CN112829182A - Hardware charging equipment of high integration degree - Google Patents

Abstract

The invention relates to a hardware loading device with high integration degree. The sleeve feeding mechanism of the device is used for intermittently pushing the sleeves out, and the manipulator is used for taking the sleeves out of the sleeve feeding mechanism and placing the sleeves on the paw; the nut distributing mechanism and the mixed hardware feeding mechanism are arranged side by side; the gripper has two states, and in the first state, the gripper is used for receiving the sleeve; when being in the second state, the hand claw is in the position between nut feed mechanism and the mixed hardware feed mechanism, and hand claw one side and nut feed mechanism butt joint and push the relevant position of hand claw with the nut by nut feed mechanism, and the opposite side of hand claw and mixed hardware feed mechanism butt joint and push the relevant position of hand claw with the dysmorphism hardware at least by mixed hardware feed mechanism. The invention realizes the automatic loading of the sleeve, the nut and the special-shaped hardware on the paw in the same device, the device integration level is improved, and the occupied space is greatly reduced.

Description

Hardware charging equipment of high integration degree

Technical Field

The invention relates to an automatic hardware assembly technology, in particular to hardware loading equipment with high integration level.

Background

In the injection molding process, it is often necessary to mount hardware (such as nuts, sleeves, etc.) in place and then perform the integral injection molding. In the prior art, manual feeding is needed, operation is complex, low efficiency and high cost are caused, the injection molding period is influenced, and the requirement on the operating skill of a technician is high. Some separating mechanisms which can automatically load nuts/sleeves into the paw are developed later, but the separating mechanisms are relatively dispersed, and when the hardware is in more different types, a plurality of similar mechanisms are needed, so that more space is occupied, and improvement is needed.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provide a hardware loading device with high integration level, so that the integration level is improved and the occupied space is reduced.

In order to achieve the purpose, the invention adopts the following technical scheme: a hardware charging device with high integration degree comprises a sleeve feeding mechanism, a mechanical arm, a nut distributing mechanism and a hardware mixing feeding mechanism, wherein the sleeve feeding mechanism is used for intermittently pushing out a sleeve, and the mechanical arm is used for taking the sleeve out of the sleeve feeding mechanism and placing the sleeve on a paw; the nut distributing mechanism and the mixed hardware feeding mechanism are arranged side by side; the gripper has two states, and in the first state, the gripper is used for receiving the sleeve; when being in the second state, the hand claw is in the position between nut feed mechanism and the mixed hardware feed mechanism, and hand claw one side and nut feed mechanism butt joint and push the relevant position of hand claw with the nut by nut feed mechanism, and the opposite side of hand claw and mixed hardware feed mechanism butt joint and push the relevant position of hand claw with the dysmorphism hardware at least by mixed hardware feed mechanism.

The sleeve feed mechanism includes vibration dish and rotatory piece, is equipped with at least one in the rotatory piece and gets the material stick, and the vibration dish is arranged the sleeve order and sends out, and the sleeve is emboliaed in getting the material stick or gets the material stick and insert the sleeve, and rotatory piece is used for getting the sleeve on the material stick rotatory to telescopic length direction and is vertical state.

When the vibration disc sequentially arranges and sends out the sleeves, the sleeves are arranged back and forth along the length direction of the sleeves; the material taking rod of the rotating block is aligned to the arrangement and discharging direction of the sleeve at the initial position, and the sleeve is pushed to be sleeved into the material taking rod.

When the vibration disc sequentially arranges and sends out the sleeves, the sleeves are arranged back and forth along the direction vertical to the length direction of the sleeves; the material taking rod of the rotating block is perpendicular to the arranged material discharging direction of the sleeve at the initial position, and the rotating block is driven to move forwards so as to insert the material taking rod into the sleeve.

The end of snatching of manipulator is equipped with at least one cylinder clamping jaw, and the cylinder clamping jaw is used for pressing from both sides and gets the sleeve.

The nut distributing mechanism comprises a vibrating disc, a cover plate, a distributing plate and a push rod, wherein the largest surface of the cover plate is parallel to the largest surface of the distributing plate, and the cover plate is tightly attached to the distributing plate; the material distributing plate is internally provided with mounting holes, the vibrating plate sequentially arranges and sends nuts into the material distributing plate, the nuts are placed on the mounting holes, the push rods are perpendicular to the material distributing plate and correspond to the mounting holes one by one, the cover plate is provided with butt joint holes corresponding to the mounting holes one by one, and the claws are provided with movable rods corresponding to the butt joint holes one by one; when the paw is in butt joint with the nut distributing mechanism, the movable rod is pushed into the butt joint hole, and the push rod is used for pushing the nut in the mounting hole into the butt joint hole and enabling the nut to be sleeved on the movable rod.

The push rod is arranged on the push plate, the push plate is parallel to the material distributing plate, the push plate is pushed by at least one horizontal cylinder, and the horizontal cylinder drives the push rod to penetrate into the mounting hole through the push plate.

The gripper is fixedly connected with at least one fixed plate, and the fixed plate is connected with at least one fly leaf, and the fly leaf is parallel to each other with the fixed plate, the inner fixed connection fixed plate of movable rod, the movable rod runs through the movable sleeve that corresponds on the fly leaf, is equipped with a gripper cylinder on the fixed plate, and the output shaft of gripper cylinder runs through the fixed plate and with fly leaf fixed connection, and the gripper cylinder is used for promoting fly leaf and movable sleeve reciprocating motion.

Mix hardware feed mechanism including mixing the branch flitch, push away material cylinder and the silo that extends from top to bottom, mix and divide the flitch to be equipped with the through-hole, stacked a plurality of dysmorphism hardware from top to bottom in the silo, when the hand claw is in second kind of state, the hand claw is equipped with the material bearing arm towards one side of mixing hardware feed mechanism, pushes away the material cylinder and is arranged in pushing the special-shaped hardware of bottommost in the silo to the through-hole and push in the material bearing arm.

The push plate is fixedly connected with an output shaft of the material pushing cylinder, and the material pushing cylinder pushes the special-shaped hardware through the push plate.

The mixed hardware feeding mechanism further comprises a stop rod moving up and down, and when the push plate is not inserted into the trough, the stop rod penetrates through the stop hole in the push plate.

The material pushing cylinder is used for pushing the irregular hardware in the other material groove to the through hole.

The material troughs are arranged on a back plate, the back plate is in sliding connection with the mixed material distribution plate, the back plate is connected with a transverse pushing cylinder, the transverse pushing cylinder is used for pushing the back plate to slide relative to the mixed material distribution plate, and after the special-shaped hardware of one material trough is emptied, the transverse pushing cylinder pushes the back plate to translate so as to align the other material trough with the material pushing cylinder.

Mix hardware feed mechanism and be equipped with two sets of material cylinders and silo that push away.

The mixed hardware feeding mechanism also comprises a vibrating disc, the vibrating disc is connected with the mixed material distributing plate, the mixed material distributing plate is also provided with a nut mounting hole, and the vibrating disc is used for conveying the nut hardware into the mixed material distributing plate and allowing the nut hardware to fall into the nut mounting hole; be equipped with on the hand claw with the nut installation pole of nut mounting hole, mix branch flitch opposite side still to be equipped with the push rod with nut mounting hole one-to-one, when hand claw and mixed hardware feed mechanism butt joint, the push rod pushes away the nut hardware in the nut mounting hole in the nut installation pole.

The push rod is arranged on the middle plate, the mixing material distributing plate is fixed with two horizontal pushing cylinders, the output shaft ends of the horizontal pushing cylinders are connected with the middle plate, and the horizontal pushing cylinders are used for pushing the middle plate and the push rod to reciprocate along the length direction of the push rod.

Compared with the prior art, the invention has the beneficial effects that: realized in same equipment automatically with sleeve, nut, special-shaped hardware material to the hand claw on, equipment integration degree obtains improving, has greatly reduced occupation space, and the hand claw need not long distance between the mechanism of many scattering and moves, and it is consuming time to have reduced to feed.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented according to the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more apparent, the following detailed description will be given of preferred embodiments.

Drawings

FIG. 1 is an assembled perspective view of the hardware loading apparatus of the present invention.

Fig. 2 is a partial perspective view of one of the cartridge feed mechanisms of the present invention.

Fig. 3 is a partial perspective view of one of the cartridge feed mechanisms of the present invention.

Fig. 4 is a perspective view of the robot of the present invention.

Fig. 5 is an exploded view of the gripper and nut dispenser of the present invention.

Figure 6 is an exploded view of the gripper and hybrid hardware feed mechanism of the present invention.

Fig. 7 and 8 are exploded views of the hybrid hardware feed mechanism of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and the detailed description.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be connected or detachably connected or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above should not be understood to necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by one skilled in the art.

A highly integrated hardware loading apparatus is shown in fig. 1. As shown in fig. 1, the apparatus includes a sleeve feed mechanism 10, a robot 30, a nut feed mechanism 40, and a mixing hardware feed mechanism 50. The sleeve feeder mechanisms 10 are two in number, and are used to intermittently push out the first sleeve 101 and the second sleeve 102, respectively. And the robot 30 is used to remove the first sleeve 101 and the second sleeve 102 from the sleeve feeder 10 and place them on the gripper 20. The gripper 20 has two states, in a first state the gripper 20 (gripper 20 on the left in fig. 1) is arranged to receive the first sleeve 101 and the second sleeve 102. As shown in fig. 1, the nut dispensing mechanism 40 and the mixing hardware feed mechanism 50 are positioned side-by-side. With the gripper 20 in the second position (gripper 20 on the right in fig. 1), the gripper 20 is positioned between the nut dispenser 40 and the mixing hardware feeder 50. One side of the gripper 20 is butted with the nut distributing mechanism 40 and the nut is pushed into the corresponding position of the gripper 20 by the nut distributing mechanism 40, and the other side of the gripper 20 is butted with the mixed hardware feeding mechanism 50 and the other nut hardware and the special-shaped hardware 501 are pushed into the corresponding position of the gripper 20 by the mixed hardware feeding mechanism 50.

Fig. 2 shows a sleeve feeder 10 for feeding out a first sleeve 101. The sleeve feeding mechanism 10 includes a vibration plate 11, a rotation block 12, and a rotation motor 13. The rotary motor 13 is used for driving the rotary block 12 to rotate. A material taking rod 121 is arranged in the rotating block 12. The vibratory pan 11 is used to sequentially eject the first sleeves 101, and the first sleeves 101 are nested into the take-off pins 121. When the vibratory plate 11 sequentially feeds the first sleeves 101, the first sleeves 101 are arranged in the longitudinal direction thereof. The material taking rod 121 of the rotating block 12 is aligned with the arrangement discharging direction of the first sleeve 101 at the initial position (horizontal), when the vibrating disk 11 sequentially arranges and sends out the first sleeves 101, the first sleeve 101 at the forefront is pushed to advance and is sleeved in the material taking rod 121, then the rotating motor 13 drives the rotating block 12 to rotate, and the rotating block 12 rotates the first sleeve 101 (horizontal) on the material taking rod 121 to the length direction of the first sleeve 101 to be in a vertical state.

Shown in fig. 3 is the sleeve feeder mechanism 10 for feeding out the second sleeve 102. The sleeve feed mechanism 10 includes a vibratory pan 14, a rotary block 15, a rotary cylinder 16, and a propulsion cylinder 17. The vibratory pan 14 is used for sequentially feeding out the second sleeves 102, and when the vibratory pan 14 sequentially feeds out the second sleeves 102, the second sleeves 102 are arranged back and forth along a direction perpendicular to the longitudinal direction thereof. The rotating block 15 is provided with 2 material taking rods 151, and the material taking rods 151 of the rotating block 15 are perpendicular to the arrangement discharging direction of the second sleeve 102 in the initial position (horizontal). When the vibrating plate 14 sequentially sends out the second sleeves 102, the second sleeve 102 at the forefront moves to be flush with the two material taking rods 151, the air pushing cylinder 17 pushes the rotating block 15 to translate towards the second sleeve 102, so that the two material taking rods 151 are inserted into the second sleeve 102, then the rotating motor 16 drives the rotating block 15 to rotate, and the rotating block 15 rotates the second sleeves 102 (horizontally) on the material taking rods 151 to the vertical state along the length direction of the second sleeves 102.

As shown in fig. 4, the gripping end of the manipulator 30 is provided with 2 air cylinder jaws 31, and the air cylinder jaws 31 are respectively used for gripping a first sleeve 101 (fig. 1) and a second sleeve 102 (fig. 1). The robot 30 is a three-axis robot.

As shown in fig. 5, the nut distributing mechanism 40 includes a vibrating plate 45, a cover plate 46, a distributing plate 44, and a push rod 43. The largest surface of the cover plate 46 is parallel to the largest surface of the material distributing plate 44 and the cover plate 46 is tightly attached to the material distributing plate 44. The cover plate 46 and the material distribution plate 44 are vertical panels. The material separating plate 44 is provided with a buffer area 443, a plurality of mounting holes 441, and slide ways 442 corresponding to the mounting holes 441 one to one. The slide 442 communicates with the mounting hole 441 and the buffer area 443. The vibratory plate 45 sequentially feeds nuts into the material-separating plate 44, the nuts are lowered to the positions of the mounting holes 441 and then fill the slide ways 442, respectively, and the excess nuts stay in the buffer zone 443. The position of the mounting hole 441 is set according to the position where the nut is actually required to be fitted. The push rods 43 are perpendicular to the material separating plate 44 and correspond to the mounting holes 441 one by one. The push rod 43 is provided on a push plate 42, and the push plate 42 and the material-distributing plate 44 are parallel to each other. The push plate 42 is pushed by a horizontal cylinder 41, and the horizontal cylinder 41 drives the push rod 43 to penetrate into the mounting hole 441 through the push plate 42. The cover plate 46 has docking holes 461 corresponding to the mounting holes 441, and the claws 20 have movable rods 221 corresponding to the docking holes 461. When the gripper 20 is abutted against the nut distributing mechanism 40, the movable rod 221 is pushed into the abutting hole 461, and the push rod 43 pushes the nut in the mounting hole 441 towards the abutting hole 461 and enables the nut to be sleeved on the movable rod 221. In addition, a proximity sensor 444 is arranged on the material distributing plate 44, the proximity sensor 444 penetrates through the cover plate 46, and the proximity sensor 444 is used for sensing whether the gripper 20 is in butt joint with the material distributing plate.

As shown in fig. 5, a fixed plate 21 is fixedly connected to the gripper 20, and a movable plate 22 is connected to the fixed plate 21, wherein the movable plate 22 and the fixed plate 21 are parallel to each other. In fig. 5, the fixed plate 21 and the movable plate 22 are vertical plates. The inner end of the movable rod 221 is fixedly connected to the fixed plate 21, and the movable rod 221 passes through the corresponding movable sleeve 222 on the movable plate 22. The fixed plate 21 is provided with a paw cylinder 23, an output shaft of the paw cylinder 23 penetrates through the fixed plate 21 and is fixedly connected with the movable plate 22, and the paw cylinder 23 is used for pushing the movable plate 22 and the movable sleeve 222 to reciprocate. When the nut separating mechanism 40 is butted, the movable rod 221 penetrates out of the movable sleeve 222, and when the nut needs to be pushed into the mounting position, the movable rod 221 needs to be retracted, namely the gripper cylinder 23 extends out to push out the movable sleeve 222 for loading the nut.

In fig. 5, the fixed plate 21 of the gripper 20 is provided with two movable plates 22 and two gripper cylinders 23, and thus two sets of movable rods 221 are provided. Thus, two sets of upper and lower mounting holes 441 are correspondingly formed on the material distributing plate 44, and two sets of upper and lower push rods 43 are correspondingly formed (the lower set of push rods is not shown). Such upper and lower two sets of structures can once cross and realize that two sets of nuts are loaded, are favorable to improving production efficiency.

The specific construction of the mixing hardware feed mechanism 50 is shown in fig. 6-8. As shown in connection with fig. 6 and 7, the mixing hardware feeding mechanism 50 includes a mixing material-separating plate 53, a front plate 52 and a vibrating disk 51. The front plate 52 is attached to a mixing material-distributing plate 53. The vibration plate 51 is connected with the mixing material-separating plate 53, and the mixing material-separating plate 53 is provided with nut mounting holes 531, and the vibration plate 51 is used for conveying the nut hardware into the mixing material-separating plate 53 and allowing the nut hardware to drop into the nut mounting holes 531, respectively. The gripper 20 is provided with a nut attachment rod 24 that is engaged with the nut attachment hole 531. Push rods 541 corresponding to the nut mounting holes 531 one to one are further provided at the other side of the mixing and distributing plate 53. The push rods 541 are provided on the intermediate plate 54, and 2 flat push cylinders 542 are fixed to the mixing and distributing plate 53. The output shaft end of the horizontal pushing cylinder 542 is connected with the intermediate plate 54. The horizontal push cylinder 542 is used for pushing the intermediate plate 54 and the push rod 541 to reciprocate along the length direction of the push rod 541. When the gripper 20 is docked with the hybrid hardware feed mechanism 50, the push rod 541 pushes the nut hardware in the nut mounting hole 531 into the nut mounting bar 24.

As shown in fig. 6, a paw cylinder 203 is provided on the paw 20, and the paw cylinder 203 pushes the mounting sleeve 205 to translate through a vertical plate 204. The nut mounting rod 24 extends through the mounting sleeve 205. When it is desired to remove the nut hardware from the nut mounting bar 24, the gripper cylinder 203 pushes the mounting sleeve 205 to translate and remove the nut hardware from the nut mounting bar 24 via the mounting sleeve 205. In fig. 6, the nut mounting rods 24 are divided into two groups, i.e., an upper group and a lower group, and each group of nut mounting rods 24 corresponds to one gripper cylinder 203. The mixing and distributing plate 53 is provided with upper and lower nut mounting holes 531, and the intermediate plate 54 is provided with upper and lower push rods 541 (see fig. 8). In addition, as shown in fig. 6, the mixing and dispensing plate 53 is further provided with a proximity sensor 533 penetrating the front plate 52, and the proximity sensor 533 is used for sensing whether the gripper 20 is in the butt joint position.

As shown in fig. 7, the hybrid hardware feeding mechanism 50 further includes a pusher cylinder 55 and a chute 56 extending up and down. A plurality of special-shaped hardware 501 are stacked up and down in each trough 56. As shown in fig. 6 and 7, the mixing and distributing plate 53 is provided with a through hole 532 for passing the shaped hardware 501. When the gripper 20 is in the second position, as shown in figure 6, the side of the gripper 20 facing the mixing hardware feeding mechanism 50 is provided with a loading arm 25. The pushing cylinder 55 is used for pushing the profiled hardware 501 at the lowest layer in the trough 56 to the through hole 532 and to the material bearing arm 25. In fig. 6, the paw 20 is also provided with an upper material-receiving arm 25 and a lower material-receiving arm 25, the mixing hardware feeding mechanism 50 is correspondingly provided with an upper material-pushing cylinder 55 and a lower material-pushing cylinder 55, and the mixing material-distributing plate 53 is correspondingly provided with an upper through hole 532 and a lower through hole 532.

As shown in fig. 7, an output shaft of each pushing cylinder 55 is fixedly connected with a push plate 551, and the pushing cylinder 55 pushes the special-shaped hardware 501 through the push plate 551. In addition, a sensor 555 is arranged on one side of the push plate 551, and the sensor 555 is used for sensing whether the profiled hardware 501 exists at the bottom in the material tank 56. A stop hole 552 is provided in the push plate 551 and the mixing hardware feed mechanism 50 further includes a stop rod 553 that moves up and down. When the push plate 551 is in a state of not being inserted into the trough 56, the stop lever 553 penetrates the stop hole 552 of the push plate 551. The stopper rod 553 is driven by a linear driving member 554 to move vertically up and down. As shown in fig. 8, each push plate 551 has a corresponding conveying groove 556, the conveying groove 556 penetrates into the through hole 532, and the shaped hardware 501 is pushed out of the conveying groove 556 when the push plate 551 pushes the shaped hardware 501.

As shown in fig. 7, two parallel material tanks 56 are provided corresponding to the same material pushing cylinder 55. After the irregular hardware 501 in one of the material troughs 56 is emptied, the material pushing cylinder 55 starts to push the irregular hardware 501 in the other material trough 56 to the through hole 532, so that uninterrupted material pushing action can be realized. The two side discharge slots 56 are provided on a back plate 58, and the back plate 58 is slidably connected to the mixing material distribution plate 53 by a slide block and slide rail mechanism 57 (see fig. 8). The back plate 58 is connected to a lateral pushing cylinder 59, and the lateral pushing cylinder 59 slides relative to the mixing material-distributing plate 53 by pushing the back plate 58. When the special-shaped hardware 501 of one of the material troughs 56 is emptied, the transverse pushing cylinder 59 pushes the back plate 58 to translate so as to align the other material trough 56 with the material pushing cylinder 55, thus realizing the matching work of two material troughs 56 side by side and the material pushing cylinder 55 in turn.

As shown in fig. 7, the hybrid hardware feeding mechanism 50 is provided with an upper pushing cylinder 55 and a lower pushing cylinder 56, and a material slot 56 corresponding to the upper and lower material-receiving arms 25 of the gripper 20 in fig. 6, so that the upper and lower special-shaped hardware 501 can be loaded simultaneously, and the production efficiency is improved.

According to the invention, the sleeve, the nut and the special-shaped hardware 501 are automatically loaded on the paw 201 in the same device, the device integration level is improved, the occupied space is greatly reduced, the paw 20 does not need to move in a long distance among a plurality of scattered mechanisms, and the loading time is reduced.

The technical contents of the present invention are further illustrated by the examples only for the convenience of the reader, but the embodiments of the present invention are not limited thereto, and any technical extension or re-creation based on the present invention is protected by the present invention. The protection scope of the invention is subject to the claims.

Claims (16)

1. The hardware charging equipment with high integration level is characterized by comprising a sleeve feeding mechanism, a manipulator, a nut distribution mechanism and a hardware mixing feeding mechanism, wherein the sleeve feeding mechanism is used for intermittently pushing out a sleeve, and the manipulator is used for taking the sleeve out of the sleeve feeding mechanism and placing the sleeve on a paw; the nut distributing mechanism and the mixed hardware feeding mechanism are arranged side by side;

the gripper has two states, and in the first state, the gripper is used for receiving the sleeve; when being in the second state, the hand claw is in nut feed mechanism and mix the position between the hardware feed mechanism, hand claw one side with nut feed mechanism butt joint and by nut feed mechanism pushes the nut into the relevant position of hand claw, the opposite side of hand claw with mix hardware feed mechanism butt joint and by mix hardware feed mechanism and push into at least special-shaped hardware the relevant position of hand claw.

2. The high-integration hardware loading device according to claim 1, wherein the sleeve feeding mechanism comprises a vibrating disk and a rotating block, at least one material taking rod is arranged in the rotating block, the vibrating disk is used for sequentially arranging and sending out sleeves, the sleeves are sleeved into the material taking rods or the material taking rods are inserted into the sleeves, and the rotating block is used for rotating the sleeves on the material taking rods to enable the length directions of the sleeves to be vertical.

3. The highly integrated hardware loading apparatus of claim 2 wherein said vibratory pan delivers the sleeves in a sequential arrangement, with the sleeves being arranged one behind the other along their length; the material taking rod of the rotating block is aligned to the arrangement and discharge direction of the sleeve at the initial position, and the sleeve is pushed to be sleeved into the material taking rod.

4. The high integration hardware loading apparatus of claim 2 wherein said vibratory pan delivers said sleeves in a sequential arrangement, with said sleeves being arranged in tandem perpendicular to their length; the material taking rod of the rotating block is perpendicular to the arrangement and discharging direction of the sleeve when in the initial position, and the rotating block is driven to move forwards to insert the material taking rod into the sleeve.

5. The high integration hardware loading apparatus of claim 1 wherein said gripping end of said robot is provided with at least one cylinder gripper for gripping a sleeve.

6. The high-integration hardware loading device according to claim 1, wherein the nut distributing mechanism comprises a vibrating disc, a cover plate, a distributing plate and a push rod, the largest surface of the cover plate is parallel to the largest surface of the distributing plate, and the cover plate is tightly attached to the distributing plate;

the material distributing plate is internally provided with mounting holes, the vibrating plate sequentially arranges nuts into the material distributing plate and enables the nuts to fall onto the mounting holes, the push rods are perpendicular to the material distributing plate and correspond to the mounting holes one by one, the cover plate is provided with butt joint holes corresponding to the mounting holes one by one, and the claws are provided with movable rods corresponding to the butt joint holes one by one; when the gripper is in butt joint with the nut distributing mechanism, the movable rod is pushed into the butt joint hole, and the push rod is used for pushing the nut in the mounting hole into the butt joint hole and enabling the nut to be sleeved on the movable rod.

7. The highly integrated hardware loading device according to claim 6, wherein said push rod is provided on a push plate, said push plate and said material distributing plate are parallel to each other, said push plate is pushed by at least one horizontal cylinder, said horizontal cylinder drives the push rod to penetrate into said mounting hole through the push plate.

8. The high-integration hardware loading device according to claim 6, wherein the paw is fixedly connected with at least one fixed plate, the fixed plate is connected with at least one movable plate, the movable plate and the fixed plate are parallel to each other, the inner end of the movable rod is fixedly connected with the fixed plate, the movable rod penetrates through a corresponding movable sleeve on the movable plate, a paw cylinder is arranged on the fixed plate, an output shaft of the paw cylinder penetrates through the fixed plate and is fixedly connected with the movable plate, and the paw cylinder is used for pushing the movable plate and the movable sleeve to move in a reciprocating mode.

9. The high-integration hardware charging equipment according to claim 1, wherein the mixed hardware feeding mechanism comprises a mixed material distributing plate, a material pushing cylinder and a trough extending up and down, the mixed material distributing plate is provided with a through hole, a plurality of special-shaped hardware are stacked up and down in the trough, when the paw is in the second state, the paw faces to one side of the mixed hardware feeding mechanism and is provided with a material bearing arm, and the material pushing cylinder is used for pushing the special-shaped hardware at the bottommost layer in the trough to the through hole and into the material bearing arm.

10. The high-integration hardware loading device according to claim 9, wherein a push plate is fixedly connected to an output shaft of the material pushing cylinder, and the material pushing cylinder pushes the special-shaped hardware through the push plate.

11. The high integration hardware loading apparatus of claim 10 wherein said pusher plate includes at least one stop hole therein, said hybrid hardware feed mechanism further including a stop rod that moves up and down, said stop rod extending through said stop hole in said pusher plate when said pusher plate is not inserted into said channel.

12. The highly integrated hardware charging apparatus according to claim 9, wherein there are at least two parallel troughs corresponding to the same material pushing cylinder, and when the deformed hardware in one trough is empty, the material pushing cylinder starts to push the deformed hardware in the other trough to the through hole.

13. The high integration hardware loading apparatus of claim 12 wherein said bins are provided on a back plate slidably connected to said mixing distribution plate, said back plate is connected to a lateral ram cylinder, said lateral ram cylinder is adapted to slide said back plate relative to said mixing distribution plate with said ram cylinder urging said back plate to translate to align another bin with said ram cylinder when the profile hardware of one of said bins is emptied.

14. A highly integrated hardware charging apparatus as claimed in any of claims 9 to 13, wherein said hybrid hardware feed mechanism is provided with two sets of said pusher cylinders and troughs.

15. The high-integration hardware charging equipment of any one of claims 9 to 13, wherein the mixed hardware feeding mechanism further comprises a vibrating disk, the vibrating disk is connected with the mixed material distributing plate, the mixed material distributing plate is further provided with a nut mounting hole, and the vibrating disk is used for conveying the nut hardware into the mixed material distributing plate and allowing the nut hardware to fall into the nut mounting hole;

be equipped with on the hand claw with the nut installation pole of nut mounting hole, mix branch flitch opposite side still be equipped with the push rod of nut mounting hole one-to-one, the hand claw with when mixing hardware feed mechanism and docking, the push rod pushes away the nut hardware in the nut mounting hole in the nut installation pole.

16. The high-integration hardware loading device according to claim 15, wherein the push rod is arranged on the intermediate plate, two horizontal pushing cylinders are fixed on the mixing material distributing plate, output shaft ends of the horizontal pushing cylinders are connected with the intermediate plate, and the horizontal pushing cylinders are used for pushing the intermediate plate and the push rod to move in a reciprocating mode along the length direction of the push rod.

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