Rivet picking and placing mechanism, planar robot, riveting device and riveting system

Abstract

The present invention discloses a rivet picking and placing mechanism, a planar robot, a riveting device and a riveting system, wherein the rivet picking and placing mechanism comprises a first telescopic member, a second telescopic member, a sleeve and a vertical pole, wherein the sleeve is arranged vertically and a through hole penetrating from top to bottom is arranged in the middle, wherein the vertical pole is arranged vertically and penetrates the through hole from top to bottom, wherein the first telescopic member is transmission-connected with the sleeve, wherein the second telescopic member is transmission-connected with the vertical pole, wherein the first telescopic member and / or the second telescopic member are used to drive the vertical pole and the sleeve to move relative to each other vertically so that the lower end of the vertical pole extends out of the sleeve or is received in the sleeve; when the rivet is a hollow rivet, the lower end of the vertical pole has magnetism, and the lower end of the sleeve is made of a non-magnetic material; when the rivet is a solid rivet, the lower end of the sleeve has magnetism, and the lower end of the vertical pole is made of a non-magnetic material. The structure is simple and the degree of automation is high.

Description

Technical Field

[0001] The invention belongs to the field of riveting equipment, and in particular relates to a rivet picking and placing mechanism, a planar robot, a riveting device and a riveting system. Background Art

[0002] The 3C electronics industry is a typical labor-intensive industry that requires a large number of workers to work on assembly lines. The riveting of rivets has always occupied a large amount of manpower. When there are many different types of rivets, more people are needed for assembly, and the efficiency is low. It is easy to assemble incorrectly, resulting in unnecessary losses. Summary of the invention

[0003] In order to solve the above technical problems, one of the objectives of the present invention is to provide a rivet picking and placing mechanism which has a simple structure and can automatically pick and place rivets.

[0004] In order to achieve the above-mentioned purpose, the technical scheme of the present invention is as follows: a rivet picking and placing mechanism, a first telescopic member, a second telescopic member, a sleeve and a vertical rod, the sleeve is arranged vertically, and a through hole is arranged in the middle thereof and passes through the vertically, the vertical rod is arranged vertically, and the vertical rod passes through the through hole from top to bottom, the first telescopic member is transmission-connected with the sleeve, the second telescopic member is transmission-connected with the vertical rod, the first telescopic member and / or the second telescopic member are used to drive the vertical rod and the sleeve to move relative to each other vertically so that the lower end of the vertical rod extends out of the sleeve or is retracted into the sleeve;

[0005] When the rivet is a hollow rivet, the lower end of the vertical rod is magnetic, the lower end of the sleeve is made of non-magnetic material, the second telescopic member drives the vertical rod to move downward to its lower end until it extends out of the lower end of the sleeve and extends into the inner hole of the hollow rivet to attract the hollow rivet, and the first telescopic member is used to drive the sleeve to move downward relative to the vertical rod to push the hollow rivet attracted by the lower end of the vertical rod away from the lower end of the vertical rod;

[0006] When the rivet is a solid rivet, the lower end of the sleeve is magnetic, and the lower end of the vertical rod is made of non-magnetic material. The first telescopic member drives the sleeve to move downward until the solid rivet is sucked into the middle of its lower end, and the second telescopic member is used to drive the vertical rod to move downward until its lower end extends out of the sleeve to push the solid rivet away from the lower end of the vertical rod.

[0007] The beneficial effect of the above technical solution is that its structure is simple, and the lower end of the sleeve or the lower end of the vertical rod is magnetized so that the first telescopic member and the second telescopic member drive the sleeve and the vertical rod to move up and down relatively to achieve the adsorption of the rivet or the pushing away of the adsorbed rivet. Among them, when the rivet is a hollow rivet, the vertical rod can be extended into the rivet hole to absorb the rivet and guide the rivet at the same time to prevent it from tilting at the lower end of the vertical rod.

[0008] In the above technical solution, the first telescopic member is a pen-shaped cylinder, and the second telescopic member is a slide cylinder.

[0009] The beneficial effect of the above technical solution is that: its structure is simple, such arrangement is more convenient, and it can avoid the difficulty of coaxial arrangement of the first telescopic member and the second telescopic member.

[0010] In the above technical solution, the second telescopic member is installed at the telescopic end of the first telescopic member, and the first telescopic member drives the second telescopic member and the sleeve to move synchronously.

[0011] The beneficial effect of the above technical solution is that it makes it simpler, more applicable and easier to operate.

[0012] A second object of the present invention is to provide a planar robot with a simple structure, a high degree of automation, and the ability to automatically pick up and place rivets.

[0013] In order to achieve the above-mentioned purpose, the technical solution of the present invention is as follows: a planar robot, comprising a planar robotic arm, a mounting frame and at least one rivet picking and placing mechanism as described above, wherein the mounting frame is installed at the driving end of the planar robotic arm, and the rivet picking and placing mechanism is installed on the mounting frame.

[0014] The beneficial effect of the above technical solution is that the planar mechanical arm can drive the plurality of rivet picking and placing mechanisms to move in three dimensions through the mounting frame, thereby further improving the automation thereof.

[0015] The third object of the present invention is to provide a riveting device with a simple structure, a high degree of automation, and automatic feeding.

[0016] In order to achieve the above-mentioned purpose, the technical scheme of the present invention is as follows: a riveting device, comprising a base, a lower die, a driving mechanism, a riveting piece and at least one planar robot as described above, the base is horizontally arranged, the lower die is horizontally slidably installed in the middle part of the upper end of the base, the driving mechanism is installed on the base, and its driving end is transmission connected with the lower die, the upper end of the lower die is used to place the workpiece, the planar robot is installed on the upper end of the base and is located on the side of the sliding track of the lower die, and is used to pick up the rivet and place the rivet in the corresponding rivet hole on the workpiece, the riveting piece is installed on the right side of the upper end of the base, and its working part has an upper die, the driving mechanism is used to drive the lower die to drive the workpiece to slide to the right at the upper end of the base to the bottom of the upper die, or slide to the left to reset, and the riveting piece is used to drive the upper die to move downward to press tightly on the upper end of the workpiece to rivet the rivet on the workpiece on the workpiece.

[0017] The beneficial effects of the above technical solution are: its structure is simple, the workpiece is placed on the lower die, and then the planar robot takes the rivet and places it in the corresponding rivet hole on the workpiece, and then the driving mechanism drives the lower die to move to the bottom of the upper die. At this time, the riveting part drives the lower die to move downward and completes the riveting action, and the whole process has a high degree of automation.

[0018] In the above technical solution, two planar robots are provided, and both planar robots are arranged at the upper end of the base and are respectively located at the front and rear sides of the lower mold sliding track.

[0019] The beneficial effect of the above technical solution is that it makes the processing efficiency higher.

[0020] The above technical solution also includes a loading mechanism, which is arranged at the left end of the base and is used to take the workpiece and place the workpiece on the lower mold.

[0021] The beneficial effect of the above technical solution is that its structure is simple, so automatic feeding can be achieved.

[0022] The above technical solution also includes a detection mechanism, which is arranged above the base and is used to detect the workpiece after riveting and determine whether it is qualified.

[0023] The beneficial effect of the above technical solution is that the workpiece can be automatically inspected after the riveting is completed to determine whether the workpiece is qualified.

[0024] A fourth object of the present invention is to provide a high-automatic and high-precision riveting system.

[0025] In order to achieve the above-mentioned purpose, the technical solution of the present invention is as follows: a riveting system, comprising a plurality of riveting devices as described above, wherein the plurality of riveting devices are arranged in sequence along the left-right direction and are close to each other, and the workpiece is placed on the plurality of riveting devices in sequence from left to right, and the processing is completed by the plurality of riveting devices together.

[0026] The beneficial effect of the above technical solution is that each workpiece can be processed in a pipeline manner through multiple riveting devices in sequence, which is efficient and has low labor costs.

[0027] The above technical solution also includes a material unloading mechanism, which is arranged on the right side of the rightmost riveting device and is used to take out the workpiece after processing.

[0028] The beneficial effect of the above technical solution is that the workpiece can be automatically unloaded after the riveting system completes all the processes, further improving its self-differentiation degree. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a simplified structural diagram of the rivet picking and placing mechanism described in Example 1 of the present invention;

[0030] Figure 2 It is a vertical view of the rivet picking and placing mechanism described in Example 1 of the present invention;

[0031] Figure 3 A schematic structural diagram of the rivet picking and placing mechanism according to Embodiment 2 of the present invention;

[0032] Figure 4 It is a vertical view of the rivet picking and placing mechanism described in Example 2 of the present invention;

[0033] Figure 5 This is a schematic structural diagram of the planar robot described in Example 3 of the present invention;

[0034] Figure 6 This is a simplified structural diagram of the riveting device described in Example 4 of the present invention;

[0035] Figure 7 This is a simplified structural diagram of the riveting system described in Example 5 of the present invention.

[0036] In the figure: 1 riveting device, 11 planar robot, 111 rivet picking and placing mechanism, 1111 first telescopic member, 1112 second telescopic member, 1113 sleeve, 1114 vertical pole, 112 planar robot arm, 113 mounting frame, 12 base, 13 lower die, 14 riveting member, 141 upper die, 15 feeding mechanism, 16 rivet plate, 2 unloading mechanism. DETAILED DESCRIPTION

[0037] The principles and features of the present invention are described below in conjunction with the accompanying drawings and embodiments. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0038] Example 1

[0039] like Figure 1 and Figure 2 As shown, this embodiment provides a rivet taking and placing mechanism, comprising a first telescopic member 1111, a second telescopic member 1112, a sleeve 1113 and a vertical rod 1114. The sleeve 1113 is arranged vertically, and a through hole is arranged in the middle thereof and passes through the vertical hole from top to bottom. The first telescopic member 1111 is transmission-connected with the sleeve 1113, and the second telescopic member 1112 is transmission-connected with the vertical rod 1114. The first telescopic member 1111 and / or the second telescopic member 1112 are used to drive the vertical rod 1114 and the sleeve to move relative to each other vertically so that the lower end of the vertical rod 1114 extends out of the sleeve 1113 or is retracted into the sleeve 1113.

[0040] When the rivet is a solid rivet, the lower end of the sleeve 1113 is magnetic (a magnet can be directly installed or a magnet can be installed to magnetize the lower end of the sleeve), and the lower end of the vertical rod 1114 is made of non-magnetic material. The first telescopic member 1111 drives the sleeve 1113 to move downward to attract the solid rivet in the middle of its lower end, and the second telescopic member 1112 is used to drive the vertical rod 1114 to move downward until its lower end extends out of the sleeve 1113 to push the solid rivet away from the lower end of the vertical rod 1114.

[0041] Among them, preferably, the first telescopic member 1111 is a pen-shaped cylinder, and the second telescopic member 1112 is a slide cylinder, which has a simple structure and is more convenient to set up, and can avoid the difficulty of setting the first telescopic member and the second telescopic member coaxially.

[0042] The principle of this embodiment is: when taking out a rivet: 1. The first telescopic member drives the sleeve to move downward, at which time the lower end of the vertical rod is located in the sleeve, and at this time the sleeve attracts a rivet, and then the first telescopic member drives the sleeve to move upward to drive the rivet to move upward, at which time the lower end of the vertical rod is still in the sleeve;

[0043] When placing a rivet: the first telescopic member drives the sleeve to drive the rivet to move downward, and then the second telescopic member drives the vertical rod to move downward until its lower end extends to the lower end of the sleeve and pushes the rivet downward away from the sleeve, and the rivet falls under the action of its own gravity, and then the first telescopic member and the second telescopic member drive the corresponding sleeve and vertical rod to move upward to reset.

[0044] Example 2

[0045] like Figure 3 and Figure 4 As shown, the embodiment is the same as the embodiment 1, except that when the rivet is a hollow rivet, the lower end of the vertical rod 1114 is magnetic (a magnet can be directly installed or a magnet can be installed to magnetize the lower end of the vertical rod), the lower end of the sleeve 1113 is made of a non-magnetic material, and the second telescopic member 1112 drives the vertical rod 1114 to move downward to its lower end until it extends out of the lower end of the sleeve 1113 and extends into the inner hole of the hollow rivet to attract the hollow rivet, and the first telescopic member 1111 is used to drive the The sleeve 1113 moves downward relative to the vertical rod 1114 to push the hollow rivet attracted by the lower end of the vertical rod 1114 away from the lower end of the vertical rod 1114. The structure is simple. The lower end of the sleeve or the lower end of the vertical rod is magnetized so that the first telescopic member and the second telescopic member drive the sleeve and the vertical rod to move up and down relatively to achieve the adsorption of the rivet or the pushing away of the adsorbed rivet. When the rivet is a hollow rivet, the vertical rod can be extended into the rivet hole to attract the rivet and guide the rivet to prevent it from tilting at the lower end of the vertical rod.

[0046] In the above technical solution, the second telescopic member 1112 is installed at the telescopic end of the first telescopic member 1111, and the first telescopic member 1111 drives the second telescopic member 1112 and the sleeve 1113 to move synchronously, which makes it simpler, more applicable and easier to operate.

[0047] The principle of this embodiment is: when taking out the rivet: the first telescopic member drives the sleeve, the first telescopic member and the vertical rod to move downward synchronously (at this time, the lower end of the vertical rod extends to the lower end of the sleeve), and the sleeve is pressed on the upper end of the rivet, the lower end of the vertical rod extends into the hole of the rivet, and the rivet is sucked in, and then the first telescopic member drives the sleeve, the first telescopic member and the vertical rod to move upward synchronously;

[0048] When placing the rivet: the first telescopic member drives the sleeve, the first telescopic member and the vertical rod to move downward synchronously, and then the second telescopic member drives the vertical rod to move upward until it is accommodated in the sleeve, at which time the sleeve squeezes the rivet to separate from the vertical rod.

[0049] Example 3

[0050] like Figure 5 As shown, this embodiment provides a planar robot, including a planar mechanical arm 112, a mounting frame 113 and a plurality of rivet pick-and-place mechanisms 111 as described in Example 1 and / or Example 2, wherein the mounting frame 113 is mounted on the driving end of the planar mechanical arm 112, and a plurality of the rivet pick-and-place mechanisms 111 are mounted on the mounting frame 113 and are spaced apart on the mounting frame 113, so that the planar mechanical arm can drive the plurality of rivet pick-and-place mechanisms to move in three dimensions through the mounting frame, thereby further improving its automation.

[0051] Among them, the multiple rivet picking and placing mechanisms on each mounting frame may all be rivet picking and placing mechanisms corresponding to Example 1, or all be rivet picking and placing mechanisms corresponding to Example 2, or be rivet picking and placing mechanisms corresponding to both Example 1 and Example 2.

[0052] Example 4

[0053] like Figure 6As shown, this embodiment provides a riveting device, including a base 12, a lower die 13, a driving mechanism, a riveting piece 14 and at least one planar robot 11 as described in Example 3, wherein the base 12 is horizontally arranged, and the lower die 13 is horizontally slidably installed in the middle of the upper end of the base 12, the driving mechanism is installed on the base 12, and its driving end is transmission-connected with the lower die 13, and the upper end of the lower die 13 is used to place a workpiece, the planar robot 11 is installed on the upper end of the base 12 and is located on the side of the sliding track of the lower die 13, and is used to pick up rivets and place the rivets in the corresponding rivet holes on the workpiece, the riveting piece 14 is installed on the right side of the upper end of the base 12, and its working part has an upper die 141, the driving mechanism is used to drive the lower die 13 to drive the workpiece to slide to the right at the upper end of the base 12 to the bottom of the upper die 141, or slide to the left to reset, and the riveting piece 14 is used to drive the upper die 141 to move downward to press on the upper end of the workpiece to rivet the rivet on the workpiece on the workpiece. Its structure is simple. The workpiece is placed on the lower die, and then the planar robot takes the rivet and places it in the corresponding rivet hole on the workpiece. The driving mechanism then drives the lower die to move to the bottom of the upper die. At this time, the riveting part drives the lower die to move downward and completes the riveting action. The whole process has a high degree of automation.

[0054] In the above technical solution, two planar robots 11 are provided, and both planar robots 11 are arranged at the upper end of the base 12 and are respectively located at the front and rear sides of the sliding track of the lower mold 13, so that the processing efficiency is higher.

[0055] The above technical solution also includes a loading mechanism 15, which is arranged at the left end of the base 12, and is used to take the workpiece and place the workpiece on the lower mold 13. Its structure is simple, so automatic loading can be achieved, wherein the loading mechanism can be a loading robot.

[0056] The above technical solution also includes a detection mechanism, which is arranged above the base, and is used to detect the workpiece after riveting and determine whether it is qualified. In this way, the workpiece can be automatically detected after riveting to determine whether the workpiece is qualified. The detection mechanism can be an infrared detection module, which can detect whether the workpiece after riveting is qualified, and if it is unqualified, it can be discarded.

[0057] Among them, the driving part can be a telescopic electric cylinder, which drives the lower mold to move left and right on the base, so that the lower mold can be divided into two working positions. The left end of the base is the loading station, and the lower mold is the riveting station below the upper mold. When it is at the loading station, the rivet is taken by the planar robot and placed in the rivet hole on the workpiece.

[0058] Among them, it is further preferred that a workstation for placing a rivet box tray is provided at the upper end of the base near the planar robot, wherein rivets are evenly placed in the rivet tray, and an anchor tray with rivets is manually placed at the corresponding workstation on the upper end of the base to facilitate the planar robot to take the rivets.

[0059] Example 5

[0060] like Figure 7 As shown, this embodiment provides a riveting system, including multiple riveting devices 1 as described in Example 4, multiple riveting devices 1 are arranged in sequence along the left-right direction and close to each other, the workpiece is placed on the multiple riveting devices in sequence from left to right, and the multiple riveting devices 1 jointly complete the processing, so that each workpiece can be processed in a pipeline manner through multiple riveting devices in sequence, which has high efficiency and low labor cost.

[0061] Among them, the feeding mechanism of the riveting device located on the far left serves as the feeding mechanism of the entire riveting system, and the feeding mechanisms of the subsequent riveting devices respectively take the processed workpieces from the riveting devices located on the left to their corresponding lower dies for further processing.

[0062] The above technical solution also includes a material unloading mechanism 2, which is arranged on the right side of the rightmost riveting device 1, and is used to take out the workpiece after the processing is completed, so that the workpiece can be automatically unloaded after the riveting system completes all the processes, further improving its self-differentiation degree, so that the workpiece can be automatically unloaded after the entire riveting system is processed.

[0063] Among them, the structure of the unloading mechanism is similar to that of the loading mechanism.

[0064] When a workpiece processed by any riveting device is found to be unqualified by its corresponding detection mechanism, the loading mechanism and unloading mechanism in the subsequent riveting device will work continuously in sequence to remove the unqualified workpiece from the riveting system (the riveted parts of the subsequent riveting devices will not work).

[0065] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A rivet picking and placing mechanism, characterized in that: The invention comprises a first telescopic member (1111), a second telescopic member (1112), a sleeve (1113) and a vertical rod (1114); the sleeve (1113) is arranged vertically and has a through hole extending vertically through the sleeve (1113); the vertical rod (1114) is arranged vertically and passes through the through hole from top to bottom; the first telescopic member (1111) is transmission-connected to the sleeve (1113); the second telescopic member (1112) is transmission-connected to the vertical rod (1114); the first telescopic member (1111) and / or the second telescopic member (1112) are used to drive the vertical rod (1114) and the sleeve (1113) to move relative to each other in the vertical direction so that the lower end of the vertical rod (1114) extends out of the sleeve (1113) or is retracted into the sleeve (1113); When the rivet is a hollow rivet, the lower end of the vertical rod (1114) is magnetic, and a magnet can be directly installed or installed to magnetize the lower end of the vertical rod (1114); the lower end of the sleeve (1113) is made of a non-magnetic material; the second telescopic member (1112) drives the vertical rod (1114) to move downward until its lower end protrudes out of the lower end of the sleeve (1113) and extends into the inner hole of the hollow rivet to attract the hollow rivet; the first telescopic member (1111) is used to drive the sleeve (1113) to move downward relative to the vertical rod (1114) to push the hollow rivet attracted by the lower end of the vertical rod (1114) away from the lower end of the vertical rod (1114); When the rivet is a solid rivet, the lower end of the sleeve (1113) is magnetic, and a magnet can be directly installed or installed to magnetize the lower end of the sleeve (1113). The lower end of the vertical rod (1114) is made of a non-magnetic material. The first telescopic member (1111) drives the sleeve (1113) to move downward until the solid rivet is attracted to the middle of its lower end. The second telescopic member (1112) is used to drive the vertical rod (1114) to move downward until its lower end extends out of the sleeve (1113) to push the solid rivet away from the lower end of the vertical rod (1114).

2. The rivet picking and placing mechanism according to claim 1, characterized in that: The first telescopic member (1111) is a pen-shaped cylinder, and the second telescopic member (1112) is a slide cylinder.

3. The rivet picking and placing mechanism according to claim 1 or 2, characterized in that: The second telescopic member (1112) is mounted on the telescopic end of the first telescopic member (1111), and the first telescopic member (1111) drives the second telescopic member (1112) and the sleeve (1113) to move synchronously.

4. A planar robot, characterized in that: The invention comprises a planar robot arm (112), a mounting frame (113) and at least one rivet picking and placing mechanism (111) according to any one of claims 1 to 3, wherein the mounting frame (113) is mounted on the driving end of the planar robot arm (112), and the rivet picking and placing mechanism (111) is mounted on the mounting frame (113).

5. A riveting device, characterized in that: The invention comprises a base (12), a lower die (13), a driving mechanism, a rivet (14) and at least one planar robot (11) as claimed in claim 4, wherein the base (12) is arranged horizontally, the lower die (13) is horizontally slidably mounted on the middle part of the upper end of the base (12), the driving mechanism is mounted on the base (12), the driving end of the driving mechanism is transmission-connected with the lower die (13), the upper end of the lower die (13) is used to place a workpiece, and the planar robot (11) is mounted on the upper end of the base (12) and is located on the side of the sliding track of the lower die (13). The rivet is used to pick up a rivet and place the rivet in a corresponding rivet hole on the workpiece. The rivet pressing member (14) is mounted on the right side of the upper end of the base (12). Its working part has an upper die (141). The driving mechanism is used to drive the lower die (13) to drive the workpiece to slide rightward on the upper end of the base (12) to below the upper die (141), or to slide leftward to reset. The rivet pressing member (14) is used to drive the upper die (141) to move downward to press against the upper end of the workpiece so as to rivet the rivet on the workpiece onto the workpiece.

6. The riveting device according to claim 5, characterized in that: Two planar robots (11) are provided, and the two planar robots (11) are both arranged at the upper end of the base (12) and are respectively located at the front side and the rear side of the sliding track of the lower mold (13).

7. The riveting device according to claim 5 or 6, characterized in that: It also includes a loading mechanism (15), which is arranged at the left end of the base (12) and is used to take a workpiece and place the workpiece on the lower mold (13).

8. The riveting device according to claim 7, characterized in that: It also includes a detection mechanism, which is arranged above the base and is used to detect the workpiece after riveting and determine whether it is qualified.

9. A riveting system, characterized in that: It comprises a plurality of riveting devices (1) as described in any one of claims 5 to 8, wherein the plurality of riveting devices (1) are arranged in sequence along the left-right direction and are close to each other, the workpiece is placed on the plurality of riveting devices in sequence from left to right, and the processing is completed by the plurality of riveting devices (1) together.

10. The riveting system according to claim 9, characterized in that: It also comprises a material removal mechanism (2), which is arranged on the right side of the rightmost riveting device (1) and is used to remove the workpiece after processing.

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