Robot for nut punching installation and punching machine assembly

Abstract

The invention discloses a nut stamping and installing robot and a stamping machine assembly.The nut stamping and installing robot is a feeding and discharging robot unit and conducts feeding and discharging on the stamping machine assembly.The feeding and discharging robot unit comprises a support, an up-down moving module, a left-right moving module and a clamping hand module; and the up-and-down moving module is arranged on the bracket and can do up-and-down reciprocating motion along the movable bracket. The left-right moving module is arranged on the up-down moving module and can reciprocate left and right relative to the up-down moving module, and the clamping hand module is arranged on the left-right moving module. The robot for nut stamping and mounting is adopted for nut feeding, the stroke of the clamping hand can be conveniently adjusted for adaptation when the nuts are switched, the flexibility is high, and related parts are simple in structure and easy to repair and maintain. Furthermore, through the optimal design of the stamping die head and the lower die head, the flatness of operation can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of nut stamping and installation equipment, and specifically to a robot for nut stamping and installation and a stamping machine assembly. Background Art

[0002] Pressing a nut into a preset position on a sheet through embossed teeth to cause plastic deformation and locking around the hole, thereby realizing the connection of thin plates or sheet metals, is a common connection means, which has the advantages of convenient installation, firm connection, high anti-torsion and anti-tensile force, etc., and is widely used for the fixation of various metal sheets.

[0003] For small and medium-sized sheet metal processing enterprises, it is necessary to deal with the stamping and installation processing of the above-mentioned nuts with different models and installation methods, and the processing volume also varies greatly, ranging from small-scale scattered processing to large-scale processing. There are relatively high requirements for the processing efficiency and flexibility of stamping equipment. For existing automated stamping equipment, such as a stamping machine with a pneumatic nut conveying device, relatively complex switching and debugging work are often required when switching nuts. Although simple stamping equipment has high flexibility, it requires manual placement of nuts, resulting in low stamping operation efficiency and certain safety risks. Summary of the Invention

[0004] The purpose of the present invention is to provide a robot for nut stamping and installation and a stamping machine assembly to solve the problems existing in the prior art.

[0005] To achieve the above purpose, the technical solution of the present invention provides a robot for nut stamping and installation and a stamping machine assembly.

[0006] Among them, the robot for nut stamping and installation feeds the stamping machine assembly. The robot for nut stamping and installation is a loading and unloading robot unit. The loading and unloading robot unit includes a bracket, an up and down moving module, a left and right moving module, and a gripper module. The up and down moving module is arranged on the bracket and includes an up and down actuator, a moving member, and a vertical guide rail. The up and down actuator and the vertical guide rail are fixed on the bracket, and the moving member is connected to the up and down actuator and cooperates with the vertical guide rail. The left and right moving module includes a left and right actuator, a left and right moving member, and a horizontal guide rail. The left and right actuator and the horizontal guide rail are fixed on the moving member, and the left and right moving member is connected to the left and right actuator and cooperates with the horizontal guide rail. The gripper module is arranged on the left and right moving member.

[0007] Further, the loading and unloading robot unit further includes a front and back moving module. The front and back moving module includes a moving guide rail and a front and back moving actuator. The bracket is movably connected to the moving guide rail and reciprocates along the moving guide rail under the drive of the front and back moving actuator. The front and back moving actuator is any one of an electric cylinder and a cylinder.

[0008] Further, the left and right actuating member of the left and right moving module is any one of an electric cylinder and a cylinder, and is fixed on the moving member. The horizontal guide rail and the left and right moving member are matched through a groove and slideway structure. The left and right moving member is L-shaped, and the left and right actuating member is arranged at the lower part of the left and right moving member and is connected to its downward convex part.

[0009] Further, the gripper module includes a gripper actuating member and a gripper member. The gripper member includes two gripper heads arranged oppositely, and one of them is connected to the gripper actuating member. The gripper actuating member is any one of an electric cylinder and a cylinder.

[0010] Further, a number of positioning holes or positioning grooves are provided on the left and right moving member. Two limiting members are detachably arranged at the positioning holes or positioning grooves through a bolt structure. A triggering member is arranged on the upper part of the moving member, and the end of the triggering member is located between the two limiting members. The limiting member includes a limiting base and an acting member, and the acting member is any one of a push switch and a proximity sensor.

[0011] The present invention also discloses a stamping machine assembly cooperating with the above-mentioned robot for nut stamping and installation. The stamping machine assembly includes a vibrating feeding unit, a stamping machine, a stamping die head, and a stamping lower die unit. The stamping die head is arranged on the stamping head of the stamping riveting machine, and a stamping lower die unit is arranged at the relative position of the stamping head. The stamping lower die unit includes a base, a lower module, a lower die head, and a leveling seat. The base is arranged on the stamping riveting machine, the lower module is detachably fixed on the base, and a number of through holes are provided on the lower module. The lower die head and the leveling seat are detachably arranged at the through holes on the lower module. Through holes are provided on the base, and the lower module is detachably arranged at the through holes. A slot is provided below the through holes on the base, and a waste discharge chute is obliquely arranged at the slot. The through holes on the lower module are communicated with the slot.

[0012] Further, the vibrating feeding unit includes a circular vibrating feeder, a linear vibrating feeder, and a temporary storage table. The discharge port of the circular vibrating feeder is connected to the feed port of the linear vibrating feeder. The temporary storage table is arranged on one side of the discharge port of the linear vibrating feeder. The temporary storage table includes a base and a baffle. A cross groove is provided on the upper part of the base, and a baffle is arranged on the side of the cross groove far away from the discharge port of the linear vibrating feeder. The depth of the groove parallel to the linear vibrating feeder in the cross groove is deeper than the groove perpendicular to it.

[0013] Further, the stamping die head includes a die head seat, a die head, an outer limit cup, an upper spring, and a pressing ring; the die head seat is arranged at the position of the stamping head of the stamping riveting machine, and a threaded hole is provided on the bottom surface of the die head seat. The upper part of the die head is detachably connected to the bottom of the stamping die head through a bolt structure. The outer limit cup is fixed to the bottom surface of the die head seat through a bolt structure. The outer limit cup is a rotary cavity with a hollow interior, coaxial with the die head, and a through hole for the die head to pass through is provided at the bottom. The pressing ring is a rotary cavity with a hollow interior, its inner diameter is larger than that of the die head, and it is coaxial with the die head. A protruding edge is provided at the top of the pressing ring, and the outer diameter of the protruding edge is larger than the through hole at the bottom surface of the outer limit cup. The lower part of the pressing ring passes through the through hole at the bottom surface of the outer limit cup; an upper spring is provided above the protruding edge of the pressing ring, and the upper spring is located in the gap between the die head and the inner wall of the outer limit cup.

[0014] Further, the lower die head includes a connecting rod and a lower die head part. Threads are provided on the outer side of the connecting rod, and it is detachably connected to the lower die block through a threaded structure. The lower die head part is located at the upper part of the lower die head, and its outer contour is hexagonal. A nut groove with the same shape as a nut is provided at the upper part of the lower die head part, and the depth of the groove is less than the height of the nut.

[0015] Further, a through hole or a blind hole is provided in the center of the connecting rod and / or the lower die head part, and an indicating unit is provided at the through hole or the blind hole. The indicating unit includes an outer fixed tube seat, a lower spring, and an indicating column. The lower spring is sleeved outside the indicating column. The lower spring and the lower part of the indicating column are located in the outer fixed tube seat. The outer diameter of the indicating column is smaller than the inner diameter of the nut; the outer fixed tube seat is arranged at the through hole or the blind hole. When not under pressure, the top of the indicating column extends out of the top of the lower die head part.

[0016] A nut stamping and installing robot and a stamping machine assembly proposed by the present invention use a loading and unloading robot to cooperate with a loading device for loading nuts. When switching nuts, the clamping hand stroke can be conveniently adjusted for adaptation, with high flexibility. Moreover, the structures of related components are simple and easy to repair and maintain. Further, through the optimized design of the stamping die head and the lower die head, the flatness of the operation can be improved, avoiding processing errors caused by nut inclination and workpiece inclination, and facilitating on-site operation by workers. Description of the Drawings

[0017] Figure 1 It is a schematic diagram of the overall solution of the first embodiment of the present invention.

[0018] Figure 2 It is a schematic diagram of the overall solution of the second embodiment of the present invention.

[0019] Figure 3 It is a partially enlarged view of the loading and unloading robot in the first embodiment of the present invention.

[0020] Figure 4It is a partial enlarged view of the technical solution of the second embodiment of the present invention.

[0021] Figure 5 It is a partial schematic view of the loading and unloading robot of the second embodiment of the present invention.

[0022] Figure 6 It is a schematic view of another perspective of the loading and unloading robot of the second embodiment of the present invention.

[0023] Figure 7 It is a schematic view of the stamping die head and the lower die head of the present invention. Specific embodiments

[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0025] As shown in the attached Figure 1-7 figures, a robot for nut stamping and installation and a stamping machine assembly involved in the present invention include a loading and unloading robot unit 12 and a stamping machine assembly 2.

[0026] Among them, the attached Figure 1 figures show the first embodiment. In this embodiment, the loading and unloading robot unit 12 is responsible for the loading and unloading of two stamping machine assemblies 2; the attached Figure 2 figures show the second embodiment. In this embodiment, the loading and unloading robot unit 12 is responsible for the loading and unloading of one stamping machine assembly 2.

[0027] As shown in the attached Figure 1 , 2 , 4, the stamping machine assembly 2 includes a vibrating feeding unit 11, a stamping machine 21, a stamping die head 22, and a stamping lower die unit 23; the stamping die head 22 is arranged on the stamping head of the stamping machine 21, and a stamping lower die unit 23 is arranged at the relative position of the stamping head. The stamping lower die unit 23 includes a base 231, a lower die block 232, a lower die head 233, and a leveling seat 234. The base 231 is arranged on the stamping machine 21, the lower die block 232 is detachably fixed on the base 231, several through holes are arranged on the lower die block 232, and the lower die head 233 and the leveling seat 234 are detachably arranged at the through holes on the lower die block 232.

[0028] Furthermore, through holes are provided on the base 231, the lower module 232 is detachably arranged at the through holes, a slot 2311 is provided below the through holes on the base 231, a waste discharge chute 2312 is obliquely arranged at the slot, and the through holes on the lower module 232 communicate with the slot 2311. The waste discharge chute 2312 is mainly applicable to the operation of self-piercing riveting nuts.

[0029] The stamping of the nut is realized through the stamping die head 22 and the lower die head 233, and its specific structure can be an existing product in the field. The top height of the leveling seat 234 is the same as that of the lower die head 233, and the horizontal placement of the workpiece can be realized more labor-saving. Multiple sets of stamping die heads 22, lower die heads 233, and leveling seats 234 are provided.

[0030] The structures of the vibration feeding unit 11 adopted in the first embodiment and the second embodiment are the same. As shown in the attached drawings Figure 1 、 2 The vibration feeding unit 11 includes a circular vibration feeder 111, a linear vibration feeder 112, and a temporary storage table 113. The discharge port of the circular vibration feeder 111 is connected to the feed port of the linear vibration feeder 112, and the temporary storage table 113 is arranged on one side of the discharge port of the linear vibration feeder 112. The nuts enter the temporary storage table 113 after discharging from the discharge port of the linear vibration feeder 112.

[0031] The circular vibration feeder 111 and the linear vibration feeder 112 can be selected from existing equipment. The temporary storage table 113 includes a base 1131 and a baffle 1132. A cross groove is provided on the upper part of the base. A baffle 1132 is provided on the side of the cross groove far from the discharge port of the linear vibration feeder 112. The nuts enter the cross groove of the temporary storage table 113 through the circular vibration feeder 111 and the linear vibration feeder 112. The depth of the groove parallel to the linear vibration feeder 112 in the cross groove is deeper than that perpendicular to it, which is convenient for clamping.

[0032] The core difference between the loading and unloading robot unit 12 in the first embodiment and the second embodiment is that the loading and unloading robot unit 12 in the first embodiment can move as a whole to realize the loading and unloading of two stamping machine assemblies 2.

[0033] As shown in the attached drawings Figure 1 、 3 The loading and unloading robot unit 12 in the first embodiment includes a front-back moving module 120, a movable bracket 121a, a first up-down moving module 122a, a left-right moving module 123, and a gripper module 124.

[0034] The front-back moving module 120 includes a moving guide rail 1201 and a front-back moving actuator 1202. The movable bracket 121a is movably connected to the moving guide rail 1201 and reciprocates along the moving guide rail 1201 driven by the front-back moving actuator 1202. In the attached drawings, the front-back moving actuator 1202 is a cylinder, and it can also be other common actuator structures. The moving guide rail 1201 is movably connected to the movable bracket 121a through a slide rail, and the slide rail is a common existing product in this field. The setting position of the moving guide rail 1201 is adaptively set according to the positions of the two stamping machine components 2. The moving guide rail 1201 is arranged on the ground through a support column 1203, or it can be fixed to the ceiling.

[0035] The first up-down moving module 122a is arranged on the movable bracket 121a and can reciprocate up and down along the movable bracket 121a. The left-right moving module 123 is arranged on the up-down moving module 122 and can reciprocate left and right relative to the up-down moving module 122. The gripper module 124 is arranged on the left-right moving module 123.

[0036] As shown in the attached Figure 2 , 5 figures, in the second embodiment, the loading and unloading robot unit 12 includes a bracket 121, an up-down moving module 122, a left-right moving module 123, and a gripper module 124.

[0037] The up-down moving module 122 is arranged on the bracket 121 and can reciprocate up and down along the bracket 121. The left-right moving module 123 is arranged on the up-down moving module 122 and can reciprocate left and right relative to the up-down moving module 122. The gripper module 124 is arranged on the left-right moving module 123.

[0038] In the first and second embodiments, the structures of the left-right moving module 123 and the gripper module 124 are exactly the same, and the local component structures used in the first up-down moving module 122a and the up-down moving module 122 are the same, and their installation positions are symmetrically mirror-imaged up and down.

[0039] In the first embodiment, the first up-down moving module 122a is arranged on the movable bracket 121a and includes an up-down actuator 1221, a moving member 1222, and a vertical guide rail 1223. The up-down actuator 1221 can be any one of an electric cylinder and a cylinder, and is fixed on the movable bracket 121a. The vertical guide rail 1223 is fixed to the lower part of the movable bracket 121a and cooperates with the moving member 1222 through a groove and slideway structure to achieve up and down sliding. The upper part of the moving member 1222 is connected to the up-down actuator 1221 and reciprocates up and down driven by it.

[0040] In Embodiment 2, the up-and-down movement module 122 is arranged on the bracket 121 and includes an up-and-down actuator 1221, a moving member 1222, and a vertical guide rail 1223. The up-and-down actuator 1221 can be any one of an electric cylinder and a cylinder, and is fixed on the bracket 121. The vertical guide rail 1223 is fixed on the upper part of the bracket 121 and is matched with the moving member 1222 through a groove and slideway structure to realize up-and-down sliding. The lower part of the moving member 1222 is connected to the up-and-down actuator 1221 and reciprocates up and down under its drive.

[0041] The left-and-right movement module 123 includes a left-and-right actuator 1231, a left-and-right moving member 1232, and a horizontal guide rail 1233. The left-and-right actuator 1231 can be any one of an electric cylinder and a cylinder, and is fixed on the moving member 1222. The horizontal guide rail 1233 is fixed on the moving member 1222 and is matched with the left-and-right moving member 1232 through a groove and slideway structure to realize left-and-right sliding. One side of the left-and-right moving member 1232 is connected to the left-and-right actuator 1231. As shown in the attached Figure 5 , 6 figure, the left-and-right moving member 1232 is in an L shape, and the left-and-right actuator 1231 is arranged at the lower part of the left-and-right moving member 1232 and is connected to its downward convex part.

[0042] The gripper module 124 is arranged on the left-and-right moving member 1232 and includes a gripper actuator 1241 and a gripper member 1242. The gripper member 1242 includes two relatively arranged gripper heads, one of which is connected to the gripper actuator 1241, and the distance between the bottoms of the two gripper heads is changed by driving the gripper actuator 1241 to realize clamping and loosening. The gripper actuator 124 can be any one of an electric cylinder and a cylinder Furthermore, a plurality of positioning holes or positioning grooves are arranged on the left-and-right moving member 1232, and two limiting members 1234 are detachably arranged at the positioning holes or positioning grooves through a bolt structure. A trigger member 1224 is arranged on the upper part of the moving member 1222, and the end of the trigger member 1224 is located between the two limiting members 1234. By adjusting the positions between the two limiting members 1234 and the trigger member 1224, the stroke of the left-and-right moving member 1232 can be conveniently adjusted.

[0043] The limiting member 1234 includes a limiting base x1 and an acting member x2, and the acting member x2 is any one of a push switch and a proximity sensor.

[0044] During use, the clamping hand module 124 is moved to the upper part of the temporary storage table 113 by the up-and-down movement of the module 122 and the left-and-right movement of the module 123. The clamping hand module 124 clamps the bolt at the cross-shaped groove, and then is driven by the up-and-down movement module 122 to move upward. The left-and-right movement module 123 drives it to move left / right until the nut is placed. Then, the up-and-down movement module 122 drives it to move downward to complete the nut placement.

[0045] To improve the flatness of the operation, avoid machining errors caused by nut inclination and workpiece inclination, and facilitate on-site operation by workers, as shown in the appendix Figure 7 This application also provides an optimized design of a stamping die head 22 and a lower die head 233.

[0046] The stamping die head 22 includes a die head seat p0, a die head p1, an outer limit cup p2, an upper spring p3, and a pressing ring p4. The die head seat p0 is arranged at the position of the stamping head of the stamping machine 21, and its connection structure is a conventional structure in the field. A threaded hole is provided on the bottom surface of the die head seat p0. The upper part of the die head p1 is detachably connected to the bottom of the stamping die head through a bolt structure. The outer limit cup p2 is fixed to the bottom surface of the die head seat p0 through a bolt structure. The outer limit cup p2 is a rotary cavity with a hollow interior, coaxial with the die head p1, and a through hole for the die head p1 to pass through is provided at the bottom. The pressing ring p4 is a rotary cavity with a hollow interior, its inner diameter is larger than that of the die head p1, coaxial with the die head p1. A protruding edge is provided at the top of the pressing ring p4, and the outer diameter of the protruding edge is larger than the through hole at the bottom surface of the outer limit cup p2. The lower part of the pressing ring p4 passes through the through hole at the bottom surface of the outer limit cup p2. An upper spring p3 is provided above the protruding edge of the pressing ring p4. The upper spring p3 is located in the gap between the die head p1 and the inner wall of the outer limit cup p2.

[0047] During use, when the stamping die head 22 moves downward, the pressing ring p4 first contacts the workpiece, and the workpiece can be pressed tightly onto the lower die. The stamping die head 22 continues to move downward, and the upper spring p3 is compressed. The die head p1 gradually extends from the outer limit cup p2 and the pressing ring p4 and punches the nut.

[0048] Furthermore, to achieve the precise positioning of the nut, in the embodiment of this application, the nut is placed into the lower die head 233. As shown in the appendix Figure 5 This lower die head 233 includes a connecting rod p5 and a lower die head part p6. The outer side of the connecting rod p5 is provided with threads and is detachably connected to the lower module 232 through a threaded structure. The lower die head part p6 is located at the upper part of the lower die head 233, and its outer contour is hexagonal, which is convenient for screwing the lower die head 233 onto the lower module 232. A nut groove p61 with the same shape as the nut is provided at the upper part of the lower die head part p6, and the groove depth is less than the nut height. During use, the nut is placed in the nut groove p61, and the position accuracy is achieved through the limitation of the nut groove p61.

[0049] Further, to facilitate the worker to quickly move the reserved hole of the workpiece to the position of the nut, through holes or blind holes are provided in the center of the connecting rod p5 and / or the lower die head p6. In the attached drawing, through holes are provided in the center of the connecting rod p5 and the lower die head p6, and an indicating unit p7 is provided at the through hole. The indicating unit includes an outer fixed tube seat p71, a lower spring p72, and an indicating column p73. The lower spring p72 is sleeved outside the indicating column p73, and the lower spring p72 and the lower part of the indicating column p73 are located inside the outer fixed tube seat p71. The outer diameter of the indicating column p73 is smaller than the inner diameter of the nut. The outside of the outer fixed tube seat p71 is arranged in the through hole of the connecting rod p5 through a threaded structure. When not pressed, the top of the indicating column p73 extends out of the top of the lower die head p6 to indicate the position of the lower die head 233. During the stamping process, the die head p1 pushes the indicating column p73 to move downward, which has no adverse effect on the stamping process.

[0050] It should be noted that unless otherwise clearly specified and defined, terms such as "installation", "connection", "fixation", "setting", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral body; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. A robot for stamping and installing nuts, which feeds and discharges materials for a stamping machine assembly, is characterized in that, The robot for nut stamping and installation is a loading and unloading robot unit, and the loading and unloading robot unit includes a bracket, an up-and-down moving module, a left-and-right moving module, and a gripper module; the up-and-down moving module is arranged on the bracket and includes an up-and-down actuator, a moving member, and a vertical guide rail. The up-and-down actuator and the vertical guide rail are fixed on the bracket, the moving member is connected to the up-and-down actuator and cooperates with the vertical guide rail; the left-and-right moving module includes a left-and-right actuator, a left-and-right moving member, and a horizontal guide rail. The left-and-right actuator and the horizontal guide rail are fixed on the moving member, the left-and-right moving member is connected to the left-and-right actuator and cooperates with the horizontal guide rail, and the gripper module is arranged on the left-and-right moving member.

2. The robot for nut stamping and installation according to claim 1, characterized in that, The loading and unloading robot unit further includes a front-and-back moving module; the front-and-back moving module includes a moving guide rail and a front-and-back moving actuator. The bracket is movably connected to the moving guide rail and reciprocates along the moving guide rail under the drive of the front-and-back moving actuator; the front-and-back moving actuator is any one of an electric cylinder and a cylinder.

3. A robot for stamping and installing nuts according to any one of claims 1 or 2, characterized in that, The left-and-right actuator of the left-and-right moving module is any one of an electric cylinder and a cylinder and is fixed on the moving member. The horizontal guide rail cooperates with the left-and-right moving member through a groove slideway structure. The left-and-right moving member is L-shaped, and the left-and-right actuator is arranged at the lower part of the left-and-right moving member and connected to its downward protruding part.

4. The robot for nut stamping and installation according to claim 3, characterized in that, The gripper module includes a gripper actuator and a gripper member. The gripper member includes two relatively arranged gripper heads, and one of them is connected to the gripper actuator; the gripper actuator is any one of an electric cylinder and a cylinder.

5. The robot for nut stamping and installation according to claim 4, characterized in that, A plurality of positioning holes or positioning grooves are arranged on the left-and-right moving member. Two limiting members are detachably arranged at the positioning holes or positioning grooves through a bolt structure. A triggering member is arranged on the upper part of the moving member, and the end of the triggering member is located between the two limiting members. The limiting members include a limiting base and an acting member, and the acting member is any one of a push switch and a proximity sensor.

6. A stamping machine assembly cooperating with the robot for stamping and installing nuts as described in claim 5, characterized in that, The stamping machine assembly includes a vibrating feeding unit, a stamping machine, a stamping die head, and a stamping lower die unit; the stamping die head is arranged on the stamping head of the stamping and riveting machine. A stamping lower die unit is arranged at a position opposite to the stamping head. The stamping lower die unit includes a base, a lower module, a lower die head, and a leveling seat. The base is arranged on the stamping and riveting machine, the lower module is detachably fixed on the base, and a plurality of through holes are arranged on the lower module; the lower die head and the leveling seat are detachably arranged at the through holes on the lower module; through holes are arranged on the base, the lower module is detachably arranged at the through holes, a slot is arranged below the through holes on the base, a waste discharge chute is obliquely arranged at the slot, and the through holes on the lower module communicate with the slot.

7. The punching machine assembly according to claim 6, wherein, The vibrating feeding unit includes a circular vibrating feeder, a linear vibrating feeder, and a temporary storage table. The discharge port of the circular vibrating feeder is connected to the feed port of the linear vibrating feeder, and the temporary storage table is arranged on one side of the discharge port of the linear vibrating feeder. The temporary storage table includes a base and a baffle. A cross groove is arranged on the upper part of the base, a baffle is arranged on the side of the cross groove far from the discharge port of the linear vibrating feeder, and the depth of the groove parallel to the linear vibrating feeder in the cross groove is deeper than that of the groove perpendicular to it.

8. The punching machine assembly according to claim 6, characterized in that, characterized in that, The stamping die head includes a die head seat, a die head, an outer limit cup, an upper spring, and a pressing ring. The die head seat is arranged at the position of the stamping head of the stamping riveting machine. There are threaded holes on the bottom surface of the die head seat. The upper part of the die head is detachably connected to the bottom of the stamping die head through a bolt structure. The outer limit cup is fixed to the bottom surface of the die head seat through a bolt structure. The outer limit cup is a rotary cavity with a hollow interior, coaxial with the die head, and there is a through hole at the bottom for the die head to pass through. The pressing ring is a rotary cavity with a hollow interior, its inner diameter is larger than that of the die head, coaxial with the die head, there is a protruding edge at the top of the pressing ring, the outer diameter of the protruding edge is larger than the through hole at the bottom surface of the outer limit cup, and the lower part of the pressing ring passes through the through hole at the bottom surface of the outer limit cup. An upper spring is arranged above the protruding edge of the pressing ring, and the upper spring is located in the gap between the die head and the inner wall of the outer limit cup.

9. The robot and the stamping machine assembly for nut stamping and installation according to claim 8, characterized in that, The lower die head includes a connecting rod and a lower die head part. There are threads on the outer side of the connecting rod, and it is detachably connected to the lower module through a threaded structure. The lower die head part is located at the upper part of the lower die head, and its outer contour is hexagonal. There is a nut groove with the same shape as a nut on the upper part of the lower die head part, and the depth of the groove is less than the height of the nut.

10. The robot and the stamping machine assembly for nut stamping and installation according to claim 9, characterized in that, A through hole or a blind hole is arranged at the center of the connecting rod and / or the lower die head part, and an indicating unit is arranged at the through hole or the blind hole. The indicating unit includes an outer fixed tube seat, a lower spring, and an indicating column. The lower spring is sleeved outside the indicating column. The lower spring and the lower part of the indicating column are located in the outer fixed tube seat. The outer diameter of the indicating column is smaller than the inner diameter of the nut. The outer fixed tube seat is arranged at the through hole or the blind hole. When not under pressure, the top of the indicating column extends out of the top of the lower die head part.

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