CN114905239A - Flexible mounting structure, universal automatic nail column mounting device and mounting method - Google Patents
Flexible mounting structure, universal automatic nail column mounting device and mounting method Download PDFInfo
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- CN114905239A CN114905239A CN202110179954.3A CN202110179954A CN114905239A CN 114905239 A CN114905239 A CN 114905239A CN 202110179954 A CN202110179954 A CN 202110179954A CN 114905239 A CN114905239 A CN 114905239A
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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
- 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
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Abstract
The invention discloses a flexible mounting structure for installing a nail column, a universal automatic nail column mounting device and a mounting method thereof, wherein the flexible mounting structure comprises an integral propulsion cylinder and a flexible mounting structure which is connected with an output shaft of the integral propulsion cylinder and driven by the integral propulsion cylinder to move up and down. General type nail post automatic installation device includes the main part support, be used for with the manipulator be connected trade the dish soon, be used for treating the installation glass carry out the locating component who fixes a position, two sets of components and two sets of being used for that are used for snatching the subassembly that snatchs of waiting to install the nail post install wait to install flexible installation structure on the installation glass. The full process automation of nail post snatching, location and installation has been realized, utilizes manipulator solidification activity route and through the accurate location of locating component, has reduced human error, has improved the degree of accuracy of installation.
Description
Technical Field
The invention relates to the technical field of automatic glass processing, in particular to a flexible mounting structure for nail column mounting, a universal automatic nail column mounting device and a mounting method thereof.
Background
The automobile front windshield needs to be provided with a nail post. At present, the installation of the nail column is mostly finished in a manual mode, namely, an operator holds a tool by hand and installs the nail column at a preset position.
The defects of manual installation are that the installation position and the bonding area are manually controlled by operators, more uncontrollable factors have larger errors, the installation efficiency is low, and the labor cost is higher.
Because the front windshield of the automobile is not a plane structure but a curved surface with a certain radian, the simple mechanical pressing installation easily causes infirm adhesion, and the qualified product rate is low. Therefore, a flexible mounting structure is required to be designed to adapt to the curved surface structure of the glass, so that the automatic mounting of the nail column can be realized.
Disclosure of Invention
The invention aims to provide a flexible mounting structure for mounting a nail column, aiming at the technical defects that the mechanical pressing mounting in the prior art is easy to cause infirm adhesion and low qualified product rate.
In another aspect of the present invention, a method for mounting the flexible mounting structure is provided.
In another aspect of the invention, a universal automatic post mounting device comprising the flexible mounting structure is provided.
In another aspect of the invention, a mounting method of the universal automatic stud mounting device is provided.
The technical scheme adopted for realizing the purpose of the invention is as follows:
a flexible mounting structure for installing a nail column comprises an integral propulsion cylinder and a flexible mounting structure, wherein the flexible mounting structure is connected with an output shaft of the integral propulsion cylinder and driven by the integral propulsion cylinder to move up and down;
the flexible mounting structure comprises a first flexible mounting plate, a second flexible mounting plate in loose connection with the first flexible mounting plate and two flexible cylinders fixedly mounted on the first flexible mounting plate respectively, wherein an output shaft of each flexible cylinder penetrates through the first flexible mounting plate and the second flexible mounting plate to abut against each other so as to control the relative position between the first flexible mounting plate and the second flexible mounting plate.
In the technical scheme, the first flexible mounting plate is provided with two shaft holes, and the second flexible mounting plate is provided with two grooves at positions corresponding to the shaft holes.
In the above technical solution, the lower end of the output shaft of the flexible cylinder 29 is in a circular truncated cone shape, and the two grooves 31 on the second flexible mounting plate 27 are also in a circular truncated cone shape.
In another aspect of the invention, in the installation method of the flexible installation structure, the integral propulsion cylinder firstly pushes the flexible installation structure to press the glass to be installed downwards in an interference manner, and at the moment, the output shaft of the flexible cylinder is in an extending state; when the nail column to be installed at the bottom is in contact with the surface of the glass, the output shaft of the flexible cylinder retracts, the second flexible installation plate tilts along with the angle of the glass to be installed, and meanwhile, the nail column grabbed below the second flexible installation plate is firmly stuck on the glass to be installed.
On the other hand, the invention discloses a universal automatic nail column mounting device which comprises a main body support, a quick-change disc, a positioning assembly, two groups of grabbing assemblies and two groups of flexible mounting structures, wherein the quick-change disc is used for being connected with a manipulator; the quick-change disc, the positioning assembly, the grabbing assembly and the flexible mounting structure are respectively mounted on the main body bracket; each group of the grabbing components are arranged below one group of the flexible installation structures.
In the above technical solution, the main body bracket includes a top plate, a front mounting post, a rear mounting post and two side plates; the upper end of the front mounting column is provided with a front baffle, and the upper end of the rear mounting column is provided with a rear baffle.
In the technical scheme, the positioning assembly comprises a positioning cylinder, a glass contact block and a distance sensor; the positioning cylinder and the distance sensor are fixed on the main body bracket, and the glass contact block is fixed on an output shaft of the positioning cylinder and driven by the positioning cylinder; the glass contact block is in contact with the glass to be installed so as to mark the actual position of the glass to be installed, and the distance sensor is used for sensing the position of the glass contact block so as to indirectly position the actual position of the glass to be installed;
preferably, the glass contact block comprises a contact block fixedly mounted with the output shaft of the positioning cylinder and a distance detection probe fixedly mounted on the contact block;
preferably, the contact surface of the contact block and the glass to be installed is an arc surface so as to prevent the glass from being scratched.
In the technical scheme, the grabbing assembly comprises a clamping cylinder, a grabbing base and two clamping jaws; the clamping cylinder and the grabbing base are respectively and fixedly arranged on the lower surface of the connecting plate; a profiling groove with the shape consistent with that of the nail column to be installed is formed on the grabbing base; the two clamping jaws are driven by the clamping cylinder respectively to contact and clamp the to-be-installed nail column or separate and release the to-be-installed nail column.
In the technical scheme, two sliding blocks are mounted on an output shaft of the clamping cylinder; one end of each clamping jaw is fixed on the sliding block and driven by the clamping cylinder, and the other end of each clamping jaw is positioned below the grabbing base and used for clamping or loosening a nail column to be installed;
preferably, the grabbing base is provided with a gas channel, one end of the gas channel is an adsorption port, and the adsorption port is formed in the lower surface of the grabbing base to adsorb the stud to be installed; the other end of the gas channel is provided with a gas receiving port, and the gas receiving port is connected with a gas pump to provide adsorption force;
preferably, the grabbing assembly further comprises an auxiliary fixing assembly, and the auxiliary fixing assembly comprises an auxiliary cylinder, a connecting rod and a push column; the auxiliary cylinder is fixedly arranged on the outer side surface of the grabbing base; the middle part of the connecting rod is rotatably connected to the outer side surface of the grabbing base, the lower end of the connecting rod is connected with an output shaft of the auxiliary cylinder, and the upper end of the connecting rod is hinged with the push column; the pushing column penetrates through the grabbing base under the driving of the auxiliary cylinder and the connecting rod, and the tip end of the pushing column penetrates into the profiling groove to abut against the protruding portion of the to-be-installed nail column.
In another aspect of the present invention, the installation method of the universal automatic stud installation device includes the following steps:
step 1: the manipulator drives the universal automatic nail post mounting device to move to the position of the nail post placing rack, and the two groups of grabbing components grab one nail post respectively;
step 2: the manipulator drives the universal automatic nail column mounting device to move to the edge of the glass to be mounted, the positioning assembly positions the glass to be mounted, positioning information is transmitted to the manipulator, and the action route of the manipulator is optimized and adjusted;
and 3, step 3: the mechanical hand drives the universal automatic nail post mounting device to one of the positions to be mounted, and the grabbed nail post to be mounted is mounted on the glass to be mounted by one group of flexible mounting structures; then the mechanical arm drives the universal type nail post automatic installation device to another position to be installed, and the other group of flexible installation structures install the grabbed nail post to be installed on the glass to be installed.
Compared with the prior art, the invention has the beneficial effects that:
1. the flexible mounting structure provided by the invention comprises an integral propulsion cylinder, a first flexible mounting plate, a second flexible mounting plate and two flexible cylinders. Through the not hard up connection of bolt between first flexible mounting board and the second flexible mounting board, the output shaft of flexibility cylinder passes first flexible mounting board with the second flexible mounting board offsets in order to control first flexible mounting board with relative position between the second flexible mounting board to realized that the second flexible mounting board inclines along with the radian of treating installation glass, realized the flexible mounting of nail post.
2. The invention provides a universal automatic nail column mounting device which comprises a main body support, a quick-change disc, a positioning assembly, two groups of grabbing assemblies and two groups of flexible mounting structures, wherein the quick-change disc is used for being connected with a manipulator, the positioning assembly is used for positioning glass to be mounted, the grabbing assemblies are used for grabbing nail columns to be mounted, and the flexible mounting structures are used for mounting the nail columns to be mounted on the glass to be mounted. The full process automation of nail post snatching, location and installation has been realized, utilizes manipulator solidification activity route and through the accurate location of locating component, has reduced human error, has improved the degree of accuracy of installation.
3. The universal automatic nail column mounting device provided by the invention does not need manual operation, improves the production efficiency, reduces the amount of manual labor and saves the labor cost. In the installation of different model nail posts, only need to be changed snatch the base can, realize the quick switch-over of different model nail post installations.
Drawings
FIG. 1 is a schematic structural view of a universal automatic post-installing apparatus;
in the figure, A-a main body bracket, B-a quick-change disc, C-a positioning assembly, D-a grabbing assembly and E-a flexible mounting structure;
FIG. 2 is a schematic structural view of the main body support;
FIG. 3 is a schematic view of the positioning assembly;
FIG. 4 is a schematic view of the positioning assembly;
FIG. 5 is a schematic view of a glass contact block;
FIG. 6 is a schematic view of the grasping assembly;
FIG. 7 is a schematic view of the grasping assembly;
FIG. 8 is a perspective view of the flexible mounting structure and grasping assembly;
FIG. 9 is a side view of the flexible mounting structure and grasping assembly;
fig. 10 is an elevation view of the flexible mounting structure and grasping assembly.
In the figure: 1-top plate, 2-front mounting column, 3-rear mounting column, 4-side plate, 5-front baffle, 6-rear baffle, 7-positioning cylinder, 8-glass contact block, 8-1-contact block, 8-2-distance detection probe, 9-distance sensor, 10-L-shaped mounting block, 11-sliding rod, 12-sliding seat, 13-connecting plate, 14-clamping cylinder, 15-grabbing base, 16-profiling groove, 17-sliding block, 18-clamping jaw, 19-adsorption port, 20-air receiving port, 21-auxiliary cylinder, 22-connecting rod, 23-pushing column, 24-integral pushing cylinder, 25-first flexible mounting plate, 26-bolt, 27-second flexible mounting plate, 28-bracket, 29-flexible cylinder, 30-shaft hole, 31-groove and 32-stud to be installed.
Detailed Description
The present invention will be described in further detail with reference to specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
A universal automatic nail column mounting device is shown in figure 1 and comprises a main body support A, a quick-change plate B used for being connected with a manipulator, a positioning component C used for positioning glass to be mounted, two groups of grabbing components D used for grabbing nail columns to be mounted and two groups of flexible mounting structures E used for mounting the nail columns to be mounted on the glass to be mounted; the quick-change disc B, the positioning assembly C, the grabbing assembly D and the flexible mounting structure E are respectively mounted on the main body bracket A; each group of grabbing components D is arranged below one group of flexible mounting structures E;
the mounting method of the universal automatic pin column mounting device comprises the following steps:
step 1: the manipulator drives the universal automatic nail post mounting device to move to the nail post placing rack through the quick replacing disc B, and the two groups of grabbing components D grab one nail post to be mounted respectively;
step 2: the manipulator drives the universal automatic nail column mounting device to move to the edge of the glass to be mounted, the positioning assembly C positions the glass to be mounted, positioning information is transmitted to the manipulator, and the action route of the manipulator is optimized and adjusted;
and step 3: the mechanical arm drives the universal automatic nail post mounting device to one of the positions to be mounted, and the grabbed nail post to be mounted is mounted on the glass to be mounted by one group of flexible mounting structures E; then the mechanical arm drives the universal type nail post automatic installation device to another position to be installed, and the other group of flexible installation structures E install the grabbed nail post to be installed on the glass to be installed.
Example 2
This embodiment is a detailed structure of the main body frame of embodiment 1.
As shown in fig. 2, the main body bracket comprises a top plate 1, a front mounting column 2, a rear mounting column 3 and two side plates 4, wherein the top ends of the front mounting column 2 and the rear mounting column 3 are fixedly connected with the lower surface of the top plate 1; the two side plates 4 are inverted L-shaped plates, and the shorter surfaces of the two side plates are fixed on the lower surface of the top plate; the upper end of the front mounting column 2 is provided with a front baffle 5, the upper end of the rear mounting column 3 is provided with a rear baffle 6, and the upper edges of the front baffle 5 and the rear baffle 6 are aligned with the upper surface of the top plate 1; the front and rear flaps 5, 6 serve to reinforce the body frame, and can also be provided with auxiliary elements, such as pressure control valves, control devices, etc.
The quick-change disc B is arranged in the center of the upper surface of the top plate 1, the positioning assembly C is arranged at the lower end of the front mounting column 2, and the two groups of flexible mounting structures E are respectively arranged on the two side plates 4;
the quick-change disc is of a QC90-B model, and the manipulator drives the universal automatic nail column mounting device to automatically mount according to a motion track set by an internal program of the manipulator through the quick-change disc;
example 3
This embodiment is a description of the detailed structure of the positioning member based on embodiment 1.
The positioning assembly is shown in fig. 3-5 and comprises a positioning cylinder 7 fixed at the lower end of the front mounting post 2, a glass contact block 8 fixed on an output shaft of the positioning cylinder 7 and driven by the positioning cylinder 7, and a distance sensor 9 fixed at the lower end of the front mounting post 2; during positioning, the glass contact block 8 is in contact with the side face of the glass, the distance sensor 9 senses the distance between the glass contact block 8 and the distance sensor to judge the actual position of the glass in the width direction of the glass, deviation calculation is carried out on the measured actual position and a preset standard position, and flexible compensation is carried out on the calculated deviation result on the track design of the manipulator, so that the accuracy of the installation position of the manipulator is improved.
The glass contact block 8 is connected with the positioning cylinder 7 through an L-shaped mounting block 10, as shown in fig. 4, a shorter surface of the L-shaped mounting block 10 is fixed on an output shaft of the positioning cylinder 7, and a longer surface is positioned below the positioning cylinder 7; the long one face tip of L shape installation piece 10 is provided with two slide bars 11, the below of location cylinder 7 is provided with a hollow slide 12, slide bar 11 inserts the hole in the middle of slide 12 and slide in slide 12, slide bar 11 and spout 12 set up the stable connection of having guaranteed glass contact piece 8 and location cylinder 7.
The glass contact block comprises a contact block 8-1 fixedly mounted with the L-shaped mounting block 10 and a distance detection probe 8-2 fixedly mounted on the contact block 8-1, as shown in FIG. 5; the contact block 8-1 is shaped as a rectangular parallelepiped block and an arc block, and the arc block contacts the glass to prevent the contact block 8-1 from scratching the glass.
Example 4
This embodiment is a description of the detailed structure of the grasping assembly on the basis of embodiment 1.
The grabbing component D is arranged below the flexible installation structure E through a connecting plate 13, and the flexible installation structure E presses and adheres the to-be-installed nail column grabbed by the grabbing component D to the glass when driving the connecting plate 13 downwards;
the gripping assembly is shown in fig. 6 and 7 (fig. 6 and 7 are inverted for clarity), and comprises a clamping cylinder 14 fixedly mounted on the lower surface of the connecting plate 13, a gripping base 15 mounted on the lower surface of the connecting plate 13, and two clamping jaws 18 driven by the clamping cylinder 14 to contact or separate; two sliding blocks 17 are arranged on an output shaft of the clamping cylinder 14; each clamping jaw 18 is in a step block shape, one end of each clamping jaw is fixed on the sliding block 17 and driven by the clamping cylinder 14, and the other end of each clamping jaw is positioned below the grabbing base 15 and used for clamping or loosening a to-be-installed nail column 32; the grasping base 15 is formed with a contour groove 16 conforming to the shape of the convex portion of the stud 32 to be mounted. When grabbing, the two clamping jaws 18 clamp the stud 32 to be installed, so that the convex part of the stud is positioned in the contour groove 16, and the bonding plane of the stud 32 to be installed is positioned below the clamping jaws 18.
The grabbing base 15 is provided with an air channel, one end of the air channel is an adsorption port 19, the adsorption port 19 is arranged on the lower surface of the grabbing base 15 and is in contact with the upper surface of the bonding plane of the stud to be installed, the other end of the air channel is provided with an air receiving port 20, the air receiving port 20 is communicated with an air pump, and when the air pump pumps vacuum, the upper surface of the bonding plane of the stud 32 to be installed is tightly attached to the lower surface of the grabbing base 15 through the adsorption port 19 so as to prevent the stud 32 to be installed from falling off;
the grabbing component D further comprises an auxiliary fixing component, the auxiliary fixing component comprises an auxiliary cylinder 21 fixedly installed on the outer side surface of the grabbing base 15, a connecting rod 22 and a push column 23, the middle of the auxiliary cylinder is rotatably connected to the outer side surface of the grabbing base 15, the lower end of the connecting rod 22 is connected with an output shaft of the auxiliary cylinder 21, the upper end of the connecting rod 22 is hinged to the push column 23, under the action of the auxiliary cylinder 21, the connecting rod 22 pushes the push column 23 to penetrate through the grabbing base 15, and the tip end of the connecting rod extends into the profiling groove 16 to abut against the protruding portion of the to-be-installed nail column 32, so that the auxiliary clamping effect is achieved.
Example 5
This embodiment is a description of the detailed structure of the flexible mounting structure E on the basis of embodiments 2 to 4.
As shown in fig. 8-10, the flexible mounting structure E includes an integral propulsion cylinder 24 fixed on the side plate 4, a first flexible mounting plate 25 connected to an output shaft of the integral propulsion cylinder 24 and driven by the integral propulsion cylinder 24 to move up and down, a second flexible mounting plate 27 loosely connected to the first flexible mounting plate 25 via four bolts 26, and two flexible cylinders 29 respectively mounted on the first flexible mounting plate 25 via brackets 28, where the two flexible cylinders 29 are respectively located at two sides of the integral propulsion cylinder 24;
two shaft holes 30 (not shown in the figure) are formed in the first flexible mounting plate 25, two grooves 31 (not shown in the figure) are formed in the second flexible mounting plate 27, and when the output shafts of the two flexible cylinders 29 are in an extended state, the lower ends of the output shafts of the flexible cylinders 29 penetrate through the shaft holes 30 and are in matched contact with the grooves 31, so that the first flexible mounting plate 25 and the second flexible mounting plate 27 cannot move relatively; when the output shafts of the two flexible cylinders 29 are in the retracted state, the second flexible mounting plate 27 is separated from the first flexible mounting plate 25 by gravity and can move relative to the first flexible mounting plate 25 due to the loose connection between the first flexible mounting plate 25 and the second flexible mounting plate 27. The lower end of the output shaft of the flexible cylinder 29 is in a shape of a circular truncated cone, and the two grooves 31 on the second flexible mounting plate 27 are also in a shape of a circular truncated cone.
In the installation process of the flexible installation structure E, the whole propelling cylinder 24 firstly pushes the flexible installation structure 4 to press the glass to be installed in a whole downward interference manner, at the moment, the output shaft of the flexible cylinder 29 is in an extending state, when the nail column X to be installed, grabbed by the grabbing component D positioned at the bottom, contacts the surface of the glass, the output shaft of the flexible cylinder 29 retracts, the second flexible installation plate 27 tilts along with the angle of the glass to be installed, meanwhile, the grabbing component D connected below the second flexible installation plate also tilts along with the angle of the glass to be installed, and the grabbed nail column 32 is firmly adhered to the glass to be installed.
The two groups of grabbing components D grab a stud to be installed respectively, and then are installed through the two groups of flexible installation structures E respectively, the propulsion cylinders 24 in one group of flexible installation structures E are not started during installation, namely are in a retraction state, and the propulsion cylinders 24 in the other group of flexible installation structures E extend out for installation. After the installation is finished, the other group continues to be installed, and the two groups do not influence each other.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, many modifications and adaptations can be made without departing from the principle of the present invention, and such modifications and adaptations should also be considered as the scope of the present invention.
Claims (10)
1. A flexible mounting structure for post installation which characterized in that: the flexible mounting structure is connected with an output shaft of the integral propulsion cylinder and driven by the integral propulsion cylinder to move up and down;
the flexible mounting structure comprises a first flexible mounting plate, a second flexible mounting plate and two flexible cylinders, wherein the second flexible mounting plate is in loose connection with the first flexible mounting plate, the two flexible cylinders are fixedly mounted on the first flexible mounting plate respectively, and output shafts of the flexible cylinders penetrate through the first flexible mounting plate and the second flexible mounting plate to abut against each other so as to control the relative positions of the first flexible mounting plate and the second flexible mounting plate.
2. The flexible mounting structure of claim 1, wherein: two shaft holes are formed in the first flexible mounting plate, and two grooves are formed in the position, corresponding to the shaft holes, of the second flexible mounting plate.
3. The flexible mounting structure of claim 2, wherein: the lower end of the output shaft of the flexible cylinder 29 is in a shape of a circular truncated cone, and the two grooves 31 on the second flexible mounting plate 27 are also in a shape of a circular truncated cone.
4. A method of mounting a flexible mounting structure according to any of claims 1 to 3, wherein: the integral propelling cylinder firstly pushes the flexible mounting structure to integrally press the glass to be mounted downwards in an interference manner, and at the moment, the output shaft of the flexible cylinder is in an extending state; when being located the bottom and waiting to install the nail post and contact the glass surface, the output shaft of flexible cylinder withdraws, and the second flexible mounting panel produces the slope along with waiting to install glass's angle, makes the firm pasting of nail post that snatchs in its below simultaneously wait to install on glass.
5. The utility model provides a general type nail post automatic installation device which characterized in that: the device comprises a main body bracket, a quick-change disc, a positioning assembly, two groups of grabbing assemblies and two groups of flexible mounting structures, wherein the quick-change disc is used for being connected with a manipulator, the positioning assembly is used for positioning glass to be mounted, the grabbing assemblies are used for grabbing studs to be mounted, and the flexible mounting structures are arranged in two groups according to any one of claims 1-3; the quick-change disc, the positioning assembly, the grabbing assembly and the flexible mounting structure are respectively mounted on the main body bracket; each group of the grabbing components are arranged below one group of the flexible installation structures.
6. The automatic universal post mounting device according to claim 5, wherein: the main body bracket comprises a top plate, a front mounting column, a rear mounting column and two side plates; the upper end of the front mounting column is provided with a front baffle, and the upper end of the rear mounting column is provided with a rear baffle.
7. The automatic universal post mounting device according to claim 5, wherein: the positioning assembly comprises a positioning cylinder, a glass contact block and a distance sensor; the positioning cylinder and the distance sensor are fixed on the main body bracket, and the glass contact block is fixed on an output shaft of the positioning cylinder and driven by the positioning cylinder; the glass contact block is in contact with the glass to be installed so as to mark the actual position of the glass to be installed, and the distance sensor is used for sensing the position of the glass contact block so as to indirectly position the actual position of the glass to be installed;
preferably, the glass contact block comprises a contact block fixedly mounted with the output shaft of the positioning cylinder and a distance detection probe fixedly mounted on the contact block;
preferably, the contact surface of the contact block and the glass to be installed is an arc surface so as to prevent the glass from being scratched.
8. The automatic universal post mounting device according to claim 5, wherein: the grabbing component comprises a clamping cylinder, a grabbing base and two clamping jaws; the clamping cylinder and the grabbing base are respectively and fixedly arranged on the lower surface of the connecting plate; an imitated groove with the same shape as the nail column to be installed is formed on the grabbing base; the two clamping jaws are driven by the clamping cylinder respectively to contact and clamp the to-be-installed nail column or separate and release the to-be-installed nail column.
9. The automatic universal post mounting device according to claim 8, wherein: two sliding blocks are mounted on an output shaft of the clamping cylinder; one end of each clamping jaw is fixed on the sliding block and driven by the clamping cylinder, and the other end of each clamping jaw is positioned below the grabbing base and used for clamping or loosening a nail column to be installed;
preferably, the grabbing base is provided with a gas channel, one end of the gas channel is an adsorption port, and the adsorption port is formed in the lower surface of the grabbing base to adsorb the nail column to be installed; the other end of the air channel is provided with an air receiving port which is connected with an air pump to provide adsorption force;
preferably, the grabbing assembly further comprises an auxiliary fixing assembly, and the auxiliary fixing assembly comprises an auxiliary cylinder, a connecting rod and a push column; the auxiliary cylinder is fixedly arranged on the outer side surface of the grabbing base; the middle part of the connecting rod is rotatably connected to the outer side surface of the grabbing base, the lower end of the connecting rod is connected with an output shaft of the auxiliary cylinder, and the upper end of the connecting rod is hinged with the push column; the push column penetrates through the grabbing base under the driving of the auxiliary cylinder and the connecting rod, and the tip end of the push column penetrates into the profiling groove to be abutted against the protruding part of the nail column to be installed.
10. The mounting method of the universal automatic post mounting device according to any one of claims 6 to 9, wherein: the method comprises the following steps:
step 1: the mechanical arm drives the universal automatic nail post mounting device to move to the position of the nail post placing rack, and the two groups of grabbing components grab one nail post respectively;
step 2: the manipulator drives the universal automatic nail column mounting device to move to the edge of glass to be mounted, the positioning assembly positions the glass to be mounted, positioning information is transmitted to the manipulator, and the action route of the manipulator is optimized and adjusted;
and step 3: the mechanical hand drives the universal automatic nail post mounting device to one of the positions to be mounted, and the grabbed nail post to be mounted is mounted on the glass to be mounted by one group of flexible mounting structures; then the mechanical arm drives the universal type nail post automatic installation device to another position to be installed, and the other group of flexible installation structures install the grabbed nail post to be installed on the glass to be installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110179954.3A CN114905239A (en) | 2021-02-09 | 2021-02-09 | Flexible mounting structure, universal automatic nail column mounting device and mounting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110179954.3A CN114905239A (en) | 2021-02-09 | 2021-02-09 | Flexible mounting structure, universal automatic nail column mounting device and mounting method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114905239A true CN114905239A (en) | 2022-08-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110179954.3A Pending CN114905239A (en) | 2021-02-09 | 2021-02-09 | Flexible mounting structure, universal automatic nail column mounting device and mounting method |
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| Country | Link |
|---|---|
| CN (1) | CN114905239A (en) |
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2021
- 2021-02-09 CN CN202110179954.3A patent/CN114905239A/en active Pending
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