An automatic keel installation device

Abstract

The application discloses a keel automatic mounting device, which comprises a first conveying line, a feeding mechanical arm, a secondary positioning mechanism, a drilling mechanism, a screw locking mechanism and a control unit. The secondary positioning mechanism comprises a first push block and a second driving mechanism for driving the first push block to push the keel. The first driving mechanism has a clamping backoff allowance. When the pushing force of the first push block on the keel is greater than the clamping force of the first driving mechanism on the first clamping jaw, the first push block pushes the keel and drives the first clamping jaw to back off synchronously, so that the first push block and the first clamping jaw cooperate to clamp and position the keel at a first preset position, realizing secondary positioning. The positioning process is simplified, the processing rhythm is shortened, and the positioning accuracy of the side edge distance of the keel is significantly improved. The first push block and the first clamping jaw clamp the keel from both sides, can synchronously correct the bending and deformation of the keel itself, improve the straightness of the assembled keel, and ensure the processing consistency of batch products.

Description

Technical Field

[0001] This invention relates to the field of sheet metal processing equipment technology, and in particular to an automatic keel installation device. Background Technology

[0002] Currently, the assembly and processing of keel and sheet metal in the industry is mainly divided into two modes: purely manual operation and semi-automated operation. Although the semi-automated operation mode introduces single-process automated equipment, such as independent automatic drilling machines and pneumatic screw fastening equipment, the overall solution still has some disadvantages:

[0003] 1. Inability to correct keel deformation, resulting in limited positioning accuracy. Due to the influence of production cutting, transfer and stacking processes, the keel itself often has slight bending and warping deformation; the existing positioning mechanism can only achieve rigid clamping and limiting, and does not have the ability to correct deformation, resulting in a large deviation between the side distance of the keel and the board; at the same time, most equipment only has a single positioning function and lacks a secondary precise positioning process, so the positioning tolerance cannot meet the accuracy requirements of subsequent drilling and screw fastening, directly reducing the product assembly qualification rate.

[0004] 2. Poor controllability of screw quality. Most existing screw-locking mechanisms use fixed stroke to control the locking depth, without torque feedback and control mechanisms, and cannot be adjusted in real time according to the actual locking state. When there are tolerances in the thickness of the sheet metal or keel, it is very easy for screws to be not locked in place, the connection to become loose, or for the screws to strip or the threads to fail due to excessive torque. The stability of the product connection strength cannot be guaranteed.

[0005] This invention is based on the above circumstances. Summary of the Invention

[0006] This invention overcomes the shortcomings of the prior art and provides an automatic keel installation device.

[0007] This invention is achieved through the following technical solution:

[0008] An automatic keel installation device includes:

[0009] The first conveyor line is used to convey sheet metal. The first conveyor line includes a frame and a conveying mechanism. The frame is provided with a positioning structure for restricting the movement of the sheet metal.

[0010] A loading robot is used to grab the keel and place it on the plate. The loading robot is equipped with a clamping structure, which includes a first clamp, a second clamp, and a first drive mechanism that drives the first clamp to move closer to the second clamp to clamp the keel.

[0011] The secondary positioning mechanism includes a first push block mounted on the frame and located near the second gripper, and a second drive mechanism that drives the first push block to push the keel. The first drive mechanism has a clamping and retraction allowance. When the pushing force of the first push block on the keel is greater than the clamping force applied by the first drive mechanism to the first gripper, the first push block pushes the keel and drives the first gripper to retract synchronously, so that the first push block and the first gripper cooperate to clamp and position the keel at a first preset position.

[0012] Drilling mechanism, used for drilling holes in keel and sheet metal;

[0013] The screw-locking mechanism is used to screw screws into drilled holes to lock the keel onto the sheet metal;

[0014] The control unit is electrically connected to the first conveyor line, the feeding robot, the drilling mechanism, the screw locking mechanism, and the second drive mechanism, respectively.

[0015] As described above, in an automatic keel installation device, the clamping structure includes a first mounting frame, the first gripper is slidably connected to the first mounting frame, and the first driving mechanism includes a first cylinder connected to the first mounting frame.

[0016] As described above, in an automatic keel installation device, a slide table is slidably connected to the frame, a first push block is fixedly connected to the slide table, and a second drive mechanism includes a lead screw threadedly connected to the slide table and a first motor that drives the lead screw to rotate.

[0017] As described above, in an automatic keel installation device, the second gripper is slidably connected to the first mounting frame, and the first mounting frame is further provided with a second cylinder for driving the second gripper to move closer to the first gripper.

[0018] As described above, the automatic keel installation device further includes a second push block mounted on the frame and located near the first gripper, and a third drive mechanism for driving the second push block to push the keel. The second cylinder has a clamping and retraction allowance. When the pushing force of the second push block on the keel is greater than the clamping force applied by the second cylinder to the second gripper, the second push block pushes the keel and drives the second gripper to retract synchronously, so that the second push block and the second gripper cooperate to clamp and position the keel at a second preset position.

[0019] The keel automatic installation device described above further includes a base, on which a first movable seat and a first adjustment structure for driving the first movable seat to move along the length direction of the keel are provided. The first movable seat is provided with a lifting seat and a second adjustment structure for driving the lifting seat to rise and fall. The drilling mechanism and the screw locking mechanism are connected to the lifting seat.

[0020] As described above, in an automatic keel installation device, the lifting seat is further provided with a second movable seat and a third adjustment structure for driving the second movable seat to move between a first preset position and a second preset position. The drilling mechanism and the screw locking mechanism are connected to the second movable seat.

[0021] As described above, in an automatic keel installation device, a positioning guide wheel group is provided on the left and / or right sides of the first conveyor line to position and guide the plate. The positioning structure includes a limit rod on the frame and a fourth drive mechanism that drives the limit rod to extend and thus restricts the movement of the plate.

[0022] The automatic keel installation device described above further includes a second conveyor line for transporting the keel to be installed to the gripping position of the loading robot.

[0023] As described above, the automatic keel installation device is further provided with a detection mechanism on the frame for detecting whether the first push block or the second push block has moved into place.

[0024] Compared with the prior art, the present invention has the following advantages:

[0025] This invention utilizes the clamping and retraction allowance of the first driving mechanism. When the pushing force of the first push block is greater than the clamping force, the first gripper can retract synchronously with the keel, achieving secondary positioning. This simplifies the positioning process, shortens the processing cycle, and significantly improves the positioning accuracy of the keel's side distance. The use of force difference flexible positioning logic avoids the hard confrontation between the rigid gripper and the rigid push block, reducing damage to the keel surface and the workpiece morphology, as well as reducing wear on the gripper and driving components, thus extending the equipment's service life. The first push block and the first gripper cooperate to clamp the keel from both sides, simultaneously correcting the keel's own bending and deformation, improving the straightness of the keel after assembly, and ensuring the processing consistency of batch products.

[0026] The drilling and screw-locking mechanisms are designed to work in tandem, allowing for simultaneous drilling and screw-locking of the keel and sheet metal at the same workstation. This seamless workflow eliminates the need for workpiece transfer and repositioning, effectively reducing accumulated errors from multi-process transfers, ensuring coaxiality of the drilling and screw-locking operations, and improving the reliability of the connection between the keel and sheet metal. A control unit provides unified electrical connection and control over the first conveyor line, the loading robot, the drilling mechanism, the screw-locking mechanism, and the second drive mechanism. The coordinated actions of each mechanism ensure precise and controllable processing rhythm, enabling fully automated continuous production. This adapts to large-scale mass production needs, effectively reducing labor costs and improving overall production yield and efficiency. Attached Figure Description

[0027] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings, wherein:

[0028] Figure 1 This is a schematic diagram of the structure of the present invention;

[0029] Figure 2 This is a schematic diagram of the loading robot in this invention;

[0030] Figure 3 This is a schematic diagram of the structure of the first conveyor line in this invention;

[0031] Figure 4 This is a schematic diagram of the drilling mechanism and the screw locking mechanism in this invention;

[0032] Figure 5 This is a schematic diagram of the secondary positioning mechanism in this invention. Detailed Implementation

[0033] The present invention will now be further described with reference to the accompanying drawings:

[0034] like Figures 1 to 5 The automatic keel installation device shown includes a first conveyor line 1 for conveying sheet metal, the first conveyor line 1 including a frame 11 and a conveying mechanism 12, the frame 11 being provided with a positioning structure 2 for restricting the movement of the sheet metal; a loading robot 3 for gripping the keel and placing it on the sheet metal, the loading robot 3 being provided with a clamping structure 31, the clamping structure 31 including a first gripper 311, a second gripper 312 and a first drive mechanism 313 for driving the first gripper 311 to move towards the second gripper 312 to clamp the keel; and a secondary positioning mechanism 4 including a first pusher block 41 disposed on the frame 11 and located on the side near the second gripper 312, and a mechanism for driving the first pusher block 41 to push the keel. The first drive mechanism 313 has a clamping and retraction allowance. When the pushing force of the first push block 41 on the keel is greater than the clamping force applied by the first drive mechanism 313 to the first gripper 311, the first push block 41 pushes the keel and drives the first gripper 311 to retract synchronously, so that the first push block 41 and the first gripper 311 cooperate to clamp and position the keel at a first preset position; a drilling mechanism 5 is used to drill holes in the keel and the plate; a screw locking mechanism 6 is used to screw screws into the drilled holes to lock the keel onto the plate; and a control unit 9 is electrically connected to the first conveyor line 1, the loading robot 3, the drilling mechanism 5, the screw locking mechanism 6, and the second drive mechanism 42.

[0035] This solution utilizes the clamping and retraction allowance of the first drive mechanism 313. When the pushing force of the first push block 41 is greater than the clamping force, the first gripper 311 can retract synchronously with the keel to achieve secondary positioning. This simplifies the positioning process, shortens the processing cycle, and significantly improves the positioning accuracy of the keel side distance. The use of force difference flexible positioning logic avoids the hard confrontation between the rigid gripper and the rigid push block, which reduces the damage to the keel surface and the workpiece morphology, and also reduces the wear of the gripper and drive components, extending the service life of the equipment. The first push block 41 and the first gripper 311 cooperate to clamp the keel from both sides, which can simultaneously correct the bending and deformation of the keel itself, improve the straightness of the keel after assembly, and ensure the processing consistency of batch products.

[0036] In this case, the keel can be a strip of wood or other material; the loading robot 3 can be a conventional six-axis robot; the drilling mechanism 5 is a conventional drilling structure that uses a motor to drive the drill bit to rotate; the screw locking mechanism 6 is a conventional screw locking structure that uses a motor to drive the screw to rotate. The screw locking mechanism 6 uses torque control and stops rotating when the set torque is reached to prevent the screw from being over-locked or not fully locked; the control unit 9 can be a computer or an electrical control cabinet.

[0037] In some embodiments, the clamping structure 31 includes a first mounting frame 32, the first gripper 311 is slidably connected to the first mounting frame 32, and the first drive mechanism 313 includes a first cylinder 314 connected to the first mounting frame 32. Relying on the slidable connection between the first gripper 311 and the first mounting frame 32, and the driving characteristics of the first cylinder 314, no additional spring buffer, force sensor, or servo control system is needed. The "clamping retraction margin" function can be achieved solely through the inherent overload relief characteristics of the cylinder output force. The first mounting frame 32 is provided with a guide rail, and the first gripper 311 is slidably connected to the guide rail. During the retraction process, the trajectory of the first gripper 311 is stable, without radial offset or lateral movement. Throughout the retraction, the gripper remains in contact with the side of the keel, preventing new positional errors introduced by the retraction action. This ensures the side distance accuracy and overall straightness of the keel after secondary positioning, and can simultaneously correct keel bending deformation in conjunction with the push block.

[0038] In some embodiments, a slide table 43 is slidably connected to the frame 11, the first push block 41 is fixedly connected to the slide table 43, and the second drive mechanism 42 includes a lead screw 421 threadedly connected to the slide table 43 and a first motor 422 that drives the lead screw 421 to rotate. Relying on the threaded transmission between the lead screw 421 and the slide table 43, combined with the precise rotation control of the first motor 422, the feed stroke of the first push block 41 can be digitally controlled with high precision. This allows for flexible adjustment of the side distance parameters between the keel and the sheet metal, adapting to sheet metal and keel of different widths, and providing high repeatability and significantly improving the dimensional consistency of batch processing.

[0039] Furthermore, the frame 11 is also equipped with a detection mechanism 46 for detecting whether the first pusher block 41 or the second pusher block 44 has moved into position. The detection mechanism 46 can be a metal sensor. Although the lead screw 421 transmission itself has high precision, after long-term operation, there will be hidden deviations such as lead screw backlash, motor step loss, and mechanical wear. Relying solely on the number of motor pulses cannot completely guarantee the accurate actual position of the pusher block. The metal sensor directly detects the physical positioning state of the first pusher block 41 and feeds back the true position signal to the control unit, forming a closed-loop control of "drive-detection-verification". This can correct transmission errors in real time, ensuring that each push positioning accurately reaches the preset position, thereby guaranteeing the consistency of batch processing of the keel side distance.

[0040] Furthermore, the second gripper 312 is slidably connected to the first mounting bracket 32, and the first mounting bracket 32 ​​is also provided with a second cylinder 315 for driving the second gripper 312 to move closer to the first gripper 311.

[0041] The secondary positioning mechanism 4 further includes a second push block 44 mounted on the frame 11 and located near the first gripper 311, and a third drive mechanism 45 that drives the second push block 44 to push the keel. The second cylinder 315 has a clamping and retraction margin. When the pushing force of the second push block 44 on the keel is greater than the clamping force applied by the second cylinder 315 to the second gripper 312, the second push block 44 pushes the keel and drives the second gripper 312 to retract synchronously, so that the second push block 44 and the second gripper 312 cooperate to clamp and position the keel at a second preset position. The third drive mechanism 45 may be a lead screw mechanism and a drive motor.

[0042] In one embodiment, the first gripper 311 is located to the right of the second gripper 312. When the keel needs to be connected to the left side of the board, the first push block 41 cooperates with the first gripper 311 to perform secondary positioning of the keel. When the keel needs to be connected to the right side of the board, the second push block 44 cooperates with the second gripper 312 to perform secondary positioning of the keel.

[0043] In some embodiments, the automatic keel installation device further includes a base 7, on which a first movable seat 71 and a first adjustment structure 72 for driving the first movable seat 71 to move along the length direction of the keel are provided. The first movable seat 71 is provided with a lifting seat 73 and a second adjustment structure 74 for driving the lifting seat 73 to rise and fall. The drilling mechanism 5 and the screw locking mechanism 6 are connected to the lifting seat 73.

[0044] The first adjusting structure 72 drives the first moving seat 71 to move along the length of the keel, allowing for flexible adjustment of the processing points based on the actual length of the keel and the number and spacing of screw holes. This eliminates the need to replace positioning fixtures or modify the main equipment structure, adapting to different keel lengths and assembly process requirements with varying hole spacings. This significantly improves the equipment's flexible production capacity and reduces the cost and debugging cycle of product changeovers. The second adjusting structure 74 drives the lifting seat 73 to raise and lower the drilling mechanism 5 and the screw-locking mechanism 6 as a whole. This allows for precise adjustment of the drilling and locking working height and feed stroke based on the total thickness of the keel and sheet metal. This ensures accurate and controllable drilling depth, preventing over-drilling damage to the workpiece or insufficient drilling affecting connection strength. It also matches the screw-locking feed reference, further improving locking quality with torque control. This design is compatible with different thicknesses of sheet metal and keel combinations, broadening its applicability.

[0045] The first adjustment structure 72 and the second adjustment structure 74 mentioned above can both be gear and rack drive components, or other linear modules.

[0046] Furthermore, the lifting seat 73 is also provided with a second movable seat 75 and a third adjustment structure 76 for driving the second movable seat 75 to move between a first preset position and a second preset position. The drilling mechanism 5 and the screw locking mechanism 6 are connected to the second movable seat 75. The third adjustment structure 76 can be a gear and rack drive assembly or other linear modules.

[0047] In some embodiments, the positioning structure 2 includes a limiting rod 21 mounted on the frame 11 and a fourth drive mechanism 22 that drives the limiting rod 21 to extend, thereby restricting the movement of the sheet metal. The left and / or right sides of the first conveyor line 1 are also provided with positioning guide wheel sets 10 for positioning and guiding the sheet metal. After the fourth drive mechanism 22 drives the limiting rod 21 to extend, it can form a rigid blocking limit on the sheet metal traveling on the conveyor line, accurately intercepting and locking the sheet metal at the processing station, effectively offsetting the conveying inertia and slippage deviation of the sheet metal, and ensuring that the positioning reference of each sheet metal is consistent. The fourth drive mechanism 22 can be a cylinder. Alternatively, the positioning structure 2 can also be an electric telescopic rod.

[0048] In some embodiments, the automatic keel installation device further includes a second conveyor line 8 for conveying the keel to be installed to the gripping position of the loading robot 3.

Claims

1. An automatic keel installation device, characterized in that, include: The first conveyor line (1) is used to convey the sheet metal. The first conveyor line (1) includes a frame (11) and a conveying mechanism (12). The frame (11) is provided with a positioning structure (2) for restricting the movement of the sheet metal. The loading robot (3) is used to grab the keel and place it on the plate. The loading robot (3) is provided with a clamping structure (31). The clamping structure (31) includes a first gripper (311), a second gripper (312), and a first drive mechanism (313) that drives the first gripper (311) to move closer to the second gripper (312) to clamp the keel. The secondary positioning mechanism (4) includes a first push block (41) disposed on the frame (11) and located on the side near the second gripper (312), and a second drive mechanism (42) for driving the first push block (41) to push the keel; the first drive mechanism (313) has a clamping retraction margin. When the pushing force of the first push block (41) on the keel is greater than the clamping force applied by the first drive mechanism (313) to the first gripper (311), the first push block (41) pushes the keel and drives the first gripper (311) to retract synchronously, so that the first push block (41) and the first gripper (311) cooperate to clamp and position the keel in the first preset position; Drilling mechanism (5) is used to drill holes in the keel and the plate; The screw locking mechanism (6) is used to screw screws into the drilled holes to lock the keel onto the plate; The control unit (9) is electrically connected to the first conveyor line (1), the loading robot (3), the drilling mechanism (5), the screw locking mechanism (6), and the second drive mechanism (42), respectively.

2. The automatic keel installation device according to claim 1, characterized in that: The clamping structure (31) includes a first mounting bracket (32), the first gripper (311) is slidably connected to the first mounting bracket (32), and the first drive mechanism (313) includes a first cylinder (314) connected to the first mounting bracket (32).

3. The automatic keel installation device according to claim 2, characterized in that: A slide table (43) is slidably connected to the frame (11), the first push block (41) is fixedly connected to the slide table (43), and the second drive mechanism (42) includes a lead screw (421) threadedly connected to the slide table (43) and a first motor (422) that drives the lead screw (421) to rotate.

4. The automatic keel installation device according to claim 3, characterized in that: The second gripper (312) is slidably connected to the first mounting bracket (32), and the first mounting bracket (32) is also provided with a second cylinder (315) for driving the second gripper (312) to move closer to the first gripper (311).

5. The automatic keel installation device according to claim 4, characterized in that: The secondary positioning mechanism (4) further includes a second push block (44) disposed on the frame (11) and located on the side close to the first gripper (311), and a third drive mechanism (45) for driving the second push block (44) to push the keel; the second cylinder (315) has a clamping retraction margin. When the pushing force of the second push block (44) on the keel is greater than the clamping force applied by the second cylinder (315) to the second gripper (312), the second push block (44) pushes the keel and drives the second gripper (312) to retract synchronously, so that the second push block (44) and the second gripper (312) cooperate to clamp and position the keel in the second preset position.

6. The automatic keel installation device according to any one of claims 1-5, characterized in that: It also includes a base (7), on which a first movable seat (71) and a first adjustment structure (72) for driving the first movable seat (71) to move along the length of the keel are provided. The first movable seat (71) is provided with a lifting seat (73) and a second adjustment structure (74) for driving the lifting seat (73) to rise and fall. The drilling mechanism (5) and the screw locking mechanism (6) are connected to the lifting seat (73).

7. The automatic keel installation device according to claim 6, characterized in that: The lifting seat (73) is also provided with a second movable seat (75) and a third adjustment structure (76) for driving the second movable seat (75) to move between a first preset position and a second preset position. The drilling mechanism (5) and the screw locking mechanism (6) are connected to the second movable seat (75).

8. The automatic keel installation device according to claim 1, characterized in that: The first conveyor line (1) is also provided with a positioning guide wheel group (10) for positioning and guiding the plate on the left and / or right sides. The positioning structure (2) includes a limiting rod (21) on the frame (11) and a fourth drive mechanism (22) for driving the limiting rod (21) to extend and thus restrict the movement of the plate.

9. The automatic keel installation device according to claim 1, characterized in that: It also includes a second conveyor line (8) for conveying the keel to be loaded to the gripping position of the loading robot (3).

10. The automatic keel installation device according to claim 5, characterized in that: The frame (11) is also provided with a detection mechanism (46) for detecting whether the first push block (41) or the second push block (44) has moved into place.

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