A stud roll sleeve sticking robot

Abstract

This invention discloses a stud roller sleeve bonding robot, comprising a bed, a collaborative robot base mounted on the bed, and stud gripping mechanisms and stud pad gripping mechanisms mounted on the collaborative robot; a dispensing device, a spinning device, and a detection device are mounted on the bed; the detection device is used to detect the position of the studs and stud pads; a 2D camera and a 3D camera are mounted on the bed for capturing the actual position of a stud hole on the stud roller sleeve; a grinding, cleaning, and blowing device is used to grind and clean the stud holes on the stud roller sleeve before dispensing; a loading platform is also provided on the side of the collaborative robot, the loading platform being equipped with independent stud loading units and stud pad loading units; a roller assembly is mounted on the side of the bed for supporting the stud roller sleeve. This invention, through the coordinated operation of these components, achieves the stud bonding operation on the stud roller sleeve, and features a high degree of automation, improved processing efficiency of the stud roller sleeve, and guaranteed bonding quality.

Description

[0001] This invention is a divisional application of Chinese patent application CN202211730761.3, the original application was filed on December 30, 2022, and the invention is entitled "A Column Nail Roller Adhesive Nail Robot". Technical Field

[0002] This invention belongs to the field of column nail roller sleeve technology, and particularly relates to a column nail roller sleeve adhesive robot. Background Technology

[0003] As is well known, the stud roller, as one of the core components of a roller press, provides the roller press with high wear resistance and high compressive strength, meeting the requirements of different working conditions. The stud roller sleeve is made of wear-resistant alloy composite sleeve and undergoes drilling and reaming processes. The working roller surface is manufactured by embedding hard alloy studs. The surface of the stud roller sleeve requires a large number of studs for assembly. The process of attaching the studs mainly involves: cleaning the stud holes, applying glue, placing the pad, applying glue again, placing the studs, spinning, and inspection. Traditionally, cleaning, applying glue, and inserting the studs are done manually, followed by hammering assembly. This traditional process has the following drawbacks:

[0004] 1. The adhesive nailing process is complex and has a high rate of human error; for example, forgetting to apply adhesive can cause the installation to be unstable and the nails to fall off; applying too much adhesive can cause adhesive to drip.

[0005] First, the labor intensity is high. Since thousands of pins need to be embedded in the pin roller sleeve, the manual embedding method requires a lot of time and manpower.

[0006] Second, manual operation is prone to omissions; due to the large number of pin holes, omissions are inevitable.

[0007] When operating manually, it is difficult to control the force of the hammer, which leads to differences in the firmness and height of the studs, affecting the final quality. Summary of the Invention

[0008] To address the problems existing in the prior art, this invention provides a nail roller sleeve adhesive robot capable of automatically feeding, cleaning, dispensing glue, and spinning of nails and nail pads.

[0009] This invention is implemented as follows: a pin-adhesive roller sleeve adhesive robot, characterized by: a bed, the bed including a bed frame, an automatic adhesive mounting frame assembly mounted on the bed frame, the automatic adhesive mounting frame assembly including an upper moving guide rail and a lower moving guide rail; an upper transmission rack mounted on the side of the upper moving guide rail within the bed frame; a lower transmission rack mounted on the side of the lower moving guide rail within the bed frame; a collaborative robot base mounted on the upper moving guide rail, a robot walking motor mounted on the collaborative robot base, a robot walking gear meshing with the upper rack mounted on the output end of the robot walking motor; a collaborative robot mounted on the collaborative robot base, a robotic arm flange base plate mounted on the end of the collaborative robot's robotic arm; and a robotic arm flange base plate. The system includes a stud gripping mechanism and a stud pad gripping mechanism on the upper part of the machine bed. An adhesive dispensing device and a spinning device are installed on the upper moving guide rail. The adhesive dispensing device injects adhesive into the stud holes of the stud roller sleeve before the studs and stud pads are placed. The spinning device presses the studs and stud pads gripped by the collaborative robot into the stud holes of the stud roller sleeve. A 3D camera acquisition device and a grinding, cleaning, and blowing device are installed on the lower moving guide rail. The 3D camera acquisition device captures the actual position of a stud hole on the stud roller sleeve. The grinding, cleaning, and blowing device grinds and cleans the stud holes of the stud roller sleeve before adhesive dispensing. A loading platform is also provided on the side of the collaborative robot, which is equipped with independent stud loading units and stud pad loading units. A roller assembly is installed on the side of the machine bed to support the stud roller sleeve.

[0010] Preferably, the stud pad gripping mechanism includes an upper clamping block, on which an electromagnet mounting block is installed, an electromagnet is embedded, and a stud pad positioning groove is provided on the electromagnet mounting block near the feeding side; a pushing mechanism is installed on the robotic arm flange base plate; the pushing mechanism includes a double-rod cylinder, the piston rod of the double-rod cylinder is connected to a push plate, and six push rods are installed on the push plate.

[0011] Preferably, the pin gripping mechanism includes a material-grabbing plate, which is connected to the robot arm flange base plate via a connecting rod. Six flexible claws are installed on the material-grabbing plate, and each flexible claw includes two opposing clamping blocks. The clamping blocks are connected to a bidirectional cylinder to achieve the clamping action. A 2D camera mounting plate is installed at one end of the material-grabbing plate, and a 2D camera is installed on the 2D camera mounting plate. The 2D camera is used to collect the position of the pin holes on the pin roller sleeve.

[0012] Preferably, the flange base plate of the robotic arm is also equipped with a nail protection bracket, which is equipped with a detection sensor for detecting the extreme position of the push rod, thus providing flexible protection and preventing overtravel pushing of the nail pad and nail. Preferably, a linear track slide seat is mounted on the upper moving guide rail; a travel motor is mounted on the side of the linear track slide seat, and a travel gear that meshes with the upper rack is mounted on the output end of the travel motor; a dispensing and spinning feed base plate is mounted above the linear track slide seat, and a dispensing device and a spinning device are mounted on the dispensing and spinning feed feed base plate; a linear track is provided between the dispensing and spinning feed base plate and the linear track slide seat, a dispensing and spinning feed travel motor is mounted on the dispensing and spinning feed feed base plate, a dispensing and spinning feed travel gear is mounted on the output end of the dispensing and spinning feed travel motor, and a rack that meshes with the dispensing and spinning feed travel gear is provided between the dispensing and spinning feed base plate and the linear track slide seat; a rotary lifting mechanism is mounted on one side of the dispensing and spinning feed base plate; the rotary lifting mechanism includes four lifting columns arranged perpendicularly to the dispensing and spinning feed base plate, a lifting motor is mounted below the dispensing and spinning feed base plate, the lifting motor is connected to the rotary lifting base plate through a screw and nut pair, and a rotating device is provided on one side of the rotary lifting base plate plate.

[0013] The rotating device includes a through-shaft lead screw stepper motor. The output end of the stepper motor is connected to a rack, which is mounted on a slider of a linear slide rail. A driven gear meshes with the upper part of the rack. The driven gear is mounted on a driven shaft, which is mounted on a rotary bearing seat. The rotary bearing is mounted on a rotary lifting base plate, and a dispensing spin feed base plate is mounted on the rotary lifting base plate. Preferably, the dispensing device includes a dispensing base plate, on which a dispensing cylinder is mounted. The output end of the dispensing cylinder is connected to a dispensing push plate, which is connected to a dispensing valve fixing plate. A pneumatically adjustable dispensing valve is mounted on the dispensing valve fixing plate. The pneumatic dispensing valve is connected to a dispensing tank and a high-pressure air source. The dispensing tank is mounted on the dispensing spin feed base plate and connected to the high-pressure air source, which supplies adhesive to the pneumatic dispensing valve.

[0014] Preferably, the spinning device includes a spinning base plate, a linear guide rail between the spinning base plate and the dispensing spinning feed base plate, a buffer seat mounted on the dispensing spinning feed base plate at the rear end of the spinning base plate, a buffer rod perpendicular to the spinning base plate ...

[0015] Preferably, a detection device is fixedly installed on the support of the linear track slide seat to detect the pin spinning height. The detection device includes a bracket, the upper end of which extends toward the pin roller sleeve, and a distance sensor is installed at the end of the bracket.

[0016] Preferably, the 3D camera acquisition device includes a 3D camera traveling plate that cooperates with the lower moving guide rail. A 3D camera acquisition device traveling motor is installed on the side of the 3D camera traveling plate. A traveling gear is installed at the output end of the 3D camera acquisition device traveling motor. The traveling gear meshes with a lower transmission rack installed on the inner side of the lower moving guide rail. A 3D camera is installed on the 3D camera traveling plate and is connected to a display.

[0017] Preferably, a 3D camera lifting feed plate is mounted on the upper surface of the 3D camera walking plate, and a linear guide rail is mounted on the 3D camera lifting feed plate and the 3D camera walking plate; a 3D camera feeding motor is mounted on the 3D camera lifting feed plate, and a 3D camera feeding gear is mounted on the output end of the motor, which meshes with a 3D camera feeding rack on the upper surface of the 3D camera walking plate; this causes the 3D camera acquisition device to move along the axis of the vertical column nail roller sleeve; a 3D camera lifting mechanism is mounted on the 3D lifting base.

[0018] Preferably, the 3D camera lifting mechanism includes a 3D camera lifting guide plate, a through-shaft type lead screw stepper motor installed below the 3D camera lifting guide plate, the output end of the motor being connected to the lead screw, the upper end of the lead screw being connected to the 3D camera lifting plate, and a 3D camera being installed on the 3D camera lifting plate; a guide column is provided between the 3D camera lifting plate and the 3D camera lifting guide plate.

[0019] Preferably, the grinding, cleaning, and blowing device includes a grinding, cleaning, and blowing traveling plate mounted on a lower moving guide rail. A traveling motor is mounted on the side of the traveling plate, and a traveling gear is mounted on the output end of the traveling motor. The traveling gear meshes with a lower transmission rack mounted on the outer side of the lower moving guide rail. The grinding, cleaning, and blowing traveling plate is mounted on a grinding, cleaning, and blowing base. A linear guide rail is installed between the grinding, cleaning, and blowing base and the traveling plate. A grinding, cleaning, and blowing feed motor is mounted on the grinding, cleaning, and blowing device. A feed gear is installed at the output end of the feed motor, and the feed gear meshes with a feed rack; the feed rack is installed on the upper surface of the grinding, cleaning, and blowing travel plate; a lifting guide plate is installed on the grinding, cleaning, and blowing lifting base plate near the column nail roller sleeve side; a through-shaft type lead screw stepper motor is installed below the lifting guide plate, the output end of the stepper motor is connected to the lead screw, the upper end of the lead screw is connected to the grinding, cleaning, and blowing lifting plate, and grinding components and cleaning and blowing components are installed on the grinding, cleaning, and blowing lifting plate; a guide column is provided between the grinding, cleaning, and blowing lifting plate and the lifting guide plate.

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

[0021] Preferably, the cleaning spray assembly includes a cylinder mounted on a grinding and cleaning spray lifting plate, the piston rod of the cylinder being connected to a grinding and cleaning spray base, a spray base plate being mounted on the grinding and cleaning spray base, and six spray valves connected to a cleaning agent and a high-pressure air source being mounted on the spray base plate.

[0022] Preferably, the pin feeding unit includes a pin baffle at the end of the conveying track of the pin vibrating screen, and a pin feeding moving assembly installed vertically. The pin feeding moving assembly includes several pin feeding blocks arranged in a straight line on the pin moving support plate. The pin moving support plate is installed on the slider of the linear slide rail. The pin baffle is connected to the push plate at the end of the cylinder piston rod. A pin guide block is installed on the lower column of the pin baffle. The pin guide block is provided with a pin guide hole. Two pin positioning detection sensors are also provided to detect whether the pin is tilted. A discharge detection sensor is also provided on the lower surface of the pin guide block to detect whether material is falling.

[0023] Preferably, the column pad feeding unit includes a column pad material picking device located at the end of the conveying track of the column pad in the column pad vibrating screen, and a column pad feeding assembly installed vertically. The column pad feeding assembly includes several column pad feeding blocks arranged in a straight line on a column pad moving plate. The column pad moving plate is mounted on a slider of a linear slide rail. The column pad picking device includes a vertically mounted frame with a lifting mechanism installed on the frame. The lifting mechanism includes a through-type lifting motor. A magnet mounting sleeve is installed on the output shaft, and an electromagnetic block is installed inside the magnet mounting sleeve; a stud pad support plate is also installed on the frame, the stud pad support plate is connected to the stud pad bolting track, and the stud pad support plate is connected to the stud pad support cylinder; a first infrared sensor is installed on the frame to detect whether the electromagnetic block has returned to its original position; there are also two stud pad position detection sensors, of which the upper position detection sensor is used to detect whether the stud pad is in place; the lower position detection sensor is used to detect the stud pad falling.

[0024] Preferably, the idler assembly is used to support the column nail roller sleeve, including a base connected to the foundation, and idler devices are symmetrically arranged on the base. The idler device includes an idler frame, and two idlers are installed on the idler frame. The two idlers on one side of the idler device are respectively equipped with a servo drive motor and a reducer for driving the idler to rotate.

[0025] Preferably, a linear guide rail is provided on the base along the direction of the vertical column nail roller sleeve axis, and the roller frame is movably installed on the linear guide rail. Each roller frame is connected by a lead screw, and each lead screw is independently connected to a servo motor.

[0026] The advantages and technical effects of this invention are as follows:

[0027] This invention utilizes a collaborative robot to automatically feed the stud pads and studs. A grinding, cleaning, and blowing device is used to grind and clean the stud holes of the stud roller sleeve before glue application. A glue application device injects glue into the stud holes of the stud and stud pad placement box. A spinning device presses the studs and stud pads, grasped by the collaborative robot, into the stud holes of the stud roller sleeve. A detection device detects the positions of the studs and stud pads. Employing a 3D camera and 2D vision positioning for precise pickup and placement, this invention, through the coordinated operation of these components, achieves the stud sticking process on the stud roller sleeve. This invention features a high degree of automation, improved processing efficiency of the stud roller sleeve, and guaranteed sticking quality. Attached Figure Description

[0028] Figure 1 This is the front view of the present invention;

[0029] Figure 2 It is a top view;

[0030] Figure 3 It is the left view;

[0031] Figure 4 This is a three-dimensional structural schematic diagram of the present invention;

[0032] Figure 5 This is the front view of the fuselage;

[0033] Figure 6 This is a schematic diagram of the fuselage's three-dimensional structure;

[0034] Figure 7 This is a schematic diagram of the machine bed frame structure;

[0035] Figure 8 This is a schematic diagram of the three-dimensional structure of the column nail feeding unit;

[0036] Figure 9 This is a schematic diagram of the three-dimensional structure of the column nail pad feeding unit;

[0037] Figure 10 and Figure 11 Schematic diagram of the three-dimensional structure for installing a collaborative robot;

[0038] Figure 12 and Figure 13 This is a three-dimensional structural diagram of the dispensing and spinning devices.

[0039] Figure 14 and Figure 15This is a schematic diagram of the three-dimensional structure of the 3D camera acquisition device;

[0040] Figures 16 to 18 This is a schematic diagram of the three-dimensional structure of the grinding, cleaning, and blowing device;

[0041] Figure 19 and Figure 20 This is a schematic diagram of the three-dimensional structure of the idler roller assembly.

[0042] 1. Pole nail sleeve; 1-1. Pole nail; 1-2. Pole nail washer;

[0043] 100. Bed; 110. Bed frame; 120. Automatic adhesive nailing frame assembly;

[0044] 121. Upper moving guide rail; 1210. Linear rail slide seat; 1211. Travel motor; 1212. Travel gear; 1213. Dispensing and spinning feed base plate; 1214. Linear rail; 1215. Dispensing and spinning feed travel motor; 1216. Dispensing and spinning feed travel gear; 1217. Rack; 1218. Rotary lifting mechanism; 1219. Lifting column; 1220. Lifting motor; 1221. Rotary lifting base plate; 1230. Rotation device; 1231. Stepper motor; 1232. Rack; 1233. Linear slide rail; 1234. Slider; 1235. Driven gear; 1236. Driven shaft; 1237. Rotary bearing seat;

[0045] 122. Lower layer moving guide rail; 123. Upper layer transmission rack;

[0046] 200. Collaborative robot base; 210. Robot walking motor; 220. Robot walking gear; 230. Collaborative robot; 240. Robotic arm flange base plate;

[0047] 250. Column nail gripping mechanism; 251. Material grabbing plate; 252. Connecting rod; 253. Flexible claw; 2531. Clamping block; 2532. Two-way cylinder; 254. 2D camera mounting plate; 255. 2D camera;

[0048] 260. Staple pad gripping mechanism; 262. Electromagnet mounting block; 263. Electromagnet; 264. Staple pad positioning groove; 265. Pushing mechanism; 2651. Double-rod cylinder; 2652. Push plate; 2653. Push rod;

[0049] 270. Adhesive pin protective bracket; 271. Detection sensor;

[0050] 300. Dispensing device; 301. Dispensing substrate; 302. Dispensing cylinder; 303. Dispensing push plate; 304. Dispensing valve fixing plate; 305. Pneumatic dispensing valve; 306. Dispensing bucket;

[0051] 400. Spinning device; 401. Spinning base plate; 402. Linear guide rail; 403. Buffer seat; 404. Buffer rod; 405. Buffer spring; 406. Spinning motor; 407. Spinning motor; 408. Drive gear; 409. Driven gear; 410. Spinning shaft; 411. Spinning bearing housing; 412. Spinning head;

[0052] 500. Detection device; 501. Support; 502. Distance sensor;

[0053] 600. 3D camera acquisition device; 601. 3D camera travel plate; 602. 3D camera acquisition device travel motor; 603. Travel gear; 605. 3D camera; 606. 3D camera lifting feed plate; 607. Linear guide rail; 608. 3D camera feed travel motor; 609. 3D camera feed travel gear; 610. 3D camera feed rack; 611. 3D camera lifting mechanism; 6110. 3D camera lifting guide plate; 6111. Stepper motor; 6112. Lead screw; 6113. 3D camera lifting plate; 6114. Guide column;

[0054] 700. Grinding and cleaning spraying device; 701. Grinding and cleaning spraying traveling plate; 702. Side-mounted traveling motor; 703. Traveling gear; 705. Grinding and cleaning spraying base; 706. Linear guide rail; 707. Grinding and cleaning spraying feed motor; 708. Feed gear; 709. Feed rack; 710. Lifting guide plate; 711. Stepper motor; 712. Lead screw; 713. Grinding and cleaning spraying lifting plate; 714. Grinding assembly; 7140. Grinding motor; 7141. Grinding wheel; 715. Cleaning spraying assembly; 7150. Cylinder; 7151. Grinding and cleaning spraying base; 7152. Spray base plate; 7153. Spray valve; 716. Guide column;

[0055] 800. Material loading platform;

[0056] 810. Column nail feeding unit; 811. Column nail vibrating screen; 812. Column nail baffle; 813. Column nail feeding moving assembly; 814. Column nail feeding block; 815. Column nail moving support plate; 816. Linear slide rail; 817. Slider; 818. Cylinder piston rod; 819. Push plate; 8110. Column nail guide block; 8111. Column nail guide hole; 8112. Position detection sensor; 8113. Discharge detection sensor; 8114. Column;

[0057] 820. Pin pad feeding unit; 821. Pin pad vibrating screen; 822. Pin pad material picking device; 823. Pin pad feeding assembly; 824. Pin pad feeding block; 825. Pin pad moving plate; 826. Linear slide rail; 827. Slider; 828. Frame; 829. Lifting mechanism; 8210. Through-type lifting motor; 8211. Magnet mounting sleeve; 8212. First infrared sensor; 8213. Position detection sensor;

[0058] 900. Idler roller assembly; 910. Base; 920. Idler roller device; 921. Idler roller frame; 922. Idler roller; 923. Servo drive motor; 924. Reducer; 930. Linear guide rail; 940. Lead screw; 941. Servo motor;

[0059] 1000, bracket; 1001, adhesive roller. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0061] Please see Figures 1 to 7 A pin-adhesive roller sleeve adhesive robot includes a bed 100, which includes a bed frame 110. An automatic pin-adhesive frame assembly 120 is mounted on the bed frame. The automatic pin-adhesive frame assembly includes an upper moving guide rail 121 and a lower moving guide rail 122. An upper transmission rack 123 is mounted on the side of the upper moving guide rail within the bed frame. A lower transmission rack 124 is mounted on the side of the lower moving guide rail within the bed frame. The upper transmission rack 123 and the lower transmission rack 124 provide a running track for spinning, dispensing, and graphic acquisition, ensuring that the equipment moves along a predetermined track.

[0062] A collaborative robot base 200 is mounted on the upper moving guide rail 121. A robot walking motor 210 is mounted on the collaborative robot base. A robot walking gear 220 that meshes with the upper rack is mounted on the output end of the robot walking motor. A collaborative robot 230 is mounted on the collaborative robot base. A stud gripping mechanism 250 and a stud pad gripping mechanism 260 are mounted on the end manipulator flange base plate 240 of the collaborative robot's robotic arm. The collaborative robot can perform gripping and releasing operations on stud pads 1-2 and studs 1-1, replacing traditional manual labor and improving the efficiency of sticking studs. The collaborative robot is a six-axis multi-directional robot. Its working principle is a known technology and will not be described again.

[0063] The upper moving guide rail is equipped with a dispensing device 300 and a spinning device 400. The dispensing device 300 is used to inject adhesive into the pin holes of the pin and pin pad before placement, replacing manual application of adhesive. The spinning device 400 presses the pin and pin pad grasped by the collaborative robot into the pin holes of the pin roller sleeve, replacing manual hammering to install the pin, improving the pin-adhesion efficiency, and ensuring the consistency of the pin-adhesion height.

[0064] A 3D camera acquisition device 600 and a grinding, cleaning and blowing device 700 are installed on the lower moving guide rail 122. The 3D camera acquisition device 600 is used to capture the actual position of a certain pin hole on the pin roller sleeve; to provide position coordinates for the installation of pin pads and pins, and to achieve the effect of automatic pin adhesion.

[0065] The 700 grinding and cleaning spraying device is used to grind and clean the pin holes of the pin roller sleeve before applying adhesive; to ensure the cleanliness of the pin holes and avoid foreign objects that may cause differences in installation accuracy.

[0066] A feeding platform 800 is also provided on the side of the collaborative robot. The feeding platform is equipped with an independent stud feeding unit 810 and a stud pad feeding unit 820 to realize the automatic feeding of stud pads and studs.

[0067] A roller assembly 900 is installed on the side of the bed to support the pin roller sleeve. On the one hand, it keeps the same row relatively stationary when installing, and on the other hand, it can rotate when installing the next row, replacing the manual rotation of the huge pin roller and reducing labor intensity.

[0068] Please see Figure 8The column nail feeding unit 810 includes a column nail baffle 812 installed at the end of the conveying track of the column nail vibrating screen 811, and a column nail feeding moving assembly 813 installed vertically. The column nail feeding moving assembly includes several column nail feeding blocks 814, which are arranged in a straight line on a column nail moving support plate 815. The column nail moving support plate is installed on a slider 817 of a linear slide rail 816. The column nail baffle 812 is connected to a push plate 819 at the end of a cylinder piston rod 818. A column nail guide block 8110 is installed on the lower column 8114 of the column nail baffle, and the column nail guide block is provided with a column nail guide hole 8111. Two column nail positioning detection sensors 8112 are also provided. The side is shaped like a single surface to prevent the pin from tilting. A material feeding detection sensor 8113 is also provided on the lower surface of the pin guide block. The material feeding detection sensor is used to detect the falling material. After a falling material is detected, the pin loading block moves forward one station along the track. After the pin comes down from the pin vibrating screen, it is transported by the conveyor track. When it encounters the pin baffle, it stops moving and is then released by the push plate. Under the guidance of the pin guide block, it enters the pin loading block. This operation places one pin in each pin loading block on the pin moving pallet. The present invention is equipped with 6 pin loading blocks. After placement, it is moved to the pin loading station by the drive of the electric linear track, waiting for the collaborative robot to grab the pin.

[0069] Please see Figure 9 The column pad feeding unit 820 includes a column pad material picking device 822 installed at the end of the conveying track of the column pad in the column pad vibrating screen 821, and a column pad feeding assembly 823 installed vertically. The column pad feeding assembly includes several column pad feeding blocks 824, which are arranged in a straight line and installed on a column pad moving plate 825. The column pad moving plate is installed on a slider 827 of a linear slide rail 826. The column pad picking device 822 includes a vertically set frame 828, on which a lifting mechanism 829 is installed. The lifting mechanism includes a through-type lifting motor 8210, and the output shaft of the through-type lifting motor is... A magnet mounting sleeve 8211 is installed, and an electromagnetic block is installed inside the magnet mounting sleeve; a stud pad support plate 8214 is also installed on the frame. The stud pad support plate is grooved, and its cross-section is consistent with the stud pad conveying track; the stud pad support plate is connected to the stud pad bolting track, and the stud pad support plate is connected to the stud pad support cylinder 8215. A first infrared sensor 8212 is installed on the frame to detect whether the electromagnetic block has returned to its original position; there are also two stud pad position detection sensors 8213, of which the upper position detection sensor is used to detect whether the stud pad is in place; the lower position detection sensor is used to detect the stud pad falling.

[0070] After the pins come off the pin pad vibrating screen, they are conveyed by the conveyor track. When the pin pad moves to the end of the pin pad support plate, the output shaft of the through-type lifting motor is equipped with a magnet mounting sleeve and a magnet descends to attract the pin pad. Then the pin pad is placed in the pin pad loading block to achieve the pin pad picking. In this way, each pin pad loading block on the pin pad moving pallet is placed with one pin. This invention is set with 6 pin pad loading blocks. After placement, the pin pads are moved to the pin pad loading station by the drive of the electric linear track, waiting for the collaborative robot to grab the pin pads.

[0071] Please see Figure 10 and Figure 11 In the preferred embodiment of the above technical solution, the stud pad gripping mechanism 260 includes an electromagnet mounting block 262, in which an electromagnet 263 is embedded. A stud pad positioning groove 264 is provided on the electromagnet mounting block near the feeding side. A pushing mechanism 265 is mounted on the robotic arm flange base plate 240. The pushing mechanism includes a double-rod cylinder 2651, whose piston rod is connected to a push plate 2652. Six push rods 2653 are mounted on the push plate. The electromagnet mounting block 262 is fixedly installed on both sides of the clamping block 2531 of the stud gripping mechanism 250. After being energized, it picks up the stud pad and moves it to the stud hole position. When the electromagnet is de-energized, the stud pad is released. When the stud pad needs to be placed into the stud roller, the collaborative robot is activated. The collaborative robot grips the stud pad from the stud pad feeding unit using a magnetic gripping method. After gripping, the stud pad is placed in the stud hole of the stud roller. Then move to one station so that the push rod pin pad is aligned with the pin hole on the pin roller sleeve, and push it into the pin hole to install the pin pad.

[0072] Please see Figure 10 and Figure 11 In the preferred embodiment of the above technical solution, the stud gripping mechanism 250 includes a material-grabbing plate 251, which is connected to the robotic arm flange base plate 240 via a connecting rod 252. Six flexible claws 253 are mounted on the material-grabbing plate, each flexible claw including two opposing clamping blocks 2531. The clamping blocks are connected to a bidirectional cylinder 2532 to achieve the clamping action. A 2D camera mounting plate 254 is mounted on one end of the material-grabbing plate 251, and a 2D camera 255 is mounted on the 2D camera mounting plate. The 2D camera is used to collect the position of the stud holes on the stud roller sleeve.

[0073] In the preferred embodiment of the above technical solution, a nail protection bracket 270 is also installed on the robotic arm flange base plate 240. The nail protection bracket is equipped with a detection sensor 271 for detecting the extreme position of the push rod, which plays a flexible protective role and prevents the push rod pad and nail from being pushed beyond the travel range. The nail is gripped and placed in the nail hole after the nail pad is placed by the nail gripping mechanism. The nail gripping adopts a bidirectional clamping method to ensure the stability of the nail clamping.

[0074] Please see Figure 12 and Figure 13 Preferably, a linear track slide seat 1210 is mounted on the upper moving guide rail 121; a travel motor 1211 is mounted on the side of the linear track slide seat, and a travel gear 1212 that meshes with the upper rack is mounted on the output end of the travel motor; a dispensing and spinning feed base plate 1213 is mounted above the linear track slide seat, and a dispensing device 300 and a spinning device 400 are mounted on the dispensing and spinning feed base plate; a linear track 1214 is provided between the dispensing and spinning feed base plate and the linear track slide seat, and a dispensing and spinning feed travel motor 1215 is mounted on the dispensing and spinning feed feed base plate. A dispensing and spinning feed travel gear 1216 is mounted on the output end of the dispensing and spinning feed travel motor, which interacts with the dispensing and spinning feed base plate and the linear track slide seat. A rack 1217 meshes with a spinning feed gear 1216; a rotary lifting mechanism 1218 is mounted on one side of the dispensing spinning feed substrate 1213; the rotary lifting mechanism includes four lifting columns 1219 arranged perpendicularly to the dispensing spinning feed substrate, a lifting motor 1220 is mounted below the dispensing spinning feed substrate, the lifting motor is connected to the rotary lifting substrate 1221 via a lead screw and nut pair, and a rotating device 1230 is provided on one side of the rotary lifting substrate; the rotating device 1230 includes a stepper motor 1231, the output end of the stepper motor is connected to a rotating shaft 1232, the rotating shaft is mounted on a rotating bearing seat 1233, the rotating bearing is mounted on the rotary lifting substrate 1221, and the dispensing spinning substrate 1234 is mounted on the rotary lifting substrate. The above configuration allows the dispensing device and the spinning device to move axially along the pin roller, with the travel stroke covering the entire pin roller, and feeding perpendicular to the pin roller direction to complete the pin dispensing and spinning work.

[0075] Please see Figure 12 and Figure 13 In a preferred embodiment of the above technical solution, the dispensing device 300 includes a dispensing substrate 301, on which a dispensing cylinder 302 is mounted. The output end of the dispensing cylinder is connected to a dispensing push plate 303, which is connected to a dispensing valve fixing plate 304. A pneumatically adjustable dispensing valve 305 is mounted on the dispensing valve fixing plate. The pneumatic dispensing valve is connected to a dispensing tank 306 and a high-pressure air source. The dispensing tank is mounted on a dispensing spinning feed substrate 1213 and connected to a high-pressure air source, through which adhesive is supplied to the pneumatic dispensing valve. Driven by the dispensing cylinder, the dispensing push plate and the dispensing valve fixing plate advance towards the pin roller, achieving dispensing operations in each pin hole at the position coordinates provided by the 3D camera.

[0076] Please see Figure 12 and Figure 13In a preferred embodiment of the above technical solution, the spinning device 400 includes a spinning base plate 401, a linear guide rail 402 between the spinning base plate and the dispensing spinning feed base plate, a buffer seat 403 mounted on the dispensing spinning feed base plate at the rear end of the spinning base plate, a buffer rod 404 perpendicularly mounted on the buffer seat plate plate, and a buffer spring 405 mounted on the buffer rod. A spinning motor mounting base 406 is mounted on the spinning base plate, a spinning motor 407 is mounted on the spinning motor mounting base plate, a drive gear 408 is mounted on the output shaft of the spinning motor, the drive gear meshes with a driven gear 409, the driven gear is mounted on a spinning shaft 410, the spinning shaft is mounted on a spinning bearing seat 411, the spinning bearing seat is mounted on the spinning base plate, and a spinning head 412 is mounted at the end of the spinning shaft. The placed pins are spun under the drive of the spinning motor.

[0077] Please see Figure 12 and Figure 13 In the preferred embodiment of the above technical solution, a detection device 500 is fixedly installed on the support of the linear track sliding seat to detect the pin spinning height. The detection device includes a bracket 501, the upper end of which extends toward the pin roller sleeve, and a distance sensor 502 is installed at the end of the bracket. The detected position features are fed back to the central control center to determine whether the pin has been spun to the set position.

[0078] Please see Figure 12 and Figure 13 Below the spinning device and on one side of the dispensing device, a glue-wiping roller 1001 is provided via a bracket 1000 for wiping away excess glue. The glue-wiping roller on the side of the dispensing device is set vertically, while the glue-wiping roller below the spinning device is placed horizontally, so that glue wiping can be achieved in both horizontal and vertical directions.

[0079] Please see Figure 14 and Figure 15 In a preferred embodiment of the above technical solution, the 3D camera acquisition device 600 includes a 3D camera traveling plate 601 that cooperates with the lower moving guide rail. A 3D camera acquisition device traveling motor 602 is mounted on the side of the 3D camera traveling plate. A traveling gear 603 is mounted on the output end of the 3D camera acquisition device traveling motor. The traveling gear meshes with a lower transmission rack 124 mounted on the inner side of the lower moving guide rail. A 3D camera 605 is mounted on the 3D camera traveling plate. The 3D camera is connected to a display. The 3D camera acquisition device 600 moves along the lower transmission rack under the drive of the 3D camera acquisition device traveling motor, and the acquired position information is transmitted to the central control center.

[0080] In the preferred embodiment of the above technical solution, a 3D camera lifting feed plate 606 is mounted on the upper surface of the 3D camera walking plate, and a linear guide rail 607 is mounted on the 3D camera lifting feed plate and the 3D camera walking plate; a 3D camera feed motor 608 is mounted on the 3D camera lifting feed plate, and a 3D camera feed gear 609 is mounted on the output end of the 3D camera feed motor; the 3D camera feed gear meshes with a 3D camera feed rack 610 set on the upper surface of the 3D camera walking plate; thereby causing the 3D camera acquisition device to move along the axis of the vertical column nail roller sleeve; and a 3D camera lifting mechanism 611 is mounted on the 3D lifting base.

[0081] In the preferred embodiment of the above technical solution, the 3D camera lifting mechanism 611 includes a 3D camera lifting guide plate 6110, a through-shaft type lead screw stepper motor 6111 installed below the 3D camera lifting guide plate, the output end of the motor connected to a lead screw 6112, the upper end of the lead screw connected to a 3D camera lifting plate 6113, and a 3D camera 605 mounted on the 3D camera lifting plate; a guide post 6114 is provided between the 3D camera lifting plate and the 3D camera lifting guide plate. The 3D camera lifting mechanism 611 realizes the vertical lifting of the 3D camera, meets the adjustment of the vertical angle, and obtains accurate position coordinates of the post hole.

[0082] Please see Figures 16 to 18 In the preferred embodiment of the above technical solution, the grinding, cleaning, and blowing device 700 includes a grinding, cleaning, and blowing traveling plate 701 mounted on a lower moving guide rail, a traveling motor 702 mounted on the side of the grinding, cleaning, and blowing traveling plate, and a traveling gear 703 mounted on the output end of the traveling motor. The traveling gear meshes with a lower transmission rack 124 mounted on the outer side of the lower moving guide rail. Driven by the traveling motor 702, the grinding, cleaning, and blowing device moves along the lower transmission rack 124, satisfying the axial travel direction movement of the pin roller.

[0083] A grinding, cleaning, and blowing travel plate is equipped with a grinding, cleaning, and blowing base 705. A linear guide rail 706 is installed between the grinding, cleaning, and blowing base and the grinding, cleaning, and blowing travel plate. A grinding, cleaning, and blowing feed motor 707 is installed on the grinding, cleaning, and blowing feed motor. A feed gear 708 is installed at the output end of the grinding, cleaning, and blowing feed motor, and the feed gear meshes with a feed rack 709. The feed rack is installed on the upper surface of the grinding, cleaning, and blowing travel plate. A grinding, cleaning, and blowing lifting base plate is installed near the column pin roller sleeve side. A lifting guide plate 710 is provided, and a through-shaft type lead screw stepper motor 711 is installed below the lifting guide plate. The output end of the stepper motor is connected to the lead screw 712, and the upper end of the lead screw is connected to the grinding, cleaning and blowing lifting plate 713. A grinding component 714 and a cleaning and blowing component 715 are installed on the grinding, cleaning and blowing lifting plate. A guide column 716 is provided between the grinding, cleaning and blowing lifting plate and the lifting guide plate. The above technical solution can realize the upward feeding and lifting of the grinding and cleaning nozzle, and meet the grinding, cleaning and blowing operations with different hole sizes.

[0084] In the preferred embodiment of the above technical solution, the grinding component 714 includes three grinding motors 7140 mounted on the grinding, cleaning, and blowing lifting plate. The output end of each grinding motor is connected to a grinding wheel 7141, and the grinding wheel grinds the inside of the pin hole under the drive of the grinding motor.

[0085] Preferably, the cleaning spray assembly 715 includes a cylinder 7150 mounted on a grinding and cleaning spray lifting plate. The piston rod of the cylinder is connected to a grinding and cleaning spray seat 7151. A spray base plate 7152 is mounted on the grinding and cleaning spray seat. Six spray valves 7153 connected to the cleaning agent and a high-pressure air source are mounted on the spray base plate. The cleaning agent is sprayed through the cylinder spray valves.

[0086] Please see Figure 19 In the preferred embodiment of the above technical solution, the roller assembly 900 is used to support the pin roller sleeve and can drive the pin roller sleeve to rotate during the actual nailing process. Specifically, it includes a base 910 connected to the foundation, on which roller devices 920 are symmetrically arranged. The roller device includes a roller frame 921, on which two rollers 922 are installed. The two rollers of the roller device on one side are respectively equipped with a servo drive motor 923 and a reducer 924 to drive the pin roller to rotate. The above technical solution realizes the support and rotation of the pin roller.

[0087] Please see Figure 20In the preferred embodiment of the above technical solution, a linear guide rail 930 is provided on the base 910 along the direction of the vertical column nail roller sleeve axis. The roller frame is movably installed on the linear guide rail. Each roller frame is connected by a lead screw 940, and each lead screw is independently connected to a servo motor 941. This technical solution can meet the nail-sticking operation of different column nail sleeve diameters. By adopting the above technical solution, nail-sticking operation of active rollers of different diameters can be realized. The distance between the roller frames on the same side can be adjusted by the lead screw.

[0088] How to use this invention:

[0089] Working principle: An automatic control method for a column nail roller sleeve, comprising:

[0090] S1. Input process parameters into the control system through the human-machine dialogue module;

[0091] S2. The control system first sends a rotation action command to the idler assembly; the rotation action command includes rotation time parameters and rotation angle parameters; then the idler assembly executes the rotation action command.

[0092] S3. The vision control system, consisting of 2D and 3D cameras, acquires the position information of the target pin hole on the pin roller sleeve. It determines whether the roller assembly has rotated into place based on the position information. If it has rotated into place, S4 is executed. Otherwise, the position information is fed back to the control system. The control system outputs the adjustment rotation parameters through difference calculation. The roller assembly performs the corresponding action according to the adjustment rotation parameters. After execution, the vision control system makes the judgment again until it rotates into place.

[0093] S4. The control system first sends grinding and cleaning parameter instructions to the grinding and cleaning spraying device; the grinding and cleaning spraying device executes the grinding and cleaning parameter instructions and then performs grinding and cleaning operations on the target pin hole.

[0094] S5. The control system sends dispensing parameter instructions to the dispensing device; the dispensing device executes the dispensing parameter instructions and then performs a dispensing operation on the target pin hole.

[0095] S6. The control system sends a command to the collaborative robot system to grasp the pin pad; the collaborative robot system executes the command to grasp the pin pad and places the pin pad into the target pin hole;

[0096] S7. The control system sends dispensing parameter instructions to the dispensing device; the dispensing device executes the dispensing parameter instructions and then performs a secondary dispensing operation on the target pin hole.

[0097] S8. The control system sends a pin-grabbing command to the collaborative robot system; the collaborative robot system executes the pin-grabbing command and screws the pin into the target pin hole.

[0098] S9. The control system sends a rotation command to the idler assembly; the idler assembly executes the rotation command, the vision control system re-determines the target pin hole, and then cycles through S1 to S8.

[0099] Each time, the target pin holes are 3 to 10 pin holes located on the same horizontal line.

[0100] The grinding and cleaning parameter instructions are as follows: 5s air drying, 30s grinding, 5s air drying, 3s cleaning, and 5s air drying.

[0101] In the above preferred embodiment: the working principle of the grinding and cleaning spray device is as follows: the pneumatic spray valve and the air drying nozzle are integrated into one unit, which can spray and air dry at timed intervals and the time is adjustable. It performs mist cleaning and air drying operations on the pin holes. The customized steel wire grinding wheel integrated on the closed-loop stepper motor can efficiently and thoroughly clean the cutting fluid remaining in the pin holes. The workflow is: air drying (5s) - grinding (30s) - air drying (5s) - cleaning (3s) - air drying (5s) (Note: the above times are the working time of the mechanism and do not include the time for various movements to reach their positions).

[0102] Working principle of the dispensing device: Six sets of anaerobic adhesive dispensing valves perform dispensing operations on the holes of the pin roller sleeve in a single operation. The dispensing work is carried out before the pin pad is inserted and before the pin is inserted. The dispensing pressure and dispensing time are controllable. The pin spinning device is a non-standard customized six-set pin spinning device. Each of the six spinning devices is equipped with a buffer mechanism to prevent pin height errors from affecting the spinning effect. Working cycle: Pin pad dispensing (3s), pin dispensing (6s), spinning cycle (first press stop 5s, first spinning 7s, second press stop 5s, second spinning 7s) (Note: The above times are the working time of the mechanism and do not include the time for various movement to reach the position).

[0103] The collaborative robot automatically grasps and releases the pin pads and pins. The robot, driven by a 2D camera and a pin-pad / pin-grabbing assembly, positions and picks up the pin pads and pins separated by the screening machine. Before placing the pads and pins onto the pin roller sleeve, it takes a picture of the corresponding placement position of the pin roller sleeve and feeds the compensation results back to the PLC. The PLC then feeds back to the robot for corresponding position adjustments to eliminate the influence of various comprehensive errors on the placement of pads and pins. In addition, the six gripping jaws in the pin-pad / pin-grabbing assembly are each equipped with a flexible module, which can flexibly compensate for positional errors of ±0.1mm, further increasing the accuracy of pad and pin placement. Working cycle: Pad grasping (6S), pad visual positioning (2S), pad placement (7S), pad pushing in (5S), pin grasping (6S), pin visual positioning (2S), pin pushing in (7S).

[0104] The working principle of the pin roller sleeve rotation positioning system: 2D and 3D cameras work together to rotate and position the pin roller sleeve in the circumferential direction. The 3D camera is responsible for the positioning angle, while the 2D camera is responsible for the positioning position. The overall theoretical positioning accuracy is ±0.02mm in the plane direction of the pin hole. In field use, in order to ensure the accuracy, maximize work efficiency, and ensure work stability, the plane positioning accuracy of the 2D camera is set to ±0.3mm. Working cycle: When the positioning accuracy is ±0.3mm, the positioning time for two adjacent rows of holes in the circumferential direction is 30s.

[0105] It also includes S10, which determines whether the post nails are properly screwed in by detecting their height. The height detection works as follows: After each set of post nails is pasted, the height of the pasted post nails is detected. If the height exceeds the set value, an alarm will sound indicating that the post nail pasting height is unqualified.

[0106] Sensor principle: A high-precision laser displacement sensor is used for height detection, with a detection accuracy of ±0.13mm. The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A pin-adhesive roller sleeve sticking robot, characterized in that: The device includes a bed frame, on which an automatic nailing frame assembly is mounted. The automatic nailing frame assembly includes an upper moving guide rail and a lower moving guide rail. An upper transmission rack is mounted on the side of the upper moving guide rail within the bed frame, and a lower transmission rack is mounted on the side of the lower moving guide rail within the bed frame. A collaborative robot base is mounted on the upper moving guide rail. A robot walking motor is mounted on the collaborative robot base. A robot walking gear that meshes with the upper rack is mounted on the output end of the robot walking motor. A collaborative robot is mounted on the collaborative robot base. A robot arm flange base is mounted on the end of the collaborative robot's robotic arm. A stud gripping mechanism and a stud pad gripping mechanism are mounted on the robot arm flange base. A dispensing device and a spinning device are installed on the upper moving guide rail. The dispensing device is used to inject adhesive into the pin holes of the front box before the pins and pin pads are placed. The spinning device presses the pins and pin pads grasped by the collaborative robot into the pin holes of the pin roller sleeve. The lower moving guide rail is equipped with a 3D camera acquisition device and a grinding, cleaning and blowing device. The 3D camera acquisition device is used to capture the actual position of a pin hole on the pin roller sleeve. The grinding, cleaning and blowing device is used to grind and clean the pin hole of the pin roller sleeve before dispensing glue. A feeding platform is also provided on the side of the collaborative robot, which is equipped with independent stud feeding units and stud pad feeding units. A roller assembly is installed on the side of the bed to support the stud roller sleeve; the grinding, cleaning, and blowing device includes a grinding, cleaning, and blowing traveling plate mounted on the lower moving guide rail, a traveling motor mounted on the side of the traveling plate, a traveling gear mounted on the output end of the traveling motor, and the traveling gear meshing with a lower transmission rack mounted on the outside of the lower moving guide rail; the grinding, cleaning, and blowing traveling plate is mounted on a grinding, cleaning, and blowing base, a linear guide rail is installed between the grinding, cleaning, and blowing base and the grinding, cleaning, and blowing traveling plate, and a grinding, cleaning, and blowing device is mounted on the grinding, cleaning, and blowing base. A feed motor is used, and a feed gear is installed at the output end of the grinding, cleaning, and blowing feed motor. The feed gear meshes with a feed rack. The feed rack is installed on the upper surface of the grinding, cleaning, and blowing travel plate. A lifting guide plate is installed on the grinding, cleaning, and blowing base near the column nail roller sleeve. A through-shaft type lead screw stepper motor is installed below the lifting guide plate. The output end of the stepper motor is connected to the lead screw, and the upper end of the lead screw is connected to the grinding, cleaning, and blowing lifting plate. Grinding components and cleaning and blowing components are installed on the grinding, cleaning, and blowing lifting plate. A guide column is provided between the grinding, cleaning, and blowing lifting plate and the lifting guide plate.

2. The nail roller sleeve adhesive robot according to claim 1, characterized in that: The polishing assembly includes three polishing motors mounted on a polishing, cleaning, and blowing lifting plate, with each motor's output end connected to a polishing wheel.

3. The nail-adhesive roller sleeve robot according to claim 1, characterized in that: The cleaning spray assembly includes a cylinder mounted on a grinding and cleaning spray lifting plate. The piston rod of the cylinder is connected to a grinding and cleaning spray base. A spray base plate is mounted on the grinding and cleaning spray base. Six spray valves connected to the cleaning agent and a high-pressure air source are mounted on the spray base plate.

4. The nail-adhesive roller sleeve robot according to claim 1, characterized in that: The stud pad gripping mechanism includes an upper clamping block, on which an electromagnet mounting block is installed. An electromagnet is embedded in the electromagnet mounting block, and a stud pad positioning groove is provided on the electromagnet mounting block near the feeding side. A pushing mechanism is installed on the robotic arm flange base plate. The pushing mechanism includes a double-rod cylinder, the piston rod of which is connected to a push plate, and six push rods are installed on the push plate.

5. The nail-adhesive roller sleeve robot according to claim 1, characterized in that: The pin gripping mechanism includes a material-grabbing plate, which is connected to the robot arm flange base plate via a connecting rod. Six flexible claws are installed on the material-grabbing plate, and each flexible claw includes two opposing clamping blocks. The clamping blocks are connected to a bidirectional cylinder to achieve the clamping action. A 2D camera mounting plate is installed at one end of the material-grabbing plate, and a 2D camera is installed on the 2D camera mounting plate. The 2D camera is used to collect the position of the pin holes on the pin roller sleeve.

6. The nail roller sleeve adhesive robot according to claim 5, characterized in that: The flange base plate of the robotic arm is also equipped with a nail protection bracket, which is equipped with a detection sensor for detecting the extreme position of the push rod, thus providing flexible protection and preventing overtravel of the nail pad and nail.

7. The nail-adhesive roller sleeve robot according to claim 1, characterized in that: A linear track slide seat is provided on the upper moving guide rail; a travel motor is installed on the side of the linear track slide seat, and a travel gear that meshes with the upper rack is installed at the output end of the travel motor; a dispensing and spinning feed base plate is installed above the linear track slide seat, and a dispensing device and a spinning device are installed on the dispensing and spinning feed base plate; a linear track is provided between the dispensing and spinning feed base plate and the linear track slide seat, and a dispensing and spinning feed travel motor is installed on the dispensing and spinning feed feed base plate, with a dispensing and spinning feed travel gear installed at the output end of the dispensing and spinning feed travel motor; a rack that meshes with the dispensing and spinning feed travel gear is provided between the dispensing and spinning feed base plate and the linear track slide seat; a rotary lifting mechanism is installed on one side of the dispensing and spinning feed base plate; the rotary lifting mechanism includes four lifting columns arranged perpendicularly to the dispensing and spinning feed base plate, a lifting motor is installed below the dispensing and spinning feed base plate, the lifting motor is connected to the rotary lifting base plate through a screw and nut pair, and a rotating device is provided on one side of the rotary lifting base plate plate; The rotating device includes a through-shaft lead screw type stepper motor, the output end of which is connected to a rack. The rack is mounted on the slider of the linear slide rail. A driven gear meshes with the upper part of the rack. The driven gear is mounted on a driven shaft. The driven shaft is mounted on a rotary bearing seat. The rotary bearing is mounted on a rotary lifting base plate. A dispensing spin feeding base plate is mounted on the rotary lifting base plate.

8. The nail roller sleeve adhesive robot according to claim 7, characterized in that: The dispensing device includes a dispensing substrate, on which a dispensing cylinder is mounted. The output end of the dispensing cylinder is connected to a dispensing push plate, which is connected to a dispensing valve fixing plate. A pneumatically adjustable dispensing valve is mounted on the dispensing valve fixing plate. The pneumatic dispensing valve is connected to a dispensing bucket and a high-pressure air source. The dispensing bucket is mounted on a dispensing spinning feed substrate and is connected to a high-pressure air source, through which adhesive is supplied to the pneumatic dispensing valve.

9. The nail-adhesive roller sleeve robot according to claim 7, characterized in that: The spinning device includes a spinning base plate, a linear guide rail between the spinning base plate and the dispensing spinning feed base plate, a buffer seat mounted on the rear end of the spinning base plate of the dispensing spinning feed base plate, a buffer rod perpendicular to the spinning base plate ...

10. The nail roller sleeve adhesive robot according to claim 7, characterized in that: A detection device is fixedly installed on the support of the linear track slide seat to detect the pin turning height. The detection device includes a bracket, the upper end of which extends toward the pin roller sleeve, and a distance sensor is installed at the end of the bracket.

11. The pin-adhesive roller sleeve sticking robot according to claim 1, characterized in that: The 3D camera acquisition device includes a 3D camera traveling plate that cooperates with the lower moving guide rail. A 3D camera acquisition device traveling motor is installed on the side of the 3D camera traveling plate. A traveling gear is installed at the output end of the 3D camera acquisition device traveling motor. The traveling gear meshes with a lower transmission rack installed on the inner side of the lower moving guide rail. A 3D camera is installed on the 3D camera traveling plate and is connected to a display.

12. The nail roller sleeve adhesive robot according to claim 11, characterized in that: The upper surface of the 3D camera walking plate is equipped with a 3D camera lifting feed plate, and the 3D camera lifting feed plate and the 3D camera walking plate are equipped with linear guide rails. The 3D camera lifting feed plate is equipped with a 3D camera feed motor, and the output end of the motor is equipped with a 3D camera feed gear. The 3D camera feed gear meshes with a 3D camera feed rack on the upper surface of the 3D camera feed plate, causing the 3D camera acquisition device to move along the axis of the vertical column nail roller sleeve. The 3D camera lifting feed plate is equipped with a 3D camera lifting mechanism.

13. The nail roller sleeve adhesive robot according to claim 12, characterized in that: The 3D camera lifting mechanism includes a 3D camera lifting guide plate, a through-shaft type lead screw stepper motor installed below the 3D camera lifting guide plate, the output end of the motor is connected to the lead screw, the upper end of the lead screw is connected to the 3D camera lifting plate, and a 3D camera is installed on the 3D camera lifting plate; a guide column is provided between the 3D camera lifting plate and the 3D camera lifting guide plate.

14. The nail roller sleeve adhesive robot according to claim 1, characterized in that: The pin feeding unit includes a pin baffle at the end of the conveying track of the pin vibrating screen, and a pin feeding moving assembly installed vertically. The pin feeding moving assembly includes several pin feeding blocks arranged in a straight line on the pin moving support plate. The pin moving support plate is installed on the slider of the linear slide rail. The pin baffle is connected to the push plate at the end of the cylinder piston rod. A pin guide block is installed on the lower column of the pin baffle. The pin guide block is provided with a pin guide hole. Two pin positioning detection sensors are also provided to detect whether the pin is tilted. A discharge detection sensor is also provided on the lower surface of the pin guide block to detect whether material is falling.

15. The pin-adhesive roller sleeve sticking robot according to claim 1, characterized in that: The column pad feeding unit includes a column pad material picking device located at the end of the conveying track of the column pad in the vibrating screen. A column pad feeding assembly is installed vertically, comprising several column pad feeding blocks arranged in a straight line on a column pad moving plate. The column pad moving plate is mounted on a slider of a linear slide rail. The column pad picking device includes a vertically mounted frame with a lifting mechanism installed on it. The lifting mechanism includes a through-type lifting motor, the output of which... A magnet mounting sleeve is installed on the shaft, and an electromagnetic block is installed inside the magnet mounting sleeve; a stud pad support plate is also installed on the frame, the stud pad support plate is connected to the stud pad bolt delivery track, and the stud pad support plate is connected to the stud pad support cylinder; a first infrared sensor is installed on the frame to detect whether the electromagnetic block has returned to its original position; there are also two stud pad position detection sensors, of which the upper position detection sensor is used to detect whether the stud pad is in place; the lower position detection sensor is used to detect the stud pad falling.

16. The nail roller sleeve adhesive robot according to claim 1, characterized in that: The idler assembly is used to support the pin roller sleeve and includes a base connected to the foundation. Idler devices are symmetrically arranged on the base. The idler device includes an idler frame and two idlers are installed on the idler frame. The two idlers on one side of the idler device are respectively equipped with a servo drive motor and a reducer to drive the idler to rotate.

17. The pin-adhesive roller sleeve robot according to claim 16, characterized in that: A linear guide rail is provided on the base along the direction of the vertical column nail roller sleeve axis. The roller frame is movably installed on the linear guide rail. Each roller frame is connected by a lead screw, and each lead screw is independently connected to a servo motor.

Images