Kit positioning assembly apparatus

Abstract

A kit positioning and assembling device comprises a screwing device, characterized in that the screwing device comprises, from bottom to top, a screwing fixing chuck, a positioning clamp jaw and a nail sleeve clamp jaw, the screwing fixing chuck comprises a screwing fixing seat and a plurality of screwing clamp jaws in radial sliding connection with the top of the screwing fixing seat, the inner end surface of the screwing clamp jaw is an arc-shaped groove, and the arc-shaped groove is arranged in a stepped shape with the upper part being larger and the lower part being smaller in the vertical direction; the inner end surface of the positioning clamp jaw is in contact with the shaft of the nail rod, and the end of the inner end surface close to the nail sleeve clamp jaw is provided with an expanded port; the inner end surface of the nail sleeve clamp jaw is in contact with the shaft of the nail sleeve, and the top of the inner end surface is provided with an expanded port; the clamping spaces formed by the screwing fixing chuck, the positioning clamp jaw and the nail sleeve clamp jaw are respectively arranged at the center and face each other. Through the above technical scheme, the problems of deformation of the formed sleeve under pressure and easy swinging of the nail rod in the initial stage of screwing of the nail sleeve are solved, and the assembly quality of the connecting piece is improved.

Description

Technical Field

[0001] This invention relates to the field of mechanical equipment technology, and in particular to a kit positioning and assembly device. Background Technology

[0002] In the assembly process of aircraft connectors, it is often necessary to use, such as Figure 23 The connector 6 shown includes a nail rod 63 and a nail sleeve 64, a forming sleeve 61, and a bushing 62 arranged sequentially from top to bottom on the nail rod 63. The forming sleeve 61 and the bushing 62 are directly inserted into the nail rod 63 and their ends are tightened together. The nail sleeve 64 has a threaded hole inside and a screwdriver slot at the top. The nail sleeve 64 is threaded to the upper end of the nail rod 63 and presses the forming sleeve 61 against it.

[0003] In existing technologies, when assembling the aforementioned parts, a robotic arm is typically used to clamp the lower part of the nail shank 63, insert the forming sleeve 61 and bushing 62, and then rotate the nail sleeve 64 to screw it into the nail shank 63 until it contacts the forming sleeve 61. The existing assembly method has the following technical problems:

[0004] (1) During assembly, the lower end of the nail rod 63 (hereinafter referred to as the head) is first fixed, and the bushing 62 and the molding sleeve 61 are inserted in sequence to achieve fixation. However, since the top of the bushing 62 is tightened by inserting it into the bottom of the molding sleeve 61, and the hole diameter of the bushing 62 and the molding sleeve 61 is larger than the outer diameter of the nail rod 63, the two may not be concentric when they are pressed, which may lead to poor connection effect or even breakage and defective products.

[0005] (2) After the bushing 62 and the forming sleeve 61 are installed into the nail rod, the nail sleeve 64 needs to be screwed in from the upper end of the nail rod (hereinafter referred to as the tail) to complete the assembly. Before inserting the nail sleeve 64, it is necessary to ensure that the nail rod 63 is in a vertical state. However, in the prior art, only the head of the nail rod 63 is positioned. Since the nail rod 63 is a slender structure, its tail may have a certain degree of tilting deviation, which may damage the threads of both during the screwing process.

[0006] Furthermore, the inventors discovered that to ensure the nail shank does not shift during the screw insertion of the nail sleeve 64, clamping points are added to the forming sleeve 61, thereby ensuring overall clamping stability. However, the forming sleeve 61 may deform during compression, thus affecting the quality of the connector. Summary of the Invention

[0007] The present invention aims to provide a kit positioning and assembly device to solve the problems in the prior art where adding clamping points at the molded sleeve makes the molded sleeve prone to deformation under pressure, as well as the problem of inaccurate positioning of the nail rod and nail sleeve.

[0008] To achieve the above object, the application adopts the following technical scheme: A positioning and assembling device for a kit, comprising a screwing device, the screwing device comprising a screwing fixing chuck, a positioning clamp jaw and a nail sleeve clamp jaw arranged in sequence from bottom to top, the screwing fixing chuck comprising a screwing fixing seat and a plurality of screwing clamp jaws in radial sliding connection with the top of the screwing fixing seat, the inner end surface of the screwing clamp jaw being an arc-shaped groove, the arc-shaped groove being arranged in a stepped shape with the upper part being larger than the lower part in the vertical direction, the large inner diameter cavity of the upper part of the arc-shaped groove being used for accommodating a formed sleeve, the small inner diameter cavity of the lower part of the arc-shaped groove being used for accommodating the head part of a nail rod, and the inner diameter of the large inner diameter cavity being larger than the outer diameter of the formed sleeve; the inner end surface of the positioning clamp jaw being in contact with the rod body of the nail rod, and the end of the inner end surface close to the nail sleeve clamp jaw being provided with an expanded mouth; the inner end surface of the nail sleeve clamp jaw being in contact with the rod body of the nail sleeve, and the top of the inner end surface being provided with an expanded mouth; and the clamping spaces respectively formed by the screwing fixing chuck, the positioning clamp jaw and the nail sleeve clamp jaw being in the center of the device.

[0009] The application has the following beneficial effects:

[0010] (1) Compared with the prior art, the inner end surface of the clamp jaw is an arc-shaped groove, the arc-shaped groove is arranged in a stepped shape with the upper part being larger than the lower part in the vertical direction (here, the upper part being larger than the lower part refers to the inner diameter of the cavity of the upper part of the arc-shaped groove being larger than the inner diameter of the cavity of the lower part), and when clamping, the formed sleeve is located in the upper large inner diameter cavity, and the head part of the nail rod is located in the lower small inner diameter cavity; since the inner diameter of the large inner diameter cavity is larger than the outer diameter of the formed sleeve, the upper segment of the stepped arc-shaped groove leaves a gap with the formed sleeve, so that the formed sleeve is not stressed during clamping, and the head part of the nail rod is stressed, so that the clamping point is displaced to the position corresponding to the head part of the nail rod, thereby avoiding the deformation of the formed sleeve caused by extrusion and also enabling the formed sleeve to be radially limited.

[0011] (2) The clamping spaces respectively formed by the screwing fixing seat, the positioning clamp jaw and the nail sleeve clamp jaw are in the center of the device, thereby ensuring that the nail rod and the nail sleeve are opposite and vertical, and effectively avoiding the damage of the threads of the nail rod and the nail sleeve during the rotation of the nail sleeve into the nail rod.

[0012] (3) The inner end surface of the positioning clamp jaw is arranged as an arc-shaped groove that can be in contact with the rod body of the nail rod, and the two positioning clamp jaws are horizontally symmetrically arranged to form a positioning clamp, which can fix the tail part of the nail rod, thereby ensuring that the nail rod does not swing during the initial stage of the rotation of the nail sleeve into the nail rod.

[0013] Further, the screwing device further comprises a rotating servo motor and a screwdriver located above the nail sleeve clamp jaw, and the screwdriver is fixedly connected with the output end of the rotating servo motor.

[0014] The beneficial effect is that the head of the screwdriver matches the groove on the top of the nail sleeve, and the rotating servo motor drives the screwdriver to rotate the nail sleeve into the nail rod.

[0015] Furthermore, it also includes a push-type clamping device for pushing the bushing into the molded sleeve, the push-type clamping device including a bushing fitting seat, the top surface of the bushing fitting seat having a vertical through hole, and the side surface of the bushing fitting seat having a channel communicating with the vertical through hole.

[0016] The beneficial effect is that the bushing fitting seat aligns the bushing with the forming sleeve, and the first cylinder pushes the bushing into the forming sleeve.

[0017] Furthermore, it also includes a sleeve device for fitting the molding sleeve onto the nail rod, the sleeve device including a nail rod fixing seat and a plurality of nail rod clamps slidably connected to the top of the nail rod fixing seat, the inner end face of the nail rod clamps contacting the nail rod.

[0018] The beneficial effect is that the nail rod fixing seat presses and fixes the nail rod tightly, making it easy for the forming sleeve to be inserted into the nail rod. Attached Figure Description

[0019] Figure 1 This is a top view of a kit positioning and assembly device according to Embodiment 1 of the present invention.

[0020] Figure 2 This is a schematic diagram of the overall structure of a kit positioning and assembly device according to Embodiment 1 of the present invention.

[0021] Figure 3 for Figure 1 The enlarged view at point A1 shows the positional relationship between the bushing assembly and the second cylinder.

[0022] Figure 4 for Figure 3 The sectional view along line AA (right view) is used to show the positional relationship and connection between the positioning holes, bushing feeding channel and pushing hole inside the bushing mounting seat, and to show the positional relationship between the bushing, forming sleeve and first cylinder.

[0023] Figure 5 for Figure 2 The enlarged view at point A2 shows the position and shape of the compression bar.

[0024] Figure 6 for Figure 5 The left view is used to show the positional relationship between the pressure bar and the pneumatic gripper.

[0025] Figure 7 for Figure 2 The enlarged view at A3 in the middle is used to show the overall structure of the sleeve fixing chuck.

[0026] Figure 8 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.

[0027] Figure 9It is a partial enlarged view of the screwing device in the embodiment one of the application, which is used to show the position relationship of the support, the rotating servo motor, the fourth cylinder, the double-layer clamping piece and the screwing fixing chuck.

[0028] Figure 10 It is a partial enlarged view of the screwing device in the embodiment one of the application, which is used to show the position relationship of the support, the rotating servo motor, the fourth cylinder, the double-layer clamping piece and the screwing fixing chuck. Figure 9 It is a partial enlarged view of the screwing device in the embodiment one of the application, which is used to show the position relationship of the support, the rotating servo motor, the fourth cylinder, the double-layer clamping piece and the screwing fixing chuck.

[0029] Figure 11 It is a partial enlarged view of the screwing device in the embodiment one of the application, which is used to show the position relationship of the support, the rotating servo motor, the fourth cylinder, the double-layer clamping piece and the screwing fixing chuck. Figure 10 It is a partial enlarged view of the screwing device in the embodiment one of the application, which is used to show the position relationship of the support, the rotating servo motor, the fourth cylinder, the double-layer clamping piece and the screwing fixing chuck.

[0030] Figure 12 It is a partial enlarged view of the screwing device in the embodiment one of the application, which is used to show the position relationship of the support, the rotating servo motor, the fourth cylinder, the double-layer clamping piece and the screwing fixing chuck. Figure 9 It is a partial enlarged view of the screwing device in the embodiment one of the application, which is used to show the position relationship of the support, the rotating servo motor, the fourth cylinder, the double-layer clamping piece and the screwing fixing chuck.

[0031] Figure 13 It is a partial enlarged view of the screwing device in the embodiment one of the application, which is used to show the position relationship of the support, the rotating servo motor, the fourth cylinder, the double-layer clamping piece and the screwing fixing chuck. Figure 9 It is a partial enlarged view of the screwing device in the embodiment one of the application, which is used to show the position relationship of the support, the rotating servo motor, the fourth cylinder, the double-layer clamping piece and the screwing fixing chuck.

[0032] Figure 14 It is a partial enlarged view of the screwing device in the embodiment one of the application, which is used to show the position relationship of the support, the rotating servo motor, the fourth cylinder, the double-layer clamping piece and the screwing fixing chuck.

[0033] Figure 15 It is a partial enlarged view of the screwing device in the embodiment one of the application, which is used to show the position relationship of the support, the rotating servo motor, the fourth cylinder, the double-layer clamping piece and the screwing fixing chuck.

[0034] Figure 16 It is a partial enlarged view of the screwing device in the embodiment one of the application, which is used to show the position relationship of the support, the rotating servo motor, the fourth cylinder, the double-layer clamping piece and the screwing fixing chuck. Figure 15 It is a partial enlarged view of the screwing device in the embodiment one of the application, which is used to show the position relationship of the support, the rotating servo motor, the fourth cylinder, the double-layer clamping piece and the screwing fixing chuck.

[0035] Figure 17 It is a partial enlarged view of the screwing device in the embodiment one of the application, which is used to show the position relationship of the support, the rotating servo motor, the fourth cylinder, the double-layer clamping piece and the screwing fixing chuck.

[0036] Figure 18 It is a partial enlarged view of the screwing device in the embodiment one of the application, which is used to show the position relationship of the support, the rotating servo motor, the fourth cylinder, the double-layer clamping piece and the screwing fixing chuck.

[0037] Figure 19 It is a partial enlarged view of the screwing device in the embodiment one of the application, which is used to show the position relationship of the support, the rotating servo motor, the fourth cylinder, the double-layer clamping piece and the screwing fixing chuck.

[0038] Figure 20 It is a partial enlarged view of the screwing device in the embodiment one of the application, which is used to show the position relationship of the support, the rotating servo motor, the fourth cylinder, the double-layer clamping piece and the screwing fixing chuck.

[0039] Figure 21This is a top view of the tightening and fixing chuck, positioning clamp and nail sleeve clamp in Embodiment 1 of the present invention, used to show that the center of the clamping space of the three is directly opposite each other.

[0040] Figure 22 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.

[0041] Figure 23 This is an exploded view of the connector in Embodiment 1 of the present invention, used to show the various parts in the connector.

[0042] Figure 24 This is a front view of the molded sleeve in Embodiment 1 of the present invention.

[0043] Figure 25 for Figure 24 The BB-direction sectional view is used to show the internal structure of the molded sleeve.

[0044] Figure 26 This is a front view of the connector in Embodiment 1 of the present invention.

[0045] Figure 27 for Figure 26 The C-axis sectional view is used to show the positional and connection relationships of the various parts in the connector. Detailed Implementation

[0046] The following detailed description illustrates the specific implementation method:

[0047] The reference numerals in the accompanying drawings include:

[0048] Control System 1 First Cylinder 33

[0049] Microcontroller 11 Second Cylinder 34

[0050] Display 12, Sleeve Device 4

[0051] Workbench 2, Second Robot 41

[0052] Push-type clamping device 3 Nail rod fixing seat 42

[0053] First Robot 31 Peg Gripper 421

[0054] Pressure bar 311 Tightening device 5

[0055] Liner Set with Base 32 Third Robot 501

[0056] Bushing feeding channel 321 Tightening fixing seat 502

[0057] Positioning hole 322, tightening jaw 5021

[0058] Push hole 323 Fixing cross plate 503

[0059] 504 screw clips, 511 guide rail plate

[0060] Positioning gripper 505 connector 6

[0061] Rotary servo motor 506, molding sleeve 61

[0062] Screwdriver 507, Bushing 62

[0063] Third cylinder 508, rod 63

[0064] Support 509, Sleeve 64

[0065] Fourth cylinder 510

[0066] Example 1, see details Figures 1-27 :

[0067] Depend on Figure 1 , Figure 2 As shown, a kit positioning and assembly device includes a control system 1, a worktable 2, and a push-type clamping device 3, a sleeve device 4, and a tightening device 5 bolted to the worktable 2, wherein the push-type clamping device 3, the sleeve device 4, and the tightening device 5 are arranged sequentially.

[0068] In this embodiment, the control system 1 includes as follows: Figure 2 The microcontroller 11 and display 12 shown are configured as follows: the microcontroller 11 is an STM32-F4, and the microcontroller 11 and display 12 are fixedly connected to the support 509 by screws. In other embodiments besides this one, a frame can be added above the workbench 2, and the microcontroller 11 and display 12 can be fixedly connected to the frame by screws.

[0069] 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 3 , Figure 4 As shown, the bushing fitting base 32 has a bushing feeding channel 321 arranged laterally inside, and the bushing feeding channel 321 extends outward to... Figure 3 At the bushing pusher, the bushing pusher 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 62 forward. The bushing mounting base 32 has a center position at its top as shown in the image. Figure 4The positioning hole 322 shown is perpendicular to and connected to the bushing feeding channel 321. The intersection of the positioning hole 322 and the bushing feeding channel 321 forms a bushing positioning space.

[0070] 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 5 , Figure 6 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 61 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 61 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 61 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 61. After the work is completed, the microcontroller 11 controls the power output end of the pneumatic rod to retract upward.

[0071] The bottom center of the bushing fitting base 32 is provided with something like Figure 4 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 62 at the intersection of the three holes, thereby making the bushing 62 embedded in the forming sleeve 61.

[0072] like Figure 1 and Figure 2 As 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 63 and insert it into the lever fixing chuck. The lever fixing chuck is a three-jaw pneumatic chuck, such as... Figure 7 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 8 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 63. 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 63, thereby ensuring the fixing effect of the nail bar 63.

[0073] As shown in Figure 9 , the screwing device 5 comprises a support 509 and, in sequence from top to bottom along the support 509, a linear driving part, a rotary driving part, a double-layer clamping part, a screwing fixing chuck and a lifting part. As shown in Figure 10 , Figure 11 , in this embodiment, the linear driving part is a fourth cylinder 510, which is fixed to the top of the support 509 through a fixed plate; a guide rail plate 511 is slidably arranged on the support 509 through 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 screwing fixing base 502 through a screw; the rotary driving part is a rotary servo motor 506, which is fixed to the side of the guide rail plate 511 close to the screwing fixing base 502 through a screw, and the power output end of the rotary servo motor 506 is bolted with a screwdriver 507; a fixed horizontal plate 503 as shown in Figure 12 is fixedly arranged in the middle of the support 509, and the two ends of the fixed horizontal plate 503 are welded to the two supports 509 in the horizontal direction; the double-layer clamping part is installed on the fixed horizontal plate 503; the double-layer clamping part comprises, in sequence from top to bottom, a nail sleeve clamping jaw 504 and a positioning clamping jaw 505 as shown in Figure 12 , which are bolted to the fixed horizontal plate 503 respectively; the bottom of the support 509 is bolted to the workbench 2; the bottom of the screwing fixing chuck is bolted to the power output shaft of a third cylinder 508 as shown in Figure 14 , and the top of the third cylinder 508 is bolted to the workbench 2; the third cylinder 508 is electrically connected with a microcontroller 11.

[0074] In this embodiment, the screwing fixing chuck is a three-jaw pneumatic chuck, which comprises a screwing fixing base 502 and three screwing clamping jaws 5021 arranged circumferentially on the top of the screwing fixing base 502, and the screwing clamping jaws 5021 are slidably connected with the screwing fixing base 502. It should be noted that, in order to prevent the screwing clamping jaw 5021 from causing extrusion deformation to the forming sleeve 61 during the process of pressing and fixing, the arc-shaped groove on the inner end surface of the screwing clamping jaw 5021 is divided into steps as shown in Figure 13 , Figure 15 , Figure 15 , Figure 16 , the size of the lower segment arc-shaped groove matches the size of the circular table on the head of the nail rod 63, so that the head of the nail rod 63 can be pressed and fixed, and the radius of the upper segment arc-shaped groove is greater than the outer radius of the forming sleeve 61, so that the forming sleeve 61 can be limited without being extruded. After the operator inserts the combination of the forming sleeve 61 and the nail rod 63 into the screwing fixing chuck, the third cylinder 508 located below the screwing fixing base 502 vertically moves the screwing fixing base 502 under the control of the microcontroller 11 as shown in Figure 14 .

[0075] Because the nail shank 63 is a long and slender structure, if only the head of the nail shank 63 is pressed and fixed, the tail of the nail shank 63 may have a certain degree of tilting deviation, causing damage to the threads of the nail sleeve 64 and the nail shank 63; and in the initial stage of screwing the nail sleeve 64 into the nail shank 63, the nail shank 63 will swing under force. All of the above will affect the assembly quality of the nail sleeve 64. Based on this, in this embodiment, a screw fastener is installed directly above the tightening and fixing base 502. Figure 17 The positioning gripper 505 shown has an inner end face vertically configured with an arc-shaped groove that can contact the body of the nail rod 63, such as... Figure 18 As shown, 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 frustum at the lower end of the nail sleeve 64. Two symmetrically arranged positioning jaws 505 form a complete positioning clamping component. By clamping and fixing the tail of the nail rod 63 with the positioning clamping component, on the one hand, it ensures that the nail rod 63 is in a vertical position, effectively preventing damage to the threads during the screw insertion of the nail sleeve 64; on the other hand, in the initial stage of screw insertion, the positioning clamping component can limit the movement of the nail rod 63, preventing it from swinging under force. Furthermore, since the lower end of the nail sleeve 64 is frustum-shaped, it can fall into the flared upper end of the positioning jaw 505, which can limit the movement of the lower end of the nail sleeve 64.

[0076] In this embodiment, as Figure 19 As shown, the inner end face of the nail sleeve clamp 504 is vertically provided with an arc-shaped groove that can contact the rod body of the nail sleeve 64. The upper end of the arc-shaped groove is as shown. Figure 20 The flared opening shown matches the size of the chamfer at the top of the nail head of the nail sleeve 64. Two nail head grippers 504 are symmetrically arranged to form a complete nail sleeve clamping component. This clamping component limits the chamfer at the top of the nail sleeve 64 and the body of the nail sleeve 64, providing support to the nail sleeve and keeping it suspended, while also ensuring the nail sleeve 64 remains vertical. It is important to emphasize that the tightening and fixing chuck, the positioning clamping component, and the nail sleeve clamping component constitute... Figure 21 The circular clamping space shown in the diagram, through the combined action of the three elements, ensures that the nail rod 63 and the nail sleeve 64 are aligned and vertical, facilitating the screw sleeve 64 to be screwed into the nail rod 63 and improving the assembly quality of the nail sleeve 64.

[0077] In other embodiments besides this one, the tightening device 5 further includes a third robot 501 disposed on one side of the support 509, the third robot 501 being electrically connected to the microcontroller 11; the robotic arm of the third robot 501 is mounted on a horizontal plate as shown in the figure. Figure 22The two pneumatic clamps shown, the one on the left end of the horizontal plate is used to clamp the tail of the nail rod 63, and the one on the right end is used to clamp the nail sleeve 64; under the control of the microcontroller 11, the third robot 501 adopts the method as shown in Figure 22 The left end clamp shown clamps the tail of the nail rod 63 to insert the combination of the nail rod 63 and the forming sleeve 61 into the screwing fixing chuck, and the right end clamp clamps the body of the nail sleeve 64 to insert the nail sleeve into the nail sleeve clamp 504.

[0078] In use, the pneumatic clamp of the first robot 31 clamps the forming sleeve 61 and inserts the forming sleeve 61 into the positioning hole 322 at the top of the bushing assembly seat 32, as shown in Figure 24 、 Figure 25 The forming sleeve 61 is used to accommodate the bushing 62 with one end opening downward. The bushing 62 is located on the side of the bushing feeding channel 321 close to the second cylinder 34, and the bushing 62 with the opening vertically upward is moved along the bushing feeding channel 321 in the direction of the positioning hole 322 under the pushing action of the second cylinder 34, until the bushing 62 reaches the bushing positioning space at the intersection of the positioning hole 323 and the bushing feeding channel 321, so that the bushing 62 is opposite to the center of the forming sleeve 61. The first robot 31 moves the pressing rod 311 above the positioning hole 322, so that the pressing rod 311 abuts against the top end of the forming sleeve 61. The power output shaft of the first cylinder 33 extends into the pushing hole 323 and abuts against the bottom of the bushing 62, and under the pushing action of the first cylinder 33, the bushing 62 enters the inside of the forming sleeve 61, completing the assembly of the bushing 62 and the forming sleeve 61.

[0079] The pneumatic clamp of the second robot 41 clamps the tail of the nail rod 63 and inserts the nail rod 63 into the sleeve rod fixing chuck, with the head of the nail rod 63 downward, and the nail rod clamp 421 clamps and fixes the part of the rod body above the head of the nail rod 63. The first robot 31 clamps the forming sleeve 61 (the bushing 62 has been pushed into the forming sleeve 61) and moves above the nail rod 63, and the forming sleeve 61 is sleeved into the nail rod 63 from the tail of the nail rod 63.

[0080] The pneumatic gripper in the third robot 501 clamps the tail of the nail rod 63, inserts the combination of the nail rod 63 and the forming sleeve 61 into the screwing fixing chuck, and the screwing gripper 5021 clamps and fixes the head of the nail rod 63 and limits the forming sleeve 61. The pneumatic gripper in the third robot 501 clamps the nail sleeve 64 and moves above the nail sleeve gripper 504, passes through the clamping space of the nail sleeve gripper 504, and the nail sleeve gripper 504 limits the chamfer of the nail sleeve 64. The bottom of the nail sleeve 64 is located in the flared portion of the positioning gripper 505, but the nail sleeve 64 is in a suspended state. The third cylinder 508 drives the screwing fixing seat 502 to move vertically upward, so that the nail rod 63 passes through the clamping space of the positioning gripper 505 until it abuts against the bottom of the nail sleeve 64. The fourth cylinder 510 drives the rotating servo motor 506 to move downward through the guide rail plate 511 until the bit of the screwdriver 507 contacts the notch at the top of the nail sleeve 64 and rotates the bit and the notch through the rotation of the screwdriver 507. The screwing servo motor drives the screwdriver 507 to continue rotating, the nail sleeve gripper 504 opens, the nail sleeve 64 is screwed into the nail rod 63, and when the lower end of the nail cap is about to contact the positioning gripper 505, the positioning gripper 505 opens. The nail sleeve 64 continues to rotate and move downward until the circular table at the bottom of the nail sleeve 64 and the forming sleeve 61 reach the tangent position as shown in Figure 27 , and the assembled connecting piece 6 is as shown in Figure 26 .

[0081] Example Two

[0082] The difference between example one and example two is that the pressure sensor (not shown in the figure) for monitoring the real-time pressure during the screwing of the nail sleeve 64 is bolted in the screwing fixing seat 502, and the torque sensor (not shown in the figure) for monitoring the real-time torque during the screwing of the nail sleeve 64 is bolted in the rotating servo motor 506. Both the pressure sensor and the torque sensor are electrically connected to the microcontroller 11. During the screwing of the nail sleeve 64, the torque data and the pressure data are obtained through the sensor monitoring and transmitted to the microcontroller 11, combined with the displacement data recorded by the fourth cylinder 510, to generate a displacement-torque curve with displacement data and torque data, and a displacement-pressure curve with displacement data and pressure data, and to display the displacement-torque curve and the displacement-pressure curve through the display 12. The microcontroller 11 sets that each displacement value corresponds to a specific pressure range and torque range. If the real-time pressure value or torque value is outside the specific pressure range, it indicates that the size of the nail sleeve 64 and the nail rod 63 does not match or the threads of the two do not match, and the microcontroller 11 determines that the accessory is unqualified product and transmits the judgment result to the third robot, which takes out the unqualified connecting piece 6 and places it in the waste recycling tray.

[0083] The above is only an embodiment of the present application, and the present application is not limited to this embodiment. The common knowledge in the field to which the present application relates and the specific structure and characteristics in the scheme are not described in detail herein. It should be noted that, for those skilled in the art, without departing from the structure of the present application, a number of modifications and improvements can be made, which should also be considered as the protection scope of the present application, and these will not affect the implementation effect and the practicability of the patent. The protection scope claimed by the present application should be subject to the content of its claims, and the specific implementation mode and the like recorded in the specification can be used to explain the content of the claims.

Claims

1. A kit positioning and assembly device, comprising a tightening device, characterized in that, The tightening device includes a tightening and fixing chuck, a positioning claw, and a nail sleeve claw arranged sequentially from bottom to top. The tightening and fixing chuck includes a tightening and fixing base and several tightening claws that are radially slidably connected to the top of the tightening and fixing base. The inner end face of the tightening claw is an arc-shaped groove, which is set vertically in a stepped shape with a larger upper diameter and a smaller lower diameter. The larger inner diameter cavity at the top of the arc-shaped groove is used to accommodate the forming sleeve, and the smaller inner diameter cavity at the bottom of the arc-shaped groove is used to accommodate the nail head. The inner diameter of the larger inner diameter cavity is larger than the outer diameter of the forming sleeve. The inner end face of the positioning claw contacts the nail body, and the end of the inner end face near the nail sleeve claw is provided with a flared opening. The inner end face of the nail sleeve claw contacts the nail body, and the top of the inner end face is provided with a flared opening. The clamping spaces formed by the tightening and fixing chuck, the positioning claw, and the nail sleeve claw are centered opposite each other. It also includes a control system, a worktable, and a push-type clamping device and a sleeve device bolted to the worktable, wherein the push-type clamping device, the sleeve device and the tightening device are arranged in sequence; the push-type clamping device is used to push the bushing into the forming sleeve, and the sleeve device is used to fit the forming sleeve into the nail rod. The push-type clamping device includes a first robot, a forming sleeve pressing part, a bushing fitting seat, a bushing feeder, and a bushing pusher; the first robot is equipped with a pneumatic gripper, and a pressure rod is fixed to the outer shell of the pneumatic gripper by a fixing plate, the pressure rod being the forming sleeve pressing part; the pressure rod is used to press and fix the forming sleeve. The bushing assembly base has a horizontal bushing feeding channel inside, which extends outward to the bushing pusher. The bushing pusher is a second cylinder, and the power output rod of the second cylinder can extend into the bushing feeding channel to push the bushing forward. The top center of the bushing assembly base has a positioning hole perpendicular to and connected to the bushing feeding channel. The intersection of the positioning hole and the bushing feeding channel forms a bushing positioning space. The bottom center of the bushing assembly base has a pushing hole connected to the positioning hole. The bushing feeder is a first cylinder, which is located at the bottom of the bushing assembly base. The first cylinder is used to embed the bushing into the molded sleeve. The rod holder includes a rod fixing chuck and a second robot located on one side of the rod fixing chuck. The second robot is used to clamp and insert the rod into the rod fixing chuck. The tightening device also includes a third robot; the robotic arm of the third robot is equipped with two pneumatic grippers via a horizontal plate. The pneumatic gripper on the left is used to grip the tail of the nail rod, and the pneumatic gripper on the right is used to grip the nail sleeve. The left gripper grips the tail of the nail rod and inserts the combination of the nail rod and the forming sleeve into the tightening chuck, while the right gripper grips the rod of the nail sleeve and inserts the nail sleeve into the nail sleeve gripper. The control system includes a microcontroller, which is electrically connected to the first robot, the second robot, the third robot, the bushing feeder, the bushing pusher, and the pressure rod.

2. The kit positioning and assembly equipment according to claim 1, characterized in that, The tightening device also includes a rotary servo motor and a screwdriver located above the nail sleeve jaws, with the screwdriver fixedly connected to the output end of the rotary servo motor.

3. The kit positioning and assembly equipment according to claim 1, characterized in that, The top surface of the bushing fitting base is provided with a vertical through hole, and the side surface of the bushing fitting base is provided with a channel that communicates with the vertical through hole.

4. The kit positioning and assembly equipment 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, wherein the inner end face of the nail rod clamps contacts the nail rod.

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