Automatic control method for stud roller sleeve and stud roller sleeve sticking robot

Abstract

The application discloses a kind of automatic control method and column nail roller sleeve stick nail robot of column nail roller sleeve, including bed body, collaborative robot base installed on bed body, collaborative robot is installed column nail grabbing mechanism and column nail pad grabbing mechanism;Bed body is installed with gluing device and spinning device and detection device;Detection device is used to detect the position of column nail and column nail pad;Bed body is installed with 2D camera and 3D camera, for shooting the actual position of a certain column nail hole on column nail roller sleeve;Polishing cleaning blowing device is used to polish and clean before gluing for column nail roller sleeve column nail hole;Collaborative robot side is also provided with feeding platform, and the feeding platform is installed with independent column nail feeding unit and column nail pad feeding unit;Supporting roller assembly is installed on the side of bed body, for supporting column nail roller sleeve.The application realizes column nail roller sleeve column nail sticking operation under mutual cooperation, and the application has high degree of automation, improves the processing efficiency of column nail roller sleeve, and guarantees sticking quality.

Description

[0001] The application is a divisional application of Chinese Patent Application No. CN202211730761.3, the original application date of which is December 30, 2022, and the invention name is a column nail roller sleeve sticking robot. TECHNICAL FIELD

[0002] The application belongs to the technical field of column nail rollers, and particularly relates to an automatic control method for column nail rollers and a column nail roller sticking robot. BACKGROUND

[0003] It is well known that the column nail roller, as one of the core accessories of the roller press, provides the roller press with the characteristics of high wear resistance and high compression strength, and can meet the use requirements of different working conditions. After the column nail roller sleeve is made of wear-resistant alloy composite roller sleeves and drilled and reamed, the working roller surface is manufactured in the way of embedding hard alloy column nails. The number of column nails that need to be embedded on the surface of the column nail roller sleeve is very large. In the process of sticking the column nails, the main process flow is: cleaning of the column nail hole, dispensing, placing the pad, dispensing, placing the column nail, spinning, detection and other processes. Since the traditional way is to use manual cleaning, dispensing and insertion, and then use hammering assembly, the traditional process has the following defects:

[0004] 1. The sticking process is complex, and the manual operation failure rate is high. For example, forgetting to dispense causes the installation to be not firm, and the column nails fall off. Excessive dispensing causes glue overflow;

[0005] 1. High labor intensity. Since thousands of column nails need to be embedded on the column nail roller sleeve, manual embedding requires a lot of time and manpower;

[0006] 2. Manual operation is prone to omission accidents. Since the number of column nail holes is huge, it is inevitable to have omission accidents;

[0007] When manually operating, it is difficult to control the force of hammering, so the firmness and height of the column nails are different, affecting the final quality. SUMMARY

[0008] In view of the problems existing in the prior art, the application provides a column nail roller sleeve sticking robot capable of realizing automatic feeding, cleaning, dispensing and spinning of column nails and column nail pads.

[0009] The application is achieved by a column nail roller sleeve sticking nail robot, characterized by comprising a machine bed, the machine bed comprises a machine bed frame, an automatic sticking nail frame assembly is installed on the machine bed frame, the automatic sticking nail frame assembly comprises an upper moving guide rail and a lower moving guide rail, an upper transmission rack is installed on the side of the upper moving guide rail in the machine bed frame; a lower transmission rack is installed on the side of the lower moving guide rail in the machine bed frame; a cooperative robot base is installed on the upper moving guide rail, a robot walking motor is installed on the cooperative robot base, a robot walking gear meshing with the upper rack is installed on the output end of the robot walking motor; a cooperative robot is installed on the cooperative robot base, a mechanical hand flange substrate is installed on the end of the mechanical arm of the cooperative robot, a column nail grabbing mechanism and a column nail pad grabbing mechanism are installed on the mechanical hand flange substrate; a point glue device and a spinning device are installed on the upper moving guide rail, wherein the point glue device is used for injecting glue into the column nail hole before placing the column nail and the column nail pad; the spinning device presses the column nail and the column nail pad grabbed by the cooperative robot in the column nail roller sleeve column nail hole; a 3D camera acquisition device and a polishing and cleaning blowing device are installed on the lower moving guide rail, wherein the 3D camera acquisition device is used for shooting the actual position of a column nail hole on the column nail roller sleeve; the polishing and cleaning blowing device is used for polishing and cleaning the column nail hole of the column nail roller sleeve before glue injection; a feeding platform is further arranged on the side of the cooperative robot, the feeding platform is provided with a column nail feeding unit and a column nail pad feeding unit which are independent of each other; a supporting roller assembly is arranged on the side of the machine bed and used for supporting the column nail roller sleeve.

[0010] Preferably, the column nail pad grabbing mechanism comprises an upper clamping block, an electromagnet mounting block is installed on the upper clamping block, an electromagnet is embedded in the electromagnet mounting block, a column nail pad positioning groove is arranged on the electromagnet mounting block close to the feeding side; a pushing mechanism is installed on the mechanical hand flange substrate; the pushing mechanism comprises a double-rod cylinder, a piston rod of the double-rod cylinder is connected with a push plate, six push rods are installed on the push plate.

[0011] Preferably, the column nail grabbing mechanism comprises a material taking plate, the material taking plate is connected with the mechanical hand flange substrate through a connecting rod, six flexible claws are installed on the material taking plate, each flexible claw comprises two oppositely arranged clamping blocks, the clamping blocks are connected with a bidirectional cylinder to realize clamping action; a 2D camera mounting plate is installed on one end of the material taking plate, a 2D camera is installed on the 2D camera mounting plate, the 2D camera is used for acquiring the position of the column nail hole on the column nail roller sleeve.

[0012] Preferably, the mechanical hand flange substrate is also provided with a pin protection bracket, and a detection sensor for detecting the limit position of the push rod is installed on the pin protection bracket, which plays a flexible protection role to prevent the overstroke push column pin pad and the column pin. Preferably, a linear rail sliding seat is installed on the upper moving guide rail; a walking motor is installed on the side of the linear rail sliding seat, and a walking gear meshing with the upper rack is installed on the output end of the walking motor; a point gluing and spinning feeding substrate is installed above the linear rail sliding seat, and a point gluing device and a spinning device are installed on the point gluing and spinning feeding substrate; a linear rail is arranged between the point gluing and spinning feeding substrate and the linear rail sliding seat, a point gluing and spinning feeding walking motor is installed on the point gluing and spinning feeding substrate, a point gluing and spinning feeding walking gear is installed on the output end of the point gluing and spinning feeding walking motor, and a rack meshing with the point gluing and spinning feeding walking gear is arranged between the point gluing and spinning feeding substrate and the linear rail sliding seat; a rotary lifting mechanism is installed on one side of the point gluing and spinning feeding substrate; the rotary lifting mechanism comprises four lifting columns arranged perpendicularly to the point gluing and spinning feeding substrate, a lifting motor is installed below the point gluing and spinning feeding substrate, the lifting motor is connected to a rotary lifting substrate through a screw nut pair, and a rotary device is arranged on one side of the rotary lifting substrate.

[0013] The rotary device comprises a through-shaft screw stepper motor, the output end of the stepper motor is connected to a rack, the rack is installed on the sliding block of the linear slide rail, the upper part of the rack is meshed with a driven gear, the driven gear is installed on a driven shaft, the driven shaft is installed on a rotary bearing seat, a rotary bearing is installed on a rotary lifting substrate, and a point gluing and spinning feeding substrate is installed on the rotary lifting substrate. Preferably, the point gluing device comprises a point gluing substrate, a point gluing cylinder is installed on the point gluing substrate, a point gluing push plate is connected to the output end of the point gluing cylinder, the point gluing push plate is connected to a point gluing valve fixing plate, a pneumatic point gluing valve capable of adjusting flow is installed on the point gluing valve fixing plate, the pneumatic point gluing valve is connected to a point gluing barrel and a high-pressure gas source, the point gluing barrel is installed on the point gluing and spinning feeding substrate, the point gluing barrel is connected to the high-pressure gas source, and the high-pressure gas source is used for delivering glue to the pneumatic point gluing valve.

[0014] Preferably, the spinning device comprises a spinning substrate, a linear guide rail is arranged between the spinning substrate and the point gluing and spinning feeding substrate, a buffer seat is installed on the point gluing and spinning feeding substrate at the rear end of the spinning substrate, a buffer rod is arranged perpendicularly to the spinning substrate on the buffer seat, and a buffer spring is arranged on the buffer rod; a spinning motor seat is installed on the spinning substrate, a spinning motor is installed on the spinning motor seat, a driving gear is installed on the output shaft of the spinning motor, the driving gear meshes with a driven gear set, each driven gear of the driven gear set is installed on an independent spinning shaft, the spinning shaft is installed on a spinning bearing seat, the spinning bearing seat is installed on the spinning substrate, and a spinning head is installed at the end of the spinning shaft.

[0015] Preferably, a detection device is fixedly installed on the support of the straight track sliding seat, for detecting the spinning height of the stud roll, the detection device comprises a bracket, the upper end of the bracket extends towards the stud roll sleeve, and a distance measuring sensor is installed at the end of the bracket.

[0016] Preferably, the 3D camera acquisition device comprises a 3D camera walking plate matched with the lower moving guide rail, a 3D camera acquisition device walking motor is installed on the side surface of the 3D camera walking plate, a walking gear is installed at the output end of the 3D camera acquisition device walking motor, and the walking gear is meshingly installed on the lower transmission rack on the inner side of the lower moving guide rail; a 3D camera is installed on the 3D camera walking plate, and the 3D camera is connected with a display.

[0017] Preferably, a 3D camera lifting feeding plate is installed on the upper surface of the 3D camera walking plate, and a linear guide rail is installed between the 3D camera lifting feeding plate and the 3D camera walking plate; a 3D camera feeding walking motor is installed on the 3D camera lifting feeding plate, a 3D camera feeding walking gear is installed at the output end of the walking motor, the 3D camera feeding walking gear is meshingly arranged with a 3D camera feeding rack arranged on the upper surface of the 3D camera walking plate; the 3D camera acquisition device moves along the vertical stud roll sleeve axis direction; and a 3D camera lifting mechanism is installed on the 3D lifting base.

[0018] Preferably, the 3D camera lifting mechanism comprises a 3D camera lifting guide plate, a through-shaft type lead screw stepping motor is installed below the 3D camera lifting guide plate, the output end of the motor is connected with a lead screw, the upper end of the lead screw is connected with a 3D camera lifting plate, and a 3D camera is installed on the 3D camera lifting plate; a guide column is arranged between the 3D camera lifting plate and the 3D camera lifting guide plate.

[0019] Preferably, the polishing and cleaning spraying device comprises a polishing and cleaning spraying walking plate installed on the lower moving guide rail, a walking motor is installed on the side surface of the polishing and cleaning spraying walking plate, a walking gear is installed at the output end of the walking motor, the walking gear is meshingly installed on the lower transmission rack on the outer side of the lower moving guide rail; the polishing and cleaning spraying walking plate is installed on a polishing and cleaning spraying base, a linear guide rail is installed between the polishing and cleaning spraying base and the polishing and cleaning spraying walking plate, a polishing and cleaning spraying feeding motor is installed on the polishing and cleaning spraying base, a feeding gear is installed at the output end of the polishing and cleaning spraying feeding motor, and the feeding gear is meshingly arranged with a feeding rack; the feeding rack is installed on the upper surface of the polishing and cleaning spraying walking plate; a lifting guide plate is installed on the polishing and cleaning spraying lifting base plate close to the stud roll sleeve side, a through-shaft type lead screw stepping motor is installed below the lifting guide plate, the output end of the stepping motor is connected with a lead screw, the upper end of the lead screw is connected with a polishing and cleaning spraying lifting plate, and a polishing assembly and a cleaning spraying assembly are installed on the polishing and cleaning spraying lifting plate; a guide column is arranged between the polishing and cleaning spraying lifting plate and the lifting guide plate.

[0020] Preferably, the polishing assembly comprises three polishing motors mounted on the polishing and cleaning spray lifting plate, and each polishing motor is connected to a polishing wheel at the output end.

[0021] Preferably, the cleaning spray assembly comprises a cylinder mounted on the polishing and cleaning spray lifting plate, and the piston rod of the cylinder is connected to a polishing and cleaning spray seat, a spray base is mounted on the polishing and cleaning spray seat, and six spray valves connected to a cleaning agent and a high-pressure gas source are mounted on the spray base.

[0022] Preferably, the column pin feeding unit comprises a column pin baffle arranged at the end of the conveying track of the column pin vibrating screen separator, a column pin feeding moving assembly is arranged in the vertical direction, the column pin feeding moving assembly comprises a plurality of column pin feeding blocks arranged in a linear type on a column pin moving plate, the column pin moving plate is mounted on the sliding block of a linear slide rail, the column pin baffle is connected to the push plate at the end of the piston rod of a cylinder, a column pin guide block is mounted on the upright column at the lower end of the column pin baffle, and a column pin guide hole is arranged in the column pin guide block; two column pin in-place detection sensors are further arranged to detect whether the column pin is inclined, and a discharging detection sensor is further arranged on the lower surface of the column pin guide block to detect whether the column pin is discharged.

[0023] Preferably, the column pin pad feeding unit comprises a column pin pad material picking device arranged at the end of the conveying track of the column pin pad of the column pin pad vibrating screen separator, a column pin pad feeding assembly is arranged in the vertical direction, the column pin pad feeding assembly comprises a plurality of column pin pad feeding blocks arranged in a linear type on a column pin pad moving plate, the column pin pad moving plate is mounted on the sliding block of a linear slide rail, the column pin pad picking device comprises a vertical rack, a lifting mechanism is mounted on the rack, the lifting mechanism comprises a through-type lifting motor, a magnet mounting sleeve is mounted on the output shaft of the through-type lifting motor, and an electromagnetic block is mounted in the magnet mounting sleeve; a column pin pad supporting plate is further mounted on the rack, the column pin pad supporting plate is in butt joint with the column pin pad feeding track, and the column pin pad supporting plate is connected to a column pin pad supporting cylinder; a first infrared sensor is mounted on the rack to detect whether the electromagnetic block returns to the original position; two column pin pad position detection sensors are further arranged, the upper position detection sensor is used to detect whether the column pin pad is in place, and the lower position detection sensor is used to detect whether the column pin pad falls.

[0024] Preferably, the roller assembly for supporting the column pin roller sleeve comprises a base connected to a foundation, symmetrical roller devices are arranged on the base, the roller device comprises a roller frame, two rollers are mounted on the roller frame, and a private servo drive motor and a speed reducer for driving the rollers to rotate are respectively mounted on the two rollers of the roller device on one side.

[0025] Preferably, a linear guide rail is arranged on the base along the vertical column nail roller sleeve axis direction, the roller frame is movably arranged on the linear guide rail, each roller frame is connected through a lead screw, and each lead screw is independently connected with a private motor.

[0026] The application has the advantages and technical effects:

[0027] The application realizes automatic feeding of column nails and column nail pads, polishing and cleaning and blowing devices, and is used for polishing and cleaning column nail holes of a column nail roller sleeve before glue injection; the glue is injected into the column nail holes through a glue injection device before the column nails and the column nail pads are placed; the column nails and the column nail pads are pressed into the column nail holes of the column nail roller sleeve through a spinning device; a detection device is used for detecting positions of the column nails and the column nail pads; 3D cameras and 2D vision positioning pickup and drop functions are adopted to realize accurate positioning; the application realizes column nail and column nail pad sticking operations in cooperation, and has the advantages of high automation, improved processing efficiency of the column nail roller sleeve and ensured sticking quality. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is a front view of the application;

[0029] Figure 2 is a top view;

[0030] Figure 3 is a left view;

[0031] Figure 4 is a front view of the application;

[0032] Figure 5 is a front view of the machine body;

[0033] Figure 6 is a front view of the machine body;

[0034] Figure 7 is a schematic view of a machine frame structure;

[0035] Figure 8 is a schematic view of a column nail feeding unit;

[0036] Figure 9 is a schematic view of a column nail pad feeding unit;

[0037] Figure 10 and Figure 11 is a schematic view of a collaborative robot installation;

[0038] Figure 12 and Figure 13 is a schematic view of a glue injection device and a spinning device installation;

[0039] Figure 14 and Figure 15is a schematic diagram of the three-dimensional camera acquisition device;

[0040] Figures 16 to 18 is a schematic diagram of the polishing and cleaning blowing device;

[0041] Figure 19 and Figure 20 is a schematic diagram of the idler roller total structure.

[0042] 1, the column pin sleeve, 1-1, the column pin; 1-2, the column pin pad;

[0043] 100, the bed body; 110, the bed body rack; 120, the automatic nail sticking rack assembly;

[0044] 121, the upper moving guide rail; 1210, the linear rail sliding seat; 1211, the walking motor; 1212, the walking gear; 1213, the glue dispensing and spinning feeding base plate; 1214, the linear rail; 1215, the glue dispensing and spinning feeding walking motor; 1216, the glue dispensing and spinning feeding walking gear; 1217, the rack; 1218, the rotary lifting mechanism; 1219, the lifting column; 1220, the lifting motor; 1221, the rotary lifting base plate; 1230, the rotating device; 1231, the stepping motor; 1232, the rack; 1233, the linear sliding rail; 1234, the sliding block; 1235, the driven gear; 1236, the driven shaft; 1237, the rotary bearing seat;

[0045] 122, the lower moving guide rail; 123, the upper transmission rack;

[0046] 200, the cooperative robot base; 210, the robot walking motor; 220, the robot walking gear; 230, the cooperative robot; 240, the mechanical hand flange base plate;

[0047] 250, the column pin grabbing mechanism; 251, the material taking plate; 252, the connecting rod; 253, the flexible claw; 2531, the clamping block; 2532, the two-way air cylinder; 254, the 2D camera mounting plate; 255, the 2D camera;

[0048] 260, the column pin pad grabbing mechanism; 262, the electromagnet mounting block; 263, the electromagnet; 264, the column pin pad positioning groove; 265, the pushing mechanism; 2651, the double-rod air cylinder; 2652, the push plate; 2653, the push rod;

[0049] 270, the nail sticking protection support; 271, the detection sensor;

[0050] 300, the glue dispensing device; 301, the glue dispensing base plate; 302, the glue dispensing cylinder; 303, the glue dispensing push plate; 304, the glue dispensing valve fixing plate; 305, the pneumatic glue dispensing valve; 306, the glue dispensing barrel;

[0051] 400, spinning device; 401, spinning substrate; 402, linear guide rail; 403, buffer seat; 404, buffer rod; 405, buffer spring; 406, spinning motor; 407, spinning motor; 408, driving gear; 409, driven gear; 410, spinning shaft; 411, spinning bearing seat; 412, spinning head;

[0052] 500, detection device; 501, support; 502, distance measuring sensor;

[0053] 600, 3D camera acquisition device; 601, 3D camera walking plate; 602, 3D camera acquisition device walking motor; 603, walking gear; 605, 3D camera; 606, 3D camera lifting feeding plate; 607, linear guide rail; 608, 3D camera feeding walking motor; 609, 3D camera feeding walking gear; 610, 3D camera feeding rack; 611, 3D camera lifting mechanism; 6110, 3D camera lifting guide plate; 6111, stepping motor; 6112, lead screw; 6113, 3D camera lifting plate; 6114, guide column;

[0054] 700, polishing and cleaning blowing device; 701, polishing and cleaning blowing walking plate; 702, side-mounted walking motor; 703, walking gear; 705, polishing and cleaning blowing base; 706, linear guide rail; 707, polishing and cleaning blowing feeding motor; 708, feeding gear; 709, feeding rack; 710, lifting guide plate; 711, stepping motor; 712, lead screw; 713, polishing and cleaning blowing lifting plate; 714, polishing assembly; 7140, polishing motor; 7141, polishing wheel; 715, cleaning blowing assembly; 7150, air cylinder; 7151, polishing and cleaning blowing seat; 7152, spraying base plate; 7153, spraying valve; 716, guide column;

[0055] 800, feeding platform;

[0056] 810, column nail feeding unit; 811, column nail vibrating screening machine; 812, column nail baffle; 813, column nail feeding moving assembly; 814, column nail feeding block; 815, column nail moving supporting plate; 816, linear slide rail; 817, sliding block; 818, air cylinder piston rod; 819, push plate; 8110, column nail guide block; 8111, column nail guide hole; 8112, in-place detection sensor; 8113, discharging detection sensor; 8114, stand column;

[0057] 820, Column pin pad loading unit; 821, Column pin pad vibrating sieve machine; 822, Column pin pad material picking device; 823, Column pin pad loading assembly; 824, Column pin pad loading block; 825, Column pin pad moving plate; 826, Straight line sliding rail; 827, Slider; 828, Machine frame; 829, Lifting mechanism; 8210, Through type lifting motor; 8211, Magnet mounting sleeve; 8212, First infrared sensor; 8213, Position detection sensor;

[0058] 900, Roller assembly; 910, Base; 920, Roller device; 921, Roller frame; 922, Roller; 923, Private service driving motor; 924, Speed reducer; 930, Straight line guide rail; 940, Lead screw; 941, Private service motor;

[0059] 1000, Bracket; 1001, Rubber wiping roller. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0061] Please refer to Figures 1 to 7 A column pin roller sleeve sticking pin robot, comprising a bed body 100, the bed body comprising a bed body frame 110, an automatic sticking pin frame assembly 120 is installed on the bed body frame, the automatic sticking pin frame assembly comprises an upper moving guide rail 121 and a lower moving guide rail 122, an upper transmission rack 123 is installed on the side of the upper moving guide rail in the bed body frame; a lower transmission rack 124 is installed on the side of the lower moving guide rail in the bed body frame; the upper transmission rack 123 and the lower transmission rack 124 provide a runway for realizing spinning, dispensing and pattern acquisition, etc., to ensure that the equipment walks according to the predetermined track.

[0062] The upper moving guide rail 121 is installed with a cooperative robot base 200, the cooperative robot base is installed with a robot walking motor 210, the output end of the robot walking motor is installed with a robot walking gear 220 engaged with the upper rack; the cooperative robot base is installed with a cooperative robot 230, a column pin grabbing mechanism 250 and a column pin pad grabbing mechanism 260 are installed on the end mechanical hand flange substrate 240 of the mechanical arm of the cooperative robot; the cooperative robot can realize the grabbing and releasing operation of the column pin pad 1-2 and the column pin 1-1, replace the traditional manual work and improve the sticking pin efficiency; the cooperative robot adopts a six-axis multidirectional robot, and its working principle belongs to the known technology, which will not be described again.

[0063] The upper layer of the moving guide rail is provided with a dispensing device 300 and a spinning device 400, wherein the dispensing device 300 is used to inject glue into the column nail hole before the column nail and the column nail pad are placed, replacing manual glue brushing; the spinning device 400 cooperates with the robot to press the column nail and the column nail pad into the column nail hole of the column nail roller, replacing manual installation of the column nail by hammering, improving the column nail installation efficiency and ensuring the consistency of the column nail installation height.

[0064] The lower layer of the moving guide rail 122 is provided with a 3D camera acquisition device 600 and a polishing and cleaning blowing device 700, wherein the 3D camera acquisition device 600 is used to shoot the actual position of a column nail hole on the column nail roller, providing position coordinates for installation of the column nail pad and the column nail, and realizing automatic column nail installation.

[0065] The polishing and cleaning blowing device 700 is used to polish and clean the column nail hole of the column nail roller before dispensing, ensuring the cleanliness of the column nail hole and avoiding existence of foreign matters to cause installation precision difference.

[0066] A feeding platform 800 is further arranged on the side of the robot, wherein the feeding platform is provided with a column nail feeding unit 810 and a column nail pad feeding unit 820 which are independent of each other, and realizes automatic feeding of the column nail pad and the column nail.

[0067] A roller assembly 900 is arranged on the side of the bed body, and is used to support the column nail roller, which can keep relatively static when installing the same row and can rotate when installing the next row, replacing manual rotation of the huge column nail roller and reducing labor intensity.

[0068] Please refer to Figure 8, the column nail loading unit 810 includes a column nail baffle 812 installed at the end of the conveying track of the column nail vibrating screen separator 811, a column nail loading moving assembly 813 is installed in the vertical direction, the column nail loading moving assembly includes a plurality of column nail loading blocks 814, the plurality of column nail loading blocks are installed in a linear type on a column nail moving support plate 815, the column nail moving support plate is installed on the sliding block 817 of the linear slide rail 816, the column nail baffle 812 is connected with the push plate 819 at the end of the piston rod 818 of the air cylinder, a column nail guide block 8110 is installed on the lower end stand 8114 of the column nail baffle, and a column nail guide hole 8111 is arranged on the column nail guide block; two column nail in-place detection sensors 8112 are further arranged, and the two sides are one face, so that the column nail is prevented from tilting, and a discharging detection sensor 8113 is further arranged on the lower surface of the column nail guide block; the discharging detection sensor is used for detecting the falling material, after detecting that the falling material falls, the column nail loading block advances to a station along the track; the column nail is conveyed through the conveying track after falling from the column nail vibrating screen separator, stops moving when the column nail baffle is encountered, then the column nail is released under the action of the push plate, and enters the column nail loading block under the guidance of the column nail guide block; by the operation, one column nail is placed in each column nail loading block on the column nail moving support plate; the present application is provided with six column nail loading blocks; after placement is completed, the column nail loading blocks are moved to the column nail loading station under the driving of the electric linear track, and wait for the robot to grab the column nail.

[0069] Please refer to Figure 9 , the column nail pad loading unit 820 includes a column nail pad material pickup device 822 installed at the end of the conveying track of the column nail pad vibrating screen separator 821, a column nail pad loading assembly 823 is installed in the vertical direction, the column nail pad loading assembly includes a plurality of column nail pad loading blocks 824, the plurality of column nail pad loading blocks are installed in a linear type on a column nail pad moving plate 825, the column nail pad moving plate is installed on the sliding block 827 of the linear slide rail 826, the column nail pad pickup device 822 includes a vertical rack 828, a lifting mechanism 829 is installed on the rack, the lifting mechanism includes a through-type lifting motor 8210, a magnet mounting sleeve 8211 is installed on the output shaft of the through-type lifting motor, and an electromagnetic block is installed in the magnet mounting sleeve; the rack is further provided with a column nail pad supporting plate 8214, the column nail pad supporting plate is of a groove type, and the cross section is consistent with the conveying track of the column nail pad; the column nail pad supporting plate is connected with the column nail pad conveying track, the column nail pad supporting plate is connected with the column nail pad supporting cylinder 8215; the rack is provided with a first infrared sensor 8212 for detecting whether the electromagnetic block returns to the original position; there are two column nail pad position detection sensors 8213, wherein the upper position detection sensor is used for detecting whether the column nail pad is in place; the lower position detection sensor is used for detecting the falling of the column nail pad.

[0070] The column nail is conveyed through the conveying track after being screened and separated by the column nail pad vibration screen, and when the column nail pad encounters the column nail pad supporting plate that moves to the end, a magnet mounting sleeve and a magnet are mounted on the output shaft of the through-type lifting motor, the column nail pad is adsorbed by the magnet, and then the column nail pad is placed in the column nail pad feeding block to realize picking up of the column nail pad, so that one column nail is placed in each column nail pad feeding block on the column nail pad moving supporting plate, six column nail pad feeding blocks are arranged in the application, and after placement is completed, the column nail pad feeding blocks are moved to the column nail pad feeding station under the driving of the electric linear track and wait for being grabbed by the robot.

[0071] Please refer to Figure 10 and Figure 11 In the above technical solution, preferably, the column nail pad grabbing mechanism 260 comprises an electromagnet mounting block 262, an electromagnet 263 is embedded in the electromagnet mounting block, a column nail pad positioning groove 264 is arranged on the electromagnet mounting block close to the feeding side, a pushing mechanism 265 is mounted on the mechanical hand flange base plate 240, the pushing mechanism comprises a double-rod cylinder 2651, a piston rod of the double-rod cylinder is connected with a push plate 2652, six push rods 2653 are mounted on the push plate, the above-mentioned electromagnet mounting block 262 is fixedly mounted on both sides of the clamping block 2531 of the column nail grabbing mechanism 250, the column nail pad is adsorbed after being electrified, the column nail pad is released after the electromagnet is de-energized when moving to the column nail hole position; when the column nail pad needs to be placed into the column nail roller, the collaborative robot is started, the column nail pad is grabbed from the column nail pad feeding unit by the collaborative robot, the column nail pad is placed in the column nail hole of the column nail roller in a magnetic attraction type after being grabbed. Then, one station is moved to align the push rod column nail pad with the column nail hole on the column nail roller sleeve, and the push rod column nail pad is pushed into the column nail hole, so that the installation of the column nail pad is realized.

[0072] Please refer to Figure 10 and Figure 11 In the above technical solution, preferably, the column nail grabbing mechanism 250 comprises a material taking plate 251, the material taking plate is connected with the mechanical hand flange base plate 240 through a connecting rod 252, six flexible claws 253 are mounted on the material taking plate, the flexible claw comprises two oppositely arranged clamping blocks 2531, a double-acting cylinder 2532 is connected with the clamping block to realize clamping action; a 2D camera mounting plate 254 is mounted on one end of the material taking plate 251, a 2D camera 255 is mounted on the 2D camera mounting plate, and the 2D camera is used for collecting the position of the column nail hole on the column nail roller sleeve.

[0073] In the above technical solution, preferably, the mechanical hand flange base plate 240 is further provided with a nail sticking protection support 270, a detection sensor 271 for detecting the limit position of the push rod is mounted on the nail sticking protection support, the flexible protection function is realized, the overstroke pushing of the column nail pad and the column nail is prevented, the column nail is grabbed in the column nail hole after the column nail pad is placed, and the column nail is placed, the column nail is grabbed in a double-acting clamping mode, and the stability of the column nail clamping is ensured.

[0074] Please refer to Figure 12 and Figure 13 , preferably, the linear rail sliding seat 1210 installed on the upper layer moving guide rail 121; the walking motor 1211 is installed on the side of the linear rail sliding seat, the output end of the walking motor is installed with the walking gear 1212 engaged with the upper layer rack; the point gluing rotary feed base plate 1213 is installed above the linear rail sliding seat, the point gluing device 300 and the rotary device 400 are installed on the point gluing rotary feed base plate; the linear rail 1214 is provided between the point gluing rotary feed base plate and the linear rail sliding seat, the point gluing rotary feed walking motor 1215 is installed on the point gluing rotary feed base plate, the output end of the point gluing rotary feed walking motor is installed with the point gluing rotary feed walking gear 1216, the rack 1217 engaged with the point gluing rotary feed walking gear 1216 is provided between the point gluing rotary feed base plate and the linear rail sliding seat; the rotary lifting mechanism 1218 is installed on one side of the point gluing rotary feed base plate 1213; the rotary lifting mechanism includes four lifting columns 1219 vertically arranged with the point gluing rotary feed base plate, the lifting motor 1220 is installed below the point gluing rotary feed base plate, the lifting motor is connected with the rotary lifting base plate 1221 through the screw nut pair, one side of the rotary lifting base plate is provided with the rotating device 1230; the rotating device 1230 includes the stepping motor 1231, the output end of the stepping motor is connected with the rotating shaft 1232, the rotating shaft is installed on the rotating bearing seat 1233, the rotating bearing is installed on the rotary lifting base plate 1221, and the point gluing rotary base plate 1234 is installed on the rotary lifting base plate. The above can realize the movement of the point gluing device and the rotary device along the column nail roller shaft, the moving stroke covers the entire column nail roller, and the vertical column nail roller direction feed realizes the feed, completes the column gluing and the rotary work of the column nail.

[0075] Please refer to Figure 12 and Figure 13 , preferably, the point gluing device 300 includes the point gluing base plate 301, the point gluing cylinder 302 is installed on the point gluing base plate, the output end of the point gluing cylinder is connected with the point gluing push plate 303, the point gluing push plate is connected with the point gluing valve fixed plate 304, the pneumatic point gluing valve 305 with adjustable flow is installed on the point gluing valve fixed plate, the pneumatic point gluing valve is connected with the point gluing barrel 306 and the high-pressure gas source, the point gluing barrel is installed on the point gluing rotary feed base plate 1213, the point gluing barrel is connected with the high-pressure gas source, and the glue is transported to the pneumatic point gluing valve through the high-pressure gas source. The point gluing push plate and the point gluing valve fixed plate are fed to the column nail roller direction under the drive of the point gluing cylinder, and the position coordinates given by the 3D camera realize the point gluing work in each column nail hole.

[0076] Please refer to Figure 12 and Figure 13Preferably in the technical scheme, the spinning device 400 comprises a spinning base plate 401, a linear guide rail 402 is arranged between the spinning base plate and the glue dispensing spinning feeding base plate, a buffer seat 403 is arranged on the glue dispensing spinning feeding base plate at the rear end of the spinning base plate, a buffer rod 404 is arranged vertically on the buffer seat and the spinning base plate, and a buffer spring 405 is arranged on the buffer rod; a spinning motor seat 406 is arranged on the spinning base plate, a spinning motor 407 is arranged on the spinning motor seat, a driving gear 408 is arranged on the output shaft of the spinning motor, the driving gear meshes with a driven gear 409, the driven gear is arranged on a spinning shaft 410, the spinning shaft is arranged on a spinning bearing seat 411, the spinning bearing seat is arranged on the spinning base plate, and a spinning head 412 is arranged at the end of the spinning shaft. The columnar stud is spun under the driving of the spinning motor.

[0077] Please refer to Figure 12 and Figure 13 Preferably in the technical scheme, a detection device 500 is fixedly arranged on the support of the linear rail sliding seat, for detecting the spinning height of the columnar stud, the detection device comprises a bracket 501, the upper end of the bracket extends towards the columnar stud roller sleeve, and a distance measuring sensor 502 is arranged at the end of the bracket; the position feature of the detection is fed back to the total control center, to determine whether to spin to the set position.

[0078] Please refer to Figure 12 and Figure 13 A rubber wiping roller 1001 is further arranged below the spinning device and on the side of the glue dispensing device through a bracket 1000, for wiping the excess glue, the rubber wiping roller on the side of the glue dispensing device is arranged vertically, and the rubber wiping roller below the spinning device is arranged horizontally, so that the glue can be wiped in the horizontal and vertical directions.

[0079] Please refer to Figure 14 and Figure 15 Preferably in the technical scheme, the 3D camera collecting device 600 comprises a 3D camera walking plate 601 cooperating with the lower layer moving guide rail, a 3D camera collecting device walking motor 602 is arranged on the side of the 3D camera walking plate, a walking gear 603 is arranged on the output end of the 3D camera collecting device walking motor, and the walking gear is meshed and arranged on the lower layer transmission rack 124 on the inner side of the lower layer moving guide rail; a 3D camera 605 is arranged on the 3D camera walking plate, the 3D camera is connected with a display, and the 3D camera collecting device 600 walks along the lower layer transmission rack under the driving of the 3D camera collecting device walking motor, and the collected position information is transmitted to the total control center.

[0080] Preferably in the above technical solution, the upper surface of the 3D camera walking plate is provided with a 3D camera lifting feeding plate 606, and the 3D camera lifting feeding plate and the 3D camera walking plate are provided with a linear guide rail 607; the 3D camera lifting feeding plate is provided with a 3D camera feeding walking motor 608, the output end of the 3D camera feeding walking motor is provided with a 3D camera feeding walking gear 609, and the 3D camera feeding walking gear is engaged with a 3D camera feeding rack 610 arranged on the upper surface of the 3D camera walking plate; the 3D camera acquisition device is moved along the vertical column nail roller shaft axis direction; and the 3D lifting base is provided with a 3D camera lifting mechanism 611.

[0081] Preferably in the above technical solution, the 3D camera lifting mechanism 611 comprises a 3D camera lifting guide plate 6110, a through-shaft type lead screw stepping motor 6111 arranged below the 3D camera lifting guide plate, a lead screw 6112 connected to the output end of the motor, a 3D camera lifting plate 6113 connected to the upper end of the lead screw, and a 3D camera 605 arranged on the 3D camera lifting plate; a guide column 6114 is arranged between the 3D camera lifting plate and the 3D camera lifting guide plate. The 3D camera lifting mechanism 611 realizes the up-down lifting of the 3D camera, adjusts the up-down angle, and obtains the accurate position coordinates of the column nail hole.

[0082] Please refer to Figures 16 to 18 Preferably in the above technical solution, the polishing, cleaning and blowing device 700 comprises a polishing, cleaning and blowing walking plate 701 arranged on the lower moving guide rail, a walking motor 702 arranged on the side surface of the polishing, cleaning and blowing walking plate, a walking gear 703 arranged on the output end of the walking motor, and a lower transmission rack 124 arranged on the outer side of the lower moving guide rail and engaged with the walking gear; the polishing, cleaning and blowing device is moved along the lower transmission rack 124 under the driving of the walking motor 702, and the column nail roller shaft direction movement is realized.

[0083] The polishing and cleaning spray walking plate is provided with a polishing and cleaning spray base 705, and a linear guide rail 706 is arranged between the polishing and cleaning spray base and the polishing and cleaning spray walking plate. A polishing and cleaning spray feeding motor 707 is arranged on the polishing and cleaning spray base, and a feeding gear 708 is arranged at the output end of the polishing and cleaning spray feeding motor. The feeding gear is engaged with a feeding rack 709. The feeding rack is arranged on the upper surface of the polishing and cleaning spray walking plate. A lifting guide plate 710 is arranged on the polishing and cleaning spray lifting base close to the column nail roller sleeve side. A through shaft type screw stepper motor 711 is arranged below the lifting guide plate. The output end of the stepper motor is connected with a screw rod 712. The upper end of the screw rod is connected with a polishing and cleaning spray lifting plate 713. A polishing assembly 714 and a cleaning spray assembly 715 are arranged on the polishing and cleaning spray lifting plate. A guide column 716 is arranged between the polishing and cleaning spray lifting plate and the lifting guide plate. The above technical solution can realize the feeding and lifting of the polishing and cleaning nozzle, and meet the polishing and cleaning spray operation of different holes.

[0084] Preferably, the polishing assembly 714 comprises three polishing motors 7140 arranged on the polishing and cleaning spray lifting plate. The output end of each polishing motor is connected with a polishing wheel 7141. The polishing wheel is driven by the polishing motor to polish the column nail hole.

[0085] Preferably, the cleaning spray assembly 715 comprises a pneumatic cylinder 7150 arranged on the polishing and cleaning spray lifting plate. The piston rod of the pneumatic cylinder is connected with a polishing and cleaning spray seat 7151. A spray base plate 7152 is arranged on the polishing and cleaning spray seat. Six spray valves 7153 connected with the cleaning agent and the high-pressure gas source are arranged on the spray base plate. The spray valves realize the spraying of the cleaning agent.

[0086] Please refer to Figure 19 Preferably, the above technical solution comprises a base 910 connected with the foundation. Symmetrical roller devices 920 are arranged on the base. The roller device comprises a roller frame 921. Two roller devices 922 are arranged on the roller frame. The two roller devices of one side of the roller device are respectively provided with a servo driving motor 923 and a speed reducer 924 for driving the column nail roller to rotate. The above technical solution realizes the support and rotation of the column nail roller.

[0087] Please refer to Figure 20Preferably, the base 910 is provided with a linear guide 930 along the vertical column nail roller sleeve axis direction, the roller bracket is movably installed on the linear guide, each roller bracket is connected through a lead screw 940, and each lead screw is independently connected with a private service motor 941.

[0088] Method for using the application:

[0089] Working principle: an automatic control method for column nail roller sleeves, comprising:

[0090] S1, inputting process parameters into the control system through a man-machine dialogue module;

[0091] S2, the control system first issues a rotating action instruction to the roller assembly; the rotating action instruction includes a rotating time parameter and a rotating angle parameter; then the roller assembly executes the rotating action instruction;

[0092] S3, the visual control system composed of 2D and 3D cameras acquires the position information of the target column nail hole on the column nail roller sleeve, determines whether the roller assembly is rotated to the position through the position information, if yes, executes S4, otherwise, feeds back the position information to the control system, the control system outputs the adjustment rotating parameter through difference operation, and the roller assembly executes the corresponding action according to the adjustment rotating parameter, and after the execution, the visual control system is judged again until the rotating is to the position;

[0093] S4, the control system first sends a polishing and cleaning parameter instruction to the polishing and cleaning blowing device; the polishing and cleaning blowing device executes the polishing and cleaning parameter instruction, and then performs the polishing and cleaning operation on the target column nail hole;

[0094] S5, the control system sends a dispensing parameter instruction to the dispensing device; the dispensing device executes the dispensing parameter instruction, and then performs the dispensing operation on the target column nail hole once;

[0095] S6, the control system sends a column nail pad grabbing instruction to the collaborative robot system; the collaborative robot system executes the column nail pad grabbing instruction, and places the column nail pad in the target column nail hole;

[0096] S7, the control system sends a dispensing parameter instruction to the dispensing device; the dispensing device executes the dispensing parameter instruction, and then performs the dispensing operation on the target column nail hole twice;

[0097] S8, the control system sends a column nail grabbing instruction to the system robot system; the collaborative robot system executes the column nail grabbing instruction, and rotates the grabbed column nail in the target column nail hole;

[0098] S9, the control system sends a rotating action instruction to the roller assembly; the roller assembly executes the rotating action instruction, and the visual control system re-determines the target stud hole, and then cycles S1-S8.

[0099] In the above preferred embodiment: the working principle of the polishing and cleaning spraying device: the pneumatic spray valve and the air drying nozzle are integrated, and can be timed to spray and air dry with adjustable time, and the integrated custom steel wire polishing wheel on the closed-loop stepper motor can efficiently and completely clean the residual cutting fluid in the stud hole. The working process is: air drying (5s) - polishing (30s) - air drying (5s) - cleaning (3s) - air drying (5s) (Note: The above times are the working times of the mechanism, and do not include various movement time);

[0100] In the above preferred embodiment: the working principle of the polishing and cleaning spraying device: the pneumatic spray valve and the air drying nozzle are integrated, and can be timed to spray and air dry with adjustable time, and the integrated custom steel wire polishing wheel on the closed-loop stepper motor can efficiently and completely clean the residual cutting fluid in the stud hole. The working process is: air drying (5s) - polishing (30s) - air drying (5s) - cleaning (3s) - air drying (5s) (Note: The above times are the working times of the mechanism, and do not include various movement time);

[0101] In the above preferred embodiment: the working principle of the polishing and cleaning spraying device: the pneumatic spray valve and the air drying nozzle are integrated, and can be timed to spray and air dry with adjustable time, and the integrated custom steel wire polishing wheel on the closed-loop stepper motor can efficiently and completely clean the residual cutting fluid in the stud hole. The working process is: air drying (5s) - polishing (30s) - air drying (5s) - cleaning (3s) - air drying (5s) (Note: The above times are the working times of the mechanism, and do not include various movement time);

[0102] In the above preferred embodiment: the working principle of the polishing and cleaning spraying device: the pneumatic spray valve and the air drying nozzle are integrated, and can be timed to spray and air dry with adjustable time, and the integrated custom steel wire polishing wheel on the closed-loop stepper motor can efficiently and completely clean the residual cutting fluid in the stud hole. The working process is: air drying (5s) - polishing (30s) - air drying (5s) - cleaning (3s) - air drying (5s) (Note: The above times are the working times of the mechanism, and do not include various movement time);

[0103] The collaborative robot automatically grabs the stud pad, the stud, releases the stud pad, and releases the stud. The collaborative robot drives the 2D camera and the stud pad and stud grabbing assembly to position and pick up the stud pad and stud separated by the screening machine. Before placing the pad and stud into the stud sleeve, the corresponding placement position of the stud sleeve is photographed and positioned, and the compensation result is fed back to the PLC, and then the PLC feeds back to the robot for corresponding position adjustment, so as to eliminate the influence of comprehensive errors on the placement of the pad and stud. In addition, the six groups of grabbing clamps in the stud pad and stud grabbing assembly are respectively provided with flexible modules, which can flexibly compensate for a position error of ±0.1 mm, further increasing the accuracy of the placement of the stud pad and stud. Working rhythm: grab pad (6S), stud pad visual positioning (2S), stud pad placement (7S), stud pad push-in (5S), grab stud (6S), stud pad visual positioning (2S), stud pad push-in (7S).

[0104] The working principle of the stud roll sleeve rotating positioning system is that the 2D and 3D cameras cooperate to rotate and position the stud roll sleeve in the circumferential direction, the 3D camera loads the positioning angle, and the 2D camera is responsible for positioning the position. The overall theoretical positioning accuracy is ±0.02 mm in the stud hole plane direction. In order to ensure the use accuracy, maximize the work efficiency and ensure the work stability, the 2D camera plane positioning accuracy is set to ±0.3 mm in the field use. The work cycle is that when the positioning accuracy is ±0.3 mm, the positioning time of the two adjacent rows of holes in the circumferential direction is 30 s.

[0105] S10 is also included, which determines whether the stud is spun in place by detecting the height of the stud. The working principle of height detection is that after each group of studs is pasted, the height of the pasted stud is detected. If the height exceeds the set value, an alarm will be given to indicate that the stud pasting height is unqualified.

[0106] Sensor principle: high-precision laser displacement sensor is used for height detection, and the detection accuracy is ±0.13 mm. The above is only a preferred embodiment of the present application and is not intended to limit the present application. Any modification, equivalent replacement and improvement within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for automatically controlling a stud roll cover, characterized by, A column pin roller sleeve sticking robot is adopted, comprising the following steps: S1, inputting process parameters into the control system through the man-machine dialogue module; S2, the control system first issues a rotating action instruction to the roller assembly; the rotating action instruction includes a rotating time parameter and a rotating angle parameter; then the roller assembly executes the rotating action instruction; S3, the visual control system composed of 2D and 3D cameras acquires the position information of the target column pin hole on the column pin roller sleeve, and judges whether the roller assembly is rotated to the position through the position information, if yes, S4 is executed, otherwise, the position information is fed back to the control system, the control system outputs the adjusted rotating parameter through difference operation, and the roller assembly executes the corresponding action according to the adjusted rotating parameter, and then the visual control system is judged again until the rotating is completed; S4, the control system first sends a polishing and cleaning parameter instruction to the polishing and cleaning blowing device; the polishing and cleaning blowing device executes the polishing and cleaning parameter instruction, and then performs polishing and cleaning operation on the target column pin hole; S5, the control system sends a dispensing parameter instruction to the dispensing device; the dispensing device executes the dispensing parameter instruction, and then performs dispensing operation on the target column pin hole; S6, the control system sends a column pin pad grabbing instruction to the collaborative robot system; the collaborative robot system executes the column pin pad grabbing instruction, and places the column pin pad in the target column pin hole; S7, the control system sends a dispensing parameter instruction to the dispensing device; the dispensing device executes the dispensing parameter instruction, and then performs dispensing operation on the target column pin hole; S8, the control system sends a column pin grabbing instruction to the collaborative robot system; the collaborative robot system executes the column pin grabbing instruction, and rotates the column pin in the target column pin hole; S9, the control system issues a rotating action instruction to the roller assembly; the roller assembly executes the rotating action instruction, the visual control system re-determines the target column pin hole, and then the steps S1-S8 are repeated; The column pin roller sleeve sticking robot comprises an automatic sticking rack assembly, the automatic sticking rack assembly comprises an upper moving guide rail and a lower moving guide rail, a collaborative robot base is installed on the upper moving guide rail, a collaborative robot is installed on the collaborative robot base, a mechanical hand flange substrate is installed at the end of the mechanical arm of the collaborative robot, and a column pin grabbing mechanism and a column pin pad grabbing mechanism are installed on the mechanical hand flange substrate; A dispensing device and a spinning device are installed on the upper moving guide rail, wherein the dispensing device is used for injecting glue into the column pin hole before the column pin and the column pin pad are placed; the spinning device presses the column pin and the column pin pad grabbed by the collaborative robot in the column pin hole of the column pin roller sleeve; A 3D camera acquisition device and a polishing and cleaning blowing device are installed on the lower moving guide rail, wherein the 3D camera acquisition device is used for shooting the actual position of a column pin hole on the column pin roller sleeve; the polishing and cleaning blowing device is used for polishing and cleaning the column pin hole of the column pin roller sleeve before dispensing. The upper layer moving guide rail is provided with a linear rail sliding seat; a walking motor is installed on the side of the linear rail sliding seat, and a walking gear meshing with the upper layer gear rack is installed at the output end of the walking motor; a point gluing rotary pressure feeding base plate is installed above the linear rail sliding seat, and a point gluing device and a rotary pressure device are installed on the point gluing rotary pressure feeding base plate; a linear rail is arranged between the point gluing rotary pressure feeding base plate and the linear rail sliding seat, a point gluing rotary pressure feeding walking motor is installed on the point gluing rotary pressure feeding base plate, a point gluing rotary pressure feeding walking gear is installed at the output end of the point gluing rotary pressure feeding walking motor, and a gear rack meshing with the point gluing rotary pressure feeding walking gear is arranged between the point gluing rotary pressure feeding base plate and the linear rail sliding seat; a rotary lifting mechanism is installed on one side of the point gluing rotary pressure feeding base plate; the rotary lifting mechanism comprises four lifting columns arranged perpendicularly to the point gluing rotary pressure feeding base plate, a lifting motor is installed below the point gluing rotary pressure feeding base plate, the lifting motor is connected to a rotary lifting base plate through a screw nut pair, and a rotating device is arranged on one side of the rotary lifting base plate.

2. The automatic control method for a stud roll set according to claim 1, characterized in that: S10, by detecting the height of the stud, further determining whether the stud is rotary pressed in place.

3. A stud roller sleeve gluing robot controlled by the automatic control method according to claim 2, characterized in that: The bed body comprises a bed body frame, an automatic pin sticking frame assembly is installed on the bed body frame, and an upper layer transmission gear rack is installed on the side of the upper layer moving guide rail in the bed body frame; a lower layer transmission gear rack is installed on the side of the lower layer moving guide rail in the bed body frame; A robot walking motor is installed on the cooperative robot base, and a robot walking gear meshing with the upper layer gear rack is installed at the output end of the robot walking motor; An upper feeding platform is arranged on the side of the cooperative robot, and the upper feeding platform is provided with a stud feeding unit and a stud pad feeding unit which are independent of each other; A roller assembly is installed on the side of the bed body, and is used for supporting the stud roller sleeve.

4. The pin roll wrapping and pinning robot of claim 3, wherein: The polishing and cleaning blowing device comprises a polishing and cleaning blowing walking plate installed on the lower layer moving guide rail, a walking motor is installed on the side of the polishing and cleaning blowing walking plate, a walking gear is installed at the output end of the walking motor, and the walking gear is meshed with the lower layer transmission gear rack installed on the outer side of the lower layer moving guide rail; the polishing and cleaning blowing walking plate is installed on a polishing and cleaning blowing base plate, a linear guide rail is installed between the polishing and cleaning blowing base plate and the polishing and cleaning blowing walking plate, a polishing and cleaning blowing feeding motor is installed on the polishing and cleaning blowing base plate, a feeding gear is installed at the output end of the polishing and cleaning blowing feeding motor, and the feeding gear is meshed with a feeding gear rack; the feeding gear rack is installed on the upper surface of the polishing and cleaning blowing walking plate; a lifting guide plate is installed on the polishing and cleaning blowing base plate close to the stud roller sleeve, a through shaft type screw stepper motor is installed below the lifting guide plate, the output end of the stepper motor is connected to a screw rod, the upper end of the screw rod is connected to a polishing and cleaning blowing lifting plate, a polishing assembly and a cleaning blowing assembly are installed on the polishing and cleaning blowing lifting plate; a guide column is arranged between the polishing and cleaning blowing lifting plate and the lifting guide plate.

5. The pin roll gluing and pinning robot of claim 4, wherein: The polishing assembly comprises three polishing motors installed on the polishing and cleaning blowing lifting plate, and each polishing motor is connected to a polishing wheel at the output end.

6. The stud-roller sleeve-stuck robot of claim 4, wherein: The cleaning blowing assembly comprises a cylinder mounted on the polishing cleaning blowing lifting plate, a piston rod of the cylinder is connected with a polishing cleaning blowing seat, a spray base plate is mounted on the polishing cleaning blowing seat, and six spray valves connected with cleaning agent and high-pressure gas source are mounted on the spray base plate.

7. The pin roller sleeve pinning robot of claim 4, wherein: The dispensing device comprises a dispensing base plate, a dispensing cylinder is mounted on the dispensing base plate, an output end of the dispensing cylinder is connected with a dispensing push plate, the dispensing push plate is connected with a dispensing valve fixing plate, a pneumatic dispensing valve with adjustable flow is mounted on the dispensing valve fixing plate, the pneumatic dispensing valve is connected with a dispensing barrel and a high-pressure gas source, the dispensing barrel is mounted on the dispensing rotary pressing feeding base plate, the dispensing barrel is connected with the high-pressure gas source, and the high-pressure gas source is used for conveying glue to the pneumatic dispensing valve.

8. The stud-roller sleeve-stuck robot of claim 4, wherein: The rotary pressing device comprises a rotary pressing base plate, a linear guide rail is arranged between the rotary pressing base plate and the dispensing rotary pressing feeding base plate, a buffer seat is mounted on the dispensing rotary pressing feeding base plate at a rear end of the rotary pressing base plate, a buffer rod is arranged vertically on the buffer seat and the rotary pressing base plate, and a buffer spring is arranged on the buffer rod; a rotary pressing motor seat is mounted on the rotary pressing base plate, a rotary pressing motor is mounted on the rotary pressing motor seat, a driving gear is mounted on an output shaft of the rotary pressing motor, the driving gear is engaged with a driven gear set, each driven gear of the driven gear set is mounted on an independent rotary pressing shaft, the rotary pressing shaft is mounted on a rotary pressing bearing seat, the rotary pressing bearing seat is mounted on the rotary pressing base plate, and a rotary pressing head is mounted on an end of the rotary pressing shaft.

9. The stud-roller sleeve-stuck robot of claim 4, wherein: The stud bolt pad grabbing mechanism comprises an upper clamping block, an electromagnet mounting block is mounted on the upper clamping block, an electromagnet is embedded in the electromagnet mounting block, and a stud bolt pad positioning groove is arranged on the electromagnet mounting block close to a feeding side; a pushing mechanism is mounted on the mechanical hand flange base plate; the pushing mechanism comprises a double-rod cylinder, a piston rod of the double-rod cylinder is connected with a push plate, and six push rods are mounted on the push plate.

10. The pin roll gluing and pinning robot of claim 4, wherein: The stud bolt grabbing mechanism comprises a material taking plate, the material taking plate is connected with the mechanical hand flange base plate through a connecting rod, six flexible claws are mounted on the material taking plate, each flexible claw comprises two oppositely arranged clamping blocks, the clamping blocks are connected with a bidirectional cylinder to realize clamping action, a 2D camera mounting plate is mounted on one end of the material taking plate, a 2D camera is mounted on the 2D camera mounting plate, and the 2D camera is used for collecting positions of stud bolt holes on a stud bolt roller sleeve.

11. The pin roller sleeve pinning robot of claim 4, wherein: The rotating device comprises a through-shaft screw stepper motor, an output end of the stepper motor is connected with a rack, the rack is mounted on a sliding block of a linear slide rail, an upper portion of the rack is engaged with a driven gear, the driven gear is mounted on a driven shaft, the driven shaft is mounted on a rotating bearing seat, a rotating bearing is mounted on a rotary lifting base plate, and the rotary lifting base plate is mounted on the dispensing rotary pressing feeding base plate.

12. The pin roll gluing and pinning robot of claim 4, wherein: A detection device is fixedly mounted on a support of the linear rail sliding seat, and is used for detecting stud bolt rotary pressing height, the detection device comprises a support, an upper end of the support extends towards a stud bolt roller sleeve, and a distance measuring sensor is mounted on an end of the support.

13. The pin roll gluing and pinning robot of claim 4, wherein: The 3D camera acquisition device comprises a 3D camera walking plate matched with the lower moving guide rail, a 3D camera acquisition device walking motor is installed on the side surface of the 3D camera walking plate, a walking gear is installed on the output end of the 3D camera acquisition device walking motor, and a lower transmission rack is installed on the inner side of the lower moving guide rail.

14. The pin roll gluing and pinning robot of claim 13, wherein: A 3D camera is installed on the 3D camera walking plate, and the 3D camera is connected with a display. A 3D camera lifting feeding plate is installed on the upper surface of the 3D camera walking plate, and a linear guide rail is installed on the 3D camera walking plate and the 3D camera lifting feeding plate; 15. The pin roller sleeve pinning robot of claim 4, wherein: A 3D camera feeding walking motor is installed on the 3D camera lifting feeding plate, a 3D camera feeding walking gear is installed on the output end of the walking motor, and a 3D camera feeding rack is installed on the upper surface of the 3D camera walking plate and engaged with the 3D camera feeding walking gear, so that the 3D camera acquisition device moves along the vertical column nail roller sleeve axis direction; 16. The pin roll gluing and pinning robot of claim 4, wherein: The 3D camera lifting feeding plate is installed on the 3D camera lifting feeding plate, and a 3D camera lifting mechanism is installed on the 3D camera lifting feeding plate; The column nail feeding unit comprises a column nail baffle arranged at the end of the conveying track of the column nail vibrating screen separator, a column nail feeding moving assembly is installed in the vertical direction, the column nail feeding moving assembly comprises a plurality of column nail feeding blocks, the plurality of column nail feeding blocks are installed in a linear arrangement on the column nail moving plate, the column nail moving plate is installed on the sliding block of the linear sliding rail, the column nail baffle is connected with the push plate at the end of the piston rod of the air cylinder, a column nail guide block is installed on the lower end column of the column nail baffle, and a column nail guide hole is arranged on the column nail guide block; The column nail pad feeding unit comprises a column nail pad material picking device arranged at the end of the conveying track of the column nail pad vibrating screen separator, a column nail pad feeding assembly is installed in the vertical direction, the column nail pad feeding assembly comprises a plurality of column nail pad feeding blocks, the plurality of column nail pad feeding blocks are installed in a linear arrangement on the column nail pad moving plate, the column nail pad moving plate is installed on the sliding block of the linear sliding rail, the column nail pad picking device comprises a vertical rack, a lifting mechanism is installed on the rack, the lifting mechanism comprises a through-type lifting motor, a magnet mounting sleeve is installed on the output shaft of the through-type lifting motor, and an electromagnetic block is installed in the magnet mounting sleeve; The rack is further provided with a first infrared sensor for detecting whether the electromagnetic block returns to the original initial position, two column nail pad position detection sensors are further arranged, the upper position detection sensor is used for detecting whether the column nail pad is in place, and the lower position detection sensor is used for detecting the falling of the column nail pad.

17. The pin roller sleeve pinning robot of claim 4, wherein: The supporting roller assembly is used for supporting the column roller sleeve, comprising a base connected with a foundation, symmetrical supporting roller devices are arranged on the base, each supporting roller device comprises a supporting roller frame, two supporting rollers are installed on the supporting roller frame, and a servo driving motor and a speed reducer are respectively installed on the two supporting rollers of one side of the supporting roller device to drive the rotation of the supporting rollers.

18. The pin roll gluing and pinning robot of claim 17, wherein: Linear guides are arranged on the base along the vertical column roller sleeve axis direction, the supporting roller frames are movably installed on the linear guides, each supporting roller frame is connected through a screw rod, and each screw rod is independently connected with a servo motor.

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