A replenishment sales device and a replenishment sales robot

Abstract

The present invention is applicable to the field of pin replenishment, and discloses a pin replenishment device and a pin replenishment robot. The pin replenishment device comprises a mounting seat assembly, a positioning mechanism, a pin feeding mechanism and a forming mechanism. The front end of the positioning seat of the positioning mechanism is provided with a first clamping groove adapted to the pin shaft and / or a second clamping groove matched with the pin shaft nut, the positioning seat is radially provided with a pin entry hole and a pin exit hole, the forming mechanism comprises a first forming block, a second forming block and a horizontal driving assembly, the first forming block is installed in the pin entry hole, the first forming block is provided with a first forming hole facing the pin exit hole, the second forming block is installed in the pin exit hole, the structure of the second forming block is the same as that of the first forming block, the outlet end of the pin feeding mechanism is connected with the first forming hole, and the horizontal driving assembly is used to drive the positioning seat to move in a direction away from the pin shaft, so that the first forming block and the second forming block move in a direction away from the pin shaft along with the positioning seat, thereby bending the two ends of the pin, so that the pin can be firmly installed in the pin hole.

Description

Technical Field

[0001] The present invention relates to the field of replenishment sales, and in particular to a replenishment sales device and a replenishment sales robot. Background Art

[0002] When maintaining a power transmission line, it is necessary to re-pin the pins on the connecting bolts of power components. Although there are automatic re-pinning devices in the prior art, the existing automatic re-pinning devices can only bend one end of the pin when re-pinning, but cannot bend both ends of the pin at the same time. For pins with the same diameter at the upper end and the lower end, they are easily affected by the environment and there is a risk of falling off. Summary of the invention

[0003] The first purpose of the present invention is to provide a pin-replacing device, which aims to solve the technical problem that the existing automatic pin-replacing device can only bend one end of the pin when replacing the pin, but cannot bend both ends of the pin at the same time.

[0004] To achieve the above object, the solution provided by the present invention is:

[0005] A pin replenishing device comprises a mounting seat assembly, a positioning mechanism, a pin feeding mechanism and a forming mechanism, wherein the positioning mechanism comprises a positioning seat, a first slot adapted to a pin shaft and / or a second slot matched to a pin shaft nut is arranged at the front end of the positioning seat, a pin inlet hole and a pin outlet hole are radially arranged on the positioning seat, the pin inlet hole and the pin outlet hole are symmetrically arranged about the axis of the positioning seat, the pin inlet hole is communicated with the first slot and / or the second slot, and the pin outlet hole is communicated with the first slot and / or the second slot, and the forming mechanism comprises a first forming block, a second forming block and a horizontal driving assembly, the first forming block is installed in the pin inlet hole, the first forming block is provided with a first forming hole facing the pin outlet hole, and the first forming hole is arranged There is a first slope surface, which extends upward and outward from the lower part of the first forming hole. The second forming block is installed in the pin outlet hole. The second forming block is provided with a second forming hole facing the pin inlet hole. The second forming hole is provided with a second slope surface, which extends upward and outward from the lower part of the second forming hole. The horizontal driving component is installed on the mounting seat component. The horizontal driving component is used to drive the positioning seat to move in a direction away from the pin shaft, so that the first forming block and the second forming block move with the positioning seat in a direction away from the pin shaft, thereby bending the two ends of the pin. The pin sending mechanism is installed on the first forming block, and the outlet end of the pin sending mechanism is connected to the first forming hole.

[0006] Preferably, the mounting seat assembly is provided with a mounting cavity, and the two ends of the mounting cavity are open. The horizontal drive assembly includes a horizontal drive member, a first driving wheel, a first gear shaft, a first gear cover, a screw assembly, a screw nut and a stop assembly. The horizontal drive member is installed on the mounting seat assembly, the first driving wheel is sleeved on the output end of the horizontal drive member, the first gear shaft is rotatably installed in the first end of the mounting cavity, the first gear shaft is meshed with the first driving wheel for transmission, the first gear shaft is axially provided with a first mounting hole adapted to the screw assembly, the first gear cover is sleeved on the outside of the first driving wheel and the first gear shaft, and the first gear cover is connected to the mounting seat assembly, the first gear cover is symmetrically provided with a first slide groove and a second slide groove, the screw nut is connected to the first gear shaft, the screw assembly is threadedly connected to the screw nut, the screw assembly passes through the first mounting hole and the positioning seat, and extends into the first card slot, the stop assembly is connected to one end of the screw assembly away from the first card slot, and the two ends of the stop assembly are respectively slidably arranged in the first slide groove and the second slide groove.

[0007] Preferably, the screw assembly includes a screw and a push rod coaxially arranged with the screw, the push rod is arranged in the positioning seat and extends into the first slot, the screw is threadedly connected to the screw nut, and passes through the first mounting hole to abut against the push rod.

[0008] Preferably, the anti-rotation assembly includes a anti-rotation rod and a second bearing and a third bearing arranged on both sides of the anti-rotation rod, the second bearing is slidably arranged in the first sliding groove, and the third bearing is slidably arranged in the second sliding groove.

[0009] Preferably, the positioning mechanism also includes a detection sensor and a rotation drive assembly, the detection sensor is arranged on the positioning seat and is used to detect the position of the pin hole, the rotation drive assembly is used to drive the positioning seat to rotate so that the detection sensor determines the position of the pin hole, and is used to drive the positioning seat to rotate a preset angle so that the pin entry hole is aligned with the pin hole.

[0010] Preferably, the rotary drive assembly includes a rotary drive member, a second driving wheel and a second gear shaft, the rotary drive member is mounted on the mounting seat assembly, the second driving wheel is sleeved on the output end of the rotary drive member, the second gear shaft is rotatably mounted in the second end of the mounting cavity, and the second gear shaft is meshed with the second driving wheel for transmission, the second gear shaft is provided with a second mounting hole adapted to the screw rod assembly, the screw rod assembly passes through the first mounting hole, the second mounting hole and the positioning seat in sequence, and extends into the first slot, and the positioning seat is connected to the second gear shaft.

[0011] Preferably, the detection sensor includes a transmitter and a receiver, and a first perforation and a second perforation are provided on the positioning seat, the first perforation and the second perforation are symmetrically arranged about the axis of the positioning seat, the transmitter is installed in the first perforation, and the receiver is installed in the second perforation.

[0012] Preferably, the pin feeding mechanism comprises a nail storage box, a pin pressing assembly and a pin conveying assembly, the nail storage box is provided with a nail storage slot, the front side of the nail storage box is provided with a third slide slot and a pin inlet slot, the third slide slot and the pin inlet slot are respectively communicated with the nail storage slot, the nail storage slot is provided with a discharging station, the discharging station is arranged above the pin outlet hole, and a plurality of pins are arranged in the nail storage slot, the pressing assembly comprises a second push block and a second elastic member, the second push block comprises a push plate and an inverted L-shaped plate arranged at a first end of the push plate, the second end of the push plate is provided with a pressing portion, the push plate is adapted to the third slide slot, and the pressing portion is slidably arranged in the nail storage slot, the inverted L-shaped plate is slidably connected to the back side of the nail storage box, and the inverted L-shaped plate is connected to the nail storage box through the second elastic member, the pin conveying assembly is arranged above the nail storage box, and the movement path of the pin conveying assembly passes through the discharging station, and the pin conveying assembly is used to insert the pin into the pin hole of the pin shaft.

[0013] Preferably, the pin conveying assembly includes a fixed seat, a pin driving member, a third sprocket and a third chain, the fixed seat is installed on the top of the nail storage box, the fixed seat is provided with a guide groove, the guide groove extends from the fixed seat into the nail storage box, and is located at a position of the nail storage box corresponding to the discharging station, the guide groove is connected with the nail storage groove, the pin driving member is installed on the fixed seat, the third sprocket is connected with the output end of the pin driving member, the third chain is meshed with the third sprocket for transmission, and the third chain is slidably arranged in the guide groove.

[0014] The second object of the present invention is to provide a pin replenishing robot, including a pin replenishing device and a robotic arm. The pin replenishing device adopts the pin replenishing device as described above. A connecting seat is provided on the pin replenishing device. The pin replenishing device is installed on the robotic arm through the connecting seat. The robotic arm is used to drive the pin replenishing device to perform lifting and lowering movements and translational movements relative to the pin shaft so that the positioning seat sleeve is arranged on the pin shaft or the pin shaft nut.

[0015] The pin replenishing device provided by the present invention is provided with a positioning mechanism, a pin feeding mechanism and a forming mechanism, and the forming mechanism includes a first forming block and a second forming block. When replenishing the pin, the pin inlet hole and the pin outlet hole of the positioning mechanism are aligned with the pin hole of the pin shaft during use, and then the pin is inserted into the pin hole through the pin feeding mechanism. Since the outlet end of the pin feeding mechanism is connected with the first forming hole of the forming mechanism, after the pin is inserted into the pin hole, the two ends of the pin are respectively located in the first forming hole of the first forming block and the second forming hole of the second forming block. The horizontal driving component drives the positioning seat to move in the direction away from the pin shaft, and the first forming block and the second forming block can bend the two ends of the pin, so that the pin can be firmly installed in the pin hole, thereby reducing the risk of falling off.

[0016] The pin replacement robot provided by the present invention can bend both ends of the pin, so that the pin can be firmly installed in the pin hole, thereby reducing the risk of falling off. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0018] Figure 1 is a schematic structural diagram of a replenishment device provided in an embodiment of the present invention;

[0019] Figure 2 is a top view of a re-selling device provided in an embodiment of the present invention;

[0020] Figure 3 yes Figure 2 The cross-sectional view along the AA line;

[0021] Figure 4 is a structural schematic diagram of a positioning mechanism provided by an embodiment of the present invention;

[0022] Figure 5 is a schematic structural diagram of a positioning seat provided by an embodiment of the present invention;

[0023] Figure 6 is a partial schematic diagram of a forming mechanism provided by an embodiment of the present invention;

[0024] Figure 7 The structure of the delivery mechanism provided by the embodiment of the present invention is shown in FIG. Figure 1 ;

[0025] Figure 8 The structure of the delivery mechanism provided by the embodiment of the present invention is shown in FIG. Figure 2 ;

[0026] Fig. 9 is an exploded view of a delivery and pinning mechanism provided in an embodiment of the present invention;

[0027] Fig.10 It is the usage status of the line connection fittings.

[0028] Description of Figure Numbers:

[0029] 100, re-pinning device; 10, positioning mechanism; 11, positioning seat; 111, first slot; 112, second slot; 113, pin inlet hole; 114, pin outlet hole; 115, first through hole; 116, second through hole; 12, detection sensor; 121, transmitter; 122, receiver; 13, rotation drive assembly; 131, rotation drive member; 132, second driving wheel; 133, second gear shaft; 1331, second mounting hole; 1332, weight reduction hole; 134, fourth bearing; 135, first Elastic retaining ring for the second shaft; 136, second gear cover; 137, shaft sleeve; 138, third proximity switch; 20, pin delivery mechanism; 21, nail storage box; 211, nail storage slot; 212, third slide slot; 213, pin inlet slot; 214, guide rail seat; 22, pin pressing assembly; 221, second push block; 2211, push plate; 2212, inverted L-shaped plate; 2213, pressing part; 2214, guide rail; 23, pin transmission assembly; 231, fixed seat; 2311, guide slot; 232, pin driving member; 233, sprocket; 234, chain; 30, forming mechanism; 31, first forming block; 311, first forming hole; 312, first slope; 32, second forming block; 321, second forming hole; 322, second slope; 33, horizontal drive assembly; 331, horizontal drive member; 332, first driving wheel; 333, first gear shaft; 3331, first mounting hole; 334, first gear cover; 3341, first slide slot; 3342, second slide slot; 335, screw assembly; 3351, screw ; 3352, push rod; 336, anti-rotation assembly; 3361, anti-rotation rod; 3362, second bearing; 3363, third bearing; 337, first bearing; 338, elastic retaining ring for first shaft; 34, first proximity switch; 35, second proximity switch; 40, mounting seat assembly; 41, mounting seat; 42, connecting seat; 43, mounting cavity; 50, connecting plate; 200, line connection hardware; 300, pin shaft; 400, pin shaft nut; 500, upper wire; 600, lower wire; 700, pin. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0032] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0033] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0034] like Figures 1 to 9 As shown, it is a reselling device 100 according to an embodiment of the present invention. Fig.10 In the figure, the upper conductor 500 and the lower conductor 600 are supported by the line connection hardware 200 and fixed by the pin 300 and the pin nut 400. The pin nut 400 is threadedly connected to the pin 300. The end of the pin 300 is provided with a pin hole, and a pin 700 is installed in the pin hole. If the pin 700 is missing, a re-pinning operation is required. The re-pinning device 100 of the embodiment of the present invention is suitable for a re-pinning robot, and the re-pinning robot realizes the re-pinning operation by carrying a live-line operation lifting platform for transmission lines. The live-line operation lifting platform for transmission lines provides power for the re-pinning robot, and drives the re-pinning robot to move along the upper conductor 500. The re-pinning robot performs re-pinning operations after arriving at the fault location. The live-line operation lifting platform for transmission lines can adopt existing equipment, as long as it can provide power for the re-pinning robot and drive the re-pinning robot to move along the upper conductor 500.

[0035] See also Figure 1-Figure 5 As shown, the pin replenishing device 100 of the embodiment of the present invention includes a mounting seat assembly 40, a positioning mechanism 10, a pin feeding mechanism 20 and a forming mechanism 30. The positioning mechanism 10 includes a positioning seat 11. The front end of the positioning seat 11 is provided with a first clamping groove 111 adapted to the pin shaft 300 and / or a second clamping groove 112 matched with the pin shaft nut 400. The positioning seat 11 is radially provided with a pin inlet hole 113 and a pin outlet hole 114. The pin inlet hole 113 and the pin outlet hole 114 are symmetrically arranged about the axis of the positioning seat 11. The pin inlet hole 113 is connected with the first clamping groove 111 and / or the second clamping groove 112, and the pin outlet hole 114 is connected with the first clamping groove 111 and / or the second clamping groove 112. The forming mechanism 30 includes a first forming block 31, a second forming block 32 and a horizontal driving assembly 33. The first forming block 31 is installed in the pin inlet hole 113. The first forming block 31 is provided with a first forming block facing the pin outlet hole 114. The first forming hole 311 is provided with a first slope 312, and the first slope 312 extends upward and outward from the lower part of the first forming hole 311. The second forming block 32 is installed on the pin outlet hole 114. The second forming block 32 is provided with a second forming hole 321 facing the pin inlet hole 113. The second forming hole 321 is provided with a second slope 322, and the second slope 322 extends upward and outward from the lower part of the second forming hole 321. The horizontal driving component 33 is installed on the mounting seat component 40. The horizontal driving component 33 is used to drive the positioning seat 11 to move in a direction away from the pin shaft 300, so that the first forming block 31 and the second forming block 32 move with the positioning seat 11 in a direction away from the pin shaft 300, thereby bending the two ends of the pin 700. The pin delivery mechanism 20 is installed on the first forming block 31, and the outlet end of the pin delivery mechanism 20 is connected to the first forming hole 311.

[0036] Optionally, when the length of the pin shaft 300 is longer, the positioning seat 11 can cooperate with the pin shaft 300, and only the first slot 111 is set on the positioning seat 11; when the length of the pin shaft 300 is shorter and there is no position on the pin shaft 300 to cooperate with the positioning seat 11, only the second slot 112 can be set on the positioning seat 11, or the first slot 111 and the second slot 112 can be set on the positioning seat 11 at the same time. At this time, the first slot 111 cooperates with the pin shaft 300, and the second slot 112 cooperates with the pin shaft nut 400.

[0037] It can be understood that the position of the locating seat 11 on the pin shaft 300 and the pin shaft nut 400 is pre-set, that is, the position and depth of the first slot 111 and the position and depth of the second slot 112 are set according to the distance between the pin hole and the end face of the pin shaft 300 or the distance between the pin hole and the pin shaft nut 400. As long as the locating seat 11 is mounted on the pin shaft 300 and the pin shaft nut 400, the rotating locating seat 11 can align the pin hole 113 with the pin hole of the pin shaft 300.

[0038] Please refer to the figure. In this embodiment, a connecting plate 50 is provided on the pin-replenishing device 100, and the mounting seat assembly 40 is installed on the mechanical arm through the connecting plate 50. The connecting plate 50 is slidably connected to the mounting seat assembly 40, and the connecting plate 50 is connected to the mounting seat assembly 40 through a first elastic member (not shown in the figure), that is, when the horizontal driving assembly 33 drives the positioning seat 11 to move in a direction away from the pin shaft 300, the mounting seat assembly 40 slides relative to the connecting plate 50, the first elastic member is stretched, and the pin-replenishing device 100 is adaptively adjusted relative to the mechanical arm.

[0039] Specifically, the first elastic member is a tension spring.

[0040] The pin replenishing device 100 of the embodiment of the present invention is provided with a positioning mechanism 10, a pin feeding mechanism 20 and a forming mechanism 30. The forming mechanism 30 includes a first forming block 31 and a second forming block 32. When replenishing the pin, the pin inlet hole 113 and the pin outlet hole 114 of the positioning mechanism 10 are aligned with the pin hole of the pin shaft 300, and then the pin 700 is inserted into the pin hole through the pin feeding mechanism 20. Since the outlet end of the pin feeding mechanism 20 is connected with the first forming hole 311 of the forming mechanism 30, after the pin 700 is inserted into the pin hole, the two ends of the pin 700 are respectively located in the first forming hole 311 of the first forming block 31 and the second forming hole 321 of the second forming block 32. The horizontal driving assembly 33 drives the positioning seat 11 to move in a direction away from the pin shaft 300, and the first forming block 31 and the second forming block 32 can bend the two ends of the pin 700, so that the pin 700 can be firmly installed in the pin hole, thereby reducing the risk of falling off.

[0041] See also Figure 1 , Figure 3 and Figure 6As shown, exemplarily, in some embodiments, the mounting seat assembly 40 is provided with a mounting cavity 43, and both ends of the mounting cavity 43 are open, the horizontal drive assembly 33 includes a horizontal drive member 331, a first driving wheel 332, a first gear shaft 333, a first gear cover 334, a screw assembly 335, a screw nut (not shown) and a rotation-stop assembly 336, the horizontal drive member 331 is installed on the mounting seat assembly 40, the first driving wheel 332 is sleeved on the output end of the horizontal drive member 331, the first gear shaft 333 is rotatably installed in the first end of the mounting cavity 43, the first gear shaft 333 is meshed with the first driving wheel 332 for transmission, the first gear shaft 333 is axially provided with a first mounting hole 3331 adapted to the screw assembly 335, the first gear cover 334 is sleeved on the outside of the first driving wheel 332 and the first gear shaft 333, and the first gear cover 334 is connected to the mounting seat assembly 40, The first and second gears 330 are connected together by a screw nut 334a, 334b, 334c, 334d, 334e, 334f ...

[0042] Optionally, the screw nut and the first gear shaft 333 are integrally formed, making installation more convenient.

[0043] It should be noted that when it is necessary to bend the pin body of the pin 700 to expose the portion of the pin shaft 300, the horizontal driving member 331 drives the first driving wheel 332 to rotate, and the first gear shaft 333 rotates with the first driving wheel 332, thereby driving the screw nut to rotate, and the screw assembly 335 threadedly connected to the screw nut transforms the rotational motion into a linear motion, and the screw assembly 335 moves toward the pin shaft 300 until the front end of the screw assembly 335 abuts against the pin shaft 300, and the screw assembly 335 continues to move, but since the pin shaft 300 is fixed, the positioning seat 11 and the mounting seat assembly 40 move relative to the screw assembly 335 in a direction away from the pin shaft 300, so that the forming block moves with the positioning seat 11 in a direction away from the pin shaft 300, thereby bending the pin body of the pin 700 to expose the portion of the pin shaft 300, and after completion, the screw assembly 335 is reset.

[0044] Optionally, the mounting seat assembly 40 includes a mounting seat 41 and a connecting seat 42 detachably connected to the mounting seat 41 , and the mounting cavity 43 extends from the mounting seat 41 to the connecting seat 42 , that is, the first gear shaft 333 extends from the connecting seat 42 to the mounting seat 41 .

[0045] Specifically, the horizontal driving member 331 is a motor.

[0046] Optionally, the screw assembly 335 includes a screw 3351 and a push rod 3352 coaxially arranged with the screw 3351, the push rod 3352 is arranged in the positioning seat 11 and extends into the first slot 111, the screw 3351 is threadedly connected to the screw nut, and passes through the first mounting hole 3331 to abut against the push rod 3352, the push rod 3352 can be made of a material with higher wear resistance, and the size of the push rod 3352 can be slightly larger than the size of the screw 3351 to increase the contact area. Such a design can extend the service life of the horizontal drive assembly 33.

[0047] Optionally, the horizontal drive assembly 33 also includes a first bearing 337, and the first gear shaft 333 is installed in the installation cavity 43 through the first bearing 337. By setting the first bearing 337, the first gear shaft 333 can be rotatably installed in the installation cavity 43, and the setting of the first bearing 337 can reduce the friction coefficient of the first gear shaft 333 during the rotation process and ensure its rotation accuracy.

[0048] Specifically, the first bearing 337 is an angular contact ball bearing, which can bear radial load and axial load at the same time and can work at a higher rotation speed.

[0049] Furthermore, the horizontal drive assembly 33 also includes an elastic retaining ring 338 for the first shaft. The first bearing 337 and the elastic retaining ring 338 for the first shaft are both installed on the first gear shaft 333, and the elastic retaining ring 338 for the first shaft is located on the outside of the first bearing 337 and abuts against the first bearing 337. The installation method of the first bearing 337 is simple and reliable, and easy to disassemble and assemble.

[0050] Optionally, the stop rod 3361 assembly includes a stop rod 3361 and a second bearing 3362 and a third bearing 3363 arranged on both sides of the stop rod 3361, the second bearing 3362 is slidably arranged in the first slide groove 3341, and the third bearing 3363 is slidably arranged in the second slide groove 3342.

[0051] Specifically, the second bearing 3362 and the third bearing 3363 are both deep groove ball bearings, which have the characteristics of small friction resistance and high rotation speed.

[0052] Optionally, the molding mechanism 30 also includes a first proximity switch 34 and a second proximity switch 35 both mounted on the first gear cover 334. The first proximity switch 34 is used to detect the rearward position of the screw rod 3351, and the second proximity switch 35 is used to detect the forward position of the screw rod 3351. The position of the screw rod 3351 is detected by the first proximity switch 34 and the second proximity switch 35, and then the horizontal driving member 331 cooperates to prevent the screw rod 3351 from excessively moving forward or backward, thereby protecting the screw rod 3351.

[0053] See also Figure 1 , Figure 4 and Figure 5 As shown, exemplarily, in some embodiments, the positioning mechanism 10 further includes a detection sensor 12 and a rotation drive assembly 13. The detection sensor 12 is disposed on the positioning seat 11 and is used to detect the position of the pin hole. The rotation drive assembly 13 is used to drive the positioning seat 11 to rotate so that the detection sensor 12 determines the position of the pin hole, and is used to drive the positioning seat 11 to rotate a preset angle so that the pin hole 113 is aligned with the pin hole. When positioning the pin hole, the positioning seat 11 is sleeved on the pin shaft 300 or the nut, and then the rotation drive assembly 13 drives the positioning seat 11 to rotate, and at the same time, the detection sensor 12 disposed on the positioning seat 11 detects the pin hole. The position of the hole is detected, and after the pin hole is detected, the rotating drive component 13 drives the positioning seat 11 to rotate a preset angle (for example, 90 degrees) to align the pin delivery hole on the positioning seat 11 with the pin hole, and the pin delivery mechanism 20 sends the pin 700 through the pin delivery hole into the pin hole. The positioning seat 11 rotates at most one circle, and the detection sensor 12 can determine the position of the pin hole, and the positioning speed is fast. After completing the positioning of the pin hole, the positioning seat 11 rotates a preset angle, and the pin delivery mechanism 20 can insert the pin 700 into the pin hole of the pin shaft 300, thereby increasing the pin-loading speed; moreover, the position of the pin hole is determined by the detection sensor 12, and it has a high positioning accuracy.

[0054] It should be noted that, when used, the pin replenishing device 100 is installed on a robotic arm (not shown), and the robotic arm drives the pin replenishing device 100 to perform lifting and translational movements relative to the pin shaft 300 so that the front end of the positioning seat 11 is sleeved on the pin shaft 300 or the pin shaft nut 400, and the rotation drive component 13 drives the positioning seat 11 to rotate. During the rotation of the positioning seat 11, the detection sensor 12 detects the position of the pin hole. After detecting the pin hole, the rotation drive component 13 drives the positioning seat 11 to rotate a preset angle (for example, 90 degrees) to align the pin delivery hole on the positioning seat 11 with the pin hole, and then the pin delivery mechanism 20 inserts the pin 700 into the pin hole of the pin shaft 300, and finally the forming mechanism 30 bends the two ends of the pin 700 to complete the pin replenishing operation.

[0055] See also Figure 5As shown, exemplarily, in some embodiments, the detection sensor 12 is a through-beam photoelectric sensor, and the detection sensor 12 includes a transmitter 121 and a receiver 122. The positioning seat 11 is provided with a first through-hole 115 and a second through-hole 116, and the first through-hole 115 and the second through-hole 116 are symmetrically arranged about the axis of the positioning seat 11. The transmitter 121 is installed in the first through-hole 115, and the receiver 122 is installed in the second through-hole 116. When the positioning seat 11 is rotated to align the first through-hole 115 with the pin hole, the laser emitted by the transmitter 121 can be received by the receiver 122, and at this time, the position of the pin hole can be determined.

[0056] It can be understood that the preset angle of rotation of the rotation drive component 13 to drive the positioning seat 11 is related to the positional relationship between the detection sensor 12 and the pin entry hole 113. For example, if the detection sensor 12 and the pin entry hole 113 differ by 90 degrees, then the preset angle of rotation is 90 degrees.

[0057] See also Figure 2 , Figure 3 and Figure 4 As shown, exemplarily, in some embodiments, the rotary drive assembly 13 includes a rotary drive member 131, a second driving wheel 132 and a second gear shaft 133, the rotary drive member 131 is mounted on the mounting seat assembly 40, the second driving wheel 132 is sleeved on the output end of the rotary drive member 131, the second gear shaft 133 is rotatably mounted in the second end of the mounting cavity 43, and the second gear shaft 133 is meshed with the second driving wheel 132 for transmission, the second gear shaft 133 is provided with a second mounting hole 1331 adapted to the screw assembly 335, and the screw assembly 335 passes through in sequence The first mounting hole 3331, the second mounting hole 1331 and the positioning seat 11 extend into the first slot 111. The positioning seat 11 is connected to the second gear shaft 133. When the positioning seat 11 needs to be driven to rotate, the rotating driving member 131 drives the second driving wheel 132 to rotate, and the second gear shaft 133 rotates with the second driving wheel 132, so that the positioning seat 11 rotates. By reasonably setting the structure of the rotating driving component 13, the overall structure of the pin replenishing equipment 100 is made more compact, and the positioning seat 11 can be driven to rotate and move horizontally to complete the positioning operation and bending operation.

[0058] Specifically, the rotary driving member 131 is a motor.

[0059] Optionally, the positioning seat 11 is screwed to the second gear shaft 133, and the connection method is simple and reliable.

[0060] Optionally, a plurality of weight-reducing holes 1332 are provided on the second gear shaft 133 . By providing the weight-reducing holes 1332 , the weight of the pin replacement device 100 can be reduced, making it lighter.

[0061] Preferably, the rotation drive assembly 13 also includes a fourth bearing 134, and the second gear shaft 133 is installed in the mounting cavity 43 through the fourth bearing 134. By setting the fourth bearing 134, the second gear shaft 133 can be rotatably installed in the mounting cavity 43, and the setting of the fourth bearing 134 can reduce the friction coefficient of the second gear shaft 133 during the rotation process and ensure its rotation accuracy.

[0062] Optionally, two fourth bearings 134 are provided, and the rotation drive assembly 13 further includes a sleeve 137 , which is mounted on the second gear shaft 133 and located between the two fourth bearings 134 .

[0063] Specifically, the fourth bearing 134 is an angular contact ball bearing, which can bear radial load and axial load at the same time and can work at a relatively high rotation speed.

[0064] Furthermore, the rotary drive assembly 13 also includes a second shaft elastic retaining ring 135, and the fourth bearing 134 and the second shaft elastic retaining ring 135 are installed on the second gear shaft 133, and the second shaft elastic retaining ring 135 is located on the outside of the fourth bearing 134 and abuts against the fourth bearing 134. The installation method is simple and reliable, and easy to disassemble and assemble.

[0065] Preferably, the rotary drive assembly 13 also includes a second gear cover 136, which is sleeved on the outside of the second driving wheel 132 and the second gear shaft 133, and the second gear cover 136 is detachably connected to the mounting seat assembly 40. By setting the second gear cover 136, the second driving wheel 132 and the second gear shaft 133 can be protected.

[0066] Preferably, the rotation drive assembly 13 also includes a third proximity switch 138, which is used to detect the zero point position of the positioning seat 11. After the pin replenishing device 100 is assembled, there will be cables. When debugging the positioning seat 11, it is necessary to find the zero point position of the positioning seat 11 to prevent the positioning seat 11 from rotating repeatedly and damaging the cables.

[0067] See also Figure 3 , Figure 7-Figure 9As shown, exemplarily, in some embodiments, the pin feeding mechanism 20 includes a nail storage box 21, a pin pressing assembly 22 and a pin conveying assembly 23, the nail storage box 21 is provided with a nail storage slot 211, and a third slide slot 212 and a pin inlet slot 213 are provided on the front of the nail storage box 21, the third slide slot 212 and the pin inlet slot 213 are respectively connected to the nail storage slot 211, the nail storage slot 211 is provided with a discharging station, and the discharging station is arranged above the pin outlet hole 114, and the nail storage slot 211 is arranged with a plurality of pins 700, the pressing assembly includes a second push block 221 and a second elastic member (not shown in the figure), the second push block 221 includes a push plate 2211 and an inverted L-shaped plate 2212 arranged at a first end of the push plate 2211, the second end of the push plate 2211 is provided with a pressing portion 2213, and the push plate 2211 is adapted to the third slide slot 212 , and the clamping part 2213 is slidably arranged in the nail storage groove 211, the inverted L-shaped plate 2212 is slidably connected to the back side of the nail storage box 21, and the inverted L-shaped plate 2212 is connected to the nail storage box 21 through a second elastic member, the pin conveying assembly 23 is arranged above the nail storage box 21, and the movement path of the pin conveying assembly 23 passes through the unloading station, which is used to insert the pin 700 into the pin hole of the pin shaft 300. By reasonably setting the structure of the pin feeding mechanism 20, the pin conveying assembly 23 is directly arranged above the pin conveying assembly 23, and the movement path of the pin conveying assembly 23 directly passes through the unloading station, and the pin 700 is inserted into the pin hole of the pin shaft 300. After completing one pin feeding, the clamping assembly automatically pushes the pin 700 forward to the unloading station, and the overall structure of the pin feeding mechanism 20 is more compact and more miniaturized.

[0068] See also Figure 3 , Figure 7-Figure 9 As shown, exemplarily, in some embodiments, the pin conveying assembly 23 includes a fixed seat 231, a pin driving member 232, a sprocket 233 and a chain 234 (not shown in the figure), the fixed seat 231 is installed on the top of the nail storage box 21, and a guide groove 2311 is provided on the fixed seat 231, the guide groove 2311 extends from the fixed seat 231 into the nail storage box 21, and is located at a position of the nail storage box 21 corresponding to the discharge station, the guide groove 2311 is connected to the nail storage groove 211, the pin driving member 232 is installed on the fixed seat 231, the sprocket 233 is connected to the output end of the pin driving member 232, the chain 234 is meshed with the sprocket 233 for transmission, and the chain 234 is slidably set in the guide groove 2311, the pin conveying assembly 23 has a simple structure and high operating stability. Furthermore, the driving method of the chain 234 and the sprocket 233 enables the running path of the pin conveying assembly 23 to be bent, thereby lowering the center of gravity of the pin conveying assembly 23.

[0069] Specifically, a guide rail seat 214 is provided on the back of the nail storage box 21, and the inverted L-shaped plate 2212 is provided with a guide rail 2214 adapted to the guide rail seat 214, and the guide rail 2214 is slidably set on the guide rail seat 214. By setting the guide rail 2214 and the guide rail seat 214 to cooperate with each other, the second push block 221 runs more smoothly during the sliding process.

[0070] Specifically, the second elastic member is a tension spring.

[0071] When installing the pin 700, slide the second push block 221 to the edge of the non-discharging position of the nail storage slot 211, stretch the second elastic member to place the pin 700 from the pin inlet slot 213 into the nail storage slot 211, and after it is full, release the second push block 221, the second elastic member retracts, and the clamping part 2213 of the second push block 221 automatically presses the pin 700, so that the pin 700 moves forward to the discharging position.

[0072] The present invention also provides a replenishing pin robot, including a replenishing pin device 100 and a robotic arm (not shown). The replenishing pin device 100 adopts the above-mentioned replenishing pin device 100. A connecting seat 42 is provided on the replenishing pin device 100. The replenishing pin device 100 is installed on the robotic arm through the connecting seat 42. The robotic arm is used to drive the replenishing pin device 100 to perform lifting and lowering movements and translational movements relative to the pin shaft 300 so that the positioning seat 11 is sleeved on the pin shaft 300 or the pin shaft nut 400.

[0073] Specifically, the connecting seat 42 is slidably connected to the mounting seat assembly 40 , and the connecting seat 42 is connected to the mounting seat assembly 40 via a first elastic member.

[0074] It is understandable that the robot arm can adopt a robot arm with an existing structure, such as a robot arm available on the market, as long as it can drive the pin replacement device 100 to perform lifting and lowering movements and translational movements relative to the pin shaft 300.

[0075] The pin replacement robot of the embodiment of the present invention can bend both ends of the pin 700 so that the pin 700 can be firmly installed in the pin hole, thereby reducing the risk of falling off.

[0076] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A replenishment device, characterized in that: The invention comprises a mounting seat assembly, a positioning mechanism, a pin feeding mechanism and a forming mechanism, wherein the positioning mechanism comprises a positioning seat, a first slot adapted to the pin shaft and / or a second slot matched to the pin shaft nut is arranged at the front end of the positioning seat, a pin inlet hole and a pin outlet hole are arranged radially on the positioning seat, the pin inlet hole and the pin outlet hole are arranged symmetrically about the axis of the positioning seat, the pin inlet hole is communicated with the first slot and / or the second slot, and the pin outlet hole is communicated with the first slot and / or the second slot, and the forming mechanism comprises a first forming block, a second forming block and a horizontal driving assembly, the first forming block is installed in the pin inlet hole, the first forming block is provided with a first forming hole facing the pin outlet hole, and the first forming hole is provided with a first Slope surface, the first slope surface extends upward and outward from the lower part of the first forming hole, the second forming block is installed in the pin outlet hole, the second forming block is provided with a second forming hole facing the pin inlet hole, the second forming hole is provided with a second slope surface, the second slope surface extends upward and outward from the lower part of the second forming hole, the horizontal driving component is installed on the mounting seat component, the horizontal driving component is used to drive the positioning seat to move in the direction away from the pin shaft, so that the first forming block and the second forming block move with the positioning seat in the direction away from the pin shaft, thereby bending the two ends of the pin, the pin sending mechanism is installed on the first forming block, and the outlet end of the pin sending mechanism is connected to the first forming hole.

2. The restocking device according to claim 1, characterized in that: The mounting seat assembly is provided with a mounting cavity, and the two ends of the mounting cavity are open. The horizontal drive assembly includes a horizontal drive member, a first driving wheel, a first gear shaft, a first gear cover, a screw assembly, a screw nut and a stop assembly. The horizontal drive member is installed on the mounting seat assembly, the first driving wheel is sleeved on the output end of the horizontal drive member, the first gear shaft is rotatably installed in the first end of the mounting cavity, the first gear shaft is meshed with the first driving wheel for transmission, the first gear shaft is axially provided with a first mounting hole adapted to the screw assembly, the first gear cover is sleeved on the outside of the first driving wheel and the first gear shaft, and the first gear cover is connected to the mounting seat assembly, the first gear cover is symmetrically provided with a first slide groove and a second slide groove, the screw nut is connected to the first gear shaft, the screw assembly is threadedly connected to the screw nut, the screw assembly passes through the first mounting hole and the positioning seat, and extends into the first card slot, the stop assembly is connected to one end of the screw assembly away from the first card slot, and the two ends of the stop assembly are respectively slidably arranged in the first slide groove and the second slide groove.

3. The restocking device according to claim 2, characterized in that: The screw assembly includes a screw and a push rod coaxially arranged with the screw, the push rod is arranged in the positioning seat and extends into the first slot, the screw is threadedly connected to the screw nut, and passes through the first mounting hole to abut against the push rod.

4. The restocking device according to claim 2, characterized in that: The anti-rotation assembly includes an anti-rotation rod and a second bearing and a third bearing arranged on both sides of the anti-rotation rod. The second bearing is slidably arranged in the first sliding groove, and the third bearing is slidably arranged in the second sliding groove.

5. The restocking device according to claim 2, characterized in that: The positioning mechanism also includes a detection sensor and a rotation drive assembly. The detection sensor is arranged on the positioning seat and is used to detect the position of the pin hole. The rotation drive assembly is used to drive the positioning seat to rotate so that the detection sensor determines the position of the pin hole, and is used to drive the positioning seat to rotate a preset angle so that the pin entry hole is aligned with the pin hole.

6. The restocking device according to claim 5, characterized in that: The rotary drive assembly includes a rotary drive member, a second driving wheel and a second gear shaft. The rotary drive member is mounted on the mounting seat assembly. The second driving wheel is sleeved on the output end of the rotary drive member. The second gear shaft is rotatably mounted in the second end of the mounting cavity, and the second gear shaft is meshed with the second driving wheel for transmission. The second gear shaft is provided with a second mounting hole adapted to the screw rod assembly. The screw rod assembly passes through the first mounting hole, the second mounting hole and the positioning seat in sequence, and extends into the first slot. The positioning seat is connected to the second gear shaft.

7. The restocking device according to claim 6, characterized in that: The detection sensor includes a transmitter and a receiver. The positioning seat is provided with a first through hole and a second through hole. The first through hole and the second through hole are symmetrically arranged about the axis of the positioning seat. The transmitter is installed in the first through hole, and the receiver is installed in the second through hole.

8. The restocking device according to claim 1, characterized in that: The pin feeding mechanism comprises a nail storage box, a pin pressing assembly and a pin conveying assembly, the nail storage box is provided with a nail storage slot, the front side of the nail storage box is provided with a third slide slot and a pin inlet slot, the third slide slot and the pin inlet slot are respectively communicated with the nail storage slot, the nail storage slot is provided with a discharging station, the discharging station is arranged above the pin outlet hole, and a plurality of pins are arranged in the nail storage slot, the pressing assembly comprises a second push block and a second elastic member, the second push block comprises a push plate and an inverted L-shaped plate arranged at a first end of the push plate, the second end of the push plate is provided with a pressing portion, the push plate is adapted to the third slide slot, and the pressing portion is slidably arranged in the nail storage slot, the inverted L-shaped plate is slidably connected to the back side of the nail storage box, and the inverted L-shaped plate is connected to the nail storage box through the second elastic member, the pin conveying assembly is arranged above the nail storage box, and the movement path of the pin conveying assembly passes through the discharging station, and the pin conveying assembly is used to insert the pin into the pin hole of the pin shaft.

9. The restocking device according to claim 8, characterized in that: The pin conveying assembly includes a fixed seat, a pin driving member, a third sprocket and a third chain. The fixed seat is installed on the top of the nail storage box. The fixed seat is provided with a guide groove. The guide groove extends from the fixed seat into the nail storage box and is located at a position of the nail storage box corresponding to the discharging station. The guide groove is communicated with the nail storage groove. The pin driving member is installed on the fixed seat. The third sprocket is connected to the output end of the pin driving member. The third chain is meshed with the third sprocket for transmission, and the third chain is slidably arranged in the guide groove.

10. A replenishment robot, characterized in that: The invention comprises a pin-replenishing device and a mechanical arm. The pin-replenishing device adopts the pin-replenishing device as described in any one of claims 1 to 9. A connecting seat is arranged on the pin-replenishing device. The pin-replenishing device is installed on the mechanical arm through the connecting seat. The mechanical arm is used to drive the pin-replenishing device to perform lifting and lowering motion and translational motion relative to the pin shaft so that the positioning seat sleeve is arranged on the pin shaft or the pin shaft nut.

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