A clamping and detection mechanism for rivets and cylindrical parts

Abstract

The present invention relates to a clamping detection mechanism for rivets and cylindrical parts, and relates to the field of automation equipment, including a clamping claw assembly installed on a moving mechanism, the clamping claw assembly includes a detection assembly, a detection assembly mounting block, a clamping mechanism, a first wiring terminal and a second wiring terminal, the detection assembly and the clamping mechanism are both connected to the detection assembly mounting block, the detection assembly mounting block is insulated from the detection assembly and / or the clamping mechanism, the first wiring terminal is electrically connected to the clamping mechanism, and the second wiring terminal is electrically connected to the detection assembly; the clamping mechanism and the detection assembly can be connected through the part to be grasped. The beneficial effects of the present invention are: the function of detecting whether the part is grasped successfully is integrated in the clamping claw assembly, and the detection is performed while grasping, the detection is efficient and stable, the cost is low, and the working time is saved.

Description

Technical Field

[0001] The invention relates to the field of automation equipment, and in particular to a clamping and detecting mechanism for rivets and cylindrical parts. Background Art

[0002] With the development of the laptop industry, the production volume of laptop products has remained high. There are many kinds of bolts inside laptop products. In order to ensure the stability of the bolt connection strength, most laptop products use stamped metal built-in parts as the main frame of the equipment. Various rivets need to be riveted on the metal built-in parts to lock the bolts. In the same metal built-in parts, there are up to 10 types of rivets and up to more than 30 rivets. Although there are many types of rivets, their differences are very small, and the assembly requirements are very high. Traditional manual assembly requires a large number of people and has a high probability of error. In order to ensure that the metal built-in parts and rivets can withstand large push-pull forces and torque after riveting, the tolerance size of the shaft hole of the metal built-in parts and the rivets is small, which further improves the assembly accuracy.

[0003] Currently, workpieces are usually grabbed by magnets or vacuum suction. Although they are highly reliable, they have great limitations. Magnet grabbing can only grab workpieces made of magnetic materials, and vacuum suction can only grab solid workpieces. It is difficult to grab workpieces with holes in the middle.

[0004] It is also very difficult to detect whether rivets are successfully clamped during automatic assembly, because the rivets are small in size, with the minimum rivet height being only 1.5mm, and there are many rivet colors to distinguish the types of rivets. The success rate of traditional optical fiber with lens is not high; the success rate of through-beam optical fiber detection is higher, but the debugging is complicated, and the space occupied is large, and the cost is high; the success rate of visual inspection is higher, but its cost is high, which has a great impact on production efficiency. In addition, in traditional equipment, the workpiece is first grasped, and then moved to the detection equipment to detect whether it is grasped successfully. The steps are complicated and time-consuming.

[0005] Therefore, a problem that needs to be solved urgently by those skilled in the art is: how to improve the efficiency of grasping and detecting workpieces. Summary of the invention

[0006] The technical problem to be solved by the present invention is how to improve the efficiency of grasping and detecting workpieces.

[0007] The technical solution of the present invention for solving the above-mentioned technical problems is as follows: a clamping detection mechanism for rivets and cylindrical parts, comprising a moving mechanism and a clamping jaw assembly, the clamping jaw assembly comprising a detection assembly, a detection assembly mounting block, a clamping mechanism, a first terminal and a second terminal, the detection assembly and the clamping mechanism are both fixedly connected to the detection assembly mounting block, the detection assembly mounting block is insulated from the detection assembly and / or the clamping mechanism, the first terminal is electrically connected to the clamping mechanism, and the second terminal is electrically connected to the detection assembly; the clamping mechanism is used to clamp the part to be grasped, and is connected to the detection assembly circuit through the part to be grasped, and the detection assembly mounting block is installed on the moving mechanism.

[0008] The beneficial effects of the present invention are as follows: the clamping detection mechanism is suitable for any conductive part to be grasped. Driven by the moving mechanism, the clamping jaw assembly moves to the top of the part to be grasped, and then moves downward until the part to be grasped abuts against the detection assembly. The clamping mechanism then performs grasping. If the grasping is successful, since the conductive part to be grasped is in contact with the clamping mechanism and the detection assembly at the same time, the circuit where the first terminal and the second terminal are located is turned on, so it can be known from parameters such as the current or voltage of the circuit that the circuit is connected, thereby knowing that the part has been grasped successfully. If the grasping fails, the circuit where the first terminal and the second terminal are located is not connected. The present invention integrates a detection function for whether the part has been grasped successfully inside the clamping jaw assembly, and performs detection while grasping. The detection is efficient and stable, the cost is low, and working time is saved.

[0009] Based on the above technical solution, the present invention can also be improved as follows.

[0010] Furthermore, the detection component includes a limit rod, a detection component shell and an elastic member. The limit rod can be slidably arranged in the detection component shell, and its lower end extends out of the detection component shell and is used to abut against the part to be grasped when the clamping mechanism clamps the part to be grasped. The two ends of the elastic member respectively abut against the top surface of the limit rod and the top surface of the detection component shell, and apply an elastic force to the limit rod to move it downward. The second wiring terminal is electrically connected to the detection component shell, and the detection component shell and the limit rod are both made of conductive material and are circuit-connected to each other.

[0011] The beneficial effect of adopting the above further scheme is that the limit rod is pressed downward under the action of the elastic member, so that after the part to be grasped is grasped, the limit rod can stably abut against the part to be grasped, and the relative position of the part to be grasped and the clamping mechanism can be fixed, limiting the Z-axis degree of freedom of the part to be grasped, avoiding the part to be grasped from shaking in the clamping mechanism, and ensuring the accuracy of the subsequent placement of the part to be grasped.

[0012] Furthermore, the detection component also includes an upper cover and a retaining spring, the limit rod includes a limit section and a contact section fixedly connected in sequence from top to bottom, the diameter of the limit section is larger than the diameter of the contact section, the detection component shell is provided with a shell limit boss, the shell limit boss is used to abut against the bottom surface of the limit section for limiting, the retaining spring is fixed to the detection component shell, and the retaining spring, the upper cover, the elastic member and the limit section abut against each other in sequence from top to bottom.

[0013] The beneficial effect of adopting the above further solution is that the clamping spring limits the upper end of the upper cover, the upper cover limits the farthest upward movement of the limit rod, and the housing limit boss limits the farthest downward movement of the limit rod. The detection component is easy to disassemble and assemble. By replacing the limit rods with different lengths, it can adapt to different shapes of parts to be grasped or grasping positions.

[0014] Furthermore, the bottom surface of the upper cover has a first protrusion, the top surface of the limiting rod has a second protrusion, the first protrusion and the second protrusion are arranged correspondingly and are used for abutment and limiting.

[0015] The beneficial effect of adopting the above further solution is that after the elastic member is compressed, the first protrusion abuts against the second protrusion, thereby limiting the upper limit position of the limit rod.

[0016] Furthermore, the clamping mechanism includes a clamping drive and a clamping claw assembly, the clamping drive is fixedly connected to the detection component mounting block and is electrically connected to the first terminal, the clamping drive is transmission-connected to the clamping claw assembly and causes the clamping claw assembly to open or close, and the detection component is located above the inner side of the clamping claw assembly.

[0017] The beneficial effect of adopting the above further solution is that the detection component is located above the inner side of the clamping jaw assembly, so that the overall structure is compact and the detection efficiency is high.

[0018] Furthermore, the clamping claw assembly includes two symmetrically arranged claw bodies, one end of the claw body is transmission-connected to the clamping drive member, and the other end has a semicircular grabbing notch, and the detection component is located above between the two claw bodies.

[0019] The beneficial effect of adopting the above further scheme is that the semicircular grasping notches on the two claws close into a circle when grasping, thereby limiting the freedom of the parts to be grasped on the X-axis and Y-axis, which can effectively solve the accuracy problem of rivet clamping and ensure the stability of rivet assembly.

[0020] Furthermore, the moving mechanism includes a clamping jaw Z-axis assembly and a clamping jaw assembly integrated board, there are at least two clamping jaw assemblies, there are at least two clamping jaw Z-axis assemblies, and they are arranged and fixedly connected one by one with the detection assembly mounting blocks of the clamping jaw assemblies, and all the clamping jaw Z-axis assemblies are fixedly connected to the clamping jaw assembly integrated board.

[0021] The beneficial effect of adopting the above further solution is that the clamping jaw assembly can reciprocate along the Z axis driven by the clamping jaw Z axis assembly. At least two clamping jaw assemblies can grasp multiple parts at the same time.

[0022] Furthermore, each of the clamping jaw Z-axis assemblies includes a clamping jaw Z-axis guide rail, a clamping jaw Z-axis slider and a clamping jaw Z-axis driver. The clamping jaw Z-axis driver and the clamping jaw Z-axis slider are both fixedly connected to the clamping jaw assembly integrated board. One end of the clamping jaw Z-axis guide rail is transmission-connected to the clamping jaw Z-axis driver, and its middle portion is slidingly connected to the clamping jaw Z-axis slider. The other end of the clamping jaw Z-axis guide rail is insulated and fixedly connected to the corresponding detection assembly mounting block.

[0023] The beneficial effect of adopting the above further solution is that the clamping jaw Z-axis driving member drives the clamping jaw Z-axis guide rail to move vertically, thereby driving the clamping jaw assembly to move vertically, wherein the clamping jaw Z-axis slider provides a guiding function.

[0024] Furthermore, the moving mechanism also includes an X-axis moving component, a Y-axis moving component and a Z-axis moving component, the Y-axis moving component is fixed on the X-axis moving block of the X-axis moving component, the Z-axis moving component is fixed on the Y-axis moving block of the Y-axis moving component, and the clamping jaw assembly integrated board is fixed on the Z-axis moving block of the Z-axis moving component.

[0025] The beneficial effect of adopting the above further scheme is: the X-axis moving component, the Y-axis moving component and the Z-axis moving component are used to realize the three-degree-of-freedom movement of the clamping assembly, wherein the Z-axis moving component is used for the clamping assembly to move over a large range on the Z axis, and the clamping Z-axis component is used for the precise movement of the clamping assembly on the Z axis.

[0026] Furthermore, the detection component mounting block is made of insulating material, or the clamping jaw assembly also includes an insulating plate, and the insulating plate is fixed between the detection component mounting block and the detection component, and / or between the detection component mounting block and the clamping mechanism.

[0027] The beneficial effect of adopting the above further solution is that if the detection component mounting block is made of insulating material, the insulating plate is not required. However, if the strength of the insulating material cannot meet the requirements of the use scenario, it is necessary to use high-strength material to make the detection component mounting block, and to set an insulating plate to insulate the detection component mounting block from other components.

[0028] Furthermore, it also includes a feeding assembly, which is located below the clamping jaw assembly and is used to convey the parts to be grasped. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A three-dimensional diagram of the clamping and detecting mechanism for rivets and cylindrical parts of the present invention;

[0030] Figure 2 It is an assembly diagram of the clamping jaw Z-axis assembly and the clamping jaw assembly of the present invention;

[0031] Figure 3 is a cross-sectional view of the clamping jaw assembly of the present invention;

[0032] Figure 4 This is a schematic diagram of the installation structure of the detection component of the present invention, in which the detection component installation block and the clamping drive member are cut;

[0033] Figure 5 for Figure 4 A is a partial enlarged view of the middle clamping jaw assembly;

[0034] Figure 6 It is a cross-sectional view of the detection component of the present invention.

[0035] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0036] 1. Gripper assembly;

[0037] 11. Detection assembly; 111. Limit rod; 112. Detection assembly housing; 113. Elastic member; 114. Upper cover; 115. Circlip;

[0038] 12. Insulating plate; 13. Detection assembly mounting block; 14. Positioning pin; 15. Clamping drive member; 16. First wiring terminal; 17. Clamping jaw assembly; 18. Second wiring terminal;

[0039] 2. X-axis moving component;

[0040] 3. Y-axis moving component;

[0041] 4. Z-axis moving assembly;

[0042] 5. Feeding components;

[0043] 6. Gripper Z-axis assembly; 61. Gripper assembly mounting block; 62. Gripper Z-axis guide rail; 63. Gripper Z-axis slider; 64. Gripper Z-axis floating joint; 65. Gripper Z-axis cylinder mounting plate; 66. Gripper Z-axis drive member; 67. Gripper assembly integrated board;

[0044] 7. Parts to be grasped. DETAILED DESCRIPTION

[0045] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0046] like Figure 1-Figure 6 As shown, this embodiment provides a clamping detection mechanism for rivets and cylindrical parts, including a moving mechanism and a clamping jaw assembly 1, the clamping jaw assembly 1 includes a detection component 11, a detection component mounting block 13, a clamping mechanism, a first terminal 16 and a second terminal 18, the detection component 11 and the clamping mechanism are both fixedly connected to the detection component mounting block 13, the detection component mounting block 13 is insulated from the detection component 11 and / or the clamping mechanism, the first terminal 16 is electrically connected to the clamping mechanism, and the second terminal 18 is electrically connected to the detection component 11; the clamping mechanism is used to clamp the part 7 to be grasped, and is connected to the detection component 11 through the part 7 to be grasped, and the detection component mounting block 13 is installed on the moving mechanism.

[0047] The clamping detection mechanism is suitable for any conductive part 7 to be grasped. Driven by the moving mechanism, the clamping jaw assembly 1 moves to the top of the part 7 to be grasped, and then moves downward until the part 7 to be grasped abuts against the detection assembly 11. The clamping mechanism then performs grasping. If the grasping is successful, because the conductive part 7 to be grasped is in contact with the clamping mechanism and the detection assembly 11 at the same time, the circuit where the first terminal 16 and the second terminal 18 are located is turned on, so it can be known from parameters such as the current or voltage of the circuit that the circuit is connected, thereby knowing that the part has been grasped successfully. If the grasping fails, the circuit where the first terminal 16 and the second terminal 18 are located is not connected. The present invention integrates a detection function for whether the part has been grasped successfully inside the clamping jaw assembly, and performs detection while grasping. The detection is efficient and stable, the cost is low, and working time is saved.

[0048] The first terminal 16 is connected to the positive pole of the power supply, and the second terminal 18 is connected to the negative pole of the power supply; or the first terminal 16 is connected to the negative pole of the power supply, and the second terminal 18 is connected to the positive pole of the power supply.

[0049] Preferably, a resistor is connected in series on the wire between the first wiring terminal 16 and / or the second wiring terminal 18 and the power supply. The function of the resistor is to prevent the power supply current from being too large after the circuit is connected.

[0050] Preferably, the power supply is a 24V power supply, which uses a safe voltage, so that when the equipment is repaired or disassembled, the workers will not be in danger of electric shock.

[0051] For the detection of whether the clamping is successful, one implementation method is: an ammeter or a sensor for detecting current is set in series on the wire between the first terminal 16 or the second terminal 18 and the power supply. When the ammeter can detect the current value, the circuit is connected, that is, the clamping is successful; when the ammeter cannot detect the current, the circuit is disconnected, that is, the clamping is unsuccessful. Another implementation method is: a voltmeter or a sensor for detecting voltage is added, and the two ends of the voltmeter are respectively connected to the detection component 11 and the clamping mechanism. When the voltage reading of the voltmeter is equal to the power supply voltage, the circuit is disconnected, that is, the clamping is unsuccessful; when the voltage reading of the voltmeter is 0 or much less than the power supply voltage, the circuit is connected, that is, the clamping is successful.

[0052] On the basis of any of the above schemes, the detection component 11 includes a limit rod 111, a detection component shell 112 and an elastic member 113. The limit rod 111 can be slidably arranged in the detection component shell 112, and its lower end extends out of the detection component shell 112, and is used to abut against the part 7 to be grasped when the clamping mechanism clamps the part 7 to be grasped. The two ends of the elastic member 113 respectively abut against the top surface of the limit rod 111 and the top surface of the detection component shell 112, and apply an elastic force to the limit rod 111 to move it downward. The second terminal 18 is electrically connected to the detection component shell 112, and the detection component shell 112 and the limit rod 111 are both made of conductive materials and are circuit-connected to each other.

[0053] The limiting rod 111 is pressed downward by the elastic member 113, so that after the part 7 to be grasped is grasped, the limiting rod 111 can stably abut against the part 7 to be grasped, and as the clamping jaw assembly 1 moves downward, the elastic member 113 is gradually compressed until the upper end of the limiting rod 111 abuts against the bottom surface of the upper cover 114, so that the relative position of the part 7 to be grasped and the clamping mechanism can be fixed, the Z-axis degree of freedom of the part 7 to be grasped can be limited, the shaking of the part 7 to be grasped in the clamping mechanism can be avoided, and the accuracy of the subsequent placement of the part 7 to be grasped can be ensured.

[0054] In addition, the elastic member 113 makes the limiting rod 111 in a natural state. Due to the elastic force of the elastic member 113, it is always in an extended state, so as long as the part 7 to be grasped is clamped, the limiting rod 111 and the part 7 to be grasped maintain a stable conflict, thereby preventing the detection result from being unstable.

[0055] The elastic member 113 may be a spring, an elastic rubber block or other elastic components.

[0056] On the basis of any of the above schemes, the detection component 11 also includes an upper cover 114 and a retaining spring 115, the limiting rod 111 includes a limiting section and a contact section fixedly connected in sequence from top to bottom, the diameter of the limiting section is larger than the diameter of the contact section, the detection component shell 112 has a shell limiting boss, the shell limiting boss is used to abut against the bottom surface of the limiting section for limiting, the retaining spring 115 is clamped and fixed to the detection component shell 112, the retaining spring 115, the upper cover 114, the elastic member 113 and the limiting section abut against each other in sequence from top to bottom.

[0057] Specifically, the detection component housing 112 has a sliding through hole, the limiting rod 111 is slidably matched with the sliding through hole, and the sliding through hole has a housing limiting boss extending in the axial direction thereof. The upper inner wall of the sliding through hole has an annular groove, and the retaining spring 115 is C-shaped. After the limiting rod 111, the elastic member 113 and the upper cover 114 are sequentially installed in the sliding through hole, the retaining spring 115 is detachably connected to the annular groove to achieve assembly.

[0058] The retaining spring 115 limits the upper end of the upper cover 114, and the upper cover 114 limits the farthest upward position of the limit rod 111, and the shell limit boss limits the farthest downward position of the limit rod 111. The detection component 11 is easy to assemble and disassemble. By replacing the limit rods 111 with different lengths, it can adapt to different shapes of parts 7 to be grasped or grasping positions. For example, when the clamping mechanism needs to clamp the part 7 to be grasped at a relatively low position, or the length of the part 7 to be grasped is relatively long, the length of the part 7 to be grasped extending from the upper end of the clamping mechanism is relatively long. At this time, it is necessary to adjust the limit position of the lower end of the limit rod 111 upward, that is, it can be adjusted by reducing the length of the limit rod 111.

[0059] On the basis of any of the above solutions, the bottom surface of the upper cover 114 has a first protrusion, the top surface of the limiting rod 111 has a second protrusion, and the first protrusion and the second protrusion are correspondingly arranged and used for abutment and limiting.

[0060] After the elastic member 113 is compressed, the first protrusion abuts against the second protrusion, thereby defining the upper limit position of the limit rod 111. Thus, the Z-direction positioning of the parts 7 to be grasped of different lengths can be adapted.

[0061] Based on any of the above schemes, the clamping mechanism includes a clamping drive 15 and a clamping claw assembly 17, the clamping drive 15 is fixedly connected to the detection component mounting block 13, and is electrically connected to the first terminal 16, the clamping drive 15 is transmission-connected to the clamping claw assembly 17, and makes the clamping claw assembly 17 open or close, and the detection component 11 is located above the inner side of the clamping claw assembly 17.

[0062] The detection assembly 11 is located above the inner side of the clamping jaw assembly 17, so that the overall structure is compact and the detection efficiency is high.

[0063] Based on any of the above schemes, the clamping claw assembly 17 includes two symmetrically arranged claw bodies, one end of which is transmission-connected to the clamping drive member 15, and the other end has a semicircular grabbing notch, and the detection component 11 is located above the two claw bodies.

[0064] The semicircular grasping notches on the two claws close into a circle when grasping, thereby limiting the freedom of the X-axis and Y-axis of the part 7 to be grasped, which can effectively solve the accuracy problem of rivet clamping and ensure the stability of rivet assembly.

[0065] Specifically, the specific structure of the clamping drive member 15 and the clamping claw assembly 17 can be implemented using existing technologies. One implementation is that the clamping drive member 15 can use a linear motor or a common cylinder, and cooperate with a corresponding transmission structure to convert the linear motion of the clamping drive member 15 into the opening and closing motion of the clamping claw assembly 17. Another implementation is that the clamping drive member 15 uses a parallel finger cylinder, which is an existing component and has two cylinder output ends. The two cylinder output ends can move toward or away from each other. The two claw bodies are respectively fixedly connected to the two cylinder output ends of the clamping drive member 15 to achieve opening and closing motion, thereby achieving the release or grasping of the part 7 to be grasped.

[0066] Based on any of the above schemes, the moving mechanism includes a clamping Z-axis assembly 6 and a clamping assembly integrated board 67, there are at least two clamping assemblies 1, there are at least two clamping Z-axis assemblies 6, and they are arranged and fixedly connected one by one with the detection assembly mounting blocks 13 of the clamping assemblies 1, and all the clamping Z-axis assemblies 6 are fixedly connected to the clamping assembly integrated board 67.

[0067] The clamping jaw assembly 1 can reciprocate along the Z axis driven by the clamping jaw Z axis assembly 6. At least two clamping jaw assemblies 1 can grasp multiple parts at the same time.

[0068] like Figure 1 and Figure 2 As shown, preferably, at least two clamping jaw Z-axis assemblies 6 are evenly distributed on the clamping jaw assembly integrated board 67, and specifically can be arranged in a rectangular array or a circular array.

[0069] Based on any of the above schemes, each of the clamping jaw Z-axis assemblies 6 includes a clamping jaw Z-axis guide rail 62, a clamping jaw Z-axis slider 63 and a clamping jaw Z-axis driving component 66, and the clamping jaw Z-axis driving component 66 and the clamping jaw Z-axis slider 63 are both fixedly connected to the clamping jaw assembly integrated board 67, one end of the clamping jaw Z-axis guide rail 62 is transmission-connected to the clamping jaw Z-axis driving component 66, and the middle part is slidingly connected to the clamping jaw Z-axis slider 63, and the other end of the clamping jaw Z-axis guide rail 62 is insulated and fixedly connected to the corresponding detection assembly mounting block 13.

[0070] The clamping jaw Z-axis driving member 66 drives the clamping jaw Z-axis guide rail 62 to move vertically, thereby driving the clamping jaw assembly 1 to move vertically, wherein the clamping jaw Z-axis slider 63 provides a guiding function.

[0071] Specifically, the clamp assembly integrated plate 67 is horizontally arranged, the clamp Z-axis cylinder mounting plate 65 is vertically fixed to the lower side of the clamp assembly integrated plate 67, the clamp Z-axis driving member 66 is fixedly mounted on the clamp assembly integrated plate 67 or the clamp Z-axis cylinder mounting plate 65, and the clamp Z-axis slider 63 is fixed on the clamp Z-axis cylinder mounting plate 65. The upper end of the clamp Z-axis guide rail 62 is fixedly connected to the output end of the clamp Z-axis driving member 66 through the clamp Z-axis floating joint 64, and the lower end thereof is fixedly connected to the detection assembly mounting block 13 through the clamp assembly mounting block 61.

[0072] Preferably, Figure 2 As shown, the clamping jaw assembly integrated plate 67 is a C-shaped plate, so that the clamping jaw assembly integrated plate 67 can be used to fix the clamping jaw Z-axis cylinder mounting plate 65, and the clamping jaw Z-axis driving component 66 can be arranged on its side, and the structure is more compact.

[0073] Preferably, the clamping jaw Z-axis driving member 66 is a cylinder.

[0074] Based on any of the above schemes, the moving mechanism also includes an X-axis moving component 2, a Y-axis moving component 3 and a Z-axis moving component 4, the Y-axis moving component 3 is fixed on the X-axis moving block of the X-axis moving component 2, the Z-axis moving component 4 is fixed on the Y-axis moving block of the Y-axis moving component 3, and the clamping jaw assembly integrated board 67 is fixed on the Z-axis moving block of the Z-axis moving component 4.

[0075] The X-axis moving assembly 2, the Y-axis moving assembly 3 and the Z-axis moving assembly 4 are used to realize the three-degree-of-freedom movement of the clamping assembly 1, wherein the Z-axis moving assembly 4 is used for the clamping assembly 1 to move over a large range in the Z-axis, and the clamping Z-axis assembly 6 is used for the precise movement of the clamping assembly 1 in the Z-axis. When it is necessary to clamp the part 7 to be grasped, first use the X-axis moving assembly 2, the Y-axis moving assembly 3 and the Z-axis moving assembly 4 to move the clamping assembly 1 to a position above the part 7 to be grasped and close to the part 7 to be grasped, and then use the clamping Z-axis assembly 6 to accurately adjust the position of the clamping assembly 1 in the Z-axis, so that the two claws of the clamping assembly 17 are respectively located on both sides of the part 7 to be grasped, and the lower end surface of the limit rod 111 is in contact with the part 7 to be grasped. The clamping drive 15 drives the two claws to close and perform the clamping action. Then, the Z-axis assembly 6 of the clamp first controls the clamp assembly 1 to move upward, and the X-axis moving assembly 2, the Y-axis moving assembly 3 and the Z-axis moving assembly 4 then move the clamp assembly 1 to the designated position where the part 7 to be grasped needs to be placed.

[0076] Specifically, the X-axis moving assembly 2, the Y-axis moving assembly 3 and the Z-axis moving assembly 4 can all be implemented by existing linear moving assemblies, specifically including a motor, a lead screw, a polished rod and a moving block, the polished rod slides through the moving block, the position of the polished rod is fixed, the position of the motor is fixed, its output end is fixedly connected to one end of the lead screw, and the other end of the lead screw is threadedly driven with the moving block. The motor drives the lead screw to rotate, and the moving block realizes linear movement under the guidance of the polished rod.

[0077] Based on any of the above schemes, the detection component mounting block 13 is made of insulating material, or the clamping jaw assembly 1 also includes an insulating plate 12, and the insulating plate 12 is fixed between the detection component mounting block 13 and the detection component 11, and / or between the detection component mounting block 13 and the clamping mechanism.

[0078] If the detection component mounting block 13 is made of insulating material, the insulating plate 12 is not required. However, if the strength of the insulating material cannot meet the requirements of the use scenario, it is necessary to use a high-strength material to make the detection component mounting block 13, and by setting the insulating plate 12, the detection component mounting block 13 is insulated from other components.

[0079] In one specific embodiment, Figure 3 and Figure 4As shown, the detection component mounting block 13 is an L-shaped block, specifically composed of a vertical mounting block and a horizontal mounting block connected in sequence, wherein the horizontal mounting block has a mounting through hole, the detection component 11 is mounted in the mounting through hole, and the second wiring terminal 18 is fixed to the side wall of the horizontal mounting block, and extends into the mounting through hole and contacts and conducts electricity with the detection component 11. During debugging, the parts used to fix the detection component 11 can be loosened, and the vertical position of the detection component 11 in the mounting through hole can be adjusted, thereby adjusting the relative height difference with the top of the part 7 to be grasped, so that the Z-axis limit height of the part 7 to be grasped can be controlled.

[0080] An insulating plate 12 is respectively provided on both sides of the upper end of the vertical mounting block. The insulating plate 12 and the vertical mounting block are positioned by a positioning pin 14, and the length of the positioning pin 14 is less than the total thickness of the two insulating plates 12 and one vertical mounting block. That is to say, the end of the positioning pin 14 does not extend out of the insulating plate 12 and does not contact the clamping drive member 15.

[0081] The clamping drive 15 is in contact with and fixed to the insulating plate 12, and the two claws are respectively located on both sides of the horizontal mounting block and are not in contact with the horizontal mounting block. Specifically, the vertical mounting block has a bolt through hole, and the diameter of the bolt through hole is larger than the standard bolt through hole. The bolt passes through the clamping drive 15, the insulating plate 12, the bolt through hole of the vertical mounting block and another insulating plate 12 in sequence, and is connected and fixed with a nut. In this way, the bolt has no direct contact with the detection component mounting block 13, which can ensure that the electrical signal in the detection component 11 and the clamping drive 15 cannot be connected when there is no clamping part.

[0082] On the basis of any of the above schemes, it further includes a feeding assembly 5, which is located below the clamping jaw assembly 1 and is used to convey the parts 7 to be grasped.

[0083] In one specific embodiment, the use process of the clamping detection mechanism for rivets and cylindrical parts is as follows: when it is necessary to clamp the part 7 to be grasped, first use the X-axis moving assembly 2, the Y-axis moving assembly 3 and the Z-axis moving assembly 4 to control the clamping jaw assembly 1 to complete the movement in the three directions of the X-axis, the Y-axis and the Z-axis, and move the clamping jaw assembly 1 to a position above the part 7 to be grasped and close to the part 7 to be grasped. The part 7 to be grasped is a rivet or a small cylindrical bolt or a small cylindrical part, and then use the clamping jaw Z-axis assembly 6 to accurately adjust the position of the clamping jaw assembly 1 on the Z-axis, so that the two claws of the clamping jaw assembly 17 are respectively located on both sides of the part 7 to be grasped, and the lower end surface of the limit rod 111 abuts against the part 7 to be grasped, the elastic member 113 is compressed, and the upper end of the limit rod 111 abuts against the bottom surface of the upper cover 114, so that the limit rod 111 limits the Z-direction freedom of the part 7 to be grasped. The clamping drive member 15 drives the two claws to close and perform the clamping action.

[0084] The claw body of the clamping jaw 17 has a grasping notch, and the two claw bodies are closed to form a circular notch, which has an automatic centering function and limits the freedom of the X and Y directions of the grasped part 7. The clamping jaw 17 and the limit rod 111 work together to prevent the grasped part 7 from tilting.

[0085] Then, the Z-axis assembly 6 of the clamp first controls the clamp assembly 1 to move upward, and the X-axis moving assembly 2, the Y-axis moving assembly 3 and the Z-axis moving assembly 4 then move the clamp assembly 1 to the designated position where the part 7 to be grasped needs to be placed.

[0086] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships 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, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0087] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0088] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0089] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0090] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0091] 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 gripping and detecting mechanism for rivets and cylindrical parts, comprising a moving mechanism and a clamping jaw assembly (1), characterized in that: The clamping jaw assembly (1) comprises a detection assembly (11), a detection assembly mounting block (13), a clamping mechanism, a first wiring terminal (16) and a second wiring terminal (18); the detection assembly (11) and the clamping mechanism are both fixedly connected to the detection assembly mounting block (13); the detection assembly mounting block (13) is insulated from the detection assembly (11) and / or the clamping mechanism; the first wiring terminal (16) is electrically connected to the clamping mechanism; the second wiring terminal (18) is electrically connected to the detection assembly (11); the clamping mechanism is used to clamp a part (7) to be grasped, and is connected to the detection assembly (11) through an electrical circuit via the part (7) to be grasped; the detection assembly mounting block (13) is mounted on a moving mechanism; The detection component (11) comprises a limit rod (111), a detection component housing (112) and an elastic member (113); the limit rod (111) is slidably arranged in the detection component housing (112) and its lower end protrudes out of the detection component housing (112) and is used to abut against the part (7) to be grasped when the clamping mechanism grasps the part (7) to be grasped; two ends of the elastic member (113) abut against the top surface of the limit rod (111) and the top surface of the detection component housing (112) respectively, and exert an elastic force on the limit rod (111) to move it downward; the second wiring terminal (18) is electrically connected to the detection component housing (112), and the detection component housing (112) and the limit rod (111) are both made of conductive materials and are interconnected in circuit. The detection component (11) further comprises an upper cover (114) and a retaining spring (115); the limiting rod (111) comprises a limiting section and a contact section which are fixedly connected in sequence from top to bottom; the diameter of the limiting section is larger than the diameter of the contact section; a shell limiting boss is provided in the detection component shell (112); the shell limiting boss is used to abut against the bottom surface of the limiting section for limiting; the retaining spring (115) is fixedly connected to the detection component shell (112); the retaining spring (115), the upper cover (114), the elastic member (113) and the limiting section abut against each other in sequence from top to bottom; The clamping mechanism comprises a clamping driving member (15) and a clamping claw member (17), wherein the clamping driving member (15) is fixedly connected to the detection component mounting block (13) and is electrically connected to the first wiring terminal (16), the clamping driving member (15) is transmission-connected to the clamping claw member (17) and causes the clamping claw member (17) to open or close, and the detection component (11) is located above the inner side of the clamping claw member (17); The clamping claw assembly (17) comprises two symmetrically arranged claw bodies, one end of which is drivingly connected to the clamping drive member (15), and the other end of which has a semicircular grasping notch, and the detection component (11) is located above the two claw bodies.

2. A rivet and cylindrical parts clamping and detection mechanism according to claim 1, characterized in that: The bottom surface of the upper cover (114) has a first protrusion, and the top surface of the limiting rod (111) has a second protrusion. The first protrusion and the second protrusion are arranged correspondingly and are used for abutment and limiting.

3. A rivet and cylindrical parts clamping and detection mechanism according to claim 1, characterized in that: The moving mechanism comprises a clamping jaw Z-axis assembly (6) and a clamping jaw assembly integrated board (67), the clamping jaw assemblies (1) are at least two, the clamping jaw Z-axis assemblies (6) are at least two, and are arranged and fixedly connected in a one-to-one correspondence with the detection assembly mounting blocks (13) of the clamping jaw assemblies (1), and all the clamping jaw Z-axis assemblies (6) are fixedly connected to the clamping jaw assembly integrated board (67).

4. A rivet and cylindrical parts clamping and detection mechanism according to claim 3, characterized in that: Each of the clamping jaw Z-axis assemblies (6) comprises a clamping jaw Z-axis guide rail (62), a clamping jaw Z-axis slider (63) and a clamping jaw Z-axis driving member (66); the clamping jaw Z-axis driving member (66) and the clamping jaw Z-axis slider (63) are both fixedly connected to the clamping jaw assembly integrated board (67); one end of the clamping jaw Z-axis guide rail (62) is transmission-connected to the clamping jaw Z-axis driving member (66), and the middle part thereof is slidingly connected to the clamping jaw Z-axis slider (63); the other end of the clamping jaw Z-axis guide rail (62) is insulated and fixedly connected to the corresponding detection assembly mounting block (13).

5. A gripping and detecting mechanism for rivets and cylindrical parts according to claim 3, characterized in that: The moving mechanism also includes an X-axis moving component (2), a Y-axis moving component (3) and a Z-axis moving component (4); the Y-axis moving component (3) is fixed on the X-axis moving block of the X-axis moving component (2); the Z-axis moving component (4) is fixed on the Y-axis moving block of the Y-axis moving component (3); and the clamping jaw component integrated board (67) is fixed on the Z-axis moving block of the Z-axis moving component (4).

6. A rivet and cylindrical parts clamping and detection mechanism according to any one of claims 1 to 5, characterized in that: The detection component mounting block (13) is made of insulating material, or the clamping jaw assembly (1) further comprises an insulating plate (12), wherein the insulating plate (12) is fixed between the detection component mounting block (13) and the detection component (11), and / or between the detection component mounting block (13) and the clamping mechanism.

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