Flexible nut feeding system and nut feeding method

Abstract

A flexible nut feeding system and a nut feeding method. The flexible nut feeding system comprises: a nut conveying device (1); a nut ejection device (2), which is configured to receive nuts to be welded that are discharged by different nut conveying modules of the nut conveying device (1) and eject the nuts to be welded to picking positions; and a nut feeding device (3), which comprises a nut fetching assembly (31) and a nut moving assembly (32), wherein the nut fetching assembly (31) is configured to pick the nuts to be welded at the picking positions, and the nut moving assembly (32) is configured to move the nut fetching assembly (31) and the nuts to be welded from the picking positions to welding stations. In the flexible nut feeding system, the dedicated nut conveying modules and the nut ejection module are provided for each specification of nuts, the nut fetching assembly and the nut moving assembly, which are shared by nuts of all specifications, are designed, and when nuts of all specifications on a plate are welded, fully-automatic feeding can be achieved without manual participation, and thus the flexibility and production efficiency of a projection welding machine are significantly improved.

Description

Flexible nut feeding system and nut feeding method

[0001] Related applications

[0002] This disclosure claims priority to a Chinese patent application filed with the Patent Office of China on March 27, 2024, with application number CN 202410360743.3 and invention name “Flexible nut feeding system and nut feeding method”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to the technical field of nut projection welding equipment, and in particular to a flexible nut feeding system and a nut feeding method. Background Art

[0004] Existing nut projection welding machines can only be equipped with a pair of upper and lower electrodes, can only accommodate one specification of nuts, and only need to be matched with an automatic conveyor for one specification of nuts. In this regard, the configuration of a nut vibrating plate conveyor device and a pneumatic feeding mechanism can achieve this goal.

[0005] For a high-flexibility nut projection welding machine that can install multiple sets of electrodes, it is necessary to timely transport nuts of all specifications to the top of the nut positioning pin of the lower electrode. If the current single-specification nut conveying mechanism is used, at least 4 sets need to be arranged. The space occupied by them will inevitably affect the welding space of various stamping shapes, and it will be impossible to realize the function of automatically conveying and installing nuts of all specifications.

[0006] When a nut projection welding machine processes nuts of various specifications, the disadvantages of the feeding method are mainly reflected in the increased space occupation and complexity. By improving the design of the feeding mechanism, it can better meet the diverse welding needs. Summary of the Invention

[0007] In view of this, the embodiments of the present disclosure provide a flexible nut feeding system and a nut feeding method to eliminate or improve one or more defects in the prior art.

[0008] In a first aspect, the present disclosure provides a flexible nut feeding system, the flexible nut feeding system comprising:

[0009] The nut conveying device includes a first nut conveying module and a second nut conveying module, each of which is used to convey nuts to be welded of the same type or different specifications;

[0010] A nut ejecting device, comprising a first nut ejecting module and a second nut ejecting module, wherein the first nut ejecting module is located at the end of the first nut conveying module, and the second nut ejecting module is located at the end of the second nut conveying module, and is used to respectively receive the nuts to be welded ejected by different nut conveying modules of the nut conveying device and eject the nuts to be welded to a pickup position;

[0011] A nut feeding device, wherein the nut feeding device is located above the nut ejecting device at least when in the pickup position, and the nut feeding device includes a nut acquisition component and a nut moving component, wherein the nut acquisition component is installed on the nut moving component, and the nut acquisition component is used to pick up the nut to be welded at the pickup position, and the nut moving component is used to move the nut acquisition component and the nut to be welded from the pickup position to the welding station.

[0012] In some embodiments, the nut acquisition component includes any one of a gripping mechanism, a negative pressure adsorption mechanism, and a magnetic adsorption mechanism. When the nut acquisition component includes a gripping mechanism, the gripping mechanism is provided with a receiving groove that can accommodate nuts of at least two specifications; and / or

[0013] The nut obtaining component is further provided with a sensor for detecting whether the nut obtaining component has taken the nut to be welded.

[0014] In some embodiments, the nut moving assembly includes any one of a single-axis moving slide, a two-axis moving slide, or a multi-axis moving slide. When the nut moving assembly includes a single-axis moving slide, the arrangement direction and the moving direction of the single-axis moving slide are configured to be along a straight line, and the straight line is parallel to the line connecting the pickup position to which each nut ejecting module of the nut ejecting device ejects the nut to be welded and the final placement point of the nut.

[0015] In some embodiments, each nut ejection module of the nut ejection device includes a receiving plate and an ejection mechanism, the ejection mechanism includes an ejector rod, and the top of the ejector rod has a positioning pin shaft portion and a supporting step portion, which are respectively used to insert into the through hole of the nut to be welded and support the end face of the nut to be welded;

[0016] The receiving plate is arranged correspondingly to the outlet end of the nut conveying module of the nut conveying device. The receiving plate has a hole for the push rod to pass through. The receiving plate is provided with a limiting structure on the side away from the outlet end of the nut conveying module so that the position of the nut to be welded is coaxial with the push rod.

[0017] In some embodiments, the nut conveying device includes a silo, a vibrating plate and a nut conveying pipe. The vibrating plate is located between the silo and the nut conveying pipe and is used to screen out nuts with correct posture. The silo is located above the vibrating plate and is used to replenish nuts. The end of the nut conveying pipe is connected to the receiving plate.

[0018] In some embodiments, in the direction close to the welding station, the extension direction of the nut feeding device or its nut conveying path forms a first angle with the horizontal reference plane where the center point of the welding station is located, and the extension direction of the nut feeding device or its nut conveying path forms a second angle with the horizontal vertical reference plane where the center point of the welding station is located.

[0019] In a second aspect, the present disclosure provides a nut feeding method, which is implemented by the above-mentioned flexible nut feeding system and includes the following steps:

[0020] Controlling the at least two nut conveying modules of the nut conveying device to convey nuts of at least two specifications to their ends respectively, so that the positions of the nuts of at least two specifications correspond to the upper parts of the at least two nut ejecting modules of the nut ejecting device respectively;

[0021] Based on the specifications of the nuts required for welding at the next point of the plate, the nut ejection module corresponding to the nut ejection device is controlled to eject the nuts of the required specifications to the removal position;

[0022] Controlling the nut receiving assembly of the nut feeding device to move to the receiving position and fix the nut;

[0023] The nut moving assembly of the nut feeding device is controlled to move the nut from the taking position to the welding station.

[0024] In some embodiments, the method further comprises:

[0025] A waiting position is set in the process of controlling the nut moving component of the nut feeding device to move the nut from the picking position to the welding station, and the nut moving component of the nut feeding device is controlled to move the nut from the picking position to the waiting position. Based on the timing when the next point of the plate moves to the welding station, the nut moving component of the nut feeding device is controlled to move the nut from the waiting position to the welding station.

[0026] In some embodiments, the method further comprises:

[0027] After the nut obtaining component of the control nut feeding device moves to the picking position and fixes the nut, it is determined based on the sensor sensing signal whether the nut is fixed. If so, the next step is carried out.

[0028] In some embodiments, the nut receiving assembly of the nut feeding device includes a gripping mechanism, wherein the gripping mechanism includes a pair of jaws capable of parallel movement or fan-shaped swing in a centered manner, and when the gripping mechanism is in a released state, the gap between the two jaws is greater than the maximum width of the largest nut required for welding to the plate;

[0029] The method further comprises:

[0030] During the process of controlling the nut moving assembly of the nut feeding device to move back to the pickup position or the initial position, the gripping mechanism is controlled to remain in a loosened state.

[0031] In a third aspect, the present disclosure further provides a computer-readable storage medium having computer instructions stored thereon, characterized in that the instructions are used to implement the steps of the above method when executed by a processor.

[0032] In a fourth aspect, the present disclosure provides a computer program product, comprising a computer program / instruction, characterized in that the computer program / instruction implements the steps of the above method when executed by a processor.

[0033] The flexible nut feeding system in the disclosed embodiment is equipped with a dedicated nut conveying module and nut ejection module for each specification of nuts, and is designed with a nut acquisition component and a nut moving component common to all specifications of nuts. This allows for fully automatic loading without any manual intervention when welding nuts of all specifications on all plates on this projection welding machine, greatly improving the flexibility and production efficiency of the projection welding machine.

[0034] Additional advantages, objects, and features of the present disclosure will be described in part in the following description and will become apparent to those skilled in the art upon study of the following or may be learned from practice of the present disclosure. The objects and other advantages of the present disclosure may be achieved and obtained by the structures specifically pointed out in the description and drawings.

[0035] Those skilled in the art will understand that the purposes and advantages that can be achieved by the present disclosure are not limited to the above specific descriptions, and the above and other purposes that can be achieved by the present disclosure will be more clearly understood from the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The drawings described herein are intended to provide a further understanding of the present disclosure, constitute a part of this application, and do not constitute a limitation of the present disclosure. The components in the drawings are not drawn to scale, but are only for the purpose of illustrating the principles of the present disclosure. To facilitate the illustration and description of some parts of the present disclosure, the corresponding parts in the drawings may be enlarged, that is, they may be larger than other components in the exemplary devices actually manufactured according to the present disclosure. In the drawings:

[0037] FIG1 is a front structural schematic diagram of a flexible nut feeding system and a nut projection welding machine in one embodiment of the present disclosure.

[0038] FIG2 is a schematic side structural diagram of a flexible nut feeding system and a nut projection welding machine in one embodiment of the present disclosure.

[0039] FIG3 is a schematic top view of the flexible nut feeding system and the nut projection welding machine in one embodiment of the present disclosure.

[0040] FIG4 is a partial enlarged view of portion A in FIG1 .

[0041] FIG5 is a schematic structural diagram of a nut acquisition assembly in an embodiment of the present disclosure.

[0042] FIG6 is a flowchart of a nut feeding method according to an embodiment of the present disclosure.

[0043] FIG7 is a flowchart of a nut feeding method according to an embodiment of the present disclosure.

[0044] FIG8 is a flowchart of a nut feeding method according to an embodiment of the present disclosure.

[0045] FIG9 is a flowchart of a nut feeding method according to an embodiment of the present disclosure.

[0046] Figure markings: 1. Nut conveying device; 1A. First nut conveying module; 1B. Second nut conveying module; 11. Material silo; 12. Vibrating plate; 13. Nut conveying pipe; 2. Nut ejecting device; 2A. First nut ejecting module; 2B. Second nut ejecting module; 21. Receiving plate; 211. Limiting structure; 22. Pushing mechanism; 221. Ejector rod; 222. Cylinder; 221-1. Positioning pin shaft; 221-2. Supporting step; 3. Nut feeding device; 31. Nut acquiring assembly; 32. Nut moving assembly; 31A. Gripping mechanism; 31A-1. Clamp; 311. Accommodating groove; 4. Nut projection welding machine; 41. Upper electrode arm; 42. Upper electrode servo lifting mechanism; 43. Lower electrode positioning pin; 44. Welding transformer. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in conjunction with the embodiments and drawings. Here, the illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure, but are not intended to limit the present disclosure.

[0048] It should also be noted here that in order to avoid obscuring the present disclosure due to unnecessary details, only structures and / or processing steps closely related to the solutions according to the present disclosure are shown in the accompanying drawings, while other details that are not closely related to the present disclosure are omitted.

[0049] It should be emphasized that the term "include / comprises" when used herein refers to the existence of features, elements, steps or components, but does not exclude the existence or addition of one or more other features, elements, steps or components.

[0050] It should also be noted that, unless otherwise specified, the term "connection" herein may refer not only to a direct connection but also to an indirect connection involving an intermediate.

[0051] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. In the accompanying drawings, the same reference numerals represent the same or similar components, or the same or similar steps.

[0052] In order to be suitable for a nut welding machine of various specifications with a high-flexibility nut projection welding machine of a turntable type with multiple electrodes, the present invention provides a flexible nut feeding system and a nut feeding method. The device can timely and quickly deliver any one of the nuts of all specifications to the top of the nut positioning pin of the lower electrode as needed, and cooperate with the high-flexibility nut projection welding machine to realize the function of high-flexibility and high-efficiency welding of projection welding nuts.

[0053] It can be understood that the "nut" in the so-called "nut projection welding equipment / nut projection welding machine" or "projection welded nut" is a continuation of the traditional naming. In fact, it not only includes nuts connected to plates using the projection welding process, but also includes other fasteners connected to plates using the projection welding process, including studs, bolts and pins.

[0054] As shown in FIG1-FIG3 , in a first aspect, the present disclosure provides a flexible nut feeding system, which includes a nut conveying device 1 , a nut ejecting device 2 , a nut feeding device 3 , and the like.

[0055] Among them, the nut conveying device 1 includes a first nut conveying module 1A and a second nut conveying module 1B, which are respectively used to convey nuts to be welded of the same type or different specifications. The specifications mentioned here can be the size of the projection welded nuts or the type of nuts, such as round nuts, hexagonal nuts, etc. It can be understood that the first nut conveying module 1A and the second nut conveying module 1B here only represent the ability to convey nuts of two different specifications, but are not limited to this. For example, the other nut conveying modules 1C / 1D / 1E described in Figures 1, 3 or 4, the number of nut conveying devices 1 or their nut conveying modules should be determined according to the projection welded nuts required by the panel, with the standard being that they can meet all the nut specifications required by the panel.

[0056] Among them, the nut ejecting device 2 includes a first nut ejecting module 2A and a second nut ejecting module 2B, the first nut ejecting module 2A is located at the end of the first nut conveying module 1A, and the second nut ejecting module 2B is located at the end of the second nut conveying module 1B, so as to respectively receive the nuts to be welded spitted out by different nut conveying modules of the nut conveying device 1 and eject the nuts to be welded to the pickup position. It can be understood that the first nut ejecting module 2A and the second nut ejecting module 2B here only represent the ability to eject nuts of two different specifications, but are not limited to this. For example, the other nut ejecting modules 2C / 2D / 2E described in Figure 4, the number of nut ejecting devices 2 or their nut ejecting modules should be determined according to the projection welding nuts required for the plate, with the standard of being able to meet all the nut specifications required by at least one or all plates.

[0057] Among them, the nut feeding device 3 is located above the nut ejecting device 2 at least when it is in the picking position, and the nut feeding device 3 includes a nut obtaining component 31 and a nut moving component 32, and the nut obtaining component 31 is installed on the nut moving component 32. The nut obtaining component 31 is used to pick up the nut to be welded at the picking position, and the nut moving component 32 is used to move the nut obtaining component 31 and the nut to be welded from the picking position to the welding station.

[0058] As described herein, at least when in the state of being in the pickup position, the nut feeding device 3 is located above the nut ejecting device 2. Since the nut ejecting device 2 ejects the nut upward, the nut acquiring component 31 of the nut feeding device 3 is suitable for acquiring and fixing the nut above the nut ejecting device 2, and the running trajectory of the nut moving component 32 for conveying the nut may be a downward oblique line. At the welding station, the position height of the nut acquiring component 31 or part of the nut moving component 32 may be lower than the nut ejecting device 2. It is understandable that the function of the nut moving component 32 is to move the nut from the pickup position to the welding station, and its movement mode includes but is not limited to linear movement, rotation, or spatial curve movement.

[0059] In the above embodiment, the types or specifications of nuts required for welding on the installed panels can be determined by using at least two nut conveying modules of the nut conveying device 1 to convey nuts of each specification to their respective preset positions (the positions for taking nuts on the nut ejecting device 2), and they can all be lifted up by the respective nut ejecting modules of the nut conveying device 1. When a nut of a certain specification needs to be conveyed, it is ejected by the nut ejecting module and is higher than nuts of other specifications. This nut is then captured by a nut acquiring component 31 that can accommodate nuts of all specifications, and is then sent to the welding position (i.e., the welding station, which is also the position where the panel needs to have nuts welded) by the nut moving component 32.

[0060] The flexible nut feeding system in the embodiment of the present disclosure can be used as a part of a turntable-type high-flexible nut projection welding machine 4, and it is necessary to automatically convey, grab and place nuts of any specifications on the nut positioning pin of the lower electrode at any time. If several sets of nut vibration disk conveying devices and several sets of pneumatic feeding mechanisms of the original projection welding machine are used, the huge space occupied by them will inevitably interfere with the stamping parts of some shapes. The flexible nut feeding system in the embodiment of the present disclosure uses the limited space remaining in the nut projection welding machine 4 to find a new way, and uses an innovative mechanism to realize the sorting, conveying, grabbing and placing of nuts of all specifications. As shown in Figures 1 to 3, the nut projection welding machine 4 may include a welding machine body, a turntable-type electrode assembly and a welding transformer 44, etc.; the electrode assembly includes an upper electrode, an upper electrode arm 41 and an upper electrode servo lifting mechanism 42; the electrode assembly also includes a lower electrode and a lower electrode positioning pin 43, etc.

[0061] The flexible nut feeding system in the disclosed embodiment is equipped with a dedicated nut conveying module and a nut ejecting module for each specification of nuts, and is designed with a nut acquisition component 31 and a nut moving component 32 shared by all specifications of nuts. When nuts of all specifications on all plates need to be welded on this projection welding machine, fully automatic loading can be achieved without any manual intervention, greatly improving the flexibility and production efficiency of the projection welding machine.

[0062] The flexible nut feeding system in the disclosed embodiment can split a continuous nut conveying process into two steps: nut conveying and feeding. In the first step, each nut specification is conveyed using a dedicated nut conveying module to prevent confusion and misinstallation of multiple specifications. In the second step, a nut feeding device 3 capable of reliably placing nuts of any specification is used to place the nuts on the lower electrode positioning pin 43 of the nut projection welder 4, ensuring that they will not interfere with various shapes of plate parts. By splitting the nut conveying process into two steps, each action can be performed simultaneously, making their actions more simplified and requiring less time.

[0063] In some embodiments, as shown in Figures 1 to 3, the nut conveying device 1 or its nut conveying module includes a silo 11, a vibrating disk 12 and a nut conveying pipe 13. The vibrating disk 12 is located between the silo 11 and the nut conveying pipe 13, and is used to screen out nuts with correct postures. The silo 11 is located above the vibrating disk 12 and is used to replenish nuts. The end of the nut conveying pipe 13 is connected to the receiving plate 21. As at least one achievable method, the vibrating disk 12 is used to slide nuts with incorrect postures into the pile, so that the nuts with correct postures are sorted out and arranged neatly, and then the nuts are transported one by one along a special plastic pipe to the top of a nut ejection module. In order to reduce the frequency of nut replenishment, a silo 11 is arranged above the vibrating disk 12. When the nuts in the vibrating disk 12 are consumed to a small amount, the mouth of the silo 11 automatically opens to inject a certain amount of nuts into the vibrating disk 12.

[0064] In some embodiments, as shown in Figures 1 and 4, each nut ejection module of the nut ejection device 2 includes a receiving plate 21 and a pushing mechanism 22. The receiving plate 21 is arranged horizontally, and the initial position of the pushing mechanism 22 can be located below the receiving plate 21. The pushing mechanism 22 includes a push rod 221, and the top of the push rod 221 has a positioning pin shaft portion 221-1 and a supporting step portion 221-2, which are respectively used to insert into the through hole of the nut to be welded and support the (lower) end face of the nut to be welded. The receiving plate 21 is correspondingly arranged at the outlet end of the nut conveying module of the nut conveying device 1, and the receiving plate 21 has a hole that allows the push rod 221 to pass through. The receiving plate 21 is provided with a limiting structure 211 on the side away from the outlet end of the nut conveying module, so that the position of the nut to be welded is coaxial with the push rod 221, and prevents the nut from falling off after coming out of the nut conveying module.

[0065] It is understood that to accommodate projection weld nuts of varying sizes, the diameter of the locating pin shaft 221-1, the inner and outer diameters of the supporting step 221-2, and the inner diameter of the through-hole of the receiving plate 21 of each nut ejection module are designed based on the corresponding nut size. In other words, the receiving plate 21 and ejector rod 221 of each nut ejection module may have different dimensions to ensure smooth nut delivery. Furthermore, the ejection mechanism 22 may further include a linear actuator, such as a pneumatic cylinder 222, a hydraulic cylinder, or a linear motor, for driving the lifting and lowering motion of the ejector rod 221.

[0066] As at least one feasible method, the pushing mechanism 22 is pneumatically driven and is located below the end of the nut conveying module. A cylinder 222 drives a stepped push rod 221 to rise and fall, which can lift the nuts spitted out from the end of the nut conveying module upward by a certain distance, making it easier to clamp and feed.

[0067] It can be understood that the first nut ejection module 2A closest to the lower electrode of the nut projection welding machine 4 and the servo electric slide are kept at a certain distance from the welding electrode, which can ensure that they will not interfere with the upper electrode arm 41 of a special shape, nor will they interfere with all plates that need to be welded.

[0068] In some embodiments, the nut acquisition assembly 31 includes any one of a gripper mechanism 31A, a negative pressure suction mechanism, and a magnetic suction mechanism. The negative pressure suction mechanism requires a negative pressure component with a strong suction force, while the magnetic suction mechanism can be configured as an electromagnetic suction structure. The negative pressure suction or magnetic force should be configured to prevent the nut from falling during feeding and prevent displacement relative to the suction component, thereby ensuring accurate feeding to the welding station.

[0069] As at least one possible implementation, if the nut-receiving assembly 31 includes a gripper mechanism 31A, the gripper mechanism 31A is provided with a receiving groove 311 capable of accommodating nuts of at least two sizes. The gripper mechanism 31A is capable of adapting to nuts of different sizes and can accommodate and secure nuts of different sizes or shapes. For example, as shown in FIG5 , a pair of clamping jaws 31A-1 are driven by a servo motor to translate or swing left and right. The inner sides of the clamping jaws 31A-1 are provided with a receiving groove 311 (which may be a V-shaped groove or other structure), which can reliably grip nuts of all sizes.

[0070] In some embodiments, the nut capture assembly 31 is further equipped with a sensor to detect whether the nut to be welded is being grasped by the nut capture assembly 31. As at least one possible implementation, the control system can determine whether a nut has been grasped and whether the gripped nut is of the correct specification by reading the encoder value on the servo motor of the gripper mechanism 31A. Furthermore, a pressure sensor or photoelectric sensor can be installed within the receiving groove 311 of the gripper jaw 31A-1 to determine whether a nut has been grasped based on the pressure value or photoelectric signal.

[0071] In some embodiments, the nut moving assembly 32 includes any one of a single-axis moving slide, a two-axis moving slide, or a multi-axis moving slide. As at least one achievable embodiment, when the nut moving assembly 32 includes a single-axis moving slide, the arrangement direction and movement direction of the single-axis moving slide are configured to be along a straight line, and the straight line is parallel to the line connecting the removal position where each nut ejection module of the nut ejection device 2 ejects the nut to be welded and the final placement point of the nut (i.e., the welding position or welding station).

[0072] The nut moving assembly 32 can be advanced in a variety of ways, such as linear motion, rotation, or movement along a spatially curved path. For example, a single-axis moving slide can move along a single axis. A two-axis moving slide is a moving assembly capable of moving along two perpendicular axes. A multi-axis moving slide is a more complex moving assembly capable of moving along multiple axes, providing greater flexibility.

[0073] Optionally, the uniaxial movable slide can be an electric slide driven by a servo motor, which can extend straight from above the receiving plate 21 on which the nut ejection device 2 is installed, and toward the welding station, so that the electric slide avoids the lifting space of the upper electrode arm 41 when feeding the nut. Taking into account the shortest feeding path and the shortest time, the arrangement of the n sets of nut ejection modules is such that the nut in the ejected state and the final placement point of the nut are arranged in a straight line, and slightly tilted to one side and upward. In this way, a set of servo electric slides with unidirectional reciprocating motion can be used to place nuts of any specifications on the lower electrode positioning pin 43 of the nut projection welding machine 4.

[0074] In addition, the configuration of the single-axis moving slide also helps to ensure that the direction of nut movement is consistent with the direction of nut ejection, making the movement from the pickup position to the welding station linear, improving the accuracy and efficiency of the operation.

[0075] In some embodiments, in the direction approaching the welding station, the extension direction of the nut feeding device 3 or its nut conveying path forms a first angle with the horizontal reference plane at the center of the welding station, and the extension direction of the nut feeding device 3 or its nut conveying path forms a second angle with the transverse vertical reference plane at the center of the welding station. The transverse vertical reference plane described here can be along the length of the nut projection welder 4. Optionally, the first angle can be in the range of 0° to 60°, and the second angle can be in the range of 10° to 80°.

[0076] Because the handling of plates and the position conversion of different nut welding positions require the use of an industrial robot located on one side of the nut projection welder 4 or manual handling, the flexible nut feeding system can be located inside the nut projection welder 4. The selection of the first angle and the second angle mainly considers the use of the limited space remaining in the nut projection welder 4 to feed the nuts, and ensures that the flexible nut feeding system does not collide with the lifting and lowering of the electrode arm, the handling and transfer of plates, etc. The configuration of the first angle and the second angle can also improve the accuracy and efficiency of nut transportation and ensure the correct positioning of the nuts at the welding station.

[0077] In a second aspect, the present disclosure provides a nut feeding method, which is implemented by the flexible nut feeding system described above. As shown in FIG6 , the method comprises the following steps:

[0078] S10: Controlling at least two nut conveying modules of the nut conveying device 1 to convey nuts of at least two specifications to their ends respectively, so that the positions of the nuts of at least two specifications correspond to the upper parts of the at least two nut ejecting modules of the nut ejecting device 2 respectively;

[0079] S20: Based on the specifications of the nuts required for welding at the next point of the plate, controlling the nut ejecting module corresponding to the nut ejecting device 2 to eject the nuts of the required specifications to the removal position;

[0080] S30: Control the nut obtaining component 31 of the nut feeding device 3 to move to the obtaining position and fix the nut;

[0081] S40: Control the nut moving assembly 32 of the nut feeding device 3 to move the nut from the pickup position to the welding station.

[0082] In the above embodiment, the nut delivery step (S10) distributes nuts of different specifications to the corresponding ejection module positions. The size matching step (S20) ensures that nuts of the correct size are selected for subsequent processing. The nut acquisition step (S30) is responsible for accurately acquiring and securing the nuts at the extraction position. The nut movement step (S40) ensures that the nuts are accurately moved to the welding position for subsequent welding. These steps constitute a complete nut feeding method. By flexibly controlling each component, it can adapt to the needs of nuts of different sizes and achieve an efficient and accurate nut feeding process.

[0083] In the above embodiment, the nut feeding method splits the continuous nut conveying process into two steps: nut conveying and feeding. In the first step, each nut specification is conveyed using a dedicated nut conveying module to prevent confusion and misinstallation of multiple specifications of nuts. In the second step, a nut feeding device 3 capable of reliably picking up and placing nuts of any specification is placed on the lower electrode positioning pin 43 of the nut projection welder 4, ensuring that there will be no interference with various shapes of plate parts. By splitting the nut conveying process into two steps, the present disclosure allows each action to be performed simultaneously, making their actions more simplified and requiring less time.

[0084] In some embodiments, as shown in FIG7 , the method further includes:

[0085] S31: After the nut retrieval assembly 31 of the nut feeding control device 3 moves to the retrieval position and secures the nut, it determines whether the nut is secure based on the sensor signal. If so, it proceeds to the next step. By using sensors to monitor the nut's securement status, it ensures that the nut is stably secured within the nut retrieval assembly 31 before proceeding to subsequent steps. The sensor signal determines whether to proceed to the next step, which helps ensure the accuracy and reliability of the nut feeding process.

[0086] In some embodiments, as shown in FIG8 , the method further includes:

[0087] S41: Setting a waiting position during the process of the nut moving component 32 controlling the nut feeding device 3 moving the nut from the picking position to the welding station, and controlling the nut moving component 32 of the nut feeding device 3 to move the nut from the picking position to the waiting position; specifically, controlling the nut moving component 32 of the nut feeding device 3 to set a waiting position at a certain point during the nut movement process to ensure that the nut can stay at the waiting position before the plate moves or the welding point is switched to the welding station.

[0088] S42: Based on the timing of the next point of the plate moving to the welding station, the nut moving assembly 32 of the nut feeding device 3 is controlled to move the nut from the waiting position to the welding station. This step ensures that the nut can be moved from the waiting position to the welding station before the plate is ready for welding, so as to carry out the next welding operation.

[0089] It can be understood that the waiting position can be the nearest point that does not affect the movement of the plate and the lifting of the electrode arm, so that the distance from the waiting position to the welding station is the shortest, that is, the nut can be fed in the shortest time, maximizing production efficiency.

[0090] As at least one feasible way, the servo electric slide that realizes the nut feeding function is driven by a servo motor. No matter which nut ejection module the nut electric gripper grabs the nut of which specification, and no matter whether the position of the plate is changed into place or the locating pin at the lower electrode is extended into place, the servo electric slide can move the electric gripper and the projection welding nut to a closer position (waiting position) and wait. Once their action is completed, they can immediately complete this shorter distance movement in a shorter time.

[0091] In some embodiments, the present disclosure provides a corresponding nut ejection module at the end of each specification of the nut conveying module. During the actual production process, only the nut of the specification to be welded is in the ejection state. In this way, when the nut is clamped by the nut electric gripper and the nut ejection module is retracted, its nut feeding path is fed in a straight line and will not interfere with nuts of any other specifications or ejection mechanisms.

[0092] In some embodiments, the nut acquisition assembly 31 of the nut feeding device 3 includes a gripper mechanism 31A. As shown in FIG5 , the gripper mechanism 31A includes a pair of jaws 31A-1 capable of centered parallel movement or centered fan-shaped swing. When the gripper mechanism 31A is released, the gap between the two jaws 31A-1 is greater than the maximum width of the largest nut required for welding to the plate. The centered parallel movement described herein refers to the gripping apparatus of the gripper mechanism moving parallel along a fixed axis to grasp or release an object. Parallel movement maintains the stability of the grasped object and is particularly suitable for grasping objects with regular shapes that need to maintain a specific orientation. Its relatively simple structure and easy control make it suitable for rapid pick-and-place operations on large-scale production lines. The centered fan-shaped swing described herein refers to the gripper mechanism swinging in a fan-shaped motion around a fixed point to accommodate grasping objects in different positions. The fan-shaped swing allows the gripper mechanism to cover a larger working area, increasing the flexibility and adaptability of the grasping operation.

[0093] As shown in FIG9 , the method further includes: S50 : controlling the gripping mechanism 31A to maintain a loosened state during the process of controlling the nut moving assembly 32 of the nut feeding device 3 to move back to the pickup position or the initial position.

[0094] The step of maintaining the loose state during the back movement (S50) ensures that the clamping jaws 31A-1 remain open during the back movement process so as to be repositioned or ready to receive the next nut. That is, the gripping mechanism 31A can be directly shifted to both sides of the nut to be grasped without being blocked by other objects in the middle. After moving into position, the grasping action can be directly performed. Through this step, it can be ensured that the clamping jaws 31A-1 will not hinder any operation during the back movement process, nor will it be hindered by the nut. The nut ejection module can transport the nut to the pickup position in advance. This method also provides sufficient space to accommodate the width of the maximum specification nut required for welding on the plate. This helps to increase the flexibility and applicability of the system and adapt to the processing requirements of nuts of different specifications.

[0095] In some embodiments, in order to realize automatic loading of nuts, all specifications of nuts required for welding by this high-flexibility nut projection welding machine 4 can be equipped with a dedicated nut conveying device 1 or a nut conveying module, and the nut conveyor is equipped with a hopper 11. No matter which stamping parts and nuts of which specifications are welded during the production process, continuous, uninterrupted and fully automatic loading can be achieved without human intervention, which greatly improves the flexibility and production efficiency of the projection welding machine and reduces production costs to a greater extent.

[0096] In a third aspect, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the aforementioned nut feeding method. The computer-readable storage medium can be a tangible storage medium, such as a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a floppy disk, a hard disk, a removable storage disk, a CD-ROM, or any other form of storage medium known in the art.

[0097] In a fourth aspect, the present disclosure provides a computer program product, comprising a computer program / instruction, characterized in that the computer program / instruction implements the steps of the above method when executed by a processor.

[0098] It should be understood by those skilled in the art that the various exemplary components, systems and methods described in conjunction with the embodiments disclosed herein can be implemented in hardware, software or a combination of the two. Whether it is specifically performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this disclosure. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of this disclosure are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link via a data signal carried in a carrier.

[0099] It should be understood that the present disclosure is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present disclosure is not limited to the specific steps described and illustrated. Those skilled in the art can make various changes, modifications, and additions, or change the order of the steps after understanding the spirit of the present disclosure.

[0100] In the present disclosure, features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, and / or combined with or replace features of other embodiments.

[0101] The foregoing description is merely a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Those skilled in the art will readily appreciate that various modifications and variations of the present disclosure are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present disclosure shall be included within the scope of protection of the present disclosure.

Claims

1. A flexible nut feeding system, characterized in that: The flexible nut feeding system comprises: A nut conveying device (1) comprises a first nut conveying module (1A) and a second nut conveying module (1B), each used for conveying nuts to be welded of the same type or different specifications; A nut ejecting device (2), comprising a first nut ejecting module (2A) and a second nut ejecting module (2B), wherein the first nut ejecting module (2A) is located at the end of the first nut conveying module (1A), and the second nut ejecting module (2B) is located at the end of the second nut conveying module (1B), and is used to respectively receive the nuts to be welded ejected by different nut conveying modules of the nut conveying device (1) and eject the nuts to be welded to a pickup position; A nut feeding device (3) is provided. The nut feeding device (3) is located above the nut ejecting device (2) at least when the nut feeding device (3) is in the state of being in the pickup position. The nut feeding device (3) comprises a nut acquiring component (31) and a nut moving component (32). The nut acquiring component (31) is mounted on the nut moving component (32). The nut acquiring component (31) is used to take the nut to be welded at the pickup position. The nut moving component (32) is used to move the nut acquiring component (31) and the nut to be welded from the pickup position to the welding station.

2. The flexible nut feeding system according to claim 1, characterized in that: The nut acquisition component (31) includes any one of a gripping mechanism (31A), a negative pressure adsorption mechanism, and a magnetic adsorption mechanism. When the nut acquisition component (31) includes the gripping mechanism (31A), the gripping mechanism (31A) is provided with a receiving groove (311) capable of accommodating nuts of at least two specifications; and / or The nut obtaining component (31) is also provided with a sensor for detecting whether the nut obtaining component (31) has taken the nut to be welded.

3. The flexible nut feeding system according to claim 1, characterized in that: The nut moving assembly (32) includes any one of a single-axis moving slide, a two-axis moving slide, or a multi-axis moving slide. When the nut moving assembly (32) includes a single-axis moving slide, the arrangement direction and the moving direction of the single-axis moving slide are configured to be along a straight line, and the straight line is parallel to the line connecting the pickup position to which each nut ejecting module of the nut ejecting device (2) ejects the nut to be welded and the final placement point of the nut.

4. The flexible nut feeding system according to claim 1, characterized in that: Each nut ejection module of the nut ejection device (2) comprises a receiving plate (21) and an ejection mechanism (22), wherein the ejection mechanism (22) comprises an ejector rod (221), and the top of the ejector rod (221) comprises a positioning pin shaft portion (221-1) and a supporting step portion (221-2), which are respectively used for inserting into the through hole of the nut to be welded and supporting the end face of the nut to be welded; The receiving plate (21) is arranged corresponding to the outlet end of the nut conveying module of the nut conveying device (1), and the receiving plate (21) has a hole that allows the push rod (221) to pass through. The receiving plate (21) is provided with a limiting structure (211) on a side away from the outlet end of the nut conveying module, so that the position of the nut to be welded is coaxial with the push rod (221).

5. The flexible nut feeding system according to claim 4, characterized in that: The nut conveying device (1) comprises a silo (11), a vibrating plate (12) and a nut conveying pipe (13); the vibrating plate (12) is located between the silo (11) and the nut conveying pipe (13) and is used to screen out nuts with correct postures; the silo (11) is located above the vibrating plate (12) and is used to replenish nuts; and the end of the nut conveying pipe (13) is connected to the receiving plate (21).

6. The flexible nut feeding system according to claim 3, characterized in that: In the direction close to the welding station, the extension direction of the nut feeding device (3) or its nut conveying path forms a first angle with the horizontal reference plane where the center point of the welding station is located, and the extension direction of the nut feeding device (3) or its nut conveying path forms a second angle with the horizontal vertical reference plane where the center point of the welding station is located.

7. A nut feeding method, characterized in that: The method is implemented by the flexible nut feeding system according to any one of claims 1 to 6, and comprises the following steps: Controlling the at least two nut conveying modules of the nut conveying device to convey nuts of at least two specifications to their ends respectively, so that the positions of the nuts of at least two specifications correspond to the upper parts of the at least two nut ejecting modules of the nut ejecting device respectively; Based on the specifications of the nuts required for welding at the next point of the plate, the nut ejection module corresponding to the nut ejection device is controlled to eject the nuts of the required specifications to the removal position; Controlling the nut receiving assembly of the nut feeding device to move to the receiving position and fix the nut; The nut moving assembly of the nut feeding device is controlled to move the nut from the taking position to the welding station.

8. The nut feeding method according to claim 7, characterized in that: The method further comprises: A waiting position is set in the process of controlling the nut moving component of the nut feeding device to move the nut from the picking position to the welding station, and the nut moving component of the nut feeding device is controlled to move the nut from the picking position to the waiting position. Based on the timing when the next point of the plate moves to the welding station, the nut moving component of the nut feeding device is controlled to move the nut from the waiting position to the welding station.

9. The nut feeding method according to claim 7, characterized in that: The method further comprises: After the nut obtaining component of the control nut feeding device moves to the picking position and fixes the nut, it is determined based on the sensor sensing signal whether the nut is fixed. If so, the next step is carried out.

10. The nut feeding method according to claim 7, characterized in that: The nut receiving assembly of the nut feeding device includes a gripping mechanism, which includes a pair of clamping jaws capable of parallel movement or fan-shaped swing in a centered manner. When the gripping mechanism is in a released state, the gap between the two clamping jaws is greater than the maximum width of the largest nut required for welding to the plate. The method further comprises: During the process of controlling the nut moving assembly of the nut feeding device to move back to the pickup position or the initial position, the gripping mechanism is controlled to remain in a loosened state.

11. A computer-readable storage medium having computer instructions stored thereon, characterized in that: When the instructions are executed by a processor, the instructions are used to implement the steps of the method according to any one of claims 7 to 10.

12. A computer program product comprising a computer program / instructions, characterized in that The computer program / instructions are executed by a processor to implement the steps of the method according to any one of claims 7 to 10.

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