CN117943825B

CN117943825B - Bolt assembly machine capable of detecting integrity and preventing accidental injury of bolts and assembly method

Info

Publication number: CN117943825B
Application number: CN202410356684.2A
Authority: CN
Inventors: 洪印涛; 张志斌; 王金伟; 陈育明
Original assignee: Liming Vocational University
Current assignee: Liming Vocational University
Priority date: 2024-03-27
Filing date: 2024-03-27
Publication date: 2024-06-25
Anticipated expiration: 2044-03-27
Also published as: CN117943825A

Abstract

The utility model provides a can detect the bolt assembly machine and assembly method of integrality and preventing the accidental injury bolt, including bolt feed mechanism and nut feed mechanism, and locate the assembly mechanism between bolt feed mechanism and the nut feed mechanism, assembly mechanism includes the assembly platform between round trip operation and bolt feed mechanism and the nut feed mechanism, be equipped with the grabbing mechanism that follows the removal on the assembly platform, screw mechanism for assembling, and be used for detecting the detection mechanism of the integrality of bolt and nut that the assembly is accomplished, be equipped with the PLC controller in the assembly platform, with bolt feed mechanism, nut feed mechanism, grabbing mechanism, detection mechanism electricity connection respectively; according to the invention, the detection mechanism is used for detecting the assembled bolts, the PLC controller is used for judging whether the appearance of the assembled bolts is nondestructive and the interior of the assembled bolts is not damaged, and the grabbing mechanism is controlled to complete split charging, so that the assembly, screening and split charging integration of the bolts and nuts is realized, the assembled bolts and nuts can be used in high-precision industries such as pressure containers, and the production efficiency is improved.

Description

Bolt assembly machine capable of detecting integrity and preventing accidental injury of bolts and assembly method

Technical Field

The invention relates to the technical field of bolt assembly, in particular to a bolt assembly machine and an assembly method for detecting integrity and preventing accidental injury of bolts.

Background

The bolt is a fastener consisting of a head part and a screw rod, and is matched with the nut for fastening and connecting two parts with through holes. In the process of producing, packaging and transporting bolts and nuts, the screw rod is required to be aligned with the screw hole of the nut, and the nut is screwed on the screw rod to be paired. However, the efficiency of the mode of screw assembling the bolts and the nuts by manpower is very low, so that the assembling efficiency is improved, an automatic bolt assembling machine appears on the market, namely an automatic device for manually completing the taking, placing and screwing of the bolts by using an automatic mechanism is used for automatically completing the feeding of the bolts by a system, and the screwing of the nuts is in place, so that the automatic bolt assembling machine has the characteristics of high-efficiency batch operation, high reliability, stability, intellectualization and the like.

However, in the conventional bolt assembling machine, the nut is usually clamped by a pneumatic or electric manipulator in the nut tightening process, and then is sleeved on the screw rod in a high-speed rotation manner. In the process, if the screw hole of the nut is not aligned with the tail part of the screw rod, the tail part of the bolt is worn by means of the mode of screwing the nut onto the screw rod by inertia force. In many industrial fields such as pressure vessels, petroleum, chemical industry, automobile and ship manufacturing, bolts are required to be complete and undamaged, so that the assembled bolts and nuts need to be screened, and damaged parts are eliminated. The automatic bolt assembling machine on the market at present has no screening and sub-packaging function in the production process, and a screening and sub-packaging procedure is additionally added.

Disclosure of Invention

In order to solve the technical problems, the invention adopts the following technical scheme:

The bolt assembly machine capable of detecting the integrity and preventing the accidental injury of the bolts comprises a bolt feeding mechanism and a nut feeding mechanism, wherein an assembly mechanism is arranged between the bolt feeding mechanism and the nut feeding mechanism, and comprises a round-trip operation and an assembly table between the bolt feeding mechanism and the nut feeding mechanism;

the assembly table is provided with a rotatable grabbing mechanism, and the grabbing mechanism comprises two symmetrically arranged manipulators for clamping bolts;

the assembly table is also provided with a lifting screw mechanism for assembling bolts and nuts;

the assembly table is also provided with a detection mechanism which is arranged around the screw mechanism and is used for detecting the integrity of the assembled bolt and nut;

the assembly table is also internally provided with a PLC (programmable logic controller) which is respectively and electrically connected with the assembly mechanism, the detection mechanism, the bolt feeding mechanism and the nut feeding mechanism;

and a finished product collecting box and a defective product recycling box are respectively arranged on two sides of the assembly mechanism.

Further, the detection mechanism comprises at least two cameras which are arranged around the spiral mechanism and used for shooting the appearance of the tail of the assembled bolt, and the cameras are respectively and electrically connected with the PLC.

Further, the detection mechanism comprises a metal flaw detector, the metal flaw detector is arranged on the periphery of the screw mechanism and used for detecting whether the assembled bolt and nut are defective or not, and the metal flaw detector is electrically connected with the PLC.

Further, the screw mechanism comprises a limiting disc and a rotary supporting seat, the limiting disc is fixed on the rotary supporting seat, a limiting groove for clamping the nut to rotate is formed in the limiting disc, a first opening for penetrating the tail of the bolt is formed in the limiting groove, and a second opening for extending the tail of the bolt is formed in the rotary supporting seat.

Further, a propelling mechanism is further arranged on the assembly table, the propelling mechanism is an electric telescopic rod, and a V-shaped notch matched with the shape of the nut is arranged on the telescopic end part of the electric telescopic rod and is used for adjusting the shape of the nut; the screw mechanism comprises a limit disc and a rotary supporting seat, the limit disc is fixed on the rotary supporting seat, the limit groove is provided with a limit groove for clamping the nut to rotate, the limit disc is provided with a first opening for the tail of the bolt to penetrate, and the rotary supporting seat is provided with a second opening for the tail of the bolt to extend in; when the screw mechanism rotates the nut onto the bolt, the tail of the bolt can extend into the first opening and the second opening, when the screw mechanism retreats to the assembly table, the nut covers the screw rod of the bolt, and the tail of the bolt exposes the coverage area of the nut.

Further, a finished product outlet and an inferior product outlet are arranged below the operation path of the assembly table, and the finished product outlet and the inferior product outlet are respectively communicated with the finished product collecting box and the inferior product recycling box.

Further, the bolt feeding mechanism comprises a bolt vibration material tray and a bolt conveying rail, one end of the bolt conveying rail is connected with the bolt vibration material tray, and the other end of the bolt conveying rail extends to the upper part of one end of the assembly table and is in butt joint with the manipulator.

Further, the nut feeding mechanism comprises a nut vibration charging tray and a nut transportation rail, one end of the nut transportation rail is connected with the nut vibration charging tray, the other end of the nut transportation rail extends between a pushing mechanism and a screw mechanism on the assembly table, and a avoidance gap for pushing in a nut is formed in the other end of the nut transportation rail.

An assembly method of a bolt assembly machine capable of detecting integrity and preventing accidental injury of bolts comprises the following steps:

Step 1, starting a power supply, simultaneously vibrating and feeding a bolt vibration material tray and a nut vibration material tray, and respectively conveying a bolt and a nut to an assembly mechanism along a bolt conveying track and a nut conveying track;

Step 2, the grabbing mechanism moves to the tail end of the bolt conveying track along with the assembly table, the manipulator clamps the bolts, the grabbing mechanism rotates 180 degrees, and moves to the position above the spiral mechanism at the other end along with the assembly table, and the grabbing mechanism is kept still;

Step 3, the camera shoots a bolt clamped by the manipulator and uploads a photo to the PLC, the PLC judges whether the position and the angle of the bolt meet the assembly requirement, if not, the PLC controls the grabbing mechanism to send the bolt to a defective product outlet, the manipulator is started, and if the assembly requirement is met, the pushing mechanism pushes the nut from the tail end of the nut conveying rail to the limiting disc of the screw mechanism;

step 4, the rotary supporting seat in the screw mechanism is slightly vibrated and rotated firstly, a nut in the limiting disc is sleeved into the tail of the bolt, then the screw is slowly screwed for two circles, abrasion of the tail of the bolt due to high-force friction in the inertial screw is avoided, then the screw is quickly screwed up, the nut in the limiting disc is assembled on the screw rod part of the bolt, and the tail of the bolt stretches into the first opening of the limiting disc and the second opening of the rotary supporting seat;

Step 5, the spiral mechanism completes rotary assembly, withdraws from the assembly table, and the grabbing mechanism is fixed and kept still to wait for the instruction of the PLC controller; the camera shoots the tail part exposed out of the bolt, the shot picture is transmitted to the PLC, and the PLC compares and identifies the shot picture with the intact picture of the tail part of the bolt and judges whether the appearance of the bolt is damaged or not;

Step 6, the metal flaw detector scans the assembled nuts and bolts, judges whether the bolts and the nuts have internal damage, and sends the judging result to the PLC;

Step 7, the PLC carries out classification treatment on the assembled bolts and nuts according to the pictures transmitted by the camera and the results of the metal flaw detector, if the appearance is lossless and the interior is not damaged, the bolts and nuts are separated into finished products, otherwise, the finished products are defective products; if the classification result is finished products, sending an instruction to a grabbing mechanism, moving the assembled bolts and nuts to the position above a finished product outlet by the grabbing mechanism, loosening a manipulator, and dropping the bolts and nuts from the finished product outlet to a finished product collecting box; if the classification result of the PLC is that the inferior goods is inferior, sending an instruction to a grabbing mechanism, moving the assembled bolts and nuts to the position above an inferior goods outlet by the grabbing mechanism, loosening a manipulator, and dropping the bolts and nuts from the inferior goods outlet to an inferior goods recovery box to complete an assembly period; the grabbing mechanism continues to move to the bearing position of the bolt conveying track along with the assembly table, a new bolt is clamped, and the steps are repeated.

By adopting the technical scheme, the invention has the following beneficial effects:

1. The invention is provided with a detection mechanism around the screw mechanism, comprising a metal flaw detector and a camera arranged around the screw mechanism, and is used for detecting whether the inside of a bolt and a nut which are assembled is defective or not and whether the tail of the bolt is damaged due to friction in the assembly process or not, classifying the judgment result of the detection mechanism through a PLC, classifying the bolt and the nut which are assembled to meet the requirements of no damage on the appearance and no defect in the interior as finished products, and transporting the finished products into a finished product collecting box or a defective product recycling box respectively. The bolt and the nut with nondestructive outer surfaces and intact inner parts can be applied to high-precision industries such as pressure vessels, automobiles and the like.

2. The invention can realize the full-automatic integration of bolt and nut assembly, external detection, internal flaw detection, screening and split charging, has high integration level and improves the production efficiency.

3. According to the invention, in the process of assembling the nut on the bolt, the nut is firstly shaken to be sleeved on the tail part of the bolt, is slowly rotated for two circles, and is quickly screwed on the bolt, so that the external thread of the tail part of the bolt and the internal thread of the nut can be prevented from being accidentally damaged to a certain extent in the process of assembling the bolt and the nut, the probability of friction damage to the bolt and the nut caused by the conventional assembling method of directly screwing the bolt or the nut quickly is avoided, and the yield is improved.

4. The metal flaw detector and the camera in the detection mechanism can be selectively used one or both, can be selected and matched according to the requirements of manufacturers, take the nut assembly machine with the functions of shooting and identifying as a primary sorting assembly machine, and take the nut assembly machine with the functions of shooting and identifying as a highest-level sorting assembly machine, so that the detection mechanism is flexible in actual production and application.

Drawings

Fig. 1 is a perspective view of the present invention.

Fig. 2 is a top view of the housing of the present invention with the mounting mechanism default.

Fig. 3 is a schematic structural view of the bolt feeding mechanism of the present invention.

Fig. 4 is a schematic structural view of a nut feeding structure of the present invention.

Fig. 5 is a schematic structural view of the assembly mechanism of the present invention.

Fig. 6 is a schematic structural view of the screw mechanism and the grabbing mechanism of the present invention.

Fig. 7 is a schematic structural view of an ultrasonic flaw detector of the present invention.

Fig. 8 is a schematic structural view of a limiting plate according to the present invention.

Wherein, the reference numerals in the figures are as follows:

the bolt feeding mechanism 10, the bolt vibration tray 11 and the bolt transportation rail 12;

the nut feeding mechanism 20, the nut vibration tray 21, the nut conveying rail 22 and the avoidance gap 221;

the device comprises an assembly mechanism 30, an assembly table 301, a working path 302, a guide rail 303, a sliding block 304, a grabbing mechanism 31, a manipulator 311, a spiral mechanism 32, a limiting disc 321, a limiting groove 3211, a first opening 3212, a vibration module 3213, a rotary support seat 322, a second opening 3221, an electric telescopic rod 33 and a V-shaped notch 331;

A finished product collection box 41, a finished product outlet 411, a defective product recovery box 42, and a defective product outlet 421;

Camera 51, ultrasonic flaw detector 52, probe 521, arm 522.

Detailed Description

Specific embodiments of the present invention will be described below with reference to the accompanying drawings.

In the description of the present application, all directional indicators (such as upper, lower, left, right, front, rear) are provided for convenience in describing the present application and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the application. Furthermore, the terms "first," "second," and the like, if any, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or as implying any particular order of art, and therefore, should not be construed as limiting the present application.

Referring to fig. 1 and 2, a bolt assembling machine capable of detecting an integrity and preventing a accidental injury of a bolt comprises a bolt feeding mechanism 10 and a nut feeding mechanism 20, wherein an assembling mechanism 30 is arranged between the bolt feeding mechanism 10 and the nut feeding mechanism 20.

Referring to fig. 2, 3 and 5, the bolt feeding mechanism 10 includes a bolt vibration tray 11 and a bolt transportation rail 12, one end of the bolt transportation rail 12 is connected to the bolt vibration tray 11, and the other end extends to one end of the assembly mechanism 30. The bolt vibration tray 11 vibrates for feeding, and the bolt is transported to above one end of the assembly mechanism 30 along the bolt transportation rail.

Referring to fig. 2, 4 and 5, the nut feeding mechanism 20 includes a nut vibration tray 21 and a nut transporting rail 22, one end of the nut transporting rail 22 is connected to the nut vibration tray 21, and the other end extends to the other end of the assembling mechanism 30. The nut vibration tray 21 vibrates for feeding, and the nuts are transported to above the other end of the assembly mechanism 30 along the nut transporting rail. The end of the assembly mechanism 30 that receives the nut feeding mechanism 20 is provided with a pushing mechanism, which in this embodiment is an electric telescopic rod 33. The telescoping end of the motor telescoping rod 33 is provided with a V-shaped notch 331 to correct the position of the nut when the motor telescoping rod 33 is extended to push the nut at the end of the nut transporting rail 22. The end of the nut transporting rail 22 is provided with a avoiding notch 221 for passing the electric telescopic rod 33 and the nut.

The bolt vibration material tray and the nut vibration material tray are common technical means in the field, and the constituent structure and the working principle thereof are not described in detail herein.

Referring to fig. 2, 3 and 5, the assembling mechanism 30 includes an assembling table 301, a guide rail 303 is provided on the assembling mechanism 30, a slider 304 is provided at the bottom of the assembling table 301, the assembling table 301 drives the slider 304 moving on the guide rail 303 through an electric push rod or a cylinder (not shown in the drawings) to reciprocate between the bolt feeding mechanism 10 and the nut feeding mechanism 20, a rotatable grabbing mechanism 31 is provided on the assembling table 301, and two pairs of manipulators 311 are provided on the grabbing mechanism 31 for clamping the bolts. The grabbing mechanism 31 and the assembling table 301 move to one end of the assembling mechanism 30, which is connected with the bolt conveying rail 12, rotate 180 degrees after clamping one bolt, and then move to the other end of the assembling mechanism 30, which is connected with the nut conveying rail 22, along with the assembling table 301. The gripping mechanism 31 is driven by a rotary motor (not shown) provided in the fitting mechanism 30.

Referring to fig. 4, 5, 6 and 8, the assembly table 301 is provided with a liftable screw mechanism 32 at one end near the nut feeding mechanism 20 for screwing the nut onto the screw of the bolt to complete the assembly. The screw mechanism 32 includes a rotary support base 322, a limiting plate 321 fixed on the rotary support base 322, and a driving motor (not shown) for driving the rotary support base 322 to rotate, and a lifting cylinder (not shown) for driving the rotary support base 322 and the driving motor to lift is connected below the driving motor. The limiting plate 321 is used for receiving a nut pushed from the tail end of the nut conveying rail 22, a limiting groove 3211 for clamping the nut to rotate is formed in the limiting plate 321, a first opening 3212 for allowing the tail of a bolt to pass through is formed in the limiting groove 3211, and a plurality of vibration modules 3213 are embedded in the limiting groove for slightly vibrating the nut in the preliminary assembly process so as to align with the external threads of the tail of the bolt; the rotating support seat 322 is used for supporting the limit disc 321 and the nut to rise in a spiral manner, the nut is screwed on the screw rod of the bolt, in the assembly process, the vibration module 3213 embedded in the limit groove 3211 slightly shakes the nut in the limit disc 321, the nut is sleeved on the tail of the bolt when the screw hole of the nut is aligned with the screw thread of the tail of the bolt, then the rotating support seat 322 rotates for two circles at a low speed to drive the nut in the limit disc 321 to be sleeved on the screw rod at a low speed, and the rotating support seat 322 rotates rapidly again to assemble the nut on the screw rod; the rotary support base 322 is provided with a second opening 3221 for extending the tail of the bolt, and when the nut is screwed onto the bolt, the tail of the screw rod of the bolt can be exposed. After the assembly of the nuts and bolts is completed, the rotary support base 322 and the limiting plate 321 are retracted onto the table top of the assembly table 301.

Referring to fig. 1 and 2, a finished product outlet 411 and a defective product outlet 421 are provided below the working path 302 of the mounting table 301, and are connected to the finished product collecting box 41 and the defective product collecting box 42, respectively. The assembly mechanism 30 is provided with a PLC (not shown in the figure) which is electrically connected with the bolt feeding mechanism 10, the nut feeding mechanism 20 and the grabbing mechanism 31 of the assembly mechanism 30 respectively and used for controlling the feeding speed of the bolts and the nuts and controlling the start and stop of the grabbing mechanism 31 and the picking and placing of the bolts.

Referring to fig. 1,2 and 5, the mounting table 301 is provided with a detection mechanism, which may be a plurality of cameras 51 for capturing the tail of the bolt, or a metal flaw detector for detecting the internal structure of the bolt and the nut, or both. In this example, a mode in which both are preferable, the camera 51 and the metal flaw detector are electrically connected to the PLC controller, respectively. In the present embodiment, two cameras 51 are provided around the screw mechanism 32, and when the grabbing mechanism 31 clamps the bolt above the screw mechanism 32, the grabbing mechanism 31 is fixed to wait for an instruction, and the cameras 51 take the clamped bolt and transfer the picture to the PLC controller. The camera 51 may be of model AI2023 of Dai Dan or model T4 of Hendelenburg, and this embodiment prefers AI2023 of Dai Dan. The PLC controller processes the received first group of photos, calculates whether the spatial position, the installation angle and other parameters of the bolt above the screw mechanism 32 meet the assembly conditions, and if the spatial position, the installation angle and other parameters do not meet the assembly conditions, transmits an instruction to the grabbing mechanism 31, so that the grabbing mechanism 31 conveys the bolt to a defective product outlet; if the assembly conditions are met, the screw mechanism 32 is operated and the nut is assembled to the bolt.

Referring to fig. 5, when the screw mechanism 32 is retracted to the assembling table 301 after the assembling work of the nut is completed, the grasping mechanism 31 is fixed. And the PLC judges the received second group of pictures according to the pictures of the tail parts of the bolts without damage, and judges whether the tail parts of the bolts which are assembled in the pictures are damaged or not. In this embodiment, the image recognition function implemented by the PLC controller for distinguishing the photo is a mature technical means in the market, and is widely applied to many fields such as intelligent transportation, and the principle thereof will not be described herein.

Referring to fig. 5 and 7, a metal flaw detector is provided on the mounting table 301. The metal flaw detector is an ultrasonic flaw detector 52, and in the embodiment, phased array ultrasonic detection (PAUT) is preferred, the emitted ultrasonic waves can penetrate through the material and interact with the interface or the defect inside the material, then a pulling signal is received and a detection target area is analyzed, and the metal flaw detector has the functions of multi-angle scanning, real-time imaging, data recording, analysis and the like. In this embodiment, the ultrasonic flaw detector 52 is composed of a mechanical arm 522 and a probe 521, specifically, the probe 521 is a phased array probe, the mechanical arm 522 is a six-degree-of-freedom mechanical arm, and the probe 521 can be automatically driven to scan the surfaces of bolts and nuts by telescoping, and automatically analyze whether defects exist inside the scanned bolts and nuts. PAUT is a mature technical means in the market, and the specific composition and working principle thereof are not described in detail herein.

Referring to fig. 2, 5 and 7, when the screw mechanism 32 is retracted to the assembly station 301 after the assembly work of the nuts and bolts is completed, the mechanical arm 522 of the ultrasonic flaw detector 52 is rotated to be telescopic, the probe is extended to the surface scanning of the bolts and nuts, the mechanical arm 522 is retracted after the scanning is completed, the ultrasonic flaw detector 52 analyzes the internal structures of the bolts and nuts to obtain a conclusion whether there is a defect or not, and the scanning result is transmitted to the PLC controller through an electrical signal.

The PLC performs classification treatment on the assembled bolts and nuts according to the discrimination of the photos and the received flaw detection results, and if the conditions that the appearance of the tail part of the bolt is lossless and the interior of the bolt and the nut is not defective are met, namely the finished products are classified, the grabbing mechanism 31 is controlled to convey the finished products to the finished product outlet 411; if any of the above conditions is not satisfied, i.e., classified as defective, the control gripping mechanism 31 conveys the defective product to the defective product outlet 421.

step 1, a power supply is started, the bolt vibration tray 11 and the nut vibration tray 12 vibrate and feed, and the bolts and the nuts are respectively conveyed to two ends of the assembly mechanism 30 along the bolt conveying rail 12 and the nut conveying rail 22.

Step 2, the assembly table 301 reciprocally works between the bolt feeding mechanism 10 and the nut feeding mechanism 20, the grabbing mechanism 31 moves to one end of the assembly mechanism 30, which is close to the bolt feeding mechanism 10, along with the assembly table 301, the manipulator 311 clamps one bolt, then the grabbing mechanism 31 rotates 180 degrees, and moves to one end of the assembly mechanism 30, which is close to the nut feeding mechanism 20, along with the assembly table 301; the gripping mechanism 31 remains stationary.

Step 3, the camera 51 shoots the clamped bolt and uploads the photo to the PLC controller, the PLC controller processes the received first group of photos, calculates whether the spatial position of the bolt above the screw mechanism 32 in the photo and the parameters such as the assembly angle meet the assembly condition (i.e. when the manipulator 311 clamps the bolt, the bolt keeps a vertical state without clamping distortion), and if the condition is not met, controls the grabbing mechanism 31 to transport the bolt to the defective outlet; when the assembly condition is satisfied, the electric telescopic rod 33 pushes the nut from the end of the nut transporting rail 22 onto the stopper 321 on the mounting table 301. In this process, the V-shaped notch 331 on the electric telescopic rod 33 can be matched with the limit groove 3211 on the limit disk 321 to correct the position of the nut.

Step 4, the rotary supporting seat 322 of the screw mechanism 32 works, the embedded vibration module 3213 in the limiting groove 3211 slightly shakes the nut, the screw hole of the nut is aligned with the screw thread at the tail part of the bolt, and the nut is sleeved on the tail part of the bolt; the rotating support seat 322 rotates at a slow speed for two times, so that the nut is slowly screwed on the screw rod, and abrasion caused by misalignment of the thread at the tail of the bolt and the internal thread of the nut or high-force friction is avoided; then, the rotary support seat 322 is quickly screwed up, the nut is screwed onto the screw rod of the bolt, the assembly of the nut and the bolt is completed, and the tail of the bolt penetrates through the first opening 3212 of the limiting plate 321 and stretches into the second opening 3221 of the rotary support seat 322.

Step 5, the screw mechanism 32 completes the assembly work of the nut, descends and returns to the assembly table 301, and the grabbing mechanism is fixed and waits for the instruction of the PLC; the camera 51 on the assembly table 301 shoots the exposed tail of the bolt and transmits the photo to the PLC, and the PLC judges the photo according to the preset picture of the intact screw tail and judges whether the tail of the bolt in the photo is damaged or not.

In step 6, the mechanical arm 522 of the ultrasonic flaw detector 52 is extended and retracted, the probe 521 scans the assembled bolt and nut, the ultrasonic flaw detector 52 analyzes whether the inside of the bolt and nut has flaws or defects, and the conclusion is transmitted to the PLC controller.

Step 7, the PLC performs classification processing according to the judgment of the photo and the conclusion of the metal flaw detector, if the condition that the appearance of the tail part of the bolt is lossless and the nuts and the interior of the bolt are not defective is met, namely a finished product, the PLC sends a command to the grabbing mechanism 31, the grabbing mechanism 31 is controlled to move the finished product to the position above the finished product outlet 411, and then the manipulator 311 is loosened, so that the assembled bolts and nuts fall into the finished product collecting box 41 along the finished product outlet 411; if the condition that the appearance of the tail part of the bolt is not damaged or the nut and the interior of the bolt are not defective is not met, the PLC controller controls to send a command to the grabbing mechanism 31, controls the grabbing mechanism 31 to move the defective product to the position above the defective product outlet 421, and loosens the manipulator 311 to enable the defective product to fall into the defective product recovery box 42 along the defective product outlet 421, so that one assembly period is completed. The gripping mechanism 31 continues to follow the assembly table to move to the end where the assembly mechanism and the bolt feeding mechanism receive, clamps a new bolt, and starts a new assembly cycle.

The foregoing is only specific embodiments of the present invention, and the design concept of the present invention is not limited thereto, and any insubstantial modification of the present invention by using the concept should belong to the behavior of infringing the protection scope of the present invention.

Claims

1. The utility model provides a detectable integrality and prevent bolt assembly machine of accidental injury bolt, includes bolt feed mechanism and nut feed mechanism, be equipped with assembly devices between bolt feed mechanism and the nut feed mechanism, its characterized in that: the assembly mechanism comprises an assembly table which is operated back and forth between the bolt feeding mechanism and the nut feeding mechanism;

the assembly table is also internally provided with a lifting screw mechanism for screw-assembling the nut on the bolt;

The screw mechanism comprises a limit disc and a rotary supporting seat, wherein the limit disc is fixed on the rotary supporting seat, a limit groove for clamping the nut to rotate is formed in the limit disc, a first opening for penetrating the tail of the bolt is formed in the limit groove, a plurality of vibration modules are embedded in the limit groove and used for slightly shaking the nut in the preliminary assembly process, and a second opening for extending the tail of the bolt is formed in the rotary supporting seat;

The periphery of the screw mechanism is provided with a detection mechanism for detecting the integrity of the assembled bolt and nut;

The detection mechanism comprises at least two cameras, wherein the cameras are circumferentially arranged around the spiral mechanism and are used for two shooting actions: shooting a bolt clamped by a mechanical hand for the first time, and transmitting a photo to a PLC (programmable logic controller), wherein the PLC judges whether the position and the angle of the bolt meet the assembly requirement; the second time the screw mechanism completes the rotary assembly, the screw mechanism returns to the assembly table, the grabbing mechanism shoots the exposed tail of the bolt when the grabbing mechanism is fixed and kept still, the shot picture is transmitted to the PLC, and the PLC compares and identifies the shot picture with the intact picture of the tail of the bolt and judges whether the appearance of the screw is damaged or not;

The assembly table is also internally provided with a PLC (programmable logic controller) which is respectively and electrically connected with the bolt feeding mechanism, the nut feeding mechanism, the assembly mechanism and the detection mechanism; and a finished product collecting box and a defective product recycling box are respectively arranged on two sides of the assembly mechanism.

2. The bolt assembly machine for detecting integrity and accidental injury from a bolt of claim 1, wherein: the detection mechanism comprises a metal flaw detector for detecting the internal structure of the bolt and the nut, and the metal flaw detector is electrically connected with the PLC.

3. The bolt assembly machine for detecting integrity and accidental injury from a bolt of claim 1, wherein: the assembly bench is also provided with a propelling mechanism, the propelling mechanism is arranged on one side close to the screw mechanism, the propelling mechanism is an electric telescopic rod, and the telescopic end part of the electric telescopic rod is provided with a V-shaped notch matched with the shape of the nut.

4. The bolt assembly machine for detecting integrity and accidental injury from a bolt of claim 1, wherein: and a finished product outlet and an inferior product outlet are arranged below the round trip operation path of the assembly table and are respectively communicated with a finished product collecting box and an inferior product recycling box.

5. The bolt assembly machine for detecting integrity and accidental injury from a bolt of claim 1, wherein: the bolt feeding mechanism comprises a bolt vibration material tray and a bolt transportation rail, wherein one end of the bolt transportation rail is connected with the bolt vibration material tray, and the other end of the bolt transportation rail extends to the upper part of one end of the assembly table and is in butt joint with the manipulator.

6. The bolt assembly machine for detecting integrity and accidental injury from a bolt of claim 1, wherein: the nut feeding mechanism comprises a nut vibration charging tray and a nut transportation rail, one end of the nut transportation rail is connected with the nut vibration charging tray, the other end of the nut transportation rail extends between a pushing mechanism and a screw mechanism on the assembly table, and a avoiding gap for pushing in a nut is formed in the other end of the nut transportation rail.

7. A method of assembling a bolt assembly machine for detecting integrity and preventing accidental injury bolts, comprising the bolt assembly machine for detecting integrity and preventing accidental injury bolts according to any one of claims 1-6, characterized in that: the method also comprises the following steps:

step 2, the grabbing mechanism moves to the tail end of the bolt conveying track along with the assembly table, the manipulator clamps the bolts, the grabbing mechanism rotates 180 degrees, and moves to the position above the spiral mechanism at the other end along with the assembly table, and the grabbing mechanism is stopped;

Step 3, the camera shoots a bolt clamped by the mechanical hand and transmits a photo to the PLC, the PLC judges whether the position and the angle of the bolt meet the assembly requirement, if not, the grabbing mechanism is controlled to transmit the bolt to a defective product outlet, and if so, the pushing mechanism pushes the nut from the tail end of the nut conveying track to a limit disc of the screw mechanism;

Step 4, the rotary supporting seat in the screw mechanism slightly shakes and rotates, a nut in the limiting disc is sleeved at the tail part of the bolt, then the screw is slowly screwed for two circles, then the screw is quickly screwed up, the nut in the limiting disc is assembled on the screw part of the bolt, and the tail part of the bolt extends into the first opening of the limiting disc and the second opening of the rotary supporting seat;