An automated assembly device for conical embedded fasteners

Abstract

The present invention relates to the technical field of civil engineering equipment, and particularly relates to an automatic assembly device for a conical embedded fixing piece, which includes a feeding device for eye bolts, a feeding device for embedded cones, a fixing seat for the embedded cones, an assembly unit and a robotic arm. The assembly unit includes a clamping unit and a rotary mounting unit. The clamping unit includes a first clamping plate and a second clamping plate which are arranged oppositely. The first clamping plate and the second clamping plate are respectively connected to two ends of a linear drive. A horizontal inner top column is fixedly installed on the first clamping plate, and the diameter of the inner top column gradually decreases towards the end facing the second clamping plate. A push cylinder is arranged on the second clamping plate and is on the same straight line as the axis of the inner top column. The rotary mounting unit includes a rotary shaft rod and a rotary drive. In this technical solution, the push cylinder effectively clamps the eye bolts at different positions on the inner top column, ensuring that the bolt axis of the eye bolt is perpendicular to the axis of the inner top column. The rotary mounting unit drives the eye bolt to rotate to achieve automatic assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of civil engineering equipment, and specifically relates to an automatic assembly device for conical embedded fixtures. Background Art

[0002] During the process of formwork erection and reinforcement for suspended formwork, there are many drawbacks in traditional formwork erection methods: when fabricating the formwork for suspended formwork with wooden formwork, only simple diagonal bracing is carried out at the four corners, and then positioning steel bars and stools are welded for fixing the suspended formwork. As a result, the size of the cast concrete deviates from the design requirements, failing to meet the design requirements and being unfavorable for high-quality projects. In the prior art, a formwork tool for fixing the suspended formwork mold is often used for improvement. After the floor formwork is laid flat, only circular holes with a diameter of 6 mm need to be drilled on the floor according to requirements using a hole-opening tool, and then the nylon water stop support is placed on the circular holes of the floor formwork, the embedded cone is inserted into the nylon water stop support, and the lifting ring bolt is threadedly connected to the embedded cone (as Figure 1 shown). The lifting ring of the lifting ring bolt is connected by an angle iron to lift the suspended formwork mold, and then the weight of the mold is transferred to the conical fixed support to complete the support of the suspended formwork, eliminating the need for welding and supporting with stools; the conical embedded fixture has a large upper part and a small lower part in shape, with the angle required for formwork removal, and is convenient to remove, so it can be reused and cost can be saved.

[0003] However, usually, workers need to manually screw and install the embedded cone and the lifting ring bolt. The operation is single and labor-consuming, and it is impossible to ensure that the torque between each embedded cone and the lifting ring bolt during assembly is the same, presenting a safety hazard when lifting the suspended formwork mold. Summary of the Invention

[0004] In view of the above problems, it is necessary to provide an automatic assembly device for conical embedded fixtures to address the problems in the prior art.

[0005] To solve the problems in the prior art, the technical solution adopted by the present invention is as follows:

[0006] An automatic assembly device for a conical embedded fixing part, comprising a feeding device for a lifting ring bolt, a feeding device for an embedded cone, a fixing seat for the embedded cone, and an assembly unit for clamping the lifting ring bolt and rotating it onto the embedded cone for assembly. The assembly unit is fixedly connected to a robotic arm, and the robotic arm drives the assembly unit to move between the feeding device for the lifting ring bolt and the fixing seat of the embedded cone. The assembly unit includes a clamping unit and a rotating and mounting unit. The clamping unit includes a first clamping plate and a second clamping plate arranged opposite to each other. The first clamping plate and the second clamping plate are respectively connected to two ends of a linear driver. The linear driver drives the first clamping plate and the second clamping plate to move relatively in the horizontal direction. An inner top column is fixedly installed on the first clamping plate. The axis of the inner top column is horizontally arranged, and the diameter of the end of the inner top column facing the second clamping plate gradually decreases. The inner top column is inserted into the inner hole of the lifting ring of the lifting ring bolt. A pushing cylinder is arranged on the second clamping plate and is on the same straight line as the axis of the inner top column. The pushing cylinder cooperates with the inner top column to clamp and fix the lifting ring bolt. The rotating and mounting unit includes a rotating shaft rod and a rotating driver. The rotating driver drives the rotating shaft rod to rotate. The rotating shaft rod is slidably installed on an adjusting seat. The adjusting seat is drivingly connected to the second clamping plate. The adjusting seat drives the rotating shaft rod to horizontally move along the axis of the inner top column above the clamping unit. The axis of the rotating shaft rod is on the same straight line as the axis of the lifting ring bolt fixed by the clamping unit.

[0007] Preferably, the pushing cylinder is composed of a plurality of arc-shaped plates with an arc-shaped cross-section. The arc-shaped plates are spliced together to form a cylindrical shape. At least two guide rods are arranged at one end of each arc-shaped plate. The axes of the guide rods are parallel to the axis of the inner top column. The guide rods are slidably installed in the waist-shaped holes arranged on the second clamping plate. One end of the guide rod is connected to a limit slider. The limit slider is slidably installed in the limit groove arranged on the side of the second clamping plate away from the pushing cylinder. The waist-shaped holes and the limit groove extend along the radial direction of the inner top column. An elastic member is arranged in the limit groove. The elastic member is elastically connected to the limit slider, and the elastic member applies an elastic force for the limit slider to move towards the axis of the inner top column.

[0008] Preferably, the rotating shaft rod is arranged on a sliding seat. The sliding seat is slidably installed in a sliding rail arranged at the top of the adjusting seat. The sliding rail extends horizontally along the axis of the inner top column. A threaded sleeve hole is arranged at one end of the sliding rail close to the second clamping plate. A fine adjustment screw is spirally installed in the threaded sleeve hole. The axis of the fine adjustment screw is parallel to the axis of the inner top column. The fine adjustment screw is connected to the sliding seat, and the fine adjustment screw rotates to adjust the position of the sliding seat on the sliding rail.

[0009] Preferably, a sleeve is arranged at one end of the sliding seat. One end of the fine adjustment screw is inserted into the sleeve. A ring groove surrounding the inner wall of the sleeve is arranged in the sleeve. A limit ring surrounding the circumference of the fine adjustment screw is arranged at the top end of the fine adjustment screw. The limit ring is installed in the ring groove of the sleeve in a limiting manner.

[0010] Preferably, at least one guide rod is arranged on the second clamping plate. The axis of the guide rod is parallel to the axis of the inner top column. The guide rod is inserted into a guide sleeve arranged coaxially on the first clamping plate.

[0011] Preferably, the rotary shaft rod and the rotary drive are drivingly connected through a connecting sleeve. A gear is coaxially arranged at the top end of the rotary shaft rod, and the gear is located inside the connecting sleeve. A top block is arranged on the side wall of the connecting sleeve, and the top block meshes with the gear. The connecting sleeve drives the gear to rotate synchronously through the top block. The top block is connected to a torque control unit, and the torque control unit drives the top block to be able to move radially along the connecting sleeve.

[0012] Preferably, the torque control unit includes an installation cavity arranged on the circumferential side of the connecting sleeve. The installation cavity extends radially along the connecting sleeve. The inner wall of the outer end of the installation cavity is provided with threads. The other end of the installation cavity communicates with the connecting sleeve, and the top block is inserted into the installation cavity. The torque control unit further includes an adjusting screw, which is spirally installed at the threaded end of the installation cavity. A spring is arranged in the installation cavity, and the spring elastically connects the adjusting screw and the top block.

[0013] Preferably, at least one positioning block is arranged on the circumferential side of the outer wall of the connecting sleeve. A positioning hole groove is arranged at the bottom of the positioning block, and the positioning hole groove extends along the axis direction of the inner top column. An elastic positioning column extending vertically upward is arranged on the upper side of the first clamping plate. In the non-working state, the top end of the elastic positioning column is inserted into the sensing element at the bottom of the positioning block. A sensing element is arranged on one side of the positioning block, and the detection end of the sensing element is located inside the positioning hole groove. The sensing element is used to detect the insertion of the elastic positioning column into the positioning hole groove.

[0014] The beneficial effects of the present invention compared with the prior art are as follows:

[0015] First, in the present invention, the inner top column of the clamping unit is driven by the robotic arm to insert into the inner hole of the lifting eye of the lifting eye bolt. The inner top column has a certain taper, so as to ensure that the lifting eye bolt with any size of the lifting eye can be sleeved on the inner top column. The pushing cylinder is formed by splicing a plurality of arc-shaped plates, and the arc-shaped plates can move radially inward along the outer wall of the inner top column to ensure that the top end of the pushing cylinder can fit the lifting eye bolt sleeved on the inner top column, effectively clamping the lifting eye bolts at different positions on the inner top column, ensuring that the bolt axis of the lifting eye bolt is perpendicular to the axis of the inner top column, and improving the application range of the equipment.

[0016] Second, the position of the rotary shaft rod on the adjusting seat in the present invention can be adjusted to ensure that after the clamping unit clamps different models of lifting eye bolts each time, the axis of the rotary shaft rod can be on the same straight line as the axes of the different models of lifting eye bolts fixed by the clamping unit, so as to ensure the assembly of the lifting eye bolt rotating around the bolt axis and the embedded cone.

[0017] Thirdly, when the pressure between the gear and the top block is too high, the torque control unit in the present invention can drive the top block to move radially along the connecting sleeve, enabling the connecting sleeve to rotate following the rotary driver while the gear does not rotate. This not only protects the working end of the rotary driver but also ensures appropriate torque after the assembly of the eyebolt and the embedded cone, and avoids damaging the working end of the rotary driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram of the assembled finished product of a conical embedded fixing part;

[0019] Figure 2 is a side view of the assembly unit of an automatic assembly device for conical embedded fixing parts;

[0020] Figure 3 is a three-dimensional Figure 1 ;

[0021] Figure 4 is a three-dimensional Figure 2 ;

[0022] Figure 5 is Figure 2 a partial enlarged view of A in

[0023] Figure 6 is a front view of the assembly unit of an automatic assembly device for conical embedded fixing parts;

[0024] Figure 7 is Figure 6 a sectional view taken along line B-B of

[0025] Figure 8 is Figure 7 a partial enlarged view of C in

[0026] Figure 9 is Figure 7 a partial enlarged view of D in

[0027] Figure 10 is a three-dimensional structural decomposition of the assembly unit of an automatic assembly device for conical embedded fixing parts Figure 1 ;

[0028] Figure 11 is a three-dimensional structural decomposition of the assembly unit of an automatic assembly device for conical embedded fixing parts Figure 2 。

[0029] The reference numerals in the figure are: 1, eyebolt; 2, embedded cone; 3, clamping unit; 31, first clamping plate; 311, linear drive; 312, guide sleeve; 313, elastic positioning post; 32, second clamping plate; 321, kidney-shaped hole; 322, limiting groove; 323, elastic member; 324, guide rod; 33, inner top post; 34, push cylinder; 341, arc-shaped plate; 342, guide rod; 343, limiting slider; 4, rotary mounting unit; 41, rotary shaft rod; 411, sliding seat; 412, sleeve; 413, annular groove; 414, gear; 42, rotary drive; 43, adjusting seat; 431, slide rail; 432, threaded sleeve hole; 433, fine adjustment screw; 434, limiting ring; 44, connecting sleeve; 441, top block; 442, positioning block; 443, positioning hole groove; 444, sensing element; 45, torque control unit; 451, mounting cavity; 452, thread; 453, adjusting screw; 454, spring. Specific embodiments

[0030] To further understand the features, technical means, specific purposes and functions achieved by the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0031] Refer to Figures 2 to 11 :

[0032] An automatic assembly device for a tapered embedded fixing piece includes a feeding device for the eyebolt 1, a feeding device for the embedded cone 2, a fixing seat for the embedded cone 2, and an assembly unit for clamping the eyebolt 1 and rotating it onto the embedded cone 2 for assembly. The assembly unit is fixedly connected to a robotic arm, and the robotic arm drives the assembly unit to move between the feeding device of the eyebolt 1 and the fixing seat of the embedded cone 2. The assembly unit includes a clamping unit 3 and a rotary mounting unit 4. The clamping unit 3 includes a first clamping plate 31 and a second clamping plate 32 arranged oppositely. The first clamping plate 31 and the second clamping plate 32 are respectively connected to both ends of a linear drive 311. The linear drive 311 drives the first clamping plate 31 and the second clamping plate 32 to move relatively in the horizontal direction. An inner top post 33 is fixedly installed on the first clamping plate 31. The axis of the inner top post 33 is horizontally arranged, and the diameter of the end of the inner top post 33 facing the second clamping plate 32 gradually decreases. The inner top post 33 is inserted into the eyebolt inner hole of the eyebolt 1. A push cylinder 34 is arranged on the second clamping plate 32 on the same straight line as the axis of the inner top post 33. The push cylinder 34 cooperates with the inner top post 33 to clamp and fix the eyebolt 1. The rotary mounting unit 4 includes a rotary shaft rod 41 and a rotary drive 42. The rotary drive 42 drives the rotary shaft rod 41 to rotate. The rotary shaft rod 41 is slidably installed on an adjusting seat 43. The adjusting seat 43 is drivingly connected to the second clamping plate 32. The adjusting seat 43 drives the rotary shaft rod 41 to horizontally move along the axis direction of the inner top post 33 above the clamping unit 3. The axis of the rotary shaft rod 41 is on the same straight line as the axis of the eyebolt 1 fixed by the clamping unit 3.

[0033] The automatic assembly equipment in this application includes a feeding device for the eyebolt 1 and a feeding device for the embedded cone 2. The eyebolt 1 and the embedded cone 2 are automatically fed. The embedded cone 2 is fixed in the fixed seat with the installation hole facing upward. The assembly unit, driven by the robotic arm, clamps the eyebolt 1 on the feeding device of the eyebolt 1 and drives it to the embedded cone 2 on the fixed seat for screw installation. The feeding device of the eyebolt 1, the feeding device of the embedded cone 2, and the fixed seat of the embedded cone 2 are all relatively mature existing technologies and can achieve the purpose, so no more details will be given here and they are not shown in the figure. The assembly unit in this embodiment includes a clamping unit 3 and a rotating installation unit 4. The first clamping plate 31 and the second clamping plate 32 of the clamping unit 3 can move relative to each other under the drive of the linear driver 311. The linear driver 311 can be an electric push rod. When the working end of the linear driver 311 extends, the inner top column 33 on the first clamping plate 31 and the push cylinder 34 on the second clamping plate 32 can be separated. Driven by the robotic arm, the inner top column 33 is aligned with the eyebolt hole of the eyebolt 1. Then, the working end of the linear driver 311 contracts, so that the inner top column 33 is inserted into the eyebolt hole of the eyebolt 1. The inner top column 33 has a certain taper, so as to ensure that the eyebolt 1 with any size of eyebolt can be sleeved on the inner top column 33. The push cylinder 34 on the second clamping plate 32 is on the same straight line as the axis of the inner top column 33. The push cylinder 34 clamps the eyebolt of the eyebolt 1 on the other side of the eyebolt 1 during the process of the first clamping plate 31 and the second clamping plate 32 approaching, and cooperates with the inner top column 33 to fix the eyebolt 1, ensuring that the bolt axis of the eyebolt 1 is perpendicular to the axis of the inner top column 33. At this time, the rotating installation unit 4 starts to drive the eyebolt 1 to rotate, so that the eyebolt 1 is screw-installed in the embedded cone 2. In this embodiment, the rotating installation unit 4 drives the rotation of the rotating shaft rod 41 through the rotation driver 42. The rotating shaft rod 41 is installed on the second clamping plate 32 through the adjustment seat 43. Therefore, the rotation of the rotating shaft rod 41 can drive the clamping unit 3 to rotate, so as to screw-install the eyebolt 1 fixed by the clamping unit 3 into the installation hole of the embedded cone 2. The robotic arm that drives the movement of the assembly unit can be fixedly connected to the adjustment seat 43 or the second clamping plate 32. The position of the rotating shaft rod 41 on the adjustment seat 43 can be adjusted to ensure that the axis of the rotating shaft rod 41 can be on the same straight line as the bolt axes of different models of eyebolts fixed by the clamping unit 3, so as to ensure that the eyebolt 1 rotates around the bolt axis.

[0034] In order to solve the problem of how the push cylinder 34 clamps the eyebolts 1 with different sizes sleeved on the inner top column 33, the following features are specifically set:

[0035] The pushing cylinder 34 is composed of a plurality of arc-shaped plates 341 with an arc-shaped cross-section. The arc-shaped plates 341 are spliced together to form a cylindrical shape; at least two guide rods 342 are provided at one end of each arc-shaped plate 341. The axis of the guide rod 342 is parallel to the axis of the inner top column 33. The guide rod 342 is slidably installed in the waist-shaped hole 321 provided on the second clamping plate 32. One end of the guide rod 342 is connected to a limit slider 343. The limit slider 343 is slidably installed in the limit groove 322 provided on the side of the second clamping plate 32 away from the pushing cylinder 34. The waist-shaped hole 321 and the limit groove 322 extend along the radial direction of the inner top column 33; an elastic member 323 is provided in the limit groove 322. The elastic member 323 is elastically connected to the limit slider 343, and the elastic member 323 applies an elastic force that moves the elastic member 323 towards the axis of the inner top column 33.

[0036] In this embodiment, the pushing cylinder 34 is formed by splicing four arc-shaped plates 341. The number of arc-shaped plates 341 can be set according to the situation. The arc-shaped plates 341 are inserted into the waist-shaped holes 321 of the second clamping plate 32 through the guide rods 342 and can move along the waist-shaped holes 321. In the non-working state, the limit slider 343 at one end of the guide rod 342 moves to the inner end of the waist-shaped hole 321 under the elastic force of the elastic member 323 in the limit groove 322. At this time, the waist-shaped holes 321 are spliced to form the pushing cylinder 34, and the axis of the pushing cylinder 34 is on the same straight line as the inner top column 33. When the linear actuator 311 drives the first clamping plate 31 to approach the second clamping plate 32, the inner top column 33 enters the inner hole of the eye bolt 1 of the lifting ring, and then enters the middle of the pushing cylinder 34. The outer wall of the inner top column 33 fits against the inner wall of the arc-shaped plate 341 and gradually pushes the arc-shaped plate 341 open. The arc-shaped plate 341 can fit against the outer wall of the inner top column 33 and move radially towards the inner top column 33, ensuring that the top of the pushing cylinder 34 can fit against the eye bolt 1 sleeved on the inner top column 33, effectively clamping the eye bolts 1 at different positions on the inner top column 33 and improving the applicable range of the equipment.

[0037] In order to solve the problem of how to adjust the position of the rotating shaft rod 41 on the adjusting seat 43 so that its axis is on the same straight line as the axis of the eye bolt 1 clamped by the clamping unit 3, the following features are specifically set:

[0038] The rotating shaft rod 41 is arranged on the sliding seat 411. The sliding seat 411 is slidably installed in the slide rail 431 provided on the top of the adjusting seat 43. The slide rail 431 extends horizontally along the axis of the inner top column 33; a threaded sleeve hole 432 is provided at one end of the slide rail 431 close to the second clamping plate 32. A fine adjustment screw rod 433 is helically installed in the threaded sleeve hole 432. The axis of the fine adjustment screw rod 433 is parallel to the axis of the inner top column 33. The fine adjustment screw rod 433 is connected to the sliding seat 411, and the fine adjustment screw rod 433 rotates to adjust the position of the sliding seat 411 on the slide rail 431.

[0039] In this embodiment, the rotating shaft rod 41 is slidably mounted in the slide rail 431 at the top of the adjusting seat 43 through the slide seat 411, ensuring that the rotating shaft rod 41 can only move in the axial direction of the inner top column 33. The staff can rotate the fine adjustment screw 433 near one end of the second clamping plate 32 of the slide rail 431 to adjust the position of the slide seat 411 on the slide rail 431. The fine adjustment screw 433 can also lock the position of the slide seat 411. When adjusting the slide seat 411, the staff can set scales on the slide rail 431 and mark the position of the axis of the rotating shaft rod 41 on the slide seat 411. Rotate the fine adjustment screw 433 to adjust the slide seat 411 to a position that is half of the sum of the length of the push cylinder 34 and the thickness of the loop of the eyebolt 1 to be clamped, ensuring that after the push cylinder 34 clamps the eyebolt 1 on the inner top column 33, the rotating shaft rod 41 is automatically located on the bolt axis of the eyebolt 1.

[0040] To solve the problem of how the movement of the fine adjustment screw 433 drives the slide seat 411 to move in the slide rail 431, the following features are specifically set:

[0041] One end of the slide seat 411 is provided with a sleeve 412, one end of the fine adjustment screw 433 is inserted into the sleeve 412, a ring groove 413 is provided inside the sleeve 412 around the inner wall of the sleeve 412, and a limit ring 434 is provided at the top of the fine adjustment screw 433 around the circumference of the fine adjustment screw 433. The limit ring 434 is limit-mounted in the ring groove 413 of the sleeve 412.

[0042] In this embodiment, one end of the fine adjustment screw 433 is inserted into the sleeve 412 on one side of the slide seat 411, and the fine adjustment screw 433 is limit-mounted in the ring groove 413 of the sleeve 412 through the limit ring 434 at one end, realizing that when the fine adjustment screw 433 moves in the horizontal direction, it can pull the slide seat 411 to move in the horizontal direction without affecting the rotation of the fine adjustment screw 433 in the threaded sleeve hole 432.

[0043] To achieve the problem of stable movement path between the first clamping plate 31 and the second clamping plate 32, the following features are specifically set:

[0044] At least one guide rod 324 is provided on the second clamping plate 32. The axis of the guide rod 324 is parallel to the axis of the inner top column 33, and the guide rod 324 is inserted into the guide sleeve 312 coaxially provided on the first clamping plate 31.

[0045] In this embodiment, the first clamping plate 31 and the second clamping plate 32 are guided by inserting the guide rod 324 on the second clamping plate 32 into the guide sleeve 312 on the first clamping plate 31, ensuring that the movement paths of the first clamping plate 31 and the second clamping plate 32 are stable after the linear actuator 311 is started, and also ensuring that the relative positions of the first clamping plate 31 and the second clamping plate 32 remain stable after the rotation mounting unit 4 drives the clamping unit 3 to rotate.

[0046] In order to solve the problem of how the rotary driver 42 drives the rotary shaft 41 to rotate, the following features are specifically provided:

[0047] The rotating shaft 41 and the rotating driver 42 are connected through a connecting sleeve 44. A gear 414 is coaxially arranged on the top of the rotating shaft 41, and the gear 414 is located inside the connecting sleeve 44. A top block 441 is arranged on the side wall of the connecting sleeve 44, and the top block 441 is engaged with the gear 414. The connecting sleeve 44 drives the gear 414 to rotate synchronously through the top block 441. The top block 441 is connected to the torque control unit 45, and the torque control unit 45 drives the top block 441 to move radially along the connecting sleeve 44.

[0048] In this embodiment, a connecting sleeve 44 is sleeved between the rotating shaft 41 and the rotating driver 42. The rotating driver 42 drives the connecting sleeve 44 to rotate. The rotating driver 42 can be a servo motor or other device. The gear 414 at the top of the rotating shaft 41 is located inside the connecting sleeve 44. When the connecting sleeve 44 rotates, the top block 441 arranged on the peripheral side of the connecting sleeve 44 and meshing with the gear 414 drives the gear 414 to rotate, thereby driving the adjustment seat 43 connected to the rotating shaft 41 and the second clamping plate 32 connected to the adjustment seat 43 to rotate around the axis of the rotating shaft 41. The top block 441 is connected to the torque control Unit 45, after the eyebolt 1 is completely spirally installed into the embedded cone 2, the eyebolt 1 cannot rotate, and the working end of the rotary driver 42 continues to rotate, causing the torque of the eyebolt 1 to be too large. The torque control unit 45 can drive the top block 441 to move radially along the connecting sleeve 44 when the pressure between the gear 414 and the top block 441 is too large, so that the connecting sleeve 44 can rotate with the rotary driver 42 while the gear 414 does not rotate, which not only protects the working end of the rotary driver 42, but also makes the torque of the eyebolt 1 and the embedded cone 2 suitable after assembly, and avoids damage to the working end of the rotary driver 42.

[0049] In order to solve the problem of how the torque control unit 45 adjusts the torque after the eyebolt 1 and the embedded cone 2 are assembled, the following features are specifically set:

[0050] The torque control unit 45 includes an installation cavity 451 arranged on the peripheral side of the connecting sleeve 44, the installation cavity 451 extends radially along the connecting sleeve 44, a thread 452 is arranged on the inner wall of one end of the installation cavity 451 facing outward, the other end of the installation cavity 451 is connected to the connecting sleeve 44, and the top block 441 is inserted into the installation cavity 451; the torque control unit 45 also includes an adjusting screw 453, the adjusting screw 453 is spirally installed on one end of the installation cavity 451 provided with the thread 452, a spring 454 is arranged in the installation cavity 451, and the spring 454 elastically connects the adjusting screw 453 and the top block 441.

[0051] In this embodiment, the top block 441 is inserted into the installation cavity 451 on the side of the connecting sleeve 44. The installation cavity 451 is provided with a thread 452 at one end of which an adjusting screw 453 is spirally installed. The staff can rotate the adjusting screw 453 to make the adjusting screw 453 move in the installation cavity 451. The more the adjusting screw 453 enters the installation cavity 451, the greater the pressure value of the spring 454 in the installation cavity 451, and the greater the pressure of the top block 441 on the gear 414. A larger torque is required between the eye bolt 1 and the embedded cone 2 to make the top block 441 and the gear 414 staggered, because the staff can change the torque size of the eye bolt 1 and the embedded cone 2 after assembly by rotating the adjusting screw 453.

[0052] In order to achieve the purpose of restoring the first clamping plate 31 and the second clamping plate 32 of the clamping unit 3 to the same position after each rotation to clamp the subsequent eye bolt 1, the following features are specifically provided:

[0053] At least one positioning block 442 is arranged on the peripheral side of the outer wall of the connecting sleeve 44, and a positioning hole groove 443 is arranged on the bottom of the positioning block 442, and the positioning hole groove 443 extends along the axial direction of the inner top column 33; a vertically upward elastic positioning column 313 is arranged on the upper side of the first clamping plate 31, and in a non-working state, the top end of the elastic positioning column 313 is inserted into the sensing element 444 at the bottom of the positioning block 442; a sensing element 444 is arranged on one side of the positioning block 442, and the detection end of the sensing element 444 is located inside the positioning hole groove 443, and the sensing element 444 is used to detect that the elastic positioning column 313 is inserted into the positioning hole groove 443.

[0054] In the present embodiment, at least one positioning block 442 is provided on the circumference of the connecting sleeve 44, and an elastic positioning column 313 is provided on the first clamping plate 31 of the clamping unit 3. When the elastic positioning column 313 moves to any position under the drive of the linear actuator 311, the clamping unit 3 rotates until the elastic positioning column 313 is inserted into the positioning hole groove 443 at the bottom of the positioning block 442, and the first clamping plate 31 and the second clamping plate 32 are both in the initial position, or the center plane of the first clamping plate 31 and the second clamping plate 32 is restored to the initial position. At this time, when the robot arm drives the assembly unit to return to the discharge end of the feeding device of the eye bolt 1, the inner top The column 33 can be directly inserted into the eye of the subsequent eye bolt 1 without re-adjusting the rotation angle of the clamping unit 3. When the rotating shaft 41 and the connecting sleeve 44 of the rotating installation unit 4 are out of synchronous rotation, the elastic positioning column 313 is out of the positioning hole groove 443 at the bottom of the positioning block 442. When the elastic positioning column 313 is inserted into the positioning hole groove 443 at the bottom of the positioning block 442, it can contact the working end of the sensing element 444. The sensing element 444 can be connected to a warning light or send a signal through the controller to indicate that the next assembly operation can be performed. The sensing element 444 can be a contact sensor.

[0055] Working principle: The eyebolt 1 and the embedded cone 2 are automatically fed. The embedded cone 2 is fixed in the fixed seat, keeping the installation hole facing upward. The assembly unit, driven by the robotic arm, clamps the eyebolt 1 on the feeding device of the eyebolt 1 and drives it to the embedded cone 2 on the fixed seat. Driven by the robotic arm, the inner top column 33 aligns with the inner hole of the eyebolt of the eyebolt 1. Subsequently, the working end of the linear actuator 311 contracts, causing the inner top column 33 to insert into the inner hole of the eyebolt of the eyebolt 1. The pushing cylinder 34 clamps the eyebolt of the eyebolt 1 on the other side of the eyebolt 1 during the approach of the first clamping plate 31 and the second clamping plate 32, and cooperates with the inner top column 33 to fix the eyebolt 1, ensuring that the bolt axis of the eyebolt 1 is perpendicular to the axis of the inner top column 33, and the rotating shaft rod 41 of the rotating installation unit 4 is located at the bolt axis of the eyebolt 1. At this time, the rotating actuator 42 is started to drive the rotating shaft rod 41 and the clamping unit 3 to rotate, so that the eyebolt 1 is screwed into the embedded cone 2.

[0056] The above embodiments only represent one or several implementation manners of the present invention, and the description thereof is relatively specific and detailed, but it should not be construed as a limitation to the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the appended claims.

Claims

1. An automatic assembly device for a conical embedded fixing part, comprising a feeding device for a lifting ring bolt, a feeding device for an embedded cone, a fixing seat for the embedded cone, and an assembly unit for clamping the lifting ring bolt and rotating and assembling it onto the embedded cone. The assembly unit is fixedly connected to a robotic arm, and the robotic arm drives the assembly unit to move between the feeding device for the lifting ring bolt and the fixing seat for the embedded cone. It is characterized in that, The assembly unit includes a clamping unit and a rotary mounting unit. The clamping unit includes a first clamping plate and a second clamping plate which are oppositely arranged. The first clamping plate and the second clamping plate are respectively connected to two ends of a linear drive. The linear drive drives the first clamping plate and the second clamping plate to move relatively in the horizontal direction. An inner top column is fixedly installed on the first clamping plate. The axis of the inner top column is horizontally arranged. The diameter of the end of the inner top column facing the second clamping plate gradually decreases. The inner top column is inserted into the inner hole of the eye of the eyebolt; A push cylinder is arranged on the second clamping plate and is on the same straight line as the axis of the inner top column. The push cylinder cooperates with the inner top column to clamp and fix the eyebolt; The rotary mounting unit includes a rotary shaft rod and a rotary drive. The rotary drive drives the rotary shaft rod to rotate. The rotary shaft rod is slidably installed on an adjusting seat. The adjusting seat is drivingly connected to the second clamping plate. The adjusting seat drives the rotary shaft rod to horizontally move along the axis direction of the inner top column above the clamping unit. The axis of the rotary shaft rod is on the same straight line as the axis of the eyebolt fixed by the clamping unit; The rotary shaft rod and the rotary drive are drivingly connected through a connecting sleeve. A gear is coaxially arranged at the top end of the rotary shaft rod. The gear is located inside the connecting sleeve; A top block is arranged on the side wall of the connecting sleeve. The top block meshes with the gear. The connecting sleeve drives the gear to rotate synchronously through the top block; The top block is connected to a torque control unit. The torque control unit drives the top block to be able to move radially along the connecting sleeve; The torque control unit includes an installation cavity arranged on the peripheral side of the connecting sleeve. The installation cavity extends radially along the connecting sleeve. The inner wall of the outer end of the installation cavity is provided with threads. The other end of the installation cavity communicates with the connecting sleeve. The top block is inserted into the installation cavity; The torque control unit further includes an adjusting screw. The adjusting screw is spirally installed at the end of the installation cavity provided with threads. A spring is arranged in the installation cavity. The spring elastically connects the adjusting screw and the top block.

2. The automatic assembly equipment for a conical embedded fixing part according to claim 1, wherein, The push cylinder is composed of a plurality of arc-shaped plates with an arc-shaped cross-section. The arc-shaped plates are spliced together to form a cylindrical shape; At least two guide rods are arranged at one end of each arc-shaped plate. The axes of the guide rods are parallel to the axis of the inner top column. The guide rods are slidably installed in the waist-shaped holes arranged on the second clamping plate. One end of the guide rod is connected to a limit slider. The limit slider is slidably installed in the limit groove arranged on the side of the second clamping plate away from the push cylinder. The waist-shaped holes and the limit grooves extend radially along the inner top column; An elastic member is arranged in the limit groove. The elastic member elastically connects the limit slider. The elastic member applies an elastic force to the limit slider to move towards the axis of the inner top column.

3. An automatic assembly device for a conical embedded fixing part according to claim 1, characterized in that, The rotary shaft rod is arranged on a sliding seat. The sliding seat is slidably installed in the slide rail arranged on the top of the adjusting seat. The slide rail extends horizontally along the axis of the inner top column; A threaded sleeve hole is arranged at the end of the slide rail close to the second clamping plate. A fine adjustment screw is spirally installed in the threaded sleeve hole. The axis of the fine adjustment screw is parallel to the axis of the inner top column. The fine adjustment screw is connected to the sliding seat. The fine adjustment screw rotates to adjust the position of the sliding seat on the slide rail.

4. An automatic assembly device for a conical embedded fixing part according to claim 3, characterized in that, One end of the sliding seat is provided with a sleeve. One end of the fine adjustment screw is inserted into the sleeve. A ring groove surrounding the inner wall of the sleeve is arranged in the sleeve. A limit ring surrounding the periphery of the fine adjustment screw is arranged at the top end of the fine adjustment screw. The limit ring is limit-installed in the ring groove of the sleeve.

5. An automated assembly device for a conical embedded fixing part according to claim 1, characterized in that, At least one guide rod is arranged on the second clamping plate. The axis of the guide rod is parallel to the axis of the inner top column. The guide rod is inserted into a guide sleeve coaxially arranged on the first clamping plate.

6. The automatic assembly device for a conical embedded fixing part according to claim 1, characterized in that, At least one positioning block is provided on the circumferential side of the outer wall of the connecting sleeve, and a positioning hole groove is provided at the bottom of the positioning block, and the positioning hole groove extends along the axial direction of the inner top column; A vertically upward elastic positioning column is provided on the upper side of the first clamping plate. In the non-working state, the top end of the elastic positioning column is inserted into the positioning hole groove at the bottom of the positioning block; An induction element is provided on one side of the positioning block, and the detection end of the induction element is located inside the positioning hole groove, and the induction element is used to detect the insertion of the elastic positioning column into the positioning hole groove.

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