Automatic nut distributing and taking mechanism
By introducing a transfer device and a laser sensor into the automatic nut picking mechanism to ensure the precise docking of the pin and the nut, and combining the pin with elastic or magnetic materials, the problem of insufficient position control accuracy of the electric finger is solved, and efficient and accurate nut grabbing and transmission is achieved.
Patent Information
- Application Number
- CN202422958579.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-30
- Publication Date
- 2025-09-16
- Estimated Expiration
- 2034-11-30
AI Technical Summary
In the existing automatic nut picking mechanism, the position control accuracy of the electric fingers is poor, resulting in low accuracy in grabbing nuts and low utilization efficiency.
A transfer device is used to drive the nut to move horizontally, allowing the pin to be inserted vertically into the nut and moved upward through a vertical sliding mechanism so that the actuator of the electric finger is flush with the nut, achieving stable clamping; a laser sensor is used to detect the position of the nut to ensure accurate transmission; and a pin made of elastic or magnetic materials is used to improve connection stability.
The accuracy and success rate of nut grabbing are improved, ensuring that nuts of different sizes can accurately correspond to the pin positions, thereby improving the efficiency of automated production.
Smart Images
Figure CN223341841U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of automatic nut conveying devices, and in particular to an automatic nut sorting and picking mechanism. Background Art
[0002] Nuts are widely used in the field of mechanical production. A large number of nuts are needed for parts installation on the production line. Using automated robots to automatically grab nuts and install them on bolts can reduce production time and improve production efficiency.
[0003] The relevant automatic nut picking mechanism includes a grabbing device, which includes a frame, a horizontal sliding mechanism and a vertical sliding mechanism. The horizontal sliding mechanism includes a sliding platform 1 and a power part 1. The sliding platform 1 moves horizontally on the frame through the power part 1. The vertical sliding mechanism includes a sliding platform 2, a power part 2 and an electric finger. One end of the power part 2 is connected to the sliding platform 1, and the other end is connected to the sliding platform 2. The electric finger is installed on the sliding platform 2. The electric finger slides vertically through the sliding platform 2. The two movers on the electric finger can move toward each other and clamp the nut.
[0004] The above-mentioned related technical solutions have the following defects: the position of the electric finger is controlled by power parts 1 and 2. When the movement accuracy of power parts 1 and 2 is poor, it is difficult for the electric finger to accurately grasp the nut and the utilization efficiency is poor. Utility Model Content
[0005] In order to improve the accuracy when grabbing nuts, the present application provides an automatic nut sorting and picking mechanism.
[0006] The present application provides an automatic nut sorting and retrieving mechanism that adopts the following technical solutions:
[0007] A nut automatic material sorting and picking mechanism includes a grabbing device and a transfer device. The grabbing device includes a frame, a horizontal sliding mechanism, a vertical sliding mechanism and a vertical plug-in mechanism. The horizontal sliding mechanism is installed on the frame, the vertical sliding mechanism is arranged on the horizontal sliding mechanism, and an electric finger is arranged on the vertical sliding mechanism. The vertical plug-in mechanism includes a pin, and the pin is vertically arranged on the vertical sliding mechanism. The electric finger and the pin move in the vertical and horizontal directions through the horizontal sliding mechanism and the vertical sliding mechanism. A power part three is arranged between the electric finger and the vertical sliding mechanism. The power part three drives the electric finger to move vertically relative to the pin.
[0008] By adopting the above technical solution, a transfer device is arranged under the grasping device, so that the transfer device can drive the nut to move in the horizontal direction, and then the transfer device transports the nut to the bottom of the pin, and the pin can be vertically inserted into the nut through the vertical sliding mechanism, so that the pin and the nut are engaged. At this time, the pin can be moved upward through the vertical sliding mechanism, so that the pin is moved between the two movers of the electric finger, and the electric finger can move vertically through the power part three, so that the mover of the electric finger is flush with the nut, so that the electric finger can stably clamp the nut. After the electric finger clamps the nut, it slides through the power part three, and the nut can slide out of the pin. At this time, the electric finger can slide through the horizontal sliding mechanism and the vertical sliding mechanism, so that the electric finger can place the nut in other positions and assemble it, thereby improving the accuracy of grasping the nut.
[0009] Optionally, the transfer device includes a transfer plate, a power piece four and a base, the transfer plate is slidably connected to the base, the power piece four is installed on the base, the power piece four is used to drive the transfer plate to slide in the horizontal direction, and the transfer plate is used to place and transport nuts.
[0010] By adopting the above technical solution, a transfer plate is set on the base, so that the transfer plate can slide through the power part four, and then the transfer plate can drive the nut to move to the bottom of the pin in the horizontal direction. The transfer plate can move and make the nut correspond to the position of the pin, so that nuts of different sizes can correspond to the position of the pin.
[0011] Optionally, a snap-fit groove is provided on the transfer plate, and the snap-fit groove is used to place the nut.
[0012] By adopting the above technical solution, a snap-in groove is opened on the transfer plate so that the nut can be placed flat in the snap-in groove. When the transfer plate slides horizontally on the base, the chance of the nut slipping on the transfer plate can be reduced, so that the position of the nut remains corresponding to the pin.
[0013] Optionally, a laser sensor is provided on the base, and the laser sensor includes a transmitting end and a receiving end, and the transmitting end and the receiving end are respectively located on both sides of the transfer plate, and the direction in which the transmitting end emits laser is parallel to the sliding direction of the transfer plate.
[0014] By adopting the above technical solution, a laser sensor is set on the base, so that the emitting end of the laser sensor emits laser horizontally. When a nut is set in the snap-in slot, the nut is located on the laser propagation path, so that the receiving end cannot receive the electrical signal. The laser sensor can detect whether there are nuts to be transferred on the transfer plate.
[0015] Optionally, the latch is made of elastic material.
[0016] By adopting the above technical solution and using elastic material to make the pin, when the pin falls vertically, the pin can abut and insert into the nut, so that the nut and the pin have an interference fit, thereby improving the stability of the connection between the pin and the nut.
[0017] Optionally, the pin is magnetically connected to the nut.
[0018] By adopting the above technical solution, the connection stability between the pin and the nut can be improved by magnetically connecting the pin and the nut.
[0019] Optionally, the horizontal sliding mechanism includes a sliding platform 1 and a power member 1, one end of the power member 1 is fixed to the frame, and the other end is connected to the sliding platform 1, and the sliding platform 1 is slidably connected to the frame.
[0020] By adopting the above technical solution, by arranging a power part 1 on the frame, the power part 1 is made to move horizontally through the telescopic control sliding platform 1, thereby achieving the effect of horizontal movement of the electric finger and the latch, and improving the movement range of the latch and the electric finger.
[0021] Optionally, the vertical sliding mechanism includes a sliding platform 2 and a power part 2, the power part 2 is installed on the sliding platform 1, the sliding platform 2 is slidably connected to the sliding platform 1, the electric finger is installed on the sliding platform 2 through the power part 3, and the pin is connected to the sliding platform 2.
[0022] By adopting the above technical solution, by arranging power part 2 on sliding platform 1, power part 2 drives the sliding platform to move back and forth in the vertical direction through extension and contraction. When power part 2 extends and contracts, the pin can move vertically with sliding platform 2, so that the pin can be inserted into the nut of the transfer plate.
[0023] In summary, the beneficial technical effects of this application are:
[0024] 1. By arranging a transfer device under the grasping device, the transfer device can drive the nut to move in the horizontal direction, and then the transfer device transports the nut to the bottom of the latch. The latch can be vertically inserted into the nut through the vertical sliding mechanism, so that the latch and the nut are engaged. At this time, the latch can be moved upward through the vertical sliding mechanism, so that the latch moves into between the two movers of the electric finger. The electric finger can move vertically through the power part three, so that the mover of the electric finger is flush with the nut, so that the electric finger can stably clamp the nut. After the electric finger clamps the nut, the power part three slides, so that the nut can slide out of the latch. At this time, the electric finger can slide through the horizontal sliding mechanism and the vertical sliding mechanism, so that the electric finger can place the nut in another position and assemble it, thereby improving the accuracy of grasping the nut;
[0025] 2. By setting a transfer plate on the base, the transfer plate can slide through the power member 4, thereby enabling the transfer plate to drive the nut to move horizontally under the latch. The transfer plate can move and align the nut with the latch, so that nuts of different sizes can align with the latch.
[0026] 3. By setting a laser sensor on the base, the transmitting end of the laser sensor emits laser horizontally. When a nut is set in the clamping slot, the nut is located on the laser propagation path, so that the receiving end cannot receive the electrical signal. The laser sensor can detect whether there are nuts to be transferred on the transfer tray. BRIEF DESCRIPTION OF THE DRAWINGS
[0027] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application.
[0028] Figure 2 This is a schematic diagram of the structure of the vertical sliding mechanism of the embodiment of the present application. Figure 1 .
[0029] Figure 3 This is a schematic diagram of the structure of the vertical sliding mechanism of the embodiment of the present application. Figure 2 .
[0030] Figure 4 This is a schematic diagram of the structure of the transfer device of the embodiment of the present application Figure 1 .
[0031] Figure 5 This is a schematic diagram of the structure of the transfer device of the embodiment of the present application Figure 2 .
[0032] Figure numerals: 1. Grabbing device; 11. Frame; 12. Horizontal sliding mechanism; 121. Sliding platform one; 122. Power component one; 123. Fixed plate; 13. Vertical sliding mechanism; 131. Sliding platform two; 132. Power component two; 133. Electric finger; 134. Power component three; 14. Vertical plug-in mechanism; 141. Pin; 2. Transfer device; 21. Transfer tray; 211. Snap-in groove; 22. Power component four; 23. Base; 24. Laser sensor. DETAILED DESCRIPTION
[0033] The present application is further described in detail below with reference to the accompanying drawings.
[0034] The present application embodiment discloses a nut automatic powder material taking mechanism, referring to Figure 1 and Figure 2, including a grabbing device 1 and a transfer device 2, the transfer device 2 is arranged below the grabbing device 1, the transfer device 2 is used to place the nut and drive the nut to move horizontally, the grabbing device 1 includes a frame 11, a horizontal sliding mechanism 12, a vertical sliding mechanism 13 and a vertical plug-in mechanism 14, the frame 11 is fixed, the horizontal sliding mechanism 12 is arranged on the frame 11, the vertical sliding mechanism 13 is installed on the horizontal sliding mechanism 12, the horizontal sliding mechanism 12 drives the vertical sliding mechanism 13 to move, the vertical sliding mechanism 13 is used to move vertically and clamp the nut on the transfer device 2, after the vertical sliding mechanism 13 grabs the nut, it moves horizontally through the horizontal sliding mechanism 12, so that the nut can be moved to other positions and subsequent installation work can be carried out.
[0035] Reference Figure 1 and Figure 2 The horizontal sliding mechanism 12 includes a sliding platform 121 and a power member 122. The power member 122 can be an electric cylinder. The power member 122 is horizontally arranged. The cylinder of the power member 122 is fixed to the frame 11, and the piston rod of the power member 122 is connected to the sliding platform 121. The sliding platform 121 is slidably connected to a slide rail, which is fixed to the frame 11. The slide rail serves as a guide and support, allowing the power member 122 to reciprocate horizontally. The sliding platform 121 is connected to a fixed plate 123, and the vertical sliding mechanism 13 is mounted on the fixed plate 123.
[0036] Reference Figure 2 and Figure 3 The vertical sliding mechanism 13 includes a second sliding platform 131, a second power member 132, and an electric finger 133. The second power member 132 is configured as an electric cylinder. The second power member 132 is vertically arranged. The cylinder body of the second power member 132 is fixed to the fixed plate 123, and the piston rod of the second power member 132 is connected to the second sliding platform 131. The electric finger 133 includes a stator and two movers. The movers are slidably connected to the stator. The stator of the electric finger 133 is connected to the second sliding platform 131. The movers reciprocate in a linear direction on the stator, allowing the two movers to move horizontally toward each other and clamp the nut.
[0037] Reference Figure 2 and Figure 3A vertical plug-in mechanism 14 is provided on the second sliding platform 131. The vertical plug-in mechanism 14 includes a latch 141, which is fixedly connected to the second sliding platform 131. A power member 3 134 is provided on the second sliding platform 131. The power member 3 134 is configured as an electric cylinder. The cylinder body of the power member 3 134 is fixed to the second sliding platform 131, and the piston rod of the power member 3 134 is connected to the stator of the electric finger 133. The latch 141 is located between the two movers of the electric finger 133 and is installed on the lower side of the electric finger 133. The power member 3 134 is used to drive the electric finger 133 to reciprocate in the vertical direction. When a nut moves below the latch 141 through the transfer device 2, the power member 2 132 drives the second sliding platform 131 downward, allowing the latch 141 to fall and insert into the nut. The power member 2 132 then drives the second sliding platform 131 upward, allowing the transfer device 2 to continue moving and transporting other nuts. The power part 3 134 drives the electric finger 133 to move downward, so that the electric finger 133 moves relative to the pin 141, and the two movers of the electric finger 133 can be flush with the nut. At this time, the movers of the electric finger 133 move and clamp the nut to achieve the effect of grabbing the nut.
[0038] Reference Figure 3 The latch 141 can be made of an elastic material. When the latch 141 is inserted into the nut, the latch 141 automatically deforms and engages with the nut, thereby improving the stability of the connection between the latch 141 and the nut. In other embodiments, the latch 141 can be made of a magnetic material, so that the latch 141 can be magnetically connected to the nut, thereby improving the stability of the connection between the latch 141 and the nut.
[0039] Reference Figure 4 and Figure 5The transfer device 2 includes a transfer tray 21, a power piece 22, a base 23 and a laser sensor 24. The base 23 is used to be fixed on other machines. The transfer tray 21 is slidably connected to the base 23. The transfer tray 21 is used to transport nuts. A plurality of snap-in grooves 211 are provided on the transfer tray 21. The snap-in grooves 211 are used to place nuts. When the nuts are located in the snap-in grooves 211, the nut openings face upward, so that the pins 141 can be vertically inserted into the nuts. A plurality of snap-in grooves 211 are spaced apart along the length direction of the power piece 22, and the transfer tray 21 can transport multiple nuts at the same time. The power piece 22 is configured as an electric cylinder. The cylinder body of the power piece 22 is fixed on the base 23. The piston rod of the power piece 22 is connected to the transfer tray 21. The power piece 22 is used to drive the transfer tray 21 to move horizontally back and forth on the base 23. The laser sensor 24 includes a transmitter and a receiver, each mounted on either side of the transfer tray 21. The transmitter and receiver are both mounted on the transfer tray 21. The transmitter emits laser light, while the receiver receives it. When a nut is placed on the transfer tray 21, the nut blocks the laser beam from the transmitter, allowing the laser sensor 24 to detect the presence of a nut on the transfer device 2.
[0040] The implementation principle of the embodiment of the present application is: by arranging a grabbing device 1 above the transfer device 2, the grabbing device 1 can automatically grab the nuts on the transfer device 2, and by arranging a horizontal sliding mechanism 12 and a vertical sliding mechanism 13 on the frame 11, when the transfer plate 21 moves to below the latch 141, the latch 141 can fall and insert into the nut. At this time, the latch 141 drives the nut to move upward, so that the nut can be located between the two movers of the electric finger 133, so that the electric finger 133 can accurately clamp the nut. When the movement accuracy of the electric finger 133 is low, it can also accurately clamp the nut, thereby improving the success rate of grabbing the nut.
[0041] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.
Claims
1. A nut automatic material sorting and picking mechanism, characterized by: The invention comprises a grabbing device (1) and a transfer device (2). The grabbing device (1) comprises a frame (11), a horizontal sliding mechanism (12), a vertical sliding mechanism (13) and a vertical plug-in mechanism (14). The horizontal sliding mechanism (12) is mounted on the frame (11). The vertical sliding mechanism (13) is arranged on the horizontal sliding mechanism (12). An electric finger (133) is arranged on the vertical sliding mechanism (13). The vertical plug-in mechanism (14) comprises a latch (141). The latch (141) is vertically arranged on the vertical sliding mechanism (13). The electric finger (133) and the latch (141) move in vertical and horizontal directions through the horizontal sliding mechanism (12) and the vertical sliding mechanism (13). A power piece (134) is arranged between the electric finger (133) and the vertical sliding mechanism (13). The power piece (134) drives the electric finger (133) to move vertically relative to the latch (141).
2. The automatic nut sorting and picking mechanism according to claim 1, characterized in that: The transfer device (2) comprises a transfer plate (21), a power member (22) and a base (23). The transfer plate (21) is slidably connected to the base (23). The power member (22) is mounted on the base (23). The power member (22) is used to drive the transfer plate (21) to slide in a horizontal direction. The transfer plate (21) is used to place and transfer nuts.
3. The automatic nut sorting and picking mechanism according to claim 2, characterized in that: The transfer plate (21) is provided with a clamping groove (211), and the clamping groove (211) is used to place the nut.
4. The automatic nut sorting and picking mechanism according to claim 2, characterized in that: A laser sensor (24) is provided on the base (23). The laser sensor (24) comprises a transmitting end and a receiving end. The transmitting end and the receiving end are respectively located on both sides of the transfer plate (21). The direction in which the transmitting end emits laser light is parallel to the sliding direction of the transfer plate (21).
5. The automatic nut sorting and picking mechanism according to claim 1, characterized in that: The latch (141) is made of elastic material.
6. The automatic nut sorting and picking mechanism according to claim 1, characterized in that: The latch (141) is magnetically connected to the nut.
7. The automatic nut sorting and picking mechanism according to claim 1, characterized in that: The horizontal sliding mechanism (12) comprises a sliding platform (121) and a power member (122). One end of the power member (122) is fixed to the frame (11), and the other end is connected to the sliding platform (121). The sliding platform (121) is slidably connected to the frame (11).
8. The automatic nut sorting and taking mechanism according to claim 7, characterized in that: The vertical sliding mechanism (13) includes a sliding platform 2 (131) and a power member 2 (132), wherein the power member 2 (132) is mounted on the sliding platform 1 (121), the sliding platform 2 (131) is slidably connected to the sliding platform 1 (121), the electric finger (133) is mounted on the sliding platform 2 (131) via the power member 3 (134), and the latch (141) is connected to the sliding platform 2 (131).