Nut auxiliary mounting device and nut mounting method

Abstract

The application relates to a nut auxiliary installation device and a nut installation method. Mainly comprising a feeding mechanism, a distributing mechanism, a mechanical arm and a material taking and installing mechanism, the feeding mechanism is arranged on one side of the distributing mechanism, the feeding mechanism is used for conveying nuts in rows to the distributing mechanism, the distributing mechanism is used for receiving the nuts sent by the feeding mechanism and separating one nut, the mechanical arm is used for picking up the single nut on the distributing mechanism, the material taking and installing mechanism is arranged on one side of the mechanical arm, the material taking and installing mechanism is used for taking out the nut on the nut picking assembly of the mechanical arm and transferring and installing the nut into a nut installation hole on a product. The device is relatively easy to pick up one nut from the distributing mechanism, and is beneficial to stably conveying the nut to an installation position, and the nut is not prone to accidental falling.

Description

Technical Field

[0001] This invention relates to the field of nut installation, and in particular to nut auxiliary installation devices and nut installation methods. Background Technology

[0002] Nuts are components that require a large number of attachments to a product. Nut installation devices are typically used when installing nuts onto a product. Traditional nut installation devices include a feeding mechanism, a sorting mechanism, and a robotic arm. The feeding mechanism feeds nuts to the sorting mechanism, which then separates a nut and delivers it to the robotic arm. The robotic arm picks up the nut, transports it, and installs it onto the product.

[0003] This traditional nut installation device has the following drawbacks: Because individual nuts are relatively small, although the feeding mechanism can separate one nut, the portion of this nut protruding from the feeding mechanism is small. This makes it difficult for the gripper cylinder on the robotic arm to pick up the upper part of the nut, requiring precise control of the robotic arm and gripper cylinder positions, as well as a large clamping force. This can lead to minor damage to the nut due to excessive clamping force. Furthermore, during nut transport, because only a small portion of the nut is clamped, the nut is prone to detaching from the gripper cylinder and accidentally falling. Summary of the Invention

[0004] Based on this, a nut-assisted installation device is provided. This device makes it easier to pick up a nut from the feeding mechanism and facilitates the stable delivery of the nut to the installation position, preventing the nut from accidentally falling off.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A nut-assisted installation device, comprising:

[0007] The feeding mechanism, the dispensing mechanism, the robotic arm, and the material handling and installation mechanism are all included.

[0008] The feeding mechanism is located on one side of the distributing mechanism, and is used to convey nuts in rows to the distributing mechanism.

[0009] The material separating mechanism is used to receive nuts from the feeding mechanism and separate one nut.

[0010] The robotic arm is used to pick up individual nuts from the material distribution mechanism.

[0011] The material handling and installation mechanism is located on one side of the robotic arm. The material handling and installation mechanism is used to remove the nuts from the nut picking assembly on the robotic arm and transfer and install them into the nut mounting holes on the product.

[0012] In one embodiment, the feeding mechanism includes a vibratory feeder and a linear vibrating mechanism connected to the vibratory feeder, the flow channel of which is used to convey a row of nuts toward the distributing mechanism.

[0013] In one embodiment, the material dispensing mechanism includes a material dispensing cylinder and a movable frame connected to the material dispensing cylinder. The movable frame is equipped with a lifting cylinder and also includes a material dispensing plate. One end of the material dispensing plate is connected to a slide rail assembly located on top of the material dispensing cylinder, and the other end of the material dispensing plate is connected to the movable frame. The material dispensing cylinder moves laterally in a direction perpendicular to the flow channel of the linear vibration mechanism. The material dispensing plate is provided with a receiving groove that allows a nut to enter. The lifting cylinder is equipped with a lifting column, which is used to push the nut in the receiving groove upward a certain distance. When the receiving groove of the material dispensing plate is misaligned with the flow channel of the linear vibration mechanism, the side wall of the material dispensing plate blocks the outlet of the flow channel of the linear vibration mechanism.

[0014] In one embodiment,

[0015] The robotic arm is equipped with a nut pickup component and a product detection and placement component. The nut pickup component is used to pick up individual nuts from the material distribution mechanism, and the product detection and placement component on the robotic arm is used to detect whether a nut is installed on the product, and pick up the product and place it in the corresponding channel based on the detection result.

[0016] The robotic arm is equipped with a rotating mechanism, on which a frame is mounted. The frame houses the nut pickup assembly and the product detection and handling assembly. The nut pickup assembly includes a pickup frame and a lifting assembly mounted on the pickup frame. A support column is located at the lower end of the lifting assembly, and a central column is located at the lower end of the support column. Multiple elastic plates are arranged around the central column, with gaps between the elastic plates and the central column. One end of each elastic plate is connected to the support column, and the other end is used to hold the nut. The lower end of the central column is located below the lower ends of the elastic plates. The product detection and handling assembly includes a first gripper cylinder and a product detection sensor located to one side of the first gripper cylinder.

[0017] The lifting assembly includes a lifting cylinder, an intermediate frame connected to the lifting cylinder, and a slide rail assembly mounted on the pickup frame and connected to the intermediate frame. The intermediate frame is connected to the support column.

[0018] In one embodiment, the central post is used to extend into a groove at the upper end of the nut, and the elastic sheet is used to hold the upper end of the nut in place.

[0019] In one embodiment, the material handling and installation mechanism includes a horizontally arranged linear conveyor module, a base connected to the linear conveyor module, a horizontal drive cylinder mounted on the base, a vertical drive cylinder connected to the horizontal drive cylinder, a rotating assembly connected to the vertical drive cylinder, a rotating rod connected to the rotating assembly, and a second gripper cylinder connected to the rotating rod.

[0020] The vertical cylinder is used to drive the second gripper cylinder to descend, so that the nut gripped by the second gripper cylinder enters the nut mounting hole of the product.

[0021] The rotating component is used to drive the second gripper cylinder to rotate 90 degrees so that the nut gripped by the second gripper cylinder is in a horizontal state. The horizontal driving cylinder is used to drive the second gripper cylinder to move horizontally so that the nut enters the nut mounting hole of the product. After the second gripper cylinder grips the nut, the head and tail of the nut are exposed on the outside of the claw arm of the second gripper cylinder.

[0022] In one embodiment, the second gripper cylinder includes two gripper arms, one of which has a through hole at its front end and a nut detection sensor facing the through hole on its outer side.

[0023] In one embodiment, the channel includes an inclined channel for qualified products and a channel for unqualified products. When a product is not fitted with a nut, it enters the channel for unqualified products; when a product is fitted with a nut, it enters the channel for qualified products.

[0024] In one embodiment, the product positioning platform and a pressing mechanism disposed above the product positioning platform are also included. The pressing mechanism is used to press down on the nut on the product below, so that the nut is pressed into the corresponding nut mounting hole.

[0025] A nut installation method, employing the aforementioned nut auxiliary installation device.

[0026] First, a nut is picked up by a material distribution mechanism using a robotic arm. Then, the nut is pulled out of the robotic arm and transported to the nut mounting hole on the product by a material handling and installation mechanism. Finally, the nut is inserted into the nut mounting hole on the product by the material handling and installation mechanism.

[0027] The beneficial effects of this application are as follows:

[0028] 1. This application provides a dedicated nut-picking component on a robotic arm, which allows for convenient and quick picking up of nuts from a material distribution mechanism. The nuts are then removed from the robotic arm by a dedicated material-picking and installation mechanism. After removal, the nuts are securely clamped and transported to the installation position. The material-picking and installation mechanism can reliably transport the nuts, and the nuts are less likely to fall off during transport.

[0029] 2. The device in this application has a simple structure and high nut installation efficiency.

[0030] 3. The robotic arm of this application can perform multiple functions, including removing nuts from the material distribution mechanism, identifying whether nuts are installed on products, and conveying different products to different channels based on the identification results.

[0031] 4. The material handling and installation mechanism of this application can perform multiple functions, including taking nuts from the robotic arm, transporting nuts to the target position, and inserting nuts vertically or horizontally into the nut installation hole. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of a nut-assisted installation device according to an embodiment of this application.

[0033] Figure 2 This is a schematic diagram of the feeding mechanism and the dispensing mechanism in an embodiment of this application.

[0034] Figure 3 for Figure 2 An enlarged view of region A.

[0035] Figure 4 This is a schematic diagram showing the positional relationship between the robotic arm and the material handling and installation mechanism in an embodiment of this application.

[0036] Figure 5 This is a schematic diagram of the material handling and installation mechanism according to an embodiment of this application.

[0037] Figure 6 This is a schematic diagram of a nut-picking assembly and a product detection and placement assembly on a robotic arm according to an embodiment of this application.

[0038] in:

[0039] 110. Feeding mechanism; 120. Distributing mechanism; 130. Robotic arm; 140. Material handling and installation mechanism; 150. Qualified product channel; 160. Unqualified product channel; 200. Nut; 300. Product;

[0040] 111. Vibratory feeder; 112. Straight vibration mechanism;

[0041] 121. Material distribution cylinder; 122. Material distribution plate; 123. Lifting cylinder; 124. Material receiving groove;

[0042] 131. Rotating mechanism; 132. Frame; 133. Nut picking assembly; 134. Product inspection and handling assembly;

[0043] 141. Linear conveyor module; 142. Base; 143. Horizontal drive cylinder; 144. Vertical drive cylinder; 145. Rotating assembly; 146. Rotating rod; 147. Second gripper cylinder;

[0044] 1331. Pick-up rack; 1332. Lifting assembly; 1333. Support column; 1334. Central column; 1335. Elastic sheet; 1336. First gripper cylinder; 1337. Product detection sensor. Detailed Implementation

[0045] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0046] like Figure 1 As shown, the first embodiment of this application provides a nut-assisted installation device, which includes: a feeding mechanism 110, a distributing mechanism 120, a robotic arm 130, and a material-picking and installation mechanism 140.

[0047] Specifically, the feeding mechanism 110 is located on one side of the distributing mechanism 120. The feeding mechanism 110 is used to convey nuts in rows to the distributing mechanism 120. The distributing mechanism 120 is used to receive the nuts from the feeding mechanism 110 and separate one nut. The robotic arm 130 is used to pick up a single nut from the distributing mechanism 120. The picking and mounting mechanism 140 is located on one side of the robotic arm 130. The picking and mounting mechanism 140 is used to remove the nut from the nut picking assembly 133 on the robotic arm 130 and transfer and install it into the nut mounting hole on the product.

[0048] Specifically, such as Figure 2 As shown, in one embodiment, the feeding mechanism 110 includes a vibratory plate 111 and a linear vibration mechanism 112 connected to the vibratory plate 111. The flow channel of the linear vibration mechanism 112 is used to convey a row of nuts toward the distributing mechanism 120.

[0049] Based on the above, such as Figure 2 and Figure 3 As shown, the material distribution mechanism 120 includes a material distribution cylinder 121 and a movable frame connected to the material distribution cylinder 121. The movable frame is equipped with a lifting cylinder 123 and also includes a material distribution plate 122. One end of the material distribution plate 122 is connected to a slide rail assembly located on the top of the material distribution cylinder 121, and the other end of the material distribution plate 122 is connected to the movable frame. The material distribution cylinder 121 moves laterally and its direction of movement is perpendicular to the flow channel of the linear vibration mechanism 112. The material distribution plate 122 is provided with a receiving groove 124, which allows a nut to enter. The lifting cylinder 123 is provided with a lifting column, which is used to push the nut in the receiving groove 124 upward a certain distance. When the receiving groove 124 of the material distribution plate 122 is misaligned with the flow channel of the linear vibration mechanism 112, the side wall of the material distribution plate 122 blocks the outlet of the flow channel of the linear vibration mechanism.

[0050] Specifically, the receiving groove 124 faces the outlet of the flow channel of the direct vibration mechanism 112. When a nut enters the receiving groove 124, the distributing cylinder 121 drives the lifting cylinder 123 to move laterally, which in turn causes the distributing plate 122 to move laterally. In this way, the receiving groove 124 is offset from the flow channel by a certain distance, and at the same time, the other parts of the distributing plate 122 block the outlet of the flow channel. Then, the lifting cylinder 123 lifts the distributing plate 122, and the robotic arm 130 can come over to pick up the nut in the receiving groove 124 on the distributing plate 122.

[0051] Based on the above, such as Figure 4 and Figure 6 As shown, the robotic arm 130 is equipped with a nut picking component 133 and a product detection and placement component 134. The nut picking component 133 is used to pick up individual nuts from the material distribution mechanism 120, and the product detection and placement component 134 on the robotic arm 130 is used to detect whether a nut is installed on the product, and pick up the product and place it in the corresponding channel according to the detection result.

[0052] The robotic arm 130 is equipped with a rotating mechanism 131, and a frame 132 is mounted on the rotating mechanism 131. The frame 132 is equipped with the nut pickup assembly 133 and a product detection and placement assembly 134. The nut pickup assembly 133 includes a pickup frame 1331 and a lifting assembly 1332 mounted on the pickup frame 1331. A support column 1333 is mounted at the lower end of the lifting assembly 1332, and a central column 1334 is mounted at the lower end of the support column 1333. The central column 1334 is provided with multiple elastic plates 1335, with gaps between the elastic plates 1335 and the central column 1334. One end of the elastic plate 1335 is connected to the support column 1333, and the other end of the elastic plate 1335 is used to hold the nut. The lower end of the central column 1334 is located below the lower end of the elastic plates 1335. The product detection and handling assembly 134 includes a first gripper cylinder 1336 and a product detection sensor 1337 disposed on one side of the first gripper cylinder 1336. Specifically, the product detection sensor 1337 can be a photoelectric sensor.

[0053] Specifically, the lifting assembly 1332 includes a lifting cylinder, an intermediate frame connected to the lifting cylinder, and a slide rail assembly connected to the intermediate frame and mounted on the pickup frame 1331. The intermediate frame is connected to the support column 1333.

[0054] Specifically, the aforementioned rotating mechanism 131 drives the frame 132 to rotate, thereby adjusting the positions of the nut picking assembly 133 and the product detection and placement assembly 134. When a nut needs to be picked up, the central column 1334 is first aligned with the groove at the upper end of the nut. Then, the support column 1333 is driven to descend by the lifting cylinder. The support column 1333 drives the central column 1334 to descend and insert into the groove at the upper end of the nut, while the upper end of the nut is held in place by the elastic plates 1335. Next, the lifting cylinder drives the support column 1333 to rise, thus separating the nut from the distribution plate 122 and securing it firmly by the central column 1334 and the elastic plates 1335. This clamping method does not damage the nut and provides a relatively secure clamping.

[0055] Based on the above, such as Figure 5 As shown, the material handling and installation mechanism 140 includes a horizontally arranged linear conveyor module 141, a base 142 connected to the linear conveyor module 141, a horizontal drive cylinder 143 mounted on the base 142, a vertical drive cylinder 144 connected to the horizontal drive cylinder 143, a rotating assembly 145 connected to the vertical drive cylinder 144, a rotating rod 146 connected to the rotating assembly 145, and a second gripper cylinder 147 connected to the rotating rod 146. The vertical cylinder is used to drive the second gripper cylinder 144. The cylinder 7 descends, causing the nut gripped by the second gripper cylinder 147 to enter the nut mounting hole of the product. The rotating assembly 145 drives the second gripper cylinder 147 to rotate 90 degrees, making the nut gripped by the second gripper cylinder 147 horizontal. The horizontal drive cylinder 143 drives the second gripper cylinder 147 to move horizontally, so that the nut enters the nut mounting hole of the product. After the second gripper cylinder 147 grips the nut, the head and tail of the nut are exposed on the outside of the claw arm of the second gripper cylinder 147.

[0056] Specifically, the aforementioned rotating assembly 145 may consist of a motor, a synchronous pulley, and a synchronous belt. The rotating rod 146 is connected to a synchronous pulley.

[0057] Specifically, after the robotic arm 130 grips a nut, it moves the nut to the unloading position. At the unloading position, the lifting cylinder of the nut pickup assembly 133 drives the central column 1334 and the spring to descend, causing the nut to fall. Then, the second gripper cylinder 147 of the aforementioned material handling and mounting mechanism 140 clamps the stud. Next, the lifting cylinder of the nut pickup assembly 133 drives the central column 1334 and the spring to rise, causing the nut to separate from the central column 1334 and the spring. At this time, the middle section of the nut is clamped by the second gripper cylinder 147, while the upper and lower ends of the nut are exposed. Then, the linear conveying module 141 conveys the second gripper cylinder 147 to the corresponding nut mounting hole on the product. If the nut mounting hole is vertical, the vertical cylinder drives the second gripper cylinder 147 to descend, causing the lower end of the nut to insert into the nut mounting hole. If the nut mounting hole is horizontal, the rotating assembly 145 drives the rotating rod 146 to rotate 90 degrees, which in turn drives the second gripper cylinder 147 to rotate 90 degrees, thus making the nut rotate 90 degrees to a horizontal position. Then, the horizontal drive cylinder 143 drives the second gripper cylinder 147 to move horizontally, so that one end of the nut is inserted into the corresponding nut mounting hole.

[0058] In one embodiment, the second gripper cylinder 147 includes two gripper arms, one of which has a through hole at its front end and a nut detection sensor facing the through hole on its outer side.

[0059] Specifically, the aforementioned nut detection sensor can be a photoelectric sensor.

[0060] In one embodiment, the channel includes an inclined qualified product channel 150 and a defective product channel 160. When a product is not fitted with a nut, it enters the defective product channel 160, and when a product is fitted with a nut, it enters the qualified product channel 150.

[0061] Specifically, when the product detection sensor 1337 detects a nut in the nut mounting hole of the product, the first gripper cylinder 1336 picks up the product. Then, the robotic arm 130 transports the product to the qualified product channel 150, and the first gripper cylinder 1336 releases the product, which then slides down the qualified product channel 150 into the qualified product collection box. If the product detection sensor 1337 detects no nut in the nut mounting hole of the product, it is determined that the product is unqualified. Then, the first gripper cylinder 1336 picks up the product, and the robotic arm 130 transports the product to the unqualified product channel 160, whereby the first gripper cylinder 1336 releases the product, which then slides down the unqualified product channel 160 into the unqualified product collection box.

[0062] It is understandable that the first gripper cylinder 1336 on the aforementioned robotic arm 130 can also be used to pick up products from the conveyor line or a designated location and place the products on the product positioning table.

[0063] In one embodiment, the product positioning platform and a pressing mechanism disposed above the product positioning platform are also included. The pressing mechanism is used to press down the nut on the product below, so that the nut is pressed into the corresponding nut mounting hole.

[0064] Specifically, after the nut is placed in the nut mounting hole on the product, the pressing mechanism presses down on the nut on the product, so that the nut is fully pressed into the corresponding mounting hole.

[0065] The second embodiment of this application also provides a nut installation method. The method uses the nut auxiliary installation device. Specifically, a nut is first picked up by a robotic arm 130 and conveyed by a material distribution mechanism 120. Then, the nut on the robotic arm 130 is pulled out by a material picking and installation mechanism 140 and conveyed to the nut installation hole of the product. Next, the nut is inserted into the nut installation hole on the product by the material picking and installation mechanism 140.

[0066] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A nut-assisted installation device, characterized in that, include: The feeding mechanism, the dispensing mechanism, the robotic arm, and the material handling and installation mechanism are all included. The feeding mechanism is located on one side of the distributing mechanism, and is used to convey nuts in rows to the distributing mechanism. The material separating mechanism is used to receive nuts from the feeding mechanism and separate one nut. The robotic arm is used to pick up individual nuts from the material distribution mechanism. The material handling and installation mechanism is located on one side of the robotic arm. This mechanism is used to remove and transfer nuts from the nut-picking assembly on the robotic arm and install them into the nut mounting holes on the product. The feeding mechanism includes a vibratory feeder and a linear vibration mechanism connected to the vibratory feeder. The flow channel of the linear vibration mechanism is used to convey a row of nuts toward the dispensing mechanism. The material distribution mechanism includes a material distribution cylinder and a movable frame connected to the material distribution cylinder. A lifting cylinder is mounted on the movable frame. The mechanism also includes a material distribution plate. One end of the material distribution plate is connected to a slide rail assembly located on top of the material distribution cylinder, and the other end is connected to the movable frame. The material distribution cylinder moves laterally in a direction perpendicular to the flow channel of the linear vibration mechanism. The material distribution plate has a receiving groove that allows a nut to enter. The lifting cylinder has a lifting column that pushes the nut in the receiving groove upwards a certain distance. When the receiving groove of the material distribution plate is misaligned with the flow channel of the linear vibration mechanism, the side wall of the material distribution plate blocks the outlet of the flow channel of the linear vibration mechanism. The robotic arm is equipped with a nut pickup component and a product detection and placement component. The nut pickup component is used to pick up individual nuts from the material distribution mechanism, and the product detection and placement component on the robotic arm is used to detect whether a nut is installed on the product, and pick up the product and place it in the corresponding channel based on the detection result. The robotic arm is equipped with a rotating mechanism, on which a frame is mounted. The frame houses the nut pickup assembly and the product detection and handling assembly. The nut pickup assembly includes a pickup frame and a lifting assembly mounted on the pickup frame. A support column is located at the lower end of the lifting assembly, and a central column is located at the lower end of the support column. Multiple elastic plates are arranged around the central column, with gaps between the elastic plates and the central column. One end of each elastic plate is connected to the support column, and the other end is used to hold the nut. The lower end of the central column is located below the lower ends of the elastic plates. The product detection and handling assembly includes a first gripper cylinder and a product detection sensor located to one side of the first gripper cylinder. The lifting assembly includes a lifting cylinder, an intermediate frame connected to the lifting cylinder, and a slide rail assembly mounted on the pickup frame and connected to the intermediate frame. The intermediate frame is connected to the support column.

2. The nut auxiliary installation device according to claim 1, characterized in that, The central post is used to extend into the groove at the upper end of the nut, and the elastic plate is used to hold the upper end of the nut in place.

3. The nut auxiliary installation device according to claim 1, characterized in that, The material handling and installation mechanism includes a horizontally arranged linear conveyor module, a base connected to the linear conveyor module, a horizontal drive cylinder mounted on the base, a vertical drive cylinder connected to the horizontal drive cylinder, a rotating assembly connected to the vertical drive cylinder, a rotating rod connected to the rotating assembly, and a second gripper cylinder connected to the rotating rod. The vertical drive cylinder is used to drive the second gripper cylinder to descend, so that the nut gripped by the second gripper cylinder enters the nut mounting hole of the product. The rotating assembly drives the second gripper cylinder to rotate 90 degrees, bringing the nut gripped by the second gripper cylinder to a horizontal position. The horizontal drive cylinder drives the second gripper cylinder to move horizontally, allowing the nut to enter the nut mounting hole of the product. Furthermore, after the second gripper cylinder grips the nut, the head and tail of the nut are exposed on the outside of the gripper arm of the second gripper cylinder.

4. The nut-assisted installation device according to claim 3, characterized in that, The second gripper cylinder includes two gripper arms, one of which has a through hole at its front end and a nut detection sensor facing the through hole on its outer side.

5. The nut auxiliary installation device according to claim 1, characterized in that, The channel includes an inclined channel for qualified products and a channel for unqualified products. When a product is not fitted with a nut, it enters the channel for unqualified products. When a product is fitted with a nut, it enters the channel for qualified products.

6. The nut-assisted installation device according to claim 1, characterized in that, It also includes a product positioning platform and a pressing mechanism disposed above the product positioning platform. The pressing mechanism is used to press down the nut on the product below, so that the nut is pressed into the corresponding nut mounting hole.

7. A method for installing a nut, characterized in that, The nut-assisted installation device according to any one of claims 1 to 6 is used. First, a nut is picked up by a material distribution mechanism using a robotic arm. Then, the nut is pulled out of the robotic arm and transported to the nut mounting hole on the product by a material handling and installation mechanism. Finally, the nut is inserted into the nut mounting hole on the product by the material handling and installation mechanism.

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