Fastener posture correction mechanism and conveying line

Abstract

A fastener posture correction mechanism and conveying line, comprising: a first disc body and a second disc body relatively rotating, the relative rotation axis being a rotation axis; N first sliding grooves, which are uniformly distributed on the first disc body; N second sliding grooves, which are uniformly distributed on the second disc body; N sliding blocks, which are located between the first disc body and the second disc body, and are provided with a contact surface facing the rotation axis and parallel to the rotation axis, and a plurality of contact surfaces form a regular polygonal cylindrical structure with the rotation axis as the central axis; N connecting pin structures, each connecting pin structure is connected with a single sliding block and is in sliding connection with a first sliding groove and a second sliding groove respectively; when the driver drives the first disc body and the second disc body to relatively rotate, the diameter of the regular polygonal cylindrical structure is reduced and the regular polygonal cylindrical structure is in contact with the deviation correction part, so that the deviation correction part is coaxial with the rotation axis, so as to reduce the requirements for the initial posture of the fastener and the positioning accuracy of the pickup mechanism, and make it applicable to the fastener positioning and conveying operation efficiently.

Description

Technical Field

[0001] This invention relates to the field of automated fastener feeding technology, and in particular to a fastener posture correction mechanism and conveyor line. Background Technology

[0002] In industrial automated assembly lines, automated fastener feeding is a core component for achieving efficient assembly. Various screw feeding mechanisms have been developed to replace manual feeding operations, such as the screw feeding mechanism disclosed in patent CN215967256U. This mechanism consists of a base, a guide cover plate assembly, and a power unit. Through the cooperation of the base's sliding groove, discharge hole, and feed channel, the power unit drives the feeding slider and feeding plate to reciprocate and feed the screws. The channel structure of the guide plate and top cover plate guides and slightly corrects the screw's posture during transport. The baffle can open and close the feed port to prevent stacked materials from jamming, solving the problems of stacked materials and slight screw misalignment jamming in vibratory feeding scenarios.

[0003] While the aforementioned material distribution mechanism can achieve some posture correction in vibration feeding scenarios, its correction capability is mainly applicable to fasteners with a basically vertical posture in track conveying. In feeding scenarios where material handling requires a single material picking mechanism such as a gripper or suction cup, the existing correction structure is difficult to apply.

[0004] When the grippers pick up fasteners, the parts themselves may already be significantly misaligned. After release, the misaligned fasteners are prone to jamming when they enter the conveyor channel entrance under gravity, requiring extremely high positional accuracy and posture consistency of the fasteners gripped by the grippers.

[0005] In addition, if the gripper places fasteners with large deviations into the loading fixture at the assembly station for the assembly robot to position and grasp, the positioning structure of the loading fixture can usually only achieve one-way centering. Therefore, parts with large deviations are also prone to jamming after being placed in.

[0006] Therefore, there is an urgent need for a correction mechanism that can adapt to fasteners with large deviations, so as to reduce the requirements on the initial posture of the fastener and the positioning accuracy of the pickup mechanism. Summary of the Invention

[0007] In response to the shortcomings of the existing production technology, the applicant provides a fastener posture correction mechanism and conveyor line, thereby reducing the requirements for the initial posture of the fastener and the positioning accuracy of the picking mechanism, making it highly efficient for fastener positioning and conveying operations.

[0008] The technical solution adopted in this invention is as follows: A fastener posture correction mechanism, comprising: The first disc body is provided with a corresponding pickup mechanism. The pickup mechanism is used to releasably connect to the pickup part located at one end of the axial direction of the fastener. The fastener includes a correction part located on one side of the pickup part along the axial direction of the fastener itself. The center of the first disc body is provided with a through hole for avoiding the correction part. The second disc is coaxial with the first disc and rotates relative to it. The axis of relative rotation between the first disc and the second disc is the axis of rotation. N first grooves are located on the first disk body and are evenly distributed in an array with the rotation axis as the center. N second sliding grooves are located on the second disk body and are evenly distributed in an array with the rotation axis as the center. N sliders are located between the first disk and the second disk, and are evenly distributed in an array around the rotation axis. Each slider has a contact surface parallel to the rotation axis, and the multiple contact surfaces form a regular polygonal cylindrical structure with the rotation axis as the central axis. There are N connecting pin structures, each connecting pin structure is connected to a single slider and simultaneously slidably connected to a first slide groove and a second slide groove; A driver is used to drive the first disk and the second disk to rotate in opposite directions. When rotating in the forward direction, the diameter of the polygonal cylindrical structure increases to accommodate the correction part. When rotating in the reverse direction, the diameter of the polygonal cylindrical structure decreases and comes into contact with the correction part, making the correction part coaxial with the rotation axis.

[0009] As a further improvement to the above technical solution: When the cross-section of the correction part is a regular polygon structure, the number of sides of the regular polygon structure is M, N=Z×M, where Z is a positive integer ≥2.

[0010] Both the first and second slides are straight lines. During the relative rotation of the first and second discs, the projections of the first and second slides in a plane perpendicular to the rotation axis intersect. The connecting pin structure includes a guide and a cylindrical rotating pin. The rotating pin is fixed to one end of the slider along the rotation axis, and the guide is fixed to the other end of the slider along the rotation axis. The extension axis of one of the first and second slide grooves is aligned with the radial direction of the cylindrical structure and is slidably connected to the rotating pin, while the other slides are slidably connected to the guide member, so that the slider slides along the first linear direction.

[0011] N sliders are arranged alternately along the same circumferential direction, and N contact surfaces are arranged alternately. The first straight line direction of each slider is parallel to the contact surface of the slider on the adjacent side, and the contact surface of each slider intersects with the extension surface of the contact surface on one side of the adjacent side.

[0012] During the relative rotation of the first and second discs, there is a gap between the contact surfaces of each slider and the adjacent slider.

[0013] The first disc body is fixedly installed, and the extension axis of the second slide groove is consistent with the radial direction of the cylindrical structure; The correction mechanism further includes a mounting base, the first disc body is fixedly connected to the mounting base, the second disc body is provided with an axial extension portion that rotates coaxially with the second disc body, the driver is mounted on the side of the mounting base away from the second disc body, and the axial extension portion is drively connected to the driver.

[0014] Both the first and second slides are straight. During the relative rotation of the first and second discs, the projections of the first and second slides in the plane perpendicular to the rotation axis intersect. The extension axis of one of the first and second slides is consistent with the radial direction of the cylindrical structure, and the distance between a point on the extension axis of the other slide and the rotation axis increases sequentially along the extension axis direction. The connecting pin structure includes a shaft rotatably connected to the slider. One end of the shaft is a first pin head, and the other end of the shaft is a second pin head. The first pin head and the second pin head are respectively located on both sides of the slider along the rotation axis. The first pin head is slidably and rotatably connected to the first slide groove, and the second pin head is slidably and rotatably connected to the second slide groove. The slider is also provided with a sliding surface, which slides in contact with the contact surface on the adjacent slider. The sliding surface and the contact surface intersect at an angle of α, where α×N=360°. N sliders are arranged alternately along the same circumference, and N contact surfaces are arranged alternately. The contact surfaces intersect with the extension surfaces of the adjacent contact surfaces on one side, and a part of the contact surface is in contact with the sliding surface.

[0015] The slider includes a necked-down connecting part and a block-shaped body. The cross-section of the block-shaped body perpendicular to the rotation axis is triangular. The contact surface and the sliding surface are located on the block-shaped body and correspond to two sides of the triangle. The necked-down connecting part corresponds to the third side of the triangle. One end of the necked-down connecting part is fixedly connected to the block-shaped body, and the other end of the necked-down connecting part is rotatably connected to the shaft.

[0016] The width of the necked-down connector along the direction perpendicular to the axis of rotation is less than the length of the side of the corresponding triangle.

[0017] The first disc body is fixedly installed, and the extension axis of the first slide groove is consistent with the radial direction of the cylindrical structure; The correction mechanism further includes a mounting base, the first disc body is fixedly connected to the mounting base, the second disc body is provided with an axial extension portion that rotates coaxially with the second disc body, the driver is mounted on the side of the mounting base away from the second disc body, and the axial extension portion is drively connected to the driver.

[0018] The driver is either electrically driven or pneumatically driven. When the driver is electrically driven, the driver includes a motor, and the output shaft of the motor drives the first disc and the second disc to rotate relative to each other; When the actuator is pneumatically driven, the actuator includes a cylinder, the piston rod end of the cylinder is hinged to one of the first disc and the second disc, and the mounting part of the cylinder is hinged to the other of the first disc and the second disc.

[0019] A conveyor line includes any of the fastener posture correction mechanisms described above, and further includes a pickup mechanism.

[0020] The beneficial effects of this invention are as follows: This invention features a compact and rational structure, and is easy to operate. Multiple sliders are arrayed around a central axis between two relatively rotatable discs. Connecting pins slidably connect the sliders to grooves on the two discs, transforming the relative rotation of the discs into radial inward or radial expansion of the sliders. This creates an enclosed correction space between the sliders, forming a polygonal cylindrical structure with varying radial dimensions. This achieves axial contact correction and loading avoidance of tilted fasteners on the slider's contact surface. Combined with a pickup mechanism, it corrects the fasteners, ensuring that even fasteners with significant tilt can be corrected in posture and position. This reduces the requirements for fastener posture and the accuracy of the pickup mechanism, making it highly efficient for fastener positioning and conveying operations.

[0021] The present invention also includes the following advantages: (1) The core components of the fastener posture correction mechanism are all arranged along the circumference, with no redundant external structures. The overall structure of the mechanism is compact and occupies little space. It can be directly integrated into the gripper feeding station of the existing automated assembly line without major modifications to the production line. It has strong integration and high practicality.

[0022] (2) Multiple sliders are arranged in a rotating staggered manner along the same direction. The rotating pin is driven to move by the slide groove whose extension axis is consistent with the radial direction of the cylindrical structure, so that each slider moves under the constraint of the first straight line direction, which facilitates the control of the relative motion of the sliders and realizes that multiple sliders form a relatively closed cylindrical structure, avoiding the fastener correction part or the end of the fastener being stuck between two sliders, ensuring the surrounding correction of the end of the fastener. The structure is simple and easy to implement.

[0023] (3) By overlapping sliding contact of two adjacent sliders along the same annular direction, and limiting the position of the shaft connected to the slider rotation by the first and second slide grooves with intersecting projections, the multiple sliders with swinging settings form a completely closed surrounding structure. By changing the relative position of the first and second slide grooves, the position of the shaft changes, the relative posture of the adjacent sliders is adjusted, and the diameter of the surrounding structure is changed. The sliders can be thinner in the cross-sectional direction perpendicular to the rotation axis, which makes it easier to increase the number of sliders. The surrounding structure formed after the sliders move relative to each other is close to a cylinder, and it can adapt to the structure of various correction parts.

[0024] (4) The fastener posture correction mechanism has flexible drive modes to meet the needs of different production scenarios. The driver is compatible with both motor drive and cylinder drive, and can be flexibly selected according to the cycle time requirements, spatial layout and control accuracy requirements of different automated assembly lines. Compared with the existing single drive mode material distribution mechanism, it has stronger adaptability and can be widely used in the clamping and material distribution scenarios of various fasteners such as screws, rivets, and pins. Attached Figure Description

[0025] Figure 1 This is a perspective view of a correction mechanism according to an embodiment of this application.

[0026] Figure 2 This is an exploded view of a correction mechanism according to an embodiment of this application.

[0027] Figure 3 This is a top view (slider expansion) of a correction mechanism according to an embodiment of this application.

[0028] Figure 4 This is a top view of the correction mechanism according to an embodiment of this application (slider retracted).

[0029] Figure 5 This is a cross-sectional view (slider expansion) of a correction mechanism according to an embodiment of this application.

[0030] Figure 6 This is a perspective view of a correction mechanism according to an embodiment of this application (slider retracted).

[0031] Figure 7 This is the state of the fasteners after they have been straightened when the straightening mechanism is used according to an embodiment of this application. Figure 1 .

[0032] Figure 8 This is the state of the fasteners after they have been straightened when the straightening mechanism is used according to an embodiment of this application. Figure 2 .

[0033] Figure 9 This is a schematic diagram of a driver (electrically driven) structure according to an embodiment of this application.

[0034] Figure 10 This is a schematic diagram of the actuator (pneumatic drive type) structure according to an embodiment of this application. Figure 1 .

[0035] Figure 11 This is a schematic diagram of the actuator (pneumatic drive type) structure according to an embodiment of this application. Figure 2 .

[0036] Figure 12 This is a perspective view of a correction mechanism according to another embodiment of this application.

[0037] Figure 13 This is an exploded view of the correction mechanism according to another embodiment of this application.

[0038] Figure 14 This is a top view (slider expansion) of a correction mechanism according to an embodiment of this application.

[0039] Figure 15 This is a top view of the correction mechanism according to an embodiment of this application (slider retracted).

[0040] Figure 16 This is a schematic diagram of the straightening mechanism of this application applied to a fastener distribution system (the fastener is a bolt).

[0041] Figure 17 This is a partial view of the straightening mechanism of this application applied to a fastener distribution system (the fastener is a bolt assembly with a washer).

[0042] Figure 18 This is a schematic diagram of the fastener structure applicable to the correction mechanism of this application.

[0043] Figure 19 This is a schematic diagram of the structure of the second disc of the correction mechanism in this application when there is no central channel.

[0044] in: 1. First slide groove; 2. First disc body; 3. Slider; 31. Contact surface; 32. Sliding surface; 33. Block-shaped body; 34. Necked connection; 4. Connecting pin structure; 41. Guide component; 42. Rotating pin; 43. First pin head; 44. Shaft; 45. Second pin head; 5. Second chute; 6. Second disc body; 61. Axial extension; 62. Central channel; 621. Chamfer; 7. Mounting base; 71. Bearing; 72. Driver; 721. Gear ring; 722. Gear; 723. Motor; 724. Rotating sleeve; 725. Cylinder; 73. Limit block; 74. Mounting component; 75. Limiting component; 8. Fasteners; 81. Pick-up unit; 82. Correction unit; 9. Pickup mechanism; 91. Drive unit; 92. Execution unit; 10. Conveying channel; A. Storage unit; B. Transfer mechanism; C. Vision confirmation system. Detailed Implementation

[0045] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0046] Example 1: like Figures 1-19 As shown, the fastener posture correction mechanism of this embodiment includes: a first disc body 2, a second disc body 6, a first slide groove 1, a second slide groove 5, a slider 3, a connecting pin structure 4, and a driver 72.

[0047] The first disc body 2 is provided corresponding to the pickup mechanism 9. The pickup mechanism 9 is used to releasably connect to the pickup part 81 located at one end of the axial direction of the fastener 8. The fastener 8 includes a correction part 82 located on one side of the pickup part 81 along the direction of the fastener 8's own axis. The center of the first disc body 2 is provided with a through hole for avoiding the correction part 82. The second disc 6 is coaxial with the first disc 2 and rotates relative to it. The axis of relative rotation between the first disc 2 and the second disc 6 is the axis of rotation. N first grooves 1 are located on the first disk body 2 and are evenly distributed in an array with the rotation axis as the center. N second sliding grooves 5 are located on the second disk body 6 and are evenly distributed in an array with the rotation axis as the center. N sliders 3 are located between the first disk 2 and the second disk 6, and are evenly distributed in an array around the rotation axis. The sliders 3 are provided with contact surfaces 31 parallel to the rotation axis. Multiple contact surfaces 31 form a regular polygonal cylindrical structure with the rotation axis as the central axis. N connecting pin structures 4, each connecting pin structure 4 is connected to a single slider 3 and simultaneously slidably connected to a first slide groove 1 and a second slide groove 5 respectively; The driver 72 is used to drive the first disc 2 and the second disc 6 to rotate in opposite directions. When rotating in the forward direction, the diameter of the polygonal cylindrical structure increases, thereby accommodating the correction part 82. When rotating in the reverse direction, the diameter of the polygonal cylindrical structure decreases and comes into contact with the correction part 82, making the correction part 82 coaxial with the rotation axis.

[0048] When the first disc 2 and the second disc 6 rotate relative to each other, multiple contact surfaces 31 move synchronously away from the rotation axis, so that the radial dimension of the cylindrical structure meets the requirements for accommodating the correction part 82. When the first disc 2 and the second disc 6 are reversed relative to each other, multiple contact surfaces 31 move closer to each other toward the rotation axis. The multiple contact surfaces 31 are used to contact the correction part 82, causing the axis of the correction part 82 to swing.

[0049] like Figure 1As shown, the pickup mechanism 9 can be a gripper type, that is, the driving part 91 of the pickup mechanism 9 is a gripper cylinder and the execution part 92 is a pair of grippers; the pickup mechanism 9 can also be a suction cup type, that is, the driving part 91 of the pickup mechanism 9 is a negative pressure controller and the execution part 92 is a suction cup, which is not shown in the figure.

[0050] The cylindrical structure can be either closed or open. When the cylindrical structure is open, the two adjacent sliders 3 do not contact each other.

[0051] The fasteners 8 that need to be picked up can be pre-placed statically on storage unit A, such as... Figure 16 and Figure 17 As shown, the types of fasteners 8 can be bolts, bolt assemblies with washers, self-tapping screws with flanges, nuts, pins, etc. Figure 18 As shown.

[0052] The fastener straightening mechanism in this embodiment is as follows: Figure 16 , Figure 17 The application instructions for the fastener blanking and sorting system shown are as follows.

[0053] The fastener 8 is dropped vertically along its own axis, and the corresponding positions of the pickup part 81 and the correction part 82 are as follows: Figure 18 As shown, where: In Figures a and b, the head of the bolt and the end of the screw can both serve as the picking part 81, but the corresponding correction part 82 is located at the part with the largest diameter. The specific structure of the bolt head can be a round head as shown in the figure, or it can be an external hexagonal or square head structure, as long as it can act on the correction part 82 during the process of the contact surface 31 facing the rotating axis and moving closer to each other, correcting the axial direction of the fastener 8 and making the correction part 82 (such as the head of the bolt) on the fastener 8 coaxial with the inlet of the conveying channel 10. Figure c shows a bolt assembly with a washer. The picking part 81 is the end of the screw, and the correction part 82 is the washer. The washer has the largest radial dimension. During the vertical fall of the fastener 8, it is only necessary to ensure that the washer with the largest dimension can accurately enter the inlet of the conveying channel 10. Figure d shows a self-tapping screw with a flange, and the correction part 82 is the flange; Figures e and f show a nut, with the pickup part 81 being one axial end of the nut and the correction part 82 being the maximum diameter point at the other end.

[0054] Figures g and h represent pins, with the pickup part 81 being one axial end of the pin and the correction part 82 being the maximum diameter point at the other end.

[0055] When the axis of the fastener 8 is significantly deviated after being picked up by the pickup mechanism 9, it is very easy for it to get stuck at the entrance of the conveyor channel 10. The correction mechanism is installed directly above the conveyor channel 10 of the fastener 8, with the direction of the rotation axis being vertical. After installation, the fastener 8 after correction is aligned with the entrance of the conveyor channel 10.

[0056] The transfer mechanism B drives the picking mechanism 9 to move above the storage unit A to pick up the fastener 8. The coordinate position of the fastener 8 is determined by the vision positioning system, and then the action of the transfer mechanism B is controlled. Finally, the actuator 92 acts on the picking part 81 of the fastener 8. Because the fastener 8 may be placed on the storage unit A in a way that causes a large angle between the axis of the fastener 8 and the axis of the actuator 92, or the actuator 92 may not be able to completely ensure that the axis of the fastener 8 and the axis of the actuator 92 are coaxial during picking, the axis of the fastener 8 may be significantly deviated from the axis of the inlet of the conveying channel 10 (deviated from the axis or at an angle to the axis). Under the action of the transfer mechanism B, the picking mechanism 9 transports the picked-up fastener 8 to above the first disc 2. The transfer mechanism B drives the picking mechanism 9 to descend, so that the correction part 82 of the fastener 8 passes through the through hole located in the center of the first disc 2 and is located in the regular polygonal cylindrical structure formed by the contact surface 31 on the slider 3 in the fastener attitude correction mechanism. Figure 1 , Figure 5 As shown; In addition, during the process of moving the fastener 8 above the first disc 2, the visual confirmation system C confirms whether the model of the fastener 8 picked up meets the requirements. If it does not meet the requirements, the fastener 8 is placed in the recycling device.

[0057] When the fastener posture correction mechanism of this embodiment is used in a fastener distribution system: First, the driver 72 drives the first disc 2 and the second disc 6 to rotate in opposite directions, causing multiple contact surfaces 31 to contact the correction part 82, thus fully enveloping and straightening the fastener 8. Figure 5 , Figure 6 As shown, the drive fastener 8 swings on the pickup mechanism 9 until the correction part 82 is coaxial with the inlet axis of the conveying channel 10 below the second disc body 6. Then, the pickup mechanism 9 releases the fastener 8, which is then fixed by multiple sliders 3; Then, the first disc 2 and the second disc 6 rotate relative to each other in the positive direction, causing the slider 3 to move away from the correction part 82. The fastener 8 passes through the central channel 62 located in the middle of the second disc 6 and falls vertically into the conveying channel 10 of the material distribution station. Figure 8 The fastener 8 is positioned vertically before entering the conveying channel 10.

[0058] When the fastener posture correction mechanism of this embodiment is applied to the material sorting scenario, the skewed fastener 8 sent by the gripper and other picking mechanism 9 to the material sorting station is radially retracted and corrected before material sorting. This allows the fastener 8 to return to a vertical posture before the material sorting operation is carried out. This is coordinated with the material sorting action, which improves the smoothness and stability of the fastener 8 material sorting in the gripper feeding mode and avoids material sorting jamming and interruption caused by the posture deviation of the fastener 8.

[0059] When applied to the fastener loading station, the fastener posture correction mechanism of this embodiment can serve as a positioning fixture for the loading station. Unlike the unloading and dispensing system, the correction part 82 can be a smaller diameter part of the fastener 8. For example, when the bolt head is facing upwards, the bolt head serves as the pickup part 81, and the end of the bolt shank serves as the correction part 82 (not shown in the figure). For pins with a smaller end diameter, the correction part 82 can be the end with a smaller diameter (not shown in the figure). The second disc 6 does not need to have a central channel 62. Figure 19 As shown, after the fastener 8 is fixed by multiple sliders 3, the fastener 8 waits for the robot arm at the assembly station to grasp it in an accurate posture and waiting position. After being grasped, the sliders 3 move away from the correction part 82, and the robot arm at the assembly station takes away the fastener 8.

[0060] The more sliders 3 there are, the closer the shape of the enclosing structure formed after they shrink inward—the regular polygonal cylindrical structure—is to a circle, which can match the central channel 62 to the greatest extent and adapt to the specifications and posture accuracy requirements of the fastener 8.

[0061] When the cross-section of the corrective part 82 is a regular polygon, the number of sides of the regular polygon is M, and N = Z × M, where Z is a positive integer ≥ 2. The cross-section refers to the surface perpendicular to the axis of the fastener 8 itself.

[0062] When the fastener posture correction mechanism is applied to the material distribution system, the center of the second disc 6 is provided with a central channel 62, the axis of the central channel 62 coincides with the rotation axis, the central channel 62 is used to coaxially connect the conveying channel 10, and the conveying channel 10 is used for vertical material distribution of the fasteners 8. The central channel 62 has a chamfer 621 at one end facing the first disc 2. The maximum cross-sectional diameter at the chamfer 621 is larger than the diameter of the circumscribed circle when the diameter of the regular polygonal cylindrical structure is at its smallest. This guides the fastener 8 to fall smoothly, further reducing the risk of jamming.

[0063] Between two relatively rotatable discs, multiple sliders 3 are arranged in an array around a rotation axis. The sliders 3 are slidably connected to the grooves on the two discs by a connecting pin structure 4. The relative rotation of the discs is converted into the radial inward or radial expansion of the sliders 3. An enclosed correction space with a polygonal cylindrical structure of varying radial dimensions is formed between the sliders 3. This enables axial contact correction and feeding avoidance of the inclined fastener 8 by the contact surface 31 on the slider 3. Together with the picking mechanism 9, the fastener 8 is corrected. This ensures that the picking mechanism 9 can correct the posture and position of the fastener 8 when picking it up with a large degree of skew, reducing the requirements for the posture of the fastener and the accuracy of the picking mechanism 9, making it highly efficient for fastener positioning and conveying operations.

[0064] Compared with the prior art, this embodiment effectively solves the problem of material jamming caused by the skewed posture of fastener 8 in the gripper feeding and dispensing scenario, and has significant advantages in terms of structural design, action execution and scenario adaptation.

[0065] The core components of the fastener posture correction mechanism in this embodiment are all arranged along the circumferential direction, with no redundant external structures. The overall structure of the mechanism is compact and occupies little space. It can be directly integrated into the gripper feeding station of the existing automated assembly line without major modifications to the production line. It has strong integration and high practicality.

[0066] Example 2: like Figures 1-9 As shown, based on Embodiment 1, in the fastener posture correction mechanism of this embodiment, the first slide 1 and the second slide 5 are both straight lines. During the relative rotation of the first disc 2 and the second disc 6, the projections of the first slide 1 and the second slide 5 in the plane perpendicular to the rotation axis intersect. The connecting pin structure 4 includes a guide 41 and a cylindrical rotating pin 42. The rotating pin 42 is fixed to one end of the slider 3 along the rotation axis, and the guide 41 is fixed to the other end of the slider 3 along the rotation axis. The extension axis of one of the first slide groove 1 and the second slide groove 5 is aligned with the radial direction of the cylindrical structure and is slidably connected to the rotating pin 42, while the other is slidably connected to the guide member 41, so that the slider 3 slides along the first straight line direction.

[0067] Specifically, during the relative rotation of the first disc 2 and the second disc 6, the rotating pin 42 is always located at the intersection of the projections of the first slide groove 1 and the second slide groove 5; the extension axis of one of the first slide groove 1 and the second slide groove 5 is consistent with the radial direction of the cylindrical structure and is slidably connected with the rotating pin 42, meaning that when the extension axis of the first slide groove 1 is consistent with the radial direction of the cylindrical structure, the first slide groove 1 is slidably connected with the rotating pin 42 and can rotate relative to it, and when the extension axis of the second slide groove 5 is consistent with the radial direction of the cylindrical structure, the second slide groove 5 is slidably connected with the rotating pin 42 and can rotate relative to it.

[0068] N sliders 3 are arranged alternately along the same circumferential direction, and N contact surfaces 31 are arranged alternately. The first straight line direction of each slider 3 is parallel to the contact surface 31 of the adjacent slider 3, and the contact surface 31 of each slider 3 intersects with the extension surface of the adjacent contact surface 31 on one side.

[0069] Multiple sliders 3 are arranged in a rotating staggered manner along the same direction. The rotating pin 42 is driven to move by a groove whose extension axis is consistent with the radial direction of the cylindrical structure, so that each slider 3 moves under the constraint of the first linear direction. This facilitates the control of the relative movement of the sliders 3 and enables multiple sliders 3 to form a relatively closed cylindrical structure. This avoids the correction part 82 of the fastener 8 or the end of the fastener 8 being stuck between two sliders 3, ensuring the surrounding correction of the end of the fastener 8. The structure is simple and easy to implement.

[0070] During the relative rotation of the first disc 2 and the second disc 6, there is a gap between the contact surface 31 of each slider 3 and the adjacent slider 3.

[0071] Specifically, two adjacent sliders 3 can be kept out of contact to reduce the driving force; the included angle β of the first straight direction of two adjacent sliders 3 is (N-2)×180° / N.

[0072] like Figure 2 , Figure 5 As shown, in one specific embodiment, the first disc body 2 is fixedly installed, and the extension axis direction of the second slide groove 5 is consistent with the radial direction of the cylindrical structure; The correction mechanism also includes a mounting base 7, a first disc 2 is fixedly connected to the mounting base 7, a second disc 6 is provided with an axial extension 61 that rotates coaxially with the second disc 6, a driver 72 is mounted on the side of the mounting base 7 away from the second disc 6, and the axial extension 61 is connected to the driver 72 in a transmission connection.

[0073] Specifically, when a central channel 62 needs to be set, the axial extension 61 is tubular, and the central hole of the axial extension 61 is the central channel 62.

[0074] The first slide groove 1 is fixedly set along the first straight line direction. During the relative rotation of the first disc 2 and the second disc 6, the second slide groove 5 applies a thrust to the rotating pin 42, which is directly used to drive the slider 3 to slide along the first straight line direction, thereby improving the smoothness of the slider 3's movement.

[0075] The first disc 2 is fixedly set, and the second disc 6 is rotatably set. The axial extension 61, which is fixedly connected to the second disc 6, is rotatably connected to the mounting base 7 and extends downward. The driver 72, the second disc 6, the slider 3 and the first disc 2 are arranged along the rotation axis, so that the overall shape of the correction mechanism is regular. The transmission components are located inside and at the lower end of the correction mechanism, which facilitates integration and safety protection.

[0076] In addition, during the relative rotation of the first disc 2 and the second disc 6, the slider 3 does not rotate relative to the fastener 8, but only realizes the action of the contact surface 31 translating towards the rotation axis. The accuracy and stability of the fastener 8 tilt posture and deviation position correction process are achieved by the thrust pointing towards the rotation axis.

[0077] Specifically, the mounting base 7 has a ring structure, and the axial extension 61 passes through the central hole of the mounting base 7 and is rotatably connected to the mounting base 7 through the bearing 71. The lower end of the axial extension 61 is connected to the driver 72 for transmission.

[0078] like Figure 2 As shown, the guide member 41 is cylindrical, and there are two of them, which are fixed on the slider 3 along the corresponding first straight line direction. Reducing the contact area between the guide member 41 and the groove reduces sliding friction, facilitates the sliding of the guide member 41 in the groove, and improves the smoothness of the slider 3's movement.

[0079] Example 3: like Figures 12-15 As shown, based on Embodiment 1, in the fastener posture correction mechanism of this embodiment, the first slide 1 and the second slide 5 are both straight. During the relative rotation of the first disc 2 and the second disc 6, the projections of the first slide 1 and the second slide 5 in the plane perpendicular to the rotation axis intersect. The extension axis of one of the first slide 1 and the second slide 5 is consistent with the radial direction of the cylindrical structure, and the distance between the point on the extension axis of the other slide 1 and the rotation axis increases sequentially along the extension axis direction. The connecting pin structure 4 includes a shaft 44 that is rotatably connected to the slider 3. One end of the shaft 44 is a first pin head 43, and the other end of the shaft 44 is a second pin head 45. The first pin head 43 and the second pin head 45 are located on both sides of the slider 3 along the rotation axis. The first pin head 43 is slidably and rotatably connected to the first slide groove 1, and the second pin head 45 is slidably and rotatably connected to the second slide groove 5. The slider 3 is also provided with a sliding surface 32, which slides in contact with the contact surface 31 on the adjacent slider 3. The sliding surface 32 intersects the contact surface 31 and the included angle is α, where α×N=360°. N sliders 3 are arranged alternately along the same circumferential direction, and N contact surfaces 31 are arranged alternately. The contact surface 31 intersects with the extension surface of the adjacent contact surface 31 on one side, and a part of the contact surface 31 contacts the sliding surface 32.

[0080] Specifically, the end of slider 3 facing the rotation axis is pointed; during the relative rotation of the first disc 2 and the second disc 6, the shaft 44 is always located at the intersection of the projections of the first slide groove 1 and the second slide groove 5; the extension axis of one of the first slide groove 1 and the second slide groove 5 being consistent with the radial direction of the cylindrical structure means that: When the extension axis of the first groove 1 is aligned with the radial direction of the cylindrical structure, the extension axis of the second groove 5 intersects the radial direction, such as... Figure 14 , Figure 15 As shown, the second slide grooves 5 are arranged in a staggered, rotating manner in the same circumferential direction. The distance between each point on the extension axis of the second slide groove 5 and the rotation axis increases sequentially along the extension axis direction, as shown below. Figure 15 As shown by the midpoint line; When the extension line of the second slide 5 is aligned with the radial direction of the cylindrical structure, the first slide 1 is arranged in a staggered manner, rotating in the same circumferential direction.

[0081] By overlapping and sliding contact of two adjacent sliders 3 along the same annular direction, and by limiting the position of the shaft 44 rotatably connected to the sliders 3 through the first and second slide grooves 1 and 5 intersecting with each other, the multiple sliders 3 that are oscillating are formed into a completely closed enclosure structure. By changing the relative position of the first slide groove 1 and the second slide groove 5, the position of the shaft 44 is changed, the relative posture of the adjacent sliders 3 is adjusted, and the diameter of the enclosure structure is changed. The sliders 3 can be thinner and lighter in the cross-sectional direction perpendicular to the rotation axis, which makes it easier to increase the number of sliders 3, so that the enclosure structure formed after the relative movement of the sliders 3 is close to a cylinder, and at the same time adapts to the structure of various correction parts 82.

[0082] In addition, during the relative rotation of the first disc 2 and the second disc 6, the contact surface 31 changes its posture as it moves toward the rotation axis. That is, when the diameter of the formed regular hexagonal cylindrical structure changes, it rotates around the rotation axis.

[0083] In this embodiment, the cross-section of the slider 3 in the fastener posture correction mechanism is thinner and lighter, allowing for more sliders 3 to be arranged within the same installation space. The number of sliders 3 can be flexibly increased, and the surrounding structure is closer to a circle, resulting in a higher compatibility with the circular central channel 62. This enables the axis of the correction part 82 to be precisely coaxial with the inlet axis of the conveying channel 10, resulting in a lower coaxiality error in posture correction. The closed structure formed by the overlapping sliding contact of adjacent sliders 3 ensures the relative position of the sliders 3 is stable, improving the correction stability.

[0084] like Figure 14 , Figure 15 As shown, the slider 3 includes a necked-down connecting part 34 and a block body 33. The cross-section of the block body 33 perpendicular to the rotation axis is triangular. The contact surface 31 and the sliding surface 32 are located on the block body 33 and correspond to two sides of the triangle. The necked-down connecting part 34 corresponds to the third side of the triangle. One end of the necked-down connecting part 34 is fixedly connected to the block body 33, and the other end of the necked-down connecting part 34 is rotatably connected to the shaft 44.

[0085] Specifically, the triangle is an isosceles triangle, with its two legs corresponding to the contact surface 31 and the sliding surface 32. The isosceles structure ensures that the slider 3 is subjected to uniform force, thus improving the stability of the posture correction.

[0086] The width of the necked-down connecting portion 34 along the direction perpendicular to the rotation axis is smaller than the length of the side of the corresponding triangle. This is used to avoid adjacent sliders 3, reduce the area of ​​the contact surface 31 and the sliding surface 32, reduce frictional resistance, and improve the smoothness of the linkage of sliders 3.

[0087] like Figure 12 As shown, in a specific embodiment, the first disc body 2 is fixedly installed, and the extension axis direction of the first slide groove 1 is consistent with the radial direction of the cylindrical structure; The correction mechanism also includes a mounting base 7, a first disc 2 is fixedly connected to the mounting base 7, a second disc 6 is provided with an axial extension 61 that rotates coaxially with the second disc 6, a driver 72 is mounted on the side of the mounting base 7 away from the second disc 6, and the axial extension 61 is connected to the driver 72 in a transmission connection.

[0088] Specifically, when a central channel 62 needs to be set, the axial extension 61 is tubular, and the central hole of the axial extension 61 is the central channel 62.

[0089] The first slide groove 1, whose extension axis direction is consistent with the radial direction of the cylindrical structure, is fixedly installed so that during the relative rotation of the first disc 2 and the second disc 6, the second slide groove 5 applies a pushing or pulling force to the shaft 44, which is directly used to overcome the frictional resistance between the contact surface 31 and the sliding surface 32, and improves the smoothness of the relative movement of the multiple sliders 3.

[0090] The first disc 2 is fixedly set, and the second disc 6 is rotatably set. The axial extension 61, which is fixedly connected to the second disc 6, is rotatably connected to the mounting base 7 and extends downward. The driver 72, the second disc 6, the slider 3 and the first disc 2 are arranged along the rotation axis, so that the overall shape of the correction mechanism is regular. The transmission components are located inside and at the lower end of the correction mechanism, which facilitates integration and safety protection.

[0091] Specifically, the mounting base 7 has a ring structure, and the axial extension 61 passes through the central hole of the mounting base 7 and is rotatably connected to the mounting base 7 through the bearing 71. The lower end of the axial extension 61 is connected to the driver 72 for transmission.

[0092] Example 4: like Figures 9-11 As shown, based on the above embodiments, the driver 72 in the fastener posture correction mechanism of this embodiment is either electrically driven or pneumatically driven. When the driver 72 is electrically driven, the driver 72 includes a motor 723, and the output shaft of the motor 723 drives the first disc 2 and the second disc 6 to rotate relative to each other. When the actuator 72 is pneumatically driven, the actuator 72 includes a cylinder 725, the piston rod end of the cylinder 725 is hinged to one of the first disc 2 and the second disc 6, and the mounting part of the cylinder 725 is hinged to the other of the first disc 2 and the second disc 6.

[0093] like Figure 9 As shown, when the driver 72 is electrically driven, the transmission connection of the output shaft of the motor 723 is gear transmission. When the first disc 2 is fixedly set and the second disc 6 is rotated, a gear ring 721 is set on the axial extension 61 at the bottom of the second disc 6, and a gear 722 that meshes with the gear ring 721 is set on the output shaft of the motor 723. The number of rotations of the output shaft of the motor 723 can adjust the minimum and maximum diameter of the cylindrical structure formed by the contact surface 31, that is, adjust the extent of the inward or outward contraction of the slider 3.

[0094] like Figure 10 , Figure 11 As shown, when the driver 72 is pneumatically driven, when the first disc 2 is fixedly mounted and the second disc 6 is rotated, the rotating sleeve 724 is fixedly connected to the axial extension 61, the mounting part of the cylinder 725 is hinged to the mounting base 7, the piston rod of the cylinder 725 is hinged to the rotating sleeve 724, a limiting block 73 is provided on the mounting base 7, a fixed mounting part 74 is provided on the rotating sleeve 724, and a limiting part 75 is provided on the mounting part 74. By adjusting the relative position of the limiting part 75 on the mounting part 74, the air circuit design of the cylinder 725 is combined to make the limiting part 75 contact the limiting block 73 to control the movement distance of the piston rod of the cylinder 725, thereby adapting and adjusting the correction mechanism so that the inward shrinkage of the slider 3 adapts to the radial dimension of the fastener 8.

[0095] The fastener posture correction mechanism in this embodiment offers flexible drive options to meet the needs of various production scenarios. The actuator 72 is compatible with both motor-driven and cylinder-driven systems, allowing for flexible selection based on the cycle time requirements, spatial layout, and control precision requirements of different automated assembly lines. Compared to existing single-drive material feeding mechanisms, it offers greater adaptability and can be widely applied to gripper feeding and material feeding scenarios for various fasteners such as screws, rivets, and pins. By adjusting the actuator 72, the inward and outward expansion of the slider 3 can be changed to accommodate fasteners of different specifications without requiring replacement of core components, thus reducing operating costs.

[0096] Example 5: This application also proposes a conveyor line, including the fastener posture correction mechanism of any of the above embodiments, and further including a pickup mechanism 9, which can be a gripper type or a suction cup type.

[0097] In one specific embodiment, the conveyor line further includes a conveyor channel 10, a correction mechanism is disposed directly above the entrance of the conveyor channel 10, and a pickup mechanism 9 is located above the correction mechanism.

[0098] First, the driver 72 drives the first disc 2 and the second disc 6 to rotate in opposite directions, causing multiple contact surfaces 31 to contact the correction part 82, thus fully enveloping and straightening the fastener 8. Figure 5 , Figure 6 As shown, the drive fastener 8 swings on the pickup mechanism 9 until the correction part 82 is coaxial with the inlet axis of the conveying channel 10 below the second disc body 6. Then, the pickup mechanism 9 releases the fastener 8, which is then fixed by multiple sliders 3; Then, the first disc 2 and the second disc 6 rotate relative to each other in the positive direction, causing the slider 3 to move away from the correction part 82. The fastener 8 passes through the central channel 62 located in the middle of the second disc 6 and falls vertically into the conveying channel 10 of the material distribution station. Figure 8 As shown, the fastener 8 is positioned vertically before entering the conveyor channel 10, as... Figure 8 As shown.

[0099] In another specific embodiment, the straightening mechanism is located at the loading station of the fastener assembly line as a positioning tool for the loading station. The picking mechanism 9 is located upstream of the conveyor line, and the assembly station is located downstream of the conveyor line. The assembly station and the straightening mechanism are connected by the assembly station robot.

[0100] Once the fastener 8 is fixed by multiple sliders 3, the fastener 8 waits in a precise posture and position for the robot arm at the assembly station to grasp it. After being grasped, the sliders 3 move away from the correction part 82, and the robot arm at the assembly station removes the fastener 8.

[0101] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. A fastener posture correction mechanism, characterized in that: include: The first disc body is provided with a corresponding pickup mechanism. The pickup mechanism is used to releasably connect to the pickup part located at one end of the axial direction of the fastener. The fastener includes a correction part located on one side of the pickup part along the axial direction of the fastener itself. The center of the first disc body is provided with a through hole for avoiding the correction part. The second disc is coaxial with the first disc and rotates relative to it. The axis of relative rotation between the first disc and the second disc is the axis of rotation. N first grooves are located on the first disk body and are evenly distributed in an array with the rotation axis as the center. N second sliding grooves are located on the second disk body and are evenly distributed in an array with the rotation axis as the center. N sliders are located between the first disk and the second disk, and are evenly distributed in an array around the rotation axis. Each slider has a contact surface parallel to the rotation axis, and the multiple contact surfaces form a regular polygonal cylindrical structure with the rotation axis as the central axis. There are N connecting pin structures, each connecting pin structure is connected to a single slider and simultaneously slidably connected to a first slide groove and a second slide groove; A driver is used to drive the first disk and the second disk to rotate in opposite directions. When rotating in the forward direction, the diameter of the polygonal cylindrical structure increases to accommodate the correction part. When rotating in the reverse direction, the diameter of the polygonal cylindrical structure decreases and comes into contact with the correction part, making the correction part coaxial with the rotation axis.

2. The fastener posture correction mechanism as described in claim 1, characterized in that: When the cross-section of the correction part is a regular polygon structure, the number of sides of the regular polygon structure is M, N=Z×M, where Z is a positive integer ≥2.

3. The fastener posture correction mechanism as described in claim 1, characterized in that: Both the first and second slides are straight lines. During the relative rotation of the first and second discs, the projections of the first and second slides in a plane perpendicular to the rotation axis intersect. The connecting pin structure includes a guide and a cylindrical rotating pin. The rotating pin is fixed to one end of the slider along the rotation axis, and the guide is fixed to the other end of the slider along the rotation axis. The extension axis of one of the first and second slide grooves is aligned with the radial direction of the cylindrical structure and is slidably connected to the rotating pin, while the other slides are slidably connected to the guide member, so that the slider slides along the first linear direction.

4. The fastener posture correction mechanism as described in claim 3, characterized in that: N sliders are arranged alternately along the same circumferential direction, and N contact surfaces are arranged alternately. The first straight line direction of each slider is parallel to the contact surface of the slider on the adjacent side, and the contact surface of each slider intersects with the extension surface of the contact surface on one side of the adjacent side.

5. The fastener posture correction mechanism as described in claim 3, characterized in that: During the relative rotation of the first and second discs, there is a gap between the contact surfaces of each slider and the adjacent slider.

6. The fastener posture correction mechanism as described in claim 3, characterized in that: The first disc body is fixedly installed, and the extension axis of the second slide groove is consistent with the radial direction of the cylindrical structure; The correction mechanism further includes a mounting base, the first disc body is fixedly connected to the mounting base, the second disc body is provided with an axial extension portion that rotates coaxially with the second disc body, the driver is mounted on the side of the mounting base away from the second disc body, and the axial extension portion is drively connected to the driver.

7. The fastener posture correction mechanism as described in claim 1, characterized in that: Both the first and second slides are straight. During the relative rotation of the first and second discs, the projections of the first and second slides in the plane perpendicular to the rotation axis intersect. The extension axis of one of the first and second slides is consistent with the radial direction of the cylindrical structure, and the distance between a point on the extension axis of the other slide and the rotation axis increases sequentially along the extension axis direction. The connecting pin structure includes a shaft rotatably connected to the slider. One end of the shaft is a first pin head, and the other end of the shaft is a second pin head. The first pin head and the second pin head are respectively located on both sides of the slider along the rotation axis. The first pin head is slidably and rotatably connected to the first slide groove, and the second pin head is slidably and rotatably connected to the second slide groove. The slider is also provided with a sliding surface, which slides in contact with the contact surface on the adjacent slider. The sliding surface and the contact surface intersect at an angle of α, where α×N=360°. N sliders are arranged alternately along the same circumference, and N contact surfaces are arranged alternately. The contact surfaces intersect with the extension surfaces of the adjacent contact surfaces on one side, and a part of the contact surface is in contact with the sliding surface.

8. The fastener posture correction mechanism as described in claim 7, characterized in that: The slider includes a necked-down connecting part and a block-shaped body. The cross-section of the block-shaped body perpendicular to the rotation axis is triangular. The contact surface and the sliding surface are located on the block-shaped body and correspond to two sides of the triangle. The necked-down connecting part corresponds to the third side of the triangle. One end of the necked-down connecting part is fixedly connected to the block-shaped body, and the other end of the necked-down connecting part is rotatably connected to the shaft.

9. The fastener posture correction mechanism as described in claim 8, characterized in that: The width of the necked-down connector along the direction perpendicular to the axis of rotation is less than the length of the side of the corresponding triangle.

10. The fastener posture correction mechanism as described in claim 9, characterized in that: The first disc body is fixedly installed, and the extension axis of the first slide groove is consistent with the radial direction of the cylindrical structure; The correction mechanism further includes a mounting base, the first disc body is fixedly connected to the mounting base, the second disc body is provided with an axial extension portion that rotates coaxially with the second disc body, the driver is mounted on the side of the mounting base away from the second disc body, and the axial extension portion is drively connected to the driver.

11. The fastener posture correction mechanism as described in claim 1, characterized in that: The driver is either electrically driven or pneumatically driven. When the driver is electrically driven, the driver includes a motor, and the output shaft of the motor drives the first disc and the second disc to rotate relative to each other; When the actuator is pneumatically driven, the actuator includes a cylinder, the piston rod end of the cylinder is hinged to one of the first disc and the second disc, and the mounting part of the cylinder is hinged to the other of the first disc and the second disc.

12. A conveyor line, characterized in that: The fastener posture correction mechanism as described in any one of claims 1-11 is further comprising a pickup mechanism.

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