CN111299999A - An automatic assembly system of bolts and nuts for flat cultivation containers - Google Patents

Abstract

The invention relates to an automatic bolt and nut assembly system for a flat cultivation container, comprising a carrier plate arranged on a conveying line for assembling bolts, nuts and other components in the flat cultivation container; a bolt feeding mechanism for automatically assembling the bolts Distributing and feeding; nut feeding mechanism, used to automatically divide and feed nuts; bolt and nut grabbing mechanism, used to clamp the bolts provided by the bolt feeding mechanism and transfer them to the carrier plate, and absorb the nut feeding mechanism The provided nut is transferred to the carrier plate; the bolt correction mechanism is used to adjust the assembly position of the bolt to be assembled. The automatic feeding of bolts is realized by the bolt feeding mechanism, the assembly position of the bolts to be assembled is adjusted by the bolt correction mechanism, the automatic feeding of nuts is realized by the nut feeding mechanism, and the automatic grabbing of bolts and nuts and the bolts and nuts are realized by the bolt and nut grabbing mechanism. The automatic tightening of nuts realizes high-throughput and automatic assembly of bolts and nuts of flat cultivation containers.

Description

An automatic assembly system of bolts and nuts for flat cultivation containers

technical field

The invention relates to an automatic assembly system for a transparent root cultivation container, in particular to an automatic assembly system for bolts and nuts for flat cultivation containers.

Background technique

Crop phenotype is an external expression jointly determined by genotype and environment, which is of great significance to the selection of fine varieties and the acceleration of the breeding process. Especially under controlled indoor conditions, the development of automated, high-throughput and intelligent phenotyping devices is an important part of the field of phenotyping.

The operation of the indoor phenotyping device relies on the extensive use and assembly of specially made cultivation containers. The large-scale automated assembly of cultivation containers requires the help of a bolt and nut matching system. There have been many studies on the automated assembly of bolts and nuts. The utility model relates to a complete set of automatic assembling device for bolts and nuts, including a bolt clamping and finished product unloading mechanism, a nut clamping and conveying structure, and a bolt and nut assembly mechanism. It is used to tighten and position the bolts, protect the bolts feeding, unload the finished products after the bolts and nuts are assembled, clamp the nuts by the nut clamping and conveying mechanism, and send the nuts to the bolt and nut assembly mechanism to realize the bolt and nut assembly mechanism. Simultaneous transfer of clamping and nut, simultaneous unloading and bolt loading, and complete automatic assembly of bolts and nuts. A mobile bolt and nut automatic locking device comprises a base, a carrier mounted on the base, an X and Y axis driving device, a mounting frame, a rotating bolt device and a nut fixing device. The Y-axis drive device is fixed on the mounting frame, the rotating bolt device and the nut fixing device are installed on the power output end of the Y-axis drive device to slide in the same direction in the longitudinal direction, and the mounting frame is fixedly installed on the power output end of the X-axis drive device. Sliding in the lateral direction, the load carrier is mounted on the rotating bolt device and the nut fixing device and fixedly mounted on the base, and the object to be assembled is fixed on the mounting rack. The rotary bolt device and the nut fixing device can be movably installed to automatically fit the through holes of different positions on the assembly body with the bolt and the nut, and the assembly efficiency is improved. The automatic assembly of these bolts and nuts reduces labor intensity to a certain extent and improves production efficiency. However, it does not take into account the automatic distribution of bolts and nuts, and the automatic correction and adjustment of bolts and nuts after assembly. Therefore, it is necessary to develop a set of bolts and nuts that integrates automatic installation and distribution, synchronous operation, intelligent adjustment and adjustment, and high pass rate. Automatic assembly system.

SUMMARY OF THE INVENTION

The invention overcomes the deficiencies in the prior art and provides an automatic assembly system for bolts and nuts of flat cultivation containers, which integrates automatic installation and material distribution, synchronous operation, intelligent correction and adjustment, and high qualification rate.

The concrete technical scheme of the present invention is as follows:

A bolt and nut automatic assembly system for a flat cultivation container, comprising:

A carrier plate, which is set on the conveyor line for the assembly of bolts, nuts and other components in the flat cultivation container;

Bolt feeding mechanism for automatic distribution and feeding of bolts;

Nut feeding mechanism, used for automatic distribution and feeding of nuts;

The bolt and nut grabbing mechanism is used to clamp the bolts provided by the bolt feeding mechanism and transfer them to the carrier plate, and absorb the nuts provided by the nut feeding mechanism and transfer them to the carrier plate;

The bolt correction mechanism is used to adjust the assembly position of the bolt to be assembled.

Preferably, the bolt feeding mechanism and the nut feeding mechanism are located on both sides of the conveying line, and the conveying line passes through the worktable frame between the bolt feeding mechanism and the nut feeding mechanism.

Preferably, the flat cultivation container includes two transparent plates, spacers and a light-shielding plate,

The spacer is clamped between two transparent plates and connected by bolts and nuts. The spacer includes two vertical spacers and one horizontal spacer. The vertical spacer is located on both sides of the transparent plate, and the horizontal spacer is Located at the bottom of the transparent plate, the spacer bar and the transparent plate form a hollow cultivation container, and the outer side of the vertical spacer bar is also provided with more than one hanging groove, and the hanging groove is located outside the hollow container;

The shading plate is located on the top of the transparent plate, and a shading plate groove is opened in the middle of the shading plate.

Preferably, the carrier plate is provided with a plurality of through holes and a plurality of positioning sleeves for placing bolts;

A jacking buffer mechanism is provided below the conveying line in the frame of the worktable; the jacking buffer mechanism includes a first jacking assembly and a second jacking assembly, and the first jacking assembly includes a jacking rod for driving the jacking A linear drive mechanism for raising and lowering the lifting rod. After the lifting rod is lifted, its upper end can extend into the through hole on the carrier plate above it; the second jacking assembly is used to lift and lower the carrier plate above it.

Preferably, the bolt feeding mechanism includes a bolt vibrating plate, the discharge port of the bolt vibrating plate is connected to the bolt conveying track, a straight vibrator is arranged under the bolt conveying track, and a bolt is arranged at the discharge port of the bolt conveying track turning mechanism;

The bolt overturning mechanism includes an installation bottom plate, which is provided with a flat baffle, a clamping claw for clamping the bolt at the discharge port of the bolt conveying track, and a turnover mechanism for driving the clamping claw to turn over, the flat baffle and the clamp. The material claw is close to the discharge port of the bolt conveying track; the bottom plate is installed to drive the clamping claw and the flat baffle to slide along the horizontal direction perpendicular to the discharge port of the bolt conveying track.

Preferably, the nut feeding mechanism includes a nut vibrating plate, the discharge port of the nut vibrating plate is connected to the nut conveying track, a straight vibrator is arranged under the nut conveying track, and the discharge port of the nut conveying track is provided with a A flat baffle that slides in the horizontal direction and whose sliding direction is perpendicular to the discharge port of the nut conveying track. The flat baffle is close to the discharge port of the nut conveying track. The feeding slot matched with the feeding port for accommodating the nut.

Preferably, the bolt and nut grabbing mechanism includes a horizontal sliding assembly and a bolt and nut grabbing assembly,

The horizontal sliding assembly includes a support plate and a boom, the support plate is vertically arranged on the horizontal frame body above the conveying line of the workbench frame, and can slide along the length direction of the horizontal frame body, and the hanger rod is vertically connected to the horizontal frame body. The support plate is able to slide along the axis direction of the support plate;

The bolt and nut grabbing assembly is used for grabbing and driving the bolt or nut to move up and down along the boom.

Preferably, the horizontal sliding assembly further comprises a first driving mechanism for driving the support plate to slide along the length direction of the horizontal frame body, and a second driving mechanism for driving the suspension rod to slide along the axis direction of the support plate;

The bolt and nut grabbing assembly includes a manipulator mounting plate that is connected to the boom and slides up and down along the boom, and a bolt reclaiming claw and a nut reclaiming claw arranged on the manipulator mounting plate;

The nut reclaiming claw includes a nut suction head mechanism docked with the nut feeding mechanism, and the nut suction head mechanism absorbs the nut provided by the nut feeding mechanism and transmits it to the carrier plate; the nut suction head mechanism can be installed along the manipulator. slide up and down;

The bolt reclaiming claw includes a pneumatic finger that is arranged at the bottom of the manipulator mounting plate and can slide up and down along the manipulator mounting plate. The output end of the pneumatic finger is provided with a clamping claw that can be stretched on a horizontal plane, and the clamping claw of the pneumatic finger faces the bolt supply. side of the feeding mechanism.

Preferably, the bolt correcting mechanism includes a left translation clamping claw mechanism, a right translation clamping claw mechanism and a rising clamping claw mechanism, and the left translation clamping claw mechanism and the right translation clamping claw mechanism are symmetrically arranged, and are used to adjust the two sides of the flat cultivation container. The assembly positions of the bolts to be assembled are adjusted; the lifting jaw mechanism is used to adjust the assembly positions of the bolts to be assembled at the bottom of the flat cultivation container.

Preferably, the left translation gripper mechanism and the right translation gripper mechanism are symmetrically arranged, and each includes a plurality of pneumatic fingers for driving the multiple pneumatic fingers to simultaneously move away from or approach the first driving device of the carrier plate in the horizontal direction, so The output end of the pneumatic finger is provided with a clamping jaw that can be opened and closed on a horizontal plane, and the clamping jaw faces the side of the carrier plate;

The lifting jaw mechanism is located under the carrier plate, and includes a plurality of pneumatic fingers, a second driving device for driving the plurality of pneumatic fingers to move up and down at the same time, the two jaws of the pneumatic fingers are vertically upward, and the carrier plate is provided with There are through holes through which the vertically upwardly facing jaws pass.

The present invention adopts the above technical scheme, which has the following advantages: 1. The present invention realizes the automatic feeding of bolts through the bolt feeding mechanism, adjusts the assembly position of the bolts to be assembled through the bolt correction mechanism, and realizes the automatic feeding of nuts through the nut feeding mechanism. , The automatic grabbing of bolts and nuts and the automatic tightening of bolts and nuts are realized through the bolt and nut grabbing mechanism, and the high-throughput and automatic assembly of the bolts and nuts of the flat cultivation container is realized. The degree of automation is high, and the work efficiency is improved. 2. In the present invention, the bolt correction mechanism is used to adjust the assembly position of the bolt to be assembled, which avoids product defects caused by the deviation of the bolt assembly position, and improves the qualified rate of the product.

Description of drawings

Fig. 1 is the structural representation of the bolt and nut automatic assembly system of the flat cultivation container of the present invention;

Fig. 2 is the structural representation of the flat cultivation container of the present invention;

Fig. 3 is the structural representation of the carrier disc of the present invention;

4 is a schematic structural diagram of the jacking buffer mechanism of the present invention;

Fig. 5 is the structural representation of the bolt feeding mechanism of the present invention;

Fig. 6 is the structural representation of the nut feeding mechanism of the present invention;

7 is a schematic structural diagram of a workbench frame and a bolt and nut grabbing mechanism of the present invention;

8 is a schematic structural diagram of a bolt and nut grabbing assembly of the present invention;

9 is a schematic structural diagram of the left translation gripper mechanism of the present invention;

FIG. 10 is a schematic structural diagram of the lifting jaw mechanism.

Detailed ways

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so as to more clearly understand the objects, features and advantages of the present invention. It should be understood that the embodiments shown in the accompanying drawings are not intended to limit the scope of the present invention, but are only intended to illustrate the essential spirit of the technical solutions of the present invention. The parts not mentioned in the present invention are all prior art.

Referring to Fig. 1 and Fig. 4, the present invention relates to a bolt and nut automatic assembly system of a flat cultivation container, comprising a carrier plate 8, which is arranged on the conveying line 4-9 for the assembly of bolts, nuts and other components in the flat cultivation container 10 ;

Bolt feeding mechanism 3, used for automatic distribution and feeding of bolts;

Nut feeding mechanism 6, used for automatic distribution and feeding of nuts;

The bolt and nut grabbing mechanism 5 is used to clamp the bolts provided by the bolt feeding mechanism 3 and transfer them to the carrier plate 8, and absorb the nuts provided by the nut feeding mechanism 6 and transfer them to the carrier plate 8;

The bolt correction mechanism is used to adjust the assembly position of the bolt to be assembled.

Further, referring to FIG. 2 , the flat cultivation container 10 includes two pieces of tempered glass 10-1, a spacer bar and a light shielding plate 10-5; the spacer bar is sandwiched between the two pieces of tempered glass 10-1, and the spacer The strip includes two vertical spacers 10-2 and one horizontal spacer (not shown in the figure), the vertical spacer 10-2 is located on both sides of the tempered glass 10-1, and the horizontal spacer (not shown in the figure) Located at the bottom of tempered glass 10-1, spacers and tempered glass 10-1 form a hollow container, the hollow container is filled with culture soil, and plant roots grow in the container; two sides and bottom of tempered glass 10-1 are evenly opened with Bolt holes 10-8, the two pieces of tempered glass 10-1 are fixed by bolts and nuts, the outer side of the vertical spacer 10-2 is also provided with more than one hanging groove 10-3, and the hanging groove 10-3 is located in the Outside the hollow container; the shading plate 10-5 is located on the top of the tempered glass 10-1, and the middle of the shading plate 10-5 is provided with a shading plate groove 10-4, and the position and shape of the shading plate groove 10-4 are the same as those of the flat cultivation container 10. The top opening is correspondingly arranged, which is convenient for filling soil. The area of the shading plate 10-5 is larger than that of the top of the flat cultivation container 10. In order to make the installation of the shading plate more stable, the two vertical spacers 10-2 are respectively installed with shading plate cards. 10-6 and spring 10-7, the shading plate card 10-6 is snapped into the end of the vertical spacer 10-2, and the fixing of the shading plate 10-5 is completed after rotating 90°, the spring 10-7 is located in the middle of the two, Act as a shock absorber.

Further, referring to FIG. 1 , the bolt feeding mechanism 3 and the nut feeding mechanism 6 are located on both sides of the conveying line 4-9, and the conveying line 4-9 passes through the bolt feeding mechanism 3 and the nut feeding mechanism 6. The worktable frame 4 between them; the conveying line is preferably a double-speed chain profile, a chain is arranged in the double-speed chain profile, and the driving device drives the chain to translate along the length direction of the double-speed chain profile.

Further, referring to FIGS. 3 and 4 , the carrier plate 8 is provided with a plurality of through holes and a plurality of positioning sleeves 8-2 for placing the bolts 8-1. A jacking buffer mechanism 1 is provided below the double-speed chain profiles 4-9 in the workbench frame 4; the jacking buffer mechanism 1 includes a first jacking assembly and a second jacking assembly, and the first jacking assembly includes a jacking rod, a For the linear drive mechanism that drives the lifting rod to lift, the upper end of the lifting rod can extend into the through hole on the carrier plate 8 above it after the jacking rod is lifted; the second lifting assembly is used to lift the carrier disk 8 above it and decline.

Further, referring to FIGS. 3 and 4 , the carrier plate 8 is provided with a plurality of through holes and a plurality of positioning sleeves 8-2 for placing the bolts 8-1, and positioning sleeves 8-2 for placing the bolts 8-1 The number is the same as the number of bolts that need to be placed in the flat cultivation container, the through holes include a plurality of circular through holes 8-3 and a plurality of square through holes 8-6, and a plurality of positioning cones are also provided on the carrier plate 8 The pin sleeve 8-5 and the carrier disk 8 are provided with carrier disk spacers 8-4 on both sides. The jacking buffer mechanism includes a jacking fixed plate 1-11, a jacking plate 1-7, a first jacking assembly and a second jacking assembly, and four first linear bearings 1 are fixed on the jacking fixed plate 1-11 -10 and four second linear bearings 1-5, a positioning plate 1-4 is arranged under the lifting fixed plate 1-11, and the positioning plate 1-4 is arranged under the double-speed chain profile 4-9 in the workbench frame 4 , the lifting plate 1-7 is arranged above the lifting fixed plate 1-11. The lifting plate 1-7 is provided with a positioning pin 1-9 matching with the positioning cone pin sleeve 8-5 on the carrier plate 8, and a shock absorption sensor 1-8 is arranged on the lifting plate 1-7. The linear drive mechanism in the first jacking assembly is preferably a motor push rod 1-15, and the motor push rod 1-15 is arranged in the motor push rod bracket 1-1; the jacking rod includes a bracket 1-2, a support plate 1-1 13 and the first guide shaft 1-12, the bracket 1-2 is arranged above the end of the telescopic sleeve of the motor push rod 1-15, and the brackets 1-2 are connected with support plates 1-13 on both sides. The plates 1-13 are connected with the bottom ends of the two first guide shafts 1-12. After the first guide shafts 1-12 are lifted up, the upper ends of the first guide shafts 1-12 pass through the positioning plates 1-4 and the first guide shafts on the fixed plate 1-11 in turn. A linear bearing 1-10 and a lifting plate 1-7 can extend into the circular through hole 8-3 on the carrier plate 8 above them; the upper end of the first guide shaft 1-12 is provided with a buffer pad 1- 6. The second jacking assembly includes a jacking cylinder 1-14 and a jacking guide column 1-3. The jacking cylinder 1-14 is arranged below the jacking fixing plate 1-11. The output shaft of the jacking cylinder 1-14 is connected to the jacking cylinder 1-14. The lifting plate 1-7 is connected; there are 4 lifting guide columns 1-3, the upper part of the lifting guide column 1-3 passes through the second linear bearing 1-5 on the lifting fixed plate 1-11 and is connected to the lifting plate The 1-7 connection is used to guide the lifting and lowering of the lifting plate 1-7. A jacking block 4-10 is provided above the double-speed chain profile 4-9 in the workbench frame 4, which is used for positioning the jacking height of the jacking plate 1-7.

Further, referring to Fig. 5, the bolt feeding mechanism 3 comprises a bolt vibration plate support 3-1, a bolt vibration plate 3-2 arranged on the bolt vibration plate bracket 3-1, and a discharge port of the bolt vibration plate 3-2. The bolt conveying rail 3-3 is connected, a straight vibrator 3-4 is arranged below the bolt conveying rail 3-3, and a bolt turning mechanism is arranged at the discharge port 3-5 of the bolt conveying rail 3-3. The bolt turning mechanism includes an installation base plate 3-10, a flat baffle plate 3-13 on the installation base plate 3-10, a clamping claw for clamping the bolts at the discharge port 3-5 of the bolt conveying track 3-3, and a drive The overturning mechanism 3-8 for the overturning of the clamping claw, the flat baffle 3-13 and the clamping claw are close to the discharge port 3-5 of the bolt conveying track 3-3; the installation bottom plate 3-10 drives the clamping claw and the flat baffle 3 -13 slides along the horizontal direction perpendicular to the discharge port 3-5 of the bolt conveying track 3-3.

Preferably, referring to FIG. 5 , a bottom plate 3-12 is arranged below the discharge port 3-5 of the bolt conveying track 3-3, and a sliding table cylinder 3-9 is arranged above the bottom plate 3-12, and the sliding table cylinder 3-9 drives the The upper installation bottom plate 3-10 slides in the horizontal direction, and its sliding direction is perpendicular to the discharge port 3-5 of the bolt conveying track 3-3. The installation base plate 3-10 is provided with a flat baffle plate 3-13, a clamping claw for clamping the bolts at the discharge port 3-5 of the bolt conveying track 3-3, and an overturning cylinder 3-8 for driving the clamping claw to turn over. , the flange shaft of the turning cylinder 3-8 is connected with the turning shaft 3-11, and the clamping claw is connected to the turning shaft 3-11; the clamping claw is the pneumatic finger 3-7, and the two clamping jaws 3 of the pneumatic finger 3-7 -6 faces the discharge port 3-5, used to clamp and put down the bolts at the discharge port 3-5; the flat baffle 3-13 and the two clamping jaws 3-6 are close to the bolt conveying track 3-3 The discharge port 3-5, and the flat baffle 3-13 are located on one side of the two jaws 3-6.

When working, the bolt vibration plate 3-2 arranges the conveying bolts, and the bolt conveying track 3-3 transports the arranged bolts to the discharge port 3-5 in an orderly manner; control the pneumatic finger 3-7 to drive the two clamping jaws 3-6 Open, control the sliding table cylinder 3-9 to drive the mounting base plate 3-10 to slide in the horizontal direction perpendicular to the discharge port 3-5, until the two jaws 3-6 of the pneumatic finger 3-7 face the discharge port 3-5, the two jaws 3-6 are facing the bolt head at the discharge port 3-5, the bolt at the discharge port 3-5 is discharged into the opening part of the two jaws 3-6, and the pneumatic finger 3 is controlled. -7 Drive the two clamping jaws 3-6 to close the head of the clamping bolt; at the same time, control the sliding table cylinder 3-9 to drive the mounting base plate 3-10 to slide in the horizontal direction perpendicular to the discharge port 3-5 until the pneumatic finger 3 The two jaws 3-6 of -7 are far away from the discharge port 3-5, the flat baffle plate 3-13 is located at the discharge port 3-5, and the flat baffle plate 3-13 blocks the bolts at the discharge port 3-5. Discharging; control the turning cylinder 3-8 to drive the pneumatic fingers 3-7 and the bolts on the two clamping jaws 3-6 to turn over, so that the head of the bolt faces down and the screw part faces upward, which is convenient for subsequent installation of the bolt; control the bolt The bolt reclaiming claw in the nut grabbing mechanism 5 clamps the screw part of the bolt on the two clamping jaws 3-6, and controls the pneumatic finger 3-7 to drive the two clamping jaws 3-6 to open the release bolt; control the turning cylinder 3-8 Drive the pneumatic finger 3-7 on the turning shaft 3-11 and its two gripping claws 3-6 to turn over so that the two gripping claws 3-6 of the pneumatic finger 3-7 face the discharge port 3-5. Repeat the above steps.

Further, referring to Fig. 6, the nut feeding mechanism comprises a nut vibration plate support 6-1, and the nut vibration plate 6-2 arranged on the nut vibration plate support 6-1 is connected with the discharge port of the nut vibration plate 6-2. The nut conveying track 6-3 is provided with a straight vibrator 6-4 below the nut conveying track 6-3, and the discharge port of the nut conveying track 6-3 is provided with a horizontal direction sliding, and its sliding direction is the same as the The discharge port of the nut conveying track 6-3 has a vertical flat baffle 6-8, the flat baffle 6-8 is close to the discharge port of the nut conveying track 6-3, and the flat baffle 6-8 is close to the discharge port. The top is provided with a receiving groove 6-7 which is matched with the discharge port and is used for accommodating nuts. Preferably, a baffle 6-6 is provided at the discharge port of the nut conveying track 6-3, a sliding table cylinder 6-5 is arranged above the baffle 6-6, and the sliding table cylinder 6-5 drives the flat baffle above it 6-8 slides in the horizontal direction, and a nut transition plate 6-9 is also provided on one side of the discharge port of the nut conveying track 6-3.

When working, the nut vibrating plate 6-2 arranges and conveys the nuts, the nut conveying track 6-3 transports the arranged nuts to the discharge port in an orderly manner, and controls the sliding table cylinder 6-5 to drive the flat baffle plate 6-8 in the vertical direction. Slide in the horizontal direction at the discharge port until the receiving groove 6-7 on the flat baffle plate 6-8 is facing the discharge port of the nut conveying track 6-3, and the nut at the discharge port is discharged into the receiving material. In the groove 6-7; control the sliding table cylinder 6-5 to drive the flat baffle 6-8 to drive the nut in the receiving groove 6-7 to slide in the horizontal direction of the nut transition plate 6-9 until the flat baffle 6-8 Drive the nut away from the discharge port and slide it into the nut transition plate 6-9. The nut transition plate 6-9 blocks the nut in the receiving groove 6-7 from falling, and the flat baffle 6-8 blocks the nut at the discharge port. Do not allow the material to be discharged; control the nut reclaiming claw in the bolt and nut grabbing mechanism 5 to clamp the nuts in the receiving chute 6-7. Repeat the above steps.

Further, referring to FIGS. 7 and 8 , the bolt and nut grabbing mechanism 5 includes a horizontal sliding assembly and a bolt and nut grabbing assembly 5-3, and the horizontal sliding assembly includes a support plate 4-4 and a hanger rod 5-1, and the support plate 4- 4. It is vertically arranged on the horizontal frame body 4-8 above the double-speed chain profile 4-9, and can slide along the length direction of the horizontal frame body 4-8, and the hanger rod 5-1 is vertically connected to the horizontal frame body 4-8. The support plate 4-4 can slide along the axis direction of the support plate 4-4; the bolt and nut grabbing assembly 5-3 is used to grab and drive the bolt or nut to move up and down along the hanger rod 5-1 .

Further, referring to FIGS. 7 and 8 , the bolt and nut grabbing mechanism 5 includes a horizontal sliding assembly and a bolt and nut grabbing assembly 5-3, and the horizontal sliding assembly includes a support plate 4-4 and a hanger rod 5-1, and the support plate 4- 4. Vertically arranged on the horizontal frame body 4-8 above the double-speed chain profile 4-9 of the workbench frame 4. The horizontal frame body 4-8 is provided with a slide rail 4-7 along its length direction, and a slider 4-2 Passing through the slide rail 4-7, the support plate 4-4 is connected with the horizontal frame body 4-8 through the slider 4-2, and the horizontal frame body 4-8 is also provided with a drive slider 4-2 along the slide rail 4. -7 sliding motor 4-1; during operation, the motor 4-1 drives the slider 4-2 to slide along the sliding rail 4-7 in the length direction of the horizontal frame body 4-8, thereby driving the support plate 4-4 along the horizontal frame body 4-8 lengthwise slides. The support plate 4-4 is provided with a slide rail 4-6 along its axis direction, the slide block 4-5 is passed through the slide rail 4-6, and the suspension rod 5-1 is vertically connected with the support plate 4-4 through the slide block 4-5 , the support plate 4-4 is also provided with a motor 4-3 for driving the slider 4-5 to slide along the slide rail 4-6; during operation, the motor 4-3 drives the slider 4-5 along the axis of the support plate 4-4 The sliding rail 4-6 in the direction slides, thereby driving the boom 5-1 to move along the axis direction of the support plate 4-4. Preferably, the boom 5-1 is a linear slide module.

Further, the bolt and nut grabbing assembly 5-3 includes a manipulator mounting plate 5-8 that is connected to the boom 5-1 and slides up and down along the boom 5-1, and bolts arranged on the manipulator mounting plate 5-8. The reclaiming claw and the nut reclaiming claw, the motor 5-2 on the boom 5-1 drives the manipulator mounting plate 5-8 to slide up and down along the boom 5-1. The nut pick-up claw includes a nut suction head mechanism docked with the nut feeding mechanism 6 , and the nut suction head mechanism picks up the nut provided by the nut feeding mechanism 6 and transfers it to the carrier plate 8 . The nut suction head mechanism is the servo electric batch 5-10. The servo electric batch 5-10 is provided with a vacuum generator (not shown in the figure) and the nut suction head 5-11. The servo electric batch 5-10 is connected to the main board 5- 12, the main board 5-12 is slidingly connected with the electric batch installation plate 5-7 on the manipulator installation plate 5-8, and the cylinder 5-9 drives the main board 5-12 to slide up and down along the electric batch installation plate 5-7, thereby driving the main board 5 -12 Servo electric batch 5-10 slides up and down along the electric batch installation plate 5-7. The bolt reclaiming claw includes a pneumatic finger 5-5 which is arranged at the bottom of the manipulator mounting plate 5-8 and can slide up and down along the manipulator mounting plate 5-8. The output end of the pneumatic finger 5-5 is provided with a clamp that can be opened and closed on a horizontal plane. Claw 5-4, the clamping claw 5-4 of the pneumatic finger 5-5 faces the bolt feeding mechanism 3 side. Preferably, the bottom of the manipulator mounting plate 5-8 is provided with a slide cylinder 5-6, the pneumatic fingers 5-5 are connected with the output shaft of the slide cylinder 5-6, and the slide cylinder 5-6 drives the pneumatic fingers 5-5 along the manipulator The bottom of the mounting plate 5-8 slides up and down.

Further, referring to FIG. 9 and FIG. 10 , the bolt correction mechanism includes a left translation gripper mechanism 7, a right translation gripper mechanism 2 and a rising gripper mechanism 9, and the left translation gripper mechanism 7 and the right translation gripper mechanism 2 are symmetrically arranged, The bolts on the left side and the right side in the flat cultivation container are respectively adjusted to the assembly positions, and the rising clamping jaw mechanism 9 is arranged under the double-speed chain profiles 4-9 in the workbench frame 4, and is located at the left translation clamping jaw mechanism 7 and the right translation. Between the clamping jaw mechanisms 2, it is used to adjust the assembly position of the bolts at the bottom of the flat cultivation container. The left translation gripper mechanism 7 and the right translation gripper mechanism 2 each include a plurality of pneumatic fingers 7-4 for driving the multiple pneumatic fingers 7-4 while being away from or close to the first driving device 7 of the carrier plate 8 in the horizontal direction -2, the output end of the pneumatic finger 7-4 is provided with a clamping claw 7-5 that can be opened and closed on a horizontal plane, and the clamping claw 7-5 faces the side of the carrier plate 8 . The lifting gripper mechanism 9 includes a plurality of pneumatic fingers 9-5, a second driving device 9-1 for driving the multiple pneumatic fingers 9-5 to move up and down at the same time, and the two gripping claws 9-6 of the pneumatic fingers 9-5 Vertically upward, the carrier plate 8 is provided with a square through hole 8-6 through which the vertically upward clamping jaw 9-6 passes.

Further, referring to FIGS. 9 and 10 , the left translation gripper mechanism 7 and the right translation gripper mechanism 2 include a mounting plate 7-1, which is connected to the double-speed chain profile 4-9 in the workbench frame 4. , the mounting plate 7-1 is provided with a bracket 7-6 and a slide rail 7-3, the bracket 7-6 is slidably connected to the slide rail 7-3, and the first drive device 7-2 drives the bracket 7-6 in the horizontal direction Away from or close to the carrier plate 7, the first driving device 7-2 may use a servo motor. The support 7-6 is provided with a plurality of pneumatic fingers 7-4 along the length direction, and the number of the pneumatic fingers 7-4 matches the number of bolts on the left/right side in the flat cultivation container, preferably 3; 3 The pneumatic fingers 7-4 are evenly distributed in the length direction of the bracket 7-6, and the output ends of the pneumatic fingers 7-4 are provided with clamping jaws 7-5 that can be stretched on a horizontal plane, and the clamping jaws 7-5 face the carrier plate 8 side. The lifting jaw mechanism 9 includes a bracket connecting plate 9-3, the bracket connecting plate 9-3 is arranged below the double-speed chain profile 4-9 in the workbench frame 4, and the bracket connecting plate 9-3 is provided with a bracket plate 9-7 , the double-axis cylinder 9-1 is connected to the bracket plate 9-7 through the cylinder connecting plate 9-4, the vertical direction of the bracket plate 9-7 is provided with a sliding rail 9-2, and the cylinder connecting plate 9-4 is connected to the sliding rail. 9-2 sliding connection, the cylinder connecting plate 9-4 is provided with a plurality of pneumatic fingers 9-5, the number of pneumatic fingers 9-5 matches the number of bolts at the bottom of the flat cultivation container, preferably 2, 2 The two clamping claws 9-6 of the two pneumatic fingers 9-5 are vertically upward, and the carrier plate 8 is provided with a square through hole 8-6 through which the vertically upward clamping claws 9-6 pass. When working, the double-axis cylinder 9-1 drives the cylinder connecting plate 9-4 to slide up and down along the bracket plate 9-7 and drives the clamping jaw 9-6 of the pneumatic finger 9-5 vertically upward to pass through or withdraw from the clamping jaw 9-6 on the carrier plate 8. Square through holes 8-6.

The working process of the present invention is as follows:

Control the chain in the double-speed chain profile 4-9 to drive the multiple carrier plates 8 above it to move until the carrier plate 8 moves to the position pin 1-9 on the lifting plate 1-7 in the workbench frame 4 facing the carrier plate 8 The positioning cone pin sleeve 8-5 on the upper part; control the lifting cylinder 1-14 to drive the lifting guide column 1-3 to drive the lifting plate 1-7 to rise, so that the positioning pins 1-9 on the lifting plate 1-7 are inserted into the carrier plate The positioning cone pin sleeve 8-5 on the 8 controls the jacking cylinder 1-14 to drive the jacking guide column 1-3 to drive the jacking plate 1-7 and the carrier plate 8 to continue to rise until it reaches the jacking block.

Control the bolt vibration plate 3-2 to arrange the conveying bolts, and the bolt conveying track 3-3 transports the arranged bolts to the discharge port 3-5 in an orderly manner; control the pneumatic finger 3-7 to drive the two jaws 3-6 to open , control the sliding table cylinder 3-9 to drive the mounting base plate 3-10 to slide in the horizontal direction perpendicular to the discharge port 3-5 until the opening parts of the two gripping jaws 3-6 of the pneumatic finger 3-7 are facing out. Material port 3-5, the opening part of the two jaws 3-6 is facing the bolt head at the discharge port 3-5, the bolt at the discharge port 3-5 of the bolt conveying track 3-3 is discharged into the two clamps The opening part of the claws 3-6 controls the pneumatic fingers 3-7 to drive the two gripping claws 3-6 to close the head of the clamping bolt; at the same time, control the slide cylinder 3-9 to drive the mounting base plate 3-10 to be perpendicular to the discharge port 3 Slide in the horizontal direction at -5 until the two jaws 3-6 of the pneumatic finger 3-7 are far away from the discharge port 3-5, the flat baffle 3-13 is located at the discharge port 3-5, and the flat baffle 3- 13. Block the bolts at the discharge port 3-5 to prevent the material from discharging; control the turning cylinder 3-8 to drive the pneumatic fingers 3-7 and the bolts on the two clamping jaws 3-6 to turn over, so that the head of the bolt faces down, and the screw part up.

Control the bolt and nut grabbing mechanism 5 as a whole to drive the bolt and nut grabbing assembly 5-3 to move to the front of the bolt feeding mechanism 3, and control the motor 5-2 to drive the manipulator mounting plate 5-8 to drive the bolt reclaiming claw along the boom 5- 1 Slide down, and at the same time control the slide cylinder 5-6 at the bottom of the manipulator mounting plate 5-8 to drive the pneumatic finger 5-5 to slide up and down along the bottom of the manipulator mounting plate 5-8 until the two jaws of the pneumatic finger 5-5 5- 4. Lower to the top of the screw portion of the bolt on the two clamping jaws 3-6 of the pneumatic fingers 3-7 on the bolt turning mechanism, control the pneumatic fingers 5-5 to drive the two clamping jaws 5-4 to open, and then drive the bolts and nuts to grab The mechanism 5 moves to the bolt feeding mechanism 3 as a whole until the opening part of the two jaws 5-4 of the pneumatic finger 5-5 is located just above the screw part of the bolt on the two jaws 3-6 of the pneumatic finger 3-7; then control the The slide cylinder 5-6 drives the pneumatic fingers 5-5 to move downward along the bottom of the manipulator mounting plate 5-8, and at the same time controls the pneumatic fingers 5-5 to drive the two gripping jaws 5-4 to close the two gripping jaws of the pneumatic fingers 3-7 The screw part of the bolt on 3-6; the pneumatic finger 3-7 on the control bolt turning mechanism drives the two jaws 3-6 to open and release the bolt; the control bolt and nut grasping mechanism 5 drives the bolt and nut grasping assembly 5-3 as a whole And the bolts on the two clamping jaws 5-4 move away from the bolt feeding mechanism 3, and control the turning cylinder 3-8 to drive the pneumatic finger 3-7 on the turning shaft 3-11 and its two clamping jaws 3-6 to turn over to make the pneumatic finger 3 The two jaws 3-6 of -7 face the outlet 3-5.

The control bolt and nut grabbing mechanism 5 integrally drives the bolt and nut grabbing assembly 5-3 and the bolts on the two clamping jaws 5-4 to move to the top of the carrier plate 8 in the table frame 4, and at the same time controls the bottom of the manipulator mounting plate 5-8. The slide cylinder 5-6 drives the pneumatic fingers 5-5 to slide up and down along the bottom of the manipulator mounting plate 5-8 until the bolts on the two jaws 5-4 of the pneumatic fingers 5-5 are lowered to the positioning sleeves 8- 2 Above, drive the bolt and nut grabbing mechanism 5 to move as a whole to the positioning sleeve 8-2 on the carrier plate 8 until the bolts on the two jaws 5-4 of the pneumatic finger 5-5 are located on the positioning sleeve 8-2 on the carrier plate 8- 2 Right above, and then control the slide cylinder 5-6 to drive the bolts on the two jaws 5-4 to move down along the bottom of the manipulator mounting plate 5-8, and control the pneumatic finger 5-5 to drive the two jaws 5-4 to open. Release the bolt and place the bolt on the locating sleeve 8-2 on the carrier plate 8. The above steps are repeated until bolts are placed on the positioning sleeves 8 - 2 on the carrier plate 8 . Control the motor 5-2 to drive the manipulator mounting plate 5-8 to drive the bolt reclaiming claw to slide up along the boom 5-1, and control the slide cylinder 5-6 at the bottom of the manipulator mounting plate 5-8 to drive the pneumatic fingers 5-5 along the manipulator. The bottom of the mounting plate 5-8 moves upward until the manipulator mounting plate 5-8 and the pneumatic fingers 5-5 do not affect the work of the subsequent nut suction head mechanism.

Control the pneumatic finger 7-4 on the left translation gripper mechanism 7 to drive the two gripping jaws 7-5 to open, and control the first drive device 7-2 to drive the bracket 7-6 to drive the three pneumatic fingers 7-4 to approach in the horizontal direction Carry the plate 8 until the bolts on the positioning sleeve 8-2 on the left side of the plate 8 are located at the opening part of the two clamping jaws 7-5 of the pneumatic finger 7-4, control the pneumatic finger 7-4 to drive the two clamping jaws 7-5 to close Straighten the bolts on the left positioning sleeve 8-2 of the carrier plate 8; similarly, control the right translation gripper mechanism 2 to straighten the bolts on the right positioning sleeve 8-2 of the carrier plate 8. Control the pneumatic finger 9-5 on the lifting gripper mechanism 9 to drive the two gripping jaws 9-6 to open, control the double-axis cylinder 9-1 to drive the cylinder connecting plate 9-4 to drive the pneumatic finger 9-5 to rise, and the two gripping jaws 9- 6. Pass through the square through hole 8-6 on the carrier plate 8 until the bolt on the positioning sleeve 8-2 of the carrier plate 8 corresponding to the bottom of the flat cultivation container is located at the opening portion of the two clamping jaws 9-6 of the pneumatic finger 9-5 , and control the pneumatic finger 9-5 to drive the two clamping jaws 9-6 to close, so as to straighten the bolts corresponding to the bottom of the flat cultivation container on the positioning sleeve 8-2 of the carrier plate 8.

Control the motor push rod 1-15 to drive the support plate 1-13 and the first guide shaft 1-12 above it to lift, until the upper end of the first guide shaft 1-12 passes through the lift plate 1-7 and the carrier plate 8 in turn. The circular through hole 8-3 on the upper end portion of the upper end protrudes from the circular through hole 8-3.

Control the mechanical arm 12 to grab the tempered glass 13 on the glass placing rack 14 and place it on the glass secondary positioning table 11, and the glass secondary positioning table 11 adjusts the position of the tempered glass 13; control the mechanical arm 12 to grab the glass The tempered glass 13 on the secondary positioning table 11 is moved to the top of the carrier plate 8 in the table frame 4 until the bolt holes 10-8 on both sides of the tempered glass 13 and the bottom face the carrier plate 8 positioning sleeve 8- 2, and then control the robotic arm 12 to place the tempered glass 13 on the upper end of the first guide shaft 1-12.

Control the motor push rod 1-15 to drive the pallet 1-13 and the first guide shaft 1-12 above it to slowly descend, and drive the tempered glass 13 above it to slowly descend until the bolts on the positioning sleeve 8-2 of the carrier plate 8 are inserted In the bolt hole 10-8 of the tempered glass 13. Control the pneumatic finger 7-4 on the left translation gripper mechanism 7 to drive the two gripping jaws 7-5 to open, and control the first drive device 7-2 to drive the bracket 7-6 to drive the three pneumatic fingers 7-4 away in the horizontal direction. Load the plate 8 until the two jaws 7-5 of the pneumatic fingers 7-4 are located outside the double-speed chain profiles 4-9; similarly, the two grippers of the pneumatic fingers that control the right translation gripper mechanism 2 are located on the double-speed chain profiles 4-9 Outside; control the pneumatic finger 9-5 on the ascending gripper mechanism 9 to drive the two gripping jaws 9-6 to open, and control the double-axis cylinder 9-1 to drive the cylinder connecting plate 9-4 to drive the pneumatic finger 9-5 down until the pneumatic finger The two clamping jaws 9-6 of 9-5 are located below the carrier plate 8. Continue to control the motor push rod 1-15 to drive the pallet 1-13 and the first guide shaft 1-12 above it to slowly descend, and drive the tempered glass 13 above it to slowly descend until the upper end of the first guide shaft 1-12 is located in the double-speed chain Below the chain in the profiles 4-9, while the tempered glass 13 is completely placed on the carrier plate 8.

Then, place a spacer bar on the tempered glass 13. After the spacer bar is placed, another piece of tempered glass is placed on the bolts above the positioning sleeve 8-2 of the carrier plate 8 using the same method as described above.

Control the nut vibrating plate 6-2 to arrange the conveying nuts, the nut conveying track 6-3 transports the arranged nuts to the discharge port in an orderly manner, and control the sliding table cylinder 6-5 to drive the flat baffle plate 6-8 to be perpendicular to the outlet. Slide in the horizontal direction at the material outlet until the material receiving groove 6-7 on the flat baffle plate 6-8 is facing the discharge port of the nut conveying track 6-3, and the nut at the discharge port is discharged into the material receiving groove 6 In -7; control the sliding table cylinder 6-5 to drive the flat baffle plate 6-8 to drive the nut in the receiving chute 6-7 to slide in the horizontal direction of the nut transition plate 6-9 until the flat baffle plate 6-8 drives the nut Slide into the nut transition plate 6-9 away from the discharge port. At this time, the nut transition plate 6-9 blocks the nut in the receiving slot 6-7 from falling, and the flat baffle 6-8 blocks the nut at the discharge port. Don't let out.

Control the bolt and nut grabbing mechanism 5 as a whole to drive the bolt and nut grabbing assembly 5-3 to move to the front of the nut feeding mechanism 6, and drive the cylinder 5-9 to drive the main board 5-12 and the servo electric batch 5-10 along the electric batch installation plate 5-7 Slide up and down until the nut suction head 5-11 is lowered to the top of the nut in the receiving slot 6-7 on the flat baffle 6-8; The feeding chute 6-7 moves until the nut suction head 5-11 is located just above the nut in the feeding chute 6-7, and then controls the driving cylinder 5-9 to drive the main board 5-12 and the servo electric batch 5-10 along the electric batch installation board 5-7 slide down, and at the same time control the vacuum generator on the servo electric batch 5-10 to work, the nut suction head 5-11 adsorbs and fixes the nut in the receiving slot 6-7 in the nut suction head 5-11.

The control bolt and nut grabbing mechanism 5 integrally drives the bolt and nut grabbing assembly 5-3 and the nut on the nut suction head 5-11 to move to the top of the carrier plate 8 in the worktable frame 4, and drives the cylinder 5-9 to drive the main board 5-12 And the servo electric batch 5-10 slides up and down along the electric batch installation plate 5-7 until the nut suction head 5-11 is lowered to the top of the bolt on the carrier plate 8, and then drives the bolt and nut grasping mechanism 5 to move as a whole until the nut suction head 5- 11 is located just above the bolts on the carrier plate 8, and then control the cylinder 5-9 to drive the servo electric batch 5-10 to slide down along the electric batch installation plate 5-7, and control the vacuum generator on the servo electric batch 5-10 to work at the same time. The nut suction head 5-11 places the nut in it on the screw part of the bolt on the carrier plate 8, controls the servo electric batch 5-10 to work, and tightens the nut. Repeat the above steps until nuts are placed on the bolts on the carrier plate 8 and are tightened.

Control the jacking cylinder 1-14 to drive the jacking plate 1-7 and the carrier plate 8 above it to descend, so that the positioning pins 1-9 on the jacking plate 1-7 are separated from the positioning taper pin sleeves 8-5 on the carrier plate 8, At this time, the carrier plate 8 is placed on the chain in the double-speed chain profiles 4-9, and the chain drives the carrier plate 8 to continue to move forward to enter the next process.

The present invention is only described by the above-mentioned embodiment, and the structure, arrangement position and connection of each component can be changed to some extent. On the basis of the technical solutions of the present invention, any improvement or equivalent transformation of individual components according to the principles of the present invention shall not be excluded from the protection scope of the present invention.

Claims (10)

1. a bolt and nut automatic assembly system of a flat cultivation container is characterized in that comprising: A carrier plate, which is set on the conveyor line for the assembly of bolts, nuts and other components in the flat cultivation container; Bolt feeding mechanism for automatic distribution and feeding of bolts; Nut feeding mechanism, used for automatic distribution and feeding of nuts; The bolt and nut grabbing mechanism is used to clamp the bolts provided by the bolt feeding mechanism and transfer them to the carrier plate, and absorb the nuts provided by the nut feeding mechanism and transfer them to the carrier plate; The bolt correction mechanism is used to adjust the assembly position of the bolt to be assembled. 2. the bolt and nut automatic assembly system of the flat cultivation container according to claim 1, is characterized in that, described bolt feeding mechanism and nut feeding mechanism are located on both sides of conveying line, and conveying line passes through described bolt feeding mechanism Table frame between the nut feed mechanism. 3. the bolt and nut automatic assembly system of the flat cultivation container according to claim 1, is characterized in that, The flat cultivation container includes two transparent plates, spacers and a light-shielding plate, The spacer is clamped between two transparent plates and connected by bolts and nuts. The spacer includes two vertical spacers and one horizontal spacer. The vertical spacer is located on both sides of the transparent plate, and the horizontal spacer is Located at the bottom of the transparent plate, the spacer bar and the transparent plate form a hollow cultivation container, and the outer side of the vertical spacer bar is also provided with more than one hanging groove, and the hanging groove is located outside the hollow container; The shading plate is located on the top of the transparent plate, and a shading plate groove is opened in the middle of the shading plate. 4. the bolt and nut automatic assembly system of the flat cultivation container according to claim 2, is characterized in that, The carrier plate is provided with a plurality of through holes and a plurality of positioning sleeves for placing bolts; A jacking buffer mechanism is provided below the conveying line in the frame of the worktable; the jacking buffer mechanism includes a first jacking assembly and a second jacking assembly, and the first jacking assembly includes a jacking rod for driving the jacking A linear drive mechanism for raising and lowering the lifting rod. After the lifting rod is lifted, its upper end can extend into the through hole on the carrier plate above it; the second jacking assembly is used to lift and lower the carrier plate above it. 5. the bolt and nut automatic assembly system of the flat cultivation container according to claim 1 and 2, is characterized in that, The bolt feeding mechanism includes a bolt vibrating plate, the discharge port of the bolt vibrating plate is connected with the bolt conveying track, a straight vibrator is arranged below the bolt conveying track, and a bolt turning mechanism is arranged at the discharge port of the bolt conveying track; The bolt overturning mechanism includes an installation bottom plate, which is provided with a flat baffle, a clamping claw for clamping the bolt at the discharge port of the bolt conveying track, and a turnover mechanism for driving the clamping claw to turn over, the flat baffle and the clamp. The material claw is close to the discharge port of the bolt conveying track; the bottom plate is installed to drive the clamping claw and the flat baffle to slide along the horizontal direction perpendicular to the discharge port of the bolt conveying track. 6. The bolt and nut automatic assembling system of the flat cultivation container according to claim 1 and 2, is characterized in that, described nut feeding mechanism comprises nut vibrating plate, the discharge port of nut vibrating plate is connected with nut conveying track, nut There is a straight vibrator under the conveying track, and the discharge port of the nut conveying track is provided with a flat baffle that can slide in the horizontal direction and whose sliding direction is perpendicular to the discharge port of the nut conveying track, and the flat baffle is close to the nut On the discharge port of the conveying track, the top of the flat baffle plate close to the discharge port is provided with a material receiving trough which is matched with the discharge port and is used for accommodating nuts. 7. The bolt and nut automatic assembly system of the flat cultivation container according to claim 1 or 2, wherein the bolt and nut grabbing mechanism comprises a horizontal sliding assembly and a bolt and nut grabbing assembly, The horizontal sliding assembly includes a support plate and a boom, the support plate is vertically arranged on the horizontal frame body above the conveying line of the workbench frame, and can slide along the length direction of the horizontal frame body, and the hanger rod is vertically connected to the horizontal frame body. on the support plate and can slide along the axis of the support plate; The bolt and nut grabbing assembly is used for grabbing and driving the bolt or nut to move up and down along the boom. 8. The bolt and nut automatic assembly system of the flat cultivation container according to claim 7, wherein the horizontal sliding assembly further comprises a first driving mechanism for driving the support plate to slide along the length direction of the horizontal frame body, and a driving boom along the A second drive mechanism sliding in the axial direction of the support plate; The bolt and nut grabbing assembly includes a manipulator mounting plate that is connected to the boom and slides up and down along the boom, and a bolt reclaiming claw and a nut reclaiming claw arranged on the manipulator mounting plate; The nut reclaiming claw includes a nut suction head mechanism docked with the nut feeding mechanism, and the nut suction head mechanism absorbs the nut provided by the nut feeding mechanism and transmits it to the carrier plate; the nut suction head mechanism can be installed along the manipulator. slide up and down; The bolt reclaiming claw includes a pneumatic finger that is arranged at the bottom of the manipulator mounting plate and can slide up and down along the manipulator mounting plate. The output end of the pneumatic finger is provided with a clamping claw that can be stretched on a horizontal plane, and the clamping claw of the pneumatic finger faces the bolt supply. side of the feeding mechanism. 9. The bolt and nut automatic assembly system of the flat cultivation container according to claim 1 or 2, wherein the bolt correction mechanism comprises a left translation gripper mechanism, a right translation gripper mechanism and an ascending gripper mechanism, and the The left translation clamping claw mechanism and the right translation clamping claw mechanism are symmetrically arranged to adjust the assembly positions of the bolts to be assembled on both sides of the flat cultivation container; the rising clamp mechanism is used to adjust the assembly position of the bolts to be assembled at the bottom of the flat cultivation container. make adjustments. 10. The bolt and nut automatic assembly system of the flat cultivation container according to claim 9, wherein the left translation gripper mechanism and the right translation gripper mechanism are symmetrically arranged, and both comprise a plurality of pneumatic fingers for driving multiple Two pneumatic fingers are simultaneously away from or close to the first driving device of the carrier plate in the horizontal direction, and the output end of the pneumatic fingers is provided with a clamping claw that can be opened and closed on a horizontal plane, and the clamping claw faces the side of the carrier plate; The lifting jaw mechanism is located under the carrier plate, and includes a plurality of pneumatic fingers, a second driving device for driving the plurality of pneumatic fingers to move up and down at the same time, the two jaws of the pneumatic fingers are vertically upward, and the carrier plate is provided with There are through holes through which the vertically upwardly facing jaws pass.

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