Automatic riveting equipment

Abstract

The present invention discloses an automatic riveting device, comprising a base, a conveyor mechanism for loading and unloading products on the base, the conveyor mechanism comprising a symmetrically arranged upper conveyor belt mechanism and a lower conveyor belt mechanism, the upper conveyor belt mechanism and the lower conveyor belt mechanism being respectively mounted at opposite ends of the base; an ultrasonic riveting machine being disposed between the upper conveyor belt mechanism and the lower conveyor belt mechanism, a riveting jig being disposed directly below the ultrasonic riveting machine; a mobile manipulator being disposed below the riveting jig, the mobile manipulator being movable between the upper conveyor belt mechanism, the riveting jig, and the lower conveyor belt mechanism; the horizontal movement direction of the mobile manipulator being aligned with the conveying direction of the conveyor mechanism. By aligning the movement directions of the conveyor mechanism and the mobile manipulator, the structure of the automatic riveting device is simplified, and riveting efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of charger production, and in particular to an automatic riveting device. Background Art

[0002] In the field of charger production technology, especially the production process of power chargers, the charger materials are generally sucked and riveted. Traditional automatic riveting equipment has a complex structure. The suction and riveting process involves movement in the XY axis direction, which occupies a large space, requires a complex equipment structure, and has low riveting efficiency.

[0003] With the development of automatic riveting technology, there is an urgent need for a device with a simpler structure that is conducive to improving riveting efficiency. Summary of the Invention

[0004] The object of the present invention is to provide an automatic riveting device, which is different from the existing one involving movement in the XY axis direction, simplifies the structure of the automatic riveting device, and improves the riveting efficiency.

[0005] To achieve this object, the present invention adopts the following technical solutions: an automatic riveting device, comprising a base, a conveying mechanism for loading and unloading products on the base, the conveying mechanism comprising a symmetrically arranged upper conveyor belt mechanism and a lower conveyor belt mechanism, the upper conveyor belt mechanism and the lower conveyor belt mechanism being respectively installed at opposite ends of the base; an ultrasonic riveting machine is provided between the upper conveyor belt mechanism and the lower conveyor belt mechanism, a riveting jig is provided directly below the ultrasonic riveting machine; a mobile manipulator is provided below the riveting jig, the mobile manipulator moves between the upper conveyor belt mechanism, the riveting jig and the lower conveyor belt mechanism; the horizontal moving direction of the mobile manipulator and the conveying direction of the conveying mechanism are in a straight line.

[0006] Optionally, the mobile manipulator includes a support platform, the upper end surface of the support platform is provided with a gripper cylinder for clamping products, and the gripper cylinder is fixedly connected to the electric gripper; there are three gripper cylinders, and the three gripper cylinders are respectively aligned with the upper conveyor belt mechanism, the riveting jig and the lower conveyor belt mechanism during the movement; a support frame is provided under the support platform, and the support frame is provided with a vertical driving component for driving the support platform to move in the vertical direction and a horizontal driving component for driving the support platform to move horizontally.

[0007] Optionally, the support frame includes a first support plate, a second support plate and a third support plate from top to bottom, and the first support plate, the second support plate and the third support plate are fixedly connected to the two vertical plates at both ends along their length directions respectively;

[0008] The vertical driving member includes a second driving motor, and the second driving motor is fixedly mounted on the second support plate; the output end of the second driving motor is connected to the first gear, a second gear is provided on one side of the first gear, a belt is provided between the first gear and the second gear, and the second gear is fixedly connected to the vertical push rod; the end of the vertical push rod away from the second gear vertically passes through the first support plate and is fixedly connected to the support platform; a guide column is respectively provided on both sides of the second driving motor, one end of the guide column is fixedly connected to the second support plate, and the other end of the guide column is fixedly connected to the first support plate; the guide column is provided in a guide sleeve, and the bottom of the guide sleeve is fixedly connected to the second support plate; the second driving motor drives the support platform to move in the vertical direction.

[0009] Optionally, the horizontal driving member includes a third driving motor, the output end of the third driving motor is connected to a screw rod; the screw rod is fixedly connected to the movable block; the movable block is fixedly connected to the side of the third support plate; a slider is provided at the bottom of the third support plate, the slider is slidably connected to the slide rail, the slide rail is provided on the bottom plate, and the third driving motor drives the third support plate to move in the horizontal direction.

[0010] Optionally, the upper conveyor belt mechanism includes two parallel first brackets arranged on the base, a first pulley is provided at each end of the first bracket, a first conveyor belt is mounted on the two first pulleys, and the ends of the two first brackets away from the ultrasonic riveting machine are rotatably connected to the first rotating shaft respectively; the first rotating shaft is fixedly connected to the output end of the first drive motor; and a placement jig for placing products is fixedly provided on the two first conveyor belts.

[0011] Optionally, the lower machine conveyor belt mechanism includes two parallel second brackets arranged on the base, and second pulleys are respectively provided at both ends of the second brackets, and a second conveyor belt is sleeved on the two second pulleys. The two second pulleys are rotatably connected with a second rotating shaft at one end away from the ultrasonic riveting machine; the second rotating shaft is fixedly connected to the output end of the fourth drive motor.

[0012] Optionally, a positioning jig is provided on the side of the riveting jig close to the upper conveyor belt mechanism, and the riveting jig includes two oppositely arranged supporting feet arranged on the base, and the upper end surfaces of the two supporting feet are provided with a positioning seat for placing the product; the structure of the positioning jig is consistent with the structure of the riveting jig.

[0013] Optionally, the output end of the ultrasonic riveting machine is fixedly connected to an ultrasonic horn; the ultrasonic horn is used to press the product to rivet the product.

[0014] Optionally, a film rolling mechanism is further provided on both sides of the ultrasonic riveting machine, and the film rolling mechanism includes a film rolling support frame provided on the base, a film rolling slide rail provided on the film rolling support frame, a film rolling slider slidably connected to the film rolling slide rail, and a side of the film rolling slider away from the film rolling slide rail is fixedly connected to the film rolling support plate, and two film rolls are installed on the film rolling support plate, and the two film rolls are respectively provided on both sides of the ultrasonic welding head, one of the film rolls is connected to a film rolling drive motor; the film rolling drive motor is used to control the reeling and unreeling of the two film rolls; the other film roll is connected to a film rolling cylinder, and the film rolling cylinder is used to control the up and down movement of the two film rolls.

[0015] Optionally, the film rolling mechanism further includes a bottom mold, the bottom mold is provided with a bottom mold hole, and the bottom mold hole is for the clamping claw to pass through.

[0016] Beneficial effects of the present invention: An embodiment of the present invention provides an automatic riveting device, comprising a base, a conveying mechanism for loading and unloading products on the base, the conveying mechanism comprising a symmetrically arranged upper conveyor belt mechanism and a lower conveyor belt mechanism, the upper conveyor belt mechanism and the lower conveyor belt mechanism being respectively installed at opposite ends of the base; an ultrasonic riveting machine is provided between the upper conveyor belt mechanism and the lower conveyor belt mechanism, a riveting jig is provided directly below the ultrasonic riveting machine; a mobile manipulator is provided below the riveting jig, the mobile manipulator moves between the upper conveyor belt mechanism, the riveting jig and the lower conveyor belt mechanism; the horizontal movement direction of the mobile manipulator and the conveying direction of the conveying mechanism are in a straight line. By arranging the movement directions of the conveying mechanism and the mobile manipulator in a straight line, the ultrasonic riveting machine can complete the riveting in a straight line, which is different from the existing mobile riveting in the XY axis direction, simplifies the structure of the automatic riveting equipment, and improves the riveting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A schematic diagram of the overall structure of an automatic riveting device provided by an embodiment of the present invention;

[0019] Figure 2 A schematic diagram of the overall structure of a mobile manipulator of an automatic riveting device provided by an embodiment of the present invention;

[0020] Figure 3A schematic diagram of the overall structure of an upper conveyor belt mechanism of an automatic riveting device provided by an embodiment of the present invention;

[0021] Figure 4 A schematic diagram of the overall structure of a lower conveyor belt mechanism of an automatic riveting device provided by an embodiment of the present invention;

[0022] Figure 5 A schematic diagram of the overall structure of a riveting jig for an automatic riveting device provided by an embodiment of the present invention;

[0023] Figure 6 A schematic diagram of the overall structure of a film rolling mechanism of an automatic riveting device provided by an embodiment of the present invention.

[0024] In the picture:

[0025] 1. Base; 2. Conveyor mechanism; 21. Upper conveyor belt mechanism; 211. First bracket; 212. First pulley; 213. First conveyor belt; 214. First rotating shaft; 215. First drive motor; 216. Placement fixture; 22. Lower conveyor belt mechanism; 221. Second bracket; 222. Second pulley; 223. Second conveyor belt; 224. Second rotating shaft; 225. Fourth drive motor;

[0026] 3. Mobile manipulator; 30. Support platform; 31. Gripper cylinder; 311. Electric gripper; 32. Support frame; 321. First support plate; 322. Second support plate; 323. Third support plate; 324. Vertical plate; 33. Vertical drive member; 331. Second drive motor; 332. First gear; 333. Second gear; 334. Belt; 335. Vertical push rod; 336. Guide column; 337. Guide sleeve; 34. Horizontal drive member; 341. Third drive motor; 342. Screw; 343. Movable block; 344. Slider; 345. Slide rail; 346. Bottom plate;

[0027] 4. Ultrasonic riveting machine; 5. Riveting jig; 51. Support foot; 52. Positioning seat; 6. Positioning jig; 7. Ultrasonic welding head; 8. Film rolling mechanism; 81. Film rolling support frame; 82. Film rolling slide rail; 83. Film rolling slider; 84. Film rolling support plate; 85. Film rolling; 86. Film rolling drive motor; 87. Film rolling cylinder; 88. Bottom mold. DETAILED DESCRIPTION

[0028] The embodiment of the present invention provides an automatic riveting device, which is different from the existing device involving movement in the XY axis direction, simplifies the structure of the automatic riveting device, and improves the riveting efficiency.

[0029] In order to make the purpose, features, and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0030] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0031] In the description of the present invention, it should be understood that the terms "upper", "lower", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0032] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0033] like Figure 1 As shown, the present invention provides an automatic riveting device, including a base 1, and a conveying mechanism 2 for loading and unloading products is provided on the base 1, the conveying mechanism 2 includes a symmetrically arranged upper conveyor belt mechanism 21 and a lower conveyor belt mechanism 22, and the upper conveyor belt mechanism 21 and the lower conveyor belt mechanism 22 are respectively installed at the opposite ends of the base 1; an ultrasonic riveting machine 4 is provided in the middle of the upper conveyor belt mechanism 21 and the lower conveyor belt mechanism 22, and a riveting jig 5 is provided directly below the ultrasonic riveting machine 4; a mobile manipulator 3 is provided below the riveting jig 5, and the mobile manipulator 3 moves between the upper conveyor belt mechanism 21, the riveting jig 5 and the lower conveyor belt mechanism 22; the horizontal moving direction of the mobile manipulator 3 and the conveying direction of the conveying mechanism 2 are on a straight line.

[0034] In a specific embodiment, the product to be riveted is first placed on the upper conveyor belt mechanism 21 and transported in the direction of the ultrasonic riveting machine 4, stopping at the end of the upper conveyor belt mechanism 21. The mobile manipulator 3 moves horizontally to clamp the product to be riveted. The mobile manipulator 3 places the product into the riveting jig 5. The riveting jig 5 is provided with a photoelectric detection to detect whether there is a product. If a product is detected, after the mobile manipulator 3 descends, the welding head of the ultrasonic riveting machine 4 descends, and the riveting is completed. The welding head of the ultrasonic riveting machine 4 rises, and the mobile manipulator 3 rises to clamp the product. The mobile manipulator 3 rises again, moves to the right, and then descends to place the riveted product onto the lower conveyor belt mechanism 22. The lower conveyor belt mechanism unloads the riveted product.

[0035] Further, such as Figure 2 As shown, the mobile manipulator 3 includes a support platform 30, and the upper end surface of the support platform 30 is provided with a clamping cylinder 31 for clamping the product, and the output end of the clamping cylinder 31 is fixedly connected to the electric clamp 311; there are three clamping cylinders 31, and the three clamping cylinders 31 correspond to the upper conveyor belt mechanism 21, the riveting jig 5 and the lower conveyor belt mechanism 22 during the movement; a support frame 32 is provided below the support platform 30, and the support frame 32 is provided with a vertical driving member 33 for driving the support platform 30 to move in the vertical direction and a horizontal driving member 34 for driving the support platform 30 to move horizontally.

[0036] In another specific embodiment, the three gripping cylinders 31 on the support platform 30 of the mobile manipulator 3 are arranged at intervals. When the product to be riveted on the upper conveyor belt mechanism 21 is to be clamped, the horizontal driving member 34 drives the support platform 30 to move horizontally toward the upper conveyor belt mechanism 21. After the gripping cylinder 31 is aligned with the product to be riveted, the vertical driving member 33 drives the support platform 30 to move upward, and the gripping cylinder 31 on the support platform 30 moves upward. The electric gripping claw 311 clamps the product to be riveted and puts the product into the riveting jig 5. The riveting jig 5 is provided with a Photoelectric detection detects whether there is a product. If the product is detected, after the mobile manipulator 3 descends, the welding head of the ultrasonic riveting machine 4 descends, the riveting is completed, the welding head of the ultrasonic riveting machine 4 rises, the mobile manipulator 3 rises, clamps the product, the mobile manipulator 3 rises again, moves to the right, and then descends to put the riveted product onto the unloading conveyor belt mechanism 22. The unloading conveyor belt mechanism unloads the riveted product. The setting of the three clamping claw cylinders 31 enables the product clamping, first positioning, riveting positioning, riveting, and transmission to be carried out continuously, thereby improving the riveting efficiency.

[0037] Furthermore, the support frame 32 includes a first support plate 321, a second support plate 322 and a third support plate 323 from top to bottom. The first support plate 321, the second support plate 322 and the third support plate 323 are fixedly connected to two vertical plates 324 at their two ends along the length direction respectively.

[0038] The vertical driving member 33 includes a second driving motor 331, which is fixedly mounted on the second supporting plate 322; the output end of the second driving motor 331 is connected to the first gear 332, a second gear 333 is provided on one side of the first gear 332, a belt 334 is sleeved between the first gear 332 and the second gear 333, and the second gear 333 is fixedly connected to the vertical push rod 335; the end of the vertical push rod 335 away from the second gear 333 vertically passes through the first supporting plate 321 and is fixedly connected to the support platform 30; a guide column 336 is respectively provided on both sides of the second driving motor 331, one end of the guide column 336 is fixedly connected to the second supporting plate 322, and the other end of the guide column 336 is fixedly connected to the first supporting plate 321; the guide column 336 is provided in a guide sleeve 337, and the bottom of the guide sleeve 337 is fixedly connected to the second supporting plate 322; the second driving motor 331 drives the support platform 30 to move in the vertical direction.

[0039] Specifically, such as Figure 2 As shown, the second drive motor 331 is started, and the second drive motor 331 drives the vertical push rod 335 to move in the vertical direction, pushing the support platform 30 to move up and down. The setting of the guide column 336 helps to stabilize the movement of the support platform 30 in the vertical direction, and the guide sleeve 337 is used to fix the movement of the guide column 336 in the horizontal direction.

[0040] Furthermore, the horizontal driving member 34 includes a third driving motor 341, the output end of the third driving motor 341 is connected to the screw rod 342; the screw rod 342 is fixedly connected to the movable block 343; the movable block 343 is fixedly connected to the side of the third support plate 323; the bottom of the third support plate 323 is provided with a slider 344, the slider 344 and the slide rail 345 are slidably connected, the slide rail 345 is provided on the bottom plate 346, and the third driving motor 341 pushes the third support plate 323 to move in the horizontal direction.

[0041] like Figure 2 As shown, the third support plate 323 is driven to slide horizontally by the third drive motor 341 and the screw rod 342, thereby driving the support frame 32 to slide horizontally, and then driving the support platform 30 to move horizontally, controlling the horizontal movement of the clamping cylinder 31 on the support platform 30.

[0042] Further, such as Figure 3 As shown, the upper conveyor belt mechanism 21 includes two parallel first brackets 211 arranged on the base 1, and first pulleys 212 are respectively provided at both ends of the first bracket 211. The two first pulleys 212 are respectively provided with a first conveyor belt 213, and the ends of the two first brackets 211 away from the ultrasonic riveting machine 4 are respectively rotatably connected to the first rotating shaft 214; the first rotating shaft 214 is fixedly connected to the output end of the first driving motor 215; and a placement jig 216 for placing products is fixedly provided on the two first conveyor belts 213.

[0043] Specifically, such as Figure 3 As shown, the two first brackets 211 of the upper conveyor belt mechanism 21 are arranged parallel to each other on the base 1. The space between the two parallel first brackets 211 is empty, and the mobile manipulator 3 can move between the two first brackets 211. First pulleys 212 and first conveyor belts 213 are provided at both ends of the first brackets 211. The two first pulleys 212 rotate under the drive of the first drive motor 215, thereby driving the first conveyor belt 213 to move. The placement jig 7 fixed to the first conveyor belt 213 moves with the movement of the first conveyor belt 213, carrying the products to be riveted toward the ultrasonic riveting machine 4. A position sensor or photoelectric detector is provided on the upper conveyor belt mechanism 21 to detect whether there are products on the placement jig 216 and also perform in-place detection.

[0044] Further, such as Figure 4 As shown, the lower machine conveyor belt mechanism 22 includes two parallel second brackets 221 arranged on the base 1, and second pulleys 222 are respectively provided at both ends of the second bracket 221. A second conveyor belt 223 is sleeved on the two second pulleys 222, and the two second pulleys 222 are rotatably connected with the second rotating shaft 224 at one end away from the ultrasonic riveting machine 4; the second rotating shaft 224 is fixedly connected to the output end of the fourth drive motor 225.

[0045] Specifically, such as Figure 4 As shown, the unloading conveyor belt mechanism 22 includes two parallel second brackets 221, and the space between the two parallel second brackets 221 is empty, and the mobile manipulator 3 can move between the two second brackets 221; second pulleys 222 and second conveyor belts 223 are provided at both ends of the second brackets 221, and the two second pulleys 222 rotate under the drive of the fourth drive motor 225, thereby driving the second conveyor belt 223 to move, and the mobile manipulator 3 clamps the riveted product and places it on the second conveyor belt 223, and the second conveyor belt transports the riveted product away, unloads the material, and completes the riveting of the product; a position sensor or a photoelectric detector is also provided on the unloading conveyor belt mechanism 22, which is used to detect whether there is a product on the second conveyor belt 223, and also performs in-place detection.

[0046] Further, such as Figure 1 and Figure 5 As shown, a positioning jig 6 is provided on the side of the riveting jig 5 close to the upper conveyor belt mechanism 21, and the riveting jig 5 includes two oppositely arranged supporting feet 51 arranged on the base 1, and the upper end surfaces of the two supporting feet 51 are respectively provided with positioning seats 52 for placing products; the structure of the positioning jig 6 is consistent with the structure of the riveting jig 5.

[0047] Specifically, such as Figure 5 As shown, the two supporting legs 51 of the riveting jig 5 are respectively arranged on the base 1, and the two supporting legs 51 are arranged opposite to each other. The upper end surfaces of the two supporting legs 51 are respectively provided with positioning seats 52 for placing products; the middle of the two supporting legs 51 can be used for the movement of the clamping cylinder 31.

[0048] Further, such as Figure 6 As shown, the output end of the ultrasonic riveting machine 4 is fixedly connected to the ultrasonic horn 7; the ultrasonic horn 8 is used to press the product to rivet the product.

[0049] Specifically, such as Figure 6 As shown, the ultrasonic riveting machine 4 drives the ultrasonic welding head 7 to rise or fall to press the product so that the product is riveted.

[0050] Further, such as Figure 6 As shown, a film rolling mechanism 8 is further provided on both sides of the ultrasonic riveting machine 4, and the film rolling mechanism 8 includes a film rolling support frame 81 provided on the base 1, a film rolling slide rail 82 provided on the film rolling support frame 81, a film rolling slider 83 slidably connected to the film rolling slide rail 82, and the film rolling slider 83 is fixedly connected to the film rolling support plate 84 on a side away from the film rolling slide rail 82, and two film rolls 85 are installed on the film rolling support plate 84, and the two film rolls 85 are respectively provided on both sides of the ultrasonic welding head 7, one of the film rolls 85 is connected to a film rolling drive motor 86; the film rolling drive motor 86 is used to control the reeling and unreeling of the two film rolls 85; the other film roll 85 is connected to a film rolling cylinder 87, and the film rolling cylinder 87 is used to control the up and down movement of the two film rolls 85.

[0051] Specifically, such as Figure 6 As shown, a film rolling mechanism 8 is provided on both sides of the ultrasonic riveting machine 4. The film rolling mechanism 8 controls the winding and unwinding of the film on the bottom mold 88 through the film rolling drive motor 86. The film rolling mechanism 8 controls the up and down movement of the two film rolls 85 through the film rolling cylinder 87. The film roll 85 protects the product shell and prevents the ultrasonic welding head from crushing the product. The ultrasonic welding head is the upper mold and the bottom mold 88 is to ensure the ultrasonic riveting effect.

[0052] Furthermore, the film rolling mechanism 8 further includes a bottom mold 88 , and a bottom mold hole (not shown in the figure) is provided on the bottom mold 88 , and the clamping jaws 311 pass through the bottom mold hole.

[0053] In a specific embodiment, the product to be riveted is first placed on the upper conveyor belt mechanism 21 and transported in the direction of the ultrasonic riveting machine 4, stopping at the end of the upper conveyor belt mechanism 21. The mobile manipulator 3 moves horizontally to clamp the product to be riveted. The mobile manipulator 3 places the product into the riveting jig 5. The riveting jig 5 is provided with a photoelectric detection to detect whether there is a product. If a product is detected, the film rolling mechanism 8 drops after the mobile manipulator 3 drops, the ultrasonic welding head 7 drops, and the riveting is completed. The ultrasonic welding head 7 rises, the film rolling mechanism 8 rises, the mobile manipulator 3 rises, clamps the product, the mobile manipulator 3 rises again, moves to the right, and then drops again to place the riveted product onto the lower conveyor belt mechanism 22, and the lower conveyor belt mechanism unloads the riveted product.

[0054] In summary, an embodiment of the present invention provides an automatic riveting device, comprising a base, a conveying mechanism for loading and unloading products on the base, the conveying mechanism comprising a symmetrically arranged upper conveyor belt mechanism and a lower conveyor belt mechanism, the upper conveyor belt mechanism and the lower conveyor belt mechanism being respectively installed at opposite ends of the base; an ultrasonic riveting machine is provided between the upper conveyor belt mechanism and the lower conveyor belt mechanism, a riveting jig is provided directly below the ultrasonic riveting machine; a mobile manipulator is provided below the riveting jig, the mobile manipulator moves between the upper conveyor belt mechanism, the riveting jig and the lower conveyor belt mechanism; the horizontal movement direction of the mobile manipulator and the conveying direction of the conveying mechanism are in a straight line. By setting the moving directions of the conveying mechanism and the mobile manipulator in a straight line, the ultrasonic riveting machine can complete the riveting in a straight line, which is different from the existing mobile riveting in the XY axis direction, simplifies the structure of the automatic riveting equipment, and improves the riveting efficiency.

[0055] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features thereof can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic riveting device, characterized in that: The invention comprises a base (1), a conveying mechanism (2) for loading and unloading products is provided on the base (1), the conveying mechanism (2) comprises a symmetrically arranged upper conveyor belt mechanism (21) and a lower conveyor belt mechanism (22), the upper conveyor belt mechanism (21) and the lower conveyor belt mechanism (22) being respectively installed at opposite ends of the base (1); an ultrasonic riveting machine (4) is provided between the upper conveyor belt mechanism (21) and the lower conveyor belt mechanism (22), a riveting jig (5) is provided directly below the ultrasonic riveting machine (4); a mobile manipulator (3) is provided below the riveting jig (5), the mobile manipulator (3) moves between the upper conveyor belt mechanism (21), the riveting jig (5) and the lower conveyor belt mechanism (22); the horizontal moving direction of the mobile manipulator (3) and the conveying direction of the conveying mechanism (2) are on a straight line; The mobile manipulator (3) includes a support platform (30), an upper end surface of the support platform (30) is provided with a clamping cylinder (31) for clamping products, and the clamping cylinder (31) is fixedly connected to an electric clamp (311); there are three clamping cylinders (31), and the three clamping cylinders (31) are respectively aligned with the upper conveyor belt mechanism (21), the riveting jig (5) and the lower conveyor belt mechanism (22) during the movement; a support frame (32) is provided below the support platform (30), and a vertical driving member (33) for driving the support platform (30) to move in a vertical direction and a horizontal driving member (34) for driving the support platform (30) to move horizontally are provided on the support frame (32); A positioning jig (6) is provided on one side of the riveting jig (5) close to the upper conveyor belt mechanism (21), and the riveting jig (5) comprises two supporting legs (51) arranged opposite to each other on the base (1), and a positioning seat (52) for placing the product is provided on the upper end surfaces of the two supporting legs (51); the structure of the positioning jig (6) is consistent with that of the riveting jig (5).

2. The automatic riveting equipment according to claim 1, characterized in that: The support frame (32) comprises a first support plate (321), a second support plate (322) and a third support plate (323) from top to bottom, and the first support plate (321), the second support plate (322) and the third support plate (323) are fixedly connected to two vertical plates (324) at their two ends along the length direction respectively; The vertical driving member (33) includes a second driving motor (331), and the second driving motor (331) is fixedly mounted on the second supporting plate (322); the output end of the second driving motor (331) is connected to the first gear (332), a second gear (333) is provided on one side of the first gear (332), a belt (334) is provided between the first gear (332) and the second gear (333), and the second gear (333) is fixedly connected to the vertical push rod (335); the vertical push rod (335) is vertically connected to the end away from the second gear (333). The first support plate (321) is passed straight through and is fixedly connected to the support platform (30); a guide column (336) is provided on each side of the second drive motor (331); one end of the guide column (336) is fixedly connected to the second support plate (322), and the other end of the guide column (336) is fixedly connected to the first support plate (321); the guide column (336) is provided in a guide sleeve (337), and the bottom of the guide sleeve (337) is fixedly connected to the second support plate (322); the second drive motor (331) drives the support platform (30) to move in the vertical direction.

3. The automatic riveting equipment according to claim 2, characterized in that: The horizontal driving member (34) comprises a third driving motor (341), an output end of the third driving motor (341) connected to a screw rod (342); the screw rod (342) is fixedly connected to a movable block (343); the movable block (343) is fixedly connected to a side surface of the third support plate (323); a slider (344) is provided at the bottom of the third support plate (323), the slider (344) is slidably connected to a slide rail (345), and the slide rail (345) is provided on a bottom plate (346). The third driving motor (341) drives the third support plate (323) to move in a horizontal direction.

4. The automatic riveting equipment according to claim 1, characterized in that: The upper conveyor belt mechanism (21) comprises two parallel first brackets (211) arranged on the base (1), first pulleys (212) are respectively provided at both ends of the first brackets (211), a first conveyor belt (213) is sleeved on the two first pulleys (212), and the ends of the two first brackets (211) away from the ultrasonic riveting machine (4) are respectively rotatably connected to the first rotating shaft (214); the first rotating shaft (214) is fixedly connected to the output end of the first driving motor (215); and a placement jig (216) for placing products is fixedly provided on the two first conveyor belts (213).

5. The automatic riveting equipment according to claim 1, characterized in that: The lower conveyor belt mechanism (22) comprises two parallel second brackets (221) arranged on the base (1), and second pulleys (222) are respectively provided at both ends of the second brackets (221), a second conveyor belt (223) is sleeved on the two second pulleys (222), and the ends of the two second pulleys (222) away from the ultrasonic riveting machine (4) are rotatably connected by a second rotating shaft (224); the second rotating shaft (224) is fixedly connected to the output end of a fourth drive motor (225).

6. The automatic riveting equipment according to claim 1, characterized in that: The output end of the ultrasonic riveting machine (4) is fixedly connected to the ultrasonic welding head (7); the ultrasonic welding head (7) is used to press the product to rivet the product.

7. The automatic riveting equipment according to claim 6, characterized in that: The ultrasonic riveting machine (4) is also provided with a film rolling mechanism (8) on both sides, and the film rolling mechanism (8) includes a film rolling support frame (81) provided on the base (1), a film rolling slide rail (82) provided on the film rolling support frame (81), a film rolling slider (83) slidably connected to the film rolling slide rail (82), and the film rolling slider (83) is fixedly connected to the film rolling support plate (84) on a side away from the film rolling slide rail (82). Two film rolls (85) are installed on the film rolling support plate (84), and the two film rolls (85) are respectively provided on both sides of the ultrasonic welding head (7). One of the film rolls (85) is connected to a film rolling drive motor (86); the film rolling drive motor (86) is used to control the retraction and unwinding of the two film rolls (85); the other film roll (85) is connected to a film rolling cylinder (87), and the film rolling cylinder (87) is used to control the up and down movement of the two film rolls (85).

8. The automatic riveting equipment according to claim 7, characterized in that: The film rolling mechanism (8) further comprises a bottom die (88), wherein the bottom die (88) is provided with a bottom die hole, and the electric clamping claw (311) passes through the bottom die hole.

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