Bolt feeding apparatus and method, and automatic bolt mounting system and method

Abstract

The present application relates to the field of battery assembling, and provides a bolt feeding apparatus and method, and an automatic bolt mounting system and method. The bolt feeding apparatus comprises a bolt feeding box, a moving platform, and a pallet; the bolt feeding box comprises a discharging port used for outputting bolts; the pallet comprises a plurality of slots used for accommodating the bolts; the moving platform is detachably connected to the pallet; under the driving of the moving platform, the pallet enables the slots to move to a position aligned with the discharging port, so as to receive the bolts outputted from the discharging port. By providing the moving platform to drive the pallet to move so as to sequentially fill the plurality of slots of the pallet used for accommodating the bolts, filling of the slots of the pallet is completed and then the pallet can be transferred to a mounting station for mounting, so that low-cost automatic feeding can be achieved, it is more conducive to cross-station feeding, and the feeding efficiency is improved.

Description

Bolt feeding device and method, bolt automatic assembly system and method

[0001] Cross-references

[0002] This application refers to Chinese Patent Application No. 202410146957.0 filed on February 1, 2024, entitled “Bolt Loading Device and Method, Bolt Automatic Assembly System and Method”, which is incorporated into this application in its entirety by reference. Technical Field

[0003] The present application relates to the technical field of battery assembly, and in particular to a bolt feeding device and method, and a bolt automatic assembly system and method. Background Art

[0004] Energy conservation and emission reduction are key to the sustainable development of the automotive industry. Electric vehicles, due to their energy-saving and environmentally friendly advantages, have become an important component of the sustainable development of the automotive industry. For electric vehicles, battery technology is a key factor in their development.

[0005] There are many high- and low-voltage components used in the assembly of power batteries, and bolt tightening is usually used for assembly during the manufacturing process. Currently, this type of work is basically completed by manually tightening each one. This loading and assembly method is not only time-consuming and inefficient, but also increases production costs as labor costs continue to increase. In addition, manual assembly also has potential failure risks such as missing bolts, which urgently needs to be improved.

[0006] Summary of the Invention

[0007] The present application aims to solve at least one of the technical problems in the background art. To this end, one object of the present application is to provide a bolt feeding device and method, and a bolt automatic assembly system and method to improve the efficiency of bolt feeding and assembly.

[0008] An embodiment of the first aspect of the present application provides a bolt feeding device comprising a bolt feeding box, a mobile platform, and a feeding tray. The bolt feeding box includes a discharge port for discharging bolts; the feeding tray includes multiple slots for accommodating bolts; the mobile platform is detachably connected to the feeding tray; and the feeding tray, driven by the mobile platform, can move the slots to a position aligned with the discharge port to receive bolts discharged from the discharge port.

[0009] In the technical solution of the embodiment of the present application, a mobile platform is set up to drive the material tray to move and then fill the multiple slots on the material tray for accommodating bolts in sequence. After the slots of the material tray are filled, they can be transferred to the assembly station for assembly. This can achieve low-cost automatic loading, and is more conducive to cross-station loading, thereby improving loading efficiency.

[0010] In some embodiments, the mobile platform includes a tray mounting frame and a drive mechanism. The tray mounting frame is detachably connected to the trays; the drive mechanism is fixedly connected to the tray mounting frame and is used to drive the tray mounting frame to move. Providing a tray mounting frame driven by the drive mechanism makes it easier to move and replace the trays, thereby improving loading efficiency.

[0011] In some embodiments, the bolt loading device further includes a detection sensor configured to detect one or more of the following: the position of the slot, whether the slot is fully loaded, and whether the bolt in the slot is abnormally positioned. By providing the detection sensor, the loading process can be monitored and accurate loading control instructions can be issued based on the detection results, thereby improving loading accuracy and efficiency.

[0012] In some embodiments, the detection sensor is a distance measuring sensor. Using a distance measuring sensor can achieve more comprehensive detection, meet diverse detection needs, and thus improve detection accuracy.

[0013] In some embodiments, the drive mechanism includes a first drive module and a second drive module. The first drive module is used to drive the tray mounting frame to move in a first direction, and the second drive module is used to drive the tray mounting frame to move in a second direction that intersects the first direction. The first direction and the second direction are both horizontal. By providing the first drive module and the second drive module, the tray mounting frame can be driven to move in two different directions. This allows for more accurate adjustment of the slot positions on the tray, thereby improving loading efficiency.

[0014] In some embodiments, the plurality of slots on the tray are arranged in an array along a first direction and a second direction. Arranging the plurality of slots on the tray in an array along the first direction and the second direction can better adapt to the movable platform, thereby facilitating the movable platform to adjust the position of the slots by moving the tray, thereby enabling automatic loading of the plurality of slots and improving loading efficiency.

[0015] In some embodiments, the tray mounting frame includes a first position-limiting group and a second position-limiting group. The first position-limiting group includes two first position-limiting clamping plates arranged opposite each other along a third direction, and the second position-limiting group includes two second position-limiting clamping plates arranged opposite each other along a fourth direction intersecting the third direction. The first position-limiting group and the second position-limiting group cooperate to clamp the tray. The third and fourth directions are both horizontal. By providing two sets of position-limiting groups in different directions, the tray can be more reliably clamped, thereby improving the stability of the tray's movement.

[0016] In some embodiments, the two first limiting clamps are tilted so that the horizontal distance between their opposing surfaces is larger at the top and smaller at the bottom. In some embodiments, the two second limiting clamps are tilted so that the horizontal distance between their opposing surfaces is larger at the top and smaller at the bottom. This allows for adaptability to trays of varying sizes, increasing the scope of applicability. Furthermore, the tilted surfaces maintain clamping force on the tray, improving stability during tray movement.

[0017] In some embodiments, the bolt loading device further includes a transfer device, wherein the tray is provided with a transfer connection portion, the transfer connection portion being located on a side surface where the slot is located, and the transfer device is connected to the transfer connection portion to transfer the tray. Providing the transfer connection portion on the tray facilitates automatic transfer of the tray, thereby improving the degree of automation and operational efficiency of loading.

[0018] In some embodiments, the transfer connector is a raised magnetic portion, and the transfer connector is magnetically connected to the transfer device. The magnetic connection can easily connect and disconnect the transfer connector and the transfer device, improving transfer efficiency and thus improving loading efficiency.

[0019] A second embodiment of the present application provides an automatic bolt assembly system, comprising the bolt loading device of any of the above embodiments, and an assembly device for assembling bolts from a tray to a specified position. The assembly device enables fully automated loading, unloading, and assembly of bolts, thereby improving the efficiency of bolt loading and assembly, and thereby facilitating increased production efficiency.

[0020] The third aspect of the present application provides a method for loading bolts, comprising: providing a material tray comprising a plurality of slots; sequentially moving the plurality of slots of the material tray to positions aligned with a discharge port of a bolt feed box, and controlling the bolt feed box to discharge bolts from the discharge port until the plurality of slots of the material tray are filled with bolts; and transferring the material tray to a designated location. By providing a material tray with a plurality of slots to receive the bolts discharged from the bolt feed box and transferring the material tray to a designated location, automatic loading of bolts can be achieved, thereby improving loading efficiency while controlling costs.

[0021] In some embodiments, sequentially moving multiple slots of a material tray to positions aligned with a discharge port of a bolt feed box, and controlling the bolt feed box to discharge bolts from the discharge port until the slots of the material tray are filled with bolts, includes: moving a slot of the material tray to a first preset position; detecting the slot to obtain slot position information; and controlling the bolt feed box to discharge bolts based on the slot position information. By detecting the slot position information before loading, and controlling the bolt feed box to discharge bolts based on the slot position information, more accurate loading can be achieved and loading efficiency can be improved.

[0022] In some embodiments, the slot information includes a slot aperture, and controlling the bolt feed box to discharge bolts based on the slot information includes controlling the bolt feed box to discharge bolts that match the slot aperture based on the slot aperture. By detecting the slot aperture and providing bolts of corresponding specifications, automatic and synchronous loading of bolts of various specifications can be implemented, thereby meeting the diverse loading requirements of the same assembly station and improving loading and assembly efficiency.

[0023] In some embodiments, the slot information includes a slot hole depth, and wherein, based on the slot information, controlling the bolt feed box to discharge bolts includes: in response to the slot hole depth being greater than or equal to a preset depth, moving the slot to a second preset position aligned with the discharge port, and controlling the bolt feed box to discharge the bolts from the discharge port to load the bolts into the slot. By detecting the slot hole depth, it can be determined whether the slot requires bolt loading, thereby ensuring that subsequently discharged bolts can fall into the slot intact, thereby avoiding repeated loading resulting in loading errors, and improving the accuracy and efficiency of bolt loading.

[0024] In some embodiments, in response to the slot hole depth meeting a preset requirement, the slot is moved to a second preset position aligned with the discharge port, and after controlling the bolt feed box to discharge the bolts from the discharge port to load the slot, the method further includes: detecting whether the posture of the bolts loaded in the slot is correct, and in response to a negative detection result, issuing an alarm signal. By detecting the slot hole depth, it can be determined whether the slot needs to be loaded with bolts. This ensures that subsequently discharged bolts can fall into the slot intact, avoiding repeated loading and causing loading errors, thereby improving the accuracy and efficiency of bolt loading.

[0025] An embodiment of the fourth aspect of the present application provides a method for automatic bolt assembly, which includes: loading bolts onto a material tray using the bolt loading method described in any of the above embodiments; driving an assembly device to assemble the bolts in the material tray to a specified position and tighten them.

[0026] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings represent the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments disclosed in the present application and should not be regarded as limiting the scope of the present application. In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on the drawings without paying creative work.

[0028] FIG1 is a schematic diagram of a three-dimensional structure of a bolt feeding device provided in some embodiments of the present application;

[0029] FIG2 is a front view of a bolt feeding device provided in some embodiments of the present application;

[0030] FIG3 is a top view of a bolt feeding device provided in some embodiments of the present application;

[0031] FIG4 is a left side view of a bolt feeding device provided in some embodiments of the present application;

[0032] FIG5 is a schematic diagram of a three-dimensional structure of a bolt automatic assembly system provided in some embodiments of the present application;

[0033] FIG6 is a flow chart of a bolt loading method provided in some embodiments of the present application;

[0034] FIG7 is a partial flow chart of a bolt loading method provided in some embodiments of the present application;

[0035] FIG8 is a flow chart of a method for automatic bolt assembly according to some embodiments of the present application.

[0036] Description of reference numerals:

[0037] Bolt automatic assembly system 1000;

[0038] Bolt feeding device 100, assembly device 200;

[0039] Bolt feeding box 110, discharge port 111, delivery pipe 112, box body 113;

[0040] Mobile platform 120, tray mounting frame 121, drive mechanism 122, base 123, bracket 124, first drive module 1211, second drive module 1212, first position limiting clamping plate 1221, second position limiting clamping plate 1222;

[0041] Feed tray 130, slot 131, transfer connection part 132;

[0042] Detection sensor 140. DETAILED DESCRIPTION

[0043] The following embodiments of the technical solution of the present application will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application and are therefore only examples and are not intended to limit the scope of protection of the present application.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0045] In the description of the embodiments of this application, the technical terms "first" and "second" are used only to distinguish different objects and should not be understood to indicate or imply relative importance or implicitly specify the quantity, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

[0046] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0047] In the description of the embodiments of this application, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0048] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0049] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0050] In the description of the embodiments of the present application, unless otherwise expressly specified or limited, technical terms such as "installed," "connected," "connected," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; internal connections between two components or interactions between two components. Those skilled in the art can understand the specific meanings of the above terms in the embodiments of the present application based on specific circumstances.

[0051] Currently, market developments indicate that power batteries are becoming increasingly widely used. They are not only used in energy storage systems such as hydropower, thermal, wind, and solar power plants, but are also widely used in electric vehicles like electric bicycles, electric motorcycles, and electric vehicles, as well as in military equipment and aerospace. As power battery applications continue to expand, market demand is also growing.

[0052] During the battery assembly process, a large number of bolts are required for fastening connections. Manual loading and assembly and fastening are time-consuming, resulting in low production efficiency. Moreover, manual assembly carries the risk of missing or incorrect installation, which may affect the production quality of the battery.

[0053] In related technologies, automatic conveying devices similar to conveyor lines are also used to achieve automatic loading. However, this requires the construction of a longer conveyor line. In particular, the bolt loading positions may involve different workstations. Such cross-workstation loading will further increase the transportation cost of the conveyor line.

[0054] In order to solve the above problems, the present application proposes a bolt feeding device, which includes a bolt feeding box, a mobile platform and a material tray. The bolt feeding box includes a discharge port for outputting bolts; the material tray includes a plurality of slots for accommodating bolts, and the mobile platform is detachably connected to the material tray so that the material tray can move the slots to a position aligned with the discharge port under the drive of the mobile platform to receive the bolts output from the discharge port. By setting a mobile platform to drive the material tray to move and then sequentially filling the plurality of slots on the material tray for accommodating bolts, after the slots of the material tray are filled, they can be transferred to the assembly station for assembly. This can achieve low-cost automatic loading and is more conducive to loading across stations.

[0055] The bolt feeding device disclosed in the embodiment of the present application can be used, but is not limited to, in the bolt assembly process of batteries, vehicles or other devices to achieve automatic feeding and automatic assembly of bolts.

[0056] Please refer to Figures 1-4. Figure 1 is a schematic diagram of the three-dimensional structure of the bolt feeding device provided in some embodiments of the present application. Figure 2 is a front view of the bolt feeding device provided in some embodiments of the present application. Figure 3 is a top view of the bolt feeding device provided in some embodiments of the present application. Figure 4 is a left side view of the bolt feeding device provided in some embodiments of the present application.

[0057] The present embodiment provides a bolt feeding device 100, which includes a bolt feeding box 110, a mobile platform 120, and a material tray 130. The bolt feeding box 110 includes a discharge port 111 for outputting bolts; the material tray 130 includes a plurality of slots 131 for accommodating bolts; the mobile platform 120 is detachably connected to the material tray 130. When driven by the mobile platform 120, the material tray 130 can move the slots 131 to a position aligned with the discharge port 111 to receive the bolts output from the discharge port 111.

[0058] The bolt feed box 110 can be an automatic feeding device, for example, capable of delivering bolts one by one from a discharge port by blowing the bolts. The bolt feed box 110 includes a box body 113 and a delivery pipe 112 connected to the box body 113. The discharge port 111 is located at the end of the delivery pipe 112 away from the box body 113. The bolts can be of any type and specification, for example, hexagonal head bolts, flat head bolts, countersunk head bolts, etc. In some embodiments, the bolt feed box 110 can simultaneously hold multiple bolts of different specifications or types. By providing a vibration sorting device, bolts of different specifications can be distinguished and the corresponding bolts can be delivered according to control instructions.

[0059] The material tray 130 is a disk-shaped structure, such as a rectangular parallelepiped. The material tray 130 and the moving platform 120 can be connected in a detachable manner, such as a threaded connection, a clamping connection, etc.

[0060] A plurality of slots 131 are provided on one side surface (e.g., the upper surface) of the material tray 130. The slots 131 may be slot-shaped or hole-shaped structures that are compatible with the type of bolts to be carried, so as to limit the loaded bolts. In some embodiments, the material tray 130 is driven to move by the mobile platform 120 so that the slots 131 of the material tray 130 are located in a position aligned with the discharge port 111. The bolts are blown out and fall from the discharge port 111 and enter the slots 131, thereby completing the bolt loading of a single slot. The position aligned with the discharge port 111 refers to a position that coincides with the discharge trajectory of the bolts output from the discharge port 111. For example, if the opening of the discharge port 111 faces directly downward, the slots 131 are moved directly below the discharge port 111 to receive the bolts output from the discharge port 111. In other embodiments, the opening of the discharge port 111 may also be inclined downward, and the slot 131 is moved to a corresponding position that coincides with the discharge trajectory of the bolt output from the discharge port 111.

[0061] By setting up a mobile platform 120 to drive the material tray 130 to move and then filling the multiple slots on the material tray 130 for accommodating bolts in sequence, the material tray 130 can be transferred to the assembly station for assembly after the slots are filled. This can achieve low-cost automatic loading, and is more conducive to cross-station loading, thereby improving loading efficiency.

[0062] According to some embodiments of the present application, the mobile platform 120 includes a tray mounting frame 121 and a drive mechanism 122. The tray mounting frame 121 is detachably connected to the tray 130; the drive mechanism 122 is fixedly connected to the tray mounting frame 121 for driving the tray mounting frame 121 to move.

[0063] The bolt loading device 100 may further include a base 123, which is fixed to a surface such as the ground or a pedestal. The drive mechanism 122 is fixedly mounted on the base 123, and the tray mounting bracket 121 is fixedly mounted on the drive mechanism 122. In some embodiments, a bracket 124 is provided on the base 123, and the discharge port 111 of the conveying tube 112 can be fixed to the bracket 124 with the discharge port facing downward. In some embodiments, the mobile platform 120 can move in multiple directions, such as a two-dimensional mobile platform that moves in two different horizontal directions, or a three-dimensional mobile platform that moves in three different directions.

[0064] By providing a driving mechanism 122 to drive the tray mounting frame 121 that carries the tray 130 , the tray 130 can be moved and replaced more easily, thereby improving the loading efficiency.

[0065] According to some embodiments of the present application, the bolt loading device 100 also includes a detection sensor 140, which is used to detect one or more of the position of the slot 131, whether the slot 131 is filled, and whether the bolt posture in the slot 131 is abnormal.

[0066] Since the material tray 130 is located below the discharge port 111 and has a certain height distance from the discharge port 111 during loading, the accuracy of the position of the slot 131 has a direct impact on whether the bolt can smoothly fall into the slot 131. The detection sensor 140 can determine the position of the slot 131 by detecting the depth of the slot 131. This is because the depth detected by the detection sensor 140 is directly related to the position of the slot 131. For example, when the slot 131 is located directly below the detection sensor 140, the depth that can be detected is the full depth of the slot 131. When the slot 131 is not in the right position, the angle between it and the detection sensor 140 changes, which will cause the depth detected to change. Similarly, whether the slot 131 is fully loaded and whether the posture of the loaded bolt is abnormal can also be reflected from the depth information obtained by detection. It is understandable that the detection sensor 140 can also detect other parameters to achieve the judgment of the above detection targets, which is not specifically limited here.

[0067] In some embodiments, the detection sensor 140 can be fixed on the bracket 124 and spaced apart from the discharge port 111. It should be noted that the detection sensor 140 is not necessarily fixed above the tray limiting device 122. As long as the detection sensor 140 is located above the tray limiting device 122 in the vertical direction, the tray 130 below can be driven by the mobile platform 120 to move the slot to the preset position for detection by the detection sensor 140.

[0068] By providing the detection sensor 140 , the feeding process can be detected, and accurate feeding control instructions can be issued based on the detection results, thereby improving the accuracy and efficiency of feeding.

[0069] According to some embodiments of the present application, the detection sensor 140 is a distance measuring sensor.

[0070] In some embodiments, the detection sensor 140 is a distance sensor, which is a sensor used to measure the distance between it and a target object. The distance sensor can be an ultrasonic distance sensor, a laser distance sensor, or an infrared distance sensor. In some embodiments, the detection sensor 140 is a time-of-flight sensor.

[0071] Since whether the position of slot 131 is correct, whether slot 131 is filled, and whether the bolt posture in slot 131 is correct can be determined by detecting the depth of the slot, more comprehensive detection can be achieved to meet diverse detection needs.

[0072] In some embodiments, the detection sensor 140 can detect the slot located directly below the discharge port 111, and can also detect slots at other locations.

[0073] The use of ranging sensors can achieve more comprehensive detection, meet diverse detection needs, and thus improve detection accuracy.

[0074] According to some embodiments of the present application, the driving mechanism 122 includes a first driving module 1211 and a second driving module 1212, the first driving module 1211 is used to drive the material tray mounting frame 121 to move along a first direction X, and the second driving module 1212 is used to drive the material tray mounting frame 121 to move along a second direction Y intersecting with the first direction X, wherein the first direction X and the second direction Y are both horizontal directions.

[0075] The first driving module 1211 and the second driving module 1212 can be linear driving modules, so as to drive the tray mounting frame 121 to reciprocate along the first direction X and the second direction Y respectively.

[0076] The first direction X and the second direction Y are both along the horizontal direction, where the horizontal direction refers to a direction perpendicular to the height direction. In some embodiments, the first direction X and the second direction Y may be perpendicular to each other.

[0077] By providing the first driving module 1211 and the second driving module 1212 , the tray mounting frame 121 can be driven to move in two different directions, thereby enabling more accurate position adjustment of the slots 131 on the tray 130 and improving loading efficiency.

[0078] According to some embodiments of the present application, the plurality of slots 131 on the tray 130 are configured to be arranged in an array along a first direction X and a second direction Y.

[0079] As shown in FIG3 , after the tray 130 is secured to the tray mounting frame 121 , the plurality of slots 131 are arranged in an array along a first direction X and a second direction Y. In some embodiments, the plurality of slots 131 on the tray 130 have identical specifications, i.e., identical shape, cross-sectional area, and depth, and the spacing between adjacent slots 131 is also equal.

[0080] The multiple slots 131 on the tray 130 are also arranged in an array along the first direction X and the second direction Y, which can better adapt to the mobile platform 120, thereby facilitating the mobile platform 120 to adjust the position of the slots 131 by moving the tray 130 along the first direction X and the second direction Y, thereby enabling automatic loading of the multiple slots 131 and improving loading efficiency.

[0081] According to some embodiments of the present application, the material tray mounting frame 121 includes a first limiting group and a second limiting group, the first limiting group 1221 includes two first limiting clamps 1221 arranged opposite to each other along a third direction, and the second limiting group includes two second limiting clamps 1222 arranged opposite to each other along a fourth direction intersecting with the third direction; the first limiting group and the second limiting group cooperate together to clamp the material tray 130; wherein, the third direction and the fourth direction are both horizontal directions.

[0082] In some embodiments, the third direction may be parallel to the first direction X, and the fourth direction may be parallel to the second direction Y. The two first limiting clamps 1221 are spaced apart along the third direction, and the two second limiting clamps 1222 are spaced apart along the fourth direction. The two first limiting clamps 1221 and the two second limiting clamps 1222 clamp the material tray 130 from different directions, respectively, so that the material tray 130 can move along with the material tray mounting frame 121 under the drive of the drive mechanism 122.

[0083] By arranging two sets of limit groups along different directions, the material tray 130 can be clamped more reliably, thereby improving the stability of the movement of the material tray 130.

[0084] According to some embodiments of the present application, the two first limiting clamps 1221 are tilted so that the horizontal distance between their two opposite surfaces is larger at the top and smaller at the bottom.

[0085] According to some embodiments of the present application, the two second limiting clamps 1222 are tilted so that the horizontal distance between their two opposite surfaces is larger at the top and smaller at the bottom.

[0086] The first limiting clamping plates 1221 are plate-shaped structures. The two first limiting clamping plates 1221 are tilted relative to each other, so that the two opposing surfaces have a larger opening at the top and a smaller opening at the bottom. That is, the horizontal distance between the two planes gradually decreases in height from top to bottom. The two second limiting clamping plates 1222 have similar structures to the two first limiting clamping plates 1221. Specifically, the degree of inclination of the two second limiting clamping plates 1222 can be the same as that of the two first limiting clamping plates 1221, or it can be different.

[0087] By arranging the first limiting clamp 1221 and / or the second limiting clamp 1222 at an inclined interval, it is possible to adapt to material trays 130 of different sizes and specifications, thereby increasing the scope of applicability. In addition, the clamping force on the material tray 130 can be maintained through the inclined surface, thereby improving the stability of the material tray 130 during movement.

[0088] According to some embodiments of the present application, the bolt loading device 100 also includes a transfer device (not shown in the figure), wherein the material tray 130 is provided with a transfer connection portion 132, and the transfer connection portion 132 is located on the side surface where the slot 131 is located. The transfer device transfers the material tray 130 by connecting to the transfer connection portion 132.

[0089] The transfer device can be any movable handling device, such as a self-propelled robot or manipulator. The transfer device can be detachably connected to the transfer connector 132. When transfer is required, such as after the tray 130 is loaded, the transfer device is fixedly connected to the transfer connector 132, and the transfer connector 132 is removed from the tray mounting frame 121 and transferred to a designated location, such as an assembly station. The transfer device can also be used to place empty trays 130 into the tray mounting frame 121 for subsequent loading.

[0090] Providing a transfer connection portion 132 on the material tray 130 can facilitate the automatic transfer of the material tray 130, thereby improving the degree of automation and operating efficiency of loading.

[0091] According to some embodiments of the present application, the transfer connection portion 132 is a raised magnetic portion, and the transfer connection portion 132 is connected to the transfer device in a magnetic manner.

[0092] The transfer connection portion 132 may protrude upward from the surface of the tray 130 where the slot 131 is located, and the height of the protrusion may be greater than the height of the bolt exposed when in the slot 131. The transfer connection portion 132 and the transfer device are connected by magnetic attraction, for example, at least one of them is provided with a magnet.

[0093] The magnetic attraction method can easily realize the connection and separation between the transfer connection part 132 and the transfer device, thereby improving the efficiency of transfer and further improving the loading efficiency.

[0094] Please refer to FIG5 , which is a schematic diagram of the three-dimensional structure of the automatic bolt assembly system provided in some embodiments of the present application.

[0095] An embodiment of the present application provides a bolt automatic assembly system 1000, which includes the bolt loading device 100 in any of the above embodiments, and an assembly device 200, wherein the assembly device 200 is used to assemble the bolts in the tray 130 to a specified position.

[0096] The assembly device 200 can be an automatic robotic arm that can grab the bolts on the tray 130 to a specified position and tighten them. The assembly device 200 can be one or more. Multiple assembly devices 200 can be controlled individually to perform assembly operations separately, or they can be controlled uniformly by the same control system.

[0097] By providing the assembly device 200 , the unloading, loading and assembly of the bolts can be completed fully automatically, thereby improving the efficiency of the bolt loading and assembly, and further contributing to improving production efficiency.

[0098] Please refer to FIG. 6 , which is a flow chart of a bolt loading method provided in some embodiments of the present application.

[0099] The embodiment of the present application provides a bolt feeding method, which includes:

[0100] S310: Providing a material tray, the material tray including a plurality of slots;

[0101] S320: Moving the plurality of slots of the material tray sequentially to positions aligned with the discharge port of the bolt feeding box, and controlling the bolt feeding box to discharge the bolts from the discharge port until the plurality of slots of the material tray are filled with bolts;

[0102] S330: Transfer the material tray to the designated location.

[0103] The material tray may be the material tray 130 in the above-mentioned embodiment; the bolt feeding box may be the bolt feeding box 110 in the above-mentioned embodiment. The material tray may be clamped into the material tray mounting bracket 121 of the above-mentioned mobile platform 120 and moved under the drive of the mobile platform 120. In some embodiments, the driving device 120 may determine a preset movement path based on the positions of multiple slots in the material tray. This movement path can sequentially move the multiple slots to a position aligned with the discharge port to complete the loading and feeding of the bolts.

[0104] In step S320, the discharge port can be positioned with its opening facing downward, and the slots can be located directly below the discharge port. In some embodiments, the slots can be located so that the discharge trajectory of the bolts output from the discharge port overlaps, rather than simply being located directly below the discharge port. Once all the slots in the tray are filled with bolts, the transfer device can be controlled to remove the tray from the tray mounting frame and move it to another designated location, such as an assembly station.

[0105] By providing a material tray 130 with multiple slots to receive the bolts output by the bolt feeding box 110 and transferring the material tray 130 to a designated position, automatic loading of the bolts can be achieved, thereby improving loading efficiency while controlling costs.

[0106] Please refer to FIG. 7 , which is a partial flow chart of a bolt loading method provided in some embodiments of the present application.

[0107] According to some embodiments of the present application, step S320 includes:

[0108] S321: moving a slot of the tray to a first preset position;

[0109] S322: Detect the slot to obtain slot information of the slot;

[0110] S323: Control the discharge of the bolt feeding box according to the slot information.

[0111] In step S321, a movement command may be issued to the mobile platform 120 to move a slot on the tray 130 to a first preset position for inspection. In some embodiments, the positions of all slots 131 on the tray 130 may be first obtained, and a movement path may be determined based on the positions of the slots 131. The movement path sequentially moves each slot 131 to the first preset position for inspection and to the loading position for bolt loading.

[0112] The first preset position can be located directly below the detection sensor 140. The detection sensor 140 can be a time-of-flight sensor. The detection sensor 140 can detect the slot information of the slot 131. The loading strategy can be determined based on the slot information. The loading strategy can include whether the slot 131 needs to be loaded, the specifications of the loading bolts, etc., and the bolt feeding box 110 is controlled to discharge the material according to the loading strategy.

[0113] By detecting the slot information of the slot before loading, and controlling the corresponding discharge of the bolt feeding box 110 according to the slot information, more accurate loading can be achieved and the loading efficiency can be improved.

[0114] According to some embodiments of the present application, the slot information includes the slot aperture, and wherein step S323 includes: according to the slot aperture, controlling the bolt feeding box 110 to discharge and output bolts that are adapted to the slot aperture.

[0115] The slot aperture refers to the diameter of the hole in the slot used to load the bolt. The detection sensor 140 can be a visual sensor, such as a charge coupled device (CCD), or a linear array ranging sensor, to detect the hole diameter. The control system can pre-set a correspondence between the slot aperture and the corresponding bolt specification. Once the slot aperture is determined, the control system can control the bolt feeder 110 to output bolts that match the slot aperture according to the pre-set correspondence.

[0116] By detecting the slot aperture and providing bolts of corresponding specifications in a targeted manner, it is possible to automatically and synchronously load bolts of various specifications, thereby meeting the diverse loading needs of the same assembly station and improving loading and assembly efficiency.

[0117] According to some embodiments of the present application, the slot information includes slot hole depth, and step S323 includes:

[0118] In response to the slot hole depth being greater than or equal to the preset depth, the slot is moved to a second preset position aligned with the discharge port 111 , and the bolt feeding box 110 is controlled to output the bolts from the discharge port 111 to be loaded into the slot.

[0119] The slot hole depth refers to the depth of the hole in the slot that accommodates the bolt. The detection sensor 140 can be a distance sensor, such as a time-of-flight sensor. The preset depth can be determined according to the specifications of the bolt (such as length). When the slot hole depth obtained by detection is greater than or equal to the preset depth, it is considered that it can be used to load bolts, and the slot is moved to the second preset position for bolt loading. The second preset position can be a position directly below the discharge port 111. When the slot hole depth is less than the preset depth, it indicates that the slot is filled with other items, or that it has been filled with bolts. At this time, the material tray 130 can be controlled to continue moving, and another adjacent slot can be moved to the first preset position for detection, that is, the next slot is tested and loaded.

[0120] By detecting the slot hole depth, it can be determined whether the slot needs to be filled with bolts. This can ensure that the bolts discharged later can fall into the slot intact, avoiding repeated filling and causing loading errors, thereby improving the accuracy and efficiency of bolt loading.

[0121] According to some embodiments of the present application, step S320 further includes:

[0122] Detect whether the bolt posture loaded in the slot is correct, and send an alarm signal in response to the detection result being no.

[0123] In this embodiment, the detection sensor 140 can be used to detect whether the bolts loaded into the slots are in the correct posture. It will be appreciated that when a bolt exits the discharge port 111 and falls into the slot below, the correct posture is for the stud or screw to be at the bottom, entering the slot hole, with the bolt head at the top, contacting the edge surrounding the slot opening. Although the slot position can be controlled by the mobile platform 120, there is still the possibility that the bolts may deviate during their fall, resulting in an incomplete entry, such as landing skewed at the slot opening. The detection sensor 140 can detect the slot position and thus determine whether the bolt posture is correct. In some embodiments, the detection sensor 140 can be a visual sensor, determining the correct bolt posture through visual inspection. In other embodiments, the detection sensor 140 can be a distance sensor, determining the correct bolt posture by detecting the distance around the slot opening. The detection sensor here can be reused from the detection sensor 140 used for detection before loading, i.e., the same detection sensor is used for detection before and after loading. Alternatively, an additional sensor can be used for detection. In one example, the slot of the material tray 130 is moved to a first preset position directly below the first detection sensor, and the slot is detected by the first detection sensor to obtain slot information. Then, based on the slot information, the material tray 130 is controlled to move the slot to a second preset position aligned with the discharge port 111, and material is loaded and filled at the second preset position. After completion, the material tray 130 is moved to a third preset position where the slot is below the second detection sensor, and the second detection sensor detects the bolt posture in the slot.

[0124] The alarm signal may be sent through an alarm device, such as a buzzer, or may be displayed on a display screen.

[0125] By detecting the bolt posture, the accuracy of bolt loading can be ensured, loading errors or omissions can be reduced, and loading efficiency can be improved.

[0126] Please refer to FIG8 , which is a flow chart of a method for automatically assembling bolts according to some embodiments of the present application.

[0127] The present invention provides a method for automatically assembling bolts, which includes:

[0128] S410: Loading bolts onto a material tray using the bolt loading method described in any of the above embodiments;

[0129] S420: Drive the assembly device to assemble the bolts in the tray to the specified position and tighten them.

[0130] The assembly device may be the assembly device 200 described in the above embodiment, and the assembly device may be a robotic arm that can grab the bolts in the slots of the tray and move them to a designated assembly position for installation and tightening to complete automatic assembly.

[0131] This embodiment can realize the fully automatic completion of bolt loading and assembly, which is beneficial to improving the bolt assembly efficiency and further improving production efficiency.

[0132] The bolt feeding device and feeding method of the present application are described below in conjunction with a specific embodiment, as shown in Figures 1-8.

[0133] The bolt feeding device 100 includes a bolt feeding box 110 , a moving platform 120 , a material tray 130 and a detection sensor 140 .

[0134] The bolt feeding box 110 includes a box body 113, a discharge pipe 112, and a discharge port 111 located at one end of the discharge pipe 112 for outputting bolts; the bolt feeding box 110 can output bolts in a blowing manner.

[0135] The mobile platform 120 includes a tray mounting frame 121 and a drive mechanism 122. The drive mechanism 122 is used to drive the tray mounting frame 121 to move. The drive mechanism 122 includes a first drive module 1211 and a second drive module 1212. The first drive module 1211 is used to drive the tray mounting frame 121 to move in a first direction X, and the second drive module 1212 is used to drive the tray mounting frame 121 to move in a second direction Y perpendicular to the first direction X. The first direction X and the second direction Y are both horizontal directions. The first drive module 1211 and the second drive module 1212 can be linear drive modules.

[0136] The tray mounting frame 121 includes a first limiting group and a second limiting group. The first limiting group includes two first limiting clamps 1221 arranged opposite each other along a first direction X, and the second limiting group includes two second limiting clamps 1222 arranged opposite each other along a second direction Y. The two first limiting clamps 1221 are tilted so that the horizontal distance between their opposing surfaces is larger at the top and smaller at the bottom. The two second limiting clamps 1222 are tilted so that the horizontal distance between their opposing surfaces is larger at the top and smaller at the bottom.

[0137] The material tray 130 includes multiple slots 131 and a transfer connection 132. The material tray 130 is removably fixedly connected to the material tray stopper 121. Driven by the mobile platform 120, the material tray 130 positions the slots 131 below the discharge port 111 to receive bolts discharged from the discharge port 111. The multiple slots 131 are arranged in an array along the first direction X and the second direction Y. The transfer connection 132 is a raised magnetic portion that connects to the transfer device magnetically.

[0138] Bolt loading methods include:

[0139] S310: Providing a material tray, the material tray including a plurality of slots;

[0140] S320: sequentially moving the multiple slots of the tray to positions aligned with the discharge port of the bolt feeding box, and controlling the bolt feeding box to discharge the bolts from the discharge port until the multiple slots of the tray are filled with bolts; including:

[0141] S321: moving a slot of the tray to a first preset position;

[0142] S322: Detect the slot to obtain slot information of the slot; the slot information includes slot diameter and / or slot depth;

[0143] S323: Controlling the bolt feed box to discharge bolts based on the slot information. This specifically includes: controlling the bolt feed box to discharge bolts that match the slot diameter based on the slot diameter; and / or, in response to the slot hole depth being greater than or equal to a preset depth, moving the slot to a second preset position aligned with the discharge port, and controlling the bolt feed box to discharge bolts from the discharge port to load the slot.

[0144] S330: Transfer the material tray to the designated location.

[0145] In some embodiments, step S320 may be followed by: detecting whether the posture of the bolt loaded in the slot is correct, and issuing an alarm signal in response to a negative detection result.

[0146] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A bolt feeding device, comprising: A bolt feeding box, comprising an outlet for outputting the bolts; a tray comprising a plurality of slots for accommodating bolts; A movable platform is detachably connected to the material tray. The material tray can move the slot to a position aligned with the discharge port under the drive of the movable platform to receive the bolts output from the discharge port.

2. The bolt feeding device according to claim 1, wherein: The mobile platform includes: A tray mounting frame, detachably connected to the tray; The driving mechanism is fixedly connected to the tray mounting frame and is used to drive the tray mounting frame to move.

3. The bolt feeding device according to claim 1 or 2, wherein: Also includes: The detection sensor is used to detect one or more of the following: the position of the slot, whether the slot is fully filled, and whether the bolt posture in the slot is abnormal.

4. The bolt feeding device according to claim 3, wherein: The detection sensor is a distance measuring sensor.

5. The bolt feeding device according to any one of claims 2 to 4, wherein: The driving mechanism includes a first driving module and a second driving module, the first driving module is used to drive the tray mounting frame to move along a first direction, and the second driving module is used to drive the tray mounting frame to move along a second direction intersecting the first direction; The first direction and the second direction are both horizontal directions.

6. The bolt feeding device according to claim 5, wherein: The plurality of slots on the tray are configured to be arranged in an array along the first direction and the second direction on the tray.

7. The bolt feeding device according to any one of claims 2 to 6, wherein: The tray mounting frame includes a first limiting group and a second limiting group, wherein the first limiting group includes two first limiting clamping plates arranged opposite to each other along a third direction, and the second limiting group includes two second limiting clamping plates arranged opposite to each other along a fourth direction intersecting the third direction; the first limiting group and the second limiting group cooperate to clamp the tray; Wherein, the third direction and the fourth direction are both horizontal directions.

8. The bolt feeding device according to claim 7, wherein: The two first limiting clamps are tilted so that the horizontal distance between their two opposite surfaces is larger at the top and smaller at the bottom, and / or the two second limiting clamps are tilted so that the horizontal distance between their two opposite surfaces is larger at the top and smaller at the bottom.

9. The bolt feeding device according to any one of claims 1 to 8, wherein: Also includes transfer device; The material tray is provided with a transfer connection portion, and the transfer connection portion is located on a side surface where the slot hole is located, and the transfer device transfers the material tray by connecting with the transfer connection portion.

10. The bolt feeding device according to claim 9, wherein: The transfer connection portion is a raised magnetic portion, and the transfer connection portion is connected to the transfer device in a magnetic manner.

11. A bolt automatic assembly system comprising: The bolt feeding device according to any one of claims 1 to 10; and An assembly device is used to assemble the bolts in the tray to a specified position.

12. A bolt feeding method, comprising: Providing a material tray, wherein the material tray includes a plurality of slots; Move the multiple slots of the material tray in sequence to positions aligned with the discharge port of the bolt feeding box, and control the bolt feeding box to output the bolts from the discharge port until the slots of the material tray are filled with bolts; Transfer the tray to a designated location.

13. The bolt feeding method according to claim 12, wherein: The step of sequentially moving the plurality of slots of the material tray to positions aligned with the discharge port of the bolt feeding box, and controlling the bolt feeding box to output the bolts from the discharge port until the slots of the material tray are filled with bolts comprises: Moving a slot of the tray to a first preset position; Detecting the slot to obtain slot information of the slot; According to the slot information, the bolt feeding box is controlled to discharge the material.

14. The bolt feeding method according to claim 13, wherein: The slot information includes slot aperture; and wherein, The controlling the bolt feeding box to discharge materials according to the slot information includes: According to the slot aperture, the bolt feeding box is controlled to discharge bolts that match the slot aperture.

15. The bolt feeding method according to claim 13 or 14, wherein: The slot information includes slot hole depth; and wherein, The controlling the bolt feeding box to discharge materials according to the slot information includes: In response to the slot hole depth being greater than or equal to a preset depth, the slot is moved to a second preset position aligned with the discharge port, and the bolt feeding box is controlled to output bolts from the discharge port to be loaded into the slot.

16. The bolt feeding method according to claim 15, wherein: The method further comprises: in response to the slot hole depth meeting the preset requirement, moving the slot to a second preset position aligned with the discharge port, and controlling the bolt feeding box to output the bolts from the discharge port to load the bolts into the slot; Checking whether the bolts loaded in the slots are in the correct posture; In response to the detection result being negative, an alarm signal is issued.

17. A method for automatically assembling a bolt, comprising: Bolt loading is completed by using the bolt loading method according to any one of claims 12 to 16; The assembly device is driven to assemble the bolts in the tray to the specified positions and tighten them.

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