An aircraft connector assembly production line

Abstract

The application relates to the technical field of mechanical equipment, and discloses an aircraft connecting piece assembly production line, which comprises push-type pressing devices arranged in sequence, which are used for pushing a bushing into a forming sleeve and tightening; a sleeve rod device, the bottom of which is used for clamping and positioning the shank of a nail rod, and the forming sleeve is sleeved on the nail rod; a nail sleeve screwing device, which is used for screwing a nail sleeve into the tail of the nail rod and abutting against the forming sleeve, thereby forming a sleeve rod assembly II; a nut screwing device, which is used for screwing a nut into the tail of the nail rod of the sleeve rod assembly II and abutting against the nail sleeve, thereby forming a sleeve rod assembly III; and a closing device, which comprises a deformable collet and is used for pressurizing the forming sleeve of the sleeve rod assembly III in the circumferential direction when the closing device is closed, and the pressurizing position is located at the overlapping position of the bushing and the forming sleeve; and a pressurizing device, which comprises a plurality of radially arranged linear driving elements and is used for point pressurizing the nail sleeve. Through the above technical scheme, the centralization of the assembly equipment can be effectively promoted, the continuity of the assembly process can be ensured, and the overall assembly efficiency of the connecting piece can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical equipment, in particular to an aircraft connecting piece assembly production line. BACKGROUND

[0002] In the assembly process of the aircraft connecting piece, the connecting piece 9 shown in the figure is often used, which comprises a pin rod 93 and a nut 95, a pin sleeve 94, a forming sleeve 91 and a bushing 92 arranged on the pin rod 93 from top to bottom. Figure 46 The forming sleeve 91 and the bushing 92 are directly threaded on the pin rod 93, and the ends are tightly connected; the pin sleeve 94 is threadedly connected to the upper end of the pin rod 93, and the pin sleeve 94 tightly abuts against the forming sleeve 91; the nut 95 is threadedly connected to the upper end of the pin rod 93, and the nut 95 tightly abuts against the pin sleeve 94; in addition, the forming sleeve 91 needs to be circumferentially closed, and the pin sleeve 94 needs to be circumferentially point-pressed.

[0003] In the prior art, when the forming sleeve 91 and the bushing 92 are assembled, the bushing 92 is first threaded into the pin rod 93, then the forming sleeve 91 is threaded into the pin rod 93, and the forming sleeve 91 is pressed down until the bushing 92 is completely inserted into the opening at the lower end of the forming sleeve 91 as shown in the figure. Figure 48 During this process, the forming sleeve 91 may be offset and its inner wall may be worn by the thread of the pin rod 93; in addition, the bushing 92 and the forming sleeve 91 may be deformed due to misalignment. In order to solve the above problems, the inventor found that the forming sleeve 91 and the bushing 92 can be assembled into a whole before threading, but the forming sleeve 91 and the bushing 92 need to be transported to the work station for bushing assembly, the bushing is pushed into the forming sleeve by related equipment, and then the combination of the bushing 92 and the forming sleeve 91 is transported to the work station for the next assembly. The prior art has the following disadvantages:

[0004] The assembly equipment is scattered, the assembly process is discontinuous, and the transportation of parts consumes manpower and resources, resulting in waste of resources and low assembly efficiency. SUMMARY

[0005] The present application aims to provide an aircraft connecting piece assembly production line to solve the problem of scattered assembly equipment and low assembly efficiency in the prior art.

[0006] To achieve the above object, the present application adopts the following technical scheme: An aircraft connecting piece assembly production line comprises, in sequence, a pushing type compression device for pushing a bushing into a forming sleeve and tightening to form a forming sleeve set, a sleeve rod device for clamping and positioning the rod body of a nail rod at the bottom, sleeving the forming sleeve set into the nail rod to form a sleeve rod assembly one, a nail sleeve tightening device at the bottom for clamping and positioning the sleeve rod assembly, and provided with a clamping gap at the corresponding forming sleeve, rotating the nail sleeve into the tail of the nail rod of the sleeve rod assembly one and abutting against the forming sleeve to form a sleeve rod assembly two, a nut tightening device for rotating the nut into the tail of the nail rod of the sleeve rod assembly two and abutting against the nail sleeve to form a sleeve rod assembly three, a closing device comprising a deformable collet for circumferential pressure of the forming sleeve of the sleeve rod assembly three when closing, and the pressure position is located at the overlapping position of the bushing and the forming sleeve, and a pressure device comprising a plurality of radially arranged linear driving elements for point pressure of the nail sleeve.

[0007] The beneficial effects of the present application are as follows:

[0008] 1. Compared with the prior art, the pushing type compression device, the sleeve rod device, the nail sleeve tightening device, the nut tightening device, the closing device and the pressure device are sequentially arranged, which promotes the centralization of the assembly equipment, guarantees the continuity of the assembly process and improves the overall assembly efficiency of the connecting piece.

[0009] 2. The present technology is to reduce the deformation of the connecting piece caused by clamping and positioning during assembly. The overall process is improved: the bushing and the forming sleeve are first compressed and fixed to form a forming sleeve set at the first station of the entire production line. Compared with the prior art, this method can combine the bushing and the forming sleeve into a whole in advance, avoiding deformation during the assembly process. The second station is provided with a sleeve rod device for clamping and positioning the rod body of the nail rod, and the forming sleeve set is sleeved into the nail rod to form a sleeve rod assembly one. The third station is provided with a nail sleeve tightening device. Firstly, the clamping gap is used to avoid the force applied to the forming sleeve during the clamping process, thereby avoiding the deformation of the forming sleeve. Secondly, the center of the clamping space formed by the nail sleeve tightening fixture, the positioning clamp jaw and the nail sleeve clamp jaw is directly opposite, which ensures that the nail sleeve is vertical and directly opposite to the nail rod of the sleeve rod assembly one, thereby avoiding damage to the screw thread during the rotation of the nail sleeve into the nail rod. Thirdly, the positioning clamp jaw clamps and fixes the tail of the nail rod of the sleeve rod assembly one, avoiding the swinging of the tail of the nail rod in the initial stage of the rotation of the nail sleeve into the nail rod.

[0010] 3. In order to ensure the stability and service life of the connecting piece finished product, the closing device and the pressure device are additionally provided. Under the action of the closing device, the forming sleeve is locally circumferentially recessed and tightly fixed with the nail rod, thereby enhancing the connection strength of the forming sleeve and the nail rod. Under the action of the pressure device, the nail sleeve is locally radially recessed and tightly fixed with the nail rod, thereby further eliminating the gap between the screw threads and ensuring the connection effect of the nail sleeve and the nail rod.

[0011] Further, the pushing type compression device comprises a forming sleeve pressing part, a bushing assembly seat and a bushing pusher arranged from top to bottom in sequence, the forming sleeve pressing part is used for pressing the top end of the forming sleeve; the bushing assembly seat is used for the alignment of the bushing and the forming sleeve, the inside of the bushing assembly seat is provided with a vertical through hole, and the side surface of the bushing assembly seat is provided with a channel communicated with the vertical through hole; the bushing pusher is used for pushing the bushing into the forming sleeve from the bottom end of the forming sleeve.

[0012] The beneficial effect is that the bushing is aligned with the forming sleeve through the bushing assembly seat, the bushing is guaranteed to be below the forming sleeve, the forming sleeve pressing part presses against the upper end of the forming sleeve, and the bushing is conveniently pushed into the inside of the forming sleeve.

[0013] Further, the sleeve rod device comprises a nail rod fixing seat and a plurality of nail rod clamping jaws for clamping the nail rod which are in sliding connection with the top of the nail rod fixing seat, and the inner end surface of the nail rod clamping jaw is in contact with the nail rod.

[0014] The beneficial effect is that the nail rod is fixed by the nail rod clamping jaw, and the nail rod is guaranteed to be vertical.

[0015] Further, the nail sleeve tightening device comprises a first linear driving part, a first rotary driving part, a double-layer clamping part, a nail sleeve tightening fixing chuck and a lifting part arranged from top to bottom in sequence, the first linear driving part is used for driving the first rotary driving part to move up and down; the first rotary driving part is used for driving the nail sleeve to rotate; the double-layer clamping part comprises nail sleeve clamping jaws for clamping the nail sleeve and positioning clamping jaws for clamping the nail rod arranged from top to bottom in sequence; the nail sleeve tightening fixing chuck is used for clamping and fixing the sleeve rod assembly one, and the clamping gap is arranged on the surface of the nail sleeve tightening fixing chuck in contact with the sleeve rod assembly one; the lifting part is used for driving the nail sleeve tightening fixing chuck to lift.

[0016] The beneficial effect is that the two positioning clamping jaws are horizontally symmetrically arranged to form a positioning clamping part, the positioning clamping part can fix the tail part of the nail rod, thereby guaranteeing that the nail rod does not swing in the initial stage of the nail sleeve rotating into the nail rod; the clamping gap is arranged on the surface of the nail sleeve tightening fixing chuck in contact with the sleeve rod assembly one, thereby avoiding the deformation of the forming sleeve and limiting the forming sleeve.

[0017] Further, the nut tightening device comprises a second linear driving part, a second rotary driving part, a feeding mechanism and a nut tightening fixing chuck arranged from bottom to top in sequence, the second linear driving part is used for driving the second rotary driving part to move up and down; the second rotary driving part is used for driving the nut to rotate, and the second rotary driving part comprises a sleeve for adsorbing the nut; the feeding mechanism comprises a nut feeding rack for placing the nut and a fifth cylinder for driving the nut feeding rack to slide arranged from top to bottom in sequence; the nut tightening fixing chuck is used for clamping and fixing the sleeve rod assembly two.

[0018] Beneficial effects: the sleeve adsorbs the nut and effectively prevents the tail of the nail rod from swinging during the initial stage of the nut being screwed into the nail rod; the nut feeding rack works in conjunction with the fifth cylinder to improve the feeding efficiency of the nut.

[0019] Furthermore, the closing device also includes a pressure section and a first height adjustment section arranged sequentially from top to bottom. The pressure section is used to close the upper end of the deformable collet, and the first height adjustment section is used to support the sleeve rod assembly inside the collet and adjust the closing position to the overlap of the bushing and the forming sleeve.

[0020] Beneficial effects include the conversion of vertical pressure into circumferential pressure through the pressurizing section; and the ability to precisely adjust the closing position of the molding sleeve through the first height adjustment section.

[0021] Furthermore, the pressurizing device also includes a limiting seat and a second height adjustment part located below the limiting seat. The limiting seat is used to keep the sleeve assembly three in a vertical state, and the second height adjustment part is used to support the sleeve assembly three and adjust the pressurizing position of the nail sleeve.

[0022] The beneficial effects are that the limiting seat can ensure that the sleeve rod assembly three is in a vertical state, preventing deviation of the pressurization position, and the second height adjustment part can accurately adjust the pressurization position. Attached Figure Description

[0023] Figure 1 This is an overall top view of an aircraft connector assembly production line according to Embodiment 1 of the present invention.

[0024] Figure 2 This is a schematic diagram of the push-type clamping device, sleeve device, and nail sleeve tightening device in Embodiment 1 of the present invention.

[0025] Figure 3 This is a schematic diagram of the nut tightening device in Embodiment 1 of the present invention.

[0026] Figure 4 This is a schematic diagram of the closing device and the pressurizing device in Embodiment 1 of the present invention.

[0027] Figure 5 This is a front view of the closing device and the pressurizing device in Embodiment 1 of the present invention.

[0028] Figure 6 for Figure 1 The enlarged view at A1 shows the structure of the bushing assembly and its connection to the second cylinder.

[0029] Figure 7 for Figure 6 The AA-axis sectional view shows the positioning holes, bushing feeding channels, and pushing holes inside the bushing assembly seat.

[0030] Figure 8 forFigure 1 The enlarged view at point A2 shows the position and shape of the compression bar.

[0031] Figure 9 for Figure 8 The left view is used to show the positional relationship between the pressure bar and the pneumatic gripper.

[0032] Figure 10 for Figure 2 The enlarged view at A3 in the middle is used to show the overall structure of the nail rod fixing seat.

[0033] Figure 11 This is an enlarged view of the nail bar gripper in Embodiment 1 of the present invention, used to show the internal structure of the nail bar gripper.

[0034] Figure 12 This is a partial enlarged view of the nail sleeve tightening device in Embodiment 1 of the present invention, used to show the positional relationship of the first support, the first rotary servo motor, the fourth cylinder, the double-layer clamping component, and the nail sleeve tightening and fixing chuck.

[0035] Figure 13 for Figure 12 The enlarged view at A4 in the middle is used to show the connection relationship between the first support and the first guide rail plate, as well as the connection relationship between the first rotary servo motor, the fourth cylinder and the first guide rail plate.

[0036] Figure 14 for Figure 13 The right view (without the right side support plate) is used to further show the positional relationship and connection between the fourth cylinder and the first guide rail plate.

[0037] Figure 15 for Figure 12 The enlarged view at A5 in the middle is used to show the positional and connection relationships of the fixed horizontal plate, positioning claws, and nail sleeve claws.

[0038] Figure 16 for Figure 12 The enlarged view at A6 shows the installation position and overall structure of the tightening and fixing chuck.

[0039] Figure 17 This is a front view of the nail sleeve tightening fixing seat and the third cylinder in Embodiment 1 of the present invention, used to show the positional relationship and connection relationship between the two.

[0040] Figure 18 This is an enlarged view of the tightening jaw in Embodiment 1 of the present invention, used to show the internal structure of the tightening jaw.

[0041] Figure 19 for Figure 18 The enlarged view at A61 shows the structure of the arc-shaped groove on the inner end face of the tightening jaw.

[0042] Figure 20 This is a schematic diagram of the overall positioning gripper in Embodiment 1 of the present invention, used to show the opening shape of the positioning gripper's clamping part.

[0043] Figure 21 This is a schematic diagram of the overall nail sleeve clamping jaws in Embodiment 1 of the present invention, used to show the opening shape of the clamping part of the nail sleeve clamping jaws.

[0044] Figure 22 This is a top view of the nail sleeve tightening and fixing chuck, positioning clamp and nail sleeve clamp in Embodiment 1 of the present invention, used to show that the clamping space formed by the three is centered and facing each other.

[0045] Figure 23 This is a schematic diagram of the gripper in the third robot of Embodiment 1 of the present invention, used to illustrate two different types of grippers.

[0046] Figure 24 This is a partial enlarged view of the nut tightening device in Embodiment 1 of the present invention, used to show the positional relationship of the second support, the second rotary servo motor, the sixth cylinder, the nut feeding rack, the fifth cylinder, and the nut sleeve tightening and fixing chuck.

[0047] Figure 25 for Figure 24 The enlarged view at A7 shows the connection between the second support and the second guide rail plate, as well as the connection between the second rotary servo motor, the sixth cylinder, and the second guide rail plate.

[0048] Figure 26 for Figure 25 The right view (without the right side support plate) is used to further show the positional relationship and connection between the sixth cylinder and the second guide plate.

[0049] Figure 27 for Figure 24 The enlarged view at A8 shows the installation position of the nut tightening and fixing chuck and its overall structure.

[0050] Figure 28 This is an enlarged view of the nut tightening jaws in Embodiment 1 of the present invention, used to show the internal structure of the nut tightening jaws.

[0051] Figure 29 This is a schematic diagram of the nut feeding rack in Embodiment 1 of the present invention.

[0052] Figure 30 for Figure 29 The enlarged view at A9 in the middle is used to show the position and opening shape of the limiting groove.

[0053] Figure 31 for Figure 4 The enlarged view at A10 shows the positional and connection relationships of the connecting plate, the movable plate, and the seventh cylinder.

[0054] Figure 32 This is an exploded view of the closing section in Embodiment 1 of the present invention, used to show the parts included in the closing section and their positional relationships.

[0055] Figure 33 This is a top view of the lower pressure plate in Embodiment 1 of the present invention.

[0056] Figure 34 for Figure 33 A cross-sectional view along the BB direction, used to show the internal structure of the lower pressure plate.

[0057] Figure 35 This is a top view of the pressure cylinder in Embodiment 1 of the present invention.

[0058] Figure 36 for Figure 35 A cross-sectional view along the CC direction, used to show the internal structure of the pressure cylinder.

[0059] Figure 37 This is a schematic diagram of the overall structure of the collet in Embodiment 1 of the present invention.

[0060] Figure 38 This is a schematic diagram of the arc-shaped protrusion in Embodiment 1 of the present invention.

[0061] Figure 39 This is a top view of the collet in Embodiment 1 of the present invention, used to show the installation position of the arc-shaped protrusion.

[0062] Figure 40 This is a bottom view of the clamping ring in Embodiment 1 of the present invention, used to show the limiting protrusion.

[0063] Figure 41 for Figure 40 The DD-direction sectional view is used to show the double-layer structure of the collet pressure ring.

[0064] Figure 42 for Figure 4 The enlarged view at A11 shows the positional relationship between the tenth cylinder and the limit seat.

[0065] Figure 43 This is a schematic diagram of the ejector pin in Embodiment 1 of the present invention.

[0066] Figure 44 This is an exploded view of the connector in Embodiment 1 of the present invention, used to show the positional and connection relationships of the various parts.

[0067] Figure 45 for Figure 44 A cross-sectional view of the molded sleeve, showing the cavity at the bottom of the molded sleeve that accommodates the bushing.

[0068] Figure 46This is a front view of the second sleeve assembly after the nail set is assembled in Embodiment 1 of the present invention.

[0069] Figure 47 for Figure 46 The EE-directed sectional view is used to show the tangential relationship between the stub and the molded sleeve.

[0070] Figure 48 This is a front view of the sleeve assembly three after the nut assembly is completed in Embodiment 1 of the present invention.

[0071] Figure 49 This is a front view of the sleeve assembly three after the end is closed in Embodiment 1 of the present invention.

[0072] Figure 50 This is a front view of the sleeve assembly three after pressure is applied in Embodiment 1 of the present invention.

[0073] Figure 51 This is a schematic diagram of the constricted portion in Embodiment 3 of the present invention, used to illustrate the structure and installation position of the third pressure sensor. Detailed Implementation

[0074] The following detailed description illustrates the specific implementation method:

[0075] The reference numerals in the accompanying drawings include: control system 1, microcontroller 11, display 12, worktable 2, push-type clamping device 3, first robot 31, pressure rod 311, bushing fitting seat 32, bushing feeding channel 321, positioning hole 322, push hole 323, first cylinder 33, second cylinder 34, sleeve rod device 4, second robot 41, nail rod fixing seat 42, nail rod gripper 421, nail sleeve tightening device 5, third robot 501, nail sleeve tightening fixing seat 502, tightening gripper 5021, fixing cross plate 503, nail sleeve gripper 504, positioning gripper 505, first rotary servo motor 506, screwdriver 507, third cylinder 508, first support 509, fourth cylinder 510, first guide rail plate 511, nut tightening device 6, fourth robot 601, nut tightening fixing seat 602, nut tightening gripper 602 1. Nut feeding rack 603, limiting groove 6031, fifth cylinder 604, sleeve 605, second rotary servo motor 606, sixth cylinder 607, second guide rail plate 608, second support 609, closing device 7, fifth robot 701, collet 702, limiting groove 7021, arc-shaped protrusion 7022, collet pressure ring 703, limiting protrusion 7031, collet base 704, base plate 705, lower pressure plate 7 06. Pressure cylinder 7061, Seventh cylinder 707, Eighth cylinder 708, Connecting plate 709, Outer fixing rod 710, Inner fixing rod 711, Movable plate 712, Lifting rod 713, Third pressure sensor 714, Pressurizing device 8, Sixth robot 81, Limit seat 82, Ninth cylinder 83, Tenth cylinder 84, Ejector pin 841, Connector 9, Forming sleeve 91, Bushing 92, Nail rod 93, Nail sleeve 94, Nut 95

[0076] Example 1, see details Figures 1-50 :

[0077] An aircraft connector assembly production line includes a control system 1, a workbench 2, and a push-type clamping device 3, a sleeve device 4, a nail sleeve tightening device 5, a nut tightening device 6, a closing device 7, and a pressurizing device 8 bolted to the workbench 2, wherein the push-type clamping device 3, the sleeve device 4, the nail sleeve tightening device 5, the nut tightening device 6, the closing device 7, and the pressurizing device 8 are arranged sequentially.

[0078] In this embodiment, the control system 1 includes as follows: Figure 1 The microcontroller 11 and display 12 shown are configured as follows: the microcontroller 11 is a SIMATIC S7-1200, and the microcontroller 11 and display 12 are fixedly connected to the workbench 2 by screws. In other embodiments besides this one, a rack can be added above the workbench 2, and the microcontroller 11 and display 12 can be connected to the rack by screws and bolts.

[0079] The push-type clamping device 3 includes, for example,Figure 1 , Figure 2 The first robot 31, the forming sleeve pressing part, the bushing fitting seat 32, the bushing feeder, and the bushing pusher shown are electrically connected to the microcontroller 11, respectively. Figure 6 , Figure 7 As shown, the bushing mounting base 32 has a horizontally arranged bushing feeding channel 321 inside, and the bushing feeding channel 321 extends outward to the bushing feeder, which is a second cylinder 34. The power output rod of the second cylinder 34 can extend into the bushing feeding channel 321 to push the bushing 92 forward. The top center of the bushing mounting base 32 has a... Figure 7 The positioning hole 323 shown is perpendicular to and connected to the bushing feeding channel 321. The intersection of the positioning hole 323 and the bushing feeding channel 321 forms a bushing positioning space.

[0080] The first robot 31 is equipped with a pneumatic gripper, and the outer shell of the pneumatic gripper is fixed with a mounting plate as follows: Figure 8 , Figure 9 The pressure rod 311 shown is the pressing part of the molding sleeve. The microcontroller 11 controls the mechanical arm of the first robot 31 to move left, right, up, and down, and controls the pneumatic gripper on the mechanical arm to clamp the molding sleeve 91 and insert it into the positioning hole 322. Then, the microcontroller 11 controls the mechanical arm to move so that the pressure rod 311 is aligned with the positioning hole 322, and the pressure rod 311 can press and fix the molding sleeve 91 in the positioning hole 322. In other embodiments besides this one, a frame can also be set on the top of the bushing fitting base 32, and only the pressure rod 311 is set on the frame. The pressure rod 311 is a pneumatic rod, and the microcontroller 11 is electrically connected to the pneumatic rod. After the operator inserts the molding sleeve 91 into the positioning hole 322, the microcontroller 11 controls the power output end of the pneumatic rod to move downward and extend into the positioning hole 322, thereby realizing the pressing action of the molding sleeve 91. After the work is completed, the microcontroller 11 controls the power output end of the pneumatic rod to retract upward.

[0081] The bottom center of the bushing fitting base 32 is provided with something like Figure 7 The push hole 323 shown is connected to the positioning hole 322. The bushing pusher is the first cylinder 33. The first cylinder 33 is located at the bottom of the bushing mounting base 32, and the power output rod of the first cylinder 33 can extend into the push hole 323 to push the bushing 92 at the intersection of the three holes, thereby making the bushing 92 embedded in the molded sleeve 91.

[0082] like Figure 1 , Figure 2As shown, the lever assembly 4 includes a lever fixing chuck and a second robot 41 located on one side of the lever fixing chuck. The second robot 41 is electrically connected to the microcontroller 11. The microcontroller 11 controls the robotic arm of the second robot 41 to move left, right, up, and down, and controls the pneumatic grippers on the robotic arm to clamp the nail rod 93 and insert it into the lever fixing chuck. The lever fixing chuck is a three-jaw pneumatic chuck, such as... Figure 10 As shown, the rod fixing chuck includes a rod fixing seat 42 and three rod clamping claws 421 arranged circumferentially on the top of the rod fixing seat 42. The rod clamping claws 421 are slidably connected to the rod fixing seat 42. It should be noted that in this embodiment, the structure of the rod clamping claws 421 is as follows: Figure 11 As shown, the inner end face of the nail bar clamp 421 is vertically provided with an arc-shaped groove that can contact the nail bar 93. The upper and lower ends of the arc-shaped groove are rounded. The arc-shaped groove can clamp and fix the part of the rod body near the head of the nail bar 93, thereby ensuring the fixing effect of the nail bar 93.

[0083] like Figure 12 As shown, the nail sleeve tightening device 5 includes a first support 509 and, arranged sequentially from top to bottom along the first support 509, a first linear drive unit, a first rotary drive unit, a double-layer clamping member, a nail sleeve tightening and fixing chuck, and a lifting unit. Figure 13 , Figure 14 As shown, in this embodiment, the first linear drive unit is a fourth cylinder 510, which is fixed to the top of the first support 509 by a fixing plate; a first guide rail plate 511 is slidably arranged on the first support 509 via a guide rail, and the power output shaft of the fourth cylinder 510 is fixed to the side of the guide rail plate 511 opposite to the screw sleeve tightening fixing seat 502 by screws; the rotary drive unit is a first rotary servo motor 506, which is fixed to the side of the guide rail plate 511 near the screw sleeve tightening fixing seat 502 by screws; a screwdriver 507 is bolted to the power output end of the first rotary servo motor 506; a screwdriver 507 is fixedly arranged in the middle of the first support 509. Figure 15 The fixed horizontal plate 503 shown has its two ends welded horizontally to the first supports 509 on both sides. A double-layer clamping component is installed on the fixed horizontal plate 503; the double-layer clamping component includes, for example... Figure 15 The nail sleeve clamping jaws 504 and 505, arranged sequentially from top to bottom, are bolted to the fixed horizontal plate 503. The bottom of the first support 509 is bolted to the worktable 2. The bottom of the nail sleeve tightening chuck is connected to the worktable 2. Figure 17 The power output shaft of the third cylinder 508 shown is bolted, the top of the third cylinder 508 is bolted to the worktable 2, and the third cylinder 508 is electrically connected to the microcontroller 11.

[0084] In this embodiment, the screw sleeve tightening and fixing chuck is a three-jaw pneumatic chuck, such as...Figure 16 As shown, the tightening and fixing chuck includes a nail sleeve tightening and fixing seat 502 and three tightening jaws 5021 arranged circumferentially on the top of the nail sleeve tightening and fixing seat 502. The tightening jaws 5021 are slidably connected to the nail sleeve tightening and fixing seat 502. It should be noted that, in order to prevent the tightening jaws 5021 from causing extrusion deformation to the forming sleeve 91 during the tightening and fixing process, the arc-shaped groove on the inner end face of the tightening jaws 5021 is divided into... Figure 18 , Figure 19 The stepped design shown has a lower arc-shaped groove whose dimensions match the frustum of the head of the nail rod 93, allowing for clamping and fixing of the head of the nail rod 93. The radius of the upper arc-shaped groove is larger than the outer radius of the forming sleeve 91, providing a limiting effect on the forming sleeve 91 without compressing it. After the operator inserts the sleeve assembly into the nail sleeve and tightens the fixing chuck, as shown... Figure 17 As shown, the third cylinder 508 located below the nail sleeve tightening and fixing seat 502 moves the nail sleeve tightening and fixing seat 502 vertically under the control of the microcontroller 11.

[0085] Because the nail shank 93 is a long and slender structure, if only the head of the nail shank 93 (the nail head end) is tightened and fixed, the tail of the nail shank 93 may have a certain degree of tilting deviation, causing damage to the threads of the nail sleeve 94 and the nail shank 93; furthermore, in the initial stage of screwing the nail sleeve 94 into the nail shank 93, the nail shank 93 may wobble under force, all of which will affect the assembly quality of the nail sleeve 94. Therefore, in this embodiment, a screw fastening and fixing seat 502 is installed directly above the nail sleeve fastening and fixing seat 502. Figure 20 The positioning jaws 505 shown have an inner end face vertically configured as an arc-shaped groove that can contact the body of the nail shank 93. The lower end of the arc-shaped groove is rounded, and the upper end of the arc-shaped groove is flared, with the flared size larger than the size of the lower frustum of the nail sleeve 94. The two positioning jaws 505 are symmetrically arranged to form a complete positioning clamping component. By clamping and fixing the tail of the nail shank 93 with the positioning clamping component, on the one hand, it can ensure that the nail shank 93 is in a vertical state, effectively preventing damage to the threads during the screwing of the nail sleeve 94 into the nail shank 93; on the other hand, in the initial stage of screwing the nail sleeve 94 into the nail shank 93, the positioning clamping component can limit the nail shank 93, preventing it from swinging under force. Furthermore, since the lower end of the nail sleeve 94 is frustum-shaped, it can fall into the upper flared opening of the positioning jaws 505, and the positioning jaws 505 can limit the lower end of the nail sleeve 94.

[0086] In this embodiment, as Figure 21As shown, the inner end face of the nail sleeve clamp 504 is vertically provided with an arc-shaped groove that can contact the nail sleeve 94 rod. The upper end of the arc-shaped groove is flared, and the size of the flare matches the size of the chamfer at the upper part of the nail head of the nail sleeve 94. The two nail head clamps 504 are symmetrically arranged to form a complete nail sleeve clamping component. The nail sleeve clamping component limits the upper chamfer and the rod of the nail sleeve 94, providing support for the nail sleeve and keeping it suspended, while also ensuring that the nail sleeve 94 is vertical. It should be emphasized that the nail sleeve tightening and fixing chuck, the positioning clamping component, and the nail sleeve clamping component are configured as follows: Figure 22 The circular clamping space shown in the diagram, through the combined action of the three elements, ensures that the nail rod 93 and the nail sleeve 94 are aligned and vertical, facilitating the screw sleeve 94 to be screwed into the nail rod 93 and improving the assembly quality of the nail sleeve 94.

[0087] In other embodiments besides this one, the nail tightening device 5 further includes a third robot 501 disposed on one side of the first support 509, the third robot 501 being electrically connected to the microcontroller 11; the robotic arm of the third robot 501 is mounted with a cross plate as shown in the image. Figure 23 The two pneumatic grippers shown are configured such that the pneumatic gripper on the left side of the horizontal plate is used to grip the tail of the nail rod 93, and the pneumatic gripper on the right side is used to grip the nail sleeve 94; under the control of the microcontroller 11, the third robot 501 adopts the following... Figure 23 The left-end jaws hold the tail of the nail rod 93, insert the sleeve assembly into the nail sleeve, and tighten it to fix the chuck. The right-end jaws hold the rod of the nail sleeve 94 and insert the nail sleeve 94 into the nail sleeve jaws 504.

[0088] like Figure 24 As shown, the nut tightening device 6 includes a second support 609 and a second linear drive unit, a second rotary drive unit, a feeding mechanism, and a nut tightening and fixing chuck arranged sequentially from top to bottom along the second support 609. In this embodiment, the second linear drive unit is a sixth cylinder 607, and the second rotary drive unit is a second rotary servo motor 606. The sixth cylinder 607 and the second rotary servo motor 606 are electrically connected to the microcontroller 11. Figure 25 , Figure 26 As shown, the sixth cylinder 607 is fixed to the top of the second support 609 by a fixing plate; a second guide plate 608 is slidably mounted on the second support 609 via a guide rail; the second rotary servo motor 606 is fixed to the second guide plate 608 by screws on one side of the fixing seat 602 tightened with a nut; the power output end of the second rotary servo motor 606 is bolted to a sleeve 605; the power output shaft of the sixth cylinder 607 is fixed to the side of the second guide plate 608 opposite to the fixing seat 602 tightened with a nut by screws; the feeding structure includes as follows Figure 24The nut feeder 603 and the fifth cylinder 604 shown are bolted to the worktable 2 in the horizontal direction. The bottom of the nut feeder 603 and the power output shaft of the fifth cylinder 604 are bolted together.

[0089] In this embodiment, the nut tightening and fixing chuck is a three-jaw pneumatic chuck, which includes the following components: Figure 27 The diagram shows a nut tightening and fixing seat 602 and three nut tightening jaws 6021 circumferentially arranged on the top of the nut tightening and fixing seat 602. The nut tightening jaws 6021 are slidably connected to the nut tightening and fixing seat 602. It should be noted that in this embodiment, the structure of the nut tightening jaws 6021 is as follows... Figure 28 As shown, the inner end face of the nut tightening jaw 6021 is vertically provided with an arc-shaped groove that can contact the nail sleeve 94. The upper and lower ends of the arc-shaped groove are rounded. The arc-shaped groove can be used to press and fix the rod body close to the nail sleeve 94.

[0090] In this embodiment, the nut feeding rack 603 is shaped as follows: Figure 29 The "I"-shaped nut feeder 603 has a crossbar at one end near the nut tightening and fixing seat 602, which is open like... Figure 30 The limiting groove 6031 shown has an opening size that matches that of the nut 95, but its depth is less than the height of the nut 95. In this embodiment, the nut 95 is a hexagonal nut. The bottom of the sleeve 605 has a groove with the same dimensions as the limiting groove 6031 and opposite corners. The top surface of the groove is a magnet, which can attract the nut 95 in the limiting groove 6031 into the groove at the bottom of the sleeve 605. The top of the sleeve 605 is bolted to the output shaft of the second rotary servo motor 606. The operator places the nut 95 into the limiting groove 6031 of the nut feeding rack 603. The fifth cylinder 604 drives the nut feeding rack 603 to slide until the limiting groove 6031 is aligned with the center of the sleeve 605. The sleeve 605 moves down to contact the nut 95 and is attracted to the bottom groove, thus ensuring that the nut 95 is aligned with the nail rod 93 and that the nut 95 is located inside the sleeve 605. This prevents the nail rod 93 from swinging during the process of screwing the nut 95 into the nail rod 93.

[0091] In other embodiments besides this one, the nut tightening device 6 also includes a fourth robot 601 disposed on one side of the second support 609. The fourth robot 601 is electrically connected to the microcontroller 11. The microcontroller 11 controls the loading robot arm to move left, right, up, and down, and controls the pneumatic gripper on the loading robot arm to hold the tail of the nail rod 93 and insert the sleeve assembly two into the nut tightening chuck.

[0092] like Figure 1 , Figure 4 and Figure 5As shown, the closing device 7 includes a pressurizing part and a closing part and a first height adjustment part located inside the pressurizing part, wherein the first height adjustment part is located below the closing part. In this embodiment, the pressurizing part includes a lower pressure plate 706, a seventh cylinder 707, a connecting plate 709, an outer fixing rod 710, an inner fixing rod 711, and a movable plate 712; the first height adjustment part includes an eighth cylinder 708; the seventh cylinder 707 and the eighth cylinder 708 are electrically connected to the microcontroller 11 respectively. Four internal fixing rods 711 are bolted around the lower pressure plate 706. These internal fixing rods 711 pass through the worktable 2 and are welded to the top of the movable plate 712. The top of the constricted section contacts the pressure cylinder 7061 inside the lower pressure plate 706, and the bottom of the constricted section is bolted to the upper surface of the worktable 2. A through hole is opened in the center of the constricted section. The top of the eighth cylinder 708 is bolted to the lower surface of the worktable 2, and the power output shaft of the eighth cylinder 708 extends vertically into the through hole in the center of the constricted section. The connecting plate 709 is welded to the bottom surface of the worktable 2 via four external fixing rods 710, and the bottom of the connecting plate 709 is fixed with screws. Figure 31 The seventh cylinder 707 shown has its power output end bolted to the lifting rod 713. The lifting rod 713 passes through the center of the connecting plate 709 and the movable plate 712 and is bolted to the movable plate 712. It should be noted that, to prevent the movable plate 712 from swaying during its up-and-down movement driven by the seventh cylinder 707, the following... Figure 31 The two external fixing rods 710, which are located diagonally, pass through the movable plate 712 and are slidably connected to the movable plate 712.

[0093] like Figure 32 As shown, the closing section includes, from top to bottom, a pressure cylinder 7061, a collet 702, a collet pressure ring 703, a collet base 704, and a base plate 705. Among them, as shown... Figure 35 The pressure cylinder 7061 shown is similar to... Figure 33 , Figure 34 The lower pressure plate 706 shown is connected to the bottom groove bolt, and the pressure cylinder 7061 has a groove in the middle. Figure 36 The through hole shown is shaped like a frustum. The bottom diameter of the through hole is larger than the top diameter of the upper frustum of the collet 702 and smaller than the bottom diameter of the upper frustum of the collet 702. The pressure cylinder 7061 converts the downward pressure into circumferential pressure and squeezes the collet 702.

[0094] The 704 collet base has an opening at the center of its top. Figure 32 The groove shown is the same size as the lower frustum of the collet 702. The collet 702 is engaged in the groove to prevent it from shifting, thus ensuring its stability. The base plate 705 has openings around its perimeter... Figure 34The threaded hole shown is bolted to the worktable 2. A limiting groove is opened at the top center of the base plate 705, and the collet base 704 is connected to the base plate 705 through the limiting groove. Both the collet base 704 and the base plate 705 are detachably connected, which facilitates replacement according to different models of collets 702.

[0095] In this embodiment, as Figure 37 As shown, the upper part of the collet 702 is frustum-shaped, and the middle part connected to the upper part is cylindrical. The diameter of the bottom surface of the upper frustum is equal to the diameter of the middle cylinder. The lower part connected to the middle cylinder is a combination of a cylinder and an inverted frustum. The diameter of the lower cylinder is the same as the diameter of the top surface of the inverted frustum, and the diameter of the lower cylinder is larger than the diameter of the middle cylinder. The collet 702 is integrally formed. A limiting groove 7021 is opened at the edge of the top surface of the combination of the lower cylinder and the inverted frustum of the collet 702. The collet 702 has two vertical opening and closing seams through the axis, which extend to the lower frustum. The diameter of the through hole inside the collet 702 is larger than the diameter of the forming sleeve 91. A welded part is welded along the circumferential direction at the through hole at the top of the collet 702. Figure 38 The four arc-shaped protrusions 7022 shown constitute the following: Figure 39 The circular clamping space shown has a diameter equal to that of the forming sleeve 91. After the sleeve rod assembly is inserted into the through hole in the middle of the collet 702, the collet 702 will contract inward under the action of circumferential pressure. The four arc-shaped protrusions 7022 simultaneously squeeze the forming sleeve 91, ensuring that the forming sleeve 91 is subjected to equal circumferential force and consistent deformation.

[0096] To ensure the stability of the collet 702 under stress, the following features are provided: Figure 40 The collet pressure ring 703 shown; specifically, in this embodiment, the collet pressure ring 703 is as follows: Figure 41 The device consists of two layers. The upper ring has threaded holes around its circumference and is bolted to the base plate 705. The inner diameter of the upper ring is the same as the diameter of the central cylinder of the collet 702. The inner diameter of the lower ring is the same as the diameter of the lower cylinder of the collet 702, and a limiting protrusion 7031 matching the size of the limiting groove 7021 is welded to the inner side of the lower ring. The collet pressure ring 703 is tenoned to the collet 702. On the one hand, the collet pressure ring 703 supports the collet 702, keeping it vertical at all times. On the other hand, the collet pressure ring 703 limits the collet 702, preventing it from rotating under external force.

[0097] In this embodiment, the closing device 7 also includes a fifth robot 701 located on one side of the lower pressure plate 706. The fifth robot 701 is electrically connected to the microcontroller 11. The microcontroller 11 controls the robotic arm to move left, right, up, and down, and controls the pneumatic gripper on the robotic arm to grip the nail rod 93 and insert the sleeve assembly into the through hole in the middle of the collet 702.

[0098] like Figure 1 , Figure 4 and Figure 5 As shown, the pressurizing device 8 includes a limiting seat 82 and a linear drive component arranged circumferentially around the limiting seat 82, as well as a second height adjustment part located below the limiting seat 82. In this embodiment, the linear drive component is a tenth cylinder 84, and the second height adjustment part is a ninth cylinder 83. The ninth cylinder 83 and the tenth cylinder 84 are electrically connected to the microcontroller 11. The limiting seat 82 is bolted to the worktable 2. A through hole is provided in the middle of the limiting seat 82, and the diameter of the through hole is consistent with the outer diameter of the forming sleeve 91. The ninth cylinder 83 is located directly below the limiting seat 82 and is bolted to the worktable 2. The power output shaft of the ninth cylinder 83 can extend into the through hole of the limiting seat 82 to support the sleeve assembly three. The pressurizing position of the nail sleeve 94, i.e., the overlap of the forming sleeve 91 and the bushing 92, can be adjusted by the extension and retraction of the power output shaft. In this embodiment, the bushing is made of a soft material (such as rubber). After the end is closed, there is a bushing 92 between the recess of the molded sleeve 91 and the nail rod 93 to provide a transition, which can effectively improve the sealing performance at the end.

[0099] It should be noted that, as Figure 42 As shown, in this embodiment, there are three tenth cylinders 84. These three tenth cylinders 84 are radially evenly arranged and horizontally positioned. The tail of the ejector pin 841 is bolted to the output end of the tenth cylinder 84. The axes of the three ejector pins 841 intersect at the center of the through hole in the middle of the limiting seat 82. The head of the ejector pin 841 near the limiting seat 82 is as follows... Figure 43 The cone shape is shown, with a spherical tip. Pressure is applied simultaneously to the nail sleeve 94 by three tenth cylinders 84 to ensure that the force and deformation are equal at each compression point.

[0100] In this embodiment, the pressurizing device 8 also includes a sixth robot 81 located around the tenth cylinder. The sixth robot 81 is electrically connected to the microcontroller 11. The microcontroller 11 controls the robotic arm to move left, right, up, and down, and controls the pneumatic gripper on the robotic arm to hold the tail of the nail rod 93 and insert the closed sleeve assembly into the limiting seat 82.

[0101] In use, the first robot 31 moves the molding sleeve 91 into the positioning hole 322 on the top of the bushing fitting seat 32, such as... Figure 44 , Figure 45As shown, the molded sleeve 91 has one end open downwards to accommodate the bushing 92. The bushing 92, with its vertically upward-facing opening, is located on the side of the bushing feeding channel 321 near the second cylinder 34. Under the pushing action of the second cylinder 34, the bushing 92 moves along the bushing feeding channel 321 towards the positioning hole 322 until it reaches the bushing 92 positioning space at the intersection of the positioning hole 322 and the bushing feeding channel 321, ensuring that the bushing 92 and the molded sleeve 91 are aligned. The movement of the first robot 31 causes the pressure rod 311 to abut against the top of the molded sleeve 91. The power output shaft of the first cylinder 33 abuts against the bottom of the bushing 92. Under the pushing action of the first cylinder 33, the bushing 92 enters the interior of the molded sleeve 91, completing the assembly of the bushing 92 and the molded sleeve 91, i.e., the molded sleeve assembly.

[0102] The second robot 41 clamps the nail rod 93 and moves it to the nail rod fixing seat 42. The head of the nail rod 93 is facing down. The nail rod gripper 421 clamps and fixes the part of the rod body above the head of the nail rod 93. The first robot 31 moves the forming sleeve to the top rod and puts the forming sleeve into the nail rod 93 to form the first sleeve assembly.

[0103] The third robot 501 grips the tail of the nail rod 93 and moves the sleeve assembly into the nail sleeve tightening and fixing seat 502. The tightening jaws 5021 clamp and fix the head of the nail rod 93 and limit the forming sleeve 91. The third robot 501 picks up the nail sleeve 94 and moves it above the nail sleeve jaws 504, passing the nail sleeve 94 through the gripping part of the nail sleeve jaws 504. The nail sleeve jaws 504 limit the head of the nail sleeve 94, and the bottom of the nail sleeve 94 is located in the frustum-shaped opening of the positioning jaws 505, but the nail sleeve 94 is in a suspended state. The third cylinder 508 drives the nail sleeve tightening and fixing seat 502 to move vertically upward, so that the nail rod 93 passes through the gripping part of the positioning jaws 505 until it abuts against the bottom of the nail sleeve 94. The positioning jaws 505 limit the tail of the nail rod 93. The fourth cylinder 510 drives the first rotary servo motor 506 downwards via the guide rail until the screwdriver 507's tip contacts the slot at the top of the nail sleeve 94. The rotation of the screwdriver 507 ensures a complete fit between the tip and the slot. The first tightening servo motor 506 drives the screwdriver 507 to continue rotating, the nail sleeve gripper 504 opens, and the nail sleeve 94 screws into the nail shank 93. When the lower end of the nail head is about to contact the positioning gripper 505, the positioning gripper 505 opens. The nail sleeve 94 continues to rotate and move downwards until the frustum at the bottom of the nail sleeve 94 and the forming sleeve 91 reach a certain position. Figure 46 , 47 The tangent positions shown constitute the second sleeve assembly.

[0104] The fourth robot 601, holding the tail of the nail rod 93, moves the sleeve assembly two into the nut tightening fixing seat 602. The nut tightening gripper 6021 clamps and fixes the nail sleeve 94 and limits the entire sleeve assembly two. First, the nut loading rack 603 moves forward under the drive of the sliding cylinder 604, aligning the center of the limiting groove 6031, the nail rod 93, and the sleeve 605. Then, the sixth cylinder 607 drives the second rotary servo motor 606 downward until the upper part of the nut 95 in the limiting groove 6031 enters the groove at the bottom of the sleeve 605 and is attracted by the magnet above the groove. Furthermore, while the sixth cylinder 607 drives the second rotary servo motor 606 upward, the nut loading rack 603 moves backward under the drive of the sliding cylinder 604. Finally, the sixth cylinder 607 drives the second rotary servo motor 606 to move down again until the nut 95 contacts the top of the nail rod 93. The second rotary servo motor 606 drives the sleeve 605 to rotate, so that the nut 95 is screwed into the nail rod 93 until the nut 95 abuts against the top of the nail sleeve 94, forming the following configuration: Figure 48 The sleeve assembly shown is number three.

[0105] The fifth robot 701 clamps the tail of the nail rod 93 and inserts the sleeve assembly three into the through hole in the middle of the collet 702. The height of the sleeve assembly three is adjusted by the eighth cylinder 708 to achieve the required closing position. The seventh cylinder 707 drives the lower pressure plate 706 to move downward. The pressure cylinder 7061 inside the lower pressure plate 706 applies circumferential pressure to the collet 702, thereby squeezing the forming sleeve 91 to cause local circumferential deformation and form a depression. The forming sleeve 91 at the depression is tightly fixed to the nail rod 93. After completing the first closing, the sleeve assembly three is rotated 30° and transferred to another identical closing device 7 for a second closing. The closed sleeve assembly three is as follows: Figure 49 As shown.

[0106] The sixth robot 81 grips the tail of the nail rod 93 and inserts the closed sleeve assembly three into the limiting seat 82. The ninth cylinder 83 adjusts the height of the sleeve assembly three to the set value. The pressure object is the nail sleeve 94. The three radially arranged tenth cylinders 84 drive the ejector pins 841 to simultaneously apply horizontal pressure to the nail sleeve 94, causing the nail sleeve 94 to partially indent inward. The indented part of the nail sleeve 94 abuts against the nail rod 93, and the sleeve assembly three, after being pressurized, is as follows: Figure 50 As shown.

[0107] In this embodiment, the first to sixth robots are all six-axis robots.

[0108] Example 2

[0109] The difference from Embodiment 1 is that a first pressure sensor (not shown in the figure) is bolted inside the nail sleeve tightening fixing base 502 to monitor the real-time pressure during the downward movement of the nail sleeve 94, and a first torque sensor (not shown in the figure) is bolted inside the first rotary servo motor 506 to monitor the real-time torque during the screwing-in of the nail sleeve 94. The first pressure sensor and the first torque sensor are electrically connected to the microcontroller 11. During the downward tightening of the nail sleeve 94, torque and pressure data are acquired by the sensors and transmitted to the microcontroller 11. Combined with the displacement data recorded by the fourth cylinder 510, a displacement-torque curve is generated using the displacement data and torque data, and a displacement-pressure curve is generated using the displacement data and pressure data. The displacement-torque curve and displacement-pressure curve are displayed on the display 12. The microcontroller 11 sets each displacement value to correspond to a specific pressure range and torque range. If the real-time pressure value or torque value is outside the specific pressure or torque range, it indicates that the size of the nail sleeve 94 and the nail rod 93 are not matched or the threads of the two are not matched. The microcontroller 11 judges the connector 9 as a defective product, and the controller controls the third robot 501 to take out the defective connector 9 and place it in the waste recycling tray.

[0110] Similarly, during the subsequent screwing of nut 95 into nail rod 93, a second pressure sensor (not shown in the figure) is bolted inside nut tightening fixing seat 602 to monitor the real-time pressure during the downward movement of nut 95, and a second torque sensor (not shown in the figure) is bolted inside second rotary servo motor 606 to monitor the real-time torque during the screwing of nut 95. The second pressure sensor and the second torque sensor are electrically connected to microcontroller 11. During the downward tightening of nut 95, torque and pressure data are acquired through sensor monitoring and transmitted to microcontroller 11. Combined with displacement data recorded by sixth cylinder 607, a displacement-torque curve is generated using displacement data and torque data, and a displacement-pressure curve is generated using displacement data and pressure data. The displacement-torque curve and displacement-pressure curve are displayed on display 12. The microcontroller 11 sets each displacement value to correspond to a specific pressure range and torque range. If the real-time pressure value or torque value is outside the specific pressure or torque range, it means that the size of the nut 95 and the nail rod 93 are not matched or the threads of the two are not matched. The microcontroller 11 determines that the connector 9 is a defective product. The controller controls the fourth robot 601 to take out the defective connector 9 and place it in the waste recycling tray.

[0111] Example 3

[0112] The difference from Embodiment 1 is that, in this embodiment, to avoid excessive or insufficient closing force affecting the closing quality, a third pressure sensor 714 is specifically provided to monitor the force on the molding sleeve 91 in real time during the closing process, thereby ensuring the closing quality of the molding sleeve 91. Specifically, the third pressure sensor 714 is as follows: Figure 51 As shown, the disc-shaped third pressure sensor 714 is located below the collet base 704. The disc-shaped third pressure sensor 714 can fully contact the bottom surface of the collet base 704, providing the largest contact area and uniform force distribution, thus effectively improving monitoring accuracy. The third pressure sensor 714 has threaded holes around its perimeter and is bolted to the base plate 705. A groove is formed in the center of the third pressure sensor 714, the size of which matches the size of the collet base 704. The collet base 704 is bolted to the third pressure sensor 714. The third pressure sensor 714 is electrically connected to the microcontroller 11. The third pressure sensor 714 transmits the real-time value of the vertical pressure acting on the collet 702 to the microcontroller 11. The microcontroller 11 is electrically connected to the display 12. The microcontroller 11 combines the collected real-time pressure data with the real-time displacement data of the seventh cylinder 707 during the downward pressing process to generate a displacement-pressure curve, which is displayed on the display 12. The microcontroller 11 sets each displacement value to correspond to a specific pressure range. If the real-time pressure value is outside the specific pressure range, the microcontroller 11 determines that the connector 9 is a defective product. The controller controls the fifth robot 701 to take out the defective product and place it in the waste recycling tray.

[0113] The above are merely embodiments of the present invention, and the invention is not limited to the fields covered by these embodiments. Commonly known structures and characteristics in the solutions are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the structure of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. An assembly line for aircraft connectors, characterized in that, Including the following settings in sequence: A push-type clamping device is used to push the bushing into the molded sleeve and tighten it to form a molded sleeve assembly; The sleeve device has a bottom for clamping and positioning the rod body of the nail rod, and the forming sleeve is inserted into the nail rod to form sleeve assembly one; The screw sleeve tightening device has a bottom for clamping and positioning the sleeve assembly, and a clamping gap is provided at the corresponding forming sleeve; the screw sleeve is screwed into the tail of the screw rod of the first sleeve assembly and pressed against the forming sleeve to form the second sleeve assembly; The nut tightening device is used to screw the nut into the tail of the nail rod of the second sleeve assembly and to press it against the nail sleeve to form the third sleeve assembly; The closing device includes a deformable collet, which is used to apply circumferential pressure to the forming sleeve of the sleeve rod assembly three when closed, and the pressure position is located at the overlap of the bushing and the forming sleeve. The pressurizing device includes several radially arranged linear drive components for applying pressure to the nail sleeve point; The nail sleeve tightening device includes, from top to bottom, a first linear drive unit, a first rotary drive unit, a double-layer clamping member, a nail sleeve tightening and fixing chuck, and a lifting unit. The first linear drive unit is used to drive the first rotary drive unit to move up and down; the first rotary drive unit is used to drive the nail sleeve to rotate; the double-layer clamping member includes, from top to bottom, a nail sleeve clamping claw for clamping the nail sleeve and a positioning clamping claw for clamping the nail rod; the nail sleeve tightening and fixing chuck is used to clamp and fix the first sleeve rod assembly, and the clamping gap is provided on the surface of the clamping claw of the nail sleeve tightening and fixing chuck that contacts the first sleeve rod assembly; the lifting unit is used to drive the nail sleeve tightening and fixing chuck to move up and down.

2. The aircraft connector assembly production line according to claim 1, characterized in that, The push-type pressing device includes a molding sleeve pressing part, a bushing fitting seat, and a bushing pusher arranged sequentially from top to bottom. The molding sleeve pressing part is used to press the top of the molding sleeve; the bushing fitting seat is used for the alignment of the bushing and the molding sleeve, and the bushing fitting seat has a vertical through hole inside and a channel connected to the vertical through hole on the side; the bushing pusher is used to push the bushing into the molding sleeve from the bottom end of the molding sleeve.

3. The aircraft connector assembly production line according to claim 1, characterized in that, The sleeve device includes a nail rod fixing seat and a plurality of nail rod clamps slidably connected to the top of the nail rod fixing seat for clamping the nail rod, wherein the inner end face of the nail rod clamps is in contact with the nail rod.

4. The aircraft connector assembly production line according to claim 1, characterized in that, The nut tightening device includes a second linear drive unit, a second rotary drive unit, a feeding mechanism, and a nut tightening and fixing chuck arranged sequentially from bottom to top. The second linear drive unit is used to drive the second rotary drive unit to move up and down. The second rotary drive unit is used to drive the nut to rotate and includes a sleeve for adsorbing the nut. The feeding mechanism includes a nut feeding rack for placing the nut and a sliding cylinder for driving the nut feeding rack to slide, arranged sequentially from top to bottom. The nut tightening and fixing chuck is used to clamp and fix the sleeve assembly two.

5. The aircraft connector assembly production line according to claim 1, characterized in that, The closing device also includes a pressure section and a first height adjustment section arranged sequentially from top to bottom. The pressure section is used to close the upper end of the deformable collet, and the first height adjustment section is used to support the sleeve rod assembly inside the collet and adjust the closing position to the overlap of the bushing and the forming sleeve.

6. The aircraft connector assembly production line according to claim 1, characterized in that, The pressurizing device also includes a limiting seat and a second height adjustment part located below the limiting seat. The limiting seat is used to keep the sleeve assembly three in a vertical state, and the second height adjustment part is used to support the sleeve assembly three and adjust the pressurizing position of the nail sleeve.

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