Automatic nut implanting equipment for plastic injection molding product

Abstract

The utility model discloses automatic nut implanting equipment for plastic injection molding products. The automatic nut implanting equipment comprises a large nut feeding mechanism, a large nut grabbing and transplanting mechanism, an X-axis nut implanting carrying table, a small nut feeding mechanism, a small nut grabbing and transplanting mechanism and image detection equipment, the large nut feeding mechanism and the small nut feeding mechanism are arranged beside the X-axis nut implanting carrying table; a large nut grabbing and transplanting mechanism is arranged on the path from the large nut feeding mechanism to the X-axis nut implanting carrying table, and the front end and the rear end of the large nut grabbing and transplanting mechanism face the large nut feeding mechanism and the X-axis nut implanting carrying table correspondingly. A small nut grabbing and transplanting mechanism is arranged on the path from the small nut feeding mechanism to the X-axis nut implanting carrying table, and the front end and the rear end of the small nut grabbing and transplanting mechanism face the small nut feeding mechanism and the X-axis nut implanting carrying table correspondingly. And image detection equipment is erected on the X-axis nut implantation carrying platform. The utility model can improve the production efficiency, ensure the accuracy of the nut embedding position, and reduce the production cost.

Description

TECHNICAL FIELD

[0001] The utility model belongs to industrial mechanical equipment technical field, especially relate to a plastic injection product nut automatic implanting equipment. BACKGROUND

[0002] In the production process of plastic products, it is often necessary to embed nuts inside or outside the injection molded parts in order to connect or fix with other parts.

[0003] The traditional production method relies on manual operation, that is, nuts are placed manually one by one in the specified position of the mold, and then injection molding is carried out. This way not only is inefficient, but also is prone to cause inaccurate nut position due to human factors, affecting product quality. INVENTION CONTENTS

[0004] In order to overcome the deficiencies of the prior art method, the purpose of the utility model is to provide a plastic injection product nut automatic implanting equipment, which aims to improve production efficiency, ensure the accuracy of nut implantation position and reduce production cost.

[0005] To achieve the above purpose, the utility model adopts the technical scheme: a plastic injection product nut automatic implanting equipment, comprising: a large nut feeding mechanism, a large nut grabbing and transplanting mechanism, an X-axis nut implantation bench, a small nut feeding mechanism, a small nut grabbing and transplanting mechanism and an image detection device; the large nut feeding mechanism and the small nut feeding mechanism are placed beside the X-axis nut implantation bench; a large nut grabbing and transplanting mechanism is arranged on the path from the large nut feeding mechanism to the X-axis nut implantation bench, and the front and rear ends of the large nut grabbing and transplanting mechanism are respectively opposite to the large nut feeding mechanism and the X-axis nut implantation bench; a small nut grabbing and transplanting mechanism is arranged on the path from the small nut feeding mechanism to the X-axis nut implantation bench, and the front and rear ends of the small nut grabbing and transplanting mechanism are respectively opposite to the small nut feeding mechanism and the X-axis nut implantation bench; an image detection device is arranged on the X-axis nut implantation bench.

[0006] Further, the large nut feeding mechanism comprises a fixed side plate I, a fixed plate I, a moving screw rod I, a nut misalignment machine fixed support I, a nut misalignment machine I, a detection optical fiber I, a vibration disc direct vibration device I, a disc I and a vibration disc fixed bottom plate I; the fixed side plate I is locked on the machine table large bottom plate, the fixed side plate I and the fixed plate I are connected together, the nut misalignment machine fixed support I connects the nut misalignment machine I and the moving screw rod I together; the vibration disc fixed bottom plate I is fixed on the machine table large bottom plate, the vibration disc fixed bottom plate I connects the vibration disc direct vibration device I and the disc I together, and the nut misalignment machine I is provided with corresponding detection optical fiber I in the groove.

[0007] Further, the big nut grabbing transplanting mechanism comprises a support support, an X-axis screw rod fixed plate, an X-axis screw rod, a tank chain, a Y-axis screw rod fixed plate, a Y-axis screw rod, a clamping jaw cylinder fixed plate, a clamping jaw cylinder and a nut clamping jaw; the support support is fixed on the machine table bottom plate, the X-axis screw rod fixed plate is connected with the support support, the X-axis screw rod is fixed on the X-axis screw rod fixed plate, the Y-axis screw rod is connected on the X-axis screw rod sliding plate through the Y-axis screw rod fixed plate, the clamping jaw cylinder fixed plate is connected with the Y-axis screw rod, the clamping jaw cylinder is fixed on the clamping jaw cylinder fixed plate, and the nut clamping jaw is fixed on the clamping jaw cylinder and moves with the action of the clamping jaw cylinder.

[0008] Further, the X-axis nut implantation platform comprises a carrier transverse moving rod, a carrier fixed bottom plate, a nut implantation position up-down cylinder, a carrier fixed side plate, a nut implantation carrier, a linear sliding rail and a tank chain; the carrier transverse moving rod and the tank chain are fixed on the machine table bottom plate; the carrier fixed bottom plate is connected with the carrier transverse moving rod and the linear sliding rail, and moves with the movement of the sliding rail; the carrier fixed side plate is used for connecting and fixing the carrier fixed bottom plate and the nut implantation carrier; the nut implantation position up-down cylinder is arranged on the carrier fixed bottom plate, the extension end of the nut implantation position up-down cylinder is opposite to the nut implantation carrier, each nut position of the nut implantation carrier corresponds to a cylinder, and the nut is lifted up.

[0009] Further, the small nut feeding mechanism comprises a fixed side plate II, a fixed plate II, a moving screw rod II, a nut misplacement mechanism fixed support II, a nut misplacement machine II, a detection optical fiber II, a vibration disc direct vibration device II, a disc II and a vibration disc fixed bottom plate II; the fixed side plate II is locked on the machine table large bottom plate, the fixed side plate II is connected with the fixed plate II, the nut misplacement mechanism II and the moving screw rod II are connected together by the nut misplacement machine fixed support II; the vibration disc fixed bottom plate II is fixed on the machine table large bottom plate, the vibration disc direct vibration device II and the disc II are connected together by the vibration disc fixed bottom plate II, and the corresponding detection optical fiber II is arranged in the groove of the nut misplacement machine II.

[0010] Further, the small nut grabbing transplanting mechanism comprises a mechanical hand fixed bottom plate, a mechanical hand fixed side plate, a mechanical hand fixed plate, a mechanical hand, a rotating motor fixed plate, a rotating motor, a clamping jaw cylinder fixed plate, a clamping jaw cylinder and a nut clamping jaw; the mechanical hand fixed bottom plate is fixed on the machine table large bottom plate, the mechanical hand fixed bottom plate and the mechanical hand fixed plate are connected together by the mechanical hand fixed side plate, the mechanical hand is fixed on the mechanical hand fixed plate, the mechanical hand and the rotating motor are connected together by the rotating motor fixed plate, the rotating motor and the clamping jaw cylinder are connected together by the clamping jaw cylinder fixed plate, and the nut clamping jaw is fixed on the clamping jaw cylinder.

[0011] The beneficial effects of the technical scheme are as follows:

[0012] The scheme provided by the utility model can improve production efficiency: through automatic production, the problem of low efficiency caused by manual operation is avoided, and the production efficiency is significantly improved.

[0013] The scheme provided by the utility model can ensure the accuracy of nut implantation position and improve product quality.

[0014] The scheme provided by the utility model can reduce production cost: automatic production reduces manual operation, reduces production cost and improves the competitiveness of enterprises. DRAWINGS

[0015] Figure 1 It is a structural schematic view of the plastic injection product nut automatic implantation equipment of the utility model;

[0016] Figure 2 It is a structural schematic view of the large nut feeding mechanism in the embodiment of the utility model;

[0017] Figure 3 It is a structural schematic view of the large nut grabbing and transplanting mechanism in the embodiment of the utility model;

[0018] Figure 4 It is a structural schematic view of the X-axis nut implantation carrier in the embodiment of the utility model;

[0019] Figure 5 It is a structural schematic view of the small nut feeding mechanism in the embodiment of the utility model;

[0020] Figure 6 It is a structural schematic view of the small nut grabbing and transplanting mechanism in the embodiment of the utility model;

[0021] Wherein, 1 is a large nut feeding mechanism, 2 is a large nut grabbing and transplanting mechanism, 3 is an X-axis nut implantation carrier, 4 is a small nut feeding mechanism, 5 is a small nut grabbing and transplanting mechanism, and 6 is an image detection equipment;

[0022] 11 is a fixed side plate I, 12 is a fixed plate I, 13 is a moving screw rod I, 14 is a nut misplacement machine fixed support I, 15 is a nut misplacement machine I, 16 is a detection optical fiber I, 17 is a vibration disc straight vibration device I, 18 is a disc I, 19 is a vibration disc fixed bottom plate I;

[0023] 21 is a support support, 22 is an X-axis screw rod fixed plate, 23 is an X-axis screw rod, 24 is a tank chain I, 25 is a Y-axis screw rod fixed plate, 26 is a Y-axis screw rod, 27 is a clamping jaw cylinder fixed plate I, 28 is a clamping jaw cylinder I, and 29 is a nut clamping jaw I;

[0024] 31 is a carrier transverse rod, 32 is a carrier fixed bottom plate, 33 is a nut implantation site up and down cylinder, 34 is a carrier fixed side plate, 35 is a nut implantation carrier, 36 is a linear slide rail, 37 is a tank chain II;

[0025] 41 is a fixed side plate II, 42 is a fixed plate II, 43 is a moving screw rod II, 44 is a nut misalignment mechanism fixed support II, 45 is a nut misalignment mechanism II, 46 is a detection optical fiber II, 47 is a vibration disc direct vibration device II, 48 is a disc II, 49 is a vibration disc fixed bottom plate II;

[0026] 51 is a mechanical hand fixed bottom plate, 52 is a mechanical hand fixed side plate, 53 is a mechanical hand fixed plate, 54 is a mechanical hand, 55 is a rotating motor fixed plate, 56 is a rotating motor, 57 is a gripper cylinder fixed plate II, 58 is a gripper cylinder II, 59 is a nut gripper II. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantages of the utility model more clear, the utility model will be further described below in combination with the drawings.

[0028] In this embodiment, referring to Figure 1 A plastic injection molding product nut automatic implantation equipment, comprising: a large nut feeding mechanism 1, a large nut grabbing transplanting mechanism 2, an X-axis nut implantation carrier 3, a small nut feeding mechanism 4, a small nut grabbing transplanting mechanism 5 and an image detection equipment 6;The large nut feeding mechanism 1 and the small nut feeding mechanism 4 are placed beside the X-axis nut implantation carrier 3;A large nut grabbing transplanting mechanism 2 is arranged on the path from the large nut feeding mechanism 1 to the X-axis nut implantation carrier 3, and the front and rear ends of the large nut grabbing transplanting mechanism 2 are respectively opposite to the large nut feeding mechanism 1 and the X-axis nut implantation carrier 3;A small nut grabbing transplanting mechanism 5 is arranged on the path from the small nut feeding mechanism 4 to the X-axis nut implantation carrier 3, and the front and rear ends of the small nut grabbing transplanting mechanism 5 are respectively opposite to the small nut feeding mechanism 4 and the X-axis nut implantation carrier 3;The image detection equipment 6 is arranged on the X-axis nut implantation carrier 3.

[0029] As an optimization scheme of the above embodiment, as Figure 2As shown in the figure, the large nut feeding mechanism 1 comprises a fixed side plate Ⅰ11, a fixed plate Ⅰ12, a moving screw rod Ⅰ13, a nut stagger machine fixed support Ⅰ14, a nut stagger machine Ⅰ15, a detection optical fiber Ⅰ16, a vibration disc straight vibration device Ⅰ17, a disc Ⅰ18 and a vibration disc fixed bottom plate Ⅰ19; the fixed side plate Ⅰ11 is locked on the machine table large bottom plate, the fixed side plate Ⅰ11 is connected together with the fixed plate Ⅰ12, the nut stagger machine fixed support Ⅰ14 is used for connecting the nut stagger machine Ⅰ15 and the moving screw rod Ⅰ13 together; the vibration disc fixed bottom plate Ⅰ19 is fixed on the machine table large bottom plate, the vibration disc fixed bottom plate Ⅰ19 is used for connecting the vibration disc straight vibration device Ⅰ17 and the disc Ⅰ18 together, and the detection optical fiber Ⅰ16 is arranged in the groove of the nut stagger machine Ⅰ15.

[0030] The vibration disc vibration and screening make the nut vibrate to the position below the detection optical fiber through the vibration disc straight vibration device, after the detection optical fiber senses the nut, the nut stagger machine starts to move in the same direction, after sensing the nut each time, the nut stagger machine moves the same distance, after the detection optical fiber in each groove senses that there is a nut in each groove, the nut is clamped and taken away by the carrying mechanism clamp jaw and is implanted into the carrier.

[0031] As an optimization scheme of the above embodiment, as shown in the figure, Figure 3 As shown in the figure, the large nut grabbing and transplanting mechanism 2 comprises a support support 21, an X-axis screw rod fixed plate 22, an X-axis screw rod 23, a tank chain Ⅰ24, a Y-axis screw rod fixed plate 25, a Y-axis screw rod 26, a clamp jaw cylinder fixed plate Ⅰ27, a clamp jaw cylinder Ⅰ28 and a nut clamp jaw Ⅰ29; the support support 21 is fixed on the machine table bottom plate, the X-axis screw rod fixed plate 22 is connected together with the support support 21, the X-axis screw rod 23 is fixed on the upper surface of the X-axis screw rod fixed plate 22, the Y-axis screw rod 26 is connected on the X-axis screw rod 23 slide plate through the Y-axis screw rod fixed plate 25, the clamp jaw cylinder fixed plate Ⅰ27 is connected together with the Y-axis screw rod 26, the clamp jaw cylinder Ⅰ28 is fixed on the upper surface of the clamp jaw cylinder fixed plate Ⅰ27, and the nut clamp jaw Ⅰ29 is fixed on the upper surface of the clamp jaw cylinder Ⅰ28 and moves with the action of the clamp jaw cylinder Ⅰ28.

[0032] Firstly, the X-axis screw rod 23 moves to the upper side of the large nut stagger mechanism, the Y-axis screw rod 26 descends to open the clamp jaw cylinder Ⅰ28, after grabbing the nut, the clamp jaw cylinder Ⅰ28 is clamped, the Y-axis screw rod 26 rises, the X-axis screw rod 23 is transplanted to the upper side of the plane nut carrier, and the Y-axis screw rod 26 descends to implant the nut into the corresponding position of the carrier.

[0033] As an optimization scheme of the above embodiment, as shown in the figure, Figure 4As shown in the figure, the X-axis nut implantation platform 3 comprises a carrier transverse rod 31, a carrier fixed bottom plate 32, a nut implantation site up-down pneumatic cylinder 33, a carrier fixed side plate 34, a nut implantation carrier 35, a linear slide rail 36 and a tank chain II 37; the carrier transverse rod 31 is fixed on the machine table bottom plate with the tank chain II 37; the carrier fixed bottom plate 32 is connected with the carrier transverse rod 31 and the linear slide rail 36, and moves with the movement of the slide rail; the carrier fixed bottom plate 32 is connected and fixed with the nut implantation carrier 35 by the carrier fixed side plate 34; the nut implantation site up-down pneumatic cylinder 33 is arranged on the carrier fixed bottom plate 32, the extension end of the nut implantation site up-down pneumatic cylinder 33 is opposite to the nut implantation carrier 35, each nut site of the nut implantation carrier 35 corresponds to a pneumatic cylinder, and the nut is lifted up. When the nut implantation site up-down pneumatic cylinder 33 rises, the pneumatic cylinder lifts up the nut, the implantation mechanism implants the nut into the corresponding nut implantation carrier 35 in turn, and after completion, the nut implantation site up-down pneumatic cylinder 33 returns to the original point.

[0034] As an optimization scheme of the above embodiment, as shown in the figure, Figure 5 As shown in the figure, the small nut feeding mechanism 4 comprises a fixed side plate II 41, a fixed plate II 42, a moving screw rod II 43, a nut misplacement mechanism fixed support II 44, a nut misplacement machine II 45, a detection optical fiber II 46, a vibration disc direct vibration device II 47, a disc II 48 and a vibration disc fixed bottom plate II 49; the fixed side plate II 41 is locked on the machine table large bottom plate, the fixed side plate II 41 is connected with the fixed plate II 42 together, the nut misplacement mechanism II and the moving screw rod II 43 are connected together by the nut misplacement machine fixed support II; the vibration disc fixed bottom plate II 49 is fixed on the machine table large bottom plate, the vibration disc direct vibration device II 47 and the disc II 48 are connected together by the vibration disc fixed bottom plate II 49, and the corresponding detection optical fiber II 46 is arranged in the groove of the nut misplacement machine II 45.

[0035] The vibration disc vibration and screening pass the nut through the vibration disc direct vibration device to the position below the detection optical fiber, after the detection optical fiber senses the nut, the nut misplacement machine starts to move in the same direction, after sensing the nut each time, the nut misplacement machine moves the same distance, after the detection optical fiber in each misplacement mechanism groove senses that there is a nut in each groove, the nut is clamped and taken away by the carrying mechanism clamp jaw and implanted into the carrier.

[0036] As an optimization scheme of the above embodiment, as shown in the figure, Figure 6As shown, the small nut grabbing and transplanting mechanism 5 comprises a mechanical hand 54 fixing bottom plate 51, a mechanical hand 54 fixing side plate 52, a mechanical hand fixing plate 53, a mechanical hand 54, a rotating motor 56 fixing plate 55, a rotating motor 56, a clamping jaw cylinder fixing plate II 57, a clamping jaw cylinder II 58 and a nut clamping jaw II 59; the mechanical hand 54 fixing bottom plate 51 is fixed on the machine table large bottom plate, the mechanical hand 54 fixing bottom plate 51 and the mechanical hand fixing plate 53 are connected together by the mechanical hand 54 fixing side plate 52, the mechanical hand 54 is fixed on the mechanical hand fixing plate 53, the mechanical hand 54 and the rotating motor 56 are connected together by the rotating motor 56 fixing plate 55, the rotating motor 56 and the clamping jaw cylinder II 58 are connected together by the clamping jaw cylinder fixing plate II 57, and the nut clamping jaw II 59 is fixed on the clamping jaw cylinder II 58.

[0037] The mechanical hand 54 moves to the upper portion of the small nut misplacement mechanism, the clamping jaw cylinder II 58 is opened by the mechanical hand 54 descending, the clamping jaw cylinder II 58 is clamped after the nut is grabbed, the mechanical hand 54 is lifted, the small nut is transplanted to the upper portion of the angle carrier by the movement of the mechanical hand fixing plate 53, and the rotating motor 56 is rotated to the required angle for implantation

[0038] In order to better understand the utility model, the working principle of the utility model is described once completely below:

[0039] After the machine table is started, personnel add materials to the feeding mechanism, the nuts are automatically placed on the nut automatic implanting and moving mechanism by the vibration of the vibrating disc. After the bottom optical fiber of the transplanting mechanism senses the nut, the already grabbed nut is placed on the corresponding position of the X-axis nut implanting carrier 3 by the large nut grabbing mechanism one by one. After the large nut implanting is completed, the X-axis nut implanting carrier 3 is moved to the right to the set position, the small nut grabbing and transplanting mechanism 5 starts to act, and the already grabbed small nuts are placed on the nut implanting carrier 35 in turn. After the large and small nuts are completely placed, the X-axis nut implanting carrier 35 is moved to the lower portion of the image detection equipment 6, the camera detects the nut on the nut implanting carrier from the upper portion, whether the nut is not implanted in place or not implanted and other defects. If there are the above defects, the machine table buzzer sounds, the mechanical hand 54 is placed at the corresponding position again, or personnel manually handle the inspection, and after the inspection is completed, the carrier implanted OK is flowed to the next station, and the action is recycled in turn.

[0040] The basic principle, main features and advantages of the utility model are shown and described above. Those skilled in the art should understand that the utility model is not limited by the above examples, and the above examples and descriptions in the specification are only to illustrate the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model can also have various changes and improvements, and these changes and improvements all fall within the scope of the utility model claimed. The scope of protection of the utility model is defined by the appended claims and their equivalents.

Claims

1. A plastic injection-molded product nut automatic implanting apparatus characterized by comprising: It includes: Big nut loading mechanism (1), big nut grabbing transplanting mechanism (2), X axis nut implantation platform (3), small nut loading mechanism (4), small nut grabbing transplanting mechanism (5) and image detection equipment (6); The big nut loading mechanism (1) and the small nut loading mechanism (4) are placed beside the X axis nut implantation platform (3); The big nut grabbing transplanting mechanism (2) is provided on the path from the big nut loading mechanism (1) to the X axis nut implantation platform (3), and the front and rear ends of the big nut grabbing transplanting mechanism (2) are respectively opposite to the big nut loading mechanism (1) and the X axis nut implantation platform (3); The small nut grabbing transplanting mechanism (5) is provided on the path from the small nut loading mechanism (4) to the X axis nut implantation platform (3), and the front and rear ends of the small nut grabbing transplanting mechanism (5) are respectively opposite to the small nut loading mechanism (4) and the X axis nut implantation platform (3); The image detection equipment (6) is arranged on the X axis nut implantation platform (3).

2. The apparatus according to claim 1, wherein The big nut loading mechanism (1) includes a fixed side plate I (11), a fixed plate I (12), a moving screw rod I (13), a nut misplacement machine fixed support I (14), a nut misplacement machine I (15), a detection optical fiber I (16), a vibration disc straight vibration device I (17), a disc I (18) and a vibration disc fixed bottom plate I (19); The fixed side plate I (11) is locked on the machine table large bottom plate, the fixed side plate I (11) and the fixed plate I (12) are connected together, the nut misplacement machine fixed support I (14) is connected with the nut misplacement machine I (15) and the moving screw rod I (13), the vibration disc fixed bottom plate I (19) is fixed on the machine table large bottom plate, the vibration disc fixed bottom plate I (19) is connected with the vibration disc straight vibration device I (17) and the disc I (18), and the nut misplacement machine I (15) is provided with the corresponding detection optical fiber I (16) in the groove.

3. The apparatus according to claim 1, wherein The big nut grabbing transplanting mechanism (2) includes a support support (21), an X axis screw rod fixed plate (22), an X axis screw rod (23), a tank chain I (24), a Y axis screw rod fixed plate (25), a Y axis screw rod (26), a jaw cylinder fixed plate I (27), a jaw cylinder I (28) and a nut jaw I (29); The support support (21) is fixed on the machine table bottom plate, the X axis screw rod fixed plate (22) is connected with the support support (21), the X axis screw rod (23) is fixed on the X axis screw rod fixed plate (22), the Y axis screw rod (26) is connected on the X axis screw rod (23) slide plate through the Y axis screw rod fixed plate (25), the jaw cylinder fixed plate I (27) is connected with the Y axis screw rod (26), the jaw cylinder I (28) is fixed on the jaw cylinder fixed plate I (27), and the nut jaw I (29) is fixed on the jaw cylinder I (28) and moves with the action of the jaw cylinder I (28).

4. The apparatus according to claim 1, wherein The X-axis nut implantation platform (3) comprises a carrier transverse rod (31), a carrier fixed bottom plate (32), a nut implantation site up-down air cylinder (33), a carrier fixed side plate (34), a nut implantation carrier (35), a linear slide rail (36), and a tank chain II (37); the carrier transverse rod (31) is fixed on the machine table bottom plate with the tank chain II (37); the carrier fixed bottom plate (32) is connected with the carrier transverse rod (31) and the linear slide rail (36), and moves with the movement of the slide rail; the carrier fixed bottom plate (32) is connected and fixed with the nut implantation carrier (35) by the carrier fixed side plate (34); the nut implantation site up-down air cylinder (33) is arranged on the carrier fixed bottom plate (32), the extension end of the nut implantation site up-down air cylinder (33) is opposite to the nut implantation carrier (35), each nut site of the nut implantation carrier (35) corresponds to an air cylinder, and the nut is lifted up.

5. The apparatus according to claim 1, wherein The small nut feeding mechanism (4) comprises a fixed side plate II (41), a fixed plate II (42), a moving screw rod II (43), a nut misplacement mechanism fixed support II (44), a nut misplacement machine II (45), a detection optical fiber II (46), a vibration disc direct vibration device II (47), a disc II (48), and a vibration disc fixed bottom plate II (49); the fixed side plate II (41) is locked on the machine table large bottom plate, the fixed side plate II (41) is connected with the fixed plate II (42) together, the nut misplacement mechanism II and the moving screw rod II (43) are connected together by the nut misplacement machine fixed support II; the vibration disc fixed bottom plate II (49) is fixed on the machine table large bottom plate, the vibration disc direct vibration device II (47) and the disc II (48) are connected together by the vibration disc fixed bottom plate II (49), and the corresponding detection optical fiber II (46) is arranged in the groove of the nut misplacement machine II (45).

6. The apparatus according to claim 1, wherein The small nut grabbing and transplanting mechanism (5) comprises a manipulator (54) fixed bottom plate (51), a manipulator (54) fixed side plate (52), a manipulator fixed plate (53), a manipulator (54), a rotary motor (56) fixed plate (55), a rotary motor (56), a gripper air cylinder fixed plate II (57), a gripper air cylinder II (58), and a nut gripper II (59); the manipulator (54) fixed bottom plate (51) is fixed on the machine table large bottom plate, the manipulator (54) fixed bottom plate (51) and the manipulator fixed plate (53) are connected together by the manipulator (54) fixed side plate (52), the manipulator (54) is fixed on the manipulator fixed plate (53), the manipulator (54) is connected with the rotary motor (56) together by the rotary motor (56) fixed plate (55), the rotary motor (56) is connected with the gripper air cylinder II (58) together by the gripper air cylinder fixed plate II (57), and the nut gripper II (59) is fixed on the gripper air cylinder II (58).

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