A flexible mounting structure, a universal stud automatic mounting device and a mounting method

Abstract

The present invention discloses a flexible installation structure for stud installation, a general-purpose automatic stud installation device and an installation method thereof. Among them, the flexible installation structure includes an overall propulsion cylinder and a flexible installation structure that is connected to the output shaft of the overall propulsion cylinder and is driven by the overall propulsion cylinder to move up and down. The general-purpose automatic stud installation device includes a main body bracket, a quick-change disk for connecting with a manipulator, a positioning component for positioning the glass to be installed, two groups of grasping components for grasping the studs to be installed, and two groups of flexible installation structures for installing the studs to be installed on the glass to be installed. The full process of stud grasping, positioning and installation is realized automatically. By solidifying the movement route of the manipulator and accurately positioning through the positioning component, human error is reduced and the installation accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automated glass processing, and particularly to a flexible mounting structure for stud installation, a general-purpose automatic stud mounting device, and an installation method thereof. Background Art

[0002] Studs need to be installed on the front windshield of an automobile. Currently, the installation of studs is mostly completed manually, that is, an operator holds a tooling and installs the studs at a predetermined position.

[0003] The disadvantages of manual installation are 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] Since the front windshield of an automobile is not a flat structure but a curved surface with a certain curvature, simple mechanical pressing installation is likely to cause insecure pasting, resulting in a low qualified product rate. Therefore, a flexible mounting structure needs to be designed to adapt to the curved surface structure of the glass in order to achieve the automatic installation of studs. Summary of the Invention

[0005] The object of the present invention is to provide a flexible mounting structure for stud installation to address the technical defect in the prior art that mechanical pressing installation is likely to cause insecure pasting, resulting in a low qualified product rate.

[0006] Another aspect of the present invention is to provide an installation method for the above flexible mounting structure.

[0007] Another aspect of the present invention is to provide a general-purpose automatic stud mounting device including the above flexible mounting structure.

[0008] Another aspect of the present invention is to provide an installation method for the above general-purpose automatic stud mounting device.

[0009] The technical solution adopted to achieve the object of the present invention is as follows:

[0010] A flexible mounting structure for stud installation includes an overall propulsion cylinder and a flexible mounting structure that is connected to the output shaft of the overall propulsion cylinder and is driven by the overall propulsion cylinder to move up and down;

[0011] The flexible mounting structure includes a first flexible mounting plate, a second flexible mounting plate that is loosely connected to the first flexible mounting plate, and two flexible cylinders that are respectively fixedly installed 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.

[0012] In the above technical solution, two shaft holes are formed in the first flexible mounting plate, and two grooves are formed at positions corresponding to the shaft holes on the second flexible mounting plate.

[0013] In the above technical solution, the lower end of the output shaft of the flexible cylinder 29 is frustum-shaped, and the two grooves 31 on the second flexible mounting plate 27 are also frustum-shaped.

[0014] On the other hand of the present invention, for the installation method of the above flexible mounting structure, the overall propulsion cylinder first pushes the flexible mounting structure as a whole downward to press the glass to be installed with interference. At this time, the output shaft of the flexible cylinder is in the extended state; when the stud to be installed at the bottom touches the glass surface, the output shaft of the flexible cylinder retracts, and the second flexible mounting plate tilts with the angle of the glass to be installed, and at the same time, the stud grabbed below it is firmly pasted on the glass to be installed.

[0015] On the other hand of the present invention, a general-purpose stud automatic installation device includes a main body bracket, a quick-change disk for connecting with a manipulator, a positioning component for positioning the glass to be installed, two groups of gripping components for gripping the studs to be installed, and two groups of the above flexible mounting structures; the quick-change disk, the positioning component, the gripping components and the flexible mounting structures are respectively installed on the main body bracket; each group of the gripping components is installed below a group of the flexible mounting structures.

[0016] In the above technical solution, the main body bracket 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.

[0017] In the above technical solution, the positioning component 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, and 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 position the actual position of the glass to be installed;

[0018] Preferably, the glass contact block includes a contact block fixedly installed on the output shaft of the positioning cylinder and a distance detection probe fixedly installed on the contact block;

[0019] Preferably, the contact surface of the contact block with the glass to be installed is an arc surface to prevent scratching the glass.

[0020] In the above technical solution, the grasping assembly includes a clamping cylinder, a grasping base, and two clamping jaws; the clamping cylinder and the grasping base are respectively fixedly installed on the lower surface of the connecting plate; a profiling groove having the same shape as the nail post to be installed is formed on the grasping base; the two clamping jaws are respectively driven by the clamping cylinder to contact and clamp the nail post to be installed or separate and release the nail post to be installed.

[0021] 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 grasping base for clamping or relaxing the nail post to be installed;

[0022] Preferably, a gas channel is opened on the grasping base, one end of the gas channel is an adsorption port, and the adsorption port is opened on the lower surface of the grasping base to adsorb the nail post to be installed; the other end of the gas channel is provided with an air connection port, and the air connection port is connected to an air pump to provide adsorption force;

[0023] Preferably, the grasping assembly further includes an auxiliary fixing assembly, and the auxiliary fixing assembly includes an auxiliary cylinder, a connecting rod, and a pushing post; the auxiliary cylinder is fixedly installed on the outer side surface of the grasping base; the middle part of the connecting rod is rotatably connected to the outer side surface of the grasping 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 pushing post; the pushing post penetrates through the grasping base under the drive of the auxiliary cylinder and the connecting rod, and the tip of the pushing post extends into the profiling groove to abut against the protruding part of the nail post to be installed.

[0024] On the other hand of the present invention, the installation method of the above general-purpose nail post automatic installation device includes the following steps:

[0025] Step 1: The manipulator drives the general-purpose nail post automatic installation device to move to the position of the nail post placement rack, and the two grasping assemblies respectively grasp a nail post;

[0026] Step 2: The manipulator drives the general-purpose nail post automatic installation device to move to the edge of the glass to be installed, the positioning assembly positions the glass to be installed, and transmits the positioning information to the manipulator to optimize and adjust the action route of the manipulator;

[0027] Step 3: The manipulator drives the general-purpose nail post automatic installation device to one of the positions to be installed, and one set of flexible installation structures installs the grasped nail post to be installed on the glass to be installed; then the manipulator drives the general-purpose nail post automatic installation device to another position to be installed, and the other set of flexible installation structures installs the grasped nail post to be installed on the glass to be installed.

[0028] Compared with the prior art, the beneficial effects of the present invention are:

[0029] 1. The flexible mounting structure provided by the present invention includes an integral propulsion cylinder, a first flexible mounting plate, a second flexible mounting plate, and two flexible cylinders. The first flexible mounting plate and the second flexible mounting plate are loosely connected by bolts. The output shaft of the 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, thereby realizing the inclination of the second flexible mounting plate along with the curvature of the glass to be mounted, and realizing the flexible mounting of the nail posts.

[0030] 2. The general-purpose nail post automatic mounting device provided by the present invention includes a main body bracket, a quick-change disk for connecting with a manipulator, a positioning component for positioning the glass to be mounted, two sets of grasping components for grasping the nail posts to be mounted, and two sets of flexible mounting structures for mounting the nail posts to be mounted on the glass to be mounted. It realizes the full-process automation of nail post grasping, positioning, and mounting. By solidifying the movement route of the manipulator and accurately positioning through the positioning component, it reduces human error and improves the accuracy of mounting.

[0031] 3. The general-purpose nail post automatic mounting device provided by the present invention does not require manual operation, improves production efficiency, reduces the amount of manual labor, and saves labor costs. During the installation process of nail posts of different models, only the grasping base needs to be replaced to achieve rapid switching of the installation of nail posts of different models. Description of the Drawings

[0032] Figure 1 Shown is a schematic structural diagram of the general-purpose nail post automatic mounting device;

[0033] In the figure, A - main body bracket, B - quick-change disk, C - positioning component, D - grasping component, E - flexible mounting structure;

[0034] Figure 2 Shown is a schematic structural diagram of the main body bracket;

[0035] Figure 3 Shown is a schematic structural diagram of the positioning component;

[0036] Figure 4 Shown is a schematic structural diagram of the positioning component;

[0037] Figure 5 Shown is a schematic structural diagram of the glass contact block;

[0038] Figure 6 Shown is a schematic structural diagram of the grasping component;

[0039] Figure 7 Shown is a schematic structural diagram of the grasping component;

[0040] Figure 8 The figure shows a perspective view of the flexible mounting structure and the grasping assembly;

[0041] Figure 9 The figure shows a side view of the flexible mounting structure and the grasping assembly;

[0042] Figure 10 The figure shows a front view of the flexible mounting structure and the grasping assembly.

[0043] In the figure: 1 - top plate, 2 - front mounting post, 3 - rear mounting post, 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 bar, 12 - slide seat, 13 - connecting plate, 14 - clamping cylinder, 15 - grasping base, 16 - profiling groove, 17 - slider, 18 - jaw, 19 - adsorption port, 20 - air connection port, 21 - auxiliary cylinder, 22 - connecting rod, 23 - pushing post, 24 - overall propulsion cylinder, 25 - first flexible mounting plate, 26 - bolt, 27 - second flexible mounting plate, 28 - bracket, 29 - flexible cylinder, 30 - shaft hole, 31 - groove, 32 - nail post to be installed. Specific embodiments

[0044] The present invention will be 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.

[0045] Embodiment 1

[0046] A general-purpose nail post automatic installation device, as Figure 1 shown, includes a main body bracket A, a quick-change disk B for connecting with a manipulator, a positioning assembly C for positioning the glass to be installed, two groups of grasping assemblies D for grasping the nail posts to be installed, and two groups of flexible mounting structures E for installing the nail posts to be installed on the glass to be installed; the quick-change disk B, the positioning assembly C, the grasping assemblies D, and the flexible mounting structures E are respectively installed on the main body bracket A; each group of the grasping assemblies D is installed below a group of the flexible mounting structures E;

[0047] The installation method of the above general-purpose nail post automatic installation device includes the following steps:

[0048] Step 1: The manipulator drives the general-purpose nail post automatic installation device to move to the position of the nail post placement rack through the quick-change disk B, and the two groups of grasping assemblies D respectively grasp a nail post to be installed;

[0049] Step 2: The manipulator drives the universal nail post automatic installation device to move 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 manipulator to optimize and adjust the movement route of the manipulator.

[0050] Step 3: The manipulator drives the universal nail post automatic installation device to one of the positions to be installed. One set of flexible installation structures E installs the grabbed nail post to be installed on the glass to be installed; then the manipulator drives the universal nail post automatic installation device to another position to be installed, and the other set of flexible installation structures E installs the grabbed nail post to be installed on the glass to be installed.

[0051] Embodiment 2

[0052] This embodiment introduces the detailed structure of its main body bracket on the basis of Embodiment 1.

[0053] The main body bracket is as Figure 2 shown, and includes a top plate 1, a front mounting post 2, a rear mounting post 3 and two side plates 4. The tops of the front mounting post 2 and the rear mounting post 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 on the lower surface of the top plate; a front baffle 5 is arranged at the upper end of the front mounting post 2, and a rear baffle 6 is arranged at the upper end of the rear mounting post 3. 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 body bracket, and on the other hand, some accessories can be placed, such as a pressure regulating valve, a controller, etc.

[0054] The quick-change disk B is installed at the central position of the upper surface of the top plate 1, the positioning component C is installed at the lower end of the front mounting post 2, and the two sets of flexible installation structures E are respectively installed on the two side plates 4;

[0055] The quick-change disk adopts the QC90-B model, and the manipulator drives the universal nail post automatic installation device through the quick-change disk to perform automatic installation according to the movement trajectory set by the internal program of the manipulator.

[0056] Embodiment 3

[0057] This embodiment introduces the detailed structure of its positioning component on the basis of Embodiment 1.

[0058] The positioning component is as Figures 3 - 5As shown in the figure, it includes a positioning cylinder 7 fixed to the lower end of the front mounting post 2, a glass contact block 8 fixed to the output shaft of the positioning cylinder 7 and driven by the positioning cylinder 7, and a distance sensor 9 fixed to the lower end of the front mounting post 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 glass width direction, and calculates the deviation between the measured actual position and the preset standard position, and uses the calculated deviation result to perform flexible compensation on the manipulator trajectory design to improve the installation position accuracy of the manipulator.

[0059] The glass contact block 8 is connected to the positioning cylinder 7 through an L-shaped mounting block 10. As Figure 4 shown, the shorter surface of the L-shaped mounting block 10 is fixed to 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 rods 11 are inserted into the holes in the middle of the sliding seat 12 and slide within the sliding seat 12. The setting of the sliding rods 11 and the sliding seat 12 ensures the stable connection between the glass contact block 8 and the positioning cylinder 7.

[0060] The glass contact block is as Figure 5 shown, and includes a contact block 8-1 fixedly installed with the L-shaped mounting block 10 and a distance detection probe 8-2 fixedly installed on the contact block 8-1. The shape of the contact block 8-1 is a cuboid block and an arc block, and the arc block contacts the glass to prevent the contact block 8-1 from scratching the glass.

[0061] Embodiment 4

[0062] This embodiment introduces the detailed structure of the grasping component on the basis of Embodiment 1.

[0063] The grasping component D is installed below the flexible mounting structure E through a connecting plate 13. When the flexible mounting structure E drives the connecting plate 13 downward, the to-be-installed nail column grasped by the grasping component D is pressed and pasted on the glass.

[0064] The grasping component is as Figure 6 、 Figure 7 shown (for clear display, Figure 6 and Figure 7is inverted), including a clamping cylinder 14 fixedly installed on the lower surface of the connecting plate 13, a grasping base 15 installed 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 installed 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 on the slider 17 and driven by the clamping cylinder 14, and the other end is located below the grasping base 15 for clamping or releasing the nail post 32 to be installed; a profiling groove 16 conforming to the shape of the protruding part of the nail post 32 to be installed is formed on the grasping base 15. When grasping, the two clamping jaws 18 clamp the nail post 32 to be installed, so that its protruding part is located in the profiling groove 16, and the bonding plane of the nail post 32 to be installed is located below the clamping jaws 18.

[0065] A gas passage is provided on the grasping base 15. One end of the gas passage is an adsorption port 19, and the adsorption port 19 is opened on the lower surface of the grasping base 15 in contact with the upper surface of the bonding plane of the nail post to be installed. The other end of the gas passage is provided with an air connection port 20, and the air connection port 20 is communicated with an air pump. When the air pump evacuates the air, the upper surface of the bonding plane of the nail post 32 to be installed is tightly attached to the lower surface of the grasping base 15 through the adsorption port 19 to prevent the nail post 32 to be installed from falling off;

[0066] The grasping assembly D further includes an auxiliary fixing assembly. The auxiliary fixing assembly includes an auxiliary cylinder 21 fixedly installed on the outer side surface of the grasping base 15, a connecting rod 22 rotatably connected in the middle on the outer side surface of the grasping base 15, and a push post 23. 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 post 23. Under the action of the auxiliary cylinder 21, the connecting rod 22 pushes the push post 23 through the grasping base 15, and its tip penetrates into the profiling groove 16 to abut against the protruding part of the nail post 32 to be installed, playing a role in auxiliary clamping.

[0067] Embodiment 5

[0068] This embodiment introduces the detailed structure of the flexible installation structure E on the basis of Embodiments 2-4.

[0069] The flexible installation structure E is as Figures 8 - 10 shown, including an overall propulsion cylinder 24 fixed on the side plate 4, a first flexible installation plate 25 connected to the output shaft of the overall propulsion cylinder 24 and driven by the overall propulsion cylinder 24 to move up and down, a second flexible installation plate 27 loosely connected to the first flexible installation plate 25 through four bolts 26, and two flexible cylinders 29 respectively installed on the first flexible installation plate 25 through brackets 28. The two flexible cylinders 29 are respectively located on both sides of the overall propulsion cylinder 24;

[0070] Two shaft holes 30 (not shown in the figure) are formed in the first flexible mounting plate 25, and two grooves 31 (not shown in the figure) are formed in the second flexible mounting plate 27. 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 are in mating contact with the grooves 31, so that no relative movement can occur between the first flexible mounting plate 25 and the second flexible mounting plate 27; 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 have relative movement. The lower ends of the output shafts of the flexible cylinders 29 are frustum-shaped, and the two grooves 31 on the second flexible mounting plate 27 are also frustum-shaped.

[0071] During the installation of the flexible mounting structure E, the overall propulsion cylinder 24 first pushes the flexible mounting structure 4 as a whole downward to press the glass to be installed with interference. At this time, the output shafts of the flexible cylinders 29 are in the extended state. When the stud X to be installed grabbed by the grabbing assembly D at the bottom touches the glass surface, the output shafts of the flexible cylinders 29 retract, and the second flexible mounting plate 27 tilts with the angle of the glass to be installed. At the same time, the grabbing assembly D connected below it also tilts with the angle of the glass to be installed, so that the grabbed stud 32 is firmly pasted on the glass to be installed.

[0072] Two sets of grabbing assemblies D respectively grab a stud to be installed, and then are respectively installed through two sets of flexible mounting structures E. During installation, the propulsion cylinder 24 in one set of flexible mounting structures E does not start, that is, it is in the retracted state, and the propulsion cylinder 24 in the other set of flexible mounting structures E extends for installation. After the installation is completed, the other set continues to install, and the two sets do not affect each other.

[0073] The above is only the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A general-purpose stud automatic installation device, characterized in that: It includes a main body bracket, a quick-change disk for connecting with a manipulator, a positioning component for positioning the glass to be installed, two sets of gripping components for gripping the studs to be installed, and two sets of flexible mounting structures; the quick-change disk, the positioning component, the gripping components, and the flexible mounting structures are respectively installed on the main body bracket; each set of the gripping components is installed below a set of the flexible mounting structures; The gripping component includes a clamping cylinder, a gripping base, and two clamping jaws; the clamping cylinder and the gripping base are respectively fixedly installed on the lower surface of the connecting plate; a profiling groove consistent with the shape of the stud to be installed is formed on the gripping base; the two clamping jaws are respectively driven by the clamping cylinder to contact and clamp the stud to be installed or separate and release the stud to be installed; The flexible mounting structure includes an overall propulsion cylinder and a flexible mounting structure connected to the output shaft of the overall propulsion cylinder and driven by the overall propulsion cylinder to move up and down; The flexible mounting structure 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 installed 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; Two shaft holes are formed on the first flexible mounting plate, and two grooves are formed at positions corresponding to the shaft holes on the second flexible mounting plate; the main body bracket includes 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.

2. The general-purpose nail post automatic installation device according to claim 1, characterized in that: The lower end of the output shaft of the flexible cylinder is frustum-shaped, and the two grooves on the second flexible mounting plate are also frustum-shaped.

3. The general-purpose stud automatic installation device according to claim 1, characterized in that: The positioning component 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, and the glass contact block is fixed on 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 position the actual position of the glass to be installed.

4. The general-purpose stud automatic installation device according to claim 3, wherein: The glass contact block includes a contact block fixedly installed on the output shaft of the positioning cylinder and a distance detection probe fixedly installed on the contact block.

5. The general-purpose stud automatic installation device according to claim 4, characterized in that: The contact surface of the contact block with the glass to be installed is an arc surface to prevent scratching the glass.

6. The general-purpose nail post automatic installation device according to claim 1, characterized in that: 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 gripping base for clamping or releasing the stud to be installed.

7. The general-purpose nail post automatic installation device according to claim 1, characterized in that: A gas channel is formed on the gripping base. One end of the gas channel is an adsorption port, and the adsorption port is formed on the lower surface of the gripping base to adsorb the stud to be installed; the other end of the gas channel is provided with an air connection port, and the air connection port is connected to an air pump to provide adsorption force.

8. The general-purpose stud automatic installation device according to claim 7, characterized in that: The grasping component further includes an auxiliary fixing component, and the auxiliary fixing component includes an auxiliary cylinder, a connecting rod and a pushing column; the auxiliary cylinder is fixedly installed on the outer side surface of the grasping base; the middle part of the connecting rod is rotatably connected to the outer side surface of the grasping 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 pushing column; the pushing column is driven by the auxiliary cylinder and the connecting rod to pass through the grasping base, and the tip of the pushing column extends into the profiling groove to abut against the protruding part of the nail column to be installed.

9. The installation method of the general-purpose stud automatic installation device according to any one of claims 2-8, characterized in that: It includes the following steps: Step 1: The manipulator drives the universal nail column automatic installation device to move to the position of the nail column placement rack, and two sets of grasping components respectively grasp a nail column; Step 2: The manipulator drives the universal nail column automatic installation device to move 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 manipulator to optimize and adjust the action route of the manipulator; Step 3: The manipulator drives the universal nail column automatic installation device to one of the installation positions, and one set of flexible installation structures installs the grasped nail column to be installed on the glass to be installed; then the manipulator drives the universal nail column automatic installation device to another installation position, and the other set of flexible installation structures installs the grasped nail column to be installed on the glass to be installed.

10. The installation method of the general-purpose nail post automatic installation device according to claim 9, characterized in that, Among them, for the installation method of the flexible installation structure, the overall propulsion cylinder first pushes the flexible installation structure to press the glass to be installed downward with interference, and at this time, the output shaft of the flexible cylinder is in the extended state; when the nail column to be installed at the bottom contacts the glass surface, the output shaft of the flexible cylinder retracts, and the second flexible installation plate tilts with the angle of the glass to be installed, and at the same time, the nail column grasped below it is firmly pasted on the glass to be installed.

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