Four-nail two-rod automatic assembly system and automatic assembly method

Abstract

This invention provides an automatic assembly system and method for four nails and two rods, belonging to the field of medical bone implant testing technology. The automatic assembly system for four nails and two rods includes: a clamping mechanism, a spindle mechanism, a top feeding mechanism, a gasket mechanism, and a bottom feeding mechanism. The automatic assembly method for four nails and two rods is implemented using the automatic assembly system. The system can automatically assemble four nails and two rods tooling, saving time and effort and increasing efficiency. The automatic assembly system can avoid errors caused by manual assembly, making the test results more accurate.

Description

Technical Field

[0001] This invention relates to the field of medical bone implant testing technology, specifically to an automatic assembly system and method for four nails and two rods. Background Technology

[0002] Posterior spinal fixation systems using plates, rods, and screws for spinal fusion typically consist of orthotic rods or fixation plates, pedicle screws, transverse connectors, lamina hooks, fasteners, connectors, and spacers, such as thoracolumbar screw-rod fixation systems, occipital fixation systems, and pedicle screw fixation systems. The "YYT 0857-2011 Test Methods for Spinal Implants in Vertebral Body Resection Models" specifies the assembly and testing methods for spinal implant systems. Currently, the common method for assembling system test samples is to manually center the polyethylene blocks, then fix two polyethylene blocks with a vise, and manually assemble four screws and two rods. This method suffers from drawbacks such as inaccurate manual centering, large errors in judging the distance between the pedicle screws and polyethylene blocks, difficulty in centering the pedicle screws on the same side of the two polyethylene blocks, easy deviation of the orthotic rod during screw tightening, and long assembly time, ultimately leading to large deviations in experimental results. Therefore, this invention provides an automated four-screw, two-rod assembly system and method. Summary of the Invention

[0003] The purpose of this invention is to provide an automatic assembly system and method for four nails and two rods.

[0004] To solve the above-mentioned technical problems, the objective of this invention is achieved as follows:

[0005] An automatic assembly system with four nails and two rods includes: a clamping mechanism, a spindle mechanism, a top feeding mechanism, a shim mechanism, and a bottom feeding mechanism;

[0006] The clamping mechanism comprises two components arranged opposite to each other, including a base frame, a movable side plate, and a fixed side plate. The base frame is L-shaped, with its top vertical edge connected to a rotation and translation mechanism. The movable side plate is movably mounted on the base frame. The fixed side plate is detachably fixed to the base frame and cooperates with the movable side plate to clamp the polyethylene block. The rotation and translation mechanism is used to drive the base frame, the movable side plate, and the fixed side plate to rotate and move.

[0007] The spindle mechanism is located above the clamping mechanism and includes a support frame, a spindle, and a guide sleeve. The support frame is fixed above the clamping mechanism and arranged at the center line of the base frame. The spindle is vertically mounted on the support frame and includes a rotary motor inside. A rotary table is provided at the bottom, and the rotary table is driven by the rotary motor. An embedding groove is provided on the rotary table. The embedding groove can embed drill bits, tapping bits, or screws. The guide sleeve is vertically arranged below the spindle and allows drill bits, tapping bits, and screws to pass through.

[0008] The top loading mechanism includes a T-shaped track, track sliders, a screw carrier, a first push rod, a second push rod, a screw carrier lifter, and a screw magazine. The T-shaped track is fixedly installed on one side of the support frame and has an opening at the bottom. The track sliders are a number of blocks that slide within the T-shaped track, divided into three groups. The first group has a drill pin fixedly connected to its bottom, the second group has a tap pin fixedly connected to its bottom, and the third group has the screw carrier fixedly connected to its bottom. The bottom of the screw carrier includes a star-shaped rod. The star-shaped rod is adapted to the star-shaped groove on the top of the screw and has an elastic element at its center.

[0009] The T-shaped track has a first opening at the intersection of the horizontal and vertical sides of the T-shape, and a second opening at the vertical side corresponding to the main shaft; the first push rod is located on one side of the first opening and can be clamped to drive the track slider to move along the vertical side; the second push rod is located on one side of the second opening and can be clamped to drive the track slider to move from the T-shaped track and embed into the embedding groove.

[0010] A movable plate is provided at the top of the horizontal side of the T-shaped track; the movable plate can move within the horizontal side, and its bottom is magnetically connected to the track slider;

[0011] The screw carrier lift is located on one side of the horizontal edge, directly opposite the vertical edge, and is positioned above the T-shaped track. Its bottom is provided with a magnetic connection part to achieve a fixed connection with the track slider. The screw carrier lift can drive the screw carrier to rise and fall, so that it can connect with the screws in the screw magazine below the screw carrier lift.

[0012] The gasket mechanism includes a gasket, a gasket push rod, and a gasket magazine. Several gaskets are placed in the gasket magazine, and each gasket includes an L-shaped main body. The bottom plate of the L-shaped main body has an opening forming an insertion portion for inserting a screw nut between the screw and the polyethylene block, maintaining a distance of mm between the nut and the top surface of the polyethylene block. The side plate of the gasket has an opening forming a recess. The gasket push rod is located on one side of the clamping mechanism and can drive the gasket back and forth between the gasket magazine and the nut and the polyethylene block. The gasket magazine is located on one side of the clamping mechanism, allowing the gaskets inside to move.

[0013] The bottom feeding mechanism includes a C-arm, a bar magazine, and a screw plug magazine; there are four C-arms, which are arranged on both sides of the clamping mechanism, and clamps and screw feeders are slidably arranged on them; the bar magazine is located on one side of the clamping mechanism and contains several bars; the screw plug magazine is located below the bar magazine and contains several screw plugs.

[0014] The C-arm moves back and forth between the clamping mechanism and the rod magazine and the screw plug magazine via a moving mechanism. The clamping device moves the rod to the clamping mechanism and connects it to the screw and nut. The screw-in device moves the screw plug to the clamping mechanism and screws it into the nut, thereby fixing the rod.

[0015] Based on the above scheme and as a preferred embodiment, the movable side plate has a positioning opening; the fixed side plate has a positioning groove; a positioning rod is provided on the polyethylene block; one end of the positioning rod extends through the positioning opening to the outside of the clamping mechanism, and the other end is embedded in the positioning groove; the clamp can clamp the end of the positioning rod extending to the outside of the clamping mechanism, thereby driving the positioning rod and the polyethylene block to rotate, so as to change the tilt angle of the polyethylene block.

[0016] Based on the above scheme and as a preferred embodiment of the above scheme, the guide sleeve is connected to the support frame through a rotating mechanism; the rotating mechanism can drive the guide sleeve to rotate, and the rotating mechanism can move up and down along the support frame.

[0017] Based on the above scheme and as a preferred embodiment of the above scheme, the screw carrier includes a main rod and an outer sleeve; the top of the main rod is fixedly connected to the track slider, and the bottom is connected to the star-shaped rod; the outer sleeve is fitted over the main rod, and the bottom is a cover; the cover can cover the nut of the screw.

[0018] Based on the above scheme and as a preferred embodiment of the above scheme, the recessed portion is adapted to the rod; the L-shaped body is provided with two extension plates on both sides of the recessed portion; the extension plates extend into the L-shaped body; a magnetic connecting block is provided on the outer side of the vertical edge of the L-shaped body; the end of the pad push rod is provided with a magnetic connecting port adapted to the magnetic connecting block.

[0019] Based on the above scheme and as a preferred embodiment of the above scheme, the gasket magazine has a gasket outlet on one side and a gasket push rod inlet on the opposite side, and a gasket fixing frame is provided inside; the gasket fixing frame includes several gasket fixing slots and is vertically and vertically arranged inside the gasket magazine.

[0020] Based on the above solution and as a preferred embodiment of the above solution, the gripper includes a gripper connecting part, a rotating cylinder, a telescopic block, and a gripping claw; the gripper connecting part is connected to the C-arm; the rotating cylinder is rotatably mounted on the gripper connecting part; the telescopic block is telescopically mounted on the rotating cylinder; and the gripping claw is mounted at the end of the telescopic block.

[0021] Based on the above solution and as a preferred embodiment, the screwdriver includes a screwdriver connecting part, a screwdriver moving block, and a screwdriver swivel rod; the screwdriver connecting part is connected to the C-arm; the screwdriver moving block is disposed on the screwdriver connecting part and can be located away from or close to the screwdriver connecting part; the screwdriver swivel rod is rotatably disposed on the screwdriver moving block, and the end is provided with the elastic element.

[0022] Based on the above scheme and as a preferred embodiment, the screw plug magazine includes an annular body and a positioner; the annular body is rotatably disposed below the rod magazine, has several screw plug storage positions, and has an annular cavity inside; the annular cavity communicates with the screw plug storage positions, and a negative pressure mechanism is provided on one side to fix the screw plug in the screw plug storage position under negative pressure; the positioner is disposed on one side of the annular body, corresponding to one of the screw plug storage positions, and is used for screw plug position correction.

[0023] An automatic assembly method for four nails and two rods, employing the aforementioned automatic assembly system for four nails and two rods, includes the following steps:

[0024] S1: Fix the polyethylene block; Place the polyethylene block on the base frame and between the movable side plate and the fixed side plate, then move the movable side plate to clamp the polyethylene block;

[0025] S2: Drilling; The polyethylene block moves to the first predetermined position under the drive of the rotation and translation mechanism of the clamping mechanism, and rotates until its top surface is horizontal; The drilling nail moves with the track slider to the corresponding main shaft of the T-shaped track, and then is embedded in the embedding groove of the main shaft under the drive of the second push rod, and drilling is achieved under the drive of the main shaft; When one hole is drilled, the rotation and translation mechanism drives the polyethylene block to move to the second predetermined position to start drilling the second hole;

[0026] S3: Tapping; Remove the drill bit and return it to the horizontal side of the T-shaped track. Then move the tapping bit on the horizontal side to the first opening of the T-shaped track. Move it to the second opening of the T-shaped track under the action of the first push rod. Then, the second push rod will drive it to be inserted into the groove and connected to the spindle. The first hole will be tapped under the action of the spindle. After completion, the polyethylene block will be moved to the second hole position and the second hole will be tapped. Then, the tapping bit will be removed.

[0027] S4: Screw installation; Move the screw carrier on the horizontal side of the T-shaped track to the first opening, then move it to connect with the screw carrier lifter under the action of the first push rod, and then descend to connect with the screw in the screw magazine under the action of the screw carrier lifter. Then rise, move it to the second opening driven by the first push rod, and then connect it with the main shaft driven by the second push rod. The screw installation is completed under the action of the main shaft, and the distance between the screw nut and the top surface of the polyethylene block is greater than mm.

[0028] S5: Washer Insertion; To ensure that the distance between the screw nut and the top surface of the polyethylene block is mm, the washer needs to be inserted between the screw nut and the top surface of the polyethylene block; The insertion steps include: the washer magazine drives the washer to rise and fall to a suitable position, then the washer push rod moves to connect with the washer, and drives the washer forward so that its insertion part is inserted between the screw nut and the top surface of the polyethylene block.

[0029] S6: Screw position correction: After the washer is moved in, the spindle descends and drives the Torx rod to insert into the top of the screw for position correction, ensuring that the distance between the screw nut and the top surface of the polyethylene block is mm;

[0030] S7: Loading the bar; The C-arm moves to the bar magazine, the clamp holds the bar, and then the C-arm moves the bar to the polyethylene block. The clamp then moves the bar along the C-arm to the top of the polyethylene block and aligns the bar with the groove of the screw and nut. Then the clamp releases the bar so that it falls into the groove of the screw and nut.

[0031] S8: Screw in the plug: The C-arm moves to the plug magazine, the screwdriver moves and connects with the plug, then the C-arm drives the plug to move to the polyethylene block, and then the screwdriver drives it to move to the position corresponding to the nut of the screw. Then the screwdriver drives the plug to screw into the nut to fix the rod.

[0032] S9: Retract gasket: The gasket push rod drives the gasket back to the gasket magazine;

[0033] S10: Remove the four nails and two rods tooling.

[0034] The beneficial effects of this invention are:

[0035] 1. The system can automatically assemble four-nail and two-bar tooling, saving time and effort and increasing efficiency;

[0036] 2. The automated assembly system can avoid errors caused by manual assembly, making the test results more accurate. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the four-nail, two-bar tooling of the present invention.

[0038] Figure 2 This is a schematic diagram of the structure of the present invention.

[0039] Figure 3 This is a schematic diagram of the clamping mechanism of the present invention.

[0040] Figure 4 This is a schematic diagram of the main shaft mechanism of the present invention.

[0041] Figure 5 This is a schematic diagram of the top feeding mechanism of the present invention.

[0042] Figure 6 This is a schematic diagram of the top feeding mechanism of the present invention from another perspective.

[0043] Figure 7 This is a schematic diagram of the gasket mechanism of the present invention.

[0044] Figure 8 This is a schematic diagram of the gasket and gasket push rod structure of the present invention.

[0045] Figure 9 This is a schematic diagram of the bottom feeding mechanism of the present invention.

[0046] Figure 10 This is a schematic diagram of the screw plug mechanism of the present invention.

[0047] Figure 11 This is a schematic diagram of the clamping device structure of the present invention.

[0048] Figure 12 This is a schematic diagram of the screw-in device structure of the present invention.

[0049] In the diagram: 1. Clamping mechanism; 11. Base frame; 12. Moving side plate; 13. Fixed side plate; 14. Rotating mechanism;

[0050] 2. Spindle mechanism; 21. Support frame; 22. Spindle; 23. Guide sleeve; 24. Rotary table; 25. Embedded groove; 26. Rotation mechanism;

[0051] 3. Top feeding mechanism; 31. T-shaped track; 32. Track slider; 33. Screw transporter; 331. Main rod; 332. Outer sleeve; 34. First push rod; 35. Second push rod; 36. Screw transporter lifting device; 37. Screw magazine; 38. Torx rod; 381. Elastic element;

[0052] 4. Gasket mechanism; 41. Gasket; 411. L-shaped main body; 412. Insertion part; 413. Recessed part; 414. Extension plate; 415. Magnetic connecting block; 42. Gasket push rod; 421. Magnetic connecting port; 43. Gasket library; 44. Gasket fixing frame;

[0053] 5. Bottom feeding mechanism; 51. C-arm; 52. Bar magazine; 53. Screw plug magazine; 531. Annular main body; 532. Positioner; 533. Screw plug magazine position; 54. Clamp; 541. Clamp connecting part; 542. Rotating cylinder; 543. Telescopic ferrule; 544. Clamping claw; 55. Screwdriver; 551. Screwdriver connecting part; 552. Screwdriver moving block; 553. Screwdriver spline rod;

[0054] 6. Drilling screw; 7. Tapping screw; 8. Screw; 9. Polyethylene block; 91. Positioning rod; 10. Rod; 20. Plug. Detailed Implementation

[0055] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0056] like Figure 1 As shown, the four-nail, two-bar fixture includes two polyethylene blocks 9. The top of each polyethylene block 9 has two symmetrical bevels with threaded holes perpendicular to the bevels. Screws 8 are screwed into these threaded holes. Each screw 8 includes a screw body and a nut. The top of the screw body has a quincunx-shaped groove, and the nut is fixed to the screw body. A groove is located in the center of the nut to hold a bar 10. The inner wall of the nut has threads to engage with a plug 20 to fix the bar 10 to the nut. Manual assembly of the four-nail, two-bar fixture suffers from drawbacks such as inaccurate alignment, large errors in judging the distance between the pedicle screws and the polyethylene blocks, difficulty in aligning the pedicle screws on the same side of the two polyethylene blocks, easy misalignment of the orthopedic bar during the tightening of the plug, and long assembly time, ultimately leading to large deviations in experimental results. Therefore, this embodiment provides an automatic four-nail, two-bar assembly system and method.

[0057] like Figure 2 As shown, an automatic assembly system with four nails and two rods includes: a clamping mechanism 1, a spindle mechanism 2, a top feeding mechanism 3, a pad mechanism 4, and a bottom feeding mechanism 5.

[0058] The clamping mechanism 1 is used to clamp the polyethylene block 9. There are two clamping mechanisms 1, which are arranged opposite each other and fix the two polyethylene blocks 9 respectively.

[0059] like Figure 3 As shown, the clamping mechanism 1 includes a base frame 11, a movable side plate 12, and a fixed side plate 13. The base frame 11 is L-shaped, with its top vertical edge connected to a rotation and translation mechanism 14. The movable side plate 12 is movably mounted on one side of the base frame 11. The fixed side plate 13 is detachably fixed to the other side of the base frame 11 and cooperates with the movable side plate 12 to clamp the polyethylene block 9. The rotation and translation mechanism 14 is used to drive the base frame 11, the movable side plate 12, and the fixed side plate 13 to rotate and move, thereby adjusting the position and angle of the clamped polyethylene block 9 to meet the requirements of drilling and tapping.

[0060] Preferably, the movable side plate 12 has a positioning opening. The fixed side plate 13 has a positioning groove. A positioning rod 91 is provided on the polyethylene block 9. The positioning rod 91 passes through the polyethylene block 9, with one end extending through the positioning opening to the outside of the clamping mechanism 1, and the other end embedded in the positioning groove. The clamp 54 can clamp the end of the positioning rod 91 extending to the outside of the clamping mechanism 1, driving the positioning rod 91 and the polyethylene block 9 to rotate, thereby changing the tilt angle of the polyethylene block 9 and realizing the angle adjustment of the polyethylene block 9. The clamp 54 is described in detail below.

[0061] The spindle mechanism 2 is located above the clamping mechanism 1 and is used for drilling, tapping and screwing.

[0062] like Figure 4 As shown, the spindle mechanism 2 includes a support frame 21, a spindle 22, and a guide sleeve 23. The support frame 21 is fixed above the clamping mechanism 1 and is located at the center line of the base frame 11, directly opposite the center of the polyethylene block 9. The spindle 22 is vertically mounted on the support frame 21 and includes a rotary motor inside. A rotary table 24 is located at the bottom and is driven by the rotary motor. The rotary table 24 has an embedding groove 25, which can be used to embed drill bits 6, tapping bits 7, or screws 8 to achieve switching between drilling, tapping, and bit insertion. The guide sleeve 23 is located on one side of the support frame 21 and is vertically positioned below the spindle 22. Drill bits 6, tapping bits 7, and screws 8 can pass through it to improve rotational stability and alignment accuracy.

[0063] Preferably, the guide sleeve 23 is connected to the support frame 21 via a rotating mechanism 26. The rotating mechanism 26 can drive the guide sleeve 23 to rotate, and the rotating mechanism 26 can move up and down along the support frame 21. The rotating mechanism 26 drives the guide sleeve 23 to move up and down and rotate, which can improve the position of the guide sleeve 23 and reduce interference between the various mechanisms.

[0064] The top feeding mechanism 3 is used to guide the movement of the drill pin 6, tap pin 7 and screw 8 to achieve function switching.

[0065] like Figure 5 and Figure 6 As shown, the top loading mechanism 3 includes a T-shaped track 31, a track slider 32, a screw carrier 33, a first push rod 34, a second push rod 35, a screw carrier lifter 36, and a screw magazine 37.

[0066] The T-shaped track 31 is fixedly installed on one side of the support frame 21, with an opening at the bottom. There are several track sliders 32, which are slidably installed in the T-shaped track 31 and are divided into three groups. The bottom of the first group is fixedly connected to a drill pin 6, the bottom of the second group is fixedly connected to a tapping pin 7, and the bottom of the third group is fixedly connected to a screw carrier 33.

[0067] The screw carrier 33 includes a Torx rod 38 at its bottom, which is adapted to the Torx groove on the top of the screw 8, and has an elastic element 381 at its center. Specifically, the end of the Torx rod 38 has a groove, and the elastic element 381 is fixed in the groove. When the Torx rod 38 is inserted into the Torx groove on the top of the screw body, the elastic element 381 is compressed to achieve an interference fit, so that the screw carrier 33 can move the screw 8. Preferably, the screw carrier 33 includes a main rod 331 and an outer sleeve 332. The top of the main rod 331 is fixedly connected to the track slider 32, and the bottom is connected to the Torx rod 38. The outer sleeve 332 is fitted over the main rod 331, and the bottom is a cover that can cover the nut of the screw 8, which can be used for positioning and improving handling stability.

[0068] The T-shaped track 31 has a first opening at the intersection of the horizontal and vertical sides of the T, and a second opening at the vertical side corresponding to the main shaft 22. A first push rod 34 is located on one side of the first opening and can clamp to move the track slider 32 along the vertical side. A second push rod 35 is located on one side of the second opening and can clamp to move the track slider 32 from the T-shaped track 31 into the embedding groove 25, thereby adjusting the positions of the drill pin 6, tap pin 7, and screw 8. Both the first push rod 34 and the second push rod 35 have clamps at their ends for holding and fixing.

[0069] A movable plate is provided at the top of the horizontal side of the T-shaped track 31. The movable plate can move within the horizontal side and is fixedly connected to the track slider 32 by magnetic attraction at its bottom. Specifically, the longitudinal side of the T-shape is a slide rail, and the horizontal side is a nail magazine. The horizontal side is divided by the longitudinal side, with one side set as a magazine for drilling nails and tapping nails, and the other side set as a magazine for screw carriers. Correspondingly, there are two movable plates. Due to the different screw holes and screws 8, several different drilling nails 6, tapping nails 7, and screw carriers 33 are required. During operation, the movable plate drives several drilling nails and tapping nails to move, so that the required drilling nail 6 or tapping nail 7 is located at the first opening, and is driven by the first push rod 34 to move along the longitudinal side to the second opening. The screw carrier 33 is moved in the same way. The magnetic attraction between the track slider 32 at the top of the drilling nail 6, tapping nail 7, and screw carrier 33 and the movable plate is relatively weak, and can be disengaged under the action of the first push rod 34.

[0070] The screw carrier lift 36 is located on one side of the horizontal edge, directly opposite the vertical edge and the first opening, and is positioned above the T-shaped track 31. Its bottom is equipped with a magnetic connection for a fixed connection with the track slider 32. The screw carrier lift 36 can drive the screw carrier 33 to rise and fall, connecting it to the screws 8 in the screw magazine 37 located below the screw carrier lift 36. The screws 8 in the screw magazine 37 are manually inserted.

[0071] The gasket mechanism 4 is used for assembling the gasket. The gasket can ensure that the distance between the screw and nut and the top surface of the polyethylene block 9 is 2mm to meet the test requirements.

[0072] like Figure 7 and Figure 8 As shown, the gasket mechanism 4 includes a gasket 41, a gasket push rod 42, and a gasket magazine 43.

[0073] There are several gaskets 41 of various specifications, which are stored in the gasket warehouse 43.

[0074] The gasket 41 includes an L-shaped body 411. The bottom plate of the L-shaped body 411 has an opening forming an insertion portion 412 for inserting the screw 8 nut between the screw and the polyethylene block 9, maintaining a 2mm gap between the nut and the top surface of the polyethylene block 9. The side plate of the gasket 41 has an opening forming a recess 413 for inserting the rod 10. Furthermore, the recess 413 is adapted to the rod 10, with a rounded bottom. Two extension plates 414 are provided on both sides of the recess 413 of the L-shaped body 411, extending inwards to guide the rod 10 into the groove of the nut. A magnetic connecting block 415 is provided on the outer side of the vertical edge of the L-shaped body 411. The end of the gasket push rod 42 has a magnetic connection port 421 adapted to the magnetic connecting block 415. The connection between the gasket push rod 42 and the gasket 41 is achieved through the cooperation of the magnetic connection port 421 and the magnetic connecting block 415.

[0075] A gasket pusher 42 is located on one side of the clamping mechanism 1, and can drive the gasket 41 to move back and forth between the gasket magazine 43 and the gap between the nut and the polyethylene block 9. The gasket magazine 43 is located on one side of the clamping mechanism 1, allowing the gasket 41 inside to move. Specifically, the gasket magazine 43 has a gasket outlet on one side and a gasket pusher inlet on the opposite side, and a gasket fixing frame 44 is provided inside. The gasket fixing frame 44 includes several gasket fixing slots and is vertically and vertically mounted inside the gasket magazine 43. The gasket 41 is stored in the gasket fixing slots. When needed, the gasket fixing frame 44 moves so that the corresponding gasket 41 is located at the gasket outlet and the gasket pusher inlet.

[0076] The bottom feeding mechanism 5 is used for the automatic assembly of the rod 10 and the screw plug 20.

[0077] like Figure 9 As shown, the bottom feeding mechanism 5 includes a C-arm 51, a bar magazine 52, and a screw plug magazine 53.

[0078] There are four C-arms 51, which are arranged on both sides of the clamping mechanism 1 and are used for assembling the rods 10 and screw plugs 20 on both sides respectively. Clamping devices 54 and screw-in devices 55 are slidably mounted on the C-arms 51.

[0079] There are two rod magazines 52, which are located on one side of the clamping mechanism 1, and each magazine contains several rods 10. Specifically, one end of each rod 10 is inserted into and fixed in the rod magazine 52, and the other end faces the polyethylene block 9 for easy handling.

[0080] like Figure 10As shown, there are four screw plug magazines 53, located below and at the edge of the rod magazine 52, on which several screw plugs 20 are placed. Preferably, the screw plug magazine 53 includes an annular body 531 and a positioner 532. The annular body 531 is rotatably disposed below the rod magazine 52, and has several evenly distributed screw plug positions 533. An annular cavity is provided inside the annular body, communicating with the screw plug positions 533. A negative pressure mechanism is provided on one side to fix the screw plugs 20 in the screw plug positions 533 under negative pressure. The positioner 532 is disposed on one side of the annular body 531, corresponding to one screw plug position 533, and is used for adjusting the position of the screw plugs 20. The screw plug 20 is manually inserted into the screw plug slot 533, resulting in different angles of its plum blossom groove. However, the corresponding mechanism position on the screw inserter 55 is fixed. To avoid the situation where it cannot be connected, a positioner 532 is provided on one side of the annular body 531. The positioner 532 includes several arms, the number of which corresponds to the number of plum blossom groove petals. It can be inserted into the plum blossom groove in conjunction with the vision mechanism, driving the screw plug 20 to rotate to the predetermined position.

[0081] The C-arm 51 moves back and forth between the clamping mechanism 1 and the rod magazine 52 and the screw plug magazine 53 via a moving mechanism. The clamp 54 drives the rod 10 to the clamping mechanism 1 and connects it to the screw 8 nut. The screw plug 20 is driven to the clamping mechanism 1 and screwed into the nut via the screwdriver 55, thereby fixing the rod 10.

[0082] Specifically, such as Figure 11 As shown, the gripper 54 includes a gripper connecting part 541, a rotating cylinder 542, a telescopic block 543, and a gripping claw 544. The gripper connecting part 541 is movably connected to the C-arm 51. The rotating cylinder 542 is rotatably mounted on the gripper connecting part 541. The telescopic block 543 is telescopically mounted on the rotating cylinder 542. The gripping claw 544 is located at the end of the telescopic block 543. The gripping claw 544 can rotate and extend under the influence of the telescopic block 543 and the rotating cylinder 542 to meet usage requirements. When the gripping claw 544 needs to grip the rod 10, it extends forward and retracts; when it lowers the rod 10, it also extends forward to the nut and retracts to its original position after being released. The tilt angle adjustment of the aforementioned polyethylene block 9 is achieved by the gripper 54; the tilt angle can be changed by rotating the gripping claw 544 when it grips the positioning rod 91.

[0083] like Figure 12As shown, the screwdriver 55 includes a screwdriver connecting part 551, a screwdriver moving block 552, and a screwdriver swivel rod 553. The screwdriver connecting part 551 is movably connected to the C-arm 51. The screwdriver moving block 552 is disposed on the screwdriver connecting part 551 and can be moved away from or close to the screwdriver connecting part 551. The screwdriver swivel rod 553 is rotatably disposed on the screwdriver moving block 552, and an elastic element 381 is provided at its end. The screwdriver swivel rod 553 has a similar structure to the swivel rod 38. The screwdriver swivel rod 553 is telescopic under the action of the screwdriver moving block 552. In use, the screwdriver swivel rod 553 is inserted into the swivel groove of the plug 20. Due to the presence of the elastic element 381, an interference fit is achieved. Then, it retracts to disengage the plug 20 from the plug slot 533, and then moves to the nut. It moves forward and rotates to screw the plug 220 into the nut.

[0084] An automatic assembly method for four nails and two rods, employing the aforementioned automatic assembly system for four nails and two rods, includes the following steps:

[0085] S1: Fix the polyethylene block 9; place the polyethylene block 9 on the base frame 11 and between the movable side plate 12 and the fixed side plate 13, then move the movable side plate 12 to clamp the polyethylene block 9. Positioning is achieved using the positioning rod 91 on the polyethylene block 9.

[0086] S2: Drilling; The polyethylene block 9 moves to the first predetermined position under the drive of the rotation and translation mechanism 14 of the clamping mechanism 1, and rotates until its top surface is horizontal; The drilling nail 6 moves with the track slider 32 to the T-shaped track 31 corresponding to the main shaft 22, and then is embedded in the embedding groove 25 of the main shaft 22 under the drive of the second push rod 35, and drilling is achieved under the drive of the main shaft 22; When one hole is drilled, the rotation and translation mechanism 14 drives the polyethylene block 9 to the second predetermined position to start drilling the second hole;

[0087] S3: Tapping; Remove the drill bit 6 and return it to the horizontal side of the T-shaped track 31. Then move the tapping bit 7 on the horizontal side to the first opening of the T-shaped track 31. Driven by the first push rod 34, move it to the second opening of the T-shaped track 31. Then, driven by the second push rod 35, it is inserted into the insertion groove 25 and connected to the spindle 22. Driven by the spindle 22, the first hole is tapped. After completion, the polyethylene block 9 is moved to the second hole position and the second hole is tapped. Then, the tapping bit 7 is removed.

[0088] S4: Install screw; Move the screw carrier 33 on the horizontal side of the T-shaped track 31 to the first opening, and then move it to connect with the screw carrier lift 36 under the action of the first push rod 34. Under the action of the screw carrier lift 36, it descends to connect with the screw 8 on the screw magazine 37, and then rises. Driven by the first push rod 34, it moves to the second opening, and then is driven by the second push rod 35 to connect with the main shaft 22. The screw is installed under the action of the main shaft 22, and the distance between the nut of the screw 8 and the top surface of the polyethylene block 9 is greater than 2mm.

[0089] S5: Washer insertion; To ensure that the distance between the screw 8 nut and the top surface of the polyethylene block 9 is 2mm, the washer 41 needs to be inserted between the screw 8 nut and the top surface of the polyethylene block 9; The insertion step includes: the washer magazine 43 drives the washer 41 to rise and fall to a suitable position, and then the washer push rod 42 moves to connect with the washer 41 and drives the washer 41 to move forward so that its insertion part 412 is inserted between the screw 8 nut and the top surface of the polyethylene block 9;

[0090] S6: Screw position correction: After the shim is moved in, the spindle 22 descends and drives the spool 38 to insert into the top of the screw 8 for position correction, ensuring that the distance between the nut of the screw 8 and the top surface of the polyethylene block 9 is 2mm.

[0091] S7: Mounting the rod; C-arm 51 moves to rod magazine 52, clamp 54 clamps rod 10, then C-arm 51 moves rod 10 to polyethylene block 9, then clamp 54 moves rod 10 along C-arm 51 to the top of polyethylene block 9, and aligns rod 10 with the groove of screw 8 nut, then clamp 54 releases to let rod 10 fall into the groove of screw 8 nut;

[0092] S8: Screw in the plug: The C-arm 51 moves to the plug magazine 53, the screwdriver 55 moves and connects with the plug 20, then the C-arm 51 drives the plug 20 to move to the polyethylene block 9, and then the screwdriver 55 drives it to move to correspond to the nut of the screw 8. Then the screwdriver 55 drives the plug 20 to be screwed into the nut to fix the rod 10.

[0093] S9: Retract gasket: Gasket push rod 42 drives gasket 41 back into gasket magazine 43;

[0094] S10: Remove the four nails and two rods tooling.

[0095] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. An automatic assembly system with four nails and two rods, characterized in that, include: Clamping mechanism (1), spindle mechanism (2), top feeding mechanism (3), shim mechanism (4) and bottom feeding mechanism (5); The clamping mechanism (1) consists of two components arranged opposite to each other, including a base frame (11), a movable side plate (12), and a fixed side plate (13). The base frame (11) is L-shaped, with its top vertical edge connected to a rotation and translation mechanism (14). The movable side plate (12) is movably mounted on the base frame (11). The fixed side plate (13) is detachably fixed to the base frame (11) and cooperates with the movable side plate (12) to clamp the polyethylene block (9). The rotation and translation mechanism (14) is used to drive the base frame (11), the movable side plate (12), and the fixed side plate (13) to rotate and move. The main spindle mechanism (2) is located above the clamping mechanism (1) and includes a support frame (21), a main spindle (22), and a guide sleeve (23). The support frame (21) is fixed above the clamping mechanism (1) and is arranged at the center line of the base frame (11). The main spindle (22) is vertically mounted on the support frame (21) and includes a rotary motor inside. A rotating platform (24) is provided at the bottom and is driven by the rotary motor. An embedding groove (25) is provided on the rotating platform (24). The embedding groove (25) can be embedded with a drill pin (6), a tapping pin (7), or a screw (8). The guide sleeve (23) is vertically mounted below the main spindle (22) and can allow the drill pin (6), the tapping pin (7), and the screw (8) to pass through. The top loading mechanism (3) includes a T-shaped track (31), track sliders (32), screw carriers (33), a first push rod (34), a second push rod (35), a screw carrier lifter (36), and a screw magazine (37). The T-shaped track (31) is fixedly installed on one side of the support frame (21) and has an opening at the bottom. The track sliders (32) are in several pieces and are slidably installed in the T-shaped track (31). They are divided into three groups, with the bottom of the first group fixedly connected to a drill pin (6), the bottom of the second group fixedly connected to a tap pin (7), and the bottom of the third group fixedly connected to the screw carrier (33). The bottom of the screw carrier (33) includes a Phillips head (38). The Phillips head (38) is adapted to the Phillips head groove on the top of the screw (8) and has an elastic element (381) in the center. The T-shaped track (31) has a first opening at the intersection of the horizontal and vertical sides of the T-shape, and a second opening at the vertical side corresponding to the main shaft (22); the first push rod (34) is located on one side of the first opening and can be clamped to drive the track slider (32) to move along the vertical side; the second push rod (35) is located on one side of the second opening and can be clamped to drive the track slider (32) to move from the T-shaped track (31) and embed into the embedding groove (25); The top of the horizontal side of the T-shaped track (31) is provided with a movable plate; the movable plate can move within the horizontal side, and its bottom is fixedly connected to the track slider (32) by magnetic attraction; The screw carrier lift (36) is located on one side of the horizontal edge, facing the vertical edge, and is arranged above the T-shaped track (31). Its bottom is provided with a magnetic connection part to achieve a fixed connection with the track slider (32). The screw carrier lift (36) can drive the screw carrier (33) to rise and fall, so that it connects with the screw (8) in the screw magazine (37) below the screw carrier lift (36). The gasket mechanism (4) includes a gasket (41), a gasket push rod (42), and a gasket magazine (43); the number of gaskets (41) is several, and they are placed in the gasket magazine (43), including an L-shaped body (411); the bottom plate of the L-shaped body (411) has an opening to form an insertion part (412) for inserting a screw (8) nut between the screw and the polyethylene block (9), so that the distance between the nut and the top surface of the polyethylene block (9) is maintained at 2mm; the side plate of the gasket (41) has an opening to form a recess (413); the gasket push rod (42) is located on one side of the clamping mechanism (1), and can drive the gasket (41) to move back and forth between the gasket magazine (43) and the nut and the polyethylene block (9); the gasket magazine (43) is located on one side of the clamping mechanism (1), and can move the gasket (41) inside; The bottom feeding mechanism (5) includes a C-arm (51), a bar magazine (52), and a screw plug magazine (53); there are four C-arms (51), which are arranged on both sides of the clamping mechanism (1), and clamps (54) and screwdrivers (55) are slidably arranged on them; the bar magazine (52) is arranged on one side of the clamping mechanism (1), and several bars (10) are arranged inside it; the screw plug magazine (53) is arranged below the bar magazine (52), and several screw plugs (20) are arranged on it; The C-arm (51) moves back and forth between the clamping mechanism (1), the rod magazine (52), and the screw plug magazine (53) via a moving mechanism. The clamp (54) drives the rod (10) to the clamping mechanism (1) and connects it to the screw (8) nut. The screw plug (20) is driven to the clamping mechanism (1) and screwed into the nut via the screwdriver (55), thereby fixing the rod (10).

2. The four-nail, two-bar automatic assembly system according to claim 1, characterized in that, The movable side plate (12) has a positioning opening; the fixed side plate (13) has a positioning groove; a positioning rod (91) is provided on the polyethylene block (9); one end of the positioning rod (91) extends through the positioning opening to the outside of the clamping mechanism (1), and the other end is embedded in the positioning groove; the clamp (54) can clamp the end of the positioning rod (91) extending to the outside of the clamping mechanism (1), and drive the positioning rod (91) and the polyethylene block (9) to rotate, so as to change the tilt angle of the polyethylene block (9).

3. The four-nail, two-bar automatic assembly system according to claim 1, characterized in that, The guide sleeve (23) is connected to the support frame (21) via a rotating mechanism (26); the rotating mechanism (26) can drive the guide sleeve (23) to rotate, and the rotating mechanism (26) can move up and down along the support frame (21).

4. The automatic assembly system with four nails and two rods according to claim 1, characterized in that, The screw carrier (33) includes a main rod (331) and an outer sleeve (332); the top of the main rod (331) is fixedly connected to the track slider (32), and the bottom is connected to the plum blossom rod (38); the outer sleeve (332) is fitted over the main rod (331), and the bottom is a cover; the cover can cover the nut of the screw (8).

5. The automatic assembly system with four nails and two rods according to claim 1, characterized in that, The recess (413) is adapted to the rod (10); the L-shaped body (411) is provided with two extension plates (414) on both sides of the recess (413); the extension plates (414) extend into the L-shaped body (411); the outer side of the vertical side of the L-shaped body (411) is provided with a magnetic connecting block (415); the end of the pad push rod (42) is provided with a magnetic connecting port (421) adapted to the magnetic connecting block (415).

6. The four-nail, two-bar automatic assembly system according to claim 1, characterized in that, The gasket storage (43) has a gasket outlet on one side and a gasket push rod inlet on the opposite side, and a gasket fixing frame (44) is provided inside; the gasket fixing frame (44) includes several gasket fixing slots and is vertically and vertically arranged inside the gasket storage (43).

7. The automatic assembly system with four nails and two rods according to claim 1, characterized in that, The gripper (54) includes a gripper connecting part (541), a rotating cylinder (542), a telescopic block (543), and a gripping claw (544); the gripper connecting part (541) is connected to the C-arm (51); the rotating cylinder (542) is rotatably mounted on the gripper connecting part (541); the telescopic block (543) is telescopically mounted on the rotating cylinder (542); and the gripping claw (544) is mounted at the end of the telescopic block (543).

8. The automatic assembly system with four nails and two rods according to claim 1, characterized in that, The screwdriver (55) includes a screwdriver connecting part (551), a screwdriver moving block (552), and a screwdriver swivel rod (553); the screwdriver connecting part (551) is connected to the C-arm (51); the screwdriver moving block (552) is disposed on the screwdriver connecting part (551) and can be away from or close to the screwdriver connecting part (551); the screwdriver swivel rod (553) is rotatably disposed on the screwdriver moving block (552), and the end is provided with the elastic element (381).

9. The automatic assembly system with four nails and two rods according to claim 1, characterized in that, The screw plug magazine (53) includes an annular body (531) and a locator (532); the annular body (531) is rotatably disposed below the rod magazine (52), and has several screw plug slots (533) and an annular cavity inside; the annular cavity communicates with the screw plug slots (533), and a negative pressure mechanism is provided on one side to fix the screw plugs (20) in the screw plug slots (533) under negative pressure; the locator (532) is disposed on one side of the annular body (531), corresponding to one of the screw plug slots (533), and is used for screw plug (20) position correction.

10. An automatic assembly method for four nails and two rods, characterized in that, The four-nail, two-bar automatic assembly system described in any one of claims 1-9 is adopted. Includes the following steps: S1: Fix the polyethylene block (9); Place the polyethylene block (9) on the base frame (11) and place it between the movable side plate (12) and the fixed side plate (13), and then move the movable side plate (12) to clamp the polyethylene block (9). S2: Drilling; The polyethylene block (9) moves to the first predetermined position under the drive of the rotation and translation mechanism (14) of the clamping mechanism (1), and rotates to keep its top surface horizontal; The drilling nail (6) moves with the track slider (32) to the T-shaped track (31) corresponding to the main shaft (22), and then is embedded in the embedding groove (25) of the main shaft (22) under the drive of the second push rod (35), and drilling is realized under the drive of the main shaft (22); When one hole is drilled, the rotation and translation mechanism (14) drives the polyethylene block (9) to the second predetermined position to start drilling the second hole; S3: Tapping; Remove the drill bit (6) and return it to the horizontal side of the T-shaped track (31). Then move the tap bit (7) on the horizontal side to the first opening of the T-shaped track (31). Driven by the first push rod (34), move it to the second opening of the T-shaped track (31). Then, driven by the second push rod (35), it is inserted into the insertion groove (25) and connected to the spindle (22). Driven by the spindle (22), the first hole is tapped. After completion, the polyethylene block (9) is moved to the second hole position and the second hole is tapped. Then, the tap bit (7) is removed. S4: Screw mounting; Move the screw carrier (33) on the horizontal side of the T-shaped track (31) to the first opening, and then move it to connect with the screw carrier lifter (36) under the action of the first push rod (34). Under the action of the screw carrier lifter (36), it descends to connect with the screw (8) on the screw magazine (37), and then rises. Driven by the first push rod (34), it moves to the second opening, and then is driven by the second push rod (35) to connect with the main shaft (22). Under the action of the main shaft (22), the screw mounting is completed, and the distance between the nut of the screw (8) and the top surface of the polyethylene block (9) is greater than 2mm. S5: Gasket embedding; To ensure that the distance between the screw (8) nut and the top surface of the polyethylene block (9) is 2mm, the washer (41) needs to be embedded between the screw (8) nut and the top surface of the polyethylene block (9). The embedding step includes: the washer magazine (43) drives the washer (41) to rise and fall to a suitable position, and then the washer push rod (42) moves to connect with the washer (41) and drives the washer (41) to move forward so that its insertion part (412) is inserted between the screw (8) nut and the top surface of the polyethylene block (9). S6: Screw position correction: After the shim is moved in, the spindle (22) descends and drives the plum blossom rod (38) to insert into the top of the screw (8) for position correction, ensuring that the distance between the nut of the screw (8) and the top surface of the polyethylene block (9) is 2mm; S7: Mount the rod; the C-arm (51) moves to the rod magazine (52), the clamp (54) clamps the rod (10), then the C-arm (51) moves the rod (10) to the polyethylene block (9), and the clamp (54) moves the rod (10) along the C-arm (51) to the top of the polyethylene block (9), and aligns the rod (10) with the groove of the screw (8) nut, and then the clamp (54) releases so that the rod (10) falls into the groove of the screw (8) nut; S8: Screw in the plug: The C-arm (51) moves to the plug magazine (53), the screwdriver (55) moves and connects with the plug (20), then the C-arm (51) drives the plug (20) to move to the polyethylene block (9), and then the screwdriver (55) drives it to move to the position corresponding to the nut of the screw (8), and then the screwdriver (55) drives the plug (20) to be screwed into the nut to fix the rod (10); S9: Retract the gasket: The gasket push rod (42) drives the gasket (41) back into the gasket magazine (43); S10: Remove the four nails and two rods tooling.

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