Automatic chassis riveting system and automatic chassis riveting method

Abstract

The application provides a chassis automatic riveting system and a chassis automatic riveting method. The chassis automatic riveting system comprises a workbench, a support structure is arranged on the workbench, a plurality of suspension beam type mechanical hands are arranged on the support structure, an upper feeding work station, a punching work station, a screw riveting work station, a base riveting work station and a lower feeding work station are sequentially arranged along the length direction of the workbench; an upper feeding mechanism is arranged at the upper feeding work station; an automatic punching mechanism is arranged at the punching work station; a PID differential intelligent screw upper feeding and riveting mechanism is arranged at the screw riveting work station; a PID differential intelligent base upper feeding and riveting mechanism is arranged at the base riveting work station; a chassis lower feeding table is arranged at the lower feeding work station; the PID differential intelligent base upper feeding and riveting mechanism is provided with a lower feeding mechanism, and the lower feeding mechanism is used for pushing the riveted chassis to the chassis lower feeding table. The scheme solves the technical problems of high labor intensity and high labor cost in manual carrying and manual welding, and effectively improves the production efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of chassis riveting, in particular to a chassis automatic riveting system and a chassis automatic riveting method. BACKGROUND

[0002] With the rapid development of industrial automation, intelligent equipment manufacturing takes digitalization, enterprise cloud, edge computing, artificial intelligence, new materials, machine learning as the technical core, and the intelligent equipment designed and manufactured liberates human labor, improves the factory operation environment, reduces energy consumption, and provides the market with intelligent, economic, energy-saving, safe, stable, reliable, and technically advanced intelligent equipment. The full-automatic riveting production line PID differential intelligent control device can be applied in the air conditioning industry, the automobile manufacturing industry, the food industry, and other fields, which is of great significance to accelerate the development of social productivity, improve enterprise production technology, and reduce the physical labor of workers. The previous chassis production was a dispersed production mode of single-station multi-point high-frequency large-current spot welding machine for welding bolts and pedestals, manual material handling, and manual feeding, which had low production efficiency, high labor intensity, high power consumption, and polluted the working environment.

[0003] In the prior art, the chassis riveting adopts the manual carrying and manual welding mode, which has high labor intensity, high labor cost, and multi-point dispersion in the production process.

[0004] In view of the technical problems of high labor intensity and high labor cost in manual carrying and manual welding, no effective solution has been proposed so far. SUMMARY

[0005] The main purpose of the present application is to provide a chassis automatic riveting system and a chassis automatic riveting method to solve the problems of high labor intensity and high labor cost in manual carrying and manual welding in the prior art.

[0006] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a chassis automatic riveting system is provided, comprising: a workbench, a support structure is arranged on the workbench, a plurality of suspension beam type manipulators are arranged on the support structure, the suspension beam type manipulators are slidably arranged along the length direction of the workbench, and an upper feeding work station, a punching work station, a screw riveting work station, a base riveting work station and a lower feeding work station are sequentially arranged along the length direction of the workbench; an upper feeding mechanism, the upper feeding mechanism is arranged at the upper feeding work station, and at least one chassis is placed on the upper feeding mechanism; an automatic punching mechanism, the automatic punching mechanism is arranged at the punching work station, and the automatic punching mechanism is used for punching the chassis; a PID differential intelligent screw upper feeding and riveting mechanism, the PID differential intelligent screw upper feeding and riveting mechanism is arranged at the screw riveting work station, and the PID differential intelligent screw upper feeding and riveting mechanism is used for riveting the chassis with a screw; a PID differential intelligent base upper feeding and riveting mechanism, the PID differential intelligent base upper feeding and riveting mechanism is arranged at the base riveting work station, and the PID differential intelligent base upper feeding and riveting mechanism is used for riveting the chassis with a base; and a chassis lower feeding table, the chassis lower feeding table is arranged at the lower feeding work station; wherein the PID differential intelligent base upper feeding and riveting mechanism has a lower feeding mechanism, and the lower feeding mechanism is used for pushing the riveted chassis to the chassis lower feeding table.

[0007] Further, the workbench is further provided with a quality detection work station, the quality detection work station is arranged close to the lower feeding work station, and the chassis automatic riveting system further comprises: a chassis automatic overturning quality detection device, the chassis automatic overturning quality detection device is arranged at the quality detection work station, and the chassis automatic overturning quality detection device is used for detecting whether the chassis is qualified in quality.

[0008] Further, the chassis automatic riveting system further comprises: an offline robot, the offline robot is arranged close to the lower feeding work station, and the offline robot is used for carrying the chassis from the chassis lower feeding table to the chassis automatic overturning quality detection device; and a transfer and stacking robot, the transfer and stacking robot is arranged close to the offline robot, and the transfer and stacking robot is used for carrying the chassis whose quality detection is completed to a lower feeding area, the lower feeding area at least comprises a stacking area and an unqualified area.

[0009] Further, the chassis automatic overturning quality detection device comprises: a detection platform, the detection platform is connected with the workbench, a sensor measurement mechanism, a transfer automatic overturning mechanism and a positioning and calibration mechanism are arranged on the detection platform, the sensor measurement mechanism is used for detecting whether the chassis is qualified in quality, the transfer automatic overturning mechanism is used for overturning the chassis, and the positioning and calibration mechanism is used for moving correction and positioning of the chassis, so that the chassis is in the measurement range of the sensor measurement mechanism.

[0010] Further, the support structure comprises: a support frame, the support frame is at least one, the support frame is arranged along the height direction of the workbench, and the support frame is connected with the workbench; and a cantilever beam, the cantilever beam is arranged along the length direction of the workbench, the cantilever beam is connected with the support frame, and a plurality of suspension beam type manipulators are arranged on the cantilever beam, and the suspension beam type manipulators are slidably connected with the cantilever beam.

[0011] Further, the three PID differential intelligent screw feeding and riveting mechanisms are arranged at a distance along the length direction of the workbench, and each of the PID differential intelligent screw feeding and riveting mechanisms is provided with a screw feeding mechanism.

[0012] Further, the three groups of PID differential intelligent foot feeding and riveting mechanisms are arranged at a distance along the length direction of the workbench, and the two PID differential intelligent foot feeding and riveting mechanisms in the same group are arranged on the two sides of the support structure, and the group of PID differential intelligent foot feeding and riveting mechanisms close to the discharging working position is provided with a discharging mechanism.

[0013] Further, the group of PID differential intelligent foot feeding and riveting mechanisms close to the screw riveting working position is provided with a foot feeding mechanism.

[0014] Further, the feeding mechanism is provided with a taking position, a feeding position and a moving mechanism, the moving mechanism is movably arranged between the taking position and the feeding position, and the taking position is arranged close to the punching working position.

[0015] According to another aspect of the present application, a chassis automatic riveting method is provided, the chassis automatic riveting method is based on the chassis automatic riveting system, and the chassis automatic riveting method comprises the following steps: grabbing the chassis located on the feeding working position and moving to the punching working position; automatically punching the chassis; after the punching is completed, grabbing the chassis and moving to the screw riveting working position; screw riveting the chassis; after the screw riveting is completed, grabbing the chassis and moving to the foot riveting working position; foot riveting the chassis; after the foot riveting is completed, grabbing the chassis and moving to the quality detection working position; quality detecting the chassis; in the case that the detection result of the chassis is qualified, grabbing the chassis and moving to the stacking area; and in the case that the detection result of the chassis is unqualified, grabbing the chassis and moving to the unqualified area.

[0016] Further, the feeding working position comprises a taking position and a feeding position, and before the chassis located on the feeding working position is grabbed, the method further comprises the following steps: detecting whether there is a chassis on the taking position; and in the case that it is determined that there is no chassis on the taking position, controlling the moving mechanism of the feeding mechanism to move, so as to carry the chassis located on the feeding position to the taking position.

[0017] The technical scheme of the application realizes automatic feeding by a cantilever type manipulator, automatic punching by an automatic punching mechanism, screw riveting and foot riveting by a PID differential intelligent screw feeding and riveting mechanism and a PID differential intelligent foot feeding and riveting mechanism in sequence, and automatic discharging by a discharging mechanism, so as to realize the automatic riveting of the chassis, solve the technical problems of high labor intensity and high labor cost in manual carrying and manual welding, and effectively improve the production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0018] The drawings accompanying the specification of this application form a part thereof, serve to provide further understanding of the application, and together with the description of the exemplary embodiments of the application given below, make an explanation of the application complete, and are intended to provide a further support for the objects of the application. In the drawings:

[0019] Figure 1 A structure schematic view of a first embodiment of the chassis automatic riveting system according to the application is shown;

[0020] Figure 2 A structure schematic view of a second embodiment of the chassis automatic riveting system according to the application is shown;

[0021] Figure 3 A structure schematic view of a third embodiment of the chassis automatic riveting system according to the application is shown;

[0022] Figure 4 A structure schematic view of an embodiment of the chassis according to the application is shown;

[0023] Figure 5 A structure schematic view of an embodiment of the PID differential intelligent foot feeding and riveting mechanism according to the application is shown;

[0024] Figure 6 A structure schematic view of a fourth embodiment of the chassis automatic riveting system according to the application is shown;

[0025] Figure 7 A structure schematic view of an embodiment of the feeding mechanism according to the application is shown;

[0026] Figure 8 A structure schematic view of an embodiment of the chassis automatic overturning quality detection device according to the application is shown;

[0027] Figure 9 A flow schematic view of a first embodiment of the chassis automatic riveting method according to the application is shown;

[0028] Figure 10 A flow schematic view of a second embodiment of the chassis automatic riveting method according to the application is shown.

[0029] In the above drawings, the following reference signs are used:

[0030] 1, workbench; 100, chassis;

[0031] 2, support structure; 21, suspension beam type manipulator; 22, support frame; 23, cantilever beam;

[0032] 3, feeding mechanism;

[0033] 4, automatic punching mechanism;

[0034] 5, PID differential intelligent screw feeding riveting mechanism; 500, screw;

[0035] 6, PID differential intelligent foot feeding riveting mechanism; 600, foot;

[0036] 7, chassis unloading table;

[0037] 8, automatic turnover quality detection device of chassis; 81, sensor measurement mechanism; 82, automatic turnover mechanism; 83, positioning mechanism; 84, movement correction mechanism; 800, detection platform;

[0038] 9, offline robot;

[0039] 10, transfer and stacking robot. DETAILED DESCRIPTION

[0040] It should be noted that the embodiments and features in the embodiments in the present application can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0041] It should be noted that the terms used herein are only for the purpose of describing specific embodiments, and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and furthermore, it should be understood that when the terms "comprise" and / or "include" are used in the specification, there is a presence of a feature, step, operation, device, component and / or combination thereof.

[0042] It is to be understood that the terms "first", "second", and the like, used in the description and the claims of the present application as well as the preceding description of the background of the application, are used to distinguish similar objects and are not necessarily used to describe a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of practical implementation in other than the presented orders. Moreover, the terms "comprise", "comprising", "include", "including" and the like, are typically used herein to indicate the presence of stated features, integers, steps or components but not to the exclusion of one or more other features, integers, steps, components or groups thereof. The mere fact that different features, integers, steps or components are listed in

[0043] According to specific embodiments of the present application, a bottom disc automatic riveting system is provided.

[0044] In conjunction with Figures 1 to 8 According to specific embodiments of the present application, a bottom disc automatic riveting system is provided.

[0045] The chassis automatic riveting system comprises a workbench 1, a feeding mechanism 3, an automatic punching mechanism 4, a PID differential intelligent screw feeding and riveting mechanism 5, a PID differential intelligent foot feeding and riveting mechanism 6 and a chassis unloading table 7. The workbench 1 is provided with a support structure 2, and a plurality of suspension beam type mechanical hands 21 are arranged on the support structure 2. The suspension beam type mechanical hands 21 are slidably arranged along the length direction of the workbench 1, and a feeding work station, a punching work station, a screw riveting work station, a foot riveting work station and an unloading work station are sequentially arranged along the length direction of the workbench 1. The feeding mechanism 3 is arranged at the feeding work station, and at least one chassis 100 is placed on the feeding mechanism 3. The automatic punching mechanism 4 is arranged at the punching work station, and is used for punching the chassis 100. The PID differential intelligent screw feeding and riveting mechanism 5 is arranged at the screw riveting work station, and is used for riveting the chassis 100 and a screw 500. The PID differential intelligent foot feeding and riveting mechanism 6 is arranged at the foot riveting work station, and is used for riveting the chassis 100 and a foot 600. The chassis unloading table 7 is arranged at the unloading work station. The PID differential intelligent foot feeding and riveting mechanism 6 has an unloading mechanism, which is used for pushing the riveted chassis 100 to the chassis unloading table 7.

[0046] By using the technical scheme, the automatic feeding is realized by the suspension beam type mechanical hand 21, the automatic punching, screw riveting and foot riveting are realized by the automatic punching mechanism 4, the PID differential intelligent screw feeding and riveting mechanism 5 and the PID differential intelligent foot feeding and riveting mechanism 6 in sequence, and the automatic unloading is realized by the unloading mechanism, so that the chassis riveting automation is realized, the technical problems of high labor intensity and high labor cost in manual carrying and manual welding are solved, and the production efficiency is effectively improved.

[0047] Further, the workbench 1 is further provided with a quality detection work station, the quality detection work station is arranged close to the unloading work station, and the chassis automatic riveting system further comprises a chassis automatic turnover quality detection device 8. The chassis automatic turnover quality detection device 8 is arranged at the quality detection work station, and is used for detecting whether the chassis 100 is qualified in quality.

[0048] In the embodiment, the quality detection is a key link in the riveting line production. The manual detection has the problems of poor real-time performance and 100% full detection due to fatigue. The chassis automatic turnover quality detection device 8 developed and designed by using the robot transfer, the photoelectric multifunctional sensor, the artificial intelligence mathematical model and the modern CPU intelligent control technology effectively solves the defects of the manual detection, guarantees the effectiveness of the product quality detection in the chassis production process and the stability of the product quality detection in the production process, is an important guarantee for the product quality in the chassis automatic riveting production process, and lays a foundation for the production quality of the air conditioner product.

[0049] Further, the chassis automatic riveting system further comprises an offline robot 9 and a transfer and stacking robot 10. The offline robot 9 is arranged close to the chassis unloading station, and is used to carry the chassis 100 from the chassis unloading table 7 to the chassis automatic overturning quality detection device 8. The transfer and stacking robot 10 is arranged close to the offline robot 9, and is used to carry the chassis 100 whose quality detection is completed to a unloading area. The unloading area at least comprises a stacking area and an unqualified area. The unloading area is divided into the stacking area and the unqualified area, which can facilitate subsequent classification and processing of the chassis 100 whose quality detection is qualified or unqualified. The arrangement of the offline robot 9 and the transfer and stacking robot 10 makes the division of labor in the production process of the chassis 100 more accurate, and improves the production efficiency.

[0050] Specifically, the chassis automatic overturning quality detection device 8 comprises a detection platform 800 connected with the workbench 1. The detection platform 800 is provided with a sensor measurement mechanism 81, a transfer and automatic overturning mechanism 82, and a positioning and calibration mechanism. The sensor measurement mechanism 81 is used to detect whether the chassis 100 is qualified in quality. The transfer and automatic overturning mechanism 82 is used to overturn the chassis 100. The positioning and calibration mechanism is used to move and correct and position the chassis 100, so that the chassis 100 is in the measurement range of the sensor measurement mechanism 81.

[0051] Specifically, in an exemplary embodiment of the present application, the positioning and calibration mechanism comprises a positioning mechanism 83 and a movement correction mechanism 84, as shown in Figure 8 By arranging the positioning and calibration mechanism, it can be ensured that the chassis 100 is in the measurement range of the sensor measurement mechanism 81, the accuracy of the quality detection result is guaranteed, and the production efficiency is improved.

[0052] Specifically, the support structure 2 comprises a support frame 22 and a cantilever beam 23. The support frame 22 is at least one, and is arranged to extend along the height direction of the workbench 1 and is connected with the workbench 1. The cantilever beam 23 is arranged to extend along the length direction of the workbench 1 and is connected with the support frame 22. The cantilever beam 23 is provided with a plurality of suspension beam type mechanical hands 21, and the suspension beam type mechanical hand 21 is slidably connected with the cantilever beam 23. In this embodiment, the suspension beam type mechanical hand 21 can slide along the cantilever beam 23, and there are a plurality of suspension beam type mechanical hands 21, so that each suspension beam type mechanical hand 21 is used for material transportation between two adjacent workstations, the moving distance is shorter, the wear of a single suspension beam type mechanical hand 21 is reduced, and the carrying efficiency is improved. The arrangement of the support frame 22 can improve the structural strength of the system.

[0053] Further, the three PID differential intelligent screw feeding and riveting mechanisms 5 are arranged at a distance along the length direction of the workbench 1, and each of the PID differential intelligent screw feeding and riveting mechanisms 5 is provided with a screw feeding mechanism. The screw feeding mechanism arranged on the PID differential intelligent screw feeding and riveting mechanism 5 can realize automatic feeding of the screws 500, improve the production efficiency, and facilitate the realization of full automation of the production process of the overall system.

[0054] Further, the PID differential intelligent foot feeding and riveting mechanism 6 is three groups, each group including two PID differential intelligent foot feeding and riveting mechanisms 6, the three groups of PID differential intelligent foot feeding and riveting mechanisms 6 are arranged at a distance along the length direction of the workbench 1, and the two PID differential intelligent foot feeding and riveting mechanisms 6 in the same group are arranged on the two sides of the support structure 2, wherein the group of PID differential intelligent foot feeding and riveting mechanisms 6 close to the discharging working position is provided with a discharging mechanism. By arranging the discharging mechanism, after the foot riveting is completed, the PID differential intelligent foot feeding and riveting mechanism 6 can directly push the chassis 100 to the chassis discharging table 7, thereby improving the automation level of the system.

[0055] Further, the group of PID differential intelligent foot feeding and riveting mechanisms 6 close to the screw riveting working position is provided with a foot feeding mechanism. By arranging the foot feeding mechanism, automatic feeding of the foot 600 can be realized, and the automation level of the system is improved.

[0056] Further, the feeding mechanism 3 is provided with a taking position, a feeding position and a moving mechanism, the moving mechanism is movably arranged between the taking position and the feeding position, and the taking position is arranged close to the punching working position. By arranging the moving mechanism movably between the taking position and the feeding position, when there is no chassis 100 in the taking position, the moving mechanism can transport the chassis 100 in the feeding position to the taking position, and the feeding process of the chassis 100 is controllable. After the chassis 100 in the taking position is taken away, the moving mechanism can return to the feeding position and wait for the next feeding transportation.

[0057] In an exemplary embodiment of the present application, computer distributed intelligent control technology, RS485, industrial ETHERNET, ETHERCAT communication technology, information acquisition real-time intelligent processing technology are adopted between the feeding mechanism 3, the automatic punching mechanism 4, the PID differential intelligent screw feeding and riveting mechanism 5, the PID differential intelligent foot feeding and riveting mechanism 6, the chassis discharging table 7 and the chassis automatic overturning quality detection device 8, so as to realize full-automatic production, and the information intelligent degree is high.

[0058] The chassis automatic riveting system in the above embodiment solves the problems of high labor intensity and high labor cost in the chassis riveting production process, solves the problems of multi-point dispersion, manual carrying and manual welding, realizes three-level intelligent control, realizes equipment control and production decision informationization and intelligentization, reduces the number of employees and improves efficiency, achieves one-line one-person or multi-line one-person configuration, reduces labor intensity and energy consumption, is green and environmentally friendly, and realizes one-line flow and automatic production. After the application of the system, the product production cycle is shortened by 15%, energy consumption is reduced by 30%, efficiency is improved by 35%, and the number of employees is reduced by 7 people per day.

[0059] According to another specific embodiment of the present application, a chassis automatic riveting method is also provided, which is based on the above chassis automatic riveting system. As shown in the figure, the chassis automatic riveting method comprises: Figure 9

[0060] Step S1, grabbing the chassis 100 located on the feeding working position and moving to the punching working position;

[0061] Step S2, automatically punching the chassis 100;

[0062] Step S3, after the punching is completed, grabbing the chassis 100 and moving to the screw riveting working position;

[0063] Step S4, screw riveting the chassis 100;

[0064] Step S5, after the screw riveting is completed, grabbing the chassis 100 and moving to the base riveting working position;

[0065] Step S6, base riveting the chassis 100;

[0066] Step S7, after the base riveting is completed, grabbing the chassis 100 and moving to the quality detection working position;

[0067] Step S8, quality detecting the chassis 100;

[0068] Step S9, in the case that the detection result of the chassis 100 is qualified, grabbing the chassis 100 and moving to the stacking area;

[0069] Step S10, in the case that the detection result of the chassis 100 is unqualified, grabbing the chassis 100 and moving to the unqualified area.

[0070] Through steps S1-S10, the feeding, screw riveting, base riveting, quality detection and discharging process of the chassis 100 can be fully automated, and the production rate and product quality can be improved. When discharging, classification can be performed according to the detection result, which can facilitate further processing.

[0071] ​Further, the feeding working position comprises a taking position and a feeding position, before the tray 100 at the feeding working position is grabbed, the method further comprises:

[0072] Step S100, detecting whether there is a tray 100 at the taking position;

[0073] Step S101, in the case that it is determined that there is no tray 100 at the taking position, the moving mechanism of the feeding mechanism 3 is controlled to move, so as to carry the tray 100 at the feeding position to the taking position.

[0074] By applying the technical solution of the embodiment, when there is no tray 100 at the taking position, the tray 100 at the feeding position is carried to the taking position, so that the tray can be taken immediately after being used, and whether the tray 100 needs to be carried is determined according to the current process and the number of trays 100 at the taking position, so that the production process can be ensured to be orderly.

[0075] The application also provides a preferred embodiment of a tray automatic riveting system and a tray automatic riveting method. Specifically, the tray automatic riveting system comprises eight suspension beam type robots 21, three PID differential intelligent screw feeding and riveting mechanisms 5 (each PID differential intelligent screw feeding and riveting mechanism 5 comprises a screw feeding mechanism), two automatic base foot feeding machines, a hydraulic station, an air tank, six PID differential intelligent base foot feeding and riveting mechanisms 6 (two of which comprise a base foot feeding mechanism, and the other two comprise a discharging mechanism), a tray automatic overturning quality detection device 8, an offline robot 9, and a transfer and stacking robot 10. The tray automatic riveting system in the embodiment realizes automatic, digital, intelligent, and unmanned production process of tray riveting through modern computer technology, motion control technology, liquid-gas composite PID differential control technology, PLC control technology, and modern sensors.

[0076] In the embodiment, the tray automatic riveting system is mainly controlled through RS485, ETHERCAT, ETHERNET industrial bus distribution control technology, wherein the first-level control is controlled through RS485P, RS232, ROFBUS, PROFNET various intelligent sensors, the second-level control is controlled through ETHERCAT, ETHERNET various intelligent devices, and the third-level control is realized through ETHERNET and 4G\5G technology to realize interactive control of device control, production information, management information, enterprise operation, and external information of the enterprise.

[0077] The system connects the feeding mechanism 3, the automatic punching mechanism 4, the PID differential intelligent screw feeding riveting mechanism 5, the PID differential intelligent foot feeding riveting mechanism 6, the automatic overturning quality detection device 8 of the chassis, a plurality of photoelectric sensors, pressure sensors and thickness sensors in distribution, and establishes a mathematical model for the basic data, production data and operation data of the chassis riveting production process through the motion control digital regulation technology, modern computer technology and artificial intelligence technology. The control, production, management and operation data collected in real time are analyzed, processed and formed into decision data, which is fed back to the control mechanism of each layer to adaptively control the automatic production of the chassis. In the system, the production efficiency is greatly improved, the power consumption is greatly reduced, there is no high-frequency welding arc radiation and harmful gas emission, the mechanical hand automatically moves and loads to realize unmanned handling, the chassis production realizes the goal of reducing staff and increasing efficiency, energy saving and emission reduction.

[0078] In combination with Figures 1 to 8 The chassis automatic riveting system of the embodiment is introduced as follows:

[0079] The feeding mechanism 3 is provided with a servo feeding table, a storage position workbench and a motion controller. The motion controller drives the servo feeding table to realize automatic positioning and automatic feeding. Different models of products can be automatically switched by keys. The chassis 100 is placed on the storage position workbench, and after being placed, the chassis 100 is automatically fed to the next work position by pressing the start key. The overhead beam type mechanical hand 21 grabs the chassis 100 on the material taking position and moves to the punching work position.

[0080] The three PID differential intelligent screw feeding riveting mechanisms 5 have positioning plates. After the chassis 100 is placed on the positioning plates by the overhead beam type mechanical hand 21, the chassis 100 is automatically positioned. Three screws on the chassis 100 are riveted by the three PID differential intelligent screw feeding riveting mechanisms 5 respectively. After riveting is completed, the chassis is conveyed to the next work position (i.e. the foot riveting work position) by the overhead beam type mechanical hand 21.

[0081] The foot riveting work position is provided with three positions which are arranged along the length direction of the workbench 1 in sequence. The foot riveting work positions are symmetrically arranged about the cantilever beam 23. Each foot riveting work position is provided with two PID differential intelligent foot feeding riveting mechanisms 6. The chassis 100 is placed on the positioning plates of the PID differential intelligent foot feeding riveting mechanisms 6 by the overhead beam type mechanical hand 21. The chassis 100 is automatically positioned and fixed. Ten riveting points of the front and rear positions of the two feet 600 are riveted by the six PID differential intelligent foot feeding riveting mechanisms 6. After riveting is completed, the chassis is conveyed to the chassis unloading table 7 by the overhead beam type mechanical hand 21.

[0082] The production process of the chassis automatic riveting system includes: chassis feeding, bolt feeding and riveting, pedestal feeding and riveting, automatic overturning and quality detection of the chassis, and chassis transportation into the warehouse. Figure 10The chassis automatic riveting method comprises:

[0083] 1. Chassis automatic feeding;

[0084] System starts, primary control detects that the material taking position has no chassis, secondary control requests the suspension beam manipulator 21 to feed---the suspension beam manipulator 21 takes the chassis to the punching work position, the suspension beam manipulator 21 is suspended, after the punching is completed, the suspension beam manipulator 21 takes the chassis and moves to the screw riveting work position---the feeding table enters an automatic standby state and waits for the next chassis moving and loading period. Among them, when an abnormality occurs, an alarm information is displayed, the system is automatically stopped and manual processing is performed.

[0085] 2. Screw automatic riveting;

[0086] The chassis 100 is automatically moved and loaded by the suspension beam manipulator 21 to the screw riveting work position---after the chassis 100 is placed on the positioning plate and is automatically positioned---the primary control detects the chassis 100 and the screw 500---the secondary control starts the PID differential intelligent screw feeding and riveting mechanism 5 and automatically operates---the PID differential intelligent screw feeding and riveting mechanism 5 is started---the first screw 500 is riveted---the first screw 500 riveting is completed---three screws on the chassis 100 are to be automatically riveted---three screws are riveted by three PID differential intelligent screw feeding and riveting mechanisms 5 in the same working mode, after the riveting is completed---the secondary control requests the suspension beam manipulator 21 to take the chassis 100 and convey it to the base foot riveting work position---the PID differential intelligent screw feeding and riveting mechanism 5 enters an automatic standby state---and waits for the next production period. Among them, when an abnormality occurs, an alarm information is displayed, the system is automatically stopped and manual processing is performed.

[0087] 3. Base foot riveting;

[0088] The chassis 100 is automatically moved and loaded by the suspension beam manipulator 21 to the base foot riveting work position---after the chassis 100 is placed on the positioning plate and is automatically positioned---the primary control detects the chassis 100 and the base foot 600---the secondary control starts the PID differential intelligent base foot feeding and riveting mechanism 6 and automatically operates---the PID differential intelligent base foot feeding and riveting mechanism 6 is started---the first base foot riveting station is riveted---the first base foot riveting station is riveted---the base foot on the chassis has ten riveting points, which are riveted three times automatically---ten riveting points are riveted by six symmetrical three-station PID differential intelligent base foot feeding and riveting mechanisms 6 in the same working mode three times, after the riveting is completed---the secondary control requests the suspension beam manipulator 21 to take the chassis 100 and convey it to the quality detection work position---the PID differential intelligent base foot feeding and riveting mechanism 6 enters an automatic standby state---and waits for the next production period. Among them, when an abnormality occurs, an alarm information is displayed, the system is automatically stopped and manual processing is performed.

[0089] 4. Automatic turnover quality detection of the base plate;

[0090] The first control detects the base plate 100, the second control requests the robot 9 to take the base plate 100 and move it to the automatic turnover quality detection device 8, the automatic turnover quality detection device 8 starts, automatically turns over, automatically detects the quality, the product is qualified, the second control requests the transfer and stacking robot 10 to take the base plate 100 and move it to the stacking area, when the product is unqualified, the second control requests the transfer and stacking robot 10 to take the base plate 100 and move it to the unqualified area, when the turnover and automatic detection of one base plate are completed, the second control enters an automatic standby state to prepare for the turnover and detection of the next base plate, and when an abnormality occurs, an alarm information is displayed, the machine is automatically stopped and manual processing is performed.

[0091] 5. Information collection and communication;

[0092] The third control starts, collects the automatic production information of the base plate and executes the production plan of the next batch.

[0093] The base plate automatic riveting method in the above embodiment is used for processing different products, and only the touch screen button operation switching is needed to complete the switching of different types of products.

[0094] For ease of description, spatial relative terms such as "above", "upper", "upper surface", "upper", and the like can be used herein to describe the spatial relationship of one device or feature to another device or feature as shown in the drawings. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the device described in the drawings. For example, if the device in the drawing is inverted, the device described as "above" or "above" the other device or structure will be positioned "below" or "below" the other device or structure. Thus, the exemplary term "above" can include both "above" and "below" orientations. The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein are interpreted accordingly.

[0095] In addition to the above, it should also be noted that "one embodiment", "another embodiment", "embodiment", and the like mentioned in the specification refer to specific features, structures or characteristics described in connection with the embodiment, which are included in at least one embodiment generally described in the application. The same expression appears in several places in the specification does not necessarily refer to the same embodiment. Further, when a specific feature, structure or characteristic is described in connection with any embodiment, it is claimed that the implementation of such feature, structure or characteristic in connection with other embodiments also falls within the scope of the application.

[0096] In the above-described embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0097] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A bottoming automatic riveting system characterized by, The utility model relates to a kind of bottom disc automatic riveting system, including: Workbench (1), support structure (2) is provided on the workbench (1), a plurality of suspension beam type manipulator (21) are provided on the support structure (2), the suspension beam type manipulator (21) is slidably arranged along the length direction of the workbench (1), and feeding work station, punching work station, screw riveting work station, base riveting work station and discharging work station are sequentially arranged along the length direction of the workbench (1); Feeding mechanism (3), the feeding mechanism (3) is arranged in the feeding work station, and at least one bottom disc (100) is placed on the feeding mechanism (3); Automatic punching mechanism (4), the automatic punching mechanism (4) is arranged in the punching work station, and the automatic punching mechanism (4) is used for punching the bottom disc (100); PID differential intelligent screw feeding riveting mechanism (5), the PID differential intelligent screw feeding riveting mechanism (5) is arranged in the screw riveting work station, and the PID differential intelligent screw feeding riveting mechanism (5) is used for riveting the bottom disc (100) with screw (500); PID differential intelligent base feeding riveting mechanism (6), the PID differential intelligent base feeding riveting mechanism (6) is arranged in the base riveting work station, and the PID differential intelligent base feeding riveting mechanism (6) is used for riveting the bottom disc (100) with base (600); Bottom disc discharging table (7), the bottom disc discharging table (7) is arranged in the discharging work station; Wherein, the PID differential intelligent base feeding riveting mechanism (6) has discharging mechanism, and the discharging mechanism is used for pushing the bottom disc (100) riveted to complete to the bottom disc discharging table (7); The workbench (1) is also provided with quality detection work station, the quality detection work station is arranged close to the discharging work station, and the bottom disc automatic riveting system further includes: bottom disc automatic turnover quality detection device (8), the bottom disc automatic turnover quality detection device (8) is arranged in the quality detection work station, and the bottom disc automatic turnover quality detection device (8) is used for detecting whether the bottom disc (100) is quality qualified; The bottom disc automatic turnover quality detection device (8) includes: detection platform (800), the detection platform (800) is connected with the workbench (1), sensor measurement mechanism (81), transfer automatic turnover mechanism (82) and positioning calibration mechanism are arranged on the detection platform (800), the sensor measurement mechanism (81) is used for detecting whether the bottom disc (100) is quality qualified, the transfer automatic turnover mechanism (82) is used for overturning the bottom disc (100), and the positioning calibration mechanism is used for moving correction and positioning to the bottom disc (100), so that the bottom disc (100) is in the measurement range of the sensor measurement mechanism (81).

2. The chassis automatic riveting system of claim 1, wherein, The bottom disc automatic riveting system further includes: A lower line robot (9) is arranged near the blanking work station, and the lower line robot (9) is used to carry the bottom disc (100) from the bottom disc blanking table (7) to the bottom disc automatic overturning quality detection device (8); A transfer stacking robot (10) is arranged near the lower line robot (9), and the transfer stacking robot (10) is used to carry the bottom disc (100) whose quality detection is completed to a blanking area, and the blanking area at least includes a stacking area and an unqualified area.

3. The chassis automatic riveting system of claim 1, wherein, The support structure (2) comprises: A support frame (22) is arranged along the height direction of the workbench (1), and the support frame (22) is connected with the workbench (1); A cantilever beam (23) is arranged along the length direction of the workbench (1), and the cantilever beam (23) is connected with the support frame (22), and a plurality of suspension beam type mechanical hands (21) are arranged on the cantilever beam (23), and the suspension beam type mechanical hand (21) is slidably connected with the cantilever beam (23).

4. The system for automatic riveting of a chassis according to claim 1 or 3, characterized in that The three PID differential intelligent screw feeding riveting mechanisms (5) are arranged at a distance along the length direction of the workbench (1), and each PID differential intelligent screw feeding riveting mechanism (5) is provided with a screw feeding mechanism.

5. The system for automatic riveting of a chassis according to claim 1 or 3, characterized in that, The PID differential intelligent foot feeding riveting mechanism (6) is three groups, each group comprising two PID differential intelligent foot feeding riveting mechanisms (6), and the three groups of PID differential intelligent foot feeding riveting mechanisms (6) are arranged at a distance along the length direction of the workbench (1), and the two PID differential intelligent foot feeding riveting mechanisms (6) in the same group are arranged on the two sides of the support structure (2) respectively, wherein the group of PID differential intelligent foot feeding riveting mechanisms (6) near the blanking work station is provided with the blanking mechanism.

6. The chassis automatic riveting system of claim 5, wherein, The group of PID differential intelligent foot feeding riveting mechanisms (6) near the screw riveting work station is provided with a foot feeding mechanism.

7. The chassis automatic riveting system of claim 1, wherein, The feeding mechanism (3) is provided with a material taking station, a feeding station and a moving mechanism, the moving mechanism is movably arranged between the material taking station and the feeding station, and the material taking station is arranged near the punching work station.

8. A method of automatic riveting of a chassis, characterized in that, The bottom disc automatic riveting method is based on the bottom disc automatic riveting system in any one of claims 1-7, and the bottom disc automatic riveting method comprises: Grabbing the bottom disc (100) on the feeding work station and moving to the punching work station; Punching the bottom disc (100) automatically; After punching, grabbing the bottom disc (100) and moving to the screw riveting work station; Screw riveting the bottom disc (100); After screw riveting, grabbing the bottom disc (100) and moving to the foot riveting work station; Feet riveting the bottom disc (100); After the riveting of the base is completed, the tray (100) is grabbed and moved to a quality detection working position; The quality of the tray (100) is detected; In the case that the detection result of the tray (100) is qualified, the tray (100) is grabbed and moved to a stacking area; In the case that the detection result of the tray (100) is unqualified, the tray (100) is grabbed and moved to an unqualified area.

9. The method of automatically riveting a chassis of claim 8, wherein, The loading working position comprises a taking position and a loading position, before grabbing the tray (100) located on the loading working position, the method further comprises: Detecting whether the tray (100) is on the taking position; In the case that it is determined that the tray (100) is not on the taking position, the moving mechanism of the loading mechanism (3) is controlled to move, so as to carry the tray (100) located on the loading position to the taking position.

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