A replenishment sales device and replenishment sales robot

Abstract

The present invention is applicable to the field of pin replenishment equipment, and discloses a pin replenishment device and a pin replenishment robot. The pin replenishment device comprises a positioning mechanism, a pin feeding mechanism and a forming mechanism. The positioning mechanism comprises a rotating seat, a detection sensor and a rotating drive assembly. A first clamping groove adapted to a pin shaft and / or a second clamping groove matched with a pin shaft nut is arranged at the front end of the rotating seat. A pin inlet hole and a pin outlet hole are radially arranged on the rotating seat. Both the pin inlet hole and the pin outlet hole are connected with the first clamping groove and / or the second clamping groove. The rotating drive assembly is used to drive the rotating seat to rotate so that the detection sensor determines the position of the pin hole of the pin shaft, and is used to drive the rotating seat to rotate a preset angle so that the pin inlet hole is aligned with the pin hole. During the positioning process, the rotating seat can determine the position of the pin hole by rotating one circle at most, and the positioning speed is fast. The pin feeding mechanism is installed on the rotating seat. After the positioning is completed, the pin feeding mechanism inserts the pin into the pin hole of the pin shaft, which can increase the pin-loading speed, and the forming mechanism can bend the pin body of the pin to expose the part of the pin shaft.

Description

Technical Field

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

[0002] With the rapid development of the economy and society, the demand for power load has increased year by year, and the scale of transmission lines has also become larger and larger. As overhead transmission lines have been operating in the field for a long time, affected by the external environment, external force damage and equipment aging, the defects of rust and falling of the cotter pins of the line connection hardware bolts have increased, seriously affecting the safe and stable operation of the transmission lines. The transmission line operation management specification stipulates that the lack of connection hardware pins is a critical defect, and the time required to deal with the defect is no more than 24 hours. Replenishing pins has become one of the busiest operations for the line team.

[0003] Although there are automatic pinning equipment on the market, the existing automatic pinning equipment needs to judge the position of the pin hole from multiple degrees of freedom when pinning, and needs to calculate the relevant distance, and the pinning speed is slow. Summary of the invention

[0004] The first object of the present invention is to provide a pin replacement device, which aims to solve the existing technical problems that the position of the pin hole needs to be judged from multiple degrees of freedom, the relevant distances need to be calculated, and the pin-loading speed is slow.

[0005] To achieve the above object, the solution provided by the present invention is:

[0006] A pin replenishing device comprises a positioning mechanism, a pin feeding mechanism and a forming mechanism, the positioning mechanism comprises a rotating seat, a detection sensor and a rotating drive assembly, the front end of the rotating seat is provided with a first slot adapted to the pin shaft and / or a second slot matched with the pin shaft nut, the rotating seat is radially provided with a pin inlet hole and a pin outlet hole, the pin inlet hole and the pin outlet hole are symmetrically arranged about the axis of the rotating seat, the pin inlet hole is communicated with the first slot and / or the second slot, the pin outlet hole is communicated with the first slot and / or the second slot, the detection sensor is arranged on the rotating seat, the rotating drive assembly is used to drive the rotating seat to rotate so that the detection sensor determines the pin hole position of the pin shaft, and is used to drive the rotating seat to rotate a preset angle so that the pin inlet hole is aligned with the pin hole, the pin feeding mechanism is installed on the rotating seat, and the outlet end of the pin feeding mechanism is communicated with the pin inlet hole, the pin feeding mechanism is used to insert the pin into the pin hole of the pin shaft, and the forming mechanism is used to bend the pin body of the pin to expose the part of the pin shaft.

[0007] Preferably, the detection sensor includes a transmitter and a receiver, and a first through-hole and a second through-hole are provided on the rotating seat, the first through-hole and the second through-hole are symmetrically arranged about the axis of the rotating seat, the transmitter is installed in the first through-hole, and the receiver is installed in the second through-hole.

[0008] Preferably, the pin replenishing device also includes a mounting seat assembly, the forming mechanism includes a forming block and a horizontal drive assembly, the forming block is installed in the pin outlet hole, a forming hole is provided on the side of the forming block facing the pin inlet hole, the forming hole is provided with a slope, and the slope extends upward and outward from the lower part of the forming hole, the horizontal drive assembly and the rotating drive assembly are both installed on the mounting seat assembly, and the horizontal drive assembly is used to drive the rotating seat to move in a direction away from the pin shaft.

[0009] 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 mounted 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 mounted in the first end of the mounting cavity. The first gear shaft meshes with the first driving wheel for transmission. The first gear shaft is axially provided with a first mounting hole adapted to the screw nut and a second 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 mounted in the first mounting hole. The screw assembly is threadedly connected to the screw nut. The screw assembly passes through the first mounting hole and the rotating seat and extends into the first card slot. The stop assembly is connected to an 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.

[0010] Preferably, the screw assembly includes a screw and a push rod coaxially arranged with the screw, the push rod is arranged in the rotating 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.

[0011] 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 third mounting hole adapted to the screw rod assembly, the screw rod assembly passes through the first mounting hole, the third mounting hole and the rotating seat in sequence, and extends into the first slot, and the rotating seat is connected to the second gear shaft.

[0012] Preferably, the pin feeding mechanism includes a guide seat, a silo assembly and a pin feeding assembly, the guide seat is provided with a pin feeding groove, the outlet end of the pin feeding groove is connected with the pin inlet hole, the silo assembly is connected with the guide seat, the silo assembly stores pins and is used to feed the pins into the pin feeding groove, the pin feeding assembly includes a pin feeding drive, a first sprocket, a first chain and a pusher head, the guide seat is also provided with a first guide groove connected with the pin feeding groove, the pin feeding drive is installed on the guide seat, the first sprocket is connected with the first output end of the pin feeding drive, the first chain is slidably arranged in the first guide groove, and the first chain is meshed with the first sprocket for transmission, the pusher head is connected with the first chain, and the pusher head is slidably arranged in the pin feeding groove, and the pusher head is used for magnetic adsorption with the pin.

[0013] Preferably, the pin delivery assembly also includes a second sprocket and a second chain, and the guide seat is also provided with a second guide groove connected to the pin delivery groove, the pin delivery driving member and the pin delivery groove are both arranged between the first guide groove and the second guide groove, the second sprocket is connected to the second output end of the pin delivery driving member, the second chain is slidably arranged in the second guide groove, and the second chain is meshed with the second sprocket for transmission, and the two sides of the push head are respectively connected to the first chain and the second chain.

[0014] Preferably, the guide seat is provided with a pin entrance connected with the pin conveying groove, the pin entrance includes a first hole portion adapted to the end portion of the pin and a second hole portion adapted to the pin body of the pin, the hopper assembly includes a nail storage box, a push block, an elastic member and a push rod, the nail storage box is connected with the guide seat, the nail storage box is provided with a nail groove and a third guide groove connected with the nail groove, a first opening is provided at the top of the nail groove, and a second opening is provided on the side of the nail groove facing the pin entrance, the second opening is opposite to the second hole portion, pins are arranged in the nail groove, and the end of the nail groove facing the pin entrance is a nail output position, the push block is slidably connected to the nail storage box, the elastic member is elastically compressed between the push block and the nail storage box, the push rod is slidably arranged in the third guide groove, and the push rod is located below the nail output position, and the two sides of the push rod are respectively connected to the first chain and the second chain.

[0015] The second object of the present invention is to provide a pin-making robot, comprising a pin-making device and a robotic arm, wherein the pin-making device adopts the pin-making device as described above, and a connecting plate is provided on the pin-making device. The pin-making device is installed on the robotic arm through the connecting plate, and the robotic arm is used to drive the pin-making device to perform lifting and lowering movements and translational movements relative to the pin shaft so that the rotating seat sleeve is arranged on the pin shaft or the pin shaft nut.

[0016] When the pin hole is positioned, the pin replacement device provided by the present invention arranges the rotating seat sleeve on the pin shaft or the nut, and then the rotating driving component drives the rotating seat to rotate, and at the same time the detection sensor arranged on the rotating seat detects the position of the pin hole. After the pin hole is detected, the rotating driving component drives the rotating seat to rotate a preset angle, so that the pin entry hole on the rotating seat is aligned with the pin hole, and the pin feeding mechanism passes the pin through the pin entry hole and sends it into the pin hole. The rotating seat rotates at most one circle, and the detection sensor can determine the position of the pin hole, and the positioning speed is fast. After the pin hole positioning is completed, the rotating seat rotates a preset angle, and the pin feeding mechanism can insert the pin into the pin hole of the pin shaft, thereby improving the pin installation speed; moreover, the position of the pin hole is determined by the detection sensor, and the positioning accuracy is relatively high; in addition, the forming mechanism can bend the part of the pin body of the pin exposed from the pin shaft to prevent the pin from falling off.

[0017] The replenishment robot in the embodiment of the present invention has a fast sales speed and high precision. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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.

[0019] Figure 1 The structure of the re-pinning device provided in the embodiment of the present invention is shown in FIG. Figure 1 ;

[0020] Figure 2 The structure of the re-pinning device provided in the embodiment of the present invention is shown in FIG. Figure 2 ;

[0021] Figure 3 is a top view provided by an embodiment of the present invention;

[0022] Figure 4 yes Figure 3 Sectional view along line AA;

[0023] Figure 5 is a structural schematic diagram of a positioning mechanism provided by an embodiment of the present invention;

[0024] Figure 6 is a schematic structural diagram of a rotating seat provided in an embodiment of the present invention;

[0025] Figure 7 is an exploded view of a guide seat provided in an embodiment of the present invention;

[0026] Figure 8 is a partial schematic diagram of a guide seat provided in an embodiment of the present invention;

[0027] Fig. 9 is a structural schematic diagram of a silo assembly provided in an embodiment of the present invention;

[0028] Fig.10 is a structural schematic diagram of a nail storage box provided by an embodiment of the present invention;

[0029] Fig.11 is an exploded view of a horizontal drive assembly provided by an embodiment of the present invention;

[0030] Fig.12 is a schematic structural diagram of a first gear shaft provided by an embodiment of the present invention;

[0031] Fig.13 It is the usage status of the line connection fittings.

[0032] Description of Figure Numbers:

[0033] 100, pin replenishing device; 10, positioning mechanism; 11, rotating seat; 111, first card slot; 112, second card 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, rotary drive assembly; 131, rotary drive member; 132, second driving wheel; 133, second gear shaft; 1331, third mounting hole; 1332, weight reduction hole; 134, fourth bearing; 135, second locking nut; 136, second gear cover; 137, bushing; 138, third proximity switch; 20, pin delivery mechanism; 21, guide seat; 211, pin delivery slot; 212, first guide slot; 213, second guide slot; 214, third slide slot; 215, fourth slide slot; 216, guide base; 2161, main body; 2162, first U-shaped portion; 2163, second U-shaped portion; 217, first cover; 218, second cover; 219, pin entrance; 2191, first hole; 2192, second hole; 22, silo assembly; 221, nail storage box; 2211, nail slot; 2212, third guide slot; 2213, first opening; 2214, second opening; 2215, introduction hole; 222, push block; 223, elastic member; 224, ejector rod; 225, gland; 226, first guide rod; 227, second guide rod; 23, pin delivery assembly; 231, pin delivery drive member; 232, first sprocket; 233, first chain; 234, pusher; 235, second sprocket; 236, second chain; 237, connecting rod; 30, forming mechanism; 31, forming block; 311, forming hole; 312, slope; 32, horizontal drive assembly; 321, horizontal drive member; 322, first driving wheel; 323, first gear shaft; 3231, first mounting hole; 3232, second mounting hole; 324, first gear cover; 3241, first slide slot; 3242, second slide slot; 325, screw rod assembly Parts; 3251, screw rod; 3252, push rod; 326, screw rod nut; 327, anti-rotation assembly; 3271, anti-rotation rod; 3272, second bearing; 3273, third bearing; 328, first bearing; 329, first locking nut; 301, driven wheel; 33, first proximity switch; 34, second proximity switch; 40, mounting seat assembly; 41, mounting seat; 42, connecting seat; 43, mounting cavity; 50, connecting plate; 60, first tension spring; 200, line connection hardware; 300, pin shaft; 400, pin shaft nut; 500, upper wire; 600, lower wire; 700, pin; 701, end head; 702, pin body. DETAILED DESCRIPTION

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] like Figures 1 to 12 As shown, it is a re-pinning device 100 according to an embodiment of the present invention. Fig.13 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 the re-pinning operation after arriving at the fault position. 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.

[0039] It can be understood that in order to better fix the pin 700 in the pin hole, the pin 700 includes an end portion 701 and a pin body 702. The pin body 702 is adapted to the pin hole, and the diameter of the end portion 701 is greater than the diameter of the pin hole.

[0040] Furthermore, in order to facilitate the pin body 702 to be bent by the pin replacement device 100 , the tail of the pin body 702 is configured to be a semi-cylindrical structure or other thinned shapes.

[0041] See also Figure 1 , Figure 5 and Fig.13 The pin replenishing device 100 of the embodiment of the present invention comprises a positioning mechanism 10, a pin feeding mechanism 20 and a forming mechanism 30. The positioning mechanism 10 comprises a rotating seat 11, a detection sensor 12 and a rotating driving assembly 13. The front end of the rotating seat 11 is provided with a first card slot 111 adapted to the pin shaft 300 and / or a second card slot 112 matched with the pin shaft nut 400. The rotating 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 rotating seat 11. The pin inlet hole 113 is connected to the first card slot 111 and / or the second card slot 112, and the pin outlet hole 114 is connected to the first card slot 111 and / or the second card slot 112. The detection sensor 12 is arranged on the rotating seat 1 1, and is used to detect the position of the pin hole. The rotation drive assembly 13 is used to drive the rotating seat 11 to rotate so that the detection sensor 12 determines the pin hole position of the pin shaft 300, and is used to drive the rotating seat 11 to rotate a preset angle so that the pin inlet hole 113 is aligned with the pin hole, so that the pin delivery mechanism 20 can complete the pin delivery operation. The pin delivery mechanism 20 is installed on the rotating seat 11, and the outlet end of the pin delivery mechanism 20 is connected with the pin inlet hole 113. The pin delivery mechanism 20 is used to insert the pin 700 into the pin hole of the pin shaft 300, and the forming mechanism 30 is used to bend the pin body 702 of the pin 700 to expose the part of the pin shaft 300, so that the pin delivery mechanism 20 will be separated from the pin 700 after the pin supplement is completed, and the pin 700 will not be taken away from the pin hole.

[0042] It can be understood that when installing the pin 700, the pin 700 passes through the pin entry hole 113 and is installed in the pin hole of the pin shaft 300, the end portion 701 of the pin 700 is stuck outside the pin entry hole 113, and the pin body 702 extends into the pin exit hole 114, or extends outside the pin exit hole 114, and then the forming mechanism 30 can be used to bend the part of the pin body 702 of the pin 700 that is exposed from the pin shaft 300 to prevent the pin 700 from falling off.

[0043] Optionally, when the length of the pin shaft 300 is longer, the rotating seat 11 can cooperate with the pin shaft 300, and only the first slot 111 is set on the rotating 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 rotating seat 11, only the second slot 112 can be set on the rotating seat 11, or the first slot 111 and the second slot 112 can be set on the rotating 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.

[0044] It can be understood that the position of the rotating 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 rotating seat 11 is sleeved on the pin shaft 300 and the pin shaft nut 400, the pin hole 113 can be rotated to a preset angle to align with the pin hole of the pin shaft 300.

[0045] It should be noted that, when used, the pin replenishing device 100 is installed on a mechanical arm (not shown in the figure), and the mechanical 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 rotating seat 11 is sleeved on the pin shaft 300 or the pin shaft nut 400, and the rotating drive component 13 drives the rotating seat 11 to rotate. During the rotation of the rotating seat 11, the detection sensor 12 detects the position of the pin hole. After detecting the pin hole, the rotating drive component 13 drives the rotating seat 11 to rotate a preset angle (for example, 90 degrees) to align the pin entry hole 113 on the rotating seat 11 with the pin hole, and then the pin feeding mechanism 20 inserts the pin 700 into the pin hole of the pin shaft 300, and finally the forming mechanism 30 bends the pin body 702 of the pin 700 to expose the part of the pin shaft 300, thereby completing the pin replenishing operation.

[0046] In this embodiment, a connecting plate 50 is provided on the pin-replenishing device 100 , and the pin-replenishing device 100 is installed on the robot arm through the connecting plate 50 .

[0047] When the pin-replacing device 100 of the embodiment of the present invention positions the pin hole, the rotating seat 11 is sleeved on the pin shaft 300 or the nut, and then the rotating driving component 13 drives the rotating seat 11 to rotate. At the same time, the detection sensor 12 arranged on the rotating seat 11 detects the position of the pin hole. After the pin hole is detected, the rotating driving component 13 drives the rotating seat 11 to rotate by a preset angle (for example, 90 degrees) so that the pin inlet hole 113 on the rotating seat 11 is aligned with the pin hole, and the pin feeding mechanism 20 feeds the pin 700 into the pin hole through the pin inlet hole 113. In the nail hole, the rotating seat 11 rotates at most one circle, and the detection sensor 12 can determine the position of the pin hole with a fast positioning speed. After completing the positioning of the pin hole, the rotating seat 11 rotates a preset angle, and the pin feeding mechanism 20 can insert the pin 700 into the pin hole of the pin shaft, thereby increasing the pin insertion speed; moreover, the position of the pin hole is determined by the detection sensor 12, with high positioning accuracy; in addition, the forming mechanism 30 can bend the part of the pin body 702 of the pin 700 that is exposed from the pin shaft 300 to prevent the pin 700 from falling off.

[0048] See also Figure 2 and Figure 6 As 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. A first through-hole 115 and a second through-hole 116 are provided on the rotating seat 11, and the first through-hole 115 and the second through-hole 116 are symmetrically arranged about the axis of the rotating 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 rotating seat 11 rotates 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.

[0049] It can be understood that the preset angle at which the rotating drive assembly 13 drives the rotating seat 11 to rotate is related to the positional relationship between the detection sensor 12 and the pin entry hole 113. For example, if the detection sensor 12 is 90 degrees away from the pin entry hole 113, then the preset angle of rotation is 90 degrees.

[0050] See also Figure 2 , Figure 3 , Figure 6 , Fig.10 , Fig.13As shown, exemplarily, in some embodiments, the pin replenishing device 100 also includes a mounting seat assembly 40, the forming mechanism 30 includes a forming block 31 and a horizontal drive assembly 32, the forming block 31 is installed in the pin outlet hole 114, and a forming hole 311 is provided on the side of the forming block 31 facing the pin inlet hole 113, and the forming hole 311 is provided with a slope 312, and the slope 312 extends upward and outward from the lower part of the forming hole 311. The horizontal drive assembly 32 and the rotation drive assembly 13 are installed on the mounting seat assembly 40, and the horizontal drive assembly 32 is used to drive the rotating seat 11 to move in a direction away from the pin shaft 300, so that the forming block 31 moves with the rotating seat 11 in a direction away from the pin shaft 300, thereby bending the pin body 702 of the pin 700 to expose the part of the pin shaft 300, and the forming method is simple, reliable, and easy to implement.

[0051] It should be noted that when the pin-repairing device 100 is installed on the robotic arm, 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 the first tension spring 60, that is, when the horizontal drive assembly 32 drives the rotating 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 tension spring 60 is stretched, and the pin-repairing device 100 is adaptively adjusted relative to the robotic arm.

[0052] See also Figure 4 , Fig.11 and Fig.12As shown, 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 32 includes a horizontal drive member 321, a first driving wheel 322, a first gear shaft 323, a first gear cover 324, a screw assembly 325, a screw nut 326 and a rotation-stop assembly 327. The horizontal drive member 321 is installed on the mounting seat assembly 40, the first driving wheel 322 is sleeved on the output end of the horizontal drive member 321, the first gear shaft 323 is rotatably installed in the first end of the mounting cavity 43, the first gear shaft 323 is meshed with the first driving wheel 322 for transmission, the first gear shaft 323 is axially provided with a first mounting hole 3231 adapted to the screw nut 326 and a second mounting hole 3232 adapted to the screw assembly 325, the first gear cover 324 is sleeved on the outside of the first driving wheel 322 and the first gear shaft 323, and the first gear cover 324 is connected to the mounting seat assembly 40 The first gear cover 324 is symmetrically provided with a first slide groove 3241 and a second slide groove 3242, the screw nut 326 is installed in the first mounting hole 3231, the screw assembly 325 is threadedly connected with the screw nut 326, the screw assembly 325 passes through the first mounting hole 3231 and the rotating seat 11, and extends into the first slot 111, the anti-rotation assembly 327 is connected to the end of the screw assembly 325 away from the first slot 111, and the two ends of the anti-rotation assembly 327 are respectively slidably arranged in the first slide groove 3241 and the second slide groove 3242, that is, by setting the anti-rotation assembly 327, the rotation of the screw assembly 325 is limited, and the rotational motion is converted into linear motion. By reasonably setting the structure of the horizontal driving member 321 mechanism, on the basis of realizing the function of driving the rotating seat 11 to approach or move away from the pin shaft 300, the overall structure of the pin replenishing device 100 is made more compact, which is conducive to the miniaturization development of the pin replenishing device 100.

[0053] It should be noted that when it is necessary to bend the pin body 702 of the pin 700 to expose the portion of the pin shaft 300, the horizontal driving member 321 drives the first driving wheel 322 to rotate, and the first gear shaft 323 rotates with the first driving wheel 322, thereby driving the screw nut 326 to rotate, and the screw assembly 325 threadedly connected to the screw nut 326 converts the rotational motion into a linear motion, and the screw assembly 325 moves toward the pin shaft 300 until the front end of the screw assembly 325 abuts against the pin shaft 300, and the screw assembly 325 continues to move, but since the pin shaft 300 is fixed, the rotating seat 11 and the mounting seat assembly 40 move relative to the screw assembly 325 in a direction away from the pin shaft 300, so that the forming block 31 moves with the rotating seat 11 in a direction away from the pin shaft 300, thereby bending the pin body 702 of the pin 700 to expose the portion of the pin shaft 300, and after completion, the screw assembly 325 is reset.

[0054] 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 323 extends from the connecting seat 42 to the mounting seat 41 .

[0055] Specifically, the horizontal driving member 321 is a motor.

[0056] Optionally, the screw assembly 325 includes a screw 3251 and a push rod 3252 coaxially arranged with the screw 3251, the push rod 3252 is arranged in the rotating seat 11 and extends into the first slot 111, the screw 3251 is threadedly connected to the screw nut 326, and passes through the first mounting hole 3231 to abut against the push rod 3252, the push rod 3252 can be made of a material with higher wear resistance, and the size of the push rod 3252 can be slightly larger than the size of the screw 3251 to increase the contact area. Such a design can extend the service life of the horizontal drive assembly 32.

[0057] Optionally, the horizontal drive assembly 32 also includes a first bearing 328, and the first gear shaft 323 is installed in the installation cavity 43 through the first bearing 328. By setting the first bearing 328, the first gear shaft 323 can be rotatably installed in the installation cavity 43, and the setting of the first bearing 328 can reduce the friction coefficient of the first gear shaft 323 during the rotation process and ensure its rotation accuracy.

[0058] Specifically, the first bearing 328 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.

[0059] Furthermore, the horizontal drive assembly 32 also includes a first locking nut 329. The first bearing 328 is installed on the first gear shaft 323. The first locking nut 329 is threadedly connected to the first gear shaft 323. The first locking nut 329 is located on the outside of the first bearing 328 and abuts against the first bearing 328. The installation method of the first bearing 328 is simple and reliable, and easy to disassemble and assemble.

[0060] Optionally, the stop rod 3271 assembly includes a stop rod 3271 and a second bearing 3272 and a third bearing 3273 arranged on both sides of the stop rod 3271, the second bearing 3272 is slidably arranged in the first slide groove 3241, and the third bearing 3273 is slidably arranged in the second slide groove 3242.

[0061] Specifically, the second bearing 3272 and the third bearing 3273 are both deep groove ball bearings, which have the characteristics of small friction resistance and high rotation speed.

[0062] Optionally, the horizontal drive assembly 32 also includes a driven wheel 301 rotatably mounted on the mounting seat assembly 40, and the first gear shaft 323 is transmitted to the first driving wheel 322 through the driven wheel 301. By setting the driven wheel 301, the size of the first driving wheel 322 can be set smaller, thereby making the overall specifications of the horizontal drive assembly 32 smaller.

[0063] Optionally, the molding mechanism 30 also includes a first proximity switch 33 and a second proximity switch 34, both of which are installed on the first gear cover 324. The first proximity switch 33 is used to detect the rearward position of the screw rod 3251, and the second proximity switch 34 is used to detect the forward position of the screw rod 3251. The position of the screw rod 3251 is detected by the first proximity switch 33 and the second proximity switch 34, and then the horizontal driving member 321 cooperates to prevent the screw rod 3251 from excessively moving forward or backward, thereby protecting the screw rod 3251.

[0064] See also Figure 3 , Figure 4 and Figure 5 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 third mounting hole 1331 adapted to the screw assembly 325, and the screw assembly 325 passes through the third mounting hole 1331 in sequence. The first mounting hole 3231, the third mounting hole 1331 and the rotating seat 11 extend into the first slot 111. The rotating seat 11 is connected to the second gear shaft 133. When the rotating 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 rotating seat 11 rotates. By reasonably setting the structure of the rotating driving component 13, the overall structure of the pin replenishing device 100 is made more compact, and the rotating seat 11 can be driven to rotate and move horizontally to complete the positioning operation and bending operation.

[0065] Specifically, the rotary driving member 131 is a motor.

[0066] Optionally, the rotating seat 11 is screwed to the second gear shaft 133, and the connection method is simple and reliable.

[0067] 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-replenishing device 100 can be reduced, making it lighter.

[0068] 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.

[0069] 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 .

[0070] 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.

[0071] Furthermore, the rotary drive assembly 13 also includes a second locking nut 135, the fourth bearing 134 is installed on the second gear shaft 133, the second locking nut 135 is threadedly connected to the second gear shaft 133, the second locking nut 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.

[0072] 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.

[0073] Preferably, the rotary drive assembly 13 also includes a third proximity switch 138, which is used to detect the zero point position of the rotating seat 11. After the pin replenishing device 100 is assembled, there will be cables. When debugging the rotating seat 11, it is necessary to find the zero point position of the rotating seat 11 to prevent the rotating seat 11 from rotating repeatedly and damaging the cables.

[0074] See also Figure 4 , Figure 7-Figure 12 As shown, exemplarily, in certain embodiments, the pin delivery mechanism 20 includes a guide seat 21, a hopper assembly 22 and a pin delivery assembly 23. A pin delivery groove 211 is provided on the guide seat 21. The outlet end of the pin delivery groove 211 is connected to the pin inlet hole 113. The hopper assembly 22 is connected to the guide seat 21. The hopper assembly 22 stores pins 700 and is used to deliver the pins 700 to the pin delivery groove 211. The pin delivery assembly 23 is used to deliver the pins 700 from the pin delivery groove 211 to the pin hole. Automatic pin delivery is achieved through the mutual cooperation between the hopper assembly 22 and the pin delivery assembly 23, so that the pin replenishment device 100 can operate continuously, thereby improving the pin replenishment efficiency.

[0075] Preferably, the pin delivery assembly 23 includes a pin delivery drive 231, a first sprocket 232, a first chain 233 and a push head 234. The guide seat 21 is also provided with a first guide groove 212 connected to the pin delivery groove 211. The pin delivery drive 231 is installed on the guide seat 21. The first sprocket 232 is connected to the first output end of the pin delivery drive 231. The first chain 233 is slidably set in the first guide groove 212, and the first chain 233 is meshed with the first sprocket 232 for transmission. The push head 234 is connected to the first chain 233, and the push head 234 is slidably set in the pin delivery groove 211. The push head 234 is used for magnetic adsorption with the pin 700, that is, a magnetic attraction structure is set at the end of the push head 234 away from the first chain 233, or the push head 234 is made of magnetic material. The pin delivery assembly 23 has a simple structure, reliable operation and high transmission efficiency. Moreover, the push head 234 can be magnetically adsorbed to the pin 700. When the pin 700 is not aligned with the pin hole and needs to be retracted, the push head 234 can drive the pin 700 to retract and reposition.

[0076] When delivering the pin, the pin delivery driving member 231 drives the first sprocket 232 to rotate, and the first chain 233 engaged with the first sprocket 232 moves along the first guide groove 212, and drives the push head 234 and the pin 700 adsorbed on the push head 234 to move toward the pin entry hole 113 until the pin 700 is delivered to the pin hole. The pin delivery driving member 231 stops working, and the forming mechanism 30 bends the pin body 702 of the pin 700 to expose the part of the pin shaft 300. The pin delivery driving member 231 drives the first sprocket 232 to rotate in the opposite direction, and the first chain 233 drives the push head 234 to return to the initial position to replenish the pin 700.

[0077] See also Figure 7 and Figure 8 As shown, exemplarily, in some embodiments, the pin delivery assembly 23 also includes a second sprocket 235 and a second chain 236, and the guide seat 21 is also provided with a second guide groove 213 connected to the pin delivery groove 211, the pin delivery driving member 231 and the pin delivery groove 211 are both arranged between the first guide groove 212 and the second guide groove 213, the second sprocket 235 is connected to the second output end of the pin delivery driving member 231, the second chain 236 is slidably arranged in the second guide groove 213, and the second chain 236 is meshed with the second sprocket 235 for transmission, and the two sides of the push head 234 are respectively connected to the first chain 233 and the second chain 236, and by arranging the second chain 236 to cooperate with the first chain 233, the push head 234 is driven to reciprocate along the pin delivery groove 211 from both sides of the push head 234, and the operation stability is higher.

[0078] Specifically, the pin-feeding driving member 231 is a worm gear motor.

[0079] Optionally, the pin delivery assembly 23 further includes a connecting rod 237 , which transversely penetrates the push head 234 , and two sides of the connecting rod 237 are respectively connected to the first chain 233 and the second chain 236 .

[0080] Optionally, two sides of the connecting rod 237 are respectively connected to the first chain 233 and the second chain 236 through connecting ropes (not shown).

[0081] When delivering the pin, the pin delivery driving member 231 drives the first sprocket 232 and the second sprocket 235 to rotate synchronously, the first chain 233 meshed with the first sprocket 232 moves along the first guide groove 212, the second chain 236 meshed with the second sprocket 235 moves along the second guide groove 213, and drives the push head 234 and the pin 700 adsorbed on the push head 234 to move toward the pin entry hole 113 until the pin 700 is delivered to the pin hole, the pin delivery driving member 231 stops working, the forming mechanism 30 bends the pin body 702 of the pin 700 to expose the part of the pin shaft 300, the pin delivery driving member 231 drives the first sprocket 232 and the second sprocket 235 to rotate in the opposite direction, the first chain 233 and drives the push head 234 and the pin 700 adsorbed on the push head 234 to leave the pin entry hole 113 and reset to the initial position to replenish the pin 700.

[0082] Furthermore, a third slide groove 214 and a fourth slide groove 215 are respectively provided on both sides of the guide seat 21, and the third slide groove 214 and the fourth slide groove 215 are both connected to the pin conveying groove 211. The first end of the connecting rod 237 extends from the third slide groove 214 to the outside of the guide seat 21, and the second end of the connecting rod 237 extends from the fourth slide groove 215 to the outside of the guide seat 21, that is, the first end and the second end of the connecting rod 237 extend out of the guide seat 21 respectively. With this design, the position of the push head 234 can be intuitively determined according to the position of the connecting rod 237, which is convenient for debugging the pin conveying assembly 23.

[0083] In other embodiments, the connecting rod 237 is not provided, and a first connecting portion (not shown) and a second connecting portion (not shown) are protruded from both sides of the pushing head 234, respectively. The first connecting portion is connected to the first chain 233, and the second connecting portion is connected to the second chain 236.

[0084] See also Figure 7 and Figure 8As shown, exemplarily, in some embodiments, the guide seat 21 includes a guide base 216, a first cover body 217 and a second cover body 218, the guide base 216 includes a main body 2161, a first U-shaped portion 2162 and a second U-shaped portion 2163, the main body 2161 is connected to the silo assembly 22, the first U-shaped portion 2162 and the second U-shaped portion 2163 are arranged at intervals on both sides of the top of the main body 2161, the pin conveying groove 211 is arranged on the main body 2161, the first guide groove 212 extends from the first U-shaped portion 2162 to the main body 2161, and the second guide groove 213 extends from the second U-shaped portion 21 63 extends to the main body 2161, the pin delivery drive member 231 is installed on the main body 2161, and the first output end of the pin delivery drive member 231 extends into the first U-shaped portion 2162, and the second output end of the pin delivery drive member 231 extends into the second U-shaped portion 2163, the first cover body 217 is detachably connected to the first U-shaped portion 2162 and the main body 2161 respectively, and the second cover body 218 is detachably connected to the second U-shaped portion 2163 and the main body 2161 respectively. By reasonably arranging the structure of the guide seat 21, the center of gravity of the pin delivery assembly 23 can be lowered, and the installation of the pin delivery assembly 23 can be made more convenient.

[0085] See also Figure 8-Figure 11As shown, exemplarily, in some embodiments, a pin entrance 219 connected to the pin conveying groove 211 is provided on the guide seat 21, and the pin entrance 219 is adapted to the pin 700. When the pin 700 includes an end portion 701 and a pin body 702, and the diameter of the end portion 701 is greater than the diameter of the pin hole, the pin entrance 219 includes a first hole portion 2191 adapted to the end portion 701 and a second hole portion 2192 adapted to the pin body 702, the first hole portion 2191 is located above the second hole portion 2192, and the diameter of the first hole portion 2191 is greater than the diameter of the second hole portion 2192. The hopper assembly 22 includes a nail storage box 221, a push block 222, an elastic member 223 and a push rod 224. The nail storage box 221 is connected to the guide seat 21, and the nail storage box 221 is provided with a nail groove 2211 and a third guide groove 2212 connected to the nail groove 2211. A first opening 2213 is provided in the nail groove 2211, and a second opening 2214 is provided on the side of the nail groove 2211 facing the pin entrance 219, and the second opening 2214 is opposite to the second hole portion 2192. Pins 700 are arranged in the nail groove 2211, and the end of the nail groove 2211 facing the pin entrance 219 is a nail output position. The push block 222 is slidably connected to the nail storage box 221, and the elastic member 223 is elastically compressed between the push block 222 and the nail storage box 221. The push rod 224 is slidably arranged in the third guide groove 2212, and the push rod 224 is located below the nail output position. The two sides of the push rod 224 are respectively connected to the two sides of the connecting rod 237, or the two sides of the push rod 224 are respectively connected to the first chain 233 and the second chain 236. By reasonably setting the structure of the silo assembly 22, the automatic replenishment of the pins 700 can be met, which is conducive to the continuous replenishment operation of the pin replenishment device 100.

[0086] It should be noted that when the pin-feeding driving member 231 drives the first chain 233 and the second chain 236 to retract, the push rod 224 is driven to move toward the pin 700 until the push rod 224 lifts the pin 700 at the pin-out position (i.e., the pin 700 close to the pin entrance 219) to the pin entrance 219. At the same time, under the elastic action of the elastic member 223, the pins 700 arranged in the pin storage box 221 move toward the pin entrance 219, pushing the pin 700 at the pin-out position into the pin entrance 219 and the pin conveying groove 211. When the pin 700 enters the pin conveying groove 211, the push head 234 generates an adsorption force on the pin 700, and the pin 700 is adsorbed on the push head 234.

[0087] Specifically, the elastic member 223 is a spring.

[0088] Optionally, in order to better reset the push rod 224 or to limit the movement range of the push rod 224 , a second tension spring (not shown) is connected between the push rod 224 and the rotating seat 11 .

[0089] Optionally, both sides of the top rod 224 are connected to both sides of the connecting rod 237 via connecting ropes (not shown), or both sides of the top rod 224 are connected to the first chain 233 and the second chain 236 via connecting ropes (not shown).

[0090] Preferably, the silo assembly 22 also includes a pressure cover 225, which is detachably connected to the nail storage box 221. The pressure cover 225 is used to press the pin 700 next to the nail output position. This design can prevent the push rod 224 from lifting the pin 700 at the nail output position to the pin entrance 219 and causing the pin 700 next to it to move.

[0091] Preferably, the nail storage box 221 is also provided with an introduction hole 2215 connected to the nail slot 2211, and the introduction hole 2215 is an inclined hole. The introduction hole 2215 extends from the top of the nail storage box 221 to the nail slot 2211. When placing the pin 700 in the nail slot 2211, the pin 700 is slid into the nail slot 2211 along the position of the introduction hole 2215, which makes it more convenient to place the nail.

[0092] Preferably, the hopper assembly 22 also includes a first guide rod 226 and a second guide rod 227 respectively arranged on both sides of the nail storage box 221, and the two sides of the push block 222 are slidingly connected to the first guide rod 226 and the second guide rod 227 respectively. The first guide rod 226 and the second guide rod 227 are both sleeved with elastic members 223. By arranging the first guide rod 226 and the second guide rod 227, the operation stability of the pressure cover 225 is higher.

[0093] See also Figure 1-Figure 12 As shown, the present invention also provides a pin replenishing robot, including a pin replenishing device 100 and a robotic arm (not shown in the figure). The pin replenishing device 100 adopts the above-mentioned pin replenishing device 100, and a connecting plate 50 is arranged on the pin replenishing device 100. The pin replenishing device 100 is installed on the robotic arm through the connecting plate 50. The robotic arm is used to drive the pin replenishing device 100 to perform lifting and lowering movements and translational movements relative to the pin shaft 300 so that the rotating seat 11 is sleeved on the pin shaft 300 or the pin shaft nut 400.

[0094] Specifically, 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 via a first tension spring 60 .

[0095] 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 replenishing device 100 to perform lifting and lowering movements and translational movements relative to the pin shaft 300.

[0096] The positioning mechanism 10 of the replenishing pin robot of the embodiment of the present invention has a fast positioning speed and is provided with a pin feeding mechanism 20, which can increase the pin feeding speed and automatically determine the position of the pin hole through the detection sensor 12, and has a high positioning accuracy.

[0097] 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 positioning mechanism, a pin feeding mechanism and a forming mechanism, wherein the positioning mechanism comprises a rotating seat, a detection sensor and a rotating drive assembly, the front end of the rotating seat is provided with a first slot adapted to the pin shaft and / or a second slot matched with the pin shaft nut, the rotating seat is radially provided with a pin inlet hole and a pin outlet hole, the pin inlet hole and the pin outlet hole are symmetrically arranged about the axis of the rotating seat, the pin inlet hole is communicated with the first slot and / or the second slot, the pin outlet hole is communicated with the first slot and / or the second slot, the detection sensor is arranged on the rotating seat, the rotating drive assembly is used to drive the rotating seat to rotate so that the detection sensor determines the pin hole position of the pin shaft, and is used to drive the rotating seat to rotate a preset angle so that the pin inlet hole is aligned with the pin hole, the pin feeding mechanism is installed on the rotating seat, and the outlet end of the pin feeding mechanism is communicated with the pin inlet hole, the pin feeding mechanism is used to insert the pin into the pin hole of the pin shaft, and the forming mechanism is used to bend the pin body of the pin to expose the part of the pin shaft.

2. The re-pinning device according to claim 1, characterized in that: The detection sensor includes a transmitter and a receiver. A first through hole and a second through hole are provided on the rotating seat. The first through hole and the second through hole are symmetrically arranged about the axis of the rotating seat. The transmitter is installed in the first through hole, and the receiver is installed in the second through hole.

3. The re-pinning device according to claim 1, characterized in that: The pin replenishing device also includes a mounting seat assembly, the forming mechanism includes a forming block and a horizontal drive assembly, the forming block is installed in the pin outlet hole, a forming hole is provided on the side of the forming block facing the pin inlet hole, the forming hole is provided with a slope, and the slope extends upward and outward from the lower part of the forming hole, the horizontal drive assembly and the rotating drive assembly are both installed on the mounting seat assembly, and the horizontal drive assembly is used to drive the rotating seat to move in a direction away from the pin shaft.

4. The re-pinning device according to claim 3, 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 nut and a second 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 installed in the first mounting hole. The screw assembly is threadedly connected to the screw nut. The screw assembly passes through the first mounting hole and the rotating 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.

5. The re-pinning device according to claim 4, 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 rotating 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.

6. The re-pinning device according to claim 4, 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 third mounting hole adapted to the screw rod assembly. The screw rod assembly passes through the first mounting hole, the third mounting hole and the rotating seat in sequence, and extends into the first slot. The rotating seat is connected to the second gear shaft.

7. The re-pinning device according to claim 1, characterized in that: The pin feeding mechanism includes a guide seat, a silo assembly and a pin feeding assembly, the guide seat is provided with a pin feeding groove, the outlet end of the pin feeding groove is communicated with the pin inlet hole, the silo assembly is connected to the guide seat, the silo assembly stores pins and is used to feed the pins into the pin feeding groove, the pin feeding assembly includes a pin feeding drive, a first sprocket, a first chain and a pusher head, the guide seat is also provided with a first guide groove communicated with the pin feeding groove, the pin feeding drive is installed on the guide seat, the first sprocket is connected to the first output end of the pin feeding drive, the first chain is slidably arranged in the first guide groove, and the first chain is meshed with the first sprocket for transmission, the pusher head is connected to the first chain, and the pusher head is slidably arranged in the pin feeding groove, and the pusher head is used for magnetic adsorption with the pin.

8. The re-pinning device according to claim 7, characterized in that: The pin delivery assembly also includes a second sprocket and a second chain. The guide seat is also provided with a second guide groove connected to the pin delivery groove. The pin delivery driving member and the pin delivery groove are both arranged between the first guide groove and the second guide groove. The second sprocket is connected to the second output end of the pin delivery driving member. The second chain is slidably arranged in the second guide groove, and the second chain is meshed with the second sprocket for transmission. The two sides of the push head are respectively connected to the first chain and the second chain.

9. The re-pinning device according to claim 8, characterized in that: The guide seat is provided with a pin entrance connected with the pin conveying groove, and the pin entrance includes a first hole portion adapted to the end portion of the pin and a second hole portion adapted to the pin body of the pin, the hopper assembly includes a nail storage box, a push block, an elastic member and a push rod, the nail storage box is connected with the guide seat, the nail storage box is provided with a nail groove and a third guide groove connected with the nail groove, a first opening is provided at the top of the nail groove, and a second opening is provided on the side of the nail groove facing the pin entrance, the second opening is opposite to the second hole portion, pins are arranged in the nail groove, and the end of the nail groove facing the pin entrance is a nail output position, the push block is slidably connected to the nail storage box, the elastic member is elastically compressed between the push block and the nail storage box, the push rod is slidably arranged in the third guide groove, and the push rod is located below the nail output position, and the two sides of the push rod are respectively connected to the first chain and the second chain.

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

Images