WO2021184669A1 - Bolt and nut automatic assembly system for flat cultivation container - Google Patents

Bolt and nut automatic assembly system for flat cultivation container Download PDF

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Publication number
WO2021184669A1
WO2021184669A1 PCT/CN2020/109499 CN2020109499W WO2021184669A1 WO 2021184669 A1 WO2021184669 A1 WO 2021184669A1 CN 2020109499 W CN2020109499 W CN 2020109499W WO 2021184669 A1 WO2021184669 A1 WO 2021184669A1
Authority
WO
WIPO (PCT)
Prior art keywords
bolt
nut
plate
bolts
flat
Prior art date
Application number
PCT/CN2020/109499
Other languages
French (fr)
Chinese (zh)
Inventor
吴劼
姜东�
丁艳锋
周国栋
Original Assignee
南京根田科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 南京根田科技有限公司 filed Critical 南京根田科技有限公司
Publication of WO2021184669A1 publication Critical patent/WO2021184669A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06—Screw or nut setting or loosening machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/10—Aligning parts to be fitted together

Definitions

  • the invention relates to an automatic assembly system for transparent root cultivation containers, in particular to an automatic assembly system for bolts and nuts for flat cultivation containers.
  • Crop phenotype is the external performance jointly determined by genotype and environment, which is of great significance for the selection and breeding of good varieties and speeding up the breeding process. Especially under controllable indoor conditions, the development of automated, high-throughput and intelligent phenotyping devices is an important part of the field of phenotyping research.
  • a complete set of automatic assembly device for bolts and nuts includes a bolt clamping and finished product unloading mechanism, a nut clamping and conveying structure, and a bolt and nut assembly mechanism.
  • a mobile bolt and nut automatic locking device includes a base and a carrier mounted on the base, an X-axis and Y-axis drive device, a mounting frame, a rotating bolt device and a nut fixing device.
  • the Y-axis drive device is fixed on the mounting frame, the rotating bolt device and the nut fixing device are installed on the power output end of the Y-axis drive device to slide in the longitudinal direction in the same direction, and the mounting frame is fixedly installed on the power output end of the X-axis drive device. Sliding in the horizontal direction, the load is erected on the rotating bolt device and the nut fixing device and fixedly installed on the base, and the body to be assembled is fixed on the mounting frame. It is realized that the rotating bolt device and the nut fixing device can movably perform automatic bolt and nut matching and automatic installation of through holes in different positions on the assembly body, thereby improving the assembly efficiency. The automated assembly of these bolts and nuts reduces labor intensity to a certain extent and improves production efficiency.
  • the invention overcomes the deficiencies in the prior art, and is to provide a bolt and nut automatic assembly system for a flat cultivation container that integrates automatic installation and distribution, synchronous operation, intelligent correction and adjustment, and a high qualification rate.
  • a bolt and nut automatic assembly system for a flat cultivation container includes.
  • the carrier plate is set on the conveyor line for the assembly of bolts, nuts and other parts in the flat cultivation container.
  • Bolt feeding mechanism used for automatic distribution and feeding of bolts.
  • Nut feeding mechanism used for automatic distribution and feeding of nuts.
  • the bolt and nut grabbing mechanism is used for grabbing the bolts provided by the bolt feeding mechanism and transferring them to the carrier plate, and sucking the nuts provided by the nut feeding mechanism and sending them to the carrier plate.
  • the bolt correction mechanism is used to adjust the assembly position of the bolt to be assembled.
  • the bolt feeding mechanism and the nut feeding mechanism are located on both sides of the conveying line, and the conveying line passes through the workbench frame between the bolt feeding mechanism and the nut feeding mechanism.
  • the flat cultivation container includes two transparent plates, a spacer and a light shielding plate.
  • the spacer is sandwiched between two transparent plates and connected by a bolt and nut connection structure.
  • the spacer includes two vertical spacers and a horizontal spacer.
  • the vertical spacers are located on both sides of the transparent plate, and the horizontal spacers Located at the bottom of the transparent plate, the spacer strip and the transparent plate form a hollow cultivation container, and the outer side of the vertical spacer strip is also provided with more than one hanging trough, and the hanging trough is located outside the hollow container.
  • the shading plate is located on the top of the transparent plate, and a shading plate groove is opened in the middle of the shading plate.
  • the shape of the shading plate groove is the same as the shape of the opening at the top of the container and the position is corresponding.
  • the area of the shading plate is larger than the area of the top of the container.
  • a plurality of through holes and a plurality of positioning sleeves for placing bolts are provided on the carrier plate.
  • a jacking buffer mechanism is provided under the conveying line in the frame of the workbench; the jacking buffer mechanism includes a first jacking assembly and a second jacking assembly, and the first jacking assembly includes a jacking rod for driving the jacking A linear drive mechanism for lifting the lifting rod. After the lifting rod is lifted, the upper end of the lifting rod can extend into the through hole on the carrier plate above it; the second lifting component is used for lifting and lowering the carrier plate above it.
  • the bolt feeding mechanism includes a bolt vibrating disc.
  • the discharge port of the bolt vibrating disc is connected to the bolt conveying track.
  • a direct vibrator is provided under the bolt conveying track, and the bolt is provided at the outlet of the bolt conveying track. Turn over mechanism.
  • the bolt turning mechanism includes a mounting base plate, a flat baffle plate, a clamping claw for clamping the bolt at the outlet of the bolt conveying track, a turning mechanism that drives the clamping claw to turn over, a flat baffle and a clamp
  • the material claw is close to the discharge port of the bolt conveying track; the installation bottom plate drives the clamping claw and the flat baffle to slide in the horizontal direction perpendicular to the discharge port of the bolt conveying track.
  • the nut feeding mechanism includes a nut vibrating disk, the outlet of the nut vibrating disk is connected to the nut conveying track, a direct vibrator is provided under the nut conveying track, and the outlet of the nut conveying track is provided with a A flat baffle that slides in the horizontal direction and its sliding direction is perpendicular to the discharge port of the nut conveying rail.
  • the flat baffle is close to the discharge port of the nut conveying rail.
  • the top of the flat baffle near the discharge port is provided with an outlet
  • the material opening is matched with the material receiving trough used to accommodate the nut.
  • the bolt and nut grabbing mechanism includes a horizontal sliding assembly and a bolt and nut grabbing assembly.
  • the horizontal sliding assembly includes a support plate and a suspension rod.
  • the support plate is vertically arranged on the horizontal frame of the workbench frame above the conveying line and can slide along the length of the horizontal frame.
  • the suspension rod is vertically connected to the horizontal frame.
  • the supporting plate can slide along the axial direction of the supporting plate.
  • the bolt and nut grabbing assembly is used to grab and drive the bolt or nut to move up and down along the boom.
  • the horizontal sliding assembly further includes a first drive mechanism that drives the support plate to slide along the length of the horizontal frame body, and a second drive mechanism that drives the suspension rod to slide along the axis of the support plate.
  • the bolt and nut grabbing assembly includes a manipulator mounting plate connected with the boom and sliding up and down along the boom, and a bolt and nut picking claw arranged on the manipulator mounting plate.
  • the nut take-out claw includes a nut suction head mechanism butted with the nut feeding mechanism, the nut suction head mechanism sucks the nut provided by the nut feeding mechanism and transmits it to the carrier plate; the nut suction head mechanism can be installed along the manipulator Slide up and down on the board.
  • the bolt taking claw includes a pneumatic finger that is arranged at the bottom of the manipulator mounting plate and can slide up and down along the manipulator mounting plate.
  • the output end of the pneumatic finger is provided with a clamping claw that can be opened and closed on a horizontal plane, and the clamping claw of the pneumatic finger faces the bolt supply One side of the material mechanism.
  • the bolt correction mechanism includes a left translational clamping jaw mechanism, a right translational clamping jaw mechanism, and a rising clamping jaw mechanism.
  • the left translational clamping jaw mechanism and the right translational clamping jaw mechanism are symmetrically arranged for aligning both sides of the flat cultivation container. The assembly position of the bolt to be assembled is adjusted; the lifting jaw mechanism is used to adjust the assembly position of the bolt to be assembled at the bottom of the flat cultivation container.
  • the left translational clamping jaw mechanism and the right translational clamping jaw mechanism are symmetrically arranged, and each includes a plurality of pneumatic fingers for driving the plurality of pneumatic fingers to move away from or close to the first driving device of the disc carrier in the horizontal direction at the same time, so
  • the output end of the pneumatic finger is provided with a clamping jaw that can be opened and closed on a horizontal plane, and the clamping jaw faces the side of the tray.
  • the lifting gripper mechanism is located below the tray and includes a plurality of pneumatic fingers, and a second driving device for driving the plurality of pneumatic fingers to move up and down at the same time. There is a through hole for the vertically upward clamping jaw to pass through.
  • the present invention adopts the above technical solutions, which has the following advantages: 1.
  • the present invention realizes automatic feeding of bolts through a bolt feeding mechanism, adjusts the assembly position of the bolt to be assembled through a bolt correction mechanism, and realizes automatic feeding of nuts through a nut feeding mechanism , Through the bolt and nut grabbing mechanism to realize the automatic grabbing of the bolt and nut and the automatic tightening of the bolt and nut, realize the high-throughput and automatic assembly of the bolt and nut of the flat cultivation container, with a high degree of automation, and improve work efficiency.
  • a bolt correction mechanism is used to adjust the assembly position of the bolt to be assembled, which avoids product defects caused by the deviation of the bolt assembly position, and improves the qualification rate of the product.
  • Fig. 1 is a schematic diagram of the structure of the bolt and nut automatic assembly system of the flat cultivation container of the present invention.
  • Figure 2 is a schematic diagram of the structure of the flat cultivation container of the present invention.
  • Fig. 3 is a schematic diagram of the structure of the disc carrier of the present invention.
  • Fig. 4 is a schematic diagram of the structure of the lifting buffer mechanism of the present invention.
  • Fig. 5 is a schematic diagram of the structure of the bolt feeding mechanism of the present invention.
  • Fig. 6 is a schematic diagram of the structure of the nut feeding mechanism of the present invention.
  • Fig. 7 is a schematic diagram of the structure of the workbench frame and the bolt and nut grabbing mechanism of the present invention.
  • Fig. 8 is a schematic diagram of the structure of the bolt and nut grabbing assembly of the present invention.
  • Fig. 9 is a schematic diagram of the structure of the left translational clamping jaw mechanism of the present invention.
  • Figure 10 is a schematic diagram of the structure of the lifting jaw mechanism.
  • the present invention relates to an automatic assembly system for bolts and nuts of a flat cultivation container, including a carrier plate 8, which is arranged on a conveying line 4-9 for the assembly of bolts, nuts and other components in the flat cultivation container 10 .
  • the bolt feeding mechanism 3 is used to automatically divide and feed the bolts.
  • the nut feeding mechanism 6 is used to automatically divide and feed the nuts.
  • the bolt and nut grabbing mechanism 5 is used for clamping the bolts provided by the bolt feeding mechanism 3 and transferring them to the carrier plate 8, and sucking the nuts provided by the nut feeding mechanism 6 and sending them to the carrier plate 8.
  • the bolt correction mechanism is used to adjust the assembly position of the bolt to be assembled.
  • the flat cultivation container 10 includes two pieces of tempered glass 10-1, a spacer bar and a light-shielding plate 10-5; the spacer bar is sandwiched between the two pieces of tempered glass 10-1, and the interval
  • the strips include two vertical spacers 10-2 and a horizontal spacer (not shown in the figure).
  • the vertical spacers 10-2 are located on both sides of the tempered glass 10-1, and the horizontal spacer (not shown in the figure) Located at the bottom of tempered glass 10-1, spacers and tempered glass 10-1 form a hollow container.
  • the hollow container is filled with culture soil, and plant roots grow in the container; tempered glass 10-1 is evenly arranged on both sides and bottom Bolt holes 10-8, the two pieces of tempered glass 10-1 are fixed by bolts and nuts.
  • the outer side of the vertical spacer 10-2 is also provided with more than one hanging groove 10-3, and the hanging groove 10-3 is located
  • the outside of the hollow container; the shading plate 10-5 is located on the top of the tempered glass 10-1, and the middle of the shading plate 10-5 is provided with a shading plate groove 10-4.
  • the position and shape of the shading plate groove 10-4 are the same as those of the flat cultivation container 10.
  • the top openings are correspondingly arranged for easy filling.
  • the area of the shading plate 10-5 is larger than the area of the top of the flat cultivation container 10.
  • the two vertical spacers 10-2 are also equipped with shading plate cards respectively. 10-6 and spring 10-7, the light-shielding card 10-6 is inserted into the end of the vertical spacer 10-2, and the light-shielding plate 10-5 is fixed after rotating 90°, and the spring 10-7 is located in the middle of the two. Play a shock absorption and buffer function.
  • the bolt feeding mechanism 3 and the nut feeding mechanism 6 are located on both sides of the conveying line 4-9, and the conveying line 4-9 passes through the bolt feeding mechanism 3 and the nut feeding mechanism 6 Between the workbench frame 4; the conveyor line is preferably a double-speed chain profile, the double-speed chain profile is provided with a chain, and the driving device drives the chain to translate along the length of the double-speed chain profile.
  • the carrier plate 8 is provided with a plurality of through holes and a plurality of positioning sleeves 8-2 for placing the bolts 8-1.
  • a jacking buffer mechanism 1 is provided under the double-speed chain profiles 4-9 in the workbench frame 4; the jacking buffer mechanism 1 includes a first jacking assembly and a second jacking assembly, the first jacking assembly includes a jacking rod, In the linear drive mechanism that drives the lifting rod up and down, the upper end of the lifting rod can be extended into the through hole on the tray 8 above it after it is lifted; the second jacking assembly is used to lift the tray 8 above it and decline.
  • the carrier plate 8 is provided with a plurality of through holes and a plurality of positioning sleeves 8-2 for placing the bolts 8-1, and positioning sleeves 8-2 for placing the bolts 8-1.
  • the number of bolts is the same as the number of bolts that need to be placed in the flat cultivation container.
  • the through holes include multiple circular through holes 8-3 and multiple square through holes 8-6.
  • the carrier plate 8 is also provided with multiple positioning cones.
  • the pin sleeve 8-5, and the disk carrier 8 are provided with disk carrier gaskets 8-4 on both sides.
  • the lifting buffer mechanism includes a lifting fixing plate 1-11, a lifting plate 1-7, a first lifting component and a second lifting component, and four first linear bearings 1 are fixed on the lifting fixing plate 1-11.
  • the positioning plate 1-4 is provided under the jacking fixing plate 1-11, and the positioning plate 1-4 is provided under the double-speed chain profile 4-9 in the workbench frame 4 ,
  • the jacking plate 1-7 is arranged above the jacking fixing plate 1-11.
  • the jacking plate 1-7 is provided with positioning pins 1-9 that match the positioning cone pin sleeve 8-5 on the carrier plate 8, and the jacking plate 1-7 is provided with a shock-absorbing sensor 1-8.
  • the linear drive mechanism in the first jacking assembly is preferably a motor push rod 1-15, the motor push rod 1-15 is arranged in the motor push rod bracket 1-1;
  • the jacking rod includes a bracket 1-2, a support plate 1- 13 and the first guide shaft 1-12, the bracket 1-2 is arranged above the end of the telescopic sleeve of the motor push rod 1-15, and the two sides of the bracket 1-2 are connected with the support plate 1-13, and each support The plate 1-13 is connected with the bottom ends of the two first guide shafts 1-12. After the first guide shaft 1-12 is lifted, its upper end passes through the positioning plate 1-4 and the first guide shaft 1-11 in turn.
  • the linear bearing 1-10 and the jacking plate 1-7 can be extended into the circular through hole 8-3 on the carrier plate 8 above them; the upper end of the first guide shaft 1-12 is provided with a cushion 1- 6.
  • the second jacking assembly includes jacking cylinders 1-14, jacking guide posts 1-3, jacking cylinders 1-14 are arranged under the jacking fixing plate 1-11, and the output shaft of jacking cylinders 1-14 and jacking
  • the lifting plate 1-7 is connected; there are 4 lifting guide posts 1-3, the upper part of the lifting guide post 1-3 passes through the second linear bearing 1-5 on the lifting fixing plate 1-11 and then connects to the lifting plate
  • the 1-7 connection is used to guide the lifting and lowering of the lifting plate 1-7.
  • a jacking block 4-10 is provided above the double-speed chain profile 4-9 in the workbench frame 4 for positioning the jacking height of the jacking plate 1-7.
  • the bolt feeding mechanism 3 includes a bolt vibration plate support 3-1, a bolt vibration plate 3-2 provided on the bolt vibration plate support 3-1, and a discharge port of the bolt vibration plate 3-2
  • the bolt conveying track 3-3 is connected, a direct vibrator 3-4 is arranged under the bolt conveying track 3-3, and a bolt turning mechanism is arranged at the discharge port 3-5 of the bolt conveying track 3-3.
  • the bolt turning mechanism includes a mounting base plate 3-10, a flat baffle plate 3-13 is provided on the mounting base plate 3-10, a clamping claw and a drive for clamping the bolt at the discharge port 3-5 of the bolt conveying track 3-3
  • the turning mechanism 3-8 for turning the clamping jaws, the flat baffle 3-13 and the clamping jaws are close to the discharge port 3-5 of the bolt conveying track 3-3; the installation bottom plate 3-10 drives the clamping jaws and the flat baffle 3 -13 slides in the horizontal direction perpendicular to the discharge port 3-5 of the bolt conveying track 3-3.
  • a bottom plate 3-12 is provided below the discharge port 3-5 of the bolt conveying track 3-3, and a sliding table cylinder 3-9 is provided above the bottom plate 3-12, and the sliding table cylinder 3-9 drives it.
  • the upper mounting bottom plate 3-10 slides in the horizontal direction, and its sliding direction is perpendicular to the outlet 3-5 of the bolt conveying track 3-3.
  • the mounting bottom plate 3-10 is provided with a flat baffle 3-13, a clamping claw for clamping the bolt at the discharge port 3-5 of the bolt conveying track 3-3, and an overturning cylinder 3-8 that drives the clamping claw to turn over ,
  • the flange shaft of the turning cylinder 3-8 is connected with the turning shaft 3-11, and the clamping jaws are connected to the turning shaft 3-11;
  • the clamping jaws are pneumatic fingers 3-7, and two clamping jaws 3 of pneumatic fingers 3-7 -6 facing the discharge port 3-5, used to clamp and put down the bolts at the discharge port 3-5;
  • the flat baffle 3-13 and the two clamping jaws 3-6 are close to the bolt conveying track 3-3
  • the discharge port 3-5, and the flat baffle 3-13 is located on the side of the two clamping jaws 3-6.
  • the bolt vibration plate 3-2 arranges the conveying bolts, and the bolt conveying track 3-3 transports the arranged bolts to the discharge port 3-5 in an orderly manner; controls the pneumatic fingers 3-7 to drive the two grippers 3-6 Open, control the sliding table cylinder 3-9 to drive the mounting base plate 3-10 to slide in the horizontal direction perpendicular to the discharge port 3-5, until the two grippers 3-6 of the pneumatic finger 3-7 are facing the discharge port 3-5, the two clamping jaws 3-6 are facing the bolt heads at the discharge port 3-5, the bolts at the discharge port 3-5 discharge into the open part of the two clamping jaws 3-6, and control the pneumatic finger 3 -7 Drive the two clamping jaws 3-6 to close the clamping bolt head; at the same time, control the sliding table cylinder 3-9 to drive the mounting base plate 3-10 to slide in the horizontal direction perpendicular to the discharge port 3-5 until the pneumatic finger 3
  • the two clamping jaws 3-6 of -7 are far away from the discharge port 3-5, the flat baffle 3
  • control the turning cylinder 3-8 to drive the pneumatic fingers 3-7 and the bolts on the two clamping jaws 3-6 to turn, so that the head of the bolt faces down and the screw part faces up, which is convenient for subsequent installation of the bolts; control bolts The bolt picking claw in the nut grabbing mechanism 5 clamps the screw part of the bolt on the two clamping jaws 3-6, and controls the pneumatic finger 3-7 to drive the two clamping jaws 3-6 to open the release bolt; control the flipping cylinder 3-8 Drive the pneumatic fingers 3-7 on the turning shaft 3-11 and the two clamping jaws 3-6 to turn over so that the two clamping jaws 3-6 of the pneumatic fingers 3-7 face the discharge port 3-5. Repeat the above steps.
  • the nut feeding mechanism includes a nut vibrating disk support 6-1, a nut vibrating disk 6-2 arranged on the nut vibrating disk support 6-1, and a nut vibrating disk 6-2 connected to the discharge port of the nut vibrating disk 6-2
  • the nut conveying track 6-3, the nut conveying track 6-3 is provided with a direct vibrator 6-4, and the outlet of the nut conveying track 6-3 is provided with a horizontal slidable, and its sliding direction is consistent with
  • the nut conveying rail 6-3 has a vertical flat baffle 6-8 at the discharge port, and the flat baffle 6-8 is close to the discharge port of the nut conveying rail 6-3, and the flat baffle 6-8 is close to the side of the discharge port.
  • the top is provided with a material receiving groove 6-7 matched with the discharge port and used for accommodating the nut.
  • a baffle 6-6 is provided at the outlet of the nut conveying track 6-3, a sliding table cylinder 6-5 is arranged above the baffle 6-6, and the sliding table cylinder 6-5 drives the flat baffle above it. 6-8 slides in the horizontal direction, and a nut transition plate 6-9 is also provided on the side of the discharge port of the nut conveying rail 6-3.
  • the nut vibrating plate 6-2 arranges the conveying nuts, the nut conveying track 6-3 transports the arranged nuts to the discharge port in an orderly manner, and controls the sliding table cylinder 6-5 to drive the flat baffle 6-8 in the vertical position.
  • the bolt and nut grabbing mechanism 5 includes a horizontal sliding assembly and a bolt and nut grabbing assembly 5-3.
  • the horizontal sliding assembly includes a support plate 4-4 and a boom 5-1, and a support plate 4- 4 Vertically arranged on the horizontal frame 4-8 of the workbench frame 4 above the double-speed chain profile 4-9, and can slide along the length of the horizontal frame 4-8, the boom 5-1 is vertically connected to the
  • the support plate 4-4 can slide along the axis of the support plate 4-4; the bolt and nut grabbing assembly 5-3 is used to grab and drive the bolt or nut to move up and down along the boom 5-1 .
  • the bolt and nut grabbing mechanism 5 includes a horizontal sliding assembly and a bolt and nut grabbing assembly 5-3.
  • the horizontal sliding assembly includes a support plate 4-4 and a boom 5-1, and a support plate 4- 4 Vertically arranged on the horizontal frame 4-8 of the workbench frame 4 above the double-speed chain profile 4-9, and the horizontal frame 4-8 is provided with slide rails 4-7 and sliding blocks 4-2 along its length. Pass through the slide rail 4-7, the support plate 4-4 is connected to the horizontal frame 4-8 through the slider 4-2, and the horizontal frame 4-8 is also provided with the slide rail 4-2 for driving the slider 4-2 along the slide rail 4.
  • the support plate 4-4 is provided with a slide rail 4-6 along its axis, the slider 4-5 passes through the slide rail 4-6, and the boom 5-1 is vertically connected to the support plate 4-4 through the slide 4-5 ,
  • the support plate 4-4 is also provided with a motor 4-3 for driving the slider 4-5 to slide along the slide rail 4-6; when working, the motor 4-3 drives the slider 4-5 along the axis of the support plate 4-4
  • the sliding rail 4-6 slides in the direction, thereby driving the boom 5-1 to move along the axis of the support plate 4-4.
  • the boom 5-1 is a linear slide module.
  • the bolt and nut grabbing assembly 5-3 includes a manipulator mounting plate 5-8 connected to the boom 5-1 and sliding up and down along the boom 5-1, and bolts arranged on the manipulator mounting plate 5-8
  • the reclaiming claw and the nut reclaiming claw, the motor 5-2 on the boom 5-1 drives the manipulator mounting plate 5-8 to slide up and down along the boom 5-1.
  • the nut take-out claw includes a nut sucking head mechanism butted with the nut feeding mechanism 6, and the nut sucking head mechanism sucks the nut provided by the nut feeding mechanism 6 and transfers it to the carrier plate 8.
  • the nut suction head mechanism is a servo electric batch 5-10.
  • the servo electric batch 5-10 is equipped with a vacuum generator (not shown in the figure) and a nut suction head 5-11.
  • the servo electric batch 5-10 is connected to the main board 5- On 12, the main board 5-12 is slidably connected with the electric batch installation board 5-7 on the manipulator installation board 5-8, and the cylinder 5-9 drives the main board 5-12 to slide up and down along the electric batch installation board 5-7, thereby driving the main board 5
  • the servo electric batch 5-10 on the -12 slides up and down along the electric batch mounting plate 5-7.
  • the bolt reclaiming claw includes a pneumatic finger 5-5 that is located at the bottom of the manipulator mounting plate 5-8 and can slide up and down along the manipulator mounting plate 5-8.
  • the output end of the pneumatic finger 5-5 is provided with a clamp that can be opened and closed on a horizontal plane.
  • the claws 5-4 and the clamping claws 5-4 of the pneumatic fingers 5-5 face the bolt feeding mechanism 3 side.
  • the bottom of the manipulator mounting plate 5-8 is provided with a sliding table cylinder 5-6, the pneumatic fingers 5-5 are connected with the output shaft of the sliding table cylinder 5-6, and the sliding table cylinder 5-6 drives the pneumatic fingers 5-5 along the manipulator.
  • the bottom of the mounting plate 5-8 slides up and down.
  • the bolt correction mechanism includes a left translational clamping jaw mechanism 7, a right translational clamping jaw mechanism 2, and a rising jaw mechanism 9.
  • the left translational clamping jaw mechanism 7 and the right translational clamping jaw mechanism 2 are symmetrically arranged, Adjust the assembly positions of the bolts on the left and right sides of the flat cultivation container respectively.
  • the lifting jaw mechanism 9 is arranged under the double-speed chain profile 4-9 in the workbench frame 4, and is located at the left translational jaw mechanism 7 and the right translational mechanism.
  • the clamping jaw mechanism 2 is used to adjust the assembly position of the bolt at the bottom of the flat cultivation container.
  • the left translational clamping jaw mechanism 7 and the right translational clamping jaw mechanism 2 both include a plurality of pneumatic fingers 7-4, which are used to drive the plurality of pneumatic fingers 7-4 at the same time away from or close to the first driving device 7 of the tray 8 in the horizontal direction. -2.
  • the output end of the pneumatic finger 7-4 is provided with a clamping jaw 7-5 that can be opened and closed on a horizontal plane, and the clamping jaw 7-5 faces the side of the tray 8.
  • the lifting jaw mechanism 9 includes a plurality of pneumatic fingers 9-5, and a second driving device 9-1 for driving the plurality of pneumatic fingers 9-5 to move up and down at the same time.
  • the two clamping jaws 9-6 of the pneumatic fingers 9-5 Vertically facing upwards, the carrier plate 8 is provided with a square through hole 8-6 for the vertically upward clamping jaws 9-6 to pass through.
  • the left translational clamping jaw mechanism 7 and the right translational clamping jaw mechanism 2 both include a mounting plate 7-1, and the mounting plate 7-1 is connected to the double-speed chain profile 4-9 in the workbench frame 4 ,
  • the mounting plate 7-1 is provided with a bracket 7-6 and a slide rail 7-3, the bracket 7-6 is slidably connected to the slide rail 7-3, and the first driving device 7-2 drives the bracket 7-6 in the horizontal direction Far away from or close to the carrier disk 7, the first driving device 7-2 can adopt a servo motor.
  • the bracket 7-6 is provided with a plurality of pneumatic fingers 7-4 along the length direction.
  • the number of pneumatic fingers 7-4 matches the number of bolts on the left/right side of the flat cultivation container, preferably 3;
  • the pneumatic fingers 7-4 are evenly distributed in the length direction of the bracket 7-6.
  • the output ends of the pneumatic fingers 7-4 are equipped with clamping jaws 7-5 that can be opened and closed on a horizontal plane, and the clamping jaws 7-5 face the carrier 8 One side.
  • the lifting jaw mechanism 9 includes a bracket connecting plate 9-3.
  • the bracket connecting plate 9-3 is arranged under the double-speed chain profile 4-9 in the workbench frame 4, and the bracket connecting plate 9-3 is provided with a bracket plate 9-7.
  • the biaxial cylinder 9-1 is connected to the bracket plate 9-7 through the cylinder connecting plate 9-4.
  • the vertical direction of the bracket plate 9-7 is provided with a sliding rail 9-2, and the cylinder connecting plate 9-4 is connected to the sliding rail. 9-2 sliding connection, the cylinder connecting plate 9-4 is provided with a plurality of pneumatic fingers 9-5, the number of pneumatic fingers 9-5 matches the number of bolts on the bottom of the flat cultivation container, preferably 2, 2
  • the two clamping jaws 9-6 of the pneumatic fingers 9-5 are all vertically upward, and the carrier plate 8 is provided with a square through hole 8-6 for the vertical upward clamping jaw 9-6 to pass through.
  • the dual-axis cylinder 9-1 drives the cylinder connecting plate 9-4 to slide up and down along the support plate 9-7 and drives the pneumatic fingers 9-5 to vertically upward gripping jaws 9-6 to pass through or withdraw from the carrier plate 8 Square through holes 8-6.
  • the working process of the present invention is as follows.
  • the positioning cone pin sleeve 8-5 on the 8 controls the jacking cylinder 1-14 to drive the jacking guide column 1-3 to drive the jacking plate 1-7 and the carrier plate 8 to continue to rise until they reach the jacking block.
  • Control the bolt vibration plate 3-2 to arrange the conveying bolts, and the bolt conveying track 3-3 will orderly convey the arranged bolts to the discharge port 3-5; control the pneumatic fingers 3-7 to drive the two grippers 3-6 to open.
  • Control the sliding table cylinder 3-9 to drive the mounting bottom plate 3-10 to slide in the horizontal direction perpendicular to the discharge port 3-5, until the open part of the two grippers 3-6 of the pneumatic finger 3-7 is directly facing out Discharge port 3-5, the open part of the two clamping jaws 3-6 is facing the bolt head at the discharging port 3-5, the bolts at the discharging port 3-5 of the bolt conveying track 3-3 are discharged into the two clamps
  • the open part of the claw 3-6 control the pneumatic finger 3-7 to drive the two clamping claws 3-6 to close the clamping bolt head; at the same time, control the slide cylinder 3-9 to drive the mounting base plate 3-10 to be perpendicular to the discharge port 3.
  • the bolt and nut grabbing mechanism 5 is controlled to drive the bolt and nut grabbing assembly 5-3 to move to the front of the bolt feeding mechanism 3, and the motor 5-2 is controlled to drive the manipulator mounting plate 5-8 to drive the bolt picking claw along the boom 5- 1 Slide down, while controlling the sliding table cylinder 5-6 at the bottom of the manipulator mounting plate 5-8 to drive the pneumatic fingers 5-5 to slide up and down along the bottom of the manipulator mounting plate 5-8 until the two grippers 5- of the pneumatic fingers 5-5 4 Lower to the top of the screw part of the bolt on the two clamping jaws 3-6 of the pneumatic finger 3-7 on the bolt turning mechanism, control the pneumatic finger 5-5 to drive the two clamping jaws 5-4 to open, and then drive the bolt and nut to grab
  • the mechanism 5 moves to the bolt feeding mechanism 3 as a whole until the open part of the two clamping jaws 5-4 of the pneumatic finger 5-5 is directly above the screw part of the bolt on the two clamping jaws 3-6 of the pneumatic finger 3-7; then control The slide cylinder 5
  • the control bolt and nut grabbing mechanism 5 integrally drives the bolt and nut grabbing assembly 5-3 and the bolts on the two clamping jaws 5-4 to move above the carrier plate 8 in the workbench frame 4, and at the same time controls the bottom of the manipulator mounting plate 5-8
  • the sliding table cylinder 5-6 drives the pneumatic fingers 5-5 to slide up and down along the bottom of the manipulator mounting plate 5-8 until the bolts on the two clamping jaws 5-4 of the pneumatic fingers 5-5 are lowered to the positioning sleeve 8-on the carrier plate 8.
  • the control motor 5-2 drives the manipulator mounting plate 5-8 to drive the bolt reclaiming claw to slide upward along the boom 5-1, and at the same time controls the sliding table cylinder 5-6 at the bottom of the manipulator mounting plate 5-8 to drive the pneumatic fingers 5-5 along the manipulator
  • the bottom of the mounting plate 5-8 moves upward until the manipulator mounting plate 5-8 and the pneumatic fingers 5-5 will not affect the subsequent work of the nut suction head mechanism.
  • the glass secondary positioning table 11 adjusts the position of the tempered glass 13; controls the mechanical arm 12 to grab the glass
  • the tempered glass 13 on the secondary positioning table 11 is moved to the top of the carrier plate 8 in the workbench frame 4 until the two sides of the tempered glass 13 and the bolt holes 10-8 at the bottom are facing the carrier plate 8 positioning sleeve 8-- 2 on the bolts, and then control the mechanical arm 12 to place the tempered glass 13 on the upper end of the first guide shaft 1-12.
  • the control motor push rod 1-15 drives the pallet 1-13 and the first guide shaft 1-12 above it to slowly descend, and drives the tempered glass 13 above it to slowly descend until the bolts on the positioning sleeve 8-2 of the carrier plate 8 are inserted In the bolt holes 10-8 of the tempered glass 13.
  • Control the nut vibration plate 6-2 to arrange the conveying nuts, the nut conveying track 6-3 will orderly convey the arranged nuts to the discharge port, and control the sliding table cylinder 6-5 to drive the flat baffle 6-8 to be perpendicular to the output Slide the material opening in the horizontal direction until the material receiving groove 6-7 on the flat baffle 6-8 is facing the discharge opening of the nut conveying track 6-3, and the nut at the discharge opening enters the receiving groove 6 -7; Control the sliding table cylinder 6-5 to drive the flat baffle 6-8 to drive the nut in the receiving groove 6-7 to slide in the horizontal direction of the nut transition plate 6-9, until the flat baffle 6-8 drives the nut Slide into the nut transition plate 6-9 away from the discharge port. At this time, the nut transition plate 6-9 blocks the nut in the receiving groove 6-7 and does not fall, while the flat baffle 6-8 blocks the nut at the discharge port. Do not let the material out.
  • the control bolt and nut grabbing mechanism 5 integrally drives the bolt and nut grabbing assembly 5-3 and the nut on the nut suction head 5-11 to move above the carrier plate 8 in the workbench frame 4, and the cylinder 5-9 drives the main board 5-12 And the servo electric batch 5-10 slides up and down along the electric batch mounting plate 5-7 until the nut suction head 5-11 is lowered above the bolt on the carrier plate 8, and then the bolt and nut grabbing mechanism 5 is driven to move as a whole until the nut suction head 5- 11 is located directly above the bolt on the carrier plate 8, and then control the cylinder 5-9 to drive the servo electric batch 5-10 to slide down the electric batch mounting plate 5-7, and at the same time control the vacuum generator on the servo electric batch 5-10 to work.
  • the nut suction head 5-11 puts the nut inside it on the screw part of the bolt on the carrier plate 8, controls the servo electric batch 5-10 to work, and tightens the nut. Repeat the above steps until nuts are placed on the bolts on the carrier plate 8 and tightened.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

A bolt and nut automatic assembly system for a flat cultivation container. The system comprises: a carrier pallet (8), which is arranged on a conveyor line (4-9) and used for assembling bolts, nuts and other components in a flat cultivation container (10); a bolt supply mechanism (3) for automatically distributing and feeding the bolts; a nut supply mechanism (6) for automatically distributing and feeding the nuts; a bolt and nut grabbing mechanism (5) for clamping the bolts provided by the bolt supply mechanism (3) and transferring the bolts to the carrier pallet (8), and for sucking the nuts provided by the nut supply mechanism (6) and transferring the nuts to the carrier pallet (8); and a bolt correcting mechanism for adjusting assembling positions of the bolts to be assembled. The automatic feeding of bolts is realized by the bolt supply mechanism, the assembling positions for the bolts to be assembled are adjusted by the bolt correcting mechanism, the automatic feeding of nuts is realized by the nut supply mechanism, and the automatic grabbing of the bolts and the nuts and the automatic screwing thereof are realized by the bolt and nut grabbing mechanism, thereby realizing the high-throughput and automatic assembly of bolts and nuts of a flat cultivation container.

Description

一种扁平栽培容器的螺栓螺母自动装配***Automatic assembly system for bolts and nuts of flat cultivation container 技术领域Technical field
本发明涉及一种透明根系栽培容器自动装配***，特别涉及一种用于扁平栽培容器的螺栓螺母自动装配***。The invention relates to an automatic assembly system for transparent root cultivation containers, in particular to an automatic assembly system for bolts and nuts for flat cultivation containers.
背景技术Background technique
作物表型是基因型和环境共同决定的外在表现，对选育良种，加速育种进程具有重要意义。尤其在室内可控条件下，研发自动化、高通量和智能化的表型装置是表型研究领域的重要组成部分。Crop phenotype is the external performance jointly determined by genotype and environment, which is of great significance for the selection and breeding of good varieties and speeding up the breeding process. Especially under controllable indoor conditions, the development of automated, high-throughput and intelligent phenotyping devices is an important part of the field of phenotyping research.
室内表型装置的运行依赖于特制栽培容器的大量使用和装配。栽培容器的大批量自动化装配需要借助螺栓螺母配套***，关于螺栓螺母的自动化装配已有诸多研究。一种螺栓螺母成套自动装配装置，包括螺栓夹持和成品卸料机构，螺母夹持与输送结构和螺栓螺母装配机构。用于将螺栓加紧定位，螺栓上料保护，当螺栓和螺母装配完毕后将成品卸料，螺母夹持和输送机构将螺母夹紧，并将螺母送入到螺栓和螺母装配机构，实现了螺栓夹持和螺母同步转运，卸料与螺栓上料同步以及螺栓和螺母的成套自动装配。一种移动式螺栓螺母自动锁紧装置，包括底座和安装于底座上的载物架，X、Y轴驱动装置，安装架，旋转螺栓装置和螺母固定装置。Y轴驱动装置固定在安装架上，旋转螺栓装置和螺母固定装置安装在Y轴驱动装置的动力输出端同步同向在纵向方向滑动，安装架固定安装在X轴驱动装置的动力输出端可在横向方向滑动，载物架设在旋转螺栓装置和螺母固定装置且固定安装在底座上，安装架上固定有待装配体。实现了旋转螺栓装置和螺母固定装置能够可移动地，对装配体上不同位置的通孔进行自动螺栓和螺母配合自动化安装，提高了装配效率。这些螺栓螺母自动化装配，在一定程度上降低了劳动强度，提高了生产效率。但并未考虑到螺栓和螺母的自动分料，以及装配完成后，螺栓螺母自动化校正调整功能，因此，需要研发一套集自动安装分料，同步运转，智能校正调整，合格率高的螺栓螺母自动装配***。The operation of the indoor phenotyping device relies on the extensive use and assembly of special cultivation containers. The large-scale automated assembly of cultivation containers requires the use of bolt and nut matching systems. There have been many studies on the automated assembly of bolts and nuts. A complete set of automatic assembly device for bolts and nuts includes a bolt clamping and finished product unloading mechanism, a nut clamping and conveying structure, and a bolt and nut assembly mechanism. Used for tightening and positioning of bolts, bolt feeding protection, when the bolts and nuts are assembled, the finished product is unloaded, the nut clamping and conveying mechanism clamps the nut, and the nut is sent to the bolt and nut assembly mechanism to realize the bolt Synchronous transfer of clamping and nuts, synchronization of unloading and bolt loading, and complete automatic assembly of bolts and nuts. A mobile bolt and nut automatic locking device includes a base and a carrier mounted on the base, an X-axis and Y-axis drive device, a mounting frame, a rotating bolt device and a nut fixing device. The Y-axis drive device is fixed on the mounting frame, the rotating bolt device and the nut fixing device are installed on the power output end of the Y-axis drive device to slide in the longitudinal direction in the same direction, and the mounting frame is fixedly installed on the power output end of the X-axis drive device. Sliding in the horizontal direction, the load is erected on the rotating bolt device and the nut fixing device and fixedly installed on the base, and the body to be assembled is fixed on the mounting frame. It is realized that the rotating bolt device and the nut fixing device can movably perform automatic bolt and nut matching and automatic installation of through holes in different positions on the assembly body, thereby improving the assembly efficiency. The automated assembly of these bolts and nuts reduces labor intensity to a certain extent and improves production efficiency. However, it has not considered the automatic distribution of bolts and nuts, and the automatic adjustment and adjustment of bolts and nuts after assembly. Therefore, it is necessary to develop a set of bolts and nuts that integrates automatic installation and distribution, synchronous operation, intelligent adjustment and adjustment, and high pass rate. Automatic assembly system.
技术问题technical problem
本发明克服了现有技术中的不足，在于提供一种集自动安装分料，同步运转，智能校正调整，合格率高的扁平栽培容器的螺栓螺母自动装配***。The invention overcomes the deficiencies in the prior art, and is to provide a bolt and nut automatic assembly system for a flat cultivation container that integrates automatic installation and distribution, synchronous operation, intelligent correction and adjustment, and a high qualification rate.
技术解决方案Technical solutions
本发明的具体技术方案如下。The specific technical scheme of the present invention is as follows.
一种扁平栽培容器的螺栓螺母自动装配***，包括。A bolt and nut automatic assembly system for a flat cultivation container includes.
载盘，设在输送线上用于扁平栽培容器中螺栓、螺母及其他部件的组装。The carrier plate is set on the conveyor line for the assembly of bolts, nuts and other parts in the flat cultivation container.
螺栓供料机构，用于对螺栓进行自动分料和送料。Bolt feeding mechanism, used for automatic distribution and feeding of bolts.
螺母供料机构，用于对螺母进行自动分料和送料。Nut feeding mechanism, used for automatic distribution and feeding of nuts.
螺栓螺母抓取机构，用于夹取螺栓供料机构提供的螺栓并传送至载盘上，吸取螺母供料机构提供的螺母并传送至载盘上。The bolt and nut grabbing mechanism is used for grabbing the bolts provided by the bolt feeding mechanism and transferring them to the carrier plate, and sucking the nuts provided by the nut feeding mechanism and sending them to the carrier plate.
螺栓校正机构，用于对待装配螺栓的装配位置进行调整。The bolt correction mechanism is used to adjust the assembly position of the bolt to be assembled.
优选的，所述螺栓供料机构和螺母供料机构位于输送线两侧，输送线穿过所述螺栓供料机构和螺母供料机构之间的工作台框架。Preferably, the bolt feeding mechanism and the nut feeding mechanism are located on both sides of the conveying line, and the conveying line passes through the workbench frame between the bolt feeding mechanism and the nut feeding mechanism.
优选的，所述扁平栽培容器包括两片透明板、间隔条以及遮光板。Preferably, the flat cultivation container includes two transparent plates, a spacer and a light shielding plate.
所述间隔条夹放在两片透明板之间并通过螺栓、螺母连接结构连接，间隔条包括两根垂直间隔条和一根水平间隔条，垂直间隔条位于透明板的两侧，水平间隔条位于透明板的底部，间隔条和透明板组成中空的栽培容器，垂直间隔条的外侧边还设置有一个以上的挂槽，挂槽位于中空容器外部。The spacer is sandwiched between two transparent plates and connected by a bolt and nut connection structure. The spacer includes two vertical spacers and a horizontal spacer. The vertical spacers are located on both sides of the transparent plate, and the horizontal spacers Located at the bottom of the transparent plate, the spacer strip and the transparent plate form a hollow cultivation container, and the outer side of the vertical spacer strip is also provided with more than one hanging trough, and the hanging trough is located outside the hollow container.
所述遮光板位于透明板顶部，遮光板中部开设有遮光板槽，遮光板槽的形状与容器顶部开口处的形状相同且位置对应，遮光板的面积大于容器顶部面积。The shading plate is located on the top of the transparent plate, and a shading plate groove is opened in the middle of the shading plate. The shape of the shading plate groove is the same as the shape of the opening at the top of the container and the position is corresponding. The area of the shading plate is larger than the area of the top of the container.
优选的，所述载盘上设有多个通孔以及多个用于放置螺栓的定位套。Preferably, a plurality of through holes and a plurality of positioning sleeves for placing bolts are provided on the carrier plate.
所述工作台框架内的输送线下方设有顶升缓冲机构；所述顶升缓冲机构包括第一顶升组件和第二顶升组件，第一顶升组件包括顶升杆、用于驱动顶升杆升降的直线驱动机构，顶升杆顶升后其上端可以伸入其上方载盘上的通孔中；第二顶升组件用于将其上方的载盘顶升和下降。A jacking buffer mechanism is provided under the conveying line in the frame of the workbench; the jacking buffer mechanism includes a first jacking assembly and a second jacking assembly, and the first jacking assembly includes a jacking rod for driving the jacking A linear drive mechanism for lifting the lifting rod. After the lifting rod is lifted, the upper end of the lifting rod can extend into the through hole on the carrier plate above it; the second lifting component is used for lifting and lowering the carrier plate above it.
优选的，所述螺栓供料机构，包括螺栓振动盘，螺栓振动盘的出料口与螺栓输送轨道连接，螺栓输送轨道的下方设有直振器，螺栓输送轨道的出料口处设有螺栓翻转机构。Preferably, the bolt feeding mechanism includes a bolt vibrating disc. The discharge port of the bolt vibrating disc is connected to the bolt conveying track. A direct vibrator is provided under the bolt conveying track, and the bolt is provided at the outlet of the bolt conveying track. Turn over mechanism.
所述螺栓翻转机构包括安装底板，安装底板上设有平挡板、用于夹持螺栓输送轨道出料口处的螺栓的夹料爪以及驱动夹料爪翻转的翻转机构，平挡板和夹料爪紧贴螺栓输送轨道的出料口；安装底板带动夹料爪和平挡板沿着与螺栓输送轨道出料口垂直的水平方向上滑动。The bolt turning mechanism includes a mounting base plate, a flat baffle plate, a clamping claw for clamping the bolt at the outlet of the bolt conveying track, a turning mechanism that drives the clamping claw to turn over, a flat baffle and a clamp The material claw is close to the discharge port of the bolt conveying track; the installation bottom plate drives the clamping claw and the flat baffle to slide in the horizontal direction perpendicular to the discharge port of the bolt conveying track.
优选的，所述螺母供料机构包括螺母振动盘，螺母振动盘的出料口与螺母输送轨道连接，螺母输送轨道的下方设有直振器，螺母输送轨道的出料口处设有可在水平方向上滑动、并且其滑动方向与螺母输送轨道出料口垂直的平挡板，平挡板紧贴螺母输送轨道的出料口，平挡板靠近出料口一侧的顶部设有与出料口相配合、用于容纳螺母的接料槽。Preferably, the nut feeding mechanism includes a nut vibrating disk, the outlet of the nut vibrating disk is connected to the nut conveying track, a direct vibrator is provided under the nut conveying track, and the outlet of the nut conveying track is provided with a A flat baffle that slides in the horizontal direction and its sliding direction is perpendicular to the discharge port of the nut conveying rail. The flat baffle is close to the discharge port of the nut conveying rail. The top of the flat baffle near the discharge port is provided with an outlet The material opening is matched with the material receiving trough used to accommodate the nut.
优选的，所述螺栓螺母抓取机构包括水平滑动组件和螺栓螺母抓取组件。Preferably, the bolt and nut grabbing mechanism includes a horizontal sliding assembly and a bolt and nut grabbing assembly.
水平滑动组件包括支撑板和吊杆，支撑板垂直设置在所述工作台框架位于输送线上方的水平架体上、并能够沿水平架体的长度方向滑动，所述吊杆垂直连接在所述支撑板上并能够沿支撑板的轴线方向滑动。The horizontal sliding assembly includes a support plate and a suspension rod. The support plate is vertically arranged on the horizontal frame of the workbench frame above the conveying line and can slide along the length of the horizontal frame. The suspension rod is vertically connected to the horizontal frame. The supporting plate can slide along the axial direction of the supporting plate.
螺栓螺母抓取组件，用于抓取并带动所述螺栓或螺母沿所述吊杆上下运动。The bolt and nut grabbing assembly is used to grab and drive the bolt or nut to move up and down along the boom.
优选的，水平滑动组件还包括驱动支撑板沿水平架体的长度方向滑动的第一驱动机构，以及驱动吊杆沿支撑板的轴线方向滑动的第二个驱动机构。Preferably, the horizontal sliding assembly further includes a first drive mechanism that drives the support plate to slide along the length of the horizontal frame body, and a second drive mechanism that drives the suspension rod to slide along the axis of the support plate.
所述螺栓螺母抓取组件包括与吊杆连接并沿吊杆上下滑动的机械手安装板，以及设置在所述机械手安装板上的螺栓取料爪和螺母取料爪。The bolt and nut grabbing assembly includes a manipulator mounting plate connected with the boom and sliding up and down along the boom, and a bolt and nut picking claw arranged on the manipulator mounting plate.
所述螺母取料爪包括与所述螺母供料机构对接的螺母吸头机构，螺母吸头机构吸取螺母供料机构提供的螺母并传送至载盘上；所述螺母吸头机构可沿机械手安装板上下滑动。The nut take-out claw includes a nut suction head mechanism butted with the nut feeding mechanism, the nut suction head mechanism sucks the nut provided by the nut feeding mechanism and transmits it to the carrier plate; the nut suction head mechanism can be installed along the manipulator Slide up and down on the board.
所述螺栓取料爪包括设在机械手安装板底部并可沿机械手安装板上下滑动的气动手指，气动手指的输出端设有可在水平平面张合的夹爪，气动手指的夹爪朝向螺栓供料机构一侧。The bolt taking claw includes a pneumatic finger that is arranged at the bottom of the manipulator mounting plate and can slide up and down along the manipulator mounting plate. The output end of the pneumatic finger is provided with a clamping claw that can be opened and closed on a horizontal plane, and the clamping claw of the pneumatic finger faces the bolt supply One side of the material mechanism.
优选的，所述螺栓校正机构包括左平移夹爪机构、右平移夹爪机构和上升夹爪机构，所述左平移夹爪机构和右平移夹爪机构对称设置，用于对扁平栽培容器两侧待装配螺栓的装配位置进行调整；所述上升夹爪机构用于对扁平栽培容器底部待装配螺栓的装配位置进行调整。Preferably, the bolt correction mechanism includes a left translational clamping jaw mechanism, a right translational clamping jaw mechanism, and a rising clamping jaw mechanism. The left translational clamping jaw mechanism and the right translational clamping jaw mechanism are symmetrically arranged for aligning both sides of the flat cultivation container. The assembly position of the bolt to be assembled is adjusted; the lifting jaw mechanism is used to adjust the assembly position of the bolt to be assembled at the bottom of the flat cultivation container.
优选的，所述左平移夹爪机构和右平移夹爪机构对称设置，均包括多个气动手指，用于驱动多个气动手指同时在水平方向上远离或靠近载盘的第一驱动装置，所述气动手指的输出端设有可在水平平面张合的夹爪，夹爪朝向载盘一侧。Preferably, the left translational clamping jaw mechanism and the right translational clamping jaw mechanism are symmetrically arranged, and each includes a plurality of pneumatic fingers for driving the plurality of pneumatic fingers to move away from or close to the first driving device of the disc carrier in the horizontal direction at the same time, so The output end of the pneumatic finger is provided with a clamping jaw that can be opened and closed on a horizontal plane, and the clamping jaw faces the side of the tray.
所述上升夹爪机构位于载盘下方，包括多个气动手指，用于驱动多个气动手指同时上下运动的第二驱动装置，所述气动手指的两夹爪竖直朝上，载盘上设有供该竖直朝上的夹爪穿过的通孔。The lifting gripper mechanism is located below the tray and includes a plurality of pneumatic fingers, and a second driving device for driving the plurality of pneumatic fingers to move up and down at the same time. There is a through hole for the vertically upward clamping jaw to pass through.
有益效果Beneficial effect
本发明采用以上技术方案，其具有如下优点：1、本发明通过螺栓供料机构实现螺栓的自动送料，通过螺栓校正机构对待装配螺栓的装配位置进行调整，通过螺母供料机构实现螺母的自动送料，通过螺栓螺母抓取机构实现螺栓螺母的自动抓取以及螺栓螺母的自动旋紧，实现扁平栽培容器的螺栓螺母的高通量、自动化装配，自动化程度高，提高了工作效率。2. 本发明中采用螺栓校正机构对待装配螺栓的装配位置进行调整，避免了因螺栓装配位置的偏差而导致产品的缺陷，提高了产品的合格率。The present invention adopts the above technical solutions, which has the following advantages: 1. The present invention realizes automatic feeding of bolts through a bolt feeding mechanism, adjusts the assembly position of the bolt to be assembled through a bolt correction mechanism, and realizes automatic feeding of nuts through a nut feeding mechanism , Through the bolt and nut grabbing mechanism to realize the automatic grabbing of the bolt and nut and the automatic tightening of the bolt and nut, realize the high-throughput and automatic assembly of the bolt and nut of the flat cultivation container, with a high degree of automation, and improve work efficiency. 2. In the present invention, a bolt correction mechanism is used to adjust the assembly position of the bolt to be assembled, which avoids product defects caused by the deviation of the bolt assembly position, and improves the qualification rate of the product.
附图说明Description of the drawings
图1为本发明扁平栽培容器的螺栓螺母自动装配***的结构示意图。Fig. 1 is a schematic diagram of the structure of the bolt and nut automatic assembly system of the flat cultivation container of the present invention.
图2为本发明扁平栽培容器的结构示意图。Figure 2 is a schematic diagram of the structure of the flat cultivation container of the present invention.
图3为本发明载盘的结构示意图。Fig. 3 is a schematic diagram of the structure of the disc carrier of the present invention.
图4为本发明顶升缓冲机构的结构示意图。Fig. 4 is a schematic diagram of the structure of the lifting buffer mechanism of the present invention.
图5为本发明螺栓供料机构的结构示意图。Fig. 5 is a schematic diagram of the structure of the bolt feeding mechanism of the present invention.
图6为本发明螺母供料机构的结构示意图。Fig. 6 is a schematic diagram of the structure of the nut feeding mechanism of the present invention.
图7为本发明工作台框架和螺栓螺母抓取机构的结构示意图。Fig. 7 is a schematic diagram of the structure of the workbench frame and the bolt and nut grabbing mechanism of the present invention.
图8为本发明螺栓螺母抓取组件的结构示意图。Fig. 8 is a schematic diagram of the structure of the bolt and nut grabbing assembly of the present invention.
图9为本发明左平移夹爪机构的结构示意图。Fig. 9 is a schematic diagram of the structure of the left translational clamping jaw mechanism of the present invention.
图10为上升夹爪机构的结构示意图。Figure 10 is a schematic diagram of the structure of the lifting jaw mechanism.
本发明的实施方式Embodiments of the present invention
以下将结合附图对本发明的较佳实施例进行详细说明，以便更清楚理解本发明的目的、特点和优点。应理解的是，附图所示的实施例并不是对本发明范围的限制，而只是为了说明本发明技术方案的实质精神。本发明未提及部分均为现有技术。Hereinafter, the preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, so as to have a clearer understanding of the purpose, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but merely to illustrate the essential spirit of the technical solution of the present invention. The parts not mentioned in the present invention are all the prior art.
参见图1和图4，本发明涉及一种扁平栽培容器的螺栓螺母自动装配***，包括载盘8，设在输送线4-9上用于扁平栽培容器10中螺栓、螺母及其他部件的组装。1 and 4, the present invention relates to an automatic assembly system for bolts and nuts of a flat cultivation container, including a carrier plate 8, which is arranged on a conveying line 4-9 for the assembly of bolts, nuts and other components in the flat cultivation container 10 .
螺栓供料机构3，用于对螺栓进行自动分料和送料。The bolt feeding mechanism 3 is used to automatically divide and feed the bolts.
螺母供料机构6，用于对螺母进行自动分料和送料。The nut feeding mechanism 6 is used to automatically divide and feed the nuts.
螺栓螺母抓取机构5，用于夹取螺栓供料机构3提供的螺栓并传送至载盘8上，吸取螺母供料机构6提供的螺母并传送至载盘8上。The bolt and nut grabbing mechanism 5 is used for clamping the bolts provided by the bolt feeding mechanism 3 and transferring them to the carrier plate 8, and sucking the nuts provided by the nut feeding mechanism 6 and sending them to the carrier plate 8.
螺栓校正机构，用于对待装配螺栓的装配位置进行调整。The bolt correction mechanism is used to adjust the assembly position of the bolt to be assembled.
进一步的，参见图2，所述的扁平栽培容器10包括两片钢化玻璃10-1、间隔条以及遮光板10-5；所述间隔条夹放在两片钢化玻璃10-1之间，间隔条包括两根垂直间隔条10-2和一根水平间隔条（图中未画出），垂直间隔条10-2位于钢化玻璃10-1的两侧，水平间隔条（图中未画出）位于钢化玻璃10-1的底部，间隔条和钢化玻璃10-1组成中空的容器，中空的容器中填充培养土，植物根系在容器内生长；钢化玻璃10-1的两侧以及底部均匀开设有螺栓孔10-8，两片钢化玻璃10-1之间通过螺栓和螺母加以固定，垂直间隔条10-2的外侧边还设置有一个以上的挂槽10-3，挂槽10-3位于中空容器外部；遮光板10-5位于钢化玻璃10-1的顶部，遮光板10-5的中部开设有遮光板槽10-4，遮光板槽10-4的位置与形状与扁平栽培容器10的顶部开口处对应设置，便于填土，遮光板10-5的面积大于扁平栽培容器10顶部的面积，为了让遮光板安装更加稳定，两根垂直间隔条10-2上还分别安装有遮光板卡片10-6和弹簧10-7，遮光板卡片10-6卡入垂直间隔条10-2的端部，旋转90°后完成对遮光板10-5的固定，弹簧10-7位于二者中间，起到减震缓冲作用。Further, referring to FIG. 2, the flat cultivation container 10 includes two pieces of tempered glass 10-1, a spacer bar and a light-shielding plate 10-5; the spacer bar is sandwiched between the two pieces of tempered glass 10-1, and the interval The strips include two vertical spacers 10-2 and a horizontal spacer (not shown in the figure). The vertical spacers 10-2 are located on both sides of the tempered glass 10-1, and the horizontal spacer (not shown in the figure) Located at the bottom of tempered glass 10-1, spacers and tempered glass 10-1 form a hollow container. The hollow container is filled with culture soil, and plant roots grow in the container; tempered glass 10-1 is evenly arranged on both sides and bottom Bolt holes 10-8, the two pieces of tempered glass 10-1 are fixed by bolts and nuts. The outer side of the vertical spacer 10-2 is also provided with more than one hanging groove 10-3, and the hanging groove 10-3 is located The outside of the hollow container; the shading plate 10-5 is located on the top of the tempered glass 10-1, and the middle of the shading plate 10-5 is provided with a shading plate groove 10-4. The position and shape of the shading plate groove 10-4 are the same as those of the flat cultivation container 10. The top openings are correspondingly arranged for easy filling. The area of the shading plate 10-5 is larger than the area of the top of the flat cultivation container 10. In order to make the installation of the shading plate more stable, the two vertical spacers 10-2 are also equipped with shading plate cards respectively. 10-6 and spring 10-7, the light-shielding card 10-6 is inserted into the end of the vertical spacer 10-2, and the light-shielding plate 10-5 is fixed after rotating 90°, and the spring 10-7 is located in the middle of the two. Play a shock absorption and buffer function.
进一步的，参见图1，所述螺栓供料机构3和螺母供料机构6位于输送线4-9两侧，输送线4-9穿过所述螺栓供料机构3和螺母供料机构6之间的工作台框架4；输送线优选为倍速链型材，倍速链型材内设有链条、驱动装置驱动所述链条沿所述倍速链型材的长度方向平移。Further, referring to Figure 1, the bolt feeding mechanism 3 and the nut feeding mechanism 6 are located on both sides of the conveying line 4-9, and the conveying line 4-9 passes through the bolt feeding mechanism 3 and the nut feeding mechanism 6 Between the workbench frame 4; the conveyor line is preferably a double-speed chain profile, the double-speed chain profile is provided with a chain, and the driving device drives the chain to translate along the length of the double-speed chain profile.
进一步的，参见图3和图4，载盘8上设有多个通孔以及多个用于放置螺栓8-1的定位套8-2。工作台框架4内的倍速链型材4-9下方设有顶升缓冲机构1；顶升缓冲机构1包括第一顶升组件和第二顶升组件，第一顶升组件包括顶升杆、用于驱动顶升杆升降的直线驱动机构，顶升杆顶升后其上端可以伸入其上方载盘8上的通孔中；第二顶升组件用于将其上方的载盘8顶升和下降。Further, referring to FIGS. 3 and 4, the carrier plate 8 is provided with a plurality of through holes and a plurality of positioning sleeves 8-2 for placing the bolts 8-1. A jacking buffer mechanism 1 is provided under the double-speed chain profiles 4-9 in the workbench frame 4; the jacking buffer mechanism 1 includes a first jacking assembly and a second jacking assembly, the first jacking assembly includes a jacking rod, In the linear drive mechanism that drives the lifting rod up and down, the upper end of the lifting rod can be extended into the through hole on the tray 8 above it after it is lifted; the second jacking assembly is used to lift the tray 8 above it and decline.
 进一步的，参见图3和图4，载盘8上设有多个通孔以及多个用于放置螺栓8-1的定位套8-2，用于放置螺栓8-1的定位套8-2的个数与扁平栽培容器中需要放置的螺栓的个数相同，通孔包括多个圆形通孔8-3和多个方形通孔8-6，载盘8上还设有多个定位锥销套8-5，载盘8两侧设有载盘垫片8-4。顶升缓冲机构包括顶升固定板1-11、顶升板1-7、第一顶升组件和第二顶升组件，顶升固定板1-11上固定有四个第一直线轴承1-10和四个第二直线轴承1-5，顶升固定板1-11的下方设有定位板1-4，定位板1-4设在工作台框架4内的倍速链型材4-9下方，顶升板1-7设在顶升固定板1-11的上方。顶升板1-7上设有与载盘8上的定位锥销套8-5相匹配的定位销1-9，顶升板1-7上设有减震感应器1-8。 第一顶升组件中的直线驱动机构优选为电机推杆1-15，电机推杆1-15设在电机推杆支架1-1内；顶升杆包括托架1-2、托板1-13和第一导向轴1-12，托架1-2设在电机推杆1-15的伸缩套管端部上方，托架1-2的两侧均连接有托板1-13，各个托板1-13与两个第一导向轴1-12的底端连接，第一导向轴1-12顶升后其上端依次穿过定位板1-4、顶升固定板1-11上的第一直线轴承1-10、顶升板1-7后可以伸入其上方的载盘8上的圆形通孔8-3中；第一导向轴1-12的上端设有缓冲垫1-6。第二顶升组件包括顶升气缸1-14、顶升导向柱1-3，顶升气缸1-14设在顶升固定板1-11的下方，顶升气缸1-14的输出轴与顶升板1-7连接；顶升导向柱1-3有4个，顶升导向柱1-3的上部穿过顶升固定板1-11上的第二直线轴承1-5后与顶升板1-7连接，用于对顶升板1-7的顶升与下降进行导向。工作台框架4内的倍速链型材4-9上方设有顶升挡块4-10，用于对顶升板1-7的顶升高度进行定位。Further, referring to FIGS. 3 and 4, the carrier plate 8 is provided with a plurality of through holes and a plurality of positioning sleeves 8-2 for placing the bolts 8-1, and positioning sleeves 8-2 for placing the bolts 8-1. The number of bolts is the same as the number of bolts that need to be placed in the flat cultivation container. The through holes include multiple circular through holes 8-3 and multiple square through holes 8-6. The carrier plate 8 is also provided with multiple positioning cones. The pin sleeve 8-5, and the disk carrier 8 are provided with disk carrier gaskets 8-4 on both sides. The lifting buffer mechanism includes a lifting fixing plate 1-11, a lifting plate 1-7, a first lifting component and a second lifting component, and four first linear bearings 1 are fixed on the lifting fixing plate 1-11. -10 and four second linear bearings 1-5, the positioning plate 1-4 is provided under the jacking fixing plate 1-11, and the positioning plate 1-4 is provided under the double-speed chain profile 4-9 in the workbench frame 4 , The jacking plate 1-7 is arranged above the jacking fixing plate 1-11. The jacking plate 1-7 is provided with positioning pins 1-9 that match the positioning cone pin sleeve 8-5 on the carrier plate 8, and the jacking plate 1-7 is provided with a shock-absorbing sensor 1-8. The linear drive mechanism in the first jacking assembly is preferably a motor push rod 1-15, the motor push rod 1-15 is arranged in the motor push rod bracket 1-1; the jacking rod includes a bracket 1-2, a support plate 1- 13 and the first guide shaft 1-12, the bracket 1-2 is arranged above the end of the telescopic sleeve of the motor push rod 1-15, and the two sides of the bracket 1-2 are connected with the support plate 1-13, and each support The plate 1-13 is connected with the bottom ends of the two first guide shafts 1-12. After the first guide shaft 1-12 is lifted, its upper end passes through the positioning plate 1-4 and the first guide shaft 1-11 in turn. The linear bearing 1-10 and the jacking plate 1-7 can be extended into the circular through hole 8-3 on the carrier plate 8 above them; the upper end of the first guide shaft 1-12 is provided with a cushion 1- 6. The second jacking assembly includes jacking cylinders 1-14, jacking guide posts 1-3, jacking cylinders 1-14 are arranged under the jacking fixing plate 1-11, and the output shaft of jacking cylinders 1-14 and jacking The lifting plate 1-7 is connected; there are 4 lifting guide posts 1-3, the upper part of the lifting guide post 1-3 passes through the second linear bearing 1-5 on the lifting fixing plate 1-11 and then connects to the lifting plate The 1-7 connection is used to guide the lifting and lowering of the lifting plate 1-7. A jacking block 4-10 is provided above the double-speed chain profile 4-9 in the workbench frame 4 for positioning the jacking height of the jacking plate 1-7.
进一步的，参见图5，螺栓供料机构3包括螺栓振动盘支架3-1，设于螺栓振动盘支架3-1上的螺栓振动盘3-2，与螺栓振动盘3-2的出料口连接的螺栓输送轨道3-3，螺栓输送轨道3-3的下方设有直振器3-4，螺栓输送轨道3-3的出料口3-5处设有螺栓翻转机构。螺栓翻转机构包括安装底板3-10，安装底板3-10上设有平挡板3-13、用于夹持螺栓输送轨道3-3出料口3-5处的螺栓的夹料爪以及驱动夹料爪翻转的翻转机构3-8，平挡板3-13和夹料爪紧贴螺栓输送轨道3-3的出料口3-5；安装底板3-10带动夹料爪和平挡板3-13沿着与螺栓输送轨道3-3出料口3-5垂直的水平方向上滑动。Further, referring to FIG. 5, the bolt feeding mechanism 3 includes a bolt vibration plate support 3-1, a bolt vibration plate 3-2 provided on the bolt vibration plate support 3-1, and a discharge port of the bolt vibration plate 3-2 The bolt conveying track 3-3 is connected, a direct vibrator 3-4 is arranged under the bolt conveying track 3-3, and a bolt turning mechanism is arranged at the discharge port 3-5 of the bolt conveying track 3-3. The bolt turning mechanism includes a mounting base plate 3-10, a flat baffle plate 3-13 is provided on the mounting base plate 3-10, a clamping claw and a drive for clamping the bolt at the discharge port 3-5 of the bolt conveying track 3-3 The turning mechanism 3-8 for turning the clamping jaws, the flat baffle 3-13 and the clamping jaws are close to the discharge port 3-5 of the bolt conveying track 3-3; the installation bottom plate 3-10 drives the clamping jaws and the flat baffle 3 -13 slides in the horizontal direction perpendicular to the discharge port 3-5 of the bolt conveying track 3-3.
优选的，参见图5，螺栓输送轨道3-3出料口3-5处下方设有底板3-12，底板3-12上方设有滑台气缸3-9，滑台气缸3-9驱动其上方的安装底板3-10在水平方向上滑动、其滑动方向与螺栓输送轨道3-3出料口3-5垂直。安装底板3-10上设有平挡板3-13、用于夹持螺栓输送轨道3-3出料口3-5处的螺栓的夹料爪以及驱动夹料爪翻转的翻转气缸3-8，翻转气缸3-8的法兰轴与翻转轴3-11连接，夹料爪连接在翻转轴3-11上；夹料爪为气动手指3-7，气动手指3-7的两夹爪3-6朝向出料口3-5，用于对出料口3-5处的螺栓进行夹取和放下；平挡板3-13和两夹爪3-6紧贴螺栓输送轨道3-3的出料口3-5，并且平挡板3-13位于两夹爪3-6一侧。Preferably, referring to Fig. 5, a bottom plate 3-12 is provided below the discharge port 3-5 of the bolt conveying track 3-3, and a sliding table cylinder 3-9 is provided above the bottom plate 3-12, and the sliding table cylinder 3-9 drives it. The upper mounting bottom plate 3-10 slides in the horizontal direction, and its sliding direction is perpendicular to the outlet 3-5 of the bolt conveying track 3-3. The mounting bottom plate 3-10 is provided with a flat baffle 3-13, a clamping claw for clamping the bolt at the discharge port 3-5 of the bolt conveying track 3-3, and an overturning cylinder 3-8 that drives the clamping claw to turn over , The flange shaft of the turning cylinder 3-8 is connected with the turning shaft 3-11, and the clamping jaws are connected to the turning shaft 3-11; the clamping jaws are pneumatic fingers 3-7, and two clamping jaws 3 of pneumatic fingers 3-7 -6 facing the discharge port 3-5, used to clamp and put down the bolts at the discharge port 3-5; the flat baffle 3-13 and the two clamping jaws 3-6 are close to the bolt conveying track 3-3 The discharge port 3-5, and the flat baffle 3-13 is located on the side of the two clamping jaws 3-6.
工作时，螺栓振动盘3-2排列输送螺栓，螺栓输送轨道3-3将排列好的螺栓有序的输送至出料口3-5处；控制气动手指3-7驱动两夹爪3-6张开，控制滑台气缸3-9驱动安装底板3-10在垂直于出料口3-5处的水平方向上滑动，直至气动手指3-7的两夹爪3-6正对出料口3-5，两夹爪3-6正对出料口3-5处的螺栓头部，出料口3-5处的螺栓出料进入两夹爪3-6张开部分，控制气动手指3-7驱动两夹爪3-6闭合夹取螺栓头部；同时控制滑台气缸3-9驱动安装底板3-10在垂直于出料口3-5处的水平方向上滑动，直至气动手指3-7的两夹爪3-6远离出料口3-5、平挡板3-13位于出料口3-5处，平挡板3-13挡住出料口3-5处的螺栓不让出料；控制翻转气缸3-8带动气动手指3-7以及其两夹爪3-6上的螺栓翻转，使得螺栓头部朝下，螺杆部分朝上，便于对螺栓进行后续的安装；控制螺栓螺母抓取机构5中的螺栓取料爪夹取两夹爪3-6上的螺栓的螺杆部分，控制气动手指3-7驱动两夹爪3-6张开释放螺栓；控制翻转气缸3-8带动翻转轴3-11上的气动手指3-7以及其两夹爪3-6翻转使得气动手指3-7的两夹爪3-6朝向出料口3-5。重复上述步骤。When working, the bolt vibration plate 3-2 arranges the conveying bolts, and the bolt conveying track 3-3 transports the arranged bolts to the discharge port 3-5 in an orderly manner; controls the pneumatic fingers 3-7 to drive the two grippers 3-6 Open, control the sliding table cylinder 3-9 to drive the mounting base plate 3-10 to slide in the horizontal direction perpendicular to the discharge port 3-5, until the two grippers 3-6 of the pneumatic finger 3-7 are facing the discharge port 3-5, the two clamping jaws 3-6 are facing the bolt heads at the discharge port 3-5, the bolts at the discharge port 3-5 discharge into the open part of the two clamping jaws 3-6, and control the pneumatic finger 3 -7 Drive the two clamping jaws 3-6 to close the clamping bolt head; at the same time, control the sliding table cylinder 3-9 to drive the mounting base plate 3-10 to slide in the horizontal direction perpendicular to the discharge port 3-5 until the pneumatic finger 3 The two clamping jaws 3-6 of -7 are far away from the discharge port 3-5, the flat baffle 3-13 is located at the discharge port 3-5, and the flat baffle 3-13 blocks the bolts at the discharge port 3-5. Discharging; control the turning cylinder 3-8 to drive the pneumatic fingers 3-7 and the bolts on the two clamping jaws 3-6 to turn, so that the head of the bolt faces down and the screw part faces up, which is convenient for subsequent installation of the bolts; control bolts The bolt picking claw in the nut grabbing mechanism 5 clamps the screw part of the bolt on the two clamping jaws 3-6, and controls the pneumatic finger 3-7 to drive the two clamping jaws 3-6 to open the release bolt; control the flipping cylinder 3-8 Drive the pneumatic fingers 3-7 on the turning shaft 3-11 and the two clamping jaws 3-6 to turn over so that the two clamping jaws 3-6 of the pneumatic fingers 3-7 face the discharge port 3-5. Repeat the above steps.
进一步的，参见图6，螺母供料机构包括螺母振动盘支架6-1，设于螺母振动盘支架6-1上的螺母振动盘6-2，与螺母振动盘6-2的出料口连接的螺母输送轨道6-3，螺母输送轨道6-3的下方设有直振器6-4，螺母输送轨道6-3的出料口处设有可在水平方向上滑动、并且其滑动方向与螺母输送轨道6-3出料口垂直的平挡板6-8，平挡板6-8紧贴螺母输送轨道6-3的出料口，平挡板6-8靠近出料口一侧的顶部设有与出料口相配合、用于容纳螺母的接料槽6-7。优选的，螺母输送轨道6-3出料口处设有挡板6-6，挡板6-6的上方设有滑台气缸6-5，滑台气缸6-5驱动其上方的平挡板6-8在水平方向上滑动，螺母输送轨道6-3的出料口一侧还设有螺母过渡板6-9。Further, referring to Figure 6, the nut feeding mechanism includes a nut vibrating disk support 6-1, a nut vibrating disk 6-2 arranged on the nut vibrating disk support 6-1, and a nut vibrating disk 6-2 connected to the discharge port of the nut vibrating disk 6-2 The nut conveying track 6-3, the nut conveying track 6-3 is provided with a direct vibrator 6-4, and the outlet of the nut conveying track 6-3 is provided with a horizontal slidable, and its sliding direction is consistent with The nut conveying rail 6-3 has a vertical flat baffle 6-8 at the discharge port, and the flat baffle 6-8 is close to the discharge port of the nut conveying rail 6-3, and the flat baffle 6-8 is close to the side of the discharge port. The top is provided with a material receiving groove 6-7 matched with the discharge port and used for accommodating the nut. Preferably, a baffle 6-6 is provided at the outlet of the nut conveying track 6-3, a sliding table cylinder 6-5 is arranged above the baffle 6-6, and the sliding table cylinder 6-5 drives the flat baffle above it. 6-8 slides in the horizontal direction, and a nut transition plate 6-9 is also provided on the side of the discharge port of the nut conveying rail 6-3.
工作时，螺母振动盘6-2排列输送螺母，螺母输送轨道6-3将排列好的螺母有序的输送至出料口处，控制滑台气缸6-5驱动平挡板6-8在垂直于出料口处的水平方向上滑动，直至平挡板6-8上的接料槽6-7正对螺母输送轨道6-3的出料口，出料口处的螺母出料进入接料槽6-7中；控制滑台气缸6-5驱动平挡板6-8带动接料槽6-7中的螺母往螺母过渡板6-9的水平方向上滑动，直至平挡板6-8带动螺母远离出料口滑入螺母过渡板6-9中，螺母过渡板6-9挡住接料槽6-7中的螺母不掉落，而平挡板6-8挡住出料口处的螺母不让出料；控制螺栓螺母抓取机构5中的螺母取料爪夹取接料槽6-7中的螺母。重复上述步骤。When working, the nut vibrating plate 6-2 arranges the conveying nuts, the nut conveying track 6-3 transports the arranged nuts to the discharge port in an orderly manner, and controls the sliding table cylinder 6-5 to drive the flat baffle 6-8 in the vertical position. Slide in the horizontal direction at the discharge port until the receiving groove 6-7 on the flat baffle 6-8 is facing the discharge port of the nut conveying track 6-3, and the nut at the discharge port enters the receiving material In slot 6-7; control the sliding table cylinder 6-5 to drive the flat baffle 6-8 to drive the nut in the receiving slot 6-7 to slide in the horizontal direction of the nut transition plate 6-9 until the flat baffle 6-8 Drive the nut away from the discharge port to slide into the nut transition plate 6-9, the nut transition plate 6-9 blocks the nut in the receiving groove 6-7 from falling, and the flat baffle 6-8 blocks the nut at the discharge port Do not allow the material to be discharged; the nut material claw in the control bolt and nut grabbing mechanism 5 clamps the nut in the material receiving groove 6-7. Repeat the above steps.
进一步的，参见图7和图8，螺栓螺母抓取机构5包括水平滑动组件和螺栓螺母抓取组件5-3，水平滑动组件包括支撑板4-4和吊杆5-1，支撑板4-4垂直设置在所述工作台框架4位于倍速链型材4-9上方的水平架体4-8上、并能够沿水平架体4-8的长度方向滑动，吊杆5-1垂直连接在所述支撑板4-4上并能够沿支撑板4-4的轴线方向滑动；螺栓螺母抓取组件5-3，用于抓取并带动所述螺栓或螺母沿所述吊杆5-1上下运动。Further, referring to Figures 7 and 8, the bolt and nut grabbing mechanism 5 includes a horizontal sliding assembly and a bolt and nut grabbing assembly 5-3. The horizontal sliding assembly includes a support plate 4-4 and a boom 5-1, and a support plate 4- 4 Vertically arranged on the horizontal frame 4-8 of the workbench frame 4 above the double-speed chain profile 4-9, and can slide along the length of the horizontal frame 4-8, the boom 5-1 is vertically connected to the The support plate 4-4 can slide along the axis of the support plate 4-4; the bolt and nut grabbing assembly 5-3 is used to grab and drive the bolt or nut to move up and down along the boom 5-1 .
进一步的，参见图7和图8，螺栓螺母抓取机构5包括水平滑动组件和螺栓螺母抓取组件5-3，水平滑动组件包括支撑板4-4和吊杆5-1，支撑板4-4垂直设置在所述工作台框架4位于倍速链型材4-9上方的水平架体4-8上，水平架体4-8沿其长度方向设有滑轨4-7，滑块4-2穿在滑轨4-7中，支撑板4-4通过滑块4-2与水平架体4-8连接，水平架体4-8上还设有用于驱动滑块4-2沿滑轨4-7滑动的电机4-1；工作时，电机4-1驱动滑块4-2沿水平架体4-8长度方向的滑轨4-7滑动，从而带动支撑板4-4沿水平架体4-8的长度方向滑动。支撑板4-4沿其轴线方向设有滑轨4-6，滑块4-5穿在滑轨4-6中，吊杆5-1通过滑块4-5与支撑板4-4垂直连接，支撑板4-4上还设有用于驱动滑块4-5沿滑轨4-6滑动的电机4-3；工作时，电机4-3驱动滑块4-5沿支撑板4-4轴线方向的滑轨4-6滑动，从而带动吊杆5-1沿支撑板4-4的轴线方向运动。优选的，所述吊杆5-1为直线滑台模组。Further, referring to Figures 7 and 8, the bolt and nut grabbing mechanism 5 includes a horizontal sliding assembly and a bolt and nut grabbing assembly 5-3. The horizontal sliding assembly includes a support plate 4-4 and a boom 5-1, and a support plate 4- 4 Vertically arranged on the horizontal frame 4-8 of the workbench frame 4 above the double-speed chain profile 4-9, and the horizontal frame 4-8 is provided with slide rails 4-7 and sliding blocks 4-2 along its length. Pass through the slide rail 4-7, the support plate 4-4 is connected to the horizontal frame 4-8 through the slider 4-2, and the horizontal frame 4-8 is also provided with the slide rail 4-2 for driving the slider 4-2 along the slide rail 4. -7 sliding motor 4-1; when working, the motor 4-1 drives the slider 4-2 to slide along the slide rail 4-7 in the length direction of the horizontal frame 4-8, thereby driving the support plate 4-4 along the horizontal frame Sliding in the length direction of 4-8. The support plate 4-4 is provided with a slide rail 4-6 along its axis, the slider 4-5 passes through the slide rail 4-6, and the boom 5-1 is vertically connected to the support plate 4-4 through the slide 4-5 , The support plate 4-4 is also provided with a motor 4-3 for driving the slider 4-5 to slide along the slide rail 4-6; when working, the motor 4-3 drives the slider 4-5 along the axis of the support plate 4-4 The sliding rail 4-6 slides in the direction, thereby driving the boom 5-1 to move along the axis of the support plate 4-4. Preferably, the boom 5-1 is a linear slide module.
进一步的，螺栓螺母抓取组件5-3包括与吊杆5-1连接并沿吊杆5-1上下滑动的机械手安装板5-8，以及设置在所述机械手安装板5-8上的螺栓取料爪和螺母取料爪，吊杆5-1上的电机5-2驱动机械手安装板5-8沿吊杆5-1上下滑动。螺母取料爪包括与所述螺母供料机构6对接的螺母吸头机构，螺母吸头机构吸取螺母供料机构6提供的螺母并传送至载盘8上。螺母吸头机构为伺服电批5-10，伺服电批5-10上设有真空发生器（图中未画出）和螺母吸头5-11，伺服电批5-10连接在主板5-12上，主板5-12与机械手安装板5-8上的电批安装板5-7滑动连接，气缸5-9驱动主板5-12沿电批安装板5-7上下滑动，从而带动主板5-12上的伺服电批5-10沿电批安装板5-7上下滑动。螺栓取料爪包括设在机械手安装板5-8底部并可沿机械手安装板5-8上下滑动的气动手指5-5，气动手指5-5的输出端设有可在水平平面张合的夹爪5-4，气动手指5-5的夹爪5-4朝向螺栓供料机构3一侧。优选的，机械手安装板5-8底部设有滑台气缸5-6，气动手指5-5与滑台气缸5-6的输出轴连接，滑台气缸5-6带动气动手指5-5沿机械手安装板5-8底部上下滑动。Further, the bolt and nut grabbing assembly 5-3 includes a manipulator mounting plate 5-8 connected to the boom 5-1 and sliding up and down along the boom 5-1, and bolts arranged on the manipulator mounting plate 5-8 The reclaiming claw and the nut reclaiming claw, the motor 5-2 on the boom 5-1 drives the manipulator mounting plate 5-8 to slide up and down along the boom 5-1. The nut take-out claw includes a nut sucking head mechanism butted with the nut feeding mechanism 6, and the nut sucking head mechanism sucks the nut provided by the nut feeding mechanism 6 and transfers it to the carrier plate 8. The nut suction head mechanism is a servo electric batch 5-10. The servo electric batch 5-10 is equipped with a vacuum generator (not shown in the figure) and a nut suction head 5-11. The servo electric batch 5-10 is connected to the main board 5- On 12, the main board 5-12 is slidably connected with the electric batch installation board 5-7 on the manipulator installation board 5-8, and the cylinder 5-9 drives the main board 5-12 to slide up and down along the electric batch installation board 5-7, thereby driving the main board 5 The servo electric batch 5-10 on the -12 slides up and down along the electric batch mounting plate 5-7. The bolt reclaiming claw includes a pneumatic finger 5-5 that is located at the bottom of the manipulator mounting plate 5-8 and can slide up and down along the manipulator mounting plate 5-8. The output end of the pneumatic finger 5-5 is provided with a clamp that can be opened and closed on a horizontal plane. The claws 5-4 and the clamping claws 5-4 of the pneumatic fingers 5-5 face the bolt feeding mechanism 3 side. Preferably, the bottom of the manipulator mounting plate 5-8 is provided with a sliding table cylinder 5-6, the pneumatic fingers 5-5 are connected with the output shaft of the sliding table cylinder 5-6, and the sliding table cylinder 5-6 drives the pneumatic fingers 5-5 along the manipulator. The bottom of the mounting plate 5-8 slides up and down.
进一步的，参见图9和图10，螺栓校正机构包括左平移夹爪机构7、右平移夹爪机构2和上升夹爪机构9，左平移夹爪机构7、右平移夹爪机构2对称设置，分别对扁平栽培容器中左侧、右侧的螺栓进行装配位置的调整，上升夹爪机构9设在工作台框架4内倍速链型材4-9下方，并且位于左平移夹爪机构7与右平移夹爪机构2之间，用于对扁平栽培容器中底部的螺栓进行装配位置的调整。左平移夹爪机构7和右平移夹爪机构2均包括多个气动手指7-4，用于驱动多个气动手指7-4同时在水平方向上远离或靠近载盘8的第一驱动装置7-2，气动手指7-4的输出端设有可在水平平面张合的夹爪7-5，夹爪7-5朝向载盘8一侧。上升夹爪机构9包括多个气动手指9-5，用于驱动多个气动手指9-5同时上下运动的第二驱动装置9-1，所述气动手指9-5的两夹爪9-6竖直朝上，载盘8上设有供该竖直朝上的夹爪9-6穿过的方形通孔8-6。Further, referring to Figures 9 and 10, the bolt correction mechanism includes a left translational clamping jaw mechanism 7, a right translational clamping jaw mechanism 2, and a rising jaw mechanism 9. The left translational clamping jaw mechanism 7 and the right translational clamping jaw mechanism 2 are symmetrically arranged, Adjust the assembly positions of the bolts on the left and right sides of the flat cultivation container respectively. The lifting jaw mechanism 9 is arranged under the double-speed chain profile 4-9 in the workbench frame 4, and is located at the left translational jaw mechanism 7 and the right translational mechanism. The clamping jaw mechanism 2 is used to adjust the assembly position of the bolt at the bottom of the flat cultivation container. The left translational clamping jaw mechanism 7 and the right translational clamping jaw mechanism 2 both include a plurality of pneumatic fingers 7-4, which are used to drive the plurality of pneumatic fingers 7-4 at the same time away from or close to the first driving device 7 of the tray 8 in the horizontal direction. -2. The output end of the pneumatic finger 7-4 is provided with a clamping jaw 7-5 that can be opened and closed on a horizontal plane, and the clamping jaw 7-5 faces the side of the tray 8. The lifting jaw mechanism 9 includes a plurality of pneumatic fingers 9-5, and a second driving device 9-1 for driving the plurality of pneumatic fingers 9-5 to move up and down at the same time. The two clamping jaws 9-6 of the pneumatic fingers 9-5 Vertically facing upwards, the carrier plate 8 is provided with a square through hole 8-6 for the vertically upward clamping jaws 9-6 to pass through.
进一步的，参见图9和图10，左平移夹爪机构7、右平移夹爪机构2均包括安装板7-1、安装板7-1与工作台框架4内的倍速链型材4-9连接，安装板7-1上设有支架7-6和滑轨7-3，支架7-6滑动连接在滑轨7-3上，第一驱动装置7-2驱动支架7-6在水平方向上远离或靠近载盘7，第一驱动装置7-2可以采用伺服电机。支架7-6沿长度方向上设有多个气动手指7-4，气动手指7-4的个数与扁平栽培容器中左侧/右侧的螺栓个数相匹配，优选为3个；3个气动手指7-4均匀分布在支架7-6的长度方向上，气动手指7-4的输出端均设有可在水平平面张合的夹爪7-5，夹爪7-5朝向载盘8一侧。上升夹爪机构9包括支架连接板9-3，支架连接板9-3设在工作台框架4内的倍速链型材4-9的下方，支架连接板9-3上设有支架板9-7，双轴气缸9-1通过气缸连接板9-4连接在支架板9-7上，支架板9-7的竖直方向设有滑轨9-2，气缸连接板9-4与该滑轨9-2滑动连接，气缸连接板9-4上设有多个气动手指9-5，气动手指9-5的个数与扁平栽培容器中底部的螺栓个数相匹配，优选为2个，2个气动手指9-5的两夹爪9-6均竖直朝上，载盘8上设有供该竖直朝上的夹爪9-6穿过的方形通孔8-6。工作时，双轴气缸9-1驱动气缸连接板9-4沿支架板9-7上下滑动并带动气动手指9-5竖直朝上的夹爪9-6穿过或退出载盘8上的方形通孔8-6。Further, referring to Figures 9 and 10, the left translational clamping jaw mechanism 7 and the right translational clamping jaw mechanism 2 both include a mounting plate 7-1, and the mounting plate 7-1 is connected to the double-speed chain profile 4-9 in the workbench frame 4 , The mounting plate 7-1 is provided with a bracket 7-6 and a slide rail 7-3, the bracket 7-6 is slidably connected to the slide rail 7-3, and the first driving device 7-2 drives the bracket 7-6 in the horizontal direction Far away from or close to the carrier disk 7, the first driving device 7-2 can adopt a servo motor. The bracket 7-6 is provided with a plurality of pneumatic fingers 7-4 along the length direction. The number of pneumatic fingers 7-4 matches the number of bolts on the left/right side of the flat cultivation container, preferably 3; The pneumatic fingers 7-4 are evenly distributed in the length direction of the bracket 7-6. The output ends of the pneumatic fingers 7-4 are equipped with clamping jaws 7-5 that can be opened and closed on a horizontal plane, and the clamping jaws 7-5 face the carrier 8 One side. The lifting jaw mechanism 9 includes a bracket connecting plate 9-3. The bracket connecting plate 9-3 is arranged under the double-speed chain profile 4-9 in the workbench frame 4, and the bracket connecting plate 9-3 is provided with a bracket plate 9-7. , The biaxial cylinder 9-1 is connected to the bracket plate 9-7 through the cylinder connecting plate 9-4. The vertical direction of the bracket plate 9-7 is provided with a sliding rail 9-2, and the cylinder connecting plate 9-4 is connected to the sliding rail. 9-2 sliding connection, the cylinder connecting plate 9-4 is provided with a plurality of pneumatic fingers 9-5, the number of pneumatic fingers 9-5 matches the number of bolts on the bottom of the flat cultivation container, preferably 2, 2 The two clamping jaws 9-6 of the pneumatic fingers 9-5 are all vertically upward, and the carrier plate 8 is provided with a square through hole 8-6 for the vertical upward clamping jaw 9-6 to pass through. When working, the dual-axis cylinder 9-1 drives the cylinder connecting plate 9-4 to slide up and down along the support plate 9-7 and drives the pneumatic fingers 9-5 to vertically upward gripping jaws 9-6 to pass through or withdraw from the carrier plate 8 Square through holes 8-6.
本发明的工作过程如下。The working process of the present invention is as follows.
控制倍速链型材4-9内的链条带动其上方的多个载盘8运动，直至载盘8移动至工作台框架4内顶升板1-7上的定位销1-9正对载盘8上的定位锥销套8-5；控制顶升气缸1-14驱动顶升导向柱1-3带动顶升板1-7上升使得顶升板1-7上的定位销1-9 ***载盘8上的定位锥销套8-5，控制顶升气缸1-14驱动顶升导向柱1-3带动顶升板1-7以及载盘8继续上升，直至升到顶升挡块处。Control the chain in the double-speed chain profile 4-9 to drive the multiple carrier plates 8 above it to move until the carrier plate 8 moves to the positioning pin 1-9 on the jacking plate 1-7 in the workbench frame 4 is facing the carrier plate 8 The positioning cone pin sleeve 8-5 on the upper; control the jacking cylinder 1-14 to drive the jacking guide column 1-3 to drive the jacking plate 1-7 to rise so that the positioning pins 1-9 on the jacking plate 1-7 are inserted into the carrier plate The positioning cone pin sleeve 8-5 on the 8 controls the jacking cylinder 1-14 to drive the jacking guide column 1-3 to drive the jacking plate 1-7 and the carrier plate 8 to continue to rise until they reach the jacking block.
控制螺栓振动盘3-2排列输送螺栓，螺栓输送轨道3-3将排列好的螺栓有序的输送至出料口3-5处；控制气动手指3-7驱动两夹爪3-6张开，控制滑台气缸3-9驱动安装底板3-10在垂直于出料口3-5处的水平方向上滑动，直至气动手指3-7的两夹爪3-6的张开部分正对出料口3-5，两夹爪3-6的张开部分正对出料口3-5处的螺栓头部，螺栓输送轨道3-3出料口3-5处的螺栓出料进入两夹爪3-6的张开部分，控制气动手指3-7驱动两夹爪3-6闭合夹取螺栓头部；同时控制滑台气缸3-9驱动安装底板3-10在垂直于出料口3-5处的水平方向上滑动，直至气动手指3-7的两夹爪3-6远离出料口3-5、平挡板3-13位于出料口3-5处，平挡板3-13挡住出料口3-5处的螺栓不让出料；控制翻转气缸3-8带动气动手指3-7以及其两夹爪3-6上的螺栓翻转，使得螺栓头部朝下，螺杆部分朝上。Control the bolt vibration plate 3-2 to arrange the conveying bolts, and the bolt conveying track 3-3 will orderly convey the arranged bolts to the discharge port 3-5; control the pneumatic fingers 3-7 to drive the two grippers 3-6 to open. , Control the sliding table cylinder 3-9 to drive the mounting bottom plate 3-10 to slide in the horizontal direction perpendicular to the discharge port 3-5, until the open part of the two grippers 3-6 of the pneumatic finger 3-7 is directly facing out Discharge port 3-5, the open part of the two clamping jaws 3-6 is facing the bolt head at the discharging port 3-5, the bolts at the discharging port 3-5 of the bolt conveying track 3-3 are discharged into the two clamps The open part of the claw 3-6, control the pneumatic finger 3-7 to drive the two clamping claws 3-6 to close the clamping bolt head; at the same time, control the slide cylinder 3-9 to drive the mounting base plate 3-10 to be perpendicular to the discharge port 3. Slide in the horizontal direction at -5 until the two grippers 3-6 of the pneumatic fingers 3-7 are far away from the discharge port 3-5, the flat baffle 3-13 is located at the discharge port 3-5, and the flat baffle 3- 13 Block the bolts at the discharge port 3-5 to prevent discharging; control the turning cylinder 3-8 to drive the pneumatic fingers 3-7 and the bolts on the two clamping jaws 3-6 to turn over, so that the head of the bolt faces downwards and the screw part Face up.
控制螺栓螺母抓取机构5整体带动螺栓螺母抓取组件5-3移动至螺栓供料机构3的正前方，控制电机5-2驱动机械手安装板5-8带动螺栓取料爪沿吊杆5-1向下滑动，同时控制机械手安装板5-8底部的滑台气缸5-6带动气动手指5-5沿机械手安装板5-8底部上下滑动，直至气动手指5-5的两夹爪5-4降低至螺栓翻转机构上的气动手指3-7的两夹爪3-6上的螺栓的螺杆部分上方，控制气动手指5-5驱动两夹爪5-4张开，再驱动螺栓螺母抓取机构5整体向螺栓供料机构3移动直至气动手指5-5的两夹爪5-4张开部分位于气动手指3-7的两夹爪3-6上的螺栓的螺杆部分正上方；然后控制滑台气缸5-6带动气动手指5-5沿机械手安装板5-8底部向下运动，同时控制气动手指5-5驱动两夹爪5-4闭合夹取气动手指3-7的两夹爪3-6上的螺栓的螺杆部分；控制螺栓翻转机构上的气动手指3-7驱动两夹爪3-6张开释放螺栓；控制螺栓螺母抓取机构5整体带动螺栓螺母抓取组件5-3以及两夹爪5-4上的螺栓驶离螺栓供料机构3，控制翻转气缸3-8带动翻转轴3-11上的气动手指3-7以及其两夹爪3-6翻转使得气动手指3-7的两夹爪3-6朝向出料口3-5。The bolt and nut grabbing mechanism 5 is controlled to drive the bolt and nut grabbing assembly 5-3 to move to the front of the bolt feeding mechanism 3, and the motor 5-2 is controlled to drive the manipulator mounting plate 5-8 to drive the bolt picking claw along the boom 5- 1 Slide down, while controlling the sliding table cylinder 5-6 at the bottom of the manipulator mounting plate 5-8 to drive the pneumatic fingers 5-5 to slide up and down along the bottom of the manipulator mounting plate 5-8 until the two grippers 5- of the pneumatic fingers 5-5 4 Lower to the top of the screw part of the bolt on the two clamping jaws 3-6 of the pneumatic finger 3-7 on the bolt turning mechanism, control the pneumatic finger 5-5 to drive the two clamping jaws 5-4 to open, and then drive the bolt and nut to grab The mechanism 5 moves to the bolt feeding mechanism 3 as a whole until the open part of the two clamping jaws 5-4 of the pneumatic finger 5-5 is directly above the screw part of the bolt on the two clamping jaws 3-6 of the pneumatic finger 3-7; then control The slide cylinder 5-6 drives the pneumatic fingers 5-5 to move down the bottom of the manipulator mounting plate 5-8, and at the same time controls the pneumatic fingers 5-5 to drive the two grippers 5-4 to close and grip the two grippers of the pneumatic fingers 3-7 The screw part of the bolt on the 3-6; the pneumatic finger 3-7 on the control bolt turning mechanism drives the two clamping jaws 3-6 to open the release bolt; the control bolt and nut grabbing mechanism 5 drives the bolt and nut grabbing assembly 5-3 as a whole And the bolts on the two gripping jaws 5-4 move away from the bolt feeding mechanism 3, and the turning cylinder 3-8 is controlled to drive the pneumatic fingers 3-7 on the turning shaft 3-11 and the two gripping jaws 3-6 are turned over to make the pneumatic fingers 3 The two clamping jaws 3-6 of -7 face the discharge port 3-5.
控制螺栓螺母抓取机构5整体带动螺栓螺母抓取组件5-3以及两夹爪5-4上的螺栓移动至工作台框架4内载盘8的上方，同时控制机械手安装板5-8底部的滑台气缸5-6带动气动手指5-5沿机械手安装板5-8底部上下滑动，直至气动手指5-5的两夹爪5-4上的螺栓降低至载盘8上的定位套8-2 上方，再驱动螺栓螺母抓取机构5整体向载盘8上的定位套8-2移动直至气动手指5-5的两夹爪5-4上的螺栓位于载盘8上的定位套8-2正上方，然后控制滑台气缸5-6带动两夹爪5-4上的螺栓沿机械手安装板5-8底部向下运动，同时控制气动手指5-5驱动两夹爪5-4张开释放螺栓，将螺栓放置在载盘8上的定位套8-2上。重复上述步骤，直至载盘8上的定位套8-2上均放置有螺栓。控制电机5-2驱动机械手安装板5-8带动螺栓取料爪沿吊杆5-1向上滑动，同时控制机械手安装板5-8底部的滑台气缸5-6带动气动手指5-5沿机械手安装板5-8底部向上运动，直至机械手安装板5-8以及气动手指5-5不会影响后续螺母吸头机构的工作。The control bolt and nut grabbing mechanism 5 integrally drives the bolt and nut grabbing assembly 5-3 and the bolts on the two clamping jaws 5-4 to move above the carrier plate 8 in the workbench frame 4, and at the same time controls the bottom of the manipulator mounting plate 5-8 The sliding table cylinder 5-6 drives the pneumatic fingers 5-5 to slide up and down along the bottom of the manipulator mounting plate 5-8 until the bolts on the two clamping jaws 5-4 of the pneumatic fingers 5-5 are lowered to the positioning sleeve 8-on the carrier plate 8. 2 From above, drive the bolt and nut grabbing mechanism 5 as a whole to move to the positioning sleeve 8-2 on the carrier plate 8 until the bolts on the two gripping claws 5-4 of the pneumatic fingers 5-5 are located on the positioning sleeve 8-on the carrier plate 8 2 Right above, and then control the sliding table cylinder 5-6 to drive the bolts on the two clamping jaws 5-4 to move down along the bottom of the manipulator mounting plate 5-8, and at the same time control the pneumatic fingers 5-5 to drive the two clamping jaws 5-4 to open. Release the bolts, and place the bolts on the positioning sleeve 8-2 on the carrier plate 8. Repeat the above steps until bolts are placed on the positioning sleeve 8-2 on the carrier plate 8. The control motor 5-2 drives the manipulator mounting plate 5-8 to drive the bolt reclaiming claw to slide upward along the boom 5-1, and at the same time controls the sliding table cylinder 5-6 at the bottom of the manipulator mounting plate 5-8 to drive the pneumatic fingers 5-5 along the manipulator The bottom of the mounting plate 5-8 moves upward until the manipulator mounting plate 5-8 and the pneumatic fingers 5-5 will not affect the subsequent work of the nut suction head mechanism.
控制左平移夹爪机构7上的气动手指7-4驱动两夹爪7-5张开，控制第一驱动装置7-2驱动支架7-6带动三个气动手指7-4在水平方向上靠近载盘8，直至载盘8左侧定位套8-2上的螺栓位于气动手指7-4的两夹爪7-5的张开部分，控制气动手指7-4驱动两夹爪7-5闭合将载盘8左侧定位套8-2上的螺栓扶正；同理控制右平移夹爪机构2将载盘8右侧定位套8-2上的螺栓扶正。控制上升夹爪机构9上的气动手指9-5驱动两夹爪9-6张开，控制双轴气缸9-1驱动气缸连接板9-4带动气动手指9-5上升，两夹爪9-6穿过载盘8上的方形通孔8-6，直至载盘8定位套8-2上对应于扁平栽培容器中底部的螺栓位于气动手指9-5的两夹爪9-6的张开部分，控制气动手指9-5驱动两夹爪9-6闭合将载盘8定位套8-2上对应于扁平栽培容器中底部的螺栓扶正。Control the pneumatic fingers 7-4 on the left translational gripper mechanism 7 to drive the two grippers 7-5 to open, and control the first driving device 7-2 to drive the bracket 7-6 to drive the three pneumatic fingers 7-4 to approach in the horizontal direction Carry the disc 8 until the bolt on the positioning sleeve 8-2 on the left side of the carrier 8 is located at the open part of the two clamping jaws 7-5 of the pneumatic fingers 7-4, and control the pneumatic fingers 7-4 to drive the two clamping jaws 7-5 to close The bolts on the positioning sleeve 8-2 on the left side of the tray 8 are centered; similarly, the right translational clamping jaw mechanism 2 is controlled to center the bolts on the positioning sleeve 8-2 on the right side of the tray 8. Control the pneumatic fingers 9-5 on the lifting gripper mechanism 9 to drive the two grippers 9-6 to open, control the dual-axis cylinder 9-1 to drive the cylinder connecting plate 9-4 to drive the pneumatic fingers 9-5 to rise, and the two grippers 9- 6 Pass through the square through hole 8-6 on the carrier plate 8 until the bolt on the carrier plate 8 positioning sleeve 8-2 corresponding to the bottom of the flat cultivation container is located at the open part of the two clamping jaws 9-6 of the pneumatic fingers 9-5 , Control the pneumatic fingers 9-5 to drive the two clamping jaws 9-6 to close and center the bolts on the positioning sleeve 8-2 of the tray 8 corresponding to the bottom of the flat cultivation container.
控制电机推杆1-15带动托板1-13及其上方的第一导向轴1-12顶升，直至第一导向轴1-12的上端依次穿过顶升板1-7、载盘8上的圆形通孔8-3，并且其上端端部从圆形通孔8-3中伸出。Control the motor push rod 1-15 to drive the pallet 1-13 and the first guide shaft 1-12 above it to lift until the upper end of the first guide shaft 1-12 passes through the jacking plate 1-7 and the carrier plate 8 in turn The upper circular through hole 8-3, and its upper end protrudes from the circular through hole 8-3.
控制机械臂12抓取玻璃放置架14上的钢化玻璃13并将其放置在玻璃二次定位台11上，玻璃二次定位台11对钢化玻璃13的位置进行调整；控制机械臂12抓取玻璃二次定位台11上的钢化玻璃13将其运移至工作台框架4内载盘8的上方，直至钢化玻璃13的两侧以及底部的螺栓孔10-8正对载盘8定位套8-2上的螺栓，然后控制机械臂12将钢化玻璃13放置在第一导向轴1-12的上端端部。Control the mechanical arm 12 to grab the tempered glass 13 on the glass placement rack 14 and place it on the glass secondary positioning table 11. The glass secondary positioning table 11 adjusts the position of the tempered glass 13; controls the mechanical arm 12 to grab the glass The tempered glass 13 on the secondary positioning table 11 is moved to the top of the carrier plate 8 in the workbench frame 4 until the two sides of the tempered glass 13 and the bolt holes 10-8 at the bottom are facing the carrier plate 8 positioning sleeve 8-- 2 on the bolts, and then control the mechanical arm 12 to place the tempered glass 13 on the upper end of the first guide shaft 1-12.
控制电机推杆1-15带动托板1-13及其上方的第一导向轴1-12缓慢下降，带动其上方的钢化玻璃13缓慢下降，直至载盘8定位套8-2上的螺栓***钢化玻璃13的螺栓孔10-8中。控制左平移夹爪机构7上的气动手指7-4驱动两夹爪7-5张开，控制第一驱动装置7-2驱动支架7-6带动三个气动手指7-4在水平方向上远离载盘8，直至气动手指7-4的两夹爪7-5位于倍速链型材4-9外；同理控制右平移夹爪机构2上的气动手指的两夹爪位于倍速链型材4-9外；控制上升夹爪机构9上的气动手指9-5驱动两夹爪9-6张开，控制双轴气缸9-1驱动气缸连接板9-4带动气动手指9-5下降，直至气动手指9-5的两夹爪9-6位于载盘8的下方。继续控制电机推杆1-15带动托板1-13及其上方的第一导向轴1-12缓慢下降，带动其上方的钢化玻璃13缓慢下降，直至第一导向轴1-12上端位于倍速链型材4-9内链条的下方，而钢化玻璃13完全放置在载盘8上。The control motor push rod 1-15 drives the pallet 1-13 and the first guide shaft 1-12 above it to slowly descend, and drives the tempered glass 13 above it to slowly descend until the bolts on the positioning sleeve 8-2 of the carrier plate 8 are inserted In the bolt holes 10-8 of the tempered glass 13. Control the pneumatic fingers 7-4 on the left translational gripper mechanism 7 to drive the two grippers 7-5 to open, and control the first driving device 7-2 to drive the bracket 7-6 to drive the three pneumatic fingers 7-4 away in the horizontal direction Carry the plate 8 until the two grippers 7-5 of the pneumatic fingers 7-4 are located outside the double-speed chain profile 4-9; similarly, the two grippers of the pneumatic fingers on the right translational gripper mechanism 2 are located at the double-speed chain profile 4-9 Outside; control the pneumatic fingers 9-5 on the rising gripper mechanism 9 to drive the two grippers 9-6 to open, and control the dual-axis cylinder 9-1 to drive the cylinder connecting plate 9-4 to drive the pneumatic fingers 9-5 down until the pneumatic fingers The two clamping jaws 9-6 of 9-5 are located under the carrier plate 8. Continue to control the motor push rod 1-15 to drive the pallet 1-13 and the first guide shaft 1-12 above it to slowly descend, and drive the tempered glass 13 above it to slowly descend until the upper end of the first guide shaft 1-12 is on the double-speed chain Below the chains in the profiles 4-9, the tempered glass 13 is completely placed on the carrier plate 8.
随后在钢化玻璃13上放置间隔条，间隔条放好后采用前述同样的方法将另一片钢化玻璃放置在载盘8定位套8-2上方的螺栓上。Subsequently, spacers are placed on the tempered glass 13, and after the spacers are placed, another piece of tempered glass is placed on the bolt above the positioning sleeve 8-2 of the carrier plate 8 using the same method as described above.
控制螺母振动盘6-2排列输送螺母，螺母输送轨道6-3将排列好的螺母有序的输送至出料口处，控制滑台气缸6-5驱动平挡板6-8在垂直于出料口处的水平方向上滑动，直至平挡板6-8上的接料槽6-7正对螺母输送轨道6-3的出料口，出料口处的螺母出料进入接料槽6-7中；控制滑台气缸6-5驱动平挡板6-8带动接料槽6-7中的螺母往螺母过渡板6-9的水平方向上滑动，直至平挡板6-8带动螺母远离出料口滑入螺母过渡板6-9中，此时螺母过渡板6-9挡住接料槽6-7中的螺母不掉落，而平挡板6-8挡住出料口处的螺母不让出料。Control the nut vibration plate 6-2 to arrange the conveying nuts, the nut conveying track 6-3 will orderly convey the arranged nuts to the discharge port, and control the sliding table cylinder 6-5 to drive the flat baffle 6-8 to be perpendicular to the output Slide the material opening in the horizontal direction until the material receiving groove 6-7 on the flat baffle 6-8 is facing the discharge opening of the nut conveying track 6-3, and the nut at the discharge opening enters the receiving groove 6 -7; Control the sliding table cylinder 6-5 to drive the flat baffle 6-8 to drive the nut in the receiving groove 6-7 to slide in the horizontal direction of the nut transition plate 6-9, until the flat baffle 6-8 drives the nut Slide into the nut transition plate 6-9 away from the discharge port. At this time, the nut transition plate 6-9 blocks the nut in the receiving groove 6-7 and does not fall, while the flat baffle 6-8 blocks the nut at the discharge port. Do not let the material out.
控制螺栓螺母抓取机构5整体带动螺栓螺母抓取组件5-3移动至螺母供料机构6的正前方，驱动气缸5-9带动主板5-12以及伺服电批5-10沿电批安装板5-7上下滑动，直至螺母吸头5-11降低至平挡板6-8上接料槽6-7中的螺母上方；再驱动螺栓螺母抓取机构5整体向平挡板6-8上的接料槽6-7移动直至螺母吸头5-11位于接料槽6-7中螺母正上方，然后控制驱动气缸5-9带动主板5-12以及伺服电批5-10沿电批安装板5-7向下滑动，同时控制伺服电批5-10上的真空发生器工作，螺母吸头5-11将接料槽6-7中的螺母吸附固定在螺母吸头5-11中。Control the bolt and nut grabbing mechanism 5 as a whole to drive the bolt and nut grabbing assembly 5-3 to move to the front of the nut feeding mechanism 6, and drive the cylinder 5-9 to drive the main board 5-12 and the servo electric batch 5-10 along the electric batch mounting plate 5-7 slide up and down until the nut suction head 5-11 is lowered to the top of the nut in the material receiving groove 6-7 on the flat baffle 6-8; The receiving trough 6-7 moves until the nut suction head 5-11 is located directly above the nut in the receiving trough 6-7, and then the drive cylinder 5-9 drives the main board 5-12 and the servo electric batch 5-10 along the electric batch mounting plate 5-7 slides down, and at the same time controls the vacuum generator on the servo electric batch 5-10, the nut sucker 5-11 sucks and fixes the nut in the receiving trough 6-7 in the nut sucker 5-11.
控制螺栓螺母抓取机构5整体带动螺栓螺母抓取组件5-3以及螺母吸头5-11上的螺母移动至工作台框架4内载盘8的上方，驱动气缸5-9带动主板5-12以及伺服电批5-10沿电批安装板5-7上下滑动，直至螺母吸头5-11降低至载盘8上螺栓上方，再驱动螺栓螺母抓取机构5整体移动直至螺母吸头5-11位于载盘8上螺栓正上方，然后控制气缸5-9带动伺服电批5-10沿电批安装板5-7向下滑动，同时控制伺服电批5-10上的真空发生器工作，螺母吸头5-11将其内的螺母放置在载盘8上螺栓的螺杆部分，控制伺服电批5-10工作，将螺母旋紧。重复上述步骤，直至载盘8上的螺栓上均放置有螺母并将其旋紧。The control bolt and nut grabbing mechanism 5 integrally drives the bolt and nut grabbing assembly 5-3 and the nut on the nut suction head 5-11 to move above the carrier plate 8 in the workbench frame 4, and the cylinder 5-9 drives the main board 5-12 And the servo electric batch 5-10 slides up and down along the electric batch mounting plate 5-7 until the nut suction head 5-11 is lowered above the bolt on the carrier plate 8, and then the bolt and nut grabbing mechanism 5 is driven to move as a whole until the nut suction head 5- 11 is located directly above the bolt on the carrier plate 8, and then control the cylinder 5-9 to drive the servo electric batch 5-10 to slide down the electric batch mounting plate 5-7, and at the same time control the vacuum generator on the servo electric batch 5-10 to work. The nut suction head 5-11 puts the nut inside it on the screw part of the bolt on the carrier plate 8, controls the servo electric batch 5-10 to work, and tightens the nut. Repeat the above steps until nuts are placed on the bolts on the carrier plate 8 and tightened.
控制顶升气缸1-14带动顶升板1-7及其上方的载盘8下降使得顶升板1-7上的定位销1-9 脱离载盘8上的定位锥销套8-5，此时，载盘8放置在倍速链型材4-9内的链条上，链条带动该载盘8继续往前运动，进入下一个工序。Control the jacking cylinder 1-14 to drive the jacking plate 1-7 and the carrier plate 8 above it to drop so that the positioning pins 1-9 on the jacking plate 1-7 are separated from the positioning cone pin sleeve 8-5 on the carrier plate 8. At this time, the carrier plate 8 is placed on the chain in the double-speed chain profile 4-9, and the chain drives the carrier plate 8 to continue to move forward and enter the next process.
本发明仅以上述实施例进行说明，各部件的结构、设置位置及其连接都是可以有所变化的。在本发明技术方案的基础上，凡根据本发明原理对个别部件进行的改进或等同变换，均不应排除在本发明的保护范围之外。The present invention is only described with the above-mentioned embodiments, and the structure, installation position and connection of each component can be changed. On the basis of the technical solution of the present invention, any improvements or equivalent changes made to individual components based on the principles of the present invention should not be excluded from the protection scope of the present invention.

Claims (10)

  1. 一种扁平栽培容器的螺栓螺母自动装配***，其特征在于包括：A bolt and nut automatic assembly system for a flat cultivation container, which is characterized in that it comprises:
    载盘，设在输送线上用于扁平栽培容器中螺栓、螺母及其他部件的组装；The carrier plate is set on the conveyor line for the assembly of bolts, nuts and other parts in the flat cultivation container;
    螺栓供料机构，用于对螺栓进行自动分料和送料；Bolt feeding mechanism, used for automatic distribution and feeding of bolts;
    螺母供料机构，用于对螺母进行自动分料和送料；Nut feeding mechanism, used for automatic distribution and feeding of nuts;
    螺栓螺母抓取机构，用于夹取螺栓供料机构提供的螺栓并传送至载盘上，吸取螺母供料机构提供的螺母并传送至载盘上；The bolt and nut grabbing mechanism is used to grab the bolts provided by the bolt feeding mechanism and transfer them to the carrier plate, and suck the nuts provided by the nut feeding mechanism and send them to the carrier plate;
    螺栓校正机构，用于对待装配螺栓的装配位置进行调整。The bolt correction mechanism is used to adjust the assembly position of the bolt to be assembled.
  2. 根据权利要求1所述的扁平栽培容器的螺栓螺母自动装配***，其特征在于，所述螺栓供料机构和螺母供料机构位于输送线两侧，输送线穿过所述螺栓供料机构和螺母供料机构之间的工作台框架。The bolt and nut automatic assembly system of the flat cultivation container according to claim 1, wherein the bolt feeding mechanism and the nut feeding mechanism are located on both sides of the conveying line, and the conveying line passes through the bolt feeding mechanism and the nut. The workbench frame between the feeding mechanism.
  3. 根据权利要求1所述的扁平栽培容器的螺栓螺母自动装配***，其特征在于，The bolt and nut automatic assembly system for a flat cultivation container according to claim 1, wherein:
    所述扁平栽培容器包括两片透明板、间隔条以及遮光板，The flat cultivating container includes two transparent plates, a spacer and a light-shielding plate,
    所述间隔条夹放在两片透明板之间并通过螺栓、螺母连接结构连接，间隔条包括两根垂直间隔条和一根水平间隔条，垂直间隔条位于透明板的两侧，水平间隔条位于透明板的底部，间隔条和透明板组成中空的栽培容器，垂直间隔条的外侧边还设置有一个以上的挂槽，挂槽位于中空容器外部；The spacer is sandwiched between two transparent plates and connected by a bolt and nut connection structure. The spacer includes two vertical spacers and a horizontal spacer. The vertical spacers are located on both sides of the transparent plate, and the horizontal spacers Located at the bottom of the transparent plate, the spacer strip and the transparent plate form a hollow cultivation container, and more than one hanging trough is provided on the outer side of the vertical spacer, and the hanging trough is located outside the hollow container;
    所述遮光板位于透明板顶部，遮光板中部开设有遮光板槽，遮光板槽的形状与容器顶部开口处的形状相同且位置对应，遮光板的面积大于容器顶部面积。The shading plate is located on the top of the transparent plate, and a shading plate groove is opened in the middle of the shading plate. The shape of the shading plate groove is the same as the shape of the opening at the top of the container and the position is corresponding. The area of the shading plate is larger than the area of the top of the container.
  4. 根据权利要求2所述的扁平栽培容器的螺栓螺母自动装配***，其特征在于，The bolt and nut automatic assembly system for a flat cultivation container according to claim 2, characterized in that,
    所述载盘上设有多个通孔以及多个用于放置螺栓的定位套；A plurality of through holes and a plurality of positioning sleeves for placing bolts are provided on the carrier plate;
    所述工作台框架内的输送线下方设有顶升缓冲机构；所述顶升缓冲机构包括第一顶升组件和第二顶升组件，第一顶升组件包括顶升杆、用于驱动顶升杆升降的直线驱动机构，顶升杆顶升后其上端可以伸入其上方载盘上的通孔中；第二顶升组件用于将其上方的载盘顶升和下降。A jacking buffer mechanism is provided under the conveying line in the frame of the workbench; the jacking buffer mechanism includes a first jacking assembly and a second jacking assembly, and the first jacking assembly includes a jacking rod for driving the jacking A linear drive mechanism for lifting the lifting rod. After the lifting rod is lifted, the upper end of the lifting rod can extend into the through hole on the carrier plate above it; the second lifting component is used for lifting and lowering the carrier plate above it.
  5. 根据权利要求1或2所述的扁平栽培容器的螺栓螺母自动装配***，其特征在于，The bolt and nut automatic assembly system for a flat cultivation container according to claim 1 or 2, characterized in that,
    所述螺栓供料机构，包括螺栓振动盘，螺栓振动盘的出料口与螺栓输送轨道连接，螺栓输送轨道的下方设有直振器，螺栓输送轨道的出料口处设有螺栓翻转机构；The bolt feeding mechanism includes a bolt vibration plate, the discharge port of the bolt vibration plate is connected with the bolt conveying track, a direct vibrator is provided under the bolt conveying track, and a bolt turning mechanism is provided at the discharge port of the bolt conveying track;
    所述螺栓翻转机构包括安装底板，安装底板上设有平挡板、用于夹持螺栓输送轨道出料口处的螺栓的夹料爪以及驱动夹料爪翻转的翻转机构，平挡板和夹料爪紧贴螺栓输送轨道的出料口；安装底板带动夹料爪和平挡板沿着与螺栓输送轨道出料口垂直的水平方向上滑动。The bolt turning mechanism includes a mounting base plate, a flat baffle plate, a clamping claw for clamping the bolt at the outlet of the bolt conveying track, a turning mechanism that drives the clamping claw to flip, a flat baffle and a clamp The material claw is close to the discharge port of the bolt conveying track; the mounting bottom plate drives the clamping claw and the flat baffle to slide in a horizontal direction perpendicular to the discharge port of the bolt conveying track.
  6. 根据权利要求1或2所述的扁平栽培容器的螺栓螺母自动装配***，其特征在于，所述螺母供料机构包括螺母振动盘，螺母振动盘的出料口与螺母输送轨道连接，螺母输送轨道的下方设有直振器，螺母输送轨道的出料口处设有可在水平方向上滑动、并且其滑动方向与螺母输送轨道出料口垂直的平挡板，平挡板紧贴螺母输送轨道的出料口，平挡板靠近出料口一侧的顶部设有与出料口相配合、用于容纳螺母的接料槽。The bolt and nut automatic assembly system for a flat cultivation container according to claim 1 or 2, wherein the nut feeding mechanism includes a nut vibrating plate, and the outlet of the nut vibrating plate is connected to the nut conveying track, and the nut conveying track There is a direct vibrator below the nut conveyor. The outlet of the nut conveying track is equipped with a flat baffle that can slide in the horizontal direction and its sliding direction is perpendicular to the outlet of the nut conveying track. The flat baffle is close to the nut conveying track. The top of the flat baffle near the discharge port is provided with a material receiving groove that matches the discharge port and is used for accommodating the nut.
  7. 根据权利要求1或2所述的扁平栽培容器的螺栓螺母自动装配***，其特征在于，所述螺栓螺母抓取机构包括水平滑动组件和螺栓螺母抓取组件，The bolt and nut automatic assembly system for a flat cultivation container according to claim 1 or 2, wherein the bolt and nut grabbing mechanism comprises a horizontal sliding component and a bolt and nut grabbing component,
    水平滑动组件包括支撑板和吊杆，支撑板垂直设置在所述工作台框架位于输送线上方的水平架体上、并能够沿水平架体的长度方向滑动，所述吊杆垂直连接在所述支撑板上并能够沿支撑板的轴线方向滑动；The horizontal sliding assembly includes a support plate and a suspension rod. The support plate is vertically arranged on the horizontal frame of the workbench frame above the conveying line and can slide along the length of the horizontal frame. The suspension rod is vertically connected to the horizontal frame. The support plate can slide along the axis of the support plate;
    螺栓螺母抓取组件，用于抓取并带动所述螺栓或螺母沿所述吊杆上下运动。The bolt and nut grabbing assembly is used to grab and drive the bolt or nut to move up and down along the boom.
  8. 8.根据权利要求7所述的扁平栽培容器的螺栓螺母自动装配***，其特征在于，水平滑动组件还包括驱动支撑板沿水平架体的长度方向滑动的第一驱动机构，以及驱动吊杆沿支撑板的轴线方向滑动的第二个驱动机构；8. The bolt and nut automatic assembly system for a flat cultivation container according to claim 7, wherein the horizontal sliding assembly further comprises a first driving mechanism that drives the support plate to slide along the length of the horizontal frame, and drives the boom along the The second driving mechanism that slides in the axial direction of the support plate;
    所述螺栓螺母抓取组件包括与吊杆连接并沿吊杆上下滑动的机械手安装板，以及设置在所述机械手安装板上的螺栓取料爪和螺母取料爪；The bolt and nut grabbing assembly includes a manipulator mounting plate connected with the boom and sliding up and down along the boom, and a bolt and nut picking claw provided on the manipulator mounting plate;
    所述螺母取料爪包括与所述螺母供料机构对接的螺母吸头机构，螺母吸头机构吸取螺母供料机构提供的螺母并传送至载盘上；所述螺母吸头机构可沿机械手安装板上下滑动；The nut take-out claw includes a nut suction head mechanism butted with the nut feeding mechanism, the nut suction head mechanism sucks the nut provided by the nut feeding mechanism and transmits it to the carrier plate; the nut suction head mechanism can be installed along the manipulator Slide up and down;
    所述螺栓取料爪包括设在机械手安装板底部并可沿机械手安装板上下滑动的气动手指，气动手指的输出端设有可在水平平面张合的夹爪，气动手指的夹爪朝向螺栓供料机构一侧。The bolt taking claw includes a pneumatic finger that is arranged at the bottom of the manipulator mounting plate and can slide up and down along the manipulator mounting plate. The output end of the pneumatic finger is provided with a clamping claw that can be opened and closed on a horizontal plane, and the clamping claw of the pneumatic finger faces the bolt supply One side of the material mechanism.
  9. 根据权利要求1或2所述的扁平栽培容器的螺栓螺母自动装配***，其特征在于，所述螺栓校正机构包括左平移夹爪机构、右平移夹爪机构和上升夹爪机构，所述左平移夹爪机构和右平移夹爪机构对称设置，用于对扁平栽培容器两侧待装配螺栓的装配位置进行调整；所述上升夹爪机构用于对扁平栽培容器底部待装配螺栓的装配位置进行调整。The bolt and nut automatic assembly system for a flat cultivation container according to claim 1 or 2, wherein the bolt correction mechanism includes a left translational clamping jaw mechanism, a right translational clamping jaw mechanism, and a rising clamping jaw mechanism, the left translational clamping jaw mechanism The clamping jaw mechanism and the right translational clamping jaw mechanism are symmetrically arranged to adjust the assembly position of the bolts to be assembled on both sides of the flat cultivation container; the rising jaw mechanism is used to adjust the assembly position of the bolts to be assembled at the bottom of the flat cultivation container .
  10. 根据权利要求9所述的扁平栽培容器的螺栓螺母自动装配***，其特征在于，所述左平移夹爪机构和右平移夹爪机构对称设置，均包括多个气动手指，用于驱动多个气动手指同时在水平方向上远离或靠近载盘的第一驱动装置，所述气动手指的输出端设有可在水平平面张合的夹爪，夹爪朝向载盘一侧；The bolt and nut automatic assembly system for a flat cultivation container according to claim 9, wherein the left translational clamping jaw mechanism and the right translational clamping jaw mechanism are symmetrically arranged, and each includes a plurality of pneumatic fingers for driving a plurality of pneumatic fingers. The fingers are at the same time away from or close to the first driving device of the disc carrier in the horizontal direction, and the output end of the pneumatic finger is provided with clamping jaws that can be opened and closed on a horizontal plane, and the clamping jaws face one side of the disc carrier;
    所述上升夹爪机构位于载盘下方，包括多个气动手指，用于驱动多个气动手指同时上下运动的第二驱动装置，所述气动手指的两夹爪竖直朝上，载盘上设有供该竖直朝上的夹爪穿过的通孔。The lifting gripper mechanism is located below the tray and includes a plurality of pneumatic fingers, and a second driving device for driving the plurality of pneumatic fingers to move up and down at the same time. There is a through hole for the vertically upward clamping jaw to pass through.
PCT/CN2020/109499 2020-03-15 2020-08-17 Bolt and nut automatic assembly system for flat cultivation container WO2021184669A1 (en)

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