A nail post grabbing structure, a universal nail post automatic installation device and an installation method

Abstract

The present invention discloses a nail post grabbing structure, a universal nail post automatic installation device, and an installation method thereof. The nail post grabbing structure includes a clamping assembly, an adsorption assembly, and an auxiliary fixing assembly. The universal nail post automatic installation device includes a main frame, a quick-change plate for connecting to a robot arm, a positioning assembly for positioning the glass to be installed, two sets of nail post grabbing structures for grabbing the nail posts to be installed, and two sets of installation assemblies for installing the nail posts on the glass to be installed. This achieves full automation of the nail post grabbing, positioning, and installation process, utilizing the robot arm to solidify the movement path and the positioning assembly for precise positioning, reducing human error and improving installation accuracy.

Description

Technical Field

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

[0002] The front windshield of a car needs to be installed with nail posts. Currently, the installation of nail posts is mostly done manually, that is, the operator holds the tool and installs the nail posts at the 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.

[0004] Due to the small size of the nail column structure, it is difficult for the robot to control its grasping force and grasping accuracy, which easily causes it to fall off. Therefore, it is necessary to design a nail column grasping structure to enable it to grasp the nail column stably to achieve automated installation of the nail column. Summary of the Invention

[0005] The purpose of the present invention is to provide a nail post grabbing structure to address the technical defect in the prior art that nail posts are easily lost when being grabbed.

[0006] Another aspect of the present invention is to provide a grasping method of the nail post grasping structure.

[0007] Another aspect of the present invention is to provide a universal nail post automatic installation device including the above-mentioned nail post grabbing structure.

[0008] Another aspect of the present invention is to provide an installation method for the universal automatic nail post installation device.

[0009] The technical solution adopted to achieve the purpose of the present invention is:

[0010] A nail post grabbing structure, comprising a clamping component, an adsorption component and an auxiliary fixing component;

[0011] The clamping assembly includes a clamping cylinder, a gripping base, and two clamping jaws; the gripping base is formed with a contoured groove that is consistent with the shape of the nail column to be installed; the two clamping jaws 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;

[0012] 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.

[0013] In the above technical solution, the adsorption component includes a gas channel, an air inlet and an air pump opened on the grabbing base; one end of the gas channel is the adsorption port, and the adsorption port is opened on the lower surface of the grabbing base to adsorb the nail column to be installed; the air inlet is arranged at the other end of the gas channel; the air inlet is connected to the air pump to provide adsorption force.

[0014] In the above technical solution, the auxiliary fixing assembly includes an auxiliary cylinder, a connecting rod and a push column; the auxiliary cylinder is fixedly installed 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.

[0015] In the above technical solution, the raised portion of the nail column to be installed enters the profiling groove, and the clamping cylinder drives the two clamping claws to contact and clamp the nail column to be installed; at the same time, the air pump is started to adsorb the bonding surface of the nail column to be installed on the grasping base through the air channel; at the same time, the auxiliary cylinder pushes the connecting rod, so that the tip of the push column hinged at the end of the connecting rod penetrates into the profiling groove and abuts against the raised portion of the nail column to be installed.

[0016] A universal automatic stud installation device comprises a main support, a quick-change plate for connecting to a robot, a positioning assembly for positioning the glass to be installed, two sets of the above-mentioned stud grasping structures, and two sets of installation assemblies for installing the studs to be installed on the glass to be installed; the quick-change plate, positioning assembly, stud grasping structures, and installation assemblies are respectively mounted on the main support; each set of the stud grasping structures is mounted below a set of the installation assemblies.

[0017] In the above technical solution, the main support includes a top plate, a front mounting column, a rear mounting column and two side plates; the upper end of the front mounting column is provided with a front baffle, and the upper end of the rear mounting column is provided with a rear baffle.

[0018] In the above technical solution, the positioning assembly includes a positioning cylinder, a glass contact block, and a distance sensor; the positioning cylinder and the distance sensor are fixed to the main frame, and the glass contact block is fixed to the output shaft of the positioning cylinder and 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;

[0019] Preferably, 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;

[0020] Preferably, the contact surface between the contact block and the glass to be installed is an arc surface to prevent scratching the glass.

[0021] In the above technical solution, 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;

[0022] The flexible mounting assembly includes 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 output shaft of each flexible cylinder passes through the first flexible mounting plate and abuts against the second flexible mounting plate to control the relative position between the first flexible mounting plate and the second flexible mounting plate.

[0023] In the above technical solution, two axial holes are formed on the first flexible mounting plate, and two grooves are formed on the second flexible mounting plate at positions corresponding to the axial holes;

[0024] Preferably, 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;

[0025] Preferably, the two flexible cylinders are respectively mounted on the first flexible mounting plate via brackets, and the two flexible cylinders are respectively located on both sides of the integral propulsion cylinder.

[0026] In the above technical solution, the following steps are included:

[0027] Step 1: The robot drives the universal nail column automatic installation device to the nail column placement rack, and the two sets of nail column grasping structures each grasp a nail column;

[0028] Step 2: The robot drives the universal nail column automatic installation device to the edge of the glass to be installed. The positioning component positions the glass to be installed and transmits the positioning information to the robot to optimize and adjust the robot's movement route;

[0029] 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 grasped 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 grasped nail column to be installed on the glass to be installed.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] 1. The nail post gripping structure provided by the present invention includes a clamping assembly, an adsorption assembly, and an auxiliary fixing assembly. While clamping the raised portion of the nail post, the nail post's adhesive surface is adsorbed onto the gripping base via an air channel, and further secured by the auxiliary fixing assembly. This triple-fixation approach ensures stable gripping of the nail post, preventing it from falling off.

[0032] 2. The universal automatic stud installation device provided by the present invention comprises a main frame, a quick-change plate for connecting to a robotic arm, a positioning assembly for positioning the glass to be installed, two sets of stud grasping structures for grasping the studs to be installed, and two sets of installation assemblies for attaching the studs to the glass to be installed. This fully automates the stud grasping, positioning, and installation process. The robotic arm uses a fixed movement path, while the positioning assembly provides precise positioning, reducing human error and improving installation accuracy.

[0033] 3. The universal automatic stud installation device provided by the present invention eliminates the need for manual operation, thereby improving production efficiency, reducing manual labor, and saving labor costs. During the installation of studs of different models, only the gripping base needs to be replaced, enabling quick switching between stud installations of different models. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 Shown is a schematic structural diagram of a universal nail post automatic installation device;

[0035] In the figure, A-main frame, B-quick change plate, C-positioning assembly, D-nail column grasping structure, E-installation assembly;

[0036] Figure 2 Shown is a schematic structural diagram of the main support;

[0037] Figure 3 Shown is a schematic structural diagram of the positioning component;

[0038] Figure 4 Shown is a schematic structural diagram of the positioning component;

[0039] Figure 5 Shown is a schematic structural diagram of a glass contact block;

[0040] Figure 6 Shown is a schematic structural diagram of a nail post grabbing structure;

[0041] Figure 7 Shown is a schematic structural diagram of a nail post grabbing structure;

[0042] Figure 8 Shown is a perspective view of the mounting assembly and the post capture structure;

[0043] Figure 9Shown is a side view of the mounting assembly and post capture structure;

[0044] Figure 10 Shown is a front view of the mounting assembly and post capture structure.

[0045] 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-grabbing base, 16-profiling groove, 17-slide block, 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

[0046] The present invention will be further described in detail below with reference to specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0047] Example 1

[0048] 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 robot arm, a positioning assembly C for positioning the glass to be installed, two sets of nail post grabbing structures D for grabbing nail posts to be installed, and two sets of installation assemblies E for installing the nail posts to be installed on the glass to be installed; the quick-change plate B, positioning assembly C, nail post grabbing structures D and installation assemblies E are respectively installed on the main frame A; each set of the nail post grabbing structures D is installed below a set of the installation assemblies E;

[0049] The installation method of the universal automatic nail post installation device comprises the following steps:

[0050] Step 1: The robot moves the universal nail post automatic installation device to the nail post placement rack via the quick-change plate B. The two sets of nail post grabbing structures D each grab a nail post to be installed.

[0051] Step 2: The robot drives the universal nail column automatic installation device to the edge of the glass to be installed. 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 movement route;

[0052] 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.

[0053] Example 2

[0054] This embodiment introduces the detailed structure of the main support based on the embodiment 1.

[0055] 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 panels 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 panels 4 are inverted L-shaped plates, and their shorter sides are fixed to the lower surface of the top plate; the upper end of the front mounting column 2 is provided with a front baffle 5, and the upper end of the rear mounting column 3 is provided with a rear baffle 6, 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 function of the front baffle 5 and the rear baffle 6 is to reinforce the main frame on the one hand, and to also accommodate some auxiliary parts, such as a pressure regulating valve, a controller, etc.

[0056] 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 the two sets of mounting assemblies E are respectively installed on the two side plates 4;

[0057] The quick-change plate adopts the QC90-B model, and the robot drives the universal nail column automatic installation device through the quick-change plate to automatically install according to the movement trajectory set by the robot's internal program;

[0058] Example 3

[0059] This embodiment introduces the detailed structure of the positioning component based on the embodiment 1.

[0060] The positioning component is as follows 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.

[0061] 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. 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.

[0062] 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.

[0063] Example 4

[0064] This embodiment introduces the detailed structure of the nail post grasping structure based on the embodiment 1.

[0065] The nail post grabbing structure D is installed below the installation component E through the connecting plate 13. When the installation component E drives the connecting plate 13 downward, the nail post to be installed grabbed by the nail post grabbing structure D is pressed and adhered to the glass;

[0066] The nail post grasping structure is as follows Figure 6 、 Figure 7 As shown (for clarity, Figure 6 and Figure 7 The mounting plate 13 is inverted and comprises a clamping cylinder 14 fixedly mounted on the lower surface of the connecting plate 13, a gripping base 15 mounted on the lower surface of the connecting plate 13, and two clamping jaws 18 driven by the clamping cylinder 14 to engage or disengage. Two sliders 17 are mounted on the output shaft of the clamping cylinder 14. Each clamping jaw 18 is in the shape of a stepped block, with one end fixed to the slider 17 and driven by the clamping cylinder 14, and the other end located below the gripping base 15 for clamping or releasing the post 32 to be installed. The gripping base 15 is formed with a contoured groove 16 that conforms to the shape of the raised portion of the post 32 to be installed. During gripping, the two clamping jaws 18 clamp the post 32 to be installed so that its raised portion is located within the contoured groove 16, and the bonding surface of the post 32 to be installed is located below the clamping jaws 18.

[0067] The gripping base 15 is provided with a gas channel, one end of which is a suction port 19. The suction port 19 is provided on the lower surface of the gripping base 15 and contacts the upper surface of the bonding plane of the nail column to be installed. 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 tightly attached to the lower surface of the gripping base 15 through the suction port 19, so as to prevent the nail column 32 to be installed from falling off.

[0068] The nail post grabbing structure D also includes an auxiliary fixing assembly, which includes an auxiliary cylinder 21 fixedly mounted 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 through the grabbing base 15, and its tip penetrates into the profiling groove 16 and abuts against the raised part of the nail post 32 to be installed, thereby playing an auxiliary clamping role.

[0069] Example 5

[0070] This embodiment introduces the detailed structure of the installation component E based on embodiments 2-4.

[0071] The installation component E is as follows Figure 8-10 As shown, it includes an integral propulsion cylinder 24 fixed to the side panel 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 via four bolts 26, and two flexible cylinders 29 respectively mounted on the first flexible mounting plate 25 via brackets 28, and the two flexible cylinders 29 are respectively located on both sides of the integral propulsion cylinder 24;

[0072] The first flexible mounting plate 25 has two axial holes 30 (not shown), and the second flexible mounting plate 27 has two grooves 31 (not shown). When the output shafts of the two flexible cylinders 29 are extended, the lower ends of the output shafts of the flexible cylinders 29 pass through the axial holes 30 and mate with the grooves 31, preventing relative movement between the first and second flexible mounting plates 25, 27. When the output shafts of the two flexible cylinders 29 are retracted, the loose connection between the first and second flexible mounting plates 25, 27, causes the second flexible mounting plate 27 to separate from the first flexible mounting plate 25 under the action of gravity, allowing relative movement. The lower ends of the output shafts of the flexible cylinders 29 are truncated cone-shaped, and the two grooves 31 of the second flexible mounting plate 27 are also truncated cone-shaped.

[0073] 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 nail column grasping structure D at the bottom contacts 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 nail column grasping structure D connected to it below 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.

[0074] Each of the two sets of post-grabbing structures D grabs a post to be installed, and then installs it through the two sets of installation assemblies E. During installation, the propulsion cylinder 24 in one set of installation assemblies E is deactivated, that is, retracted, while the propulsion cylinder 24 in the other set of installation assemblies E is extended for installation. After installation is completed, the other set continues installation, and the two sets do not affect each other.

[0075] 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 principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A nail post grabbing structure, characterized in that: It includes a clamping component, an adsorption component and an auxiliary fixing component; The clamping assembly includes a clamping cylinder, a gripping base, and two clamping jaws; the gripping base is formed with a contoured groove that is consistent with the shape of the nail column to be installed; the two clamping jaws 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; 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; The auxiliary fixing assembly 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 portion 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 contoured groove and abuts against the raised portion of the nail column to be installed; The raised portion of the nail column to be installed enters the profiling groove, and the clamping cylinder drives the two clamping claws to contact and clamp the nail column to be installed; at the same time, the air pump is started to adsorb the bonding surface of the nail column to be installed onto the gripping base through the air channel; at the same time, the auxiliary cylinder pushes the connecting rod, so that the tip of the push rod hinged at the end of the connecting rod penetrates into the profiling groove and abuts against the raised portion of the nail column to be installed; The nail post grabbing structure is installed below the mounting assembly through a connecting plate; The adsorption assembly includes a gas channel, an air port and an air pump provided on the grasping base; one end of the gas channel is the adsorption port, which is provided on the lower surface of the grasping base to adsorb the nail column to be installed; the air port is provided at the other end of the gas channel; the air port is connected to the air pump to provide adsorption force, and when the air pump is vacuumed, the upper surface of the bonding plane of the nail column to be installed is tightly fitted with the lower surface of the grasping base through the adsorption port to prevent the nail column to be installed from falling off; each of the clamps is shaped like a stepped block.

2. A universal automatic stud installation device, characterized by: It includes a main bracket, a quick-change disk for connecting to a robot, a positioning assembly for positioning the glass to be installed, two groups of nail column grasping structures as described in claim 1 and two groups of installation assemblies for installing the nail columns to be installed on the glass to be installed, the clamping cylinder is installed on the lower surface of the connecting plate, the grasping base is installed on the lower surface of the connecting plate, and when the installation assembly drives the connecting plate downward, the nail columns to be installed grasped by the nail column grasping structure are pressed and adhered to the glass; the quick-change disk, positioning assembly, nail column grasping structure and installation assembly are respectively installed on the main bracket; each group of the nail column grasping structures is installed below a group of the installation assemblies.

3. The universal automatic nail post installation device according to claim 2, 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 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.

4. The universal automatic nail post installation device according to claim 2, characterized in that: The positioning assembly includes a positioning cylinder, a glass contact block, and a distance sensor; the positioning cylinder and the distance sensor are fixed to the main frame, and the glass contact block is fixed to 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 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; The contact surface between the contact block and the glass to be installed is an arc surface to prevent the glass from being scratched.

5. The universal automatic nail post installation device according to claim 2, characterized in that: 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 flexible mounting assembly includes 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 output shaft of each flexible cylinder passes through the first flexible mounting plate and abuts against the second flexible mounting plate to control the relative position between the first flexible mounting plate and the second flexible mounting plate.

6. The universal automatic nail post installation device according to claim 5, characterized in that: The first flexible mounting plate is provided with two axial holes, and the second flexible mounting plate is provided with two grooves at positions corresponding to the axial holes; The lower end of the output shaft of the flexible cylinder is truncated cone-shaped, and the two grooves on the second flexible mounting plate are also truncated cone-shaped; 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.

7. The method for installing a universal automatic stud installation device according to any one of claims 2 to 6, characterized in that: The following steps are involved: Step 1: The robot drives the universal nail column automatic installation device to the nail column placement rack, and the two sets of nail column grasping structures each grasp a nail column; Step 2: The robot drives the universal nail column automatic installation device to the edge of the glass to be installed. The positioning component positions the glass to be installed and transmits the positioning information to the robot to optimize and adjust the robot's movement 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 grasped 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 grasped nail column to be installed on the glass to be installed.

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