Robot automatic rivet gun

Abstract

The present invention discloses a robotic automatic riveter, comprising a mounting base, a riveting device provided on the mounting base, the riveting device comprising a riveting mechanism, a nut feeding mechanism, and a nut blanking mechanism; the nut feeding mechanism comprising a fixed first guide rod, the first guide rod being inserted into a first cylinder mounting base, the first cylinder mounting base being provided with a first cylinder for driving the first cylinder mounting base to slide along the first guide rod, a second guide rod being fixed to the front end of the first cylinder mounting base, the second cylinder mounting base, a first nut clamping block, and a second nut clamping block being sequentially inserted from back to front on the second guide rod; a limit block being provided at the front end of the second guide rod; a second cylinder being provided on the second cylinder mounting base; and a floating unit being provided on the second guide rod. The advantages of the present invention are: first, automatic nut feeding is achieved with precision and efficiency; second, material can be quickly discarded upon detecting a nut abnormality; and third, the problem of difficulty in screwing nuts into a riveter gun is solved.

Description

Technical field:

[0001] The invention belongs to the technical field of automation equipment, in particular to a robot automatic rivet gun. Background technology:

[0002] In industries like automotive manufacturing, some products have thin outer walls, making it difficult to weld nuts or tap internal threads. Therefore, pull-riveted nuts are used, offering a secure, efficient, and convenient connection. While pull-riveting nuts can be performed robotically or manually, manufacturers prefer to use robots to save costs due to the high labor costs.

[0003] However, the existing robot riveting still has the following unresolved problems during actual use: First, when removing the nut, the rivet gun and the nut are not concentric enough, the pressure is too high, etc., which makes it impossible for the rivet gun to screw into the nut; second, the nut loading is not automated enough, the material removal time is long, and the efficiency is low; third, it is difficult to discard the deformed or crooked nuts, which affects the riveting effect and efficiency. Summary of the invention:

[0004] In view of the above background, the present invention provides a robotic automatic rivet gun that can efficiently, accurately and conveniently complete nut picking and discarding, with good riveting effect and high efficiency.

[0005] The present invention is achieved through the following technical solutions:

[0006] A robot automatic riveter, characterized in that it comprises a mounting base, wherein the mounting base is provided with a riveting device, and the riveting device comprises a riveting mechanism, a nut feeding mechanism, and a nut blanking mechanism;

[0007] The nut feeding mechanism includes a fixed first guide rod, the first guide rod is passed through the first cylinder mounting seat, the first cylinder mounting seat is provided with a first cylinder that drives the first cylinder mounting seat to slide along the first guide rod, the front end of the first cylinder mounting seat is fixed with a second guide rod, the second guide rod is sequentially passed through the second cylinder mounting seat, the first nut clamping block, and the second nut clamping block from back to front; a nut clamping hole is formed in the middle when the first nut clamping block and the second nut clamping block are closed; a limiting block is provided at the front end of the second guide rod for limiting the second nut clamping block; the second cylinder mounting seat is provided with a second cylinder for clamping the nut, and the end of the piston rod of the second cylinder is connected to the first nut clamping block; the second guide rod is provided with a floating unit acting on the nut clamping block.

[0008] Preferably, the second cylinder mounting seat and the second nut clamping block are fixedly connected via a connecting strip.

[0009] Preferably, the nut blanking mechanism includes a third cylinder for pushing the first nut clamping block and the second nut clamping block apart for a distance, a wedge-shaped push block is provided at the end of the piston rod of the third cylinder, and the first nut clamping block and the second nut clamping block are both provided with a notch that matches the shape of the wedge-shaped push block.

[0010] Preferably, the floating unit includes a spring sleeved on the second guide rod, one end of the spring abuts against the limit baffle, and the other end abuts against the second nut clamping block, and the limit baffle is threadedly connected to the second guide rod through an adjusting screw.

[0011] Preferably, the riveting mechanism includes a rivet gun assembly, a slide rail, and a lifting cylinder; the slide rail is fixed on a mounting seat, the rivet gun assembly is slidably connected to the slide rail, and the mounting seat is also provided with a lifting cylinder for driving the rivet gun assembly to rise and fall.

[0012] Preferably, the riveting devices are provided in two sets, which are respectively arranged on both sides of the mounting base.

[0013] Preferably, the nut blanking mechanism further comprises a material tube clamping block, a blanking tube is provided at the bottom of the material tube clamping block, a limiting groove is further provided on the material tube clamping block, and the wedge-shaped top block is slidably fitted in the limiting groove.

[0014] Preferably, the riveting device includes a first side plate and a second side plate, the two ends of the first guide rod are respectively fixed on the first side plate and the second side plate, the first side plate and the second side plate are both provided with a buffer 26 for limiting the first cylinder mounting seat, and the second nut clamping block is provided with a sensor for detecting the nut.

[0015] Preferably, each set of riveting devices has two lifting cylinders, which are used for nut picking and nut riveting respectively.

[0016] Preferably, the rivet gun assembly includes a rivet gun and a servo motor for driving the gun head of the rivet gun to rotate.

[0017] During use, the discharge pipe of the nut feeding equipment is connected to the material pipe clamping block. After receiving the nut discharge signal, the third cylinder presses down and opens the nut clamping block so that the nut falls between the two nut clamping blocks. Then the second cylinder tightens the nut, and the first cylinder brings the nut to the bottom of the rivet gun. The lifting cylinder drives the rivet gun assembly to lift and lower to take the material. After the robot reaches the rivet hole position, the lifting cylinder drives the rivet gun assembly to lift and lower for riveting.

[0018] The advantages of the present invention are: automatic nut supply, precise positioning, high efficiency, and rapid material discard after detecting nut abnormality, thus solving the problem that it is difficult to screw in the nut with a rivet gun. Description of the drawings:

[0019] Figure 1 It is a structural schematic diagram of the present invention.

[0020] Figure 2 It is a structural schematic diagram of the riveting device of the present invention.

[0021] Figure 3 It is a structural schematic diagram of the nut feeding mechanism of the present invention.

[0022] As shown in the figure: 1. Mounting seat, 2. Riveting device, 3. First side plate, 4. Second side plate, 5. Riveting mechanism, 6. Nut feeding mechanism, 7. Nut blanking mechanism, 8. First guide rod, 9. First cylinder mounting seat, 10. First cylinder, 11. Second guide rod, 12. Second cylinder mounting seat, 13. First nut clamping block, 14. Second nut clamping block, 15. Limit block, 16. Second cylinder, 17. Sensor, 18. Connecting strip, 19. Third cylinder, 20. Wedge-shaped top block, 21. Rivet gun assembly, 22. Slide rail, 23. Lifting cylinder, 24. Material pipe clamping block, 25. Blanking pipe, 26. Buffer. Specific implementation method:

[0023] The present invention provides a robotic automatic riveter, comprising a mounting base 1, on which is mounted a riveting device 2. The riveting device 2 comprises a first side plate 3, a second side plate 4, a riveting mechanism 5, a nut feeding mechanism 6, and a nut blanking mechanism 7. Two sets of riveting devices 2 are provided, one on either side of the mounting base 1. The nut clamping holes of the two sets of riveting devices 2 are hexagonal and the other circular, respectively. One set of riveting devices 2 is used for riveting hexagonal nuts, and the other set is used for riveting cylindrical nuts.

[0024] The nut feeding mechanism 6 includes two fixed first guide rods 8, one end of the first guide rod 8 is fixed to the first side plate 3, and the other end is fixed to the second side plate 4. The first guide rod 8 is inserted into the first cylinder mounting seat 9. The first cylinder mounting seat 9 is provided with a first cylinder 10 for driving the first cylinder mounting seat 9 to slide along the first guide rod 8. The end of the piston rod of the first cylinder 10 is fixed to the second side plate 4. The front end of the first cylinder mounting seat 9 is fixed with two second guide rods 11. The second guide rod 11 is sequentially penetrated from the back to the front. There is a second cylinder mounting seat 12, a first nut clamping block 13, and a second nut clamping block 14; a nut clamping hole is formed in the middle when the first nut clamping block 13 and the second nut clamping block 14 are closed; the front end of the second guide rod 11 is provided with a limiting block 15 for limiting the second nut clamping block 14; the second cylinder mounting seat 12 is provided with a second cylinder 16 for clamping the nut, and the end of the piston rod of the second cylinder 16 is connected to the first nut clamping block 13; the second cylinder mounting seat 12 and the second nut clamping block 14 are fixedly connected by a connecting strip 18.

[0025] The second guide rod 11 is equipped with a floating unit that acts on the nut clamping block. The floating unit comprises a spring sleeved on the second guide rod 11. One end of the spring abuts against a stopper 15, and the other end abuts against the second nut clamping block 14. The stopper 15 is threadedly connected to the second guide rod 11 via an adjusting screw. The position of the stopper 15 can be adjusted by tightening the adjusting screw.

[0026] The first side plate 3 and the second side plate 4 are both provided with a buffer 26 for limiting the first cylinder mounting seat 9, and the second nut clamping block 14 is provided with a sensor 17 for detecting the nut. The sensor 17 can detect whether the nut is crooked, deformed, or taken away.

[0027] When receiving the materials, the first cylinder 10 moves the nut clamping block to the bottom of the nut blanking mechanism 7. When riveting, the first cylinder 10 moves the nut clamping block to the bottom of the rivet gun. The first nut clamping block 13 and the second nut clamping block 14 can be opened a distance to allow the nut to fall, making it easier to discard the nut.

[0028] The second cylinder mount 12, first nut clamping block 13, and second nut clamping block 14 can all slide back and forth along the second guide rod 11. When the piston rod of the second cylinder 16 extends, the rear ends of the second cylinder mount 12 and 16 abut against the first cylinder mount 9. When the piston rod retracts, the second cylinder mount 12 moves forward a distance. The first and second nut clamping blocks 13 and 14 can both float back and forth under the action of the floating unit.

[0029] The nut blanking mechanism 7 includes a third cylinder 19 for pushing the first nut clamping block 13 and the second nut clamping block 14 apart for a distance. The end of the piston rod of the third cylinder 19 is provided with a wedge-shaped top block, and the first nut clamping block 13 and the second nut clamping block 14 are both provided with a notch that matches the shape of the wedge-shaped top block 20.

[0030] The nut blanking mechanism 7 includes a material tube clamping block 24 , a blanking tube 25 is provided at the bottom of the material tube clamping block 24 , and a limiting groove is further provided on the material tube clamping block 24 , and the wedge-shaped top block 20 is slidably matched with the limiting groove.

[0031] When the nut is blanked, the piston rod of the third cylinder 19 is pressed down, causing the first nut clamping block 13 and the second nut clamping block 14 to open a small distance. This distance is just enough to allow the clamping hole to clamp the upper edge of the nut. Then the piston rod of the third cylinder 19 is retracted and the second cylinder 16 is started to clamp the nut.

[0032] The rivet mechanism 5 includes a rivet gun assembly 21, a slide rail 22, and a lift cylinder 23. The slide rail 22 is fixed to the mounting base 1, and the rivet gun assembly 21 is slidably connected to the slide rail 22. The mounting base 1 is also provided with a lift cylinder 23 that drives the rivet gun assembly 21 up and down. Each rivet device 2 has two lift cylinders 23, one for nut removal and one for nut riveting.

[0033] The lifting cylinder 23 with a shorter stroke is used to drive the rivet gun assembly 21 to descend when the nut is removed, so as to avoid the problem that the rivet gun and the nut are stuck and cannot be screwed in when the nut is removed due to the excessive downward pressure of the cylinder.

[0034] The rivet gun assembly 21 includes a rivet gun and a servo motor that drives the gun head of the rivet gun to rotate. The advantage of a servo motor over an ordinary motor is that the servo drive can detect torque, thereby achieving torque controllability of the rivet gun.

[0035] All electrical structures involved in the present invention are connected to a PLC controller to achieve automatic control, which is a conventional technical means in this field.

[0036] The present invention can be modified in many ways that are obvious to those skilled in the art, and such modifications are not considered to depart from the scope of the present invention. All such modifications that are obvious to those skilled in the art are intended to be included within the scope of the claims of the present invention.

Claims

1. A robot automatic rivet gun, characterized in that: It includes a mounting seat, on which a riveting device is provided, and the riveting device includes a riveting mechanism, a nut feeding mechanism, and a nut blanking mechanism; The nut feeding mechanism includes a fixed first guide rod, the first guide rod is passed through the first cylinder mounting seat, the first cylinder mounting seat is provided with a first cylinder that drives the first cylinder mounting seat to slide along the first guide rod, the front end of the first cylinder mounting seat is fixed with a second guide rod, and the second guide rod is passed through the second cylinder mounting seat, the first nut clamping block, and the second nut clamping block in sequence from back to front; a nut clamping hole is formed in the middle when the first nut clamping block and the second nut clamping block are closed; a limiting block is provided at the front end of the second guide rod; a second cylinder for clamping the nut is provided on the second cylinder mounting seat, and the end of the piston rod of the second cylinder is connected to the first nut clamping block; the second guide rod is provided with a floating unit that acts on the nut clamping block; The second cylinder mounting seat and the second nut clamping block are fixedly connected via a connecting strip; The nut blanking mechanism includes a third cylinder for pushing the first nut clamping block and the second nut clamping block apart for a distance, the end of the piston rod of the third cylinder is provided with a wedge-shaped push block, and the first nut clamping block and the second nut clamping block are both provided with a notch that matches the shape of the wedge-shaped push block; The nut blanking mechanism further comprises a material tube clamping block, a blanking tube is provided at the bottom of the material tube clamping block, a limiting groove is further provided on the material tube clamping block, and the wedge-shaped top block is slidably matched with the limiting groove.

2. The robot automatic rivet gun according to claim 1, characterized in that: The floating unit includes a spring sleeved on the second guide rod, one end of the spring abuts against the limit block, and the other end abuts against the second nut clamping block. The limit block is threadedly connected to the second guide rod through an adjusting screw.

3. The robot automatic rivet gun according to claim 1, characterized in that: The rivet mechanism includes a rivet gun assembly, a slide rail, and a lifting cylinder; the slide rail is fixed on a mounting seat, the rivet gun assembly is slidably connected to the slide rail, and the mounting seat is also provided with a lifting cylinder for driving the rivet gun assembly to rise and fall.

4. The robot automatic rivet gun according to claim 1, characterized in that: The riveting devices are in two sets, which are respectively arranged on both sides of the mounting seat.

5. The robot automatic rivet gun according to claim 1, characterized in that: The riveting device includes a first side plate and a second side plate. The two ends of the first guide rod are respectively fixed to the first side plate and the second side plate. The first side plate and the second side plate are both provided with buffers for limiting the first cylinder mounting seat. The second nut clamping block is provided with a sensor for detecting the nut.

6. The robot automatic rivet gun according to claim 4, characterized in that: There are two lifting cylinders on each set of riveting devices, which are used for nut picking and nut riveting respectively.

7. The robot automatic rivet gun according to claim 3, characterized in that: The rivet gun assembly comprises a rivet gun and a servo motor for driving a gun head of the rivet gun to rotate.

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