Nut clamping mechanism and nut implanting machine

Abstract

The application discloses a nut clamping mechanism and a nut implanting machine, wherein the nut clamping mechanism comprises a material taking assembly and a clamping assembly which are used cooperatively. The clamping assembly comprises at least one clamping device which can reciprocate between a material taking station and a releasing station. The clamping device comprises a clamping pipe which is internally provided with a clamping cavity. The lower end of the clamping cavity is provided with an elastic clamping piece which can expand radially. A pushing piece is arranged in the clamping cavity and can move towards the elastic clamping piece under the action of an external air source. The material taking assembly is arranged at the material taking station and comprises a material taking rod which is arranged in one-to-one correspondence with the clamping device. One end of the material taking rod is connected with a material taking driving piece, and the other end of the material taking rod can be inserted into a nut arranged at the material taking station. The material taking driving piece is used to drive the material taking rod to move up and down. The nut clamping mechanism and the nut implanting machine can improve the positioning precision of nut taking and placing under the working condition that the operation space is insufficient, and further improve the stability of the nut position.

Description

Technical Field

[0001] This invention relates to the field of nut implantation machine technology, and more particularly to a nut clamping mechanism and a nut implantation machine. Background Technology

[0002] Nut insertion machines are used to insert nuts into plastic nuts. Current technology often uses a vibratory feeder to load the nuts to a fixed position, and then a robot mimics human fingers to grasp and release them. However, this method is limited by space; when the operating space is small, the robot struggles to accurately grasp or release the nuts, leading to difficulties in nut placement and affecting the stability of the nut's position during production. Summary of the Invention

[0003] To overcome the above-mentioned shortcomings, the present invention aims to provide a nut clamping mechanism and a nut insertion machine, which can improve the positioning accuracy of nut picking and placing under conditions of insufficient operating space, thereby improving the stability of the nut position.

[0004] To achieve the above objectives, one of the technical solutions adopted by the present invention is: a nut clamping mechanism, including a material picking component and a clamping component used in conjunction;

[0005] The clamping assembly includes at least one clamp that can reciprocate between a material picking station and a release station. The clamp includes a clamping tube with a clamping cavity inside. The lower end of the clamping cavity is provided with an elastic clamping member that can extend and retract radially. The clamping cavity is provided with a pushing member that can move towards the elastic clamping member under the action of an external air source.

[0006] The material handling assembly is located at the material handling station and includes material handling rods that are arranged one-to-one with the grippers. One end of the material handling rod is connected to the material handling drive, and the other end can be inserted into the nut located at the material handling station. The material handling drive is used to drive the material handling rod to move up and down.

[0007] When the gripper faces the material handling station, the material handling rod can send the nut into the gripping cavity under the action of the material handling drive; when the gripper faces the release station, the pusher can push the nut from the gripping cavity into the release station under the action of the external air source.

[0008] The beneficial effects of the nut clamping mechanism of the present invention are as follows:

[0009] 1. First, the material-picking drive unit moves the material-picking rod to insert it into the nut located at the material-picking station (i.e., into the inner hole of the nut), thus positioning the nut. Then, the material-picking drive unit continues to move the material-picking rod so that the material-picking rod inserted into the nut can drive the nut away from the material-picking station and into the clamping cavity of the clamping tube. Immediately afterward, the material-picking drive unit drives the material-picking rod out of the clamping cavity, and the nut is clamped in the clamping cavity under the action of the elastic clamping member. At this time, the material-picking action of the clamper is completed. Then, the clamper moves to the release station and pushes the nut clamped on the elastic clamping member into the release station through the pusher.

[0010] 2. The material-picking rod is inserted into the nut to achieve internal positioning, thus reducing the operating space compared to the method of picking up the nut with fingers. Then, the cooperation between the clamping tube and the material-picking rod can limit the nut and send it into the clamping cavity. The elastic clamping component then clamps the nut to ensure the positional stability of the nut within the clamping cavity. When the clamp moves to the release position, an external air source drives the pusher to move, so that the pusher can push the nut into the release position along the clamping cavity. Due to the limitation of the pusher and nut movement by the clamping cavity, the release position stability of the nut at the release position is improved. Thus, the cooperation of the clamping component and the material-picking component can improve the positioning accuracy of nut picking and placing under conditions of insufficient operating space, thereby improving the stability of the nut picking and placing position.

[0011] Furthermore, the pusher includes an inner push rod and an outer push rod that are fitted together; the two ends of the inner push rod extend out to the outer push rod, and the end facing the nut can be inserted into the nut; the outer push rod is dynamically sealed to the clamping cavity, and the end facing the nut can abut against the nut.

[0012] Because the inner push rod extends into outer rods at both ends, when the inner push rod and outer rod move towards the nut under the action of an external air source, the inner push rod contacts the nut first, and then inserts into the nut to internally position it. During the insertion of the inner push rod into the nut, the outer rod moves synchronously towards the nut until it abuts against it. As the external air source continues to push the pusher, the outer rod applies force to the nut, forcing it to overcome the clamping force of the elastic clamping element and move synchronously with the outer rod. During the movement of the nut, the inner push rod remains inserted inside the nut to internally position it. When the nut moves away from the clamping cavity, due to the internal positioning of the nut by the inner push rod and the limiting effect of the clamping cavity on the inner push rod and outer rod, the nut can maintain its predetermined direction and continue to move until it reaches the designated release position.

[0013] The outer rod applies a pushing force to the nut, and the inner push rod positions the nut internally. This allows the outer rod and inner push rod to smoothly enter the release station (without the clamping tube needing to enter) by providing only an operating space that matches the nut's size at the release station, thus achieving precise nut release. The clamping tube limits the movement of the outer rod and inner push rod, ensuring the accuracy of their movement direction and preventing release position deviations caused by directional errors.

[0014] Furthermore, a pressure relief hole is provided on the side wall of the clamping tube. When the outer sleeve rod moves below the pressure relief hole, the pressure relief hole can communicate with the clamping cavity located above the outer sleeve rod. The pressure relief hole releases the pressure applied to the pushing component by the external air source, thereby interrupting the movement of the pushing component. At this point, the position of the nut is its final release position. The pressure relief hole limits the downward movement of the pushing component, thus limiting the release position of the nut.

[0015] Furthermore, the inner push rod includes an upper rod and a lower rod arranged coaxially, with the lower rod located at the end of the upper rod facing the nut, and the radial dimension of the upper rod being larger than that of the lower rod; the outer rod has a stepped through groove that matches the shape of the upper rod and the lower rod.

[0016] The cooperation of the upper rod, lower rod, and stepped through groove allows the inner push rod to move synchronously with the outer rod when the pusher moves towards the nut. Conversely, when the pusher moves away from the nut, the inner push rod and outer rod can move independently. This design is necessary because when the gripper delivers the nut to the release station, the pusher needs to reset (i.e., the pusher retracts from the nut). The independent movement of the inner and outer rods allows the inner push rod to retract from the nut first, while the outer rod remains against the nut to limit its movement. In operation, when the gripper delivers the nut to the designated position in the release station, the ejector pin at the release station pushes against the inner push rod, causing it to retract from the nut while the outer rod remains against it. The ejector pin at the release station then inserts into the nut. The gripper can then be returned to the unloading station by the robotic arm.

[0017] Furthermore, both the inner push rod and the material take-up rod have guide radii at the end facing the nut to facilitate insertion of the nut.

[0018] Furthermore, the elastic clamping component includes at least one set of clamping parts arranged vertically. Each set of clamping parts includes multiple clamping balls arranged circumferentially along the clamping tube and partially located in the clamping cavity. An elastic ring is fitted on the outer side of the multiple clamping balls. When the elastic ring is in its natural state, the radial dimension of the inner ring surface formed by the multiple clamping balls is smaller than the outer diameter of the nut.

[0019] The inner annular surface formed by multiple clamping balls refers to the virtual circular surface enclosed by the side of the multiple clamping balls facing the clamping cavity. When the nut is located in the clamping cavity, the side of the clamping balls facing the clamping cavity can abut against the nut, and under the elastic force of the elastic ring, it can elastically abut against the nut to achieve clamping of the nut and ensure the stability of the nut in the clamping cavity.

[0020] The second technical solution adopted by the present invention is: a nut insertion machine, including any of the above-mentioned nut clamping mechanisms, the material taking component further including a material taking platform, and a feeding component is provided on at least one side of the material taking platform; the material taking platform is provided with a material taking channel corresponding to the feeding component, and the material taking channel is connected to the feeding component.

[0021] The beneficial effects of the nut clamping mechanism of the present invention are as follows:

[0022] The nut clamping mechanism can improve the positioning accuracy of nut picking and placing in situations where the operating space is insufficient, thereby improving the stability of the nut picking and placing position; while the setting of the feeding component realizes the automatic feeding action of the nut to the picking platform, improving production efficiency.

[0023] Furthermore, the material handling channel includes a storage area and at least one diversion area. One side of the storage area is connected to the feeding component, and the other side is connected to all the diversion areas. The feeding component is provided with a first airflow section that can blow air towards the storage area, and the storage area is provided with a second airflow section that can blow air towards the feeding component on the side near the diversion area.

[0024] The diversion zone facilitates the single-row arrangement of nuts, enabling nut distribution. The outlet of the diversion zone serves as the material-collecting position for the material-collecting rod, allowing it to collect nuts. The inlet of the diversion zone connects to the storage area, allowing nuts from the storage area to enter the diversion zone. The first and second airflow sections enable nut movement. The first airflow section moves nuts from the feeding assembly towards the storage area using aerodynamics, while nuts from the storage area move towards the diversion zone. However, when the storage area is full, the nuts block the inlet of the diversion zone, preventing airflow from the first airflow section. In this case, the second airflow section first moves the nuts from the storage area towards the feeding assembly, creating space for airflow within the storage area. Then, in conjunction with the first airflow section, the nuts from the storage area are fed into the diversion zone.

[0025] Furthermore, a nut picking position is provided on the side of the diversion zone away from the storage zone, and a through groove is provided on the nut picking position for the picking rod to move up and down; a stop surface matching the shape of the nut is provided on the side of the nut picking position away from the diversion zone, and at least one venting channel is provided on the side wall of the nut picking position. The stop surface can limit the nut to the nut picking position to facilitate the picking action of the picking rod on the nut, and the venting channel can realize the flow of air.

[0026] Furthermore, the nut pick-up position has a nut waiting position on the side facing the diversion area. The pick-up platform also has a stop rod that can be inserted into the nut in the nut waiting position under the action of the stop drive. The nut waiting position is the location of the next nut to enter the nut pick-up position. The stop rod in the nut waiting position can limit and stop the nut located in the nut waiting position to prevent the nut in the nut waiting position from squeezing the nut in the nut pick-up position. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the nut clamping mechanism according to an embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram of the material handling component according to an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the structure of the material picking rod and the material picking drive component in an embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram of the clamping assembly according to an embodiment of the present invention;

[0031] Figure 5 This is a cross-sectional schematic diagram of the clamping device according to an embodiment of the present invention;

[0032] Figure 6 This is a cross-sectional schematic diagram of the clamping device according to another embodiment of the present invention;

[0033] Figure 7 for Figure 6 A magnified view of part A in the middle;

[0034] Figure 8 This is a schematic diagram of the structure of the material picking component and the clamping component in cooperation according to an embodiment of the present invention;

[0035] Figure 9 This is a schematic diagram of the structure of the material picking channel and the feeding component in an embodiment of the present invention;

[0036] Figure 10 for Figure 9 A magnified view of part B in the middle;

[0037] Figure 11This is a schematic diagram of the material handling channel according to an embodiment of the present invention;

[0038] Figure 12 This is a schematic diagram of the structure of the protective cover according to an embodiment of the present invention.

[0039] In the picture:

[0040] 1-Clamping device; 11-Clamping tube; 111-Pressure relief hole; 112-Limiting rod; 12-Elastic clamping component; 121-Clamping ball; 122-Elastic ring; 13-Pushing component; 131-Inner push rod; 1311-Upper rod; 1312-Lower rod; 132-Outer rod; 1321-Rod body; 1322-Boss; 14-Air tube interface;

[0041] 21-Retrieving rod; 211-Lower retrieval rod; 212-Upper retrieval rod; 22-Retrieving drive component; 221-Retrieving base plate; 23-Retrieving platform; 231-Positioning seat; 232-Guide seat; 24-Storage area; 25-Diverting area; 26-Stop surface; 27-Stop drive component; 28-Stop rod; 29-Ventilation channel;

[0042] 3-Nuts;

[0043] 4-Clamping substrate; 41-Guide rod;

[0044] 5-Feeding assembly;

[0045] 6-First airflow section;

[0046] 7-Second airflow section;

[0047] 8- Protective cover. Detailed Implementation

[0048] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0049] Example

[0050] See appendix Figure 1-6As shown, a nut clamping mechanism of the present invention includes a material-picking assembly and a clamping assembly used in conjunction. The clamping assembly includes at least one clamping device 1 capable of reciprocating between a material-picking station and a release station. The clamping device 1 includes a clamping tube 11 with an internal clamping cavity. The lower end of the clamping cavity is provided with a radially extendable elastic clamping member 12. A pushing member 13, which can move towards the elastic clamping member 12 under the action of an external air source, is provided within the clamping cavity. The material-picking assembly is located at the material-picking station and includes a material-picking rod 21 corresponding to each clamping device 1. One end of the material-picking rod 21 is connected to a material-picking drive member 22, and the other end can be inserted into a nut 3 located at the material-picking station. The material-picking drive member 22 is used to drive the material-picking rod 21 to move up and down.

[0051] When the clamp 1 faces the material picking station, the material picking rod 21 can send the nut 3 into the clamping cavity under the action of the material picking drive 22; when the clamp 1 faces the release station, the pusher 13 can push the nut 3 from the clamping cavity into the release station under the action of the external air source.

[0052] During operation, the material-picking drive 22 first drives the material-picking rod 21 to move, so that the material-picking rod 21 is inserted into the nut 3 located at the material-picking station (i.e., inserted into the inner hole of the nut), thereby positioning the nut 3. Then, the material-picking drive 22 continues to drive the material-picking rod 21 to move, so that the material-picking rod 21 inserted into the nut 3 can drive the nut 3 away from the material-picking station and into the clamping cavity of the clamping tube 11. Immediately afterward, the material-picking drive 22 drives the material-picking rod 21 to exit the clamping cavity, and the nut 3 is clamped in the clamping cavity under the action of the elastic clamping member 12. At this time, the material-picking action of the clamp 1 is completed. Then, the clamp 1 moves to the release station, and the pusher 13 sends the nut 3 clamped on the elastic clamping member 12 into the release station.

[0053] In some embodiments, four grippers 1 are provided, and all four grippers 1 are mounted on a gripping base plate 4. The gripping base plate 4 is connected to a robotic arm to enable movement of the gripping base plate 4 in any direction. Correspondingly, four picking rods 21 are also provided, and the picking assembly includes a picking platform 23. The four picking rods 21 are all disposed through the picking platform 23, with their upper ends facing the corresponding grippers 1, and their lower ends connected to a picking drive member 22. By driving the four picking rods 21 simultaneously through one picking drive member 22, the synchronous movement of the four picking rods 21 can be ensured. For example, the picking drive member 22 includes a drive cylinder, and the piston rod of the drive cylinder is connected to the picking base plate 221. The four picking rods 21 are all fixed to the picking base plate 221. It should be noted that the number of grippers 1 and picking rods 21 is not limited by this embodiment. In actual applications, it can be adjusted according to processing requirements, such as two, three, six, etc.

[0054] Furthermore, to improve positioning accuracy, see the appendix. Figure 2 , 4 As shown, multiple positioning seats 231 are arranged on the picking platform 23, and multiple guide rods 41 corresponding to the positioning seats 231 are arranged on the clamping base plate 4. When the clamping base plate 4 moves towards the picking platform 23, the guide rods 41 can be inserted into the corresponding positioning seats 231 to achieve positioning between the picking platform 23 and the clamping base plate 4, thereby ensuring that the picking rod 21 can be aligned with the corresponding clamp 1. Then, the picking base plate 221 is driven to move upward by the driving cylinder, so that the picking rod 21 first inserts into the nut 3 located on the picking platform 23 during the upward movement, and then drives the nut 3 into the clamping cavity of the clamp 1; when the elastic clamping member 12 clamps the nut 3, the driving cylinder can be activated in reverse to make the picking rod 21 move downward and exit the clamp 1.

[0055] The internal positioning of the nut 3 is achieved by inserting the picking rod 21 into the nut 3, thereby reducing the clamping space required to clamp the nut 3 from the outside. During the upward movement of the picking rod 21, the picking platform 23 can always limit the picking rod 21 to ensure the movement accuracy of the picking rod 21 and enable the picking rod 21 to accurately enter the corresponding clamp 1. During this process, the clamp 1 does not enter the picking platform 23, thus saving picking space.

[0056] Furthermore, see Appendix Figure 2 As shown, the material handling platform 23 is also provided with guide seats 232 corresponding to the material handling rods 21, and the material handling rods 21 pass through the corresponding guide seats 232. The guide seats 232 can guide the movement of the material handling rods 21 on the material handling platform 23.

[0057] In some embodiments, see Appendix Figure 3 As shown, the material-picking rod 21 includes a coaxial and integrally formed lower material-picking rod 211 and upper material-picking rod 212. The radial dimension of the lower material-picking rod 211 matches the outer diameter of the nut 3, and the radial dimension of the upper material-picking rod 212 matches the inner diameter of the nut 3. The upper material-picking rod 212 can internally position the nut 3. When the lower material-picking rod 211 abuts against the nut, it can drive the nut 3 to move upward synchronously. Furthermore, to facilitate the insertion of the upper material-picking rod 212 into the nut 3, the upper end of the upper material-picking rod 212 is provided with a guide radius.

[0058] After the picking rod 21 retracts to the picking platform 23, the robotic arm can move the clamping plate 4 towards the release station, so that the clamp 1 with the nut 3 can face the release station. The structure of the clamp 1 is described in detail below.

[0059] In some embodiments, see Appendix Figure 4-7As shown, the pusher 13 includes an inner push rod 131 and an outer push rod 132, which are fitted together. The outer push rod 132 extends from both ends of the inner push rod 131, and its end facing the nut 3 can be inserted into the nut 3. The outer push rod 132 is dynamically sealed to the clamping cavity, and its end facing the nut 3 can abut against the nut 3. Furthermore, the end of the inner push rod 131 facing the nut 3 has a guide radius to facilitate insertion into the nut 3.

[0060] Since the inner push rod 131 extends into outer rods 132 at both ends, when the inner push rod 131 and outer rod 132 move towards the nut 3 under the action of an external air source, the inner push rod 131 can contact the nut 3 before the outer rod 132, and then insert into the nut 3 to internally position the nut 3; during the process of the inner push rod 131 being inserted into the nut 3, the outer rod 132 moves synchronously towards the nut 3 until the outer rod 132 abuts against the nut 3; as the external air source continues to push the pusher 13... When the nut 3 moves, the outer rod 132 can apply force to the nut 3, forcing the nut 3 to overcome the clamping force of the elastic clamping member 12 and move synchronously with the outer rod 132. During the movement of the nut 3, the inner push rod 131 is always inserted into the nut 3 to internally position the nut 3. When the nut 3 moves away from the clamping cavity, due to the internal positioning of the nut 3 by the inner push rod 131 and the limiting of the clamping cavity on the inner push rod 131 and the outer rod 132, the nut 3 can maintain the predetermined direction and continue to move until the nut 3 moves to the designated release position.

[0061] The outer rod 132 applies a pushing force to the nut 3, and the inner push rod 131 achieves internal positioning of the nut 3. This allows the outer rod 132 and the inner push rod 131 to smoothly enter the release station (at this time, the clamping tube 11 does not need to enter the release station), thereby achieving the positioning and release of the nut 3 and ensuring release accuracy. The clamping tube 11 can limit the movement of the outer rod 132 and the inner push rod 131 to ensure the accuracy of the movement direction of the outer rod 132, the inner push rod 131 and the nut 3, and avoid the problem of release position deviation caused by deviation of the movement direction.

[0062] In some embodiments, see Appendix Figure 5 As shown, a pressure relief hole 111 is provided on the side wall of the clamping tube 11. When the outer sleeve rod 132 moves below the pressure relief hole 111, the pressure relief hole 111 can communicate with the clamping cavity located above the outer sleeve rod 132. The pressure relief hole 111 releases the pressure applied to the pusher 13 by the external air source, thereby interrupting the movement of the pusher 13. At this time, the position of the nut 3 is its final release position. The pressure relief hole 111 limits the downward movement of the pusher 13, thereby limiting the release position of the nut 3.

[0063] In some embodiments, see Appendix Figure 6-7 As shown, the inner push rod 131 includes an upper rod 1311 and a lower rod 1312 coaxially arranged. The lower rod 1312 is located at the end of the upper rod 1311 facing the nut 3, and the radial dimension of the upper rod 1311 is larger than the radial dimension of the lower rod 1312. The outer rod 132 is provided with a stepped through groove that matches the shape of the upper rod 1311 and the lower rod 1312.

[0064] The cooperation of the upper rod 1311, lower rod 1312, and stepped through groove allows the inner push rod 131 to drive the outer rod 132 to move synchronously when the pusher 13 moves towards the nut 3. When the pusher 13 moves away from the nut 3, the inner push rod 131 and the outer rod 132 can move independently. This is because when the clamp 1 delivers the nut 3 to the release position, the pusher 13 needs to reset (i.e., the pusher 13 retracts from the nut 3). The independent movement of the inner push rod 131 and the outer rod 132 allows the inner push rod 131 to retract from the nut 3 first, while the outer rod 132 remains against the nut 3 to limit its movement. In specific operation, when the clamp 1 sends the nut 3 into the designated position of the release station, the ejector pin on the release station can push the inner ejector rod 131 to make the inner ejector rod 131 withdraw from the nut 3. At this time, the outer rod 132 is still abutting against the nut 3, and the ejector pin on the release station is inserted into the nut 3. Then the robot can drive the clamping plate 4 and the clamp 1 back to the material picking station.

[0065] In some embodiments, see Appendix Figure 6 As shown, the clamping tube 11 is also provided with a limiting rod 112 located above the inner push rod 131. The limiting rod 112 can abut against the end of the inner push rod 131 away from the nut 3. The setting of the limiting rod 112 can limit the reset position of the inner push rod 131.

[0066] In some embodiments, see Appendix Figure 6 As shown, the outer sleeve rod 132 includes a rod body 1321, with a gap between the rod body 1321 and the clamping cavity. A boss 1322, which dynamically seals with the clamping cavity, is provided on the upper end side wall of the rod body 1321. The arrangement of the rod body 1321 and the boss 1322 ensures a dynamic seal between the outer sleeve rod 132 and the clamping cavity, and also reduces the movement resistance caused by this dynamic seal. It should be noted that the radial dimension of the rod body 1321 should be larger than the inner diameter of the nut 3 to ensure proper contact between the rod body 1321 and the nut 3.

[0067] In some embodiments, see Appendix Figure 5 As shown, the upper end of the clamping tube 11 is also provided with an air pipe connector 14 for connecting an external air source.

[0068] To elaborate further, see Appendix Figure 7 As shown, the elastic clamping member 12 includes at least one set of clamping parts arranged vertically. Each set of clamping parts includes multiple clamping balls 121 arranged circumferentially along the clamping tube 11 and partially located in the clamping cavity. An elastic ring 122 is fitted on the outer side of the multiple clamping balls 121. When the elastic ring 122 is in its natural state, the radial dimension of the inner ring surface formed by the multiple clamping balls 121 is smaller than the outer diameter of the nut 3.

[0069] The inner annular surface formed by the multiple clamping balls 121 refers to the virtual circular surface enclosed by the side of the multiple clamping balls 121 facing the clamping cavity. When the nut 3 is located in the clamping cavity, the side of the clamping balls 121 facing the clamping cavity can abut against the nut 3, and under the elastic force of the elastic ring 122, it can elastically abut against the nut 3 to achieve clamping of the nut 3 and ensure the stability of the nut 3 in the clamping cavity.

[0070] Specifically, annular grooves corresponding to the clamping parts and used to accommodate the elastic rings 122 are formed on the side wall of the clamping tube 11. Each annular groove has an opening at its bottom that corresponds to a plurality of clamping balls 121 in the clamping part, and the opening communicates with the clamping cavity. The annular grooves limit the position of the elastic rings 122, while the openings allow the clamping balls 121 to be partially located within the clamping cavity, thereby achieving the clamping of the nut 3 by the clamping balls 121.

[0071] In some embodiments, the clamping balls 121 of adjacent clamping parts are staggered. That is, the multiple clamping balls 121 of one clamping part are staggered with the multiple clamping balls 121 of another clamping part. This allows the clamping balls 121 of the two clamping parts to limit the nut 3 from different directions when the two clamping parts are clamped on the nut 3 at the same time, thereby improving the stability of clamping.

[0072] Furthermore, to ensure the stability of nut 3 within the clamping cavity, when the feeding rod 21 delivers the nut into the clamping cavity, the nut 3 can be positioned above the lowermost clamping part. Since the radial dimension of the inner annular surface formed by the multiple clamping balls 121 is smaller than the outer diameter of nut 3, when nut 3 is positioned above the lowermost clamping part, the multiple clamping balls 121 of the lowermost clamping part can collectively support nut 3, thereby reducing the risk of nut 3 slipping out of the clamping cavity to a certain extent.

[0073] See appendix Figure 8-12 As shown, the present invention also provides a nut insertion machine, including the above-mentioned nut clamping mechanism, and a feeding component 5 is provided on at least one side of the feeding platform 23. The feeding platform 23 is provided with a feeding channel corresponding to the feeding component 5, and the feeding channel is connected to the feeding component 5.

[0074] It should be noted that in this embodiment, when there are four picking rods 21, both sides of the picking platform 23 are provided with feeding components 5, and one feeding component 5 feeds material to two picking rods 21 through the picking channel.

[0075] Specifically, the feeding assembly 5 includes a feeding box, which is clamped to one side of the material handling platform 23 by quick clamps, and has several nuts 3 arranged inside. One side of the feeding box is provided with a feeding port that faces the material handling channel.

[0076] See appendix Figure 9-11 As shown, the material handling channel includes a storage area 24 and at least one diversion area 25 (two diversion areas 25 are provided in this embodiment). One side of the storage area 24 is connected to the feed inlet, and the other side is connected to all diversion areas 25. The connection between the storage area 24 and the feed inlet can accommodate multiple nuts 3, while the connection between the storage area 24 and the diversion area 25 can only accommodate a single nut 3. The diversion of nuts 3 by the diversion areas 25 facilitates the single-row arrangement of the nuts 3, enabling the distribution of materials. The outlet of the diversion area 25 (the side away from the storage area 24) is the material handling position of the material handling rod 21, facilitating the material handling rod 21's material handling action. The inlet of the diversion area 25 (the side facing the storage area 24) is connected to the storage area 24, allowing the nuts 3 in the storage area 24 to enter the diversion area 25.

[0077] To enable the movement of nut 3 in the storage area 24 and the diversion area 25, in some embodiments, see the attached diagram. Figure 10 As shown, the feeding box is provided with a first airflow section 6 that can blow air towards the storage area 24, and the storage area 24 is provided with a second airflow section 7 that can blow air towards the feeding box on the side near the diversion area 25.

[0078] Initially, the nuts 3 in the feeding box can move along a predetermined route to the storage area 24 under the action of the first airflow section 6. The nuts 3 in the storage area 24 can enter the diversion area 25 under the continuous action of the first airflow section 6. When the storage area 24 is full of nuts 3, the nuts 3 in the storage area 24 will block the inlet of the diversion area 25, so that even under the continuous action of the first airflow section 6, the airflow cannot be transported to the diversion area 25. At this time, the second airflow section 7 first moves the nuts 3 in the storage area 24 towards the feeding assembly 5 so that a space for airflow is formed in the storage area 24. Then, with the cooperation of the first airflow section 6, the nuts 3 can be sent back into the storage area 24, and the nuts 3 in the storage area 24 can enter the diversion area 25 again.

[0079] In some embodiments, see Appendix Figure 11As shown, a nut pick-up position (i.e., the outlet of the diversion zone 25) is provided on the side of the diversion zone 25 away from the storage zone 24. A through groove for the pick-up rod 21 to move up and down is provided through the nut pick-up position. A stop surface 26 matching the shape of the nut is also provided on the side of the nut pick-up position away from the diversion zone 25. When the nut 3 moves along the diversion zone 25 towards the nut pick-up position, the nut 3 that has moved to the nut pick-up position is limited at the nut pick-up position by the action of the stop surface 26. At this time, the storage zone 24 can no longer feed the nut 3 into the diversion zone 25.

[0080] Furthermore, see Appendix Figure 9 , 11 As shown, a nut waiting position is also provided on the side of the nut picking position facing the diversion area 25. The picking platform 23 is also provided with a stop rod 28 that can be inserted into the nut 3 in the nut waiting position under the action of the stop drive member 27. The nut waiting position is the position where the next nut 3 to enter the nut picking position is located. The stop rod 28 is provided in the nut waiting position to limit and stop the nut 3 located in the nut waiting position, so as to prevent the nut 3 in the nut waiting position from being squeezed into the nut 3 in the nut picking position due to the action of the first airflow section 6. For example, the stop drive member 27 can be a cylinder.

[0081] To ensure gas flow in the first airflow section 6 within the diversion zone 25, see Appendix. Figure 11 As shown, at least one venting channel 29 is provided on the side wall of the nut picking position to ensure smooth airflow. For example, three venting channels 29 may be provided.

[0082] In some embodiments, the material handling platform 23 is also equipped with a monitoring sensor corresponding to the material handling rod 21. The monitoring sensor is used to monitor whether the material handling rod 21 is fitted with a nut 3. The height of the monitoring sensor can be set between the nut picking position and the clamp 1. When the material handling rod 21 fitted with a nut moves toward the clamp 1, the monitoring sensor can detect whether there is a nut 3 on the material handling rod 21.

[0083] In some embodiments, see Appendix Figure 12 As shown, the nut insertion machine also includes a protective cover 8 located outside the nut clamping mechanism.

[0084] The specific working process of the nut implantation machine in this embodiment is as follows:

[0085] When a feeding box containing several nuts 3 is clamped onto one side of the picking platform 23 by quick clamps, the first airflow unit 6 is activated to transport the nuts 3 in the feeding box towards the storage area 24. Under the action of the first airflow unit 6, the nuts 3 in the storage area 24 can enter the diversion area 25 in sequence and move along the diversion area 25 towards the nut picking position. When the diversion area 25 is full of nuts 3, the first nut 3 that enters the diversion area 25 can move to the nut picking position and stop at the nut picking position under the action of the stop surface 26. The second nut that enters the diversion area 25 can move to the nut waiting position. At this time, the stop drive 27 is activated, and the stop rod 28 can move upward and insert into the nut 3 located in the nut waiting position. At this time, the nut 3 feeding action ends.

[0086] The drive cylinder is activated to move the picking rod 21 upward along the through groove and insert it into the nut 3 located in the nut picking position. As the drive cylinder continues to drive, the picking rod 21 can drive the nut 3 away from the nut picking position and move the nut 3 towards the clamp 1. At this time, the monitoring sensor can detect whether the picking rod 21 is fitted with a nut 3. If it is, the picking rod 21 continues to move upward until the nut 3 enters the clamping cavity (if not, the drive cylinder stops running and an alarm is issued through the controller). Then the drive cylinder is activated in reverse to make the picking rod 21 exit the clamping cavity. At this time, the nut 3 located in the clamping cavity can be clamped in the clamping cavity under the action of the clamping ball 121, and the picking action of the nut 3 ends.

[0087] The robotic arm moves the clamping plate 4 towards the release station and aligns the clamping tube 11 with the designated release position. Gas is injected into the clamping cavity via an external air source, causing the outer sleeve rod 132 and inner push rod 131 to move towards the nut 3 under air pressure. The inner push rod 131 first inserts into the nut 3, and then the outer sleeve rod 132 abuts against the nut 3. Under the continuous action of the external air source, the outer sleeve rod 132 pushes the nut 3 to move synchronously, allowing the nut 3 to overcome the clamping force of the elastic clamping member 12 and leave the clamping cavity. When the nut 3 leaves the clamping cavity, the inner push rod 132... 1. The inner push rod 131 is still inserted inside nut 3, and the outer rod 132 is still abutting against nut 3, until the upper end of the outer rod 132 moves to a position lower than the vent hole 111. At this time, the inner push rod 131 and the outer rod 132 will not move further because there is no external air source driving them, and nut 3 reaches the designated release position. Then, the inner push rod 131 is pushed in the opposite direction (moving towards the limit rod 112) by the ejector pin at the release position, so that the inner push rod 131 is withdrawn from nut 3, and the ejector pin is then inserted into nut 3. At this time, the outer rod 132 is still abutting against nut 3; the release action of nut 3 is completed.

[0088] Then, the robotic arm moves the clamping substrate 4 to the material handling station for the next material handling operation.

[0089] The above embodiments are only for illustrating the technical concept and features of the present invention. Their purpose is to enable those skilled in the art to understand the content of the present invention and implement it. They should not be used to limit the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A nut clamping mechanism, characterized in that: Including the material handling components and clamping components used in conjunction; The clamping assembly includes at least one clamp that can reciprocate between a material picking station and a release station. The clamp includes a clamping tube with a clamping cavity inside. The lower end of the clamping cavity is provided with an elastic clamping member that can extend and retract radially. The clamping cavity is provided with a pushing member that can move toward the elastic clamping member under the action of an external air source. The material handling assembly is located at the material handling station and includes material handling rods that are arranged one-to-one with the clamps. One end of the material handling rod is connected to the material handling drive, and the other end can be inserted into the nut located at the material handling station. The material handling drive is used to drive the material handling rod to move up and down. When the clamp is facing the material picking station, the material picking rod can feed the nut into the clamping cavity under the action of the material picking drive; when the clamp is facing the release station, the pusher can push the nut from the clamping cavity into the release station under the action of an external air source. The pushing component includes an inner push rod and an outer push rod that are fitted together; the two ends of the inner push rod extend out of the outer push rod respectively, and the end facing the nut can be inserted into the nut; the outer push rod is dynamically sealed to the clamping cavity, and the end facing the nut can abut against the nut; The clamping tube has a pressure relief hole on its side wall. When the outer sleeve rod moves to below the pressure relief hole, the pressure relief hole can communicate with the clamping cavity located above the outer sleeve rod. The inner push rod includes an upper rod and a lower rod arranged coaxially. The lower rod is located at the end of the upper rod facing the nut, and the radial dimension of the upper rod is greater than that of the lower rod. The outer rod is provided with a stepped through groove that matches the shape of the upper rod and the lower rod.

2. The nut clamping mechanism according to claim 1, characterized in that: The inner push rod and the material take-up rod both have guide radii facing the nut at one end, which facilitates insertion into the nut.

3. The nut clamping mechanism according to claim 1, characterized in that: The elastic clamping member includes at least one set of clamping parts arranged vertically. Each set of clamping parts includes multiple clamping balls arranged circumferentially along the clamping tube and partially located in the clamping cavity. An elastic ring is fitted on the outer side of the multiple clamping balls. When the elastic ring is in its natural state, the radial dimension of the inner ring surface formed by the multiple clamping balls is smaller than the outer diameter of the nut.

4. A nut insertion machine, characterized in that: The material handling component further includes a material handling platform, wherein at least one side of the material handling platform is provided with a feeding component; the material handling platform is provided with a material handling channel corresponding to the feeding component, and the material handling channel is connected to the feeding component.

5. The nut implantation machine according to claim 4, characterized in that: The material feeding channel includes a storage area and at least one diversion area. One side of the storage area is connected to the feeding component, and the other side is connected to all the diversion areas. The feeding component is provided with a first airflow section that can blow air towards the storage area, and the storage area is provided with a second airflow section that can blow air towards the feeding component on the side near the diversion area.

6. The nut implantation machine according to claim 5, characterized in that: The diversion area is provided with a nut picking position on the side away from the storage area. A through groove is provided through the nut picking position to allow the picking rod to move up and down. The side of the nut picking position away from the diversion area is provided with a stop surface that matches the shape of the nut, and at least one venting channel is provided on the side wall of the nut picking position.

7. The nut implantation machine according to claim 5, characterized in that: The nut picking position is also provided with a nut waiting position on the side facing the diversion area, and the picking platform is also provided with a stop rod that can be inserted into the nut in the nut waiting position under the action of the stop drive.

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