are installed on the output shaft of the clamping cylinder; one end of each clamping jaw is fixed on the slider and driven by the clamping cylinder, and the other end is located below the grabbing base for clamping or loosening the nail column to be installed.

[0014] In the above technical solution, a gas channel is provided on the grabbing base, one end of the gas channel is a suction port, and the suction port is provided on the lower surface of the grabbing base to adsorb the nail column to be installed; the other end of the gas channel is provided with an air inlet, and the air inlet is connected to an air pump to provide adsorption force.

[0015] In the above technical solution, the grabbing assembly also includes an auxiliary fixing assembly, which includes an auxiliary cylinder, a connecting rod and a push column; the auxiliary cylinder is fixedly mounted on the outer side of the grabbing base; the middle part of the connecting rod is rotatably connected to the outer side of the grabbing base, the lower end of the connecting rod is connected to the output shaft of the auxiliary cylinder, and the upper end of the connecting rod is hinged to the push column; the push column is driven by the auxiliary cylinder and the connecting rod to pass through the grabbing base, and the tip of the push column penetrates into the contoured groove and abuts against the raised part of the nail column to be installed.

[0016] In the above technical solution, the flexible installation assembly includes a first flexible installation plate, a second flexible installation plate loosely connected to the first flexible installation plate, and two flexible cylinders respectively fixedly mounted on the first flexible installation plate;

[0017] The first flexible mounting plate is provided with two axial holes, and the second flexible mounting plate is provided with two grooves. When the output shafts of the two flexible cylinders are in an extended state, the lower ends of the output shafts of the flexible cylinders pass through the axial holes and are in matching contact with the grooves, so that no relative movement can be generated between the first flexible mounting plate and the second flexible mounting plate; when the output shafts of the two flexible cylinders are in a retracted state, due to the loose connection between the first flexible mounting plate and the second flexible mounting plate, the second flexible mounting plate is separated from the first flexible mounting plate under the action of gravity and can generate relative movement.

[0018] In the above technical solution, the two flexible cylinders are respectively mounted on the first flexible mounting plate through brackets, and the two flexible cylinders are respectively located on both sides of the integral propulsion cylinder.

[0019] In the above technical solution, the main support includes a top plate, a front mounting column, a rear mounting column and two side plates; a front baffle is provided at the upper end of the front mounting column, and a rear baffle is provided at the upper end of the rear mounting column.

[0020] In another aspect of the present invention, the installation method of the universal nail column automatic installation device comprises the following steps:

[0021] Step 1: The robot drives the universal nail column automatic installation device to move to the nail column placement rack, and the two groups of grabbing components grab a nail column respectively;

[0022] Step 2: The robot drives the universal nail column automatic installation device to move to the edge of the glass to be installed, and the positioning component positions the glass to be installed, and transmits the positioning information to the robot to optimize and adjust the robot's action route;

[0023] Step 3: The robot drives the universal nail column automatic installation device to one of the installation positions, and one group of installation components installs the captured nail column to be installed on the glass to be installed; then the robot drives the universal nail column automatic installation device to another installation position, and another group of installation components installs the captured nail column to be installed on the glass to be installed.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. The universal nail column automatic installation device provided by the present invention comprises a main body support, a quick-change plate for connecting with a manipulator, a positioning assembly for positioning the glass to be installed, two sets of grasping assemblies for grasping the nail columns to be installed, and two sets of installation assemblies for installing the nail columns to be installed on the glass to be installed. The whole process of grasping, positioning and installing the nail columns is automated, the manipulator solidifies the activity route and the positioning assembly is used for precise positioning, which reduces human errors and improves the accuracy of installation.

[0026] 2. The universal nail column automatic installation device provided by the present invention has a contoured groove formed on the gripping base that is consistent with the shape of the nail column to be installed. During the installation of nail columns of different models, only the gripping base needs to be replaced, thereby realizing a quick switch in the installation of nail columns of different models.

[0027] 3. The universal nail column automatic installation device provided by the present invention does not require manual operation, thereby improving production efficiency, reducing manual labor and saving labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 The figure shows a schematic diagram of the structure of a universal nail column automatic installation device;

[0029] In the figure, A-main bracket, B-quick change plate, C-positioning assembly, D-grabbing assembly, E-installation assembly;

[0030] Figure 2 Shown is a schematic diagram of the structure of the main support;

[0031] Figure 3 Shown is a schematic diagram of the structure of the positioning component;

[0032] Figure 4 Shown is a schematic diagram of the structure of the positioning component;

[0033] Figure 5 Shown is a schematic structural diagram of a glass contact block;

[0034] Figure 6 Shown is a schematic diagram of the structure of the grabbing assembly;

[0035] Figure 7 Shown is a schematic diagram of the structure of the grabbing assembly;

[0036] Figure 8 Shown is a perspective view of the mounting assembly and the grabbing assembly;

[0037] Fig. 9 Shown is a side view of the mounting assembly and the grab assembly;

[0038] Fig.10 Shown are front views of the mounting assembly and the grab assembly.

[0039] In the figure: 1-top plate, 2-front mounting column, 3-rear mounting column, 4-side plate, 5-front baffle, 6-rear baffle, 7-positioning cylinder, 8-glass contact block, 8-1-contact block, 8-2-distance detection probe, 9-distance sensor, 10-L-shaped mounting block, 11-slide rod, 12-slide seat, 13-connecting plate, 14-clamping cylinder, 15-grasping base, 16-profiling groove, 17-slider, 18-clamping claw, 19-adsorption port, 20-air inlet, 21-auxiliary cylinder, 22-connecting rod, 23-push column, 24-integral propulsion cylinder, 25-first flexible mounting plate, 26-bolt, 27-second flexible mounting plate, 28-bracket, 29-flexible cylinder, 30-axis hole, 31-groove, 32-nail column to be installed. DETAILED DESCRIPTION

[0040] The present invention is further described in detail below in conjunction with specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0041] Example 1

[0042] A universal automatic installation device for nail posts, such as Figure 1 As shown, it includes a main frame A, a quick-change plate B for connecting to a manipulator, a positioning assembly C for positioning the glass to be installed, two groups of grabbing assemblies D for grabbing the nail columns to be installed, and two groups of mounting assemblies E for mounting the nail columns to be installed on the glass to be installed; the quick-change plate B, the positioning assembly C, the grabbing assembly D and the mounting assembly E are respectively mounted on the main frame A; each group of the grabbing assemblies D is mounted below a group of the mounting assemblies E;

[0043] The installation method of the universal nail column automatic installation device comprises the following steps:

[0044] Step 1: The robot drives the universal nail column automatic installation device to move to the nail column placement rack through the quick change plate B, and the two groups of grabbing components D grab a nail column to be installed respectively;

[0045] Step 2: The robot drives the universal nail column automatic installation device to move to the edge of the glass to be installed, and the positioning component C positions the glass to be installed, and transmits the positioning information to the robot to optimize and adjust the robot's action route;

[0046] Step 3: The robot drives the universal nail column automatic installation device to one of the installation positions, and one group of installation components E installs the captured nail column to be installed on the glass to be installed; then the robot drives the universal nail column automatic installation device to another installation position, and another group of installation components E installs the captured nail column to be installed on the glass to be installed.

[0047] Example 2

[0048] This embodiment introduces the detailed structure of the main support based on the embodiment 1.

[0049] The main support is as follows Figure 2 As shown, it includes a top plate 1, a front mounting column 2, a rear mounting column 3 and two side plates 4, the top ends of the front mounting column 2 and the rear mounting column 3 are fixedly connected to the lower surface of the top plate 1; the two side plates 4 are inverted L-shaped plates, and their shorter sides are fixed to the lower surface of the top plate; a front baffle 5 is provided at the upper end of the front mounting column 2, and a rear baffle 6 is provided at the upper end of the rear mounting column 3, and the upper edges of the front baffle 5 and the rear baffle 6 are aligned with the upper surface of the top plate 1; the functions of the front baffle 5 and the rear baffle 6 are, on the one hand, to reinforce the main frame, and on the other hand, some auxiliary parts, such as a pressure regulating valve, a controller, etc., can be placed.

[0050] The quick-change plate B is installed at the center of the upper surface of the top plate 1, the positioning assembly C is installed at the lower end of the front mounting column 2, and two sets of the mounting assemblies E are respectively installed on the two side plates 4;

[0051] The quick-change plate adopts the QC90-B model, and the manipulator drives the universal nail column automatic installation device through the quick-change plate to automatically install according to the movement trajectory set by the internal program of the manipulator;

[0052] Example 3

[0053] This embodiment introduces the detailed structure of the positioning component based on the embodiment 1.

[0054] The positioning component is as Figure 3-5 As shown, it includes a positioning cylinder 7 fixed at the lower end of the front mounting column 2, a glass contact block 8 fixed on the output shaft of the positioning cylinder 7 and driven by the positioning cylinder 7, and a distance sensor 9 fixed at the lower end of the front mounting column 2; during positioning, the glass contact block 8 contacts the side of the glass, and the distance sensor 9 senses the distance between it and the glass contact block 8 to judge the actual position of the glass in the width direction of the glass, and calculates the deviation between the measured actual position and the preset standard position, and uses the calculated deviation result to flexibly compensate the robot trajectory design to improve the installation position accuracy of the robot.

[0055] The glass contact block 8 is connected to the positioning cylinder 7 through an L-shaped mounting block 10. Figure 4 As shown, the shorter surface of the L-shaped mounting block 10 is fixed on the output shaft of the positioning cylinder 7, and the longer surface is located below the positioning cylinder 7; two sliding rods 11 are provided at the end of the longer surface of the L-shaped mounting block 10, and a hollow sliding seat 12 is provided below the positioning cylinder 7, and the sliding rod 11 is inserted into the middle hole of the sliding seat 12 and slides in the sliding seat 12. The setting of the sliding rod 11 and the sliding groove 12 ensures the stable connection between the glass contact block 8 and the positioning cylinder 7.

[0056] The glass contact block is as follows Figure 5 As shown, it includes a contact block 8-1 fixedly mounted on the L-shaped mounting block 10 and a distance detection probe 8-2 fixedly mounted on the contact block 8-1; the contact block 8-1 is shaped as a rectangular block and an arc block, and the arc block contacts the glass to prevent the contact block 8-1 from scratching the glass.

[0057] Example 4

[0058] This embodiment introduces the detailed structure of the grabbing component based on the embodiment 1.

[0059] The grabbing component D is installed below the mounting component E through the connecting plate 13. When the mounting component E drives the connecting plate 13 downward, the nail column to be installed grabbed by the grabbing component D is pressed and pasted on the glass;

[0060] The grabbing component is as Figure 6 , Figure 7 As shown (for clarity, Figure 6 and Figure 7 The invention relates to a method for manufacturing a nail column 32 to be installed. The method comprises a clamping cylinder 14 fixedly mounted on the lower surface of the connecting plate 13, a grabbing base 15 mounted on the lower surface of the connecting plate 13, and two clamping jaws 18 driven by the clamping cylinder 14 to contact or separate. Two sliders 17 are mounted on the output shaft of the clamping cylinder 14. Each of the clamping jaws 18 is in the shape of a stepped block, one end of which is fixed on the slider 17 and driven by the clamping cylinder 14, and the other end is located below the grabbing base 15 for clamping or loosening the nail column 32 to be installed. The grabbing base 15 is formed with a profiling groove 16 that is consistent with the shape of the protruding portion of the nail column 32 to be installed. When grasping, the two clamping jaws 18 clamp the nail column 32 to be installed so that its protruding portion is located in the profiling groove 16, and the bonding plane of the nail column 32 to be installed is located below the clamping jaws 18.

[0061] The grab base 15 is provided with a gas channel, one end of which is a suction port 19, which is provided on the lower surface of the grab base 15 and contacts the upper surface of the bonding plane of the nail column to be installed, and the other end of the gas channel is provided with a gas inlet 20, which is connected to the air pump. When the air pump is vacuumed, the upper surface of the bonding plane of the nail column 32 to be installed is closely attached to the lower surface of the grab base 15 through the suction port 19, so as to prevent the nail column 32 to be installed from falling off;

[0062] The grabbing assembly D also includes an auxiliary fixing assembly, which includes an auxiliary cylinder 21 fixedly installed on the outer side of the grabbing base 15, a connecting rod 22 and a push column 23 rotatably connected to the outer side of the grabbing base 15, the lower end of the connecting rod 22 is connected to the output shaft of the auxiliary cylinder 21, and the upper end of the connecting rod 22 is hinged to the push column 23. Under the action of the auxiliary cylinder 21, the connecting rod 22 pushes the push column 23 to pass through the grabbing base 15, and its tip penetrates into the profiling groove 16 and abuts against the raised part of the nail column 32 to be installed, thereby playing an auxiliary clamping role.

[0063] Example 5

[0064] This embodiment introduces the detailed structure of the installation component E based on embodiments 2-4.

[0065] The installation component E is as follows Figure 8-10As shown, it includes an integral propulsion cylinder 24 fixed on the side plate 4, a first flexible mounting plate 25 connected to the output shaft of the integral propulsion cylinder 24 and driven by the integral propulsion cylinder 24 to move up and down, a second flexible mounting plate 27 loosely connected to the first flexible mounting plate 25 through four bolts 26, and two flexible cylinders 29 respectively mounted on the first flexible mounting plate 25 through brackets 28, and the two flexible cylinders 29 are respectively located on both sides of the integral propulsion cylinder 24;

[0066] The first flexible mounting plate 25 is provided with two shaft holes 30 (not shown in the figure), and the second flexible mounting plate 27 is provided with two grooves 31 (not shown in the figure). When the output shafts of the two flexible cylinders 29 are in the extended state, the lower ends of the output shafts of the flexible cylinders 29 pass through the shaft holes 30 and match and contact the grooves 31, so that the first flexible mounting plate 25 and the second flexible mounting plate 27 cannot generate relative movement; when the output shafts of the two flexible cylinders 29 are in the retracted state, due to the loose connection between the first flexible mounting plate 25 and the second flexible mounting plate 27, the second flexible mounting plate 27 is separated from the first flexible mounting plate 25 under the action of gravity and can generate relative movement. The lower end of the output shaft of the flexible cylinder 29 is truncated cone-shaped, and the two grooves 31 on the second flexible mounting plate 27 are also truncated cone-shaped.

[0067] During the installation process of the installation component E, the overall propulsion cylinder 24 first pushes the installation component 4 as a whole downward to press the glass to be installed with interference fit. At this time, the output shaft of the flexible cylinder 29 is in an extended state. When the nail column 32 to be installed grasped by the grasping component D at the bottom touches the glass surface, the output shaft of the flexible cylinder 29 retracts, and the second flexible installation plate 27 tilts with the angle of the glass to be installed. At the same time, the grasping component D connected thereto also tilts with the angle of the glass to be installed, so that the grasped nail column 32 is firmly adhered to the glass to be installed.

[0068] The two groups of grabbing components D grab a nail column to be installed respectively, and then install it through the two groups of installation components E respectively. During installation, the propulsion cylinder 24 in one group of installation components E is not started, that is, it is in a retracted state, and the propulsion cylinder 24 in the other group of installation components E is extended for installation. After the installation is completed, the other group continues to install, and the two groups do not affect each other.

[0069] The above is only a preferred embodiment of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A universal automatic installation device for nail posts, characterized in that: It comprises a main frame, a quick-change plate for connecting with a manipulator, a positioning assembly for positioning the glass to be installed, two groups of grabbing assemblies for grabbing the nail columns to be installed, and two groups of mounting assemblies for mounting the nail columns to be installed on the glass to be installed; the quick-change plate, the positioning assembly, the grabbing assembly and the mounting assembly are respectively mounted on the main frame; each group of the grabbing assemblies is mounted below a group of the mounting assemblies; The positioning assembly includes a positioning cylinder, a glass contact block and a distance sensor; the positioning cylinder and the distance sensor are fixed on the main body bracket, the glass contact block is fixed on the output shaft of the positioning cylinder and is driven by the positioning cylinder; the glass contact block contacts the glass to be installed to mark the actual position of the glass to be installed, and the distance sensor senses the position of the glass contact block to indirectly locate the actual position of the glass to be installed; The grab assembly includes a clamping cylinder, a grab base and two clamping claws; the clamping cylinder and the grab base are respectively fixedly mounted on the lower surface of the connecting plate; the grab base is formed with a contoured groove consistent with the shape of the nail column to be installed; the two clamping claws are respectively driven by the clamping cylinder to contact and clamp the nail column to be installed or separate and release the nail column to be installed; The mounting assembly includes an integral propulsion cylinder fixed to the main body bracket, and a flexible mounting assembly connected to the output shaft of the integral propulsion cylinder and driven by the integral propulsion cylinder to move up and down; The grab base is provided with a gas channel, one end of which is a suction port, which is provided on the lower surface of the grab base to suction the nail column to be installed; the other end of the gas channel is provided with a gas inlet, which is connected to an air pump to provide suction force; The grab assembly also includes an auxiliary fixing assembly, which includes an auxiliary cylinder, a connecting rod and a push column; the auxiliary cylinder is fixedly mounted on the outer side of the grab base; the middle part of the connecting rod is rotatably connected to the outer side of the grab base, the lower end of the connecting rod is connected to the output shaft of the auxiliary cylinder, and the upper end of the connecting rod is hinged to the push column; the push column is driven by the auxiliary cylinder and the connecting rod to pass through the grab base, and the tip of the push column penetrates into the profiling groove and abuts against the raised part of the nail column to be installed; The flexible mounting assembly comprises a first flexible mounting plate, a second flexible mounting plate loosely connected to the first flexible mounting plate, and two flexible cylinders respectively fixedly mounted on the first flexible mounting plate; The first flexible mounting plate is provided with two axial holes, and the second flexible mounting plate is provided with two grooves. When the output shafts of the two flexible cylinders are in an extended state, the lower ends of the output shafts of the flexible cylinders pass through the axial holes and are in matching contact with the grooves, so that no relative movement can be generated between the first flexible mounting plate and the second flexible mounting plate; when the output shafts of the two flexible cylinders are in a retracted state, due to the loose connection between the first flexible mounting plate and the second flexible mounting plate, the second flexible mounting plate is separated from the first flexible mounting plate under the action of gravity and can generate relative movement.

2. The universal automatic nail post installation device according to claim 1, characterized in that: The glass contact block comprises a contact block fixedly mounted on the output shaft of the positioning cylinder and a distance detection probe fixedly mounted on the contact block.

3. The universal automatic nail post installation device according to claim 2, characterized in that: The contact surface between the contact block and the glass to be installed is an arc surface to prevent scratching the glass.

4. The universal automatic nail post installation device according to claim 1, characterized in that: Two slide blocks are installed on the output shaft of the clamping cylinder; one end of each clamping jaw is fixed on the slide block and driven by the clamping cylinder, and the other end is located below the grabbing base for clamping or loosening the nail column to be installed.

5. The universal automatic nail post installation device according to claim 1, characterized in that: The two flexible cylinders are respectively mounted on the first flexible mounting plate through brackets, and the two flexible cylinders are respectively located on both sides of the integral propulsion cylinder.

6. The universal automatic nail post installation device according to claim 1, characterized in that: The main support comprises a top plate, a front mounting column, a rear mounting column and two side plates; a front baffle is arranged at the upper end of the front mounting column, and a rear baffle is arranged at the upper end of the rear mounting column.

7. The installation method of the universal nail column automatic installation device according to any one of claims 1 to 6, characterized in that: The following steps are involved: Step 1: The robot drives the universal nail column automatic installation device to move to the nail column placement rack, and the two groups of grabbing components grab a nail column respectively; Step 2: The robot drives the universal nail column automatic installation device to move to the edge of the glass to be installed, and the positioning component positions the glass to be installed, and transmits the positioning information to the robot to optimize and adjust the robot's action route; Step 3: The robot drives the universal nail column automatic installation device to one of the installation positions, and one group of installation components installs the captured nail column to be installed on the glass to be installed; then the robot drives the universal nail column automatic installation device to another installation position, and another group of installation components installs the captured nail column to be installed on the glass to be installed.

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