CN108817952A - A kind of nail puller automatic assembly line - Google Patents
A kind of nail puller automatic assembly line Download PDFInfo
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- CN108817952A CN108817952A CN201810946526.7A CN201810946526A CN108817952A CN 108817952 A CN108817952 A CN 108817952A CN 201810946526 A CN201810946526 A CN 201810946526A CN 108817952 A CN108817952 A CN 108817952A
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- carrier
- nail puller
- manipulator
- interior
- spring
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- 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
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
-
- 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
- B23P19/001—Article feeders for assembling machines
- B23P19/004—Feeding the articles from hoppers to machines or dispensers
-
- 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
- B23P19/007—Picking-up and placing mechanisms
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of nail puller automatic assembly lines, including the feed zone being set in sequence, first assembly section and the second assembly section, multiple feeding machanisms are equipped in the feed zone, feeding guide is equipped on each feeding machanism, multiple first carriers and semi-finished product guide rail are equipped in first assembly section, first carrier is equipped with accommodation groove, all kinds of main accessories are delivered to one by one in the accommodation groove of each first carrier through corresponding feeding guide, transshipment acitivity is equipped between first assembly section and the second assembly section, main accessory on first carrier is delivered in the second area Zhuan Pei through transshipment acitivity, it is equipped with the main assembling fittings of whole in single first carrier in second assembly section into the assembly mechanical hand of nail puller.The present invention provides a kind of nail puller automatic assembly line, can complete the automatic assembling of each accessory of nail puller, therefore the mechanization and automation of assembling process may be implemented.
Description
Technical field
The present invention relates to the technical field of nail puller production, specifically a kind of nail puller automatic assembly lines.
Background technique
Nail puller is desktop stationery used in everyday in handling official business, learning, and staple on file can be pulled out.It is existing
Small-sized nail puller mainly includes inner rack, outer rack gear and spring, and the rear end of the inner rack and outer rack gear is hinged by positioning pin,
The front end of the two forms the teeth of relative orientation, and two teeth dislocation are used cooperatively, and are packed between inner rack and outer rack gear
Spring allows inner rack and outer rack gear to automatically reset to folding condition.This nail puller is still along by hand in the prior art
The mode of assembly is completed to assemble, it is clear that mode large labor intensity, the high labor cost of this hand assembled, therefore it is unfavorable for enterprise
Promote production capacity.
Summary of the invention
The technical problem to be solved by the present invention is to：A kind of nail puller automatic assembly line is provided, nail puller can be completed
The automatic assembling of each accessory, therefore the mechanization and automation of assembling process may be implemented.
The technical solution adopted by the present invention is that：A kind of nail puller automatic assembly line is provided, including the feed being set in sequence
Area, the first assembly section and the second assembly section are equipped with multiple feeding machanisms in the feed zone, for accommodating each of nail puller respectively
The main accessory of class is equipped with feeding guide on each feeding machanism, and multiple first carriers are equipped in first assembly section and are used for band
The semi-finished product guide rail of dynamic all the first carriers circulation circulation, first carrier are equipped with accommodation groove, and all kinds of main accessories are through respective
Corresponding feeding guide is delivered to one by one in the accommodation groove of each first carrier, so that the accommodation groove content on single first carrier
It is equipped with for the main accessory of whole needed for constituting single nail puller, transhipment is equipped between first assembly section and the second assembly section
Mechanism, the main accessory on first carrier are delivered in the second area Zhuan Pei through transshipment acitivity, are equipped in second assembly section
By the main assembling fittings of whole in single first carrier at the assembly mechanical hand of nail puller.It can make nail nipping by the first carrier
The main accessory of device assembling can concentrate on same carrier, therefore material distribution cleaning, be not only convenient for detection leakage detection, Er Qieke
To improve the efficiency of subsequent mechanical hand assembling process, specifically, manipulator control program simplification can be made, improved mechanical manual
The operational capability of processing procedure sequence, therefore high control precision is mentioned, efficiency is which thereby enhanced, it is in addition but also dynamic during robot movement
Make simply, so easy manipulator can be used, this also indirectly reduces the input cost of manipulator.
The main accessory includes inner rack, outer rack gear, interior modeling lid and outer modeling lid, and the feeding machanism is four, institute
Inner rack, outer rack gear, interior modeling lid and the outer modeling lid stated are respectively contained in corresponding feeding machanism.
Accommodation groove on first carrier includes two grooves being disposed adjacent, and the interior modeling lid and outer modeling lid are prior to interior
Rack gear and outer rack gear are placed in corresponding groove, in the inner rack on feeding guide is carried to by conveying robot
The inner rack is fixedly connected with interior modeling lid when in the groove where modeling lid, when the outer rack gear on feeding guide passes through handling machinery
Hand is carried to outer rack gear when outer modeling is covered in the groove at place and is fixedly connected with outer modeling lid.
The transshipment acitivity includes left rail and right guide rail, and multiple inner racks with interior modeling lid are along the length side of left rail
It to sequential in left rail, and is slidably matched respectively with left rail, multiple outer rack gears with outer modeling lid are along right guide rail
Length direction sequential is slidably matched respectively in right guide rail with right guide rail.
The second carrier and the finished product guide rail for driving all the second carrier circulation circulations are equipped in second assembly section,
The assembly mechanical hand includes interior external tooth cooperative mechanical hand, and the inner rack and outer rack gear on the transshipment acitivity are matched by interior external tooth
Conjunction manipulator grabs one by one and mutually assembly is placed on corresponding second carrier.
The assembly mechanical hand includes for installing the spring mechanical hand of butterfly spring, the positioning pin for installing positioning pin
Manipulator and buckle manipulator for installing buckle, the spring mechanical hand, positioning pin manipulator and buckle manipulator are along the
The circulation direction of two carriers is set in sequence, and positioned at the position where interior external tooth cooperative mechanical hand and the blankers on finished product guide rail
Between position, set in second assembly section for convey one by one spring to spring mechanical spring feeding machanism on hand, for by
Positioning pin feeding machanism on one conveying positioning pin to positioning pin manipulator, for conveying one by one, to be clipped to buckle mechanical on hand
Buckle feeding machanism.Spring not only can be quickly grabbed by this spring mechanical hand, but also will not be due to the clamping of manipulator
Power and damage spring, furthermore it is possible to make registration in spring loading procedure, reduce what spring dislocation led to not to be packed into
Problem which thereby enhances assembly the case where more even reducing spring dislocation and cause detent that the entire production line is shut down
The reliability of line.
The spring is the butterfly spring with central passage, and the spring mechanical hand includes linking arm, linking arm
One end is connected in rack, and the other end of linking arm is equipped with fixed part and movable part, one end of the fixed part and linking arm
Fixed, the other end of fixed part is equipped with the pillar matched with the central passage of butterfly spring, and the movable part is snug fit at
On linking arm, and grasping part is formed between movable part and fixed part, the linking arm is equipped with for driving movable part mobile
Driving cylinder, for driving grasping part to expand or shrinking, when the center that the pillar on fixed part is inserted into butterfly spring is logical
The driving cylinder drives movable part to move so that butterfly spring clamping and grasping part towards fixed part position when in road
It is interior.
Accommodation groove on first carrier includes multiple grooves, the main accessory of the quantity of the card slot and single nail puller
Quantity it is identical, and each main accessory in single nail puller is matched with corresponding groove on the first carrier respectively.
The main accessory of whole on any one first carrier passes through in transshipment acitivity synchronous transport to the second assembly section, with
So that the assembled manipulator assembling of the main accessory of whole corresponding to same carrier constitutes a nail puller.
After using the above structure, a kind of nail puller automatic assembly line of the invention has following excellent compared with prior art
Point：It is automatically assembled between each accessory of nail puller firstly, being realized by the cooperation of manipulator and guide rail, to realize mechanization
And automated production, it completes to be fixedly connected in loading procedure secondly, realizing that inner rack is covered with interior modeling by the first carrier, together
When outer rack gear with outer modeling lid the process for being fixedly connected, therefore simplifying assembling process is also completed in loading procedure so that filling
Distribution structure is simple, secondly, whole components needed for the same nail puller are placed on the same carrier, therefore is not only had
Misloading or neglected loading probability are reduced conducive to detection, and assembly efficiency can be improved.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of nail puller in the present invention.
Fig. 2 is the perspective view of the explosion of Fig. 1.
Fig. 3 is a kind of structural schematic diagram of nail puller automatic assembly line of the invention.
Fig. 4 is the partial structurtes enlarged diagram of feed zone part in Fig. 3.
Fig. 5 is the partial structurtes enlarged diagram of the first assembly section part in Fig. 3.
Fig. 6 is the partial structurtes enlarged diagram of the second assembly section part in Fig. 3.
Fig. 7 is the partial enlargement diagram in region " A " in Fig. 6.
Fig. 8 is the structural schematic diagram of interior external tooth cooperative mechanical hand in the present invention.
Fig. 9 is the structural schematic diagram of the first carrier in the present invention.
Figure 10 is the structural schematic diagram of the second carrier in the present invention.
Wherein, 1, feed zone, the 2, first assembly section, the 3, second assembly section, 4, feeding machanism, 5, nail puller, 5.1, internal tooth
Item, 5.2, outer rack gear, 5.3, interior modeling lid, 5.4, outer modeling lid, 5.5, spring, 5.6, positioning pin, 5.7, buckle, 6, feeding guide,
7, the first carrier, 7.1, groove, 8, semi-finished product guide rail, 9, transshipment acitivity, 9.1, left rail, 9.2, right guide rail, 10, second carries
Tool, 11, finished product guide rail, 12, interior external tooth cooperative mechanical hand, 13, spring mechanical hand, 13.1, linking arm, 13.2, fixed part,
13.3, movable part, 13.4, pillar, 13.5, grasping part, 14, positioning pin manipulator, 15, buckle manipulator.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and specific embodiments.
The present invention provides a kind of nail puller automatic assembly line, including feed zone 1, the first assembly section 2 and being set in sequence
Two assembly sections 3 are equipped with multiple feeding machanisms 4 in the feed zone, and the feeding machanism 4 is vibrating disk as shown in the figure, is passed through
Vibration realizes that Automatic-feeding is equipped with feeding guide on each feeding machanism 4 for accommodating all kinds of main accessories of nail puller 5 respectively
6, first assembly section 2 is interior equipped with multiple first carriers 7 and for driving the semi-finished product of all the first carriers 7 circulation circulations to lead
Rail 8, first carrier 7 are equipped with accommodation groove, and all kinds of main accessories are delivered to each first through corresponding feeding guide 6 one by one
In the accommodation groove of carrier 7, so that needed for being equipped in accommodation groove on single first carrier 7 for constituting single nail puller 5
The main accessory of whole, transshipment acitivity 9 is equipped between first assembly section 2 and the second assembly section 3, on first carrier 7
Main accessory is delivered in the second area Zhuan Pei 3 through transshipment acitivity 9, and being equipped in second assembly section 3 will be in single first carrier 7
All main assembling fittings at nail puller 5 assembly mechanical hand.Above the main accessory of whole in same first carrier 7 can consider
It is one group of main accessory, one group of main accessory can be assembled to form a nail puller 5.
The main accessory of the nail puller 5 includes inner rack 5.1, outer rack gear 5.2, interior modeling lid 5.3 and outer modeling lid 5.4, described
Feeding machanism 4 be four, the inner rack 5.1, outer rack gear 5.2, interior modeling lid 5.3 and outer modeling lid 5.4 are respectively contained in respectively
In self-corresponding feeding machanism 4.One end of the inner rack 5.1 and outer rack gear 5.2 is hinged, inner rack 5.1 and outer rack gear 5.2
The other end is equipped with teeth, and the teeth mutual dislocation of inner rack 5.1 and outer rack gear 5.2, the interior modeling lid 5.3 and inner rack
5.1 clampings, the outer modeling lid 5.4 are clamped with outer rack gear 5.2.
Accommodation groove on first carrier 7 includes two grooves being disposed adjacent 7.1, the interior modeling lid 5.3 and outer modeling
Lid 5.4 is placed in corresponding groove 7.1 prior to inner rack 5.1 and outer rack gear 5.2, the inner rack on feeding guide 6
5.1 inner racks 5.1 when passing through in Manipulator Transportation to the groove 7.1 at interior 5.3 place of modeling lid and the fixed company of interior modeling lid 5.3
It connects, the external tooth when the outer rack gear 5.2 on feeding guide 6 is by the groove 7.1 where Manipulator Transportation to outer modeling lid 5.4
Item 5.2 is fixedly connected with outer modeling lid 5.4.
The transshipment acitivity 9 includes left rail 9.1 and right guide rail 9.2, multiple 5.1 edges of inner rack with interior modeling lid 5.3
The length direction sequential of left rail 9.1 is slidably matched respectively in left rail 9.1 with left rail 9.1, multiple with outer
The outer rack gear 5.2 of lid 5.4 is moulded along the length direction sequential of right guide rail 9.2 in right guide rail 9.2, and respectively with right guide rail
9.2 being slidably matched.
Finished product in second assembly section 3 equipped with the second carrier 10 and for driving all the second carrier 10 circulation circulations
Guide rail 11, the assembly mechanical hand include interior external tooth cooperative mechanical hand 12, inner rack 5.1 and external tooth on the transshipment acitivity 9
Item 5.2 is grabbed one by one by interior external tooth cooperative mechanical hand 12 and mutually assembly is placed on corresponding second carrier 10.
The assembly mechanical hand includes for installing the spring mechanical hand 13 of spring 5.5, for installing determining for positioning pin 5.6
Position pin manipulator 14 and the buckle manipulator 15 for installing buckle 5.7, the spring mechanical hand 13,14 and of positioning pin manipulator
Buckle manipulator 15 is set in sequence along the circulation direction of the second carrier 10, and is located at the position where interior external tooth cooperative mechanical hand 12
Between the discharge station on finished product guide rail 11, set in second assembly section 3 for conveying spring 5.5 one by one to spring mechanical
Spring feeding machanism on hand 13, for convey one by one the positioning pin feeding machanism on positioning pin 5.6 to positioning pin manipulator 14,
For conveying the buckle feeding machanism on buckle 5.7 to buckle manipulator 15 one by one.
The spring 5.5 is the butterfly spring with central passage, and the spring mechanical hand 13 includes linking arm 13.1,
One end of linking arm 13.1 is connected in rack, and the other end of linking arm 13.1 is equipped with fixed part 13.2 and movable part 13.3,
One end of the fixed part 13.2 and linking arm 13.1 are fixed, and the other end of fixed part 13.2 is equipped with logical with the center of butterfly spring
The pillar 13.4 that road matches, the movable part 13.3 is snug fit on linking arm 13.1, and movable part 13.3 and fixed part
Grasping part 13.5 is formed between 13.2, the linking arm 13.1 is equipped with the driving gas for driving movable part 13.3 mobile
Cylinder, for driving grasping part 13.5 to expand or shrinking, when the pillar 13.4 on fixed part 13.2 is inserted into butterfly spring
The driving cylinder drives movable part 13.3 to move so that butterfly spring presss from both sides towards 13.2 position of fixed part when in heart channel
Tightly and in grasping part 13.5.
Accommodation groove on first carrier 7 includes multiple grooves 7.1, the quantity of the groove and single nail puller 5
The quantity of main accessory is identical, and each main accessory in single nail puller 5 respectively with corresponding groove 7.1 on the first carrier 7
It matches.
The main accessory of whole on any one first carrier 7 passes through 9 synchronous transport of transshipment acitivity to the second assembly section 3
It is interior, so that the assembled manipulator assembling of the main accessory of whole corresponding to same carrier 7 constitutes a nail puller 5.
The present invention provides a kind of nail puller automatic assembling technique, and nail puller 5 therein includes inner rack 5.1, outer rack gear
5.2, interior modeling lid 5.3, outer modeling lid 5.4, spring 5.5, positioning pin 5.6 and buckle 5.7, it is characterised in that：It is walked including following assembly
Suddenly：
S1, by several inner racks 5.1, outer rack gear 5.2, interior modeling lid 5.3, outer modeling lid 5.4, spring 5.5,5.6 and of positioning pin
Buckle 5.7 is put into respectively in corresponding vibrating disk, i.e., the vibrating disk as shown in the figure is above-mentioned feeding machine
Structure 4；
Vibrating disk corresponding to lid 5.3 and outer modeling lid 5.4 is moulded in S2, starting, two vibrating disks drive respective interior modeling lid
5.3 and outer modeling lid 5.4 be delivered in two grooves 7.1 on the first carrier 7 one by one so that in single first carrier 7 simultaneously
It is equipped with to mould in one and moulds lid 5.4 outside lid 5.3 and one；
Vibrating disk corresponding to S3, starting inner rack 5.1 and outer rack gear 5.2, the inner rack 5.1 are delivered to interior modeling lid
In groove 7.1 where 5.3, the inner rack 5.1 is fixed with interior modeling lid 5.3 corresponding in groove 7.1, while described
In groove 7.1 where outer 5.2 synchronous transport of rack gear to outer modeling lid 5.4, the outer rack gear 5.2 with it is corresponding in groove 7.1
Outer modeling lid 5.4 is fixed；
S4, first carrier 7 recycle circulation on semi-finished product guide rail 8, so that having inner rack 5.1 and outer rack gear
5.2 the first carrier 7 is moved to the assembling region where assembly mechanical hand；
S5, assembly mechanical hand grab inner rack 5.1 and outer rack gear 5.2 in the first carrier 7, and drive the inner rack
5.1 and 5.2 pairing of outer rack gear be placed on the second carrier 10；Above-mentioned pairing refers to that two assembly mechanical hands grab internal tooth respectively
The inner rack 5.1 is turned to after item 5.1 and outer rack gear 5.2 and outer rack gear 5.2 is oppositely arranged, and then makes 5.1 He of inner rack
Outer rack gear 5.2 relatively moves to the inner rack 5.1 and outer rack gear 5.2 then made under assembled state in assembled state
It is collectively disposed in the same accommodation groove of the second carrier 10, and is limited in the accommodation groove of the second carrier 10.
S6, second carrier 10 circulate on finished product guide rail 11, and by sequentially setting along the circulation of finished product guide rail 11 direction
The manipulator set sequentially completes spring 5.5, positioning pin 5.6 and the assembly for buckling 5.7, the spring 5.5, positioning pin 5.6 and card
Vibrating disk corresponding to button 5.7 is supplied one by one on spring 5.5, positioning pin 5.6 and buckle 5.7 to corresponding manipulator.I.e.
On finished product guide rail 11 from the position picked up where inner rack 5.1 and outer rack gear 5.2 between discharge station along the second carrier 10
Flow direction is sequentially provided at least three manipulators, that is, spring mechanical hand 13, positioning pin manipulator 14, the buckle being set in sequence
Manipulator 15, each manipulator are respectively completed respective assembly process, i.e., sequentially complete spring 5.5, positioning pin 5.6 and buckle 5.7
Assembly work.It is equipped with the vibrating disk for being supplied respectively to the spring 5.5 of spring mechanical hand 13 in certain second assembly section 3, determines
The vibrating disk of the positioning pin 5.6 of position pin manipulator 14, buckle manipulator 15 buckle 5.7 vibrating disk.
Preferably, the step S3 includes the following steps：
Vibrating disk corresponding to S31, starting inner rack 5.1 and outer rack gear 5.2,5.1 sequential of inner rack is in institute
On feeding guide 6 on corresponding vibrating disk, while 5.2 sequential of outer rack gear is in the feeding on corresponding vibrating disk
On guide rail 6；
First inner rack 5.1 on feeding guide 6 corresponding to inner rack 5.1 is grabbed and is carried to by S32, manipulator
7.1 top of groove on first carrier 7 where interior modeling lid 5.3；
S33, manipulator downlink are clamped the interior modeling lid 5.3 on inner rack 5.1 and the first carrier 7；
First outer rack gear 5.2 on feeding guide 6 corresponding to outer rack gear 5.2 is grabbed and is carried to by S34, manipulator
7.1 top of groove on first carrier 7 where outer modeling lid 5.4；
S35, manipulator downlink are clamped the outer modeling lid 5.4 on outer rack gear 5.2 and the first carrier 7.
Further, the step S32 to S35 merges into following steps：
S36, manipulator by the crawl synchronous with first outer rack gear 5.2 of first inner rack 5.1 and are carried to the first carrier 7
On, and the inner rack 5.1 is located at interior 5.3 top of modeling lid, the outer rack gear 5.2 is located on outer modeling lid 5.4；
S37, manipulator downlink are clamped the interior modeling lid 5.3 on the inner rack 5.1 and the first carrier 7, while external tooth
Item 5.2 and corresponding outer modeling lid 5.4 are clamped.The i.e. described manipulator is equipped with can clamping inner rack 5.1 and external tooth simultaneously
The manipulator collet of item 5.2, and in first in the spacing between two collets on manipulator and two feeding guides 6
The spacing between two grooves 7.1 in spacing and same first carrier between rack gear 5.1 and first outer rack gear 5.2
It matches, so as to realize the crawl synchronous with outer rack gear 5.2 of inner rack 5.1 and compression clamping.
Transshipment acitivity 9 is equipped between the semi-finished product guide rail 8 and assembly mechanical hand, the transshipment acitivity 9 includes left rail
9.1, right guide rail 9.2 and manipulator, the step S4 include the following steps：
S41, first carrier 7 recycle circulation on semi-finished product guide rail 8, so that having inner rack 5.1 and outer rack gear
5.2 the first carrier 7 circulates to 9 position of transshipment acitivity；
Manipulator on S42, transshipment acitivity 9 grabs inner rack 5.1 on the first carrier 7 and outer rack gear 5.2 is respectively placed in
On left rail 9.1 and right guide rail 9.2；This process is the discharging completed on the first carrier 7, thus in order to which the first carrier 7 follows
Ring uses, and completes same group of inner rack 5.1 on the first carrier 7 and outer rack gear 5.2 and smoothly circulate to the second assembly
Area 3.
S43, the inner rack 5.1 and outer rack gear 5.2 are along corresponding left rail 9.1 and right guide rail 9.2 towards assembling area
Domain is mobile.
Above there is manipulator in many places, this manipulator can be understood as conventional components if without special description, existing
Having in technology and realizes that the process of product in industrial automation production is carried by manipulator, this is the routine techniques in industry, because
This applicant in the text no longer makes the structure of manipulator and specifically limits and repeat, and applicant thinks based on this conventional machine
On the basis of specifying each manipulator technical effect to be achieved in tool hand text, for the ordinary skill in the art
The structure of this manipulator and the technical effect that can reach are expected, therefore this structure is clear.
Preferred embodiments of the present invention are described above, but are not to be construed as limiting the scope of the invention.This hair
Bright to be not only limited to above embodiments, specific structure is allowed to vary, all institutes in the protection scope of demand for independence of the present invention
The various change of work is within the scope of the invention.
Claims (9)
1. a kind of nail puller automatic assembly line, it is characterised in that：Including be set in sequence feed zone (1), the first assembly section (2) and
Second assembly section (3) is equipped with multiple feeding machanisms (4) in the feed zone, and all kinds of masters for accommodating nail puller (5) respectively match
Part is equipped with feeding guide (6) on each feeding machanism (4), be equipped in first assembly section (2) multiple first carriers (7) and
For driving the semi-finished product guide rail (8) of all the first carrier (7) circulation circulations, first carrier (7) is equipped with accommodation groove, respectively
The main accessory of class is delivered to one by one in the accommodation groove of each first carrier (7) through corresponding feeding guide (6), so that single
It is equipped in accommodation groove on one carrier (7) for the main accessory of whole needed for constituting single nail puller (5), first assembly
Transshipment acitivity (9) are equipped between area (2) and the second assembly section (3), the main accessory on first carrier (7) is through transshipment acitivity
(9) it is delivered in the second area Zhuan Pei (3), is equipped in second assembly section (3) and matches the whole master in single first carrier (7)
Part is assembled into the assembly mechanical hand of nail puller (5).
2. a kind of nail puller automatic assembly line according to claim 1, it is characterised in that：The master of the nail puller (5) matches
Part includes inner rack (5.1), outer rack gear (5.2), interior modeling lid (5.3) and outer modeling lid (5.4), and the feeding machanism (4) is four
A, inner rack (5.1), outer rack gear (5.2), interior modeling lid (5.3) and the outer modeling lid (5.4) is respectively contained in corresponding
In feeding machanism (4).
3. a kind of nail puller automatic assembly line according to claim 2, it is characterised in that：On first carrier (7)
Accommodation groove includes two grooves being disposed adjacent (7.1), and the interior modeling lid (5.3) and outer modeling lid (5.4) are prior to inner rack (5.1)
It is placed in corresponding groove (7.1) with outer rack gear (5.2), when the inner rack (5.1) on feeding guide (6) passes through machinery
Hand be carried to interior modeling lid (5.3) where groove (7.1) it is interior when the inner rack (5.1) cover (5.3) with interior modeling and be fixedly connected, when
Described in when outer rack gear (5.2) on feeding guide (6) is interior by the groove (7.1) where Manipulator Transportation to outer modeling lid (5.4)
Outer rack gear (5.2) is covered (5.4) with outer modeling and is fixedly connected.
4. a kind of nail puller automatic assembly line according to claim 3, it is characterised in that：The transshipment acitivity (9) includes
Left rail (9.1) and right guide rail (9.2), length of multiple inner racks (5.1) with interior modeling lid (5.3) along left rail (9.1)
Direction sequential is slidably matched with left rail (9.1) respectively in left rail (9.1), multiple to cover (5.4) with outer modeling
Outer rack gear (5.2) along right guide rail (9.2) length direction sequential in the right guide rail (9.2), and respectively with right guide rail (9.2)
It is slidably matched.
5. a kind of nail puller automatic assembly line according to claim 4, it is characterised in that：In second assembly section (3)
Finished product guide rail (11) equipped with the second carrier (10) and for driving all the second carrier (10) circulation circulations, the assembly mechanical
Hand includes interior external tooth cooperative mechanical hand (12), and the inner rack (5.1) and outer rack gear (5.2) on the transshipment acitivity (9) pass through interior
External tooth cooperative mechanical hand (12) grabs one by one and mutually assembly is placed on corresponding second carrier (10).
6. a kind of nail puller automatic assembly line according to claim 5, it is characterised in that：The assembly mechanical hand includes using
In the spring mechanical hand (13) of installation spring (5.5), the positioning pin manipulator (14) for installing positioning pin (5.6) and for pacifying
Be loaded the buckle manipulator (15) of button (5.7), the spring mechanical hand (13), positioning pin manipulator (14) and buckle manipulator
(15) the circulation direction along the second carrier (10) is set in sequence, and be located at interior external tooth cooperative mechanical hand (12) where position at
Between discharge station on product guide rail (11), set in second assembly section (3) for conveying spring (5.5) one by one to coiling machine
Spring feeding machanism on tool hand (13), the positioning pin in conveying positioning pin (5.6) to positioning pin manipulator (14) one by one
Feeding machanism, the buckle feeding machanism on conveying buckle (5.7) to buckle manipulator (15) one by one.
7. a kind of nail puller automatic assembly line according to claim 6, it is characterised in that：The spring (5.5) be with
The butterfly spring of central passage, the spring mechanical hand (13) include linking arm (13.1), and one end of linking arm (13.1) connects
It is connected in rack, the other end of linking arm (13.1) is equipped with fixed part (13.2) and movable part (13.3), the fixed part
(13.2) one end and linking arm (13.1) is fixed, and the other end of fixed part (13.2) is equipped with the central passage phase with butterfly spring
The pillar (13.4) of cooperation, the movable part (13.3) are snug fit on linking arm (13.1), and movable part (13.3) and solid
Determine to form grasping part (13.5) between portion (13.2), the linking arm (13.1) is equipped with for driving movable part (13.3) to move
Dynamic driving cylinder, for driving grasping part (13.5) to expand or shrinking, when the pillar (13.4) on fixed part (13.2) is inserted
The driving cylinder drives movable part (13.3) towards fixed part (13.2) position when entering to the central passage of butterfly spring
It is interior with grasping part (13.5) to move so that butterfly spring is clamped.
8. a kind of nail puller automatic assembly line according to claim 1, it is characterised in that：On first carrier (7)
Accommodation groove includes multiple grooves (7.1), and the quantity of the groove is identical as the quantity of main accessory of single nail puller (5), and single
Each main accessory in a nail puller (5) is matched with groove (7.1) corresponding on the first carrier (7) respectively.
9. a kind of nail puller automatic assembly line according to claim 8, it is characterised in that：Any one first carrier (7)
On the main accessory of whole pass through transshipment acitivity (9) synchronous transport in the second assembly section (3), so that same carrier (7) institute
The corresponding assembled manipulator assembling of the main accessory of whole constitutes a nail puller (5).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810946526.7A CN108817952B (en) | 2018-08-20 | 2018-08-20 | Automatic assembly line for nail puller |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810946526.7A CN108817952B (en) | 2018-08-20 | 2018-08-20 | Automatic assembly line for nail puller |
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| CN108817952B CN108817952B (en) | 2023-07-21 |
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| CN108817952B (en) | 2023-07-21 |
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