CN115464373B - Automatic mounting equipment for automobile panel nuts and working method thereof - Google Patents
Automatic mounting equipment for automobile panel nuts and working method thereof Download PDFInfo
- Publication number
- CN115464373B CN115464373B CN202211012020.1A CN202211012020A CN115464373B CN 115464373 B CN115464373 B CN 115464373B CN 202211012020 A CN202211012020 A CN 202211012020A CN 115464373 B CN115464373 B CN 115464373B
- Authority
- CN
- China
- Prior art keywords
- nut
- guide groove
- covering piece
- pressing
- covering
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
- B23P19/027—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same using hydraulic or pneumatic means
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention relates to the technical field of automobile accessory machining, in particular to automatic nut mounting equipment for an automobile panel and a working method thereof. The nut pressing machine is rotatably arranged at the tail end of the cooperation manipulator. The covering part clamp is used for positioning and clamping the covering part, the vibration disc is used for conveying square nuts, the nut press-fitting machine is driven by the cooperation manipulator to take materials from the square nuts at the vibration disc, after the materials are taken, the nut press-fitting machine is driven by the cooperation manipulator to move to the covering part clamp, and the nut installation procedure is completed at the corresponding position of the covering part. The improved equipment utilizes the covering part clamp to distinguish the first covering part and the second covering part, and according to the distinguishing result of the covering part clamp, the vibration disc, the nut press-fitting machine and the cooperation manipulator cooperate with each other to realize automatic installation of square nuts, so that the labor efficiency is greatly improved.
Description
Technical Field
The invention relates to the technical field of automobile accessory machining, in particular to automatic nut mounting equipment for an automobile panel and a working method thereof.
Background
With the increasing stringent requirements of energy conservation and environmental protection and the higher pursuit of excellent performance of automobiles, new energy automobiles gain more and more importance. Under the policy support of government and the great investment of automobile enterprises, the new energy automobile industry in China is greatly developed. The lithium ion battery has the advantages of high energy density, high charging efficiency, long cycle life and the like, and is widely used in the field of electric automobiles. The packaging forms of the lithium ion battery mainly comprise three types of cylindrical, square and soft package batteries. The cylindrical lithium battery has mature production process, good consistency and good heat dissipation performance, and is widely used in tesla and other passenger vehicles.
In order to meet the requirements of low cost, light weight and safety performance, in the packaging process of the lithium battery, the bottom plate, the cover plate and other covering parts of the battery compartment gradually start to adopt nonmetallic materials to replace the existing metallic materials. As shown in fig. 1 and 3, the battery module comprises a first covering member 1 and a second covering member 2, wherein the first covering member 1 and the second covering member 2 are equal in length and width and different in height, and are made of nonmetal materials. As shown in fig. 2 and 3, a plurality of nut grooves 11 with elastic pieces are provided around the lower frame of the first cover 1, and a plurality of nut grooves 11 with elastic pieces are provided around the top surface of the second cover 2.
In the production process, the square nut 3 needs to be pressed into the nut groove 11, the prior art adopts a manual mode to press, and the resistance of the elastic sheet in the nut groove 11 needs to be overcome in the pressing process, so that labor is consumed. Moreover, because the first covering piece 1 and the second covering piece 2 are often huge in size, workers need to move among different stations when pressing nuts at different positions, and labor intensity is high.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention provides automatic mounting equipment for nuts of automobile covering parts and a working method thereof, wherein a covering part clamp is used for positioning and clamping a first covering part and a second covering part, and the first covering part and the second covering part can be distinguished; according to the distinguishing result of the covering part clamp, the vibration disc, the nut press-fitting machine and the cooperation manipulator cooperate with each other to realize automatic installation of square nuts, so that the labor efficiency is greatly improved.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the automatic mounting equipment for the automobile panel nuts comprises a panel clamp, a vibrating disc, a nut press-mounting machine and a cooperation manipulator, wherein the nut press-mounting machine is rotatably arranged at the tail end of the cooperation manipulator. The covering part clamp, the vibrating disc and the cooperative manipulator are fixedly arranged on the workbench, and the cooperative manipulator is located at a station between the covering part clamp and the vibrating disc. The cover clamp is used for positioning and clamping the first cover or the second cover. And the square nuts are conveyed by the vibrating disc, the nut press-fitting machine is driven by the cooperative mechanical arm to take the square nuts at the vibrating disc, the nut press-fitting machine is driven by the cooperative mechanical arm to move to the cover clamp after the taking is completed, and the nut installation procedure is completed at the corresponding position of the first cover or the second cover.
The vibration disk comprises a circular vibration disk and a linear vibration disk, and square nuts can be output at a discharge hole of the linear vibration disk according to given frequency.
The discharge gate department of straight line vibration dish is equipped with keeps off the material subassembly, keep off the material subassembly and include keeping off the material pole, keep off the material regulating block, it can go up and down in vertical direction to keep off the material pole, keep off the material pole and be in through keeping off material spring coupling keep off on the material regulating block. Under the natural state, the material blocking rod is blocked at the discharge hole of the linear vibration disc under the action of the material blocking spring, and the square nut in the linear vibration disc is blocked. When the material blocking rod is pressed down, square nuts in the linear vibration disc can be discharged from the discharge hole normally and sequentially.
The nut press-fitting machine comprises a press-fitting machine bottom plate, wherein the press-fitting machine bottom plate is connected with the tail end of the cooperative manipulator through a press-fitting fixed shaft, and an X-direction pusher, an X-direction sliding assembly and a Y-direction pusher are fixedly connected to the press-fitting machine bottom plate. The X-direction sliding assembly comprises an X-direction sliding rod, the X-direction sliding rod is fixedly connected with the bottom plate of the press-loading machine through a sliding rod fixing block, a material pressing sliding block is arranged on the X-direction sliding rod in a sliding mode, a material pressing spring is sleeved outside the X-direction sliding rod and located on one side, far away from the X-direction pusher, of the material pressing sliding block, one end of the material pressing spring is fixedly connected with the material pressing sliding block, the other end of the material pressing spring is fixedly connected with the X-direction sliding rod, a material pressing cylinder is fixedly connected on one side of the material pressing sliding block, and the extending direction of a piston rod of the material pressing cylinder is perpendicular to the bottom plate of the press-loading machine.
The nut guide block is further fixed on the bottom plate of the press-fitting machine, an X-direction guide groove and a Y-direction guide groove are formed in the nut guide block, and the X-direction guide groove is intersected with the middle section of the Y-direction guide groove and communicated with the middle section of the Y-direction guide groove to form a T-shaped guide groove. The width of the X-direction guide groove and the width of the Y-direction guide groove are matched with the width of the square nut. And a sensor mounting hole is formed in the Y-direction guide groove, the sensor mounting hole is formed corresponding to the X-direction guide groove at the same time, and the sensor mounting hole is used for mounting a nut inductor.
The piston rod of the material pressing cylinder stretches into the X guide groove after stretching, the X-direction pusher and the material pressing spring apply opposite thrust to the material pressing sliding block, and under the combined action of the X-direction pusher and the material pressing spring, the piston rod of the material pressing cylinder can move along the X guide groove. The nut guide block is provided with a material blocking cover plate at the position corresponding to the X-direction guide groove and the Y-direction guide groove, the material blocking cover plate completely covers the top opening of the Y-direction guide groove, the material blocking cover plate also covers a part of the top opening of the X-direction guide groove and forms a strip-shaped gap equal to the X-direction guide groove at the top opening of the X-direction guide groove, and a piston rod of the material pressing cylinder can penetrate through the strip-shaped gap and extend into the X-direction guide groove after being stretched. The Y-direction pusher is fixedly connected with the nut pressing rod, and the nut pressing rod can slide back and forth in the Y-direction guide groove under the drive of the Y-direction pusher. The cooperative manipulator is a six-degree-of-freedom manipulator.
The material pressing cylinder adopts a finger cylinder, the X guide groove is used for storing square nuts to be installed, and after the square nuts are filled in the X guide groove, the material pressing cylinder can be pressed on the square nuts at the outermost side of the X guide groove under the action of the elasticity of the material pressing spring.
Further, the covering clamp comprises a clamp bottom plate, a left end support piece and a right side support piece. U-shaped grooves with the same width as the first covering piece or the second covering piece are formed in the left end supporting piece and the right side supporting piece, and the lifting and positioning of the left end and the right end of the first covering piece or the second covering piece are achieved through the U-shaped grooves. The clamp comprises a clamp base plate, a left end supporting piece, a right side supporting piece, a first covering piece and a second covering piece, wherein one sides of the left end supporting piece and the right side supporting piece are respectively provided with a rotary cylinder, the rotary cylinders compress the first covering piece or the second covering piece on the left end supporting piece and the right side supporting piece, a proximity sensor is fixedly arranged on one side, facing the first covering piece or the second covering piece, of the clamp base plate, and the proximity sensor can detect nonmetallic materials. When the distance between the detection head of the proximity sensor and the detected object is smaller than the detection distance, the proximity sensor can sense the corresponding object and output a signal; on the contrary, when the distance between the detecting head of the proximity sensor and the detected object is greater than the detection distance thereof, the proximity sensor cannot be applied to the corresponding object and does not output a signal. The photoelectric sensor is arranged on the left end supporting piece, the photoelectric sensor is an opposite-type photoelectric sensor, and the transmitting end and the receiving section of the photoelectric sensor are respectively positioned on two sides of the left end supporting piece in the width direction and used for detecting whether a workpiece is placed on the left end supporting piece.
Furthermore, the clamp bottom plate is also fixedly provided with a middle supporting piece for lifting the middle section of the first covering piece or the second covering piece, and a plurality of groups of covering piece clamps are arranged on the workbench in parallel, so that simultaneous clamping of a plurality of groups of covering pieces can be realized.
Further, keep off the material regulating block and fix through keeping off the material stand on the workstation, keep off the material regulating block and be in keep off the height-adjustable on the material stand. The X-direction pusher and the Y-direction pusher are both cylinders with rods.
Further, the X-direction pusher and the X-direction guide groove are respectively positioned at two sides of the Y-direction guide groove.
Further, the workbench is fixedly arranged on the box body, a storage space is arranged in the box body, and a universal wheel assembly is arranged at the bottom of the box body.
The working method of the automatic automobile panel nut mounting equipment comprises the following steps of:
and S1, placing a covering piece of the nut to be installed on the covering piece clamp, wherein U-shaped grooves on the left end supporting piece and the right side supporting piece form lifting and positioning for the left end and the right end of the covering piece, and the middle supporting piece forms lifting for the middle section of the covering piece. The revolving cylinder compresses the covering piece on the left end supporting piece and the right side supporting piece. At this time, the side of the covering piece, on which the nut needs to be installed, faces upwards.
And S2, judging whether a covering piece is placed on the covering piece clamp or not by utilizing the photoelectric sensor, and judging whether the covering piece belongs to a first covering piece or a second covering piece through the proximity sensor if the covering piece exists.
And S3, the X-direction pusher pushes the material pressing sliding block to move to the side far away from the X-direction pusher until the piston rod of the material pressing cylinder completely exceeds the outer edge of the X-direction guide groove, the X-direction pusher stops pushing and maintains the pushing force on the material pressing sliding block, and the piston rod of the material pressing cylinder is contracted in place. The cooperation manipulator drives the nut press-fitting machine to the discharge gate department of linear vibration dish removes, utilizes the bottom surface of the outer border of X to the guide slot will keep off the material pole pushes down, makes X to the guide slot with the discharge gate of linear vibration dish aligns, utilizes linear vibration dish to X is to pushing away square nut in the guide slot. In the whole pushing process, the height of one side of the X-guide groove, which is close to the linear vibration disc, needs to be ensured to be lower than the height of one side of the X-guide groove, which is far away from the linear vibration disc. Assuming that the nut press is capable of transporting N nuts at a time, when the nth nut is pushed into the X-direction guide groove, the first nut pushed into the X-direction guide groove moves into the Y-direction guide groove and triggers a nut sensor at the sensor mounting hole, which signals the cooperating robot.
And S4, driving the X-direction pusher to be far away from a discharge hole of the linear vibration disc by the cooperation manipulator, automatically lifting the material blocking rod under the action of the material blocking spring, and blocking the linear vibration disc from continuously discharging. The piston rod of the material pressing cylinder stretches, the piston rod of the X-direction pusher contracts, the material pressing sliding block moves under the action of the material pressing spring, and the piston rod of the material pressing cylinder is pressed on the square nut which finally enters the X-direction guide groove by utilizing the elasticity of the material pressing spring.
And S5, driving the nut pressing machine to move above the covering piece clamp by the cooperation of the manipulator, and driving the nut pressing machine to rotate through the tail end of the nut pressing machine so that the Y-shaped guide groove is vertically downward. The piston rod of the material pressing cylinder realizes the compression of the square nut and prevents the square nut from falling down through the Y-shaped guide groove. And according to the judging result of the proximity sensor, accurately aligning the Y-guide groove with the position of the nut to be mounted on the covering piece by utilizing a cooperative manipulator.
And S6, extending a piston rod of the Y-direction pusher, pushing the square nut positioned in the Y-direction guide groove downwards by a given distance by using the nut pressing rod to enable the square nut to enter an installation position on the covering piece, driving the nut pressing rod to shrink in place by using the piston rod of the Y-direction pusher, and driving the material pressing cylinder to push the square nut positioned in the X-direction guide groove to enter the Y-direction guide groove by using the elasticity of the material pressing spring to complete nut repairing. The material blocking cover plate can block square nuts in the X-direction guide groove and the Y-direction guide groove from falling.
And S7, the cooperative manipulator drives the nut pressing machine to move to the next installation position, the square nuts are continuously installed until all N square nuts are installed, and the cooperative manipulator drives the nut pressing machine to return to the discharge hole of the linear vibration disc again for feeding.
Compared with the prior art, the invention has the beneficial effects that:
the improved automatic mounting equipment for the nuts of the automobile panel can judge whether the panel is mounted on the panel clamp or not by utilizing the photoelectric sensor, meanwhile, the type of the panel is distinguished by utilizing the proximity sensor, and the automatic press mounting of the nuts is completed by the cooperative manipulator according to the distinguishing result, so that the degree of automation is higher.
The nut press-fitting machine can automatically take a plurality of nuts at one time, then press-fitting the nuts on the covering piece in sequence, and the production efficiency is higher.
The X-direction pusher, the material pressing cylinder and the material blocking cover plate are matched with each other, so that the falling of nuts in the nut pressing machine can be avoided, and the pressing process is stable and reliable. And utilize pressure material spring and pressure material cylinder can realize X to lead the automatic position of mending of inslot square nut, further promoted degree of automation.
Drawings
Fig. 1 is a schematic view of the outline structure of a first cover member in the present invention.
Fig. 2 is a schematic view of a partial enlarged structure at a in fig. 1.
Fig. 3 is a schematic view of the external structure of the second covering member of the present invention.
Fig. 4 is a schematic view showing the external structure of an automatic installation device for nuts of automobile panel according to the present invention.
Fig. 5 is a schematic view showing the relative positions of the nut press machine in the nut press at the cover clamp according to the present invention.
Fig. 6 is a schematic view of the relative positions of the nut pressing machine in taking materials at the vibration disc.
Fig. 7 is a partially enlarged schematic structural view at B in fig. 6.
FIG. 8 is a schematic diagram of the structure of the vibration plate and the material blocking assembly according to the present invention.
Fig. 9 is a partially enlarged schematic structural view of fig. 8 at C.
Fig. 10 is a schematic view of the front profile structure of the nut pressing machine according to the present invention.
Fig. 11 is a partially enlarged schematic structural view of D in fig. 10.
Fig. 12 is a schematic view of the back profile structure of the nut press according to the present invention.
Fig. 13 is a schematic view of the external structure of the nut guide block according to the present invention.
Fig. 14 is a schematic view of the relative positions of the components when 3 square nuts remain in the X-direction guide slot.
Fig. 15 is a schematic view of the relative positions of the components when the square nut is press-fitted by the nut press bar.
Fig. 16 is a schematic view of the relative positions of the components when 2 square nuts remain in the X-direction guide slot.
Fig. 17 is a schematic view of the outline structure of the cover clamp in the present invention.
Fig. 18 is a schematic cross-sectional view of the first and second covers of the present invention after they are mounted on the cover clamps.
In the figure: 1. the device comprises a first covering piece, 2, a second covering piece, 3, square nuts, 4, a covering piece clamp, 401, a clamp bottom plate, 402, a left end supporting piece, 403, a middle supporting piece, 404, a right side supporting piece, 405, a rotating cylinder, 406, a photoelectric sensor, 407, a proximity sensor, 5, a vibration disc, 501, a circular vibration disc, 502, a linear vibration disc, 6, a material blocking component, 601, a material blocking upright post, 602, a material blocking rod, 603, a material blocking adjusting block, 7, a nut pressing machine, 701, an X-direction pusher, 702, a material pressing sliding block, 703, a material pressing cylinder, 704, a sliding rod fixing block, 705, an X-direction sliding rod, 706, a Y-direction pusher, 707, a nut pressing rod, 708, a material pressing spring, 709, a pressing machine bottom plate, 710, a nut guiding block, 7101, an X-direction guiding groove, 7102, a Y-direction guiding groove, 711, a material blocking cover plate, 712, a pressing fixed shaft, 8, a cooperation manipulator, 9, a workbench, 10, a box body, 11 and a nut groove.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 4 and 5, the automatic mounting device for the automobile panel nut comprises a panel clamp 4, a vibration disc 5, a nut press-fitting machine 7 and a cooperation manipulator 8, wherein the nut press-fitting machine 7 is rotatably arranged at the tail end of the cooperation manipulator 8. The covering clamp 4, the vibrating plate 5 and the cooperative manipulator 8 are fixedly arranged on the workbench 9, and the cooperative manipulator 8 is positioned at a station between the covering clamp 4 and the vibrating plate 5. The cover clamp 4 is used for positioning and clamping the first cover 1 or the second cover 2. And the square nuts 3 are conveyed by using the vibration disc 5, the nut press-fitting machine 7 is driven by the cooperative mechanical arm 8 to take materials from the square nuts 3 at the vibration disc 5, after the materials are taken, the nut press-fitting machine 7 is driven by the cooperative mechanical arm 8 to move to the cover clamp 4, and the nut installation procedure is completed at the corresponding position of the first cover 1 or the second cover 2.
As shown in fig. 6, the vibration plate 5 includes a circular vibration plate 501 and a linear vibration plate 502, and the square nut 3 can be output at a given frequency at the discharge port of the linear vibration plate 502.
As shown in fig. 6 to 9, a material blocking component 6 is disposed at the discharge port of the linear vibration disc 502, the material blocking component 6 includes a material blocking rod 602 and a material blocking adjusting block 603, the material blocking rod 602 can be lifted in the vertical direction, and the material blocking rod 602 is connected to the material blocking adjusting block 603 through a material blocking spring. In a natural state, the blocking rod 602 is blocked at the discharge hole of the linear vibration disc 502 under the action of the blocking spring, so as to block the square nut 3 in the linear vibration disc 502. When the material blocking rod 602 is pressed down, the square nuts 3 in the linear vibration disc 502 can be discharged from the discharge hole normally and sequentially.
As shown in fig. 10 to 12, the nut pressing machine 7 includes a pressing machine base plate 709, the pressing machine base plate 709 is connected with the end of the cooperative manipulator 8 through a pressing fixed shaft 712, and an X-direction pusher 701, an X-direction sliding assembly, and a Y-direction pusher 706 are fixedly connected to the pressing machine base plate 709. The X-direction sliding assembly comprises an X-direction sliding rod 705, the X-direction sliding rod 705 is fixedly connected with a press bottom plate 709 through a sliding rod fixing block 704, a press sliding block 702 is arranged on the X-direction sliding rod 705 in a sliding mode, a press spring 708 is sleeved outside the X-direction sliding rod 705, the press spring 708 is located on one side, away from the X-direction pusher 701, of the press sliding block 702, one end of the press spring 708 is fixedly connected with the press sliding block 702, the other end of the press spring is fixedly connected with the X-direction sliding rod 705, one side of the press sliding block 702 is fixedly connected with a press cylinder 703, and the extending direction of a piston rod of the press cylinder 703 is perpendicular to the press bottom plate 709.
As shown in fig. 13, a nut guide block 710 is further fixed on the press-mounting machine bottom plate 709, an X guide groove 7101 and a Y guide groove 7102 are formed on the nut guide block 710, and the X guide groove 7101 intersects and communicates with the middle section of the Y guide groove 7102, and the two grooves communicate to form a "T" type guide groove. The widths of the X-guide groove 7101 and the Y-guide groove 7102 match the width of the square nut 3. The Y guide groove 7102 is provided with a sensor mounting hole 7103, the sensor mounting hole 7103 is also correspondingly provided with the X guide groove 7101, and the sensor mounting hole 7103 is used for mounting a nut sensor.
As shown in fig. 14, the piston rod of the pressing cylinder 703 may extend into the X guide groove 7101 after extending, the X-direction pusher 701 and the pressing spring 708 may apply opposite pushing force to the pressing slider 702, and the piston rod of the pressing cylinder 703 may move along the X guide groove 7101 under the combined action of the X-direction pusher 701 and the pressing spring 708. The nut guide block 710 is provided with a material blocking cover plate 711 at a position corresponding to the X guide groove 7101 and the Y guide groove 7102, the material blocking cover plate 711 completely covers the top opening of the Y guide groove 7102, the material blocking cover plate 711 also covers a part of the top opening of the X guide groove 7101 and forms a strip-shaped gap with the same length as the X guide groove 7101 at the top opening of the X guide groove 7101, and a piston rod of the material pressing cylinder 703 can pass through the strip-shaped gap and extend into the X guide groove 7101 after being stretched. The Y-direction pusher 706 is fixedly connected with a nut pressing rod 707, and the nut pressing rod 707 can slide back and forth in the Y-direction guide groove 7102 under the driving of the Y-direction pusher 706. The cooperative robot 8 is a six-degree-of-freedom robot.
The pressing cylinder 703 adopts a finger cylinder, the X-guiding groove 7101 is used for storing the square nut 3 to be mounted, and after the square nut 3 is filled in the X-guiding groove 7101, the pressing cylinder 703 can be pressed on the square nut 3 at the outermost side of the X-guiding groove 7101 under the action of the elastic force of the pressing spring 708.
As shown in fig. 17, in practical application, the cover clamp 4 includes a clamp base 401, a left end support 402, and a right side support 404. The left support 402 and the right support 404 are respectively provided with a U-shaped groove with the same width as the first cover 1 or the second cover 2, and the U-shaped grooves are used for forming the lifting and positioning of the left end and the right end of the first cover 1 or the second cover 2. The left end support 402, one side of right side support 404 all are equipped with revolving cylinder 405, revolving cylinder 405 will first covering piece 1 or second covering piece 2 compress tightly on left end support 402 and the right side support 404, the fixed proximity sensor 407 that is equipped with in one side towards first covering piece 1 or second covering piece 2 on the anchor clamps bottom plate 401, proximity sensor 407 can detect the nonmetallic material. When the distance between the detection head of the proximity sensor 407 and the detected object is smaller than the detection distance, the proximity sensor 407 can sense the corresponding object and output a signal; on the contrary, when the distance between the probe of the proximity sensor 407 and the object to be measured is greater than the detection distance thereof, the proximity sensor 407 cannot be applied to the corresponding object and does not output a signal. The left end support 402 is provided with a photoelectric sensor 406, the photoelectric sensor 406 is a correlation photoelectric sensor, and the transmitting end and the receiving section of the photoelectric sensor 406 are respectively located at two sides of the left end support 402 in the width direction, and are used for detecting whether a workpiece is placed on the left end support 402.
In practical application, the fixture bottom plate 401 is further fixedly provided with a middle support member 403, which is used for lifting the middle section of the first covering member 1 or the second covering member 2, and the workbench 9 is provided with a plurality of groups of covering member fixtures 4 in parallel, so that simultaneous clamping of a plurality of groups of covering members can be realized.
As shown in fig. 8 and 9, in practical application, the blocking adjusting block 603 is fixed on the workbench 9 through a blocking upright 601, and the height of the blocking adjusting block 603 on the blocking upright 601 is adjustable. The X-direction pusher 701 and the Y-direction pusher 706 are both rod-equipped cylinders.
In practical applications, the X-direction pusher 701 and the X-direction guide groove 7101 are located at two sides of the Y-direction guide groove 7102, respectively.
In practical application, the workbench 9 is fixedly arranged on the box 10, a storage space is arranged in the box 10, and a universal wheel assembly is arranged at the bottom of the box 10.
The working method of the automatic automobile panel nut mounting equipment comprises the following steps of:
step S1 is as shown in fig. 5, a covering piece of the nut to be mounted is placed on the covering piece fixture 4, the U-shaped grooves on the left end supporting piece 402 and the right side supporting piece 404 form lifting and positioning for the left end and the right end of the covering piece, and the middle supporting piece 403 forms lifting for the middle section of the covering piece. The revolving cylinder 405 presses the cover against the left end support 402 and the right side support 404. At this time, the side of the covering piece, on which the nut needs to be installed, faces upwards.
Step S2 is to determine whether a covering member is placed on the covering member holder 4 by using the photoelectric sensor 406, and if a covering member is placed on the covering member holder, determine whether the covering member belongs to the first covering member 1 or the second covering member 2 by using the proximity sensor 407. The detection principle of the proximity sensor 407 is as follows:
because the lower frame of the first cover 1 is the mounting surface of the nut, and the top surface of the second cover 2 is the mounting surface of the nut, when the first cover 1 and the second cover 2 are clamped on the cover clamp 4, the distance between the lower bottom surface of the first cover 1 and the clamp bottom plate 401 is smaller than the distance between the lower bottom surface of the second cover 2 and the clamp bottom plate 401. Therefore, by setting the detection distance of the proximity sensor 407, the discrimination of the types of the first cover 1 and the second cover 2 can be realized, that is, the proximity sensor 407 can detect the object to be detected and output a signal when the distance between the proximity sensor 407 and the object to be detected is smaller than the detection distance thereof, whereas the proximity sensor 407 cannot detect the object to be detected when the distance between the proximity sensor 407 and the object to be detected is larger than the detection distance thereof.
In step S3, the X-direction pusher 701 pushes the pressing slider 702 to move to a side far away from the X-direction pusher 701 until the piston rod of the pressing cylinder 703 completely exceeds the outer edge of the X-direction guide groove 7101, the X-direction pusher 701 stops pushing and maintains the pushing force on the pressing slider 702, and the piston rod of the pressing cylinder 703 is retracted. The cooperating manipulator 8 drives the nut press-fitting machine 7 to move towards the discharge port of the linear vibration disc 502, the material blocking rod 602 is pressed downwards by utilizing the bottom surface of the outer edge of the X guide groove 7101, the X guide groove 7101 is aligned with the discharge port of the linear vibration disc 502, and the square nut 3 is pushed into the X guide groove 7101 by utilizing the linear vibration disc 502. Throughout the pushing process, the height of the side of the X-guide groove 7101 near to the linear vibration disk 502 is ensured to be lower than the height of the side far from the linear vibration disk 502. If the nut press-fitting machine 7 needs to convey N nuts at a time, the length of the X guide groove 7101 is designed to be the sum of the lengths of N-1 nuts, and the X guide groove 7101 intersects with the Y guide groove 7102 and is communicated into a "T" shaped guide groove, so that the "T" shaped guide groove can accommodate N nuts in total in the X direction. Assuming that the nut press 7 is capable of transporting N nuts at a time, when the nth nut is pushed into the X guide groove 7101, the first nut pushed into the X guide groove 7101 moves into the Y guide groove 7102 and triggers a nut sensor at the sensor mounting hole 7103, which signals the cooperative robot 8.
Step S4 is to drive the X-direction pusher 701 to be away from the discharge port of the linear vibration disc 502 by the cooperation of the manipulator 8, and the material blocking rod 602 automatically rises under the action of the material blocking spring and blocks the linear vibration disc 502 from continuously discharging. The piston rod of the pressing cylinder 703 is extended, the piston rod of the X-direction pusher 701 is contracted, the pressing slider 702 moves under the action of the pressing spring 708, and the piston rod of the pressing cylinder 703 is pressed against the square nut 3 which finally enters the X-direction guide groove 7101 by using the elastic force of the pressing spring 708, and at this time, the relative positions of the components on the nut pressing machine 7 are shown in fig. 10 and 11.
Step S5, the cooperating manipulator 8 drives the nut pressing machine 7 to move above the covering piece fixture 4, and drives the nut pressing machine 7 to rotate through the tail end of the nut pressing machine, so that the Y-direction guide groove 7102 is vertically downward. The piston rod of the pressing cylinder 703 compresses the square nut 3, preventing the square nut 3 from falling down through the Y-guide groove 7102. According to the judgment result of the proximity sensor 407, the Y-guide groove 7102 is accurately aligned with the position of the nut to be mounted on the cover by using the cooperative robot 8, and the relative positions of the nut press 7 and the cover are as shown in fig. 5.
Step S6 as shown in FIG. 15, the piston rod of the Y-direction pusher 706 is extended, and the square nut 3 positioned in the Y-direction guide groove 7102 is pushed downward by a given distance into the mounting position on the cover member by the nut pressing rod 707. Then, as shown in fig. 16, the piston rod of the Y-direction pusher 706 drives the nut pressing rod 707 to retract into position, and the elastic force of the pressing spring 708 drives the pressing cylinder 703 to push the square nut 3 in the X-direction guide groove 7101 into the Y-direction guide groove 7102 to complete nut repairing. The material blocking cover plate 711 can block the square nuts 3 in the X guide groove 7101 and the Y guide groove 7102 from falling.
In step S7, the cooperative manipulator 8 drives the nut pressing machine 7 to move to the next installation position, and the square nuts 3 are continuously installed until all the N square nuts 3 are installed, and the cooperative manipulator 8 drives the nut pressing machine 7 to return to the discharge port of the linear vibration disc 502 again for re-loading.
The foregoing has outlined and described the basic principles, features, and advantages of the present invention. The front, rear, left, right, end, front end and other directional indicators are merely illustrative structures and are not limiting. Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions may be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. An automatic installation equipment of automobile panel nut, its characterized in that: the device comprises a covering part clamp (4), a vibrating disc (5), a nut pressing machine (7) and a cooperative manipulator (8), wherein the nut pressing machine (7) is rotatably arranged at the tail end of the cooperative manipulator (8); the covering clamp (4), the vibrating disc (5) and the cooperative manipulator (8) are fixedly arranged on the workbench (9), and the cooperative manipulator (8) is positioned at a station between the covering clamp (4) and the vibrating disc (5);
the vibration disc (5) comprises a circular vibration disc (501) and a linear vibration disc (502), and square nuts (3) can be output at a discharge hole of the linear vibration disc (502) according to a given frequency;
a material blocking assembly (6) is arranged at a discharge hole of the linear vibration disc (502), the material blocking assembly (6) comprises a material blocking rod (602) and a material blocking adjusting block (603), the material blocking rod (602) can be lifted in the vertical direction, and the material blocking rod (602) is connected to the material blocking adjusting block (603) through a material blocking spring;
the nut press-fitting machine (7) comprises a press-fitting machine bottom plate (709), the press-fitting machine bottom plate (709) is connected with the tail end of the cooperative manipulator (8) through a press-fitting fixed shaft (712), and an X-direction pusher (701), an X-direction sliding component and a Y-direction pusher (706) are fixedly connected to the press-fitting machine bottom plate (709); the X-direction sliding assembly comprises an X-direction sliding rod (705), the X-direction sliding rod (705) is fixedly connected with a bottom plate (709) of the press machine, a material pressing sliding block (702) is arranged on the X-direction sliding rod (705) in a sliding mode, a material pressing spring (708) is sleeved outside the X-direction sliding rod (705), the material pressing spring (708) is located at one side, far away from the X-direction pusher (701), of the material pressing sliding block (702), one end of the material pressing spring (708) is fixedly connected with the material pressing sliding block (702), the other end of the material pressing spring is fixedly connected with the X-direction sliding rod (705), a material pressing cylinder (703) is fixedly connected to one side of the material pressing sliding block (702), and the extending direction of a piston rod of the material pressing cylinder (703) is perpendicular to the bottom plate (709) of the press machine;
a nut guide block (710) is further fixed on the bottom plate (709) of the press-fitting machine, an X-direction guide groove (7101) and a Y-direction guide groove (7102) are formed in the nut guide block (710), and the X-direction guide groove (7101) is intersected with and communicated with the middle section of the Y-direction guide groove (7102) and is communicated with the middle section of the Y-direction guide groove to form a T-shaped guide groove; the width of the X-direction guide groove (7101) and the Y-direction guide groove (7102) are matched with the width of the square nut (3); a sensor mounting hole (7103) is formed in the Y-direction guide groove (7102), the sensor mounting hole (7103) is formed corresponding to the X-direction guide groove (7101) at the same time, and the sensor mounting hole (7103) is used for mounting a nut sensor;
the piston rod of the material pressing cylinder (703) can extend into the X guide groove (7101) after being extended, the X-direction pusher (701) and the material pressing spring (708) apply opposite thrust to the material pressing sliding block (702), and under the combined action of the X-direction pusher (701) and the material pressing spring (708), the piston rod of the material pressing cylinder (703) can move along the X guide groove (7101); the nut guide block (710) is provided with a material blocking cover plate (711) at the position corresponding to the X guide groove (7101) and the Y guide groove (7102), the material blocking cover plate (711) completely covers the top opening of the Y guide groove (7102), the material blocking cover plate (711) also covers a part of the top opening of the X guide groove (7101) and forms a strip-shaped gap with the same length as the X guide groove (7101) at the top opening of the X guide groove (7101), and a piston rod of the material pressing cylinder (703) can penetrate through the strip-shaped gap and extend into the X guide groove (7101) after being stretched; the Y-direction pusher (706) is fixedly connected with a nut pressing rod (707), and the nut pressing rod (707) can slide back and forth in the Y-direction guide groove (7102) under the drive of the Y-direction pusher (706); the cooperative manipulator (8) is a six-degree-of-freedom manipulator;
the covering part clamp (4) comprises a clamp bottom plate (401), a left end support piece (402) and a right side support piece (404); u-shaped grooves with the same width as the first covering piece (1) or the second covering piece (2) are formed in the left end supporting piece (402) and the right side supporting piece (404), and the lifting and positioning of the left end and the right end of the first covering piece (1) or the second covering piece (2) are realized by utilizing the U-shaped grooves; a rotary cylinder (405) is arranged on one side of each of the left end support (402) and the right side support (404), the rotary cylinder (405) tightly presses the first covering piece (1) or the second covering piece (2) on the left end support (402) and the right side support (404), a proximity sensor (407) is fixedly arranged on one side, facing the first covering piece (1) or the second covering piece (2), of the clamp base plate (401), and the proximity sensor (407) can detect nonmetallic materials; the photoelectric sensor (406) is arranged on the left end supporting piece (402), the photoelectric sensor (406) is a correlation photoelectric sensor, and the transmitting end and the receiving section of the photoelectric sensor (406) are respectively positioned on two sides of the left end supporting piece (402) in the width direction and used for detecting whether a workpiece is placed on the left end supporting piece (402).
2. An auto-installation device for a car cover nut as defined in claim 1, wherein: an intermediate support (403) is also fixedly arranged on the clamp bottom plate (401) and is used for lifting the intermediate section of the first covering piece (1) or the second covering piece (2); a plurality of groups of covering piece clamps (4) are arranged on the workbench (9) in parallel.
3. An auto-installation device for automobile panel nuts as claimed in claim 2, wherein: the material blocking adjusting block (603) is fixed on the workbench (9) through a material blocking upright post (601), and the height of the material blocking adjusting block (603) on the material blocking upright post (601) is adjustable; the X-direction pusher (701) and the Y-direction pusher (706) are all rod-bearing cylinders.
4. An auto-installation device for automobile panel nuts as claimed in claim 2, wherein: the X-direction pusher (701) and the X-direction guide groove (7101) are respectively positioned at two sides of the Y-direction guide groove (7102).
5. An auto-installation device for automobile panel nuts as claimed in claim 2, wherein: the workbench (9) is fixedly arranged on the box body (10), a storage space is formed in the box body (10), and a universal wheel assembly is arranged at the bottom of the box body (10).
6. A working method of an automatic installation device for nuts of automobile panels according to any one of claims 2 to 5, characterized by comprising the following steps:
step S1, placing a covering piece of a nut to be installed on the covering piece clamp (4), wherein U-shaped grooves on the left end supporting piece (402) and the right side supporting piece (404) form lifting and positioning for the left end and the right end of the covering piece, and the middle supporting piece (403) forms lifting for the middle section of the covering piece; the rotary cylinder (405) presses the covering piece on the left end supporting piece (402) and the right side supporting piece (404); at the moment, one side of the covering piece, on which the nut needs to be installed, faces upwards;
step S2, judging whether a covering piece is placed on the covering piece clamp (4) by utilizing the photoelectric sensor (406), and judging whether the covering piece belongs to the first covering piece (1) or the second covering piece (2) through the proximity sensor (407) if the covering piece is placed on the covering piece clamp;
step S3, the X-direction pusher (701) pushes the material pressing slider (702) to move to the side far away from the X-direction pusher (701) until the piston rod of the material pressing cylinder (703) completely exceeds the outer edge of the X-direction guide groove (7101), the X-direction pusher (701) stops pushing and maintains the pushing force on the material pressing slider (702), and the piston rod of the material pressing cylinder (703) is contracted in place; the cooperation manipulator (8) drives the nut press-fitting machine (7) to move towards the discharge hole of the linear vibration disc (502), the material blocking rod (602) is pressed downwards by the bottom surface of the outer edge of the X-direction guide groove (7101), the X-direction guide groove (7101) is aligned with the discharge hole of the linear vibration disc (502), and the square nut (3) is pushed into the X-direction guide groove (7101) by the linear vibration disc (502); in the whole pushing process, the height of one side of the X-direction guide groove (7101) close to the linear vibration disc (502) is required to be ensured to be lower than the height of one side of the X-direction guide groove away from the linear vibration disc (502); assuming that the nut press (7) is capable of transporting N nuts at a time, when an nth nut is pushed into the X-direction guide groove (7101), a first nut pushed into the X-direction guide groove (7101) moves into the Y-direction guide groove (7102) and triggers a nut sensor at the sensor mounting hole (7103) which signals the cooperative robot (8);
step S4, the cooperation manipulator (8) drives the X-direction pusher (701) to be far away from a discharge hole of the linear vibration disc (502), and the material blocking rod (602) automatically ascends under the action of the material blocking spring and blocks the linear vibration disc (502) from continuously discharging; the piston rod of the pressing cylinder (703) is extended, the piston rod of the X-direction pusher (701) is contracted, the pressing sliding block (702) moves under the action of the pressing spring (708), and the piston rod of the pressing cylinder (703) is pressed on the square nut (3) which finally enters the X-direction guide groove (7101) by utilizing the elasticity of the pressing spring (708);
s5, driving the nut pressing machine (7) to move to the position above the covering part clamp (4) by the cooperation of the manipulator (8), and driving the nut pressing machine (7) to rotate through the tail end of the nut pressing machine, so that the Y-direction guide groove (7102) is vertically downward; according to the judging result of the proximity sensor (407), the Y-direction groove (7102) is accurately aligned with the position of the nut to be installed on the covering piece by utilizing a cooperative manipulator (8);
step S6, the piston rod of the Y-direction pusher (706) is extended, the square nut (3) positioned in the Y-direction guide groove (7102) is pushed downwards by the nut pressing rod (707) for a given distance to enter the installation position on the covering piece, then the piston rod of the Y-direction pusher (706) drives the nut pressing rod (707) to shrink in place, and the elastic force of the material pressing spring (708) is utilized to drive the material pressing cylinder (703) to push the square nut (3) in the X-direction guide groove (7101) to enter the Y-direction guide groove (7102) to complete nut supplementing;
and step S7, the cooperative manipulator (8) drives the nut press-fitting machine (7) to move to the next installation position, the square nuts (3) are continuously installed until all N square nuts (3) are installed, and the cooperative manipulator (8) drives the nut press-fitting machine (7) to return to the discharge hole of the linear vibration disc (502) again for re-feeding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211012020.1A CN115464373B (en) | 2022-08-23 | 2022-08-23 | Automatic mounting equipment for automobile panel nuts and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211012020.1A CN115464373B (en) | 2022-08-23 | 2022-08-23 | Automatic mounting equipment for automobile panel nuts and working method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115464373A CN115464373A (en) | 2022-12-13 |
| CN115464373B true CN115464373B (en) | 2023-10-03 |
Family
ID=84366172
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211012020.1A Active CN115464373B (en) | 2022-08-23 | 2022-08-23 | Automatic mounting equipment for automobile panel nuts and working method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115464373B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206632634U (en) * | 2017-01-24 | 2017-11-14 | 广州市德力达机械行 | nut automatic screwing device |
| CN206689705U (en) * | 2017-02-28 | 2017-12-01 | 常州星宇车灯股份有限公司 | A kind of indoor lamp key switch automatic assembling apparatus |
| CN108994573A (en) * | 2018-06-29 | 2018-12-14 | 常州星宇车灯股份有限公司 | A kind of stationary spring of high-mount brake lamp, nozzle and lampshade automatic crimping system |
| CN110227939A (en) * | 2019-07-08 | 2019-09-13 | 广州珀锐赛斯智能装备有限公司 | A kind of cylinder cap blanking cover steel ball pressing machine |
| CN110842556A (en) * | 2019-12-25 | 2020-02-28 | 杭州江睿智能装备有限公司 | Bassinet front wheel subassembly rigging equipment |
| CN112008395A (en) * | 2020-08-31 | 2020-12-01 | 乐清野岛机电有限公司 | Online automatic assembly equipment of circuit breaker inlet and outlet terminals |
| WO2020248413A1 (en) * | 2019-06-14 | 2020-12-17 | 眉山中车紧固件科技有限公司 | Riveting robot system |
| CN112134123A (en) * | 2020-09-27 | 2020-12-25 | 立达电线(东莞)有限公司 | Automatic assembling machine for 6Pin wire male seats |
| WO2021184669A1 (en) * | 2020-03-15 | 2021-09-23 | 南京根田科技有限公司 | Bolt and nut automatic assembly system for flat cultivation container |
| CN214723340U (en) * | 2020-09-11 | 2021-11-16 | 东莞盛翔精密金属有限公司 | Automatic polishing assembly feeding device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108390236A (en) * | 2018-05-02 | 2018-08-10 | 东莞理工学院 | A kind of Full-automatic assembling machine of spring fastener |
| CN110523909B (en) * | 2019-07-10 | 2021-02-05 | 南京航空航天大学 | Automatic nail feeding system and method based on robot vision |
-
2022
- 2022-08-23 CN CN202211012020.1A patent/CN115464373B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206632634U (en) * | 2017-01-24 | 2017-11-14 | 广州市德力达机械行 | nut automatic screwing device |
| CN206689705U (en) * | 2017-02-28 | 2017-12-01 | 常州星宇车灯股份有限公司 | A kind of indoor lamp key switch automatic assembling apparatus |
| CN108994573A (en) * | 2018-06-29 | 2018-12-14 | 常州星宇车灯股份有限公司 | A kind of stationary spring of high-mount brake lamp, nozzle and lampshade automatic crimping system |
| WO2020248413A1 (en) * | 2019-06-14 | 2020-12-17 | 眉山中车紧固件科技有限公司 | Riveting robot system |
| CN110227939A (en) * | 2019-07-08 | 2019-09-13 | 广州珀锐赛斯智能装备有限公司 | A kind of cylinder cap blanking cover steel ball pressing machine |
| CN110842556A (en) * | 2019-12-25 | 2020-02-28 | 杭州江睿智能装备有限公司 | Bassinet front wheel subassembly rigging equipment |
| WO2021184669A1 (en) * | 2020-03-15 | 2021-09-23 | 南京根田科技有限公司 | Bolt and nut automatic assembly system for flat cultivation container |
| CN112008395A (en) * | 2020-08-31 | 2020-12-01 | 乐清野岛机电有限公司 | Online automatic assembly equipment of circuit breaker inlet and outlet terminals |
| CN214723340U (en) * | 2020-09-11 | 2021-11-16 | 东莞盛翔精密金属有限公司 | Automatic polishing assembly feeding device |
| CN112134123A (en) * | 2020-09-27 | 2020-12-25 | 立达电线(东莞)有限公司 | Automatic assembling machine for 6Pin wire male seats |
Non-Patent Citations (1)
| Title |
|---|
| 杨宇峰 ; 董碧云 ; .基于SCARA工业机器人的螺母装配工作站设计.机电工程技术.2018,第47卷(第03期),第101-103页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115464373A (en) | 2022-12-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110233280B (en) | Flat pressing and shaping equipment for new energy automobile battery | |
| CN110212231B (en) | Automatic assembly mechanism for battery cover plate | |
| CN113794083A (en) | Automatic pin inserting equipment for carrier | |
| CN210497313U (en) | Automatic testing machine for inductance function | |
| CN109585901B (en) | Four-station automatic preassembling device for cell module | |
| CN115020781A (en) | Automatic extrusion packing detection equipment for square battery cell module | |
| CN114313413A (en) | Square lithium cell sabot device | |
| CN110817499A (en) | Felt cutting and feeding device | |
| CN112657855A (en) | Chip detection sorting machine and detection method thereof | |
| CN115464373B (en) | Automatic mounting equipment for automobile panel nuts and working method thereof | |
| CN113858642A (en) | Multifunctional special machine | |
| CN213857974U (en) | Remote controller shell assembling device | |
| CN212550587U (en) | Automatic detection and sorting assembly line for power supply assemblies of electric vehicles | |
| CN217774834U (en) | Cylindric part syntropy reason material unloader | |
| CN113739734A (en) | Measure mechanism of lithium cell thickness | |
| CN217393642U (en) | Production line fixture system | |
| CN115832402A (en) | Full-automatic cover plate machine of battery | |
| CN215848260U (en) | Solar panel terminal box self-adaptation manipulator | |
| CN215953748U (en) | Full-automatic three-point spot welding test all-in-one | |
| CN113084533A (en) | Double-root synchronous corner penetrating stacking machine | |
| CN221253072U (en) | Material preparation mechanism and processing equipment | |
| CN215198343U (en) | Needle threading device of circuit breaker | |
| CN221056353U (en) | Detection mechanism of circuit breaker | |
| CN213544799U (en) | Automatic plug jack detection device | |
| CN217225158U (en) | Pipe clamping and fixing device for machining wrist arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |