Intelligent quantitative nut taking equipment and method thereof

Abstract

The invention discloses intelligent quantitative nut taking equipment and a method thereof. The equipment comprises a tray, a conveying channel, a controller, an upper steering engine, a lower steering engine, a first sensor, a second sensor and a third sensor, wherein the upper steering engine, the lower steering engine, the first sensor, the second sensor and the third sensor are electrically connected with the controller; the first end of the tray is higher than the second end; the first end of the conveying channel is connected with the outlet of the tray and is higher than the second end; the upper steering engine and the lower steering engine respectively comprise an upper steering engine arm and a lower steering engine arm which are arranged above the conveying channel, the upper steering engine arm is used for blocking an upstream nut adjacent to the upper-end nut, and the lower steering engine arm is used for blocking the lower-end nut; the first sensor is arranged on the downstream of the upper steering engine arm and used for detecting the upper end nut; the second sensor is arranged on the upstream of the lower steering engine arm and used for detecting a lower end nut; the third sensor is arranged at the second end of the conveying channel. The device has the advantages that the nuts can be automatically and quantitatively provided according to user requirements, waiting is not needed, nails are spitted when hands stretch out, and the working efficiency is high.

Description

Technical Field

[0001] The present invention relates to the technical field of conveying devices, and in particular to an intelligent quantitative nut taking device and a method thereof. Background Art

[0002] During the automobile production and assembly process, when nuts are used for tightening, the operator is required to take multiple nuts at a time and tighten them sequentially. There are currently three problems: (1) The nuts are easily dropped when manually taking them from the box, affecting safety and efficiency; (2) The number of nuts taken at one time cannot be 100% guaranteed to correspond to the number required for tightening, which can easily cause missing parts and create quality risks, and the second taking affects the production rhythm; (3) There are multiple types of nuts placed on the workstation, which poses a risk of taking the wrong ones. Summary of the invention

[0003] In order to solve at least one of the above technical problems, the present invention provides an intelligent quantitative nut picking device and method thereof, which realizes quantitative storage and quantitative release of nuts through an upper servo and a lower servo.

[0004] The present invention solves the technical problem by adopting the following technical solution:

[0005] An intelligent quantitative nut taking device, comprising:

[0006] A tray, wherein the first end of the tray is higher than the second end, and the second end of the tray is provided with an outlet;

[0007] A conveying channel, wherein a first end of the conveying channel is connected to an outlet of the tray, and the first end of the conveying channel is higher than a second end;

[0008] An upper steering gear and a lower steering gear, wherein the upper steering gear and the lower steering gear respectively include an upper steering gear arm and a lower steering gear arm disposed above the conveying passage, wherein the upper steering gear arm is used to block an upstream nut adjacent to the upper end nut, and the lower steering gear arm is used to block a lower end nut;

[0009] A first sensor and a second sensor, wherein the first sensor is arranged downstream of the upper servo arm and is used to detect the upper nut; and the second sensor is arranged upstream of the lower servo arm and is used to detect the lower nut;

[0010] A third sensor, the third sensor is disposed at the second end of the conveying channel;

[0011] A controller, wherein the upper steering gear, the lower steering gear, the first sensor, the second sensor and the third sensor are all electrically connected to the controller.

[0012] Furthermore, a first side plate and a second side plate are provided on both sides of the second end of the conveying channel, the first sensor and the second sensor are connected to the first side plate through a first support, the upper servo and the lower servo are connected to the second side plate through a second support, the first side plate and the second side plate are respectively provided with a first long hole and a second long hole extending along the extension direction of the conveying channel, and the first support and the second support are respectively provided with a third long hole and a fourth long hole perpendicular to the conveying channel, so as to facilitate the adjustment of the positions of the first sensor, the second sensor, the upper servo and the lower servo.

[0013] Furthermore, the device also includes a frame, the tray is supported by the frame, the tray includes a storage area and a screen nail area respectively arranged at the first end and the second end of the tray, a baffle is arranged between the storage area and the screen nail area, and the baffle is provided with a plurality of screen holes adapted to the nuts; preferably, the screen nail area includes a triangular output area, the outlet is arranged at a corner opposite to the output area and the storage area, and the width of the outlet is set to 1.05-1.5 times the maximum width of the nut, so as to facilitate the arrangement of the nuts.

[0014] Further, the sieve hole is set as a convex notch that matches the convex nut; or, there is a first gap between the baffle and the disk surface of the tray, and the sieve hole is set as a first rectangular notch, the first rectangular notch matches the raised portion of the convex nut, and the first gap is larger than the thickness of the disk of the convex nut and smaller than the thickness of the convex nut; or, the sieve hole is set as a second rectangular notch that matches the hexagonal nut; preferably, the two opposite third side panels of the tray are provided with slots, and the two ends of the baffle are respectively connected to the slots.

[0015] Further, a bell-shaped connecting plate is provided at the first end of the conveying channel, the connecting plate is provided with a groove, the outlet is provided in the groove, and has a second gap with the bottom of the groove, and the upper surface of the outlet is flush with the upper surface of the conveying channel; or, a bell-shaped connecting plate is provided at the first end of the conveying channel, a third gap is provided between the outlet and the connecting plate, flexible baffles are provided on both sides of the outlet, and the free ends of the flexible baffles extend to the conveying channel, so as to facilitate the smooth conveying of the nuts from the tray to the conveying channel.

[0016] Furthermore, the device also includes a counter, which is electrically connected to the controller to facilitate workload statistics.

[0017] Furthermore, the device also includes a swing device, which includes a motor, a connecting rod mechanism and a supporting mechanism, and the motor is electrically connected to the controller;

[0018] The connecting mechanism comprises a first connecting rod, a first curved rod ball head and a second curved rod ball head, the other end of which is connected in sequence at the ends, the other end of the first connecting rod is connected to the output end of the motor, and the other end of the second curved rod ball head is fixedly connected to the bottom of the tray;

[0019] The supporting component includes two parallel first shafts extending in a direction perpendicular to the conveying channel, both ends of the two first shafts are fixed on shaft seats, the shaft seat close to the conveying channel is lower than the shaft seat far away from the conveying channel, and the shaft seat is set on the frame; a slider that can slide along the first shaft is sleeved on the two first shafts, and the slider is fixed at the bottom of the tray so that the nuts are arranged in a single layer and slide down smoothly.

[0020] Furthermore, the first connecting rod is provided with a fifth long hole extending along its extension direction, and one end of the first curved rod ball head is connected to the fifth long hole, so as to facilitate the adjustment of the swing amplitude of the tray.

[0021] Furthermore, the device also includes a control circuit, which includes a controller, and the controller is set to a single-chip microcomputer, which is connected to a 5V power supply, and the motor is connected to a 12V power supply through a photoelectric coupling relay RL1, and the photoelectric coupling relay RL1 is connected to the 34 interface of the single-chip microcomputer; the upper servo and the lower servo are respectively connected to the 27 interface and the 28 interface of the single-chip microcomputer; the first sensor, the second sensor and the third sensor are respectively connected to the 14 interface, the 15 interface and the 3 interface of the single-chip microcomputer through a three-terminal voltage-stabilizing integrated circuit, and capacitors C1 and C2 are connected in parallel between the VI interface and the GND interface of the three-terminal voltage-stabilizing integrated circuit, and capacitors C3 and C4 are connected in parallel between the VO interface and the GND interface of the three-terminal voltage-stabilizing integrated circuit.

[0022] Furthermore, a method for intelligently and quantitatively taking nuts is applied to the above-mentioned quantitative nut taking device, and the method is executed by a controller and comprises the following steps:

[0023] When the controller receives the nut-free signal sent by the first sensor and the second sensor, it sends a closing signal to the lower servo after a delay of t1 to close the lower servo arm, and then sends an opening signal to the upper servo and the motor to open the upper servo arm and control the motor to run;

[0024] When the controller receives the nut signal sent by the first sensor and the second sensor, and the sent nut signal lasts for t2, it sends a closing signal to the upper servo and the motor, closes the upper servo arm, and controls the motor to stop running;

[0025] When the controller receives the take-up signal sent by the third sensor and receives the signal that the upper servo arm is closed, it sends an opening signal to the lower servo to open the lower servo arm.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] (1) The equipment can automatically and quantitatively provide nuts according to user needs. There is no need to wait, and the nuts can be ejected as soon as the user reaches out, which has high work efficiency. After setting a fixed number of nuts to be ejected, a fixed number of nuts can be provided each time to avoid taking too many or too few nuts, which can prevent omissions. It can also prevent operators from taking the wrong nuts due to visual reasons, affecting product quality and production rhythm.

[0028] (2) The equipment is small in size and simple in structure, and can be used in relatively small workplaces. It has a wide range of applications and can be used for a variety of nuts. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to better understand the above and other purposes, features, advantages and functions of the present invention, reference may be made to the embodiments shown in the accompanying drawings. The same reference numerals in the accompanying drawings refer to the same components. It should be understood by those skilled in the art that the accompanying drawings are intended to schematically illustrate the preferred embodiments of the present invention and have no limiting effect on the scope of the present invention, and the components in the drawings are not drawn to scale.

[0030] Figure 1 It is a schematic diagram of the structure of the intelligent quantitative nut picking device of the present invention.

[0031] Figure 2 This is a schematic diagram of the front view structure of the intelligent quantitative nut picking device of the present invention.

[0032] Figure 3 It is a schematic diagram of the top view of the first embodiment of the intelligent quantitative nut picking device of the present invention.

[0033] Figure 4 It is a schematic diagram of the top view of the second embodiment of the intelligent quantitative nut picking device of the present invention.

[0034] Figure 5 It is a schematic diagram of the right view structure of the intelligent quantitative nut picking device of the present invention.

[0035] Figure 6 It is a schematic structural diagram of a first embodiment of a baffle of the present invention.

[0036] Figure 7 It is a schematic structural diagram of a second embodiment of the baffle of the present invention.

[0037] Figure 8 It is a schematic structural diagram of a third embodiment of the baffle of the present invention.

[0038] Fig. 9 This is a schematic diagram of the control circuit structure of the intelligent quantitative nut picking device of the present invention.

[0039] Fig.10The present invention is a flow chart of the method for intelligently and quantitatively taking nuts.

[0040] In the figure: 10-tray; 11-export; 111-flexible baffle; 12-storage area; 13-screen nail area; 14-baffle; 141-convex notch; 142-first rectangular notch; 143-second rectangular notch; 20-conveying channel; 21-connecting plate; 30-upper servo; 31-upper servo arm; 40-lower servo; 41-lower servo arm; 51-first sensor; 52-second sensor; 53-third sensor; 54-three-terminal voltage-stabilizing integrated circuit; 60-controller; 70-frame; 80-counter; 90-motor; 100-connecting rod mechanism; 101-first connecting rod; 102-first bending rod ball head; 103-second bending rod ball head; 200-support mechanism; 201-first shaft; 202-shaft seat; 203-slider; 204-screw; 300-convex nut; 400-hexagonal nut. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the exemplary embodiments of the present invention are described below in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0042] In the description of the present invention, it should be noted that the term "including" and its variations represent open inclusion, that is, "including but not limited to". The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. In addition, in the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0043] The present invention provides an intelligent quantitative nut picking device and method thereof, referring to Figure 1-Figure 5As shown, it includes: a tray 10, the first end of the tray 10 is higher than the second end, and the second end is provided with an outlet 11; a conveying channel 20, the first end of the conveying channel 20 is connected with the outlet 11 of the tray 10, and the first end of the conveying channel 20 is higher than the second end; an upper steering gear 30 and a lower steering gear 40, the upper steering gear 30 and the lower steering gear 40 respectively include an upper steering gear arm 31 and a lower steering gear arm 41 arranged above the conveying channel 20, the upper steering gear arm 31 is used to block the upstream nut adjacent to the upper end nut, and the lower steering gear The arm 41 is used to block the lower end nut; the first sensor 51 and the second sensor 52, the first sensor 51 is arranged downstream of the upper servo arm 31, and is used to detect the upper end nut; the second sensor 52 is arranged upstream of the lower servo arm 41, and is used to detect the lower end nut; the third sensor 53, the third sensor 53 is arranged at the second end of the conveying channel 20; the controller 60, the upper servo 30, the lower servo 40, the first sensor 51, the second sensor 52 and the third sensor 53 are all electrically connected to the controller 60.

[0044] The tray 10 is used to store a large number of nuts. The width of the conveying channel 20 is slightly larger than the maximum width of the nuts, and can be set to 1.05-1.5 times the maximum width of the nuts. The nuts in the tray 10 enter the conveying channel 20 one by one from the outlet 11 under the action of gravity, and slide from the first end to the second end of the conveying channel 20 in a single passage under the action of gravity. When the upper servo arm 31 and the lower servo arm 41 are rotated to close, the distance between them and the conveying channel 20 is small, which prevents the nuts from sliding down. When the upper servo arm 31 and the lower servo arm 41 are rotated to open, the distance between them and the conveying channel 20 is large, and the nuts can slide smoothly.

[0045] The distance between the upper servo arm 31 and the lower servo arm 41 is adapted to the number of nuts to be taken quantitatively, and a nut quantitative storage area is formed between the upper servo arm 31 and the lower servo arm 41. The bottom of the upper servo arm 31 and the lower servo arm 41 is provided with a block facing the conveying channel 20, and the block of the lower servo arm 41 resists the outer wall of the lower nut to prevent the lower nut from sliding down; the block of the upper servo arm 31 can be inserted into the center hole of the upstream nut adjacent to the upper nut to prevent the upstream nut from sliding down. When the nut is a convex nut 300, the block of the upper servo arm 31 can also be inserted into the gap between the upper nut protrusion and the upstream nut protrusion to prevent the upstream nut from sliding down. According to the number of nuts to be taken each time, the distance between the upper servo arm 31 and the lower servo arm 41 can be set by debugging.

[0046] When the lower servo arm 41 is closed, the second sensor 52 detects the lower nut, the first sensor 51 detects the upper nut, and the duration is t2, indicating that the nut filling quantity is full, and the upper servo arm 31 is closed. When taking nuts, the operator places his hand at the second end of the conveying channel 20, the third sensor 53 detects the taking signal, and the controller 60 controls the lower servo arm 41 to open, releasing the nuts between the upper servo arm 31 and the lower servo arm 41, and the same number of nuts can be taken each time. For example, when the number of nuts to be taken quantitatively is three, the lower nut is the first nut, the upper nut is the third nut, there is a second nut between the lower nut and the upper nut, the lower servo arm 41 blocks the first nut, and the upper servo arm 31 blocks the fourth nut. When the nuts need to be taken, the lower servo arm 41 is opened, and the upper servo arm 31 is still closed, and the three nuts slide out of the conveying channel 20 in sequence. In this way, the equipment can automatically and quantitatively provide nuts according to user needs. There is no need to wait, just stretch out your hand and the nails will be spit out, which has high work efficiency. After setting a fixed number of nails to be spit out, a fixed number of nuts will be provided each time to avoid taking too much or too little, which can prevent omissions. It can also prevent operators from taking the wrong nuts due to visual reasons, affecting product quality and production rhythm.

[0047] The commonly used nuts for assembly are metal nuts. The first sensor 51 and the second sensor 52 can be set as metal proximity switches, and the third sensor 53 can be set as a photoelectric proximity switch.

[0048] In one embodiment, a first side plate and a second side plate are provided on both sides of the second end of the conveying channel 20, the first sensor 51 and the second sensor 52 are connected to the first side plate through a first support, the upper servo 30 and the lower servo 40 are connected to the second side plate through a second support, the first side plate and the second side plate are respectively provided with a first long hole and a second long hole extending along the extension direction of the conveying channel 20, and the first support and the second support are respectively provided with a third long hole and a fourth long hole perpendicular to the conveying channel 20.

[0049] The first support and the second support are respectively connected to the first side plate and the second side plate of the conveying channel 20 through the first bolt and nut assembly. By moving the positions of the corresponding supports along the first long hole and the second long hole, the positions of the first sensor 51, the second sensor 52, the upper steering gear 30 and the lower steering gear 40 can be adjusted in the extension direction of the conveying channel 20, so that the setting positions of the first sensor 51, the second sensor 52, the upper steering gear 30 and the lower steering gear 40 are adapted to the quantitative number of nuts taken. The first sensor 51, the second sensor 52, the upper servo arm 31 and the lower servo arm 41 are located above the conveying passage 20 and are connected to the corresponding supports through the second bolt and nut assembly. The positions of the corresponding first sensor 51, the second sensor 52, the upper servo arm 30 and the lower servo arm 40 are moved along the third long hole and the fourth long hole, and the distance between the first sensor 51, the second sensor 52, the upper servo arm 31 and the lower servo arm 41 and the conveying passage 20 can be adjusted so that there is enough space for the nut to pass through between the first sensor 51 and the second sensor 52 and the conveying passage 20, and at the same time, the distance between the nut and the nut is appropriate, so that the sensing is sensitive, and the upper servo arm 31 and the lower servo arm 41 can prevent the corresponding nut from sliding down.

[0050] The third sensor 53 can be connected to the end of the second end of the conveying channel 20 through the first bracket, and the third sensor 53 is located above the conveying channel 20. The first bracket can be set to an L shape, and the top plate of the first bracket is provided with a first through hole, and the third sensor 53 passes through the first through hole. Two retaining rings located on both sides of the top plate can be sleeved on the third sensor 53, and the third sensor 53 can be fixed to the top plate through the two retaining rings. The third sensor 53 can be supported by the first bracket, and the distance between the third sensor 53 and the conveying channel 20 in the vertical direction can be adjusted. When the operator takes the nut, the third sensor 53 can sensitively sense the hand.

[0051] In one embodiment, the device further includes a frame 70, and the tray 10 is supported on the frame 70. The frame 70 can be made of an aluminum profile frame 70, which is light in weight and high in strength. The various components connected to the frame 70 can be fixed to the frame 70 by aluminum profile bolts, so as to facilitate the adjustment of the positions of the various components. The ends of the aluminum profiles of the frame 70 can be sealed with aluminum profile plugs to block the leakage points of the aluminum profiles caused by the interconnection of the aluminum profile frames 70, thereby protecting the user and ensuring beauty and safety. The tray 10 includes a storage area 12 and a sieve nail area 13 respectively arranged at the first end and the second end of the tray 10, and a baffle 14 is arranged between the storage area 12 and the sieve nail area 13, and the baffle 14 is provided with a plurality of sieve holes adapted to the nuts. A large number of nuts are placed in the storage area 12 in advance, and the nuts can enter the sieve nail area 13 as required through the sieve holes. Preferably, the nail screening area 13 includes a triangular output area, the outlet 11 is set at a corner opposite to the output area and the storage area 12, and the width of the outlet 11 is set to 1.05-1.5 times the maximum width of the nut. For example, the width of the outlet 11 and the conveying channel 20 can be set to 1.05 times, 1.1 times, 1.2 times, 1.3 times, 1.4 times, 1.5 times, etc., of the maximum width of the nut, so that the outlet 11 can only pass through one nut to enter the conveying channel 20, and the nut in the conveying channel 20 is conveyed alone to prevent nail jamming.

[0052] Commonly used nuts include convex nuts 300 and hexagonal nuts 400. When the device is used to take the convex nut 300, such as Figure 6 As shown, the sieve hole is set as a convex notch 141 adapted to the convex nut 300, and the convex nut 300 slides down from the storage area 12 to the sieve nail area 13 through the convex notch 141, and the convex nut 300 passes through the sieve hole in a narrow upper and wide lower state. Figure 7 As shown, there is a first gap between the baffle 14 and the disk surface of the tray 10, and the sieve hole is set as a first rectangular notch 142. The first rectangular notch 142 is matched with the raised portion of the convex nut 300, and the first gap is larger than the bottom thickness of the convex nut 300, and smaller than the thickness of the convex nut 300. In this way, the first rectangular notch 142 and the first gap form a convex shape, and the disc of the convex nut 300 passes through the first gap, and the cylinder passes through the first rectangular notch 142, so that the convex nut 300 passes through the sieve hole in a narrow upper and wide lower shape, so that the convex nut 300 is regularly arranged in the conveying channel 20, which is convenient for the two steering gear arms to block sliding. When the device is used to take the hexagonal nut 400, as shown in FIG. Figure 8As shown, the sieve hole is set as a second rectangular notch 143 adapted to the hexagonal nut 400, the width of the second rectangular notch 143 is slightly larger than the maximum width of the hexagonal nut 400, and can be set to 1.05-1.5 times the maximum width of the hexagonal nut 400; the height of the second rectangular notch 143 is slightly larger than the thickness of the hexagonal nut 400, and smaller than the minimum width of the hexagonal nut 400, and can be set to 1.05-1.5 times the thickness of the hexagonal nut 400, so that the hexagonal nut 400 can be laid flat through the sieve hole, and the hexagonal nut 400 is prevented from standing up. It can be understood that the maximum width of the hexagonal nut 400 is the distance between two opposite vertices, the minimum width is the distance between two opposite parallel surfaces, and the maximum width of the convex nut 300 is the diameter of the disc.

[0053] Preferably, two opposite third side plates of the tray 10 are provided with slots, and both ends of the baffle 14 are respectively engaged with the slots. The baffle 14 and the conveying channel 20 can be replaced according to the type and model of the nuts used, and the size of the first gap between the baffle 14 and the tray surface of the tray 10 can be controlled by the depth of the slots.

[0054] In one embodiment, reference Figure 3 As shown, a bell-shaped connecting plate 21 is provided at the first end of the conveying channel 20, and the connecting plate 21 is provided with a groove. The outlet 11 is provided in the groove and has a second gap with the groove bottom of the groove. The upper surface of the outlet 11 is flush with the upper surface of the conveying channel 20. When the tray 10 swings, the outlet 11 of the tray 10 swings in the groove, and the outlet 11 of the tray 10 is aligned with the conveying channel 20 and does not contact. The outlet 11 has a second gap with the groove bottom of the groove, which can prevent the outlet 11 of the tray 10 from being worn against the groove and the conveying channel 20 when swinging. At the same time, the side wall of the groove can limit the swinging amplitude of the tray 10, so that the nut can slide smoothly from the tray 10 into the conveying channel 20.

[0055] In one embodiment, reference Figure 4 As shown, a bell-shaped connecting plate 21 is provided at the first end of the conveying channel 20, a third gap is provided between the outlet 11 and the connecting plate 21, flexible baffles 111 are provided on both sides of the outlet 11, and the free ends of the flexible baffles 111 extend to the conveying channel 20. The third gap can prevent the tray 10 from interfering with the end of the connecting plate 21 when swinging, and the third gap is small, smaller than the thickness of the nut, so as to prevent the nut from falling, and the flexible baffles 111 can block and limit the nut.

[0056] In one embodiment, the device further includes a counter 80, and the counter 80 is electrically connected to the controller 60. The counter 80 can be arranged on the frame 70, and when the lower servo arm 41 is opened and closed once, that is, the nut is taken once, the controller 60 sends a plus signal to the counter 80, and the counter 80 counts plus one, which can effectively count the workload and facilitate the comparison of the workload.

[0057] In one embodiment, reference Figure 2 and Figure 5 As shown, the device further includes a swing device, which includes a motor 90 , a connecting rod mechanism 100 and a supporting mechanism 200 , and the motor 90 is electrically connected to the controller 60 .

[0058] The connection mechanism includes a first connecting rod 101, a first bending rod ball head 102, and a second bending rod ball head 103 whose ends are connected in sequence, the other end of the first connecting rod 101 is connected to the output end of the motor 90, and the other end of the second bending rod ball head 103 is fixedly connected to the bottom of the tray 10. Specifically, the screw head of the first bending rod ball head 102 can be connected to the first connecting rod 101, the nut sleeves of the two bending rod ball heads can be connected by a screw, a connecting nut can be provided at the bottom of the tray 10, and the screw head of the second bending rod ball head 103 can be connected to the connecting nut.

[0059] The supporting component includes two parallel first axes 201 extending in a direction perpendicular to the conveying channel 20, and both ends of the two first axes 201 are fixedly set on the axis seats 202, the axis seats 202 close to the conveying channel 20 are lower than the axis seats 202 away from the conveying channel 20, and the axis seats 202 are set on the frame 70; the two first axes 201 are provided with sliders 203 that can slide along the first axes 201, and the sliders 203 are fixedly set at the bottom of the tray 10.

[0060] The two curved rod ball heads can rotate freely within 90 degrees. When the motor 90 is working, the tray 10 can be driven to swing through the connecting rod mechanism 100, and the slider 203 swings back and forth along the first axis 201 with the tray 10. With the swinging of the tray 10, the nuts in the tray 10 can be prevented from piling up, so that the nuts are arranged in a single layer and slide down smoothly.

[0061] The slider 203 close to the conveying channel 20 can be fixedly connected to the bottom of the screen nail area 13 of the tray 10, and the slider 203 away from the conveying channel 20 can be fixedly connected to the bottom of the storage area 12 of the tray 10. The slider 203 and the connecting rod mechanism 100 support the tray 10 at the same time and guide the swing of the tray 10. In order to support more stably, multiple sliders 203 can be set for each first shaft 201. Balls can be set inside the slider 203 to form an optical axis guide with the first shaft 201 to perform rolling, sliding and friction motion. The slider 203 has little friction with the first shaft 201 and slides smoothly. The surface of the first shaft 201 can also be chrome-plated to make the tray 10 swing more smoothly. The slider 203 can be fixed to the bottom of the tray 10 by bonding, or a threaded hole can be set on the top of the slider 203 and fixed to the bottom of the tray 10 by screws 204.

[0062] The shaft seat 202 can be set to be convex, with a second through hole matching the first shaft 201 set in the middle, a second groove connected to the second through hole set at the top, and a third through hole set in the two groove walls. After the first shaft 201 is inserted into the second through hole, the third bolt and nut assembly is used to tighten it, so that the first shaft 201 and the second through hole are fixed by interference fit. Fourth through holes can be set on both sides of the bottom of the shaft seat 202, and it is fixed to the frame 70 by aluminum profile bolts. By adjusting the fastening position of the shaft seat 202 in the concave groove at the upper end of the aluminum profile frame 70, the position of the tray 10 can be adjusted, thereby adjusting the relative position of the outlet 11 of the tray 10 and the conveying channel 20, so that the outlet 11 of the tray 10 is aligned with the conveying channel 20 and there is a suitable gap, which facilitates the nut to slide smoothly into the conveying channel 20. A pad can be set below the axle seat 202 away from the conveying channel 20, and the pad is connected to the frame 70. The height difference between the front and rear axle seats 202 is achieved through the pad. Setting the pad at a suitable height can allow the nut to slide smoothly from the storage area 12 to the outlet 11.

[0063] The other end of the first connecting rod 101 can be connected to the output shaft of the motor 90 through a transmission rod and a coupling. One end of the transmission rod has an external thread, and the first connecting rod 101 is provided with a fifth through hole, and the transmission rod is inserted into the fifth through hole and fastened up and down by a fixing nut. The other end of the transmission rod is flat arc-shaped and connected to the coupling by an internal thread.

[0064] The transmission rod can be supported on the frame 70 through a bearing seat, and the structure of the bearing seat is the same as that of the shaft seat 202. The transmission rod passes through the central circular hole of the bearing set in the bearing seat, which can support the transmission rod to prevent deformation, and at the same time make the transmission rod rotate smoothly, and can also withstand the inertial vibration of the crank connecting rod movement caused by the first connecting rod 101.

[0065] The motor 90 can be connected to the frame 70 through an L-shaped bracket. The side plate of the L-shaped bracket is provided with a sixth long hole, which is connected to the frame 70 through aluminum profile bolts, so that the position of the motor 90 can be easily adjusted. The output shaft at the upper end of the motor 90 is semi-cylindrical, which can be better connected to the bottom of the coupling so that the power is not distorted; the middle part is a reducer that can reduce the higher output speed of the lower motor 90 and provide a strong torque for the crank connecting rod movement. A cooling fan is provided at the end for cooling. When the first sensor 51 and the second sensor 52 detect a nut-free signal, and the lower servo arm 41 is closed and the upper servo arm 31 is opened, the motor 90 starts, drives the tray 10 to swing, and the nut is transported to the conveying channel 20 until the first sensor 51 and the second sensor 52 detect the nut signal, and the motor 90 stops moving and waits for the next trigger.

[0066] In one embodiment, the first connecting rod 101 is provided with a fifth long hole extending along its extension direction, and one end of the first curved rod ball head 102 is connected to the fifth long hole. The connecting rod mechanism 100 can convert the torsional force of the motor 90 into the force of the reciprocating motion of the crank connecting rod. The screw head of the first curved rod ball head 102 is inserted into the fifth long hole, and can be fastened up and down by a fixing nut. By adjusting the position of the screw head of the curved rod ball head in the fifth long hole, the swing amplitude of the tray 10 can be adjusted, thereby controlling the nut to smoothly enter the conveying channel 20.

[0067] refer to Fig. 9 As shown, the device also includes a control circuit, and the control circuit includes a controller 60. The controller 60 is set as a single-chip microcomputer, and an AT89C52 single-chip microcomputer can be used. The control program written in C language is burned into the single-chip microcomputer. By iterating the C language in the single-chip microcomputer, more requirements can be met. The single-chip microcomputer is connected to a 5V power supply, and the motor 90 is connected to a 12V power supply through a photoelectric coupling relay RL1, and the photoelectric coupling relay RL1 is connected to the 34 interface of the single-chip microcomputer. The upper servo 30 and the lower servo 40 are respectively connected to the 27 interface and the 28 interface of the single-chip microcomputer. The first sensor 51, the second sensor 52 and the third sensor 53 are connected to the 12V power supply, and then connected to the 14 interface, the 15 interface and the 3 interface of the single-chip microcomputer through a three-terminal voltage regulator integrated circuit 54, respectively. The capacitor C1 and the capacitor C2 are connected in parallel between the VI interface and the GND interface of the three-terminal voltage regulator integrated circuit 54, and the capacitor C3 and the capacitor C4 are connected in parallel between the VO interface and the GND interface of the three-terminal voltage regulator integrated circuit 54. The three-terminal voltage regulator integrated circuit 54 can adopt a 7805 three-terminal voltage regulator integrated circuit 54.

[0068] 10kΩ resistors R1, R2, and R3 can be set between the photoconductive coupling relay RL1, the upper servo 30, the lower servo 40, and the single-chip microcomputer to limit the current so that the current flowing through the electrical appliance is within a safe range. Capacitor C1 uses a 2200uf monolithic capacitor, capacitors C2 and C3 use 0.33uf aluminum electrolytic capacitors, and capacitor C4 uses a 470uf monolithic capacitor. The monolithic capacitor and the aluminum electrolytic capacitor cooperate with each other to stabilize the pressure.

[0069] The control circuit can be set in the control box to isolate the internal components from the external mechanical work to ensure the safety of the user. The control box can be set below the frame 70. The control box is provided with a speed adjustment knob to adjust the speed of the motor 90. When the voltage remains unchanged, the current size is adjusted by increasing or decreasing the resistance, thereby adjusting the speed of the motor 90. The control box is also provided with a main switch, which adopts a boat-type switch to control the connection and disconnection of the DC power supply, thereby controlling the switch of the entire device.

[0070] The present invention also provides a method for intelligent quantitative nut picking, which is applied to the quantitative nut picking device described above, referring to Fig.10 As shown, the method is executed by the controller 60 and includes the following steps:

[0071] When the controller 60 receives the nut-free signal sent by the first sensor 51 and the second sensor 52, it sends a closing signal to the lower servo 40 after a delay of t1 to close the lower servo arm 41, and then sends an opening signal to the upper servo 30 and the motor 90 to open the upper servo arm 31, and controls the motor 90 to operate so that the nut is delivered between the upper servo arm 31 and the lower servo arm 41;

[0072] When the controller 60 receives the nut signal sent by the first sensor 51 and the second sensor 52, and the sent nut signal lasts for t2, it sends a closing signal to the upper servo 30 and the motor 90, closes the upper servo arm 31, and controls the motor 90 to stop running, so that a fixed amount of nuts are stored between the upper servo arm 31 and the lower servo arm 41;

[0073] When the controller 60 receives the taking signal sent by the third sensor 53 and the closing signal of the upper servo arm 31 , it sends an opening signal to the lower servo 40 to open the lower servo arm 41 and release the quantitative nut.

[0074] The delay time t1 and the duration t2 can be set to 0.1-1s, for example, can be set to 0.1s, 0.2s, 0.3s, 0.4s, 0.5s, 0.6s, 0.7s, 0.8s, 0.9s, 1s, etc. When the controller 60 receives the nut-free signal sent by the second sensor 52, the delay time t1 sends a closing signal to the lower servo 40, so that the nut between the upper servo arm 31 and the lower servo arm 41 can be completely released. The nut signal duration t2 sent by the first sensor 51, and then a closing signal is sent to the motor 90 and the upper servo 30, indicating that the nut filling is completed, can prevent the nut from slipping over the first sensor 51 and collecting the nut signal to cause erroneous operation.

[0075] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent quantitative nut picking device, characterized in that: include: A tray, wherein the first end of the tray is higher than the second end, and the second end of the tray is provided with an outlet; A conveying channel, wherein a first end of the conveying channel is connected to an outlet of the tray, and the first end of the conveying channel is higher than a second end; An upper steering gear and a lower steering gear, wherein the upper steering gear and the lower steering gear respectively include an upper steering gear arm and a lower steering gear arm disposed above the conveying passage, wherein the upper steering gear arm is used to block an upstream nut adjacent to the upper end nut, and the lower steering gear arm is used to block a lower end nut; A first sensor and a second sensor, wherein the first sensor is arranged downstream of the upper servo arm and is used to detect the upper nut; and the second sensor is arranged upstream of the lower servo arm and is used to detect the lower nut; A third sensor, the third sensor is disposed at the second end of the conveying channel; A controller, wherein the upper steering gear, the lower steering gear, the first sensor, the second sensor and the third sensor are all electrically connected to the controller.

2. The intelligent quantitative nut taking device according to claim 1 is characterized in that: A first side plate and a second side plate are provided on both sides of the second end of the conveying channel, the first sensor and the second sensor are connected to the first side plate through a first support, the upper servo motor and the lower servo motor are connected to the second side plate through a second support, the first side plate and the second side plate are respectively provided with a first long hole and a second long hole extending along the extension direction of the conveying channel, and the first support and the second support are respectively provided with a third long hole and a fourth long hole perpendicular to the conveying channel.

3. The intelligent quantitative nut taking device according to claim 1 is characterized in that: The device also includes a frame, the tray is supported by the frame, the tray includes a storage area and a screen nail area respectively arranged at the first end and the second end of the tray, a baffle is arranged between the storage area and the screen nail area, and the baffle is provided with a plurality of screen holes adapted to the nuts; preferably, the screen nail area includes a triangular output area, the outlet is arranged at a corner opposite to the output area and the storage area, and the width of the outlet is set to 1.05-1.5 times the maximum width of the nut.

4. The intelligent quantitative nut taking device according to claim 3 is characterized in that: The sieve hole is set as a convex notch that matches the convex nut; or, there is a first gap between the baffle and the disk surface of the tray, and the sieve hole is set as a first rectangular notch, the first rectangular notch matches the raised portion of the convex nut, and the first gap is larger than the thickness of the disk of the convex nut and smaller than the thickness of the convex nut; or, the sieve hole is set as a second rectangular notch that matches the hexagonal nut; preferably, two opposite third side panels of the tray are provided with card slots, and the two ends of the baffle are respectively connected to the card slots.

5. The intelligent quantitative nut taking device according to claim 1 is characterized in that: A bell-shaped connecting plate is provided at the first end of the conveying channel, and the connecting plate is provided with a groove. The outlet is provided in the groove and has a second gap with the bottom of the groove. The upper surface of the outlet is flush with the upper surface of the conveying channel; or, a bell-shaped connecting plate is provided at the first end of the conveying channel, and a third gap is provided between the outlet and the connecting plate. Flexible baffles are provided on both sides of the outlet, and the free ends of the flexible baffles extend to the conveying channel.

6. The intelligent quantitative nut taking device according to claim 1, characterized in that: The device also includes a counter, which is electrically connected to the controller.

7. The intelligent quantitative nut taking device according to claim 1 is characterized in that: The device also includes a swing device, which includes a motor, a connecting rod mechanism and a supporting mechanism, and the motor is electrically connected to the controller; The connecting mechanism comprises a first connecting rod, a first curved rod ball head and a second curved rod ball head, the other end of which is connected in sequence at the ends, the other end of the first connecting rod is connected to the output end of the motor, and the other end of the second curved rod ball head is fixedly connected to the bottom of the tray; The supporting component includes two parallel first shafts extending in a direction perpendicular to the conveying channel, both ends of the two first shafts are fixed on shaft seats, the shaft seat close to the conveying channel is lower than the shaft seat away from the conveying channel, and the shaft seat is set on the frame; a slider that can slide along the first shaft is sleeved on the two first shafts, and the slider is fixed on the bottom of the tray.

8. The intelligent quantitative nut taking device according to claim 7 is characterized in that: The first connecting rod is provided with a fifth long hole extending along its extending direction, and one end of the first bending rod ball head is connected to the fifth long hole.

9. The intelligent quantitative nut taking device according to claim 7, characterized in that: The device also includes a control circuit, which includes a controller, and the controller is set to a single-chip microcomputer, which is connected to a 5V power supply, and the motor is connected to a 12V power supply through a photoelectric coupling relay RL1, and the photoelectric coupling relay RL1 is connected to the 34 interface of the single-chip microcomputer; the upper servo and the lower servo are respectively connected to the 27 interface and the 28 interface of the single-chip microcomputer; the first sensor, the second sensor and the third sensor are respectively connected to the 14 interface, the 15 interface and the 3 interface of the single-chip microcomputer through a three-terminal voltage-stabilizing integrated circuit, and the capacitor C1 and the capacitor C2 are connected in parallel between the VI interface and the GND interface of the three-terminal voltage-stabilizing integrated circuit, and the capacitor C3 and the capacitor C4 are connected in parallel between the VO interface and the GND interface of the three-terminal voltage-stabilizing integrated circuit.

10. A method for intelligent quantitatively taking nuts, characterized in that: Applied to the quantitative nut taking device according to any one of claims 7 to 9, the method is executed by a controller, comprising the following steps: When the controller receives the nut-free signal sent by the first sensor and the second sensor, it sends a closing signal to the lower servo after a delay of t1 to close the lower servo arm, and then sends an opening signal to the upper servo and the motor to open the upper servo arm and control the motor to run; When the controller receives the nut signal sent by the first sensor and the second sensor, and the sent nut signal lasts for t2, it sends a closing signal to the upper servo and the motor, closes the upper servo arm, and controls the motor to stop running; When the controller receives the take-up signal sent by the third sensor and receives the signal that the upper servo arm is closed, it sends an opening signal to the lower servo to open the lower servo arm.

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