A method for customizing a cookware item on site

Abstract

The present application belongs to the technical field of intelligent manufacturing of cookware, and particularly relates to a method for on-site customization of cookware. In view of the fact that the existing cookware production method cannot meet the commercial on-site production requirement, the present application adopts the following technical solution: a method for on-site customization of cookware, comprising: receiving an order; sending a single piece of painted aluminum sheet to an oil pressure station; pressing the single piece of aluminum sheet to form a pot body; removing the edge burrs of the formed pot body and processing a conductive area on the outer bottom surface; correcting the direction of the logo on the outer bottom surface of the pot body after unifying the edges; removing the paint on the surface of the pot body by laser to form a welding position; welding a bump welding column to the welding position of the pot body; feeding a handle to the bump welding column; screwing a screw into the bump welding column; customizing user information on the pot body and / or the handle; and delivering the product. The method for on-site customization of cookware realizes full-automatic on-site production of customized cookware.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of intelligent manufacturing of cookware, and particularly relates to a method for on-site customization of cookware. BACKGROUND

[0002] Existing cookware production is mostly carried out in factory workshops. In order to ensure high production efficiency, different processes are usually completed in different workshops, each process needs feeding and discharging, and separate transportation is required between different processes. With the vigorous promotion of intelligent manufacturing by the country, the entire production process can be completed on a production line through intelligent construction.

[0003] With the progress of society, there is an educational demand for showing students the production process of cookware in educational institutions such as schools. Therefore, educational cookware production lines appear. Compared with workshop production lines, educational cookware production lines are optimized in structure to a certain extent and meet the educational display demand to a certain extent.

[0004] At the same time, there is a demand for commercial production lines in the market. For example, a place wants to put an ancient handicraft workshop together with a modern unmanned factory for comparison, so that tourists can experience the feeling of time and space travel while realizing the importance of intelligent manufacturing, a national strategy. However, even the optimized educational cookware production line still has the problems of large floor area and unreasonable layout, and it is difficult to meet this demand well. Therefore, it is necessary to develop a commercial cookware full-automatic production line and a matching method. SUMMARY

[0005] The present application provides a method for on-site customization of cookware to overcome the problem that the existing cookware production method cannot meet the demand for commercial on-site customization, and realizes full-automatic personalized customization and on-site production of cookware.

[0006] To achieve the above purpose, the present application adopts the following technical solutions:

[0007] A method for on-site customization of cookware is applied to a commercial cookware full-automatic production line, and the method comprises the following steps:

[0008] Receiving an instruction containing user customization information;

[0009] Upholstery: sending a single piece of painted aluminum sheet to an oil pressure station;

[0010] Oil pressure: pressing the single aluminum sheet into a pot body;

[0011] Edge trimming: removing the edge burrs of the formed pot body and processing a conductive area on the outer bottom surface;

[0012] Visual correction: unifying the logo direction of the outer bottom surface of the pot body after edge trimming;

[0013] Laser paint removal removes the paint from the surface of the pot, creating a weldable area;

[0014] Spot welding, which involves welding the spot weld column to the welded part of the pot body;

[0015] Load the material with the handle and send the handle to the welding post;

[0016] Screw the screws into the weld bead;

[0017] Laser customization allows users to personalize their information on the pot body and / or handle.

[0018] Outbound: The laser-customized cookware is shipped out of the warehouse.

[0019] The cookware customization method of the present invention enables fully automated on-site production of customized cookware.

[0020] As an improvement, the film loading process includes:

[0021] The loading robot picks up aluminum sheets using suction cups;

[0022] The aluminum sheet on the suction cup passes through multiple air knives distributed along the height direction;

[0023] Check if the aluminum sheet on the suction cup is a single sheet;

[0024] If the sheet is detected as a single sheet, the loading robot will send the aluminum sheet to the hydraulic station. If the sheet is detected as not a single sheet, the loading robot will move the waste sheet to the waste sheet storage table and pick up the aluminum sheet again.

[0025] As an improvement, after molding, the loading robot pushes the molded pot body away from the notch of the lower mold of the hydraulic press during the loading process. Before it is picked up and transported to the edge-turning station, the position of the pot body is unified. Then, the edge-turning robot picks up the pot body and moves it to the edge-turning machine.

[0026] As an improvement, the spot welding process includes:

[0027] The welded columns are arranged uniformly by a vibratory feeder and a linear vibrator, and then each welded column is sent to the separation mechanism.

[0028] The separation mechanism will push out the welded column;

[0029] Clamp the spot welding column and place it into the spot welding head of the spot welding machine;

[0030] The conductive component descends and presses against the pot body. The conductive component includes a mounting plate driven by a cylinder, a voltage-conducting block, and a compression spring disposed between the two.

[0031] The spot welding machine is used for spot welding.

[0032] As an improvement, after laser paint removal, the pot body is rotated 180° for spot welding. After spot welding, the pot body is lifted, moved horizontally, and lowered to move from the spot welding station to the screw-driving station. A suction cup groove is opened on the lower surface of the conductive block, and a deformable suction cup is provided in the suction cup groove. An air hole is opened on the conductive block that communicates with the suction cup groove. The lifting and lowering of the conductive component and the suction cup are realized by the same cylinder.

[0033] As an improvement, the handle loading process includes:

[0034] The handle gripper picks up the handle;

[0035] Move the handle gripper onto the handle placement assembly;

[0036] The handle placement assembly is moved horizontally in the first direction, then upward, and then horizontally in a direction perpendicular to the first direction, thereby conveying the handle to the welding post position.

[0037] As an improvement, the screw-driving process includes:

[0038] The straight-line cylinder pushes the second straight-line component;

[0039] A spring element is provided between the second straight-line component and the first straight-line component, and the first straight-line component and the second straight-line component move straight-line synchronously;

[0040] When the first straight component reaches its limit position, the screw feed head on the first straight component reaches the required position.

[0041] Feed the screws to the feed head;

[0042] The second straight-line component continues straight and reaches the limit position;

[0043] The automatic screwdriver on the second straight assembly operates to screw the screws into the weld posts on the pot body;

[0044] The straight-line cylinder resets, which in turn resets the second straight-line assembly.

[0045] Once the elastic element has reset, the second linear component drives the first linear component to reset.

[0046] As an improvement, during the laser customization process, the outbound robot uses a buffer suction cup to pick up the cookware. After laser customization is completed, the cookware is shipped out. The outbound process includes:

[0047] The outbound robot uses a buffer suction cup to place the cookware into the cookware placement position of the buffer mechanism, with the back of the cookware facing the outbound robot.

[0048] The outbound robot uses its suction cups to pick up cookware.

[0049] The outbound robot places the cookware face up onto two inclined roller sets with a gap between them.

[0050] The cookware slides onto the conveyor belt under the influence of gravity, and the conveyor belt transports the cookware to a position accessible to the user.

[0051] As an improvement, the commercial fully automated cookware production line includes:

[0052] The sheet loading station is used to send a single painted aluminum sheet to the hydraulic station.

[0053] The hydraulic press station is used to press a single aluminum sheet into a pot body;

[0054] The edge-machining station is used to remove burrs from the edges of the formed pot body and to process conductive areas on the outer bottom surface;

[0055] The visual correction station is used to unify the orientation of the logo on the bottom surface of the outer part of the pot body after machining.

[0056] The laser paint removal station is used to remove the paint from the surface of the pot to create welding areas.

[0057] The spot welding station is used to weld the spot welding column to the welding part of the pot body;

[0058] The torque testing station is used to test the strength of the welded column connection;

[0059] A rotary linear feeding device is used to move the welded pot body to the torque testing station;

[0060] The handle loading station is used to deliver the handle to the welding post;

[0061] The screw-driving station is used to screw screws into the weld joints;

[0062] Laser customization station for customizing user information on the pot body and / or handle;

[0063] The outbound workstation is used to deliver laser-customized cookware to the user.

[0064] Multiple robots are used to move the pot or cookware between certain workstations;

[0065] The overall layout of the commercial fully automated cookware production line is rectangular.

[0066] The laser paint removal station, handle loading station, and screw driving station are located on one side of the rotary linear feeding device, while the spot welding station and torque testing station are located on the other side of the rotary linear feeding device.

[0067] The commercial fully automated cookware production line of this invention has an overall rectangular layout. The laser paint removal station, handle loading station, and screw-driving station are located on one side of the rotary linear feeding device, while the spot welding station and torque testing station are located on the other side. Compared with the existing disc-type feeding structure of the educational line, the structure is more compact and occupies less space. It has a visual correction station to ensure that the relative direction of the handle and the logo on the bottom of the pot body is perpendicular to the left and right direction of the logo.

[0068] As an improvement, the loading station includes a wafer storage mechanism, a wafer suction mechanism, a wafer separation mechanism, and a wafer count detection mechanism. The wafer storage mechanism includes a wafer storage platform and multiple guide rods on the wafer storage platform, with aluminum wafers placed between the guide rods. The wafer suction mechanism includes a wafer loading suction cup and a wafer suction robot that drives the wafer loading suction cup to move. The wafer separation mechanism includes multiple air knives distributed along the height direction. The wafer count detection mechanism detects the number of aluminum wafers based on the different magnetic fields of single and multiple aluminum wafers.

[0069] The loading station also includes a waste film storage table.

[0070] As an improvement, the hydraulic station includes a hydraulic press, the hydraulic press includes a lower die, and the lower die has a notch on the side facing the machining station for the formed pot body to pass through;

[0071] The suction robot is equipped with a pushing component that moves simultaneously with the suction cup. When the suction robot loads the film, the pushing component pushes the formed pot body away from the notch.

[0072] As an improvement, the hydraulic station also includes a guide platform, which includes an inclined guide frame, and a buffer pad is provided at one end of the guide frame near the hydraulic station.

[0073] The hydraulic station also includes a centering mechanism, which includes a centering bracket, a conveyor belt mounted on the centering bracket, and a pair of symmetrically arranged guide bars, the pair of guide bars forming a constriction.

[0074] As an improvement, the visual correction station includes:

[0075] tabletop;

[0076] A pot body fixing mechanism is provided on the platform to fix the pot body;

[0077] The visual inspection mechanism includes an image acquisition component and a computing device mounted on the platform for acquiring images of the outer bottom surface of the pot body. The computing device identifies the current orientation of the logo on the outer bottom surface of the pot body based on the acquired images and calculates and adjusts the angle accordingly.

[0078] The correction mechanism adjusts the pot body according to the calculated adjustment angle.

[0079] As an improvement, the rotary linear feeder includes:

[0080] frame;

[0081] The first pot body fixing and rotating mechanism is located on the frame and is used to fix and rotate the pot body 180°.

[0082] The second pot body fixing and rotating mechanism is located on the frame and is used to fix and rotate the pot body 180°.

[0083] A linear transplanting mechanism, mounted on a frame, moves the pot body from a first pot body fixing and rotating mechanism to a second pot body fixing and rotating mechanism. It includes a suction cup assembly, a lifting assembly that drives the suction cup assembly to rise and fall, and a translation assembly that drives the lifting assembly to move horizontally.

[0084] As an improvement, the spot welding station includes:

[0085] Vibratory feeder;

[0086] direct vibration;

[0087] Separation mechanism;

[0088] Conveying mechanism;

[0089] Spot welding machine;

[0090] A liftable conductive component, the conductive component including a mounting plate, a voltage-conducting block located below the mounting plate, and a compression spring disposed between the mounting plate and the voltage-conducting block, the voltage-conducting block being connected to a ground wire;

[0091] The two ends of the linear vibrator are respectively adjacent to the vibrating disk and the separation mechanism;

[0092] The separation mechanism includes a receiving assembly for accommodating a single welded column and a separation cylinder for driving the receiving assembly to reciprocate perpendicular to the vertical vibration horizontal motion.

[0093] The clamping mechanism includes a gripper for holding the spot welding column, a lifting assembly for driving the gripper to rise and fall, and a translation assembly for driving the gripper to translate. The translation assembly moves the single spot welding column to be pushed out into the spot welding machine.

[0094] The suction cup assembly includes a deformable suction cup located in the suction cup groove, and the voltage-conducting block has an air hole communicating with the suction cup groove, the air hole being connected to a negative pressure source.

[0095] As an improvement, the handle loading station includes:

[0096] Storage bins;

[0097] A transfer mechanism, comprising a handle gripper and a handle robot that drives the handle gripper;

[0098] A six-degree-of-freedom conveying mechanism, comprising a handle placement assembly and a first translation assembly for driving the handle placement assembly to translate left and right, a second translation assembly for driving the handle placement assembly to translate inward and outward, and a lifting assembly for driving the handle placement assembly to lift up and down.

[0099] The storage bin has at least two storage cavities, the upper end of each storage cavity is open, and each storage cavity is provided with a liftable support assembly. Multiple handle trays are stacked on one of the support cavities, and multiple handles are placed in the handle trays.

[0100] The transfer mechanism further includes a tray suction cup driven by the robot for transferring an empty handle tray from one storage chamber to a carrier component in another storage chamber.

[0101] As an improvement, the screw-driving station includes:

[0102] First vertical component;

[0103] The second straight component moves in the same direction as the first straight component, but is farther away from the pot body than the first straight component.

[0104] The relative displacement component includes an elastic element, the two ends of which act on the first straight-line component and the second straight-line component respectively and generate a force that separates the first straight-line component and the second straight-line component;

[0105] The screw feeding mechanism includes a feeding component disposed on the first straight-moving component, the feeding component having a straight channel parallel to the traveling direction of the first straight-moving component and a feeding channel communicating with the straight channel;

[0106] An automatic screwdriver, mounted on the second straight-line assembly, includes a rotating head that is linearly movable in the straight-line channel of the feeding assembly;

[0107] A straight-line drive mechanism drives the first straight-line component and the second straight-line component.

[0108] As an improvement, the outbound workstation includes an outbound mechanism, which includes:

[0109] conveyor;

[0110] The adjustment assembly, adjacent to the conveyor belt, includes two sets of rollers arranged at an angle, with a gap between the two sets of rollers to accommodate the pot suction cup. The end of the roller set near the conveyor belt is lower than the end away from the conveyor belt, so that the pot slides from the roller set onto the conveyor belt under the action of gravity.

[0111] Outbound components include an outbound robot and an outbound suction cup driven by the outbound robot.

[0112] As an improvement, the outbound workstation also includes a buffer mechanism for buffering the laser-customized cookware. The buffer mechanism includes a buffer cabinet and a buffer assembly. The buffer assembly includes a buffer plate and multiple cookware placement positions. The buffer plate is fixed on the buffer cabinet and has an inclined portion. The upper end of the inclined portion is closer to the buffer cabinet than the lower end. The cookware placement positions are located on the inclined portion.

[0113] The caching mechanism also includes a caching suction cup driven by the outbound robot, which is perpendicular to the outbound suction cup and whose center is parallel to the sixth axis of the outbound robot.

[0114] The beneficial effect of the on-site cookware customization method of the present invention is that it enables fully automated on-site production of customized cookware. Attached Figure Description

[0115] Figure 1 This is a plan view of a commercial fully automated cookware production line according to Embodiment 1 of the present invention.

[0116] Figure 2 This is a schematic diagram of the loading station of a commercial fully automated cookware production line according to Embodiment 1 of the present invention.

[0117] Figure 3 This is a schematic diagram of the hydraulic station of a commercial fully automated cookware production line according to Embodiment 1 of the present invention.

[0118] Figure 4 This is a schematic diagram of the multi-station layout of a commercial fully automated cookware production line according to Embodiment 1 of the present invention.

[0119] Figure 5 This is a three-dimensional view of a commercial fully automated cookware production line according to Embodiment 1 of the present invention, showing multiple workstations.

[0120] Figure 6 This is a cross-sectional view of the first pot body fixing and rotating mechanism of the commercial fully automated cookware production line according to Embodiment 1 of the present invention.

[0121] Figure 7 This is a schematic diagram of the welding station in a commercial fully automated cookware production line according to Embodiment 1 of the present invention.

[0122] Figure 8 This is a partial structural schematic diagram of the spot welding station and the rotary linear feeding device of a commercial fully automated cookware production line according to Embodiment 1 of the present invention.

[0123] Figure 9 yes Figure 8 A sectional view.

[0124] Figure 10This is a schematic diagram of the handle loading station of a commercial fully automated cookware production line according to Embodiment 1 of the present invention.

[0125] Figure 11 This is a schematic diagram of the screw-driving station in a commercial fully automated cookware production line according to Embodiment 1 of the present invention.

[0126] Figure 12 This is a schematic diagram of the outbound station of a commercial fully automated cookware production line according to Embodiment 1 of the present invention.

[0127] Figure 13 This is a schematic diagram of the visual correction station in a commercial fully automated cookware production line according to Embodiment 1 of the present invention.

[0128] Figure 14 This is a flowchart of the on-site cookware customization method according to Embodiment 1 of the present invention.

[0129] In the diagram, 1 is the loading station; 11 is the storage mechanism; 111 is the storage platform; 112 is the guide rod; 12 is the suction mechanism; 13 is the separation mechanism; 131 is the air knife; 14 is the wafer count detection mechanism; and 15 is the waste wafer storage platform.

[0130] 2. Hydraulic station; 21. Lower die; 211. Notch; 22. Pusher assembly; 23. Guide table; 24. Centering mechanism;

[0131] 3. Machining workstation;

[0132] 4. Laser paint removal station;

[0133] 5. Spot welding station; 51. Vibratory feeder; 52. Direct vibration; 53. Separation mechanism; 531. Receiving component; 532. Separation cylinder; 54. Clamping mechanism; 55. Spot welding machine; 56. Conductive component; 561. Mounting plate; 562. Conductive block; 563. Compression spring;

[0134] 6. Torque testing station;

[0135] 7. Handle loading station; 71. Storage bin; 711. Storage cavity; 712. Bearing component; 72. Transfer mechanism; 721. Handle gripper; 722. Handle robot; 723. Pallet suction cup; 73. Handle pallet; 74. Six-degree-of-freedom conveying mechanism;

[0136] 8. Screw driving station; 81. First straight-line assembly; 82. Second straight-line assembly; 83. Relative displacement assembly; 831. Spring element; 832. First mounting bracket; 833. Second mounting bracket; 834. Mounting rod; 835. Anti-detachment block; 84. Screw feeding mechanism; 85. Automatic screwdriver; 86. Straight-line drive mechanism;

[0137] 9. Customized laser workstations;

[0138] 10. Outbound workstation; 101. Outbound mechanism; 1011. Conveyor belt; 1012. Roller assembly; 1013. Outbound component; 102. Buffer mechanism; 1021. Buffer cabinet; 1022. Buffer plate; 1023. Cookware placement area;

[0139] a. Rotary linear feeding device; a1 Frame; a2. First pot body fixed rotary mechanism; a3. Second pot body fixed rotary mechanism; a4. Linear transfer mechanism; a41. Deformation suction cup;

[0140] b. Visual correction station; b1. Pot body fixing mechanism; b2. Visual inspection mechanism; b21. Light source; b22. Camera. Detailed Implementation

[0141] The technical solutions of the embodiments of the present invention will be explained and described below. However, the following embodiments are only preferred embodiments of the present invention and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present invention.

[0142] See Figure 14 The present invention provides a method for on-site customization of cookware according to Embodiment 1, which is applied to a commercial fully automated cookware production line. The method includes:

[0143] Receive instructions containing user-customized information;

[0144] The coating process involves sending a single painted aluminum sheet to the hydraulic press station.

[0145] Hydraulic pressing is used to press a single aluminum sheet into the shape of a pot body.

[0146] The edges are machined to remove burrs from the formed pot body and to create conductive areas on the outer bottom surface.

[0147] Visual correction to unify the orientation of the logo on the bottom outer surface of the rear pot body;

[0148] Laser paint removal removes the paint from the surface of the pot, creating a weldable area;

[0149] Spot welding, which involves welding the spot weld column to the welded part of the pot body;

[0150] Torque test to test the welding strength between the welded column and the pot body;

[0151] Load the material with the handle and send the handle to the welding post;

[0152] Screw the screws into the weld bead;

[0153] Laser customization allows users to personalize their information on the pot body and / or handle.

[0154] Outbound: The laser-customized cookware is shipped out of the warehouse.

[0155] The cookware customization method of the present invention enables fully automated on-site production of customized cookware.

[0156] In this embodiment, users can place orders by scanning QR codes, WeChat or Alipay mini-programs, mobile apps, etc., and enter customized information during the ordering process.

[0157] See Figures 1 to 13 According to Embodiment 1 of the present invention, a commercial fully automated cookware production line includes:

[0158] The loading station 1 is used to send a single painted aluminum sheet to the hydraulic station 2;

[0159] Hydraulic station 2 is used to press a single aluminum sheet into a pot body;

[0160] Edge machining station 3 is used to remove burrs from the edges of the formed pot body and to process conductive areas on the outer bottom surface;

[0161] Visual correction station b is used to unify the orientation of the logo on the bottom outer surface of the pot body after machining.

[0162] Laser paint removal station 4 is used to remove paint from the surface of the pot body to form welding parts;

[0163] Spot welding station 5 is used to weld the spot welding column to the welding part of the pot body;

[0164] Torque test station 6 is used to test the strength of the welded column connection;

[0165] A rotary linear feeder a is used to move the welded pot body to the torque test station 6;

[0166] Handle loading station 7 is used to deliver the handle to the welding post;

[0167] Screw-driving station 8 is used to screw screws into the welded post;

[0168] Laser customization station 9 is used to customize user information on the pot body and / or handle;

[0169] Outbound station 10 is used to deliver laser-customized cookware to the user.

[0170] Multiple robots are used to move the pot or cookware between certain workstations;

[0171] The overall layout of the commercial fully automated cookware production line is rectangular.

[0172] The laser paint removal station 4, the handle loading station 7, and the screw driving station 8 are located on one side of the rotary linear feeding device a, while the spot welding station 5 and the torque testing station 6 are located on the other side of the rotary linear feeding device a.

[0173] See Figure 1 and Figure 2 In this embodiment, the wafer loading station 1 includes a wafer storage mechanism 11, a wafer suction mechanism 12, a wafer sorting mechanism 13, and a wafer count detection mechanism 14. The wafer storage mechanism 11 includes a wafer storage platform 111 and multiple guide rods 112 disposed on the wafer storage platform 111, with aluminum wafers placed between the guide rods 112. The wafer suction mechanism 12 includes a wafer loading suction cup and a wafer suction robot that drives the wafer loading suction cup to move. The wafer sorting mechanism 13 includes multiple air knives 131 distributed along the height direction. The wafer count detection mechanism 14 detects the number of aluminum wafers based on the different magnetic fields of single and multiple aluminum wafers. The wafer loading station 1 also includes a waste wafer storage platform 15.

[0174] In this embodiment, the working process of the loading station 1 is as follows: When the commercial fully automated cookware production line receives the relevant instructions, the suction cup robot picks up the aluminum sheet on the storage table 111 through the loading suction cup. The aluminum sheet on the loading suction cup first reaches the slitting mechanism 13. The air knife 131 of the slitting mechanism 13 blows out a high-pressure airflow to separate the aluminum sheet. Then the aluminum sheet on the loading suction cup reaches the sheet count detection mechanism 14. The sheet count detection mechanism 14 detects whether the aluminum sheet on the loading suction cup is a single sheet. If it is, it is sent to the hydraulic station 2. Otherwise, it is sent to the waste sheet storage table 15 and the aluminum sheet is picked up again.

[0175] See Figure 1 and Figure 3 In this embodiment, the hydraulic station 2 includes a hydraulic press, the hydraulic press includes a lower mold 21, and the lower mold 21 has a notch 211 on the side facing the edge-turning station 3 for the molded pot body to pass through;

[0176] The suction robot is equipped with a pushing component 22 that moves simultaneously with the suction cup. When the suction robot is loading the film, the pushing component 22 pushes the formed pot body away from the notch 211.

[0177] In this embodiment, the hydraulic station 2 further includes a guide platform 23, which includes an inclined guide frame and a buffer pad at one end of the guide frame near the hydraulic station 2.

[0178] The hydraulic station 2 also includes a centering mechanism 24, which includes a centering bracket, a conveyor belt mounted on the centering bracket, and a pair of symmetrically arranged guide bars, the pair of guide bars forming a constriction.

[0179] In this embodiment, the working process of the hydraulic station 2 is as follows: when a single aluminum sheet is fed to the hydraulic press, the hydraulic press works to form the aluminum sheet into a pot body. Then, when the suction cup robot is loading the sheet, it pushes the pot body away from the notch 211 on the lower mold 21 through the pushing component 22. Under the action of gravity and the pushing component 22, the pot body falls onto the buffer pad of the guide table 23 and then slides to the centering mechanism 24. Under the action of the conveyor belt and guide bar of the centering mechanism 24, the pot body is kept in the center and is ready to be picked up by the side-mounted robot.

[0180] In this embodiment, the edge-cutting station 3 includes an edge-cutting machine and a wire winding machine. The edge-cutting machine cuts the edges of the pot body to remove burrs, and simultaneously cuts the bottom surface of the pot body to form a conductive surface for spot welding. The wire winding machine collects the waste wire. The specific structure of the edge-cutting station 3 can be found in existing technology.

[0181] See Figure 1 and Figure 13 In this embodiment, the visual correction station b includes:

[0182] tabletop;

[0183] The pot body fixing mechanism b1 is provided on the platform to fix the pot body;

[0184] The visual inspection mechanism b2 includes an image acquisition component and a computing device mounted on the platform for acquiring images of the outer bottom surface of the pot body. The computing device identifies the current direction of the logo on the outer bottom surface of the pot body based on the acquired images and calculates and adjusts the angle.

[0185] The correction mechanism adjusts the pot body according to the calculated adjustment angle.

[0186] In this embodiment, the specific structure of the pot body fixing mechanism b1 can be referred to the prior art.

[0187] In this embodiment, the image acquisition component includes a bracket fixed to the platform, a light source b21 disposed on the bracket, and a camera b22.

[0188] The working process of the visual correction station b in this embodiment is as follows: The edge-turning robot moves the edge-turned pot body to the mold of the pot body fixing mechanism b1. The negative pressure source generates negative pressure, which fixes the pot body to the mold. At the same time, since the outer surface of the mold has a ring-shaped elastic element, it can ensure that the pot body and the mold are aligned and tightly attached. Then, the light source b21 and the camera b22 work. The camera b22 acquires the image of the bottom surface of the pot body (the logo has been pre-sprayed on the pot body in the aluminum sheet form) and sends the image to the computing device such as a computer. The computing device compares the image with the standard image, calculates the angle that needs to be adjusted, and sends the information to the correction mechanism. The correction mechanism includes a suction cup and a robot. The suction cup holds the pot body. Then, the negative pressure source of the three-way valve on the mold is closed and the air pressure source is turned on. The robot of the correction mechanism lifts the pot body and rotates it to the required adjustment angle. After the pot body angle is adjusted or during the adjustment process, the robot moves the pot body to the spot welding station for spot welding.

[0189] See Figure 1 , Figures 4 to 6 In this embodiment, the rotary linear feeder a includes:

[0190] Rack a1;

[0191] The first pot body fixing and rotating mechanism a2 is mounted on the frame a1 and is used to fix and rotate the pot body 180°.

[0192] The second pot body fixing and rotating mechanism a3 is mounted on the frame a1 and is used to fix and rotate the pot body 180°.

[0193] A linear transplanting mechanism a4, mounted on a frame a1, moves the pot body from a first pot body fixing and rotating mechanism a2 to a second pot body fixing and rotating mechanism a3. It includes a suction cup assembly, a lifting assembly that drives the suction cup assembly to rise and fall, and a translation assembly that drives the lifting assembly to translate.

[0194] In this embodiment, the first pot body fixing and rotating mechanism a2 and the second pot body fixing and rotating mechanism a3 are the same. The first pot body fixing and rotating mechanism a2 includes a mold and a 180° rotating cylinder that drives the mold. The mold reciprocates 180°, rotating 180° each time.

[0195] See Figure 1 , Figure 4 , Figure 5 , Figure 7 and Figure 8 In this embodiment, the spot welding station 5 includes:

[0196] Vibratory plate 51;

[0197] Direct vibration 52;

[0198] Separation mechanism 53;

[0199] Conveying mechanism 54;

[0200] Spot welding machine 55;

[0201] A liftable conductive component 56 includes a mounting plate 561, a voltage-conducting block 562 located below the mounting plate 561, and a compression spring 563 disposed between the mounting plate 561 and the voltage-conducting block 562. The voltage-conducting block 562 is connected to a ground wire.

[0202] The two ends of the linear vibrator 52 are respectively adjacent to the vibrating disk 51 and the separation mechanism 53;

[0203] The separation mechanism 53 includes a receiving assembly 531 for accommodating a single welded column and a separation cylinder 532 for driving the receiving assembly 531 to reciprocate horizontally perpendicular to the linear vibration 52.

[0204] The clamping mechanism 54 includes a clamp for holding the spot welding column, a lifting assembly for driving the clamp to rise and fall, and a translation assembly for driving the clamp to translate. The translation assembly moves the single spot welding column to be pushed out into the spot welding machine 55.

[0205] The suction cup assembly includes a deformable suction cup a41 located in the suction cup groove, and the voltage-conducting block 562 has an air hole communicating with the suction cup groove, and the air hole is connected to a negative pressure source.

[0206] In this embodiment, before the spot welding, the pot body after the edge is machined is sent to the first pot body fixing and rotating mechanism a2. The first pot body fixing and rotating mechanism a2 fixes the pot body. The laser paint removal station 4 removes the paint at the spot welding position. Then the first pot body fixing and rotating mechanism a2 rotates the pot body 180° and the spot welding station 5 performs spot welding. The working process of the spot welding station 5 is as follows: the spot welding column is uniformly conveyed to the separation mechanism 53 through the vibratory plate 51 and the linear vibrator 52. After a single spot welding column enters the receiving component 531 of the separation mechanism 53, the separation cylinder 532 of the separation mechanism 53 is activated, pushing the receiving component 531 directly below the gripper of the clamping mechanism 54. Then the clamping mechanism 54 drives the gripper to hold the spot welding column and send the spot welding column to the spot welding head of the spot welding machine 55. At the same time, the linear transfer mechanism a4 drives the conductive component 56 to descend, pressing the conductive voltage block 562 of the conductive component 56 against the conductive plane of the pot body. Then the spot welding machine 55 works to weld the spot welding column to the pot body.

[0207] In this embodiment, after the spot welding is completed, the linear transfer mechanism a4 of the rotary linear feeding device a sends the pot body to the second pot body fixing and rotating mechanism a3. The second pot body fixing and rotating mechanism a3 fixes the pot body, and the torque test station performs a torque test. After the torque test is passed, the second pot body fixing and rotating mechanism a3 rotates the pot body 180° to load the handle and screw it in.

[0208] SeeFigure 1 , Figure 4 Figure 5 and Figure 10 In this embodiment, the handle loading station 7 includes:

[0209] Storage bin 71;

[0210] The transfer mechanism 72 includes a handle gripper 721 and a handle robot 722 that drives the handle gripper 721;

[0211] A six-degree-of-freedom conveying mechanism 74, comprising a handle placement assembly and a first translation assembly for driving the handle placement assembly to translate left and right, a second translation assembly for driving the handle placement assembly to translate inward and outward, and a lifting assembly for driving the handle placement assembly to lift up and down.

[0212] The storage box 71 has at least two storage cavities 711, the upper end of the storage cavity 711 is open, and the storage cavity 711 is provided with a liftable support component 712. Multiple handle trays 73 are stacked on one of the support components 712, and multiple handles are placed in the handle trays 73.

[0213] The transfer mechanism 72 further includes a tray suction cup 723 driven by the robot for transferring an empty handle tray 73 from one storage chamber 711 to a carrier assembly 712 in another storage chamber 711.

[0214] In this embodiment, the working process of the handle loading station 7 is as follows: When a relevant signal is received, the handle robot 722 of the transfer mechanism 72 clamps the handle in the handle tray 73 through the handle gripper 721 and places the handle on the handle placement component of the six-degree-of-freedom conveying mechanism 74. The six-degree-of-freedom conveying mechanism 74 then delivers the handle placement component to the position where the handle needs to be screwed. When all the handles in the handle tray 73 of a certain layer have been used (which can be detected by counting or sensors), the handle robot 722 of the transfer mechanism 72 moves the handle tray 73 to the carrying component 712 in another storage chamber 711 through the tray suction cup 723. Then, the carrying component 712 rises to a preset height.

[0215] See Figure 1 , Figure 4 , Figure 5 and Figure 11 In this embodiment, the screw-driving station 8 includes:

[0216] First vertical component 81;

[0217] The second straight-moving component 82 moves in the same direction as the first straight-moving component 81, but is farther away from the pot body than the first straight-moving component 81.

[0218] The relative displacement component 83 includes an elastic element 831, the two ends of which act on the first straight-line component 81 and the second straight-line component 82 respectively and generate a force that separates the first straight-line component 81 and the second straight-line component 82.

[0219] The screw feeding mechanism 84 includes a feeding component disposed on the first straight-moving component 81. The feeding component has a straight channel parallel to the traveling direction of the first straight-moving component 81 and a feeding channel communicating with the straight channel.

[0220] An automatic screwdriver 85 is mounted on the second straight-line assembly 82 and includes a rotating head that is linearly movable in the straight-line channel of the feeding assembly;

[0221] The straight-line drive mechanism 86 drives the first straight-line component 81 and the second straight-line component 82.

[0222] In this embodiment, the working process of the screw-driving station 8 is as follows: When the handle is conveyed to the position required for screwing, the straight drive mechanism 86 is activated, and the second straight component 82 moves straight towards the pot body. During the straight movement of the second straight component 82, the elastic member 831 is slightly compressed, and the first straight component 81 also moves straight in the same direction. When the first straight component 81 reaches the limit position (restricted by the limiting component), the feeding component of the screw feeding mechanism 84 on the first straight component 81 also reaches the required position (i.e., enters the screw groove of the handle). At this time, the screw feeding mechanism 84 feeds the screw into the straight channel of the feeding component. After that, the straight drive mechanism 86 continues to push the second straight component 82, and the elastic member 831 is further compressed until the second straight component 82 reaches the required position. At this time, the automatic screwdriver 85 works to screw the screw into the weld post. After the screws are tightened, the straight drive mechanism 86 resets. When the second straight component 82 moves to the position where the elastic member 831 is not compressed, the second mounting bracket 833 contacts the anti-detachment block 835 on the mounting rod 834, causing the first straight component 81 to reset. When the straight drive mechanism 86 resets, the first straight component 81 and the second straight component 82 also reset. Thus, the straight drive mechanism 86 only needs one cylinder to complete the required action, without the need for two cylinders, two motors, or two robots.

[0223] In this embodiment, after screwing in the screws, the cookware is picked up by the outbound robot for laser customization.

[0224] See Figure 1 and Figure 12 In this embodiment, the outbound workstation 10 includes an outbound mechanism 101, which includes:

[0225] Conveyor belt 1011;

[0226] The adjustment assembly, adjacent to the conveyor belt 1011, includes two sets of rollers 1012 arranged at an angle, with a gap between the two sets of rollers 1012 to accommodate the pot suction cup. The end of the roller set 1012 near the conveyor belt 1011 is lower than the end away from the conveyor belt 1011, so that the pot slides from the roller set 1012 onto the conveyor belt 1011 under the action of gravity.

[0227] Outbound component 1013 includes an outbound robot and an outbound suction cup driven by the outbound robot.

[0228] In this embodiment, the outbound workstation 10 further includes a buffer mechanism 102, which is used to buffer the laser-customized cookware. The buffer mechanism 102 includes a buffer cabinet 1021 and a buffer component. The buffer component includes a buffer plate 1022 and multiple cookware placement positions 1023. The buffer plate 1022 is fixed on the buffer cabinet 1021. The buffer plate 1022 has an inclined portion. The upper end of the inclined portion is closer to the buffer cabinet 1021 than the lower end. The cookware placement positions 1023 are located on the inclined portion.

[0229] The caching mechanism 102 also includes a caching suction cup driven by the outbound robot, the caching suction cup being perpendicular to the outbound suction cup, and the center of the caching suction cup being parallel to the sixth axis of the outbound robot.

[0230] The working process of the outbound station 10 in this embodiment is as follows: After the handle and the pot body are fixed by the welding post with screws, the outbound robot and the buffer suction cup pick up the pot body for laser customization. After the laser customization is completed, the outbound robot places the pot in the pot placement position 1023 of the buffer mechanism 102. Then the outbound robot picks up the pot body with the outbound suction cup and places the pot on the roller group 1012 of the adjustment component. Under the action of gravity, the pot slides from the roller group 1012 to the conveyor belt 1011. The conveyor belt 1011 transports the pot to the pot picking position.

[0231] The on-site cookware customization method of Embodiment 1 of this invention is applied to a commercial fully automated cookware production line. The commercial fully automated cookware production line has the following beneficial effects: The overall layout is rectangular. The laser paint removal station 4, the handle loading station 7, and the screw-driving station 8 are located on one side of the rotary linear feeding device a, while the spot welding station 5 and the torque testing station 6 are located on the other side of the rotary linear feeding device a. Compared with the existing disc-type feeding structure of the educational line, the structure is more compact and occupies less space. It has a visual correction station b, which can ensure the relative direction between the handle and the logo on the bottom surface of the pot body, so that the left and right direction of the logo (such as ASD) is perpendicular to the handle. It has a laser customization station 9, which can laser customize various information on the cookware.

[0232] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes, but is not limited to, the content described in the above specific embodiments. Any modifications that do not depart from the functional and structural principles of the present invention will be included within the scope of the claims.

Claims

1. A method for on-site customization of cookware, applied to a commercially available fully automated cookware production line, characterized in that: The commercial fully automated cookware production line includes: The loading station (1) is used to send the painted aluminum sheet to the hydraulic station (2). Hydraulic station (2) is used to press a single aluminum sheet into a pot body; The edge-working station (3) is used to remove the edge burrs of the formed pot body and to process the conductive area on the outer bottom surface; Visual correction station (b) is used to unify the direction of the logo on the bottom surface of the outer pot body after the machine is completed; Laser paint removal station (4) is used to remove paint from the surface of the pot body to form a welding area; The spot welding station (5) is used to weld the spot welding column to the welding part of the pot body; Torque testing station (6) is used to test the strength of the welded column connection; Handle loading station (7) is used to deliver the handle to the welding column; The screw-driving station (8) is used to screw screws into the weld post; Laser customization station (9) is used to customize user information on the pot body and / or handle; Outbound station (10) is used to deliver the laser-customized cookware to the user; A rotary linear feeder (a) is used to move the welded pot body to the torque test station (6). Multiple robots are used to move the pot or cookware between certain workstations; The overall layout of the commercial fully automated cookware production line is rectangular. The laser paint removal station (4), handle loading station (7), and screw driving station (8) are located on one side of the rotary linear feeding device (a), while the spot welding station (5) and torque testing station (6) are located on the other side of the rotary linear feeding device (a). The spot welding station (5) includes: Vibratory plate (51); Direct vibration(52); Separation mechanism (53); Conveying mechanism (54); Spot welding machine (55); A liftable conductive component (56) includes a mounting plate (561), a voltage-conducting block (562) located below the mounting plate (561), and a compression spring (563) disposed between the mounting plate (561) and the voltage-conducting block (562). The voltage-conducting block (562) is connected to a ground wire. The two ends of the linear vibrator (52) are respectively adjacent to the vibrating disk (51) and the separation mechanism (53). The separation mechanism (53) includes a receiving assembly (531) for accommodating a single welded column and a separation cylinder (532) for driving the receiving assembly (531) to reciprocate horizontally perpendicular to the straight vibration (52). The clamping mechanism (54) includes a clamp for holding the spot welding column, a lifting assembly for driving the clamp to rise and fall, and a translation assembly for driving the clamp to translate. The translation assembly moves the single spot welding column to be pushed out into the spot welding machine (55). The suction cup assembly includes a deformable suction cup (a41) located in a suction cup groove, and the voltage-conducting block (562) has an air hole communicating with the suction cup groove, and the air hole is connected to a negative pressure source; The outbound workstation (10) includes an outbound mechanism (101) and a buffer mechanism (102). The outbound mechanism (101) includes: Conveyor belt (1011); The adjustment assembly, adjacent to the conveyor belt (1011), includes two sets of rollers (1012) arranged at an angle, with a gap between the two sets of rollers (1012) to accommodate the pot suction cup. The end of the roller set (1012) near the conveyor belt (1011) is lower than the end away from the conveyor belt (1011), so that the pot slides from the roller set (1012) onto the conveyor belt (1011) under the action of gravity. Outbound component (1013), including an outbound robot and an outbound suction cup driven by the outbound robot; The buffer mechanism (102) is used to buffer the laser-customized cookware. The buffer mechanism (102) includes a buffer cabinet (1021) and a buffer component. The buffer component includes a buffer plate (1022) and multiple cookware placement positions (1023). The buffer plate (1022) is fixed on the buffer cabinet (1021). The buffer plate (1022) has an inclined portion. The upper end of the inclined portion is closer to the buffer cabinet (1021) than the lower end. The cookware placement positions (1023) are located on the inclined portion. The buffer mechanism (102) also includes a buffer suction cup driven by the outbound robot. The buffer suction cup is perpendicular to the outbound suction cup, and the center of the buffer suction cup is parallel to the sixth axis of the outbound robot. The method for on-site customization of cookware includes: Receive instructions containing user-customized information; The coating process involves sending a single painted aluminum sheet to the hydraulic press station. Hydraulic pressing is used to press a single aluminum sheet into the shape of a pot body. The edges are machined to remove burrs from the formed pot body and to create conductive areas on the outer bottom surface. Visual correction to unify the orientation of the logo on the bottom outer surface of the rear pot body; Laser paint removal removes the paint from the surface of the pot, creating a weldable area; Spot welding, which involves welding the spot weld column to the welded part of the pot body; Load the material with the handle and send the handle to the welding post; Screw the screws into the weld bead; Laser customization allows users to personalize their information on the pot body and / or handle. Outbound: The laser-customized cookware is shipped out of the warehouse.

2. The method for on-site customization of cookware according to claim 1, characterized in that: The film loading process includes: The loading robot picks up aluminum sheets using suction cups; The aluminum sheet on the suction cup passes through multiple air knives distributed along the height direction; Check if the aluminum sheet on the suction cup is a single sheet; If the sheet is detected as a single sheet, the loading robot will send the aluminum sheet to the hydraulic station. If the sheet is detected as not a single sheet, the loading robot will move the waste sheet to the waste sheet storage table and pick up the aluminum sheet again.

3. The method for on-site customization of cookware according to claim 1, characterized in that: After forming, the loading robot pushes the formed pot body away from the notch of the lower mold of the hydraulic press during the loading process. Before it is picked up and moved to the edge-turning station, the position of the pot body is unified. Then the edge-turning robot picks up the pot body and moves it to the edge-turning machine.

4. The method for on-site customization of cookware according to claim 1, characterized in that: The spot welding process includes: The welded columns are arranged uniformly by a vibratory feeder and a linear vibrator, and then each welded column is sent to the separation mechanism. The separation mechanism will push out the welded column; Clamp the spot welding column and place it into the spot welding head of the spot welding machine; The conductive component descends and presses against the pot body. The conductive component includes a mounting plate driven by a cylinder, a voltage-conducting block, and a compression spring disposed between the two. The spot welding machine is used for spot welding.

5. A method for on-site customization of cookware according to claim 4, characterized in that: After laser paint removal, the pot body is rotated 180° for spot welding. After spot welding, the pot body is lifted, moved horizontally, and lowered to move from the spot welding station to the screw-driving station. A suction cup groove is opened on the lower surface of the conductive block, and a deformable suction cup is provided in the suction cup groove. An air hole is opened on the conductive block that communicates with the suction cup groove. The lifting and lowering of the conductive component and the suction cup are achieved by the same cylinder.

6. The method for on-site customization of cookware according to claim 1, characterized in that: The handle loading process includes: The handle gripper picks up the handle; Move the handle gripper onto the handle placement assembly; The handle placement assembly is moved horizontally in the first direction, then upward, and then horizontally in a direction perpendicular to the first direction, thereby conveying the handle to the welding post position.

7. The method for on-site customization of cookware according to claim 1, characterized in that: The screw-in process includes: The straight-line cylinder pushes the second straight-line component; A spring element is provided between the second straight-line component and the first straight-line component, and the first straight-line component and the second straight-line component move straight-line synchronously; When the first straight component reaches its limit position, the screw feed head on the first straight component reaches the required position. Feed the screws to the feed head; The second straight-line component continues straight and reaches the limit position; The automatic screwdriver on the second straight assembly operates to screw the screws into the weld posts on the pot body; The straight-line cylinder resets, which in turn resets the second straight-line assembly. Once the elastic element has reset, the second linear component drives the first linear component to reset.

8. The method for on-site customization of cookware according to claim 1, characterized in that: During the laser customization process, the outbound robot uses a buffer suction cup to pick up the cookware. After the laser customization is completed, the cookware is shipped out. The outbound process includes: The outbound robot uses a buffer suction cup to place the cookware into the cookware placement position of the buffer mechanism, with the back of the cookware facing the outbound robot. The outbound robot uses its suction cups to pick up cookware. The outbound robot places the cookware face up onto two inclined roller sets with a gap between them. The cookware slides onto the conveyor belt under the influence of gravity, and the conveyor belt transports the cookware to a position accessible to the user.

9. A method for on-site customization of cookware according to claim 1, characterized in that: The loading station (1) includes a wafer storage mechanism (11), a wafer suction mechanism (12), a wafer sorting mechanism (13), and a wafer count detection mechanism (14). The wafer storage mechanism (11) includes a wafer storage platform (111) and multiple guide rods (112) on the wafer storage platform (111). Aluminum wafers are placed between the guide rods (112). The wafer suction mechanism (12) includes a wafer loading suction cup and a wafer suction robot that drives the wafer loading suction cup to move. The wafer sorting mechanism (13) includes multiple air knives (131) distributed along the height direction. The wafer count detection mechanism (14) detects the number of aluminum wafers according to the different magnetic fields of single and multiple aluminum wafers. The loading station (1) also includes a waste wafer storage platform (15). The hydraulic station (2) includes a hydraulic press, which includes a lower mold (21). The lower mold (21) has a notch (211) on the side facing the machining station (3) for the molded pot body to pass through. The suction robot is equipped with a pushing component (22) that moves simultaneously with the suction cup. When the suction robot is loading the film, the pushing component (22) pushes the formed pot body away from the notch (211). The hydraulic station (2) also includes a guide platform (23), which includes an inclined guide frame and a buffer pad at one end of the guide frame near the hydraulic station (2). The hydraulic station (2) also includes a centering mechanism (24), which includes a centering bracket, a conveyor belt mounted on the centering bracket, and a pair of symmetrically arranged guide bars, the pair of guide bars forming a constriction. The visual correction station (b) includes: tabletop; A pot body fixing mechanism (b1) is provided on the platform to fix the pot body; The visual inspection mechanism (b2) includes an image acquisition component and a computing device mounted on the platform for acquiring images of the outer bottom surface of the pot body. The computing device identifies the current direction of the logo on the outer bottom surface of the pot body based on the acquired images and calculates and adjusts the angle. The correction mechanism adjusts the pot body according to the calculated adjustment angle; The rotary linear feeder (a) includes: Rack (a1); The first pot body fixing and rotating mechanism (a2) is mounted on the frame (a1) and is used to fix and rotate the pot body 180°. The second pot body fixing and rotating mechanism (a3) ​​is mounted on the frame (a1) and is used to fix and rotate the pot body 180°. A linear transplanting mechanism (a4) is mounted on a frame (a1) to move the pot body from a first pot body fixing and rotating mechanism (a2) to a second pot body fixing and rotating mechanism (a3). The mechanism includes a suction cup assembly, a lifting assembly that drives the suction cup assembly to rise and fall, and a translation assembly that drives the lifting assembly to translate. The handle loading station (7) includes: Storage bin (71); The transfer mechanism (72) includes a handle gripper (721) and a handle robot (722) that drives the handle gripper (721). The six-degree-of-freedom conveying mechanism (74) includes a handle placement assembly and a first translation assembly that drives the handle placement assembly to translate left and right, a second translation assembly that drives the handle placement assembly to translate inward and outward, and a lifting assembly that drives the handle placement assembly to lift up and down. The storage box (71) has at least two storage cavities (711), the upper end of the storage cavity (711) is open, and the storage cavity (711) is provided with a liftable support component (712), on which a plurality of handle trays (73) are stacked, and a plurality of handles are placed in the handle trays (73); The transfer mechanism (72) further includes a tray suction cup (723) driven by the robot for transferring an empty handle tray (73) from one storage chamber (711) to a carrier assembly (712) in another storage chamber (711). The screw-driving station (8) includes: First vertical component (81); The second straight component (82) moves in the same direction as the first straight component (81) and is farther away from the pot body than the first straight component (81); The relative displacement component (83) includes an elastic element (831), the two ends of which act on the first straight component (81) and the second straight component (82) respectively and generate a force that separates the first straight component (81) and the second straight component (82); The screw feeding mechanism (84) includes a feeding component disposed on the first straight component (81), the feeding component having a straight channel parallel to the traveling direction of the first straight component (81) and a feeding channel communicating with the straight channel; An automatic screwdriver (85) is mounted on the second straight assembly (82) and includes a rotating head that is linearly movable in the straight channel of the feeding assembly; The straight-line drive mechanism (86) drives the first straight-line component (81) and the second straight-line component (82).

Images