Automatic drilling, nut feeding and nut riveting integrated robot end effector

Abstract

The automatic drilling, nut feeding and nut riveting integrated robot end effector comprises a robot flange base used for being connected with a robot, an X-axis module is arranged on the robot flange base, and the X-axis module is connected with a Y-axis module; the Y-axis module comprises a Y-axis sliding plate A and a Y-axis sliding plate B; a drilling motorized spindle is arranged on the Y-axis sliding plate A, and a hand riveter is arranged on the Y-axis sliding plate B; the X-axis module is provided with a receiving and feeding module, and the receiving and feeding module and the X-axis module are combined to form a robot end execution structure integrating automatic drilling, nut feeding and nut riveting; and the nuts are loaded to the robot, and the robot integrating automatic drilling, nut feeding and nut pulling and riveting is formed.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a robot for processing new energy battery shells, and specifically to an automatic drilling, nut feeding, and rivet nut integrated robot end effector. Background Art

[0002] With the rapid development of the new energy industry, the demand for new energy batteries continues to grow.

[0003] In the process of drilling and rivet nut processing of new energy battery shells, the traditional processing method requires the corresponding drilling equipment to drill holes and the corresponding rivet nut equipment to perform rivet nut operations, and then load the materials to correspond to the subsequent preparation process; the current processing method has the problem of single equipment processing function, frequent replacement of processing equipment, or frequent replacement of fixtures, low processing efficiency and poor precision, and a large amount of manpower is occupied, resulting in high labor costs.

[0004] In order to improve production efficiency and product quality and reduce production costs, there is an urgent need for a processing equipment with a high degree of automation and centralized functions.

[0005] Therefore, it is necessary to provide an integrated robot end effector for automatic drilling, nut feeding and rivet nut pulling to solve the above problems. Summary of the invention

[0006] The purpose of the present invention is to provide an integrated robot end effector for automatic drilling, nut feeding and rivet nut pulling.

[0007] The present invention achieves the above object through the following technical solutions:

[0008] An integrated robot end effector for automatic drilling, nut feeding and rivet nut pulling comprises a robot flange seat for connecting the robot, an X-axis module is arranged on the robot flange seat, and the X-axis module is connected to the Y-axis module;

[0009] The Y-axis module includes a Y-axis slide plate A and a Y-axis slide plate B;

[0010] The Y-axis slide plate A is provided with a drilling electric spindle, and the Y-axis slide plate B is provided with a rivet gun;

[0011] The X-axis module is equipped with a feeding module, which is combined to form a robot end-effector structure integrating automatic drilling, nut feeding, and rivet nut pulling.

[0012] Load it onto the robot to form an integrated robot that can automatically drill holes, feed nuts, and pull rivets and nuts.

[0013] Furthermore, the X-axis module includes an X-axis frame, and a group of linear guides A and ball screw pairs A are arranged on the lower end surface of the X-axis frame, and the linear guides A and the ball screw pairs A are connected to the X-axis slide.

[0014] Furthermore, the X-axis slide is driven to translate by the servo motor A.

[0015] Furthermore, a linear guide rail B and a ball screw pair B, a linear guide rail C and a ball screw pair C are arranged under the X-axis slide.

[0016] Furthermore, the linear guide B and the ball screw pair B are connected to the Y-axis slide plate A, and the linear guide C and the ball screw pair C are connected to the Y-axis slide plate B.

[0017] Furthermore, the Y-axis slide A is driven to move by the servo motor B, and the Y-axis slide B is driven to move by the servo motor C.

[0018] Furthermore, a 3D vision system is provided on the X-axis frame, and the drilling and rivet nut positioning are assisted by the 3D vision system, and precise positioning is achieved through the algorithms of the robot and servo system.

[0019] Furthermore, the material receiving and conveying module includes a sleeve fixing seat, and the sleeve fixing seat is installed with a material guiding circular sleeve.

[0020] Furthermore, a fixed seat is provided on the X-axis frame, a linear guide is provided on the fixed seat, a swing cylinder is connected to the linear guide, and the translation of the swing cylinder is achieved by extending and retracting the cylinder A provided on the fixed seat.

[0021] Furthermore, a feeding plate is provided on the swing surface of the swing cylinder, and a nut receiving fixture is loaded on the feeding plate.

[0022] Furthermore, after the nut is delivered to the position, the clamping plate extends out of the clamping nut through the cylinder B, and then retreats to the flip position. The flip cylinder flips 90 degrees, and after reaching the feeding position, it waits for the rivet gun to pick up the material.

[0023] Compared with the prior art, the present invention integrates automatic drilling, rivet nut pulling and feeding. After being loaded onto the robot, it can form a highly integrated intelligent processing equipment that integrates automatic drilling, nut feeding and rivet nut pulling, thereby ensuring product processing efficiency and processing accuracy, reducing human resource occupation, and facilitating the implementation of enterprise production optimization. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is one of the structural schematic diagrams of the present invention;

[0025] Figure 2 This is the second schematic diagram of the structure of the present invention;

[0026] Figure 3 This is the third structural schematic diagram of the present invention. DETAILED DESCRIPTION

[0027] Example:

[0028] See also Figure 1-3 ,This embodiment shows an integrated robot end effector for automatic drilling, nut feeding, and rivet nut pulling;

[0029] It includes a robot flange seat 1, an X-axis frame 2 is connected to the robot flange seat, and a set of linear guide rails 20 and a ball screw pair 21 are installed under the X-axis frame 2;

[0030] The linear guide 20 and the ball screw pair 21 are connected to the X-axis slide 19, and the X-axis slide 19 is driven to translate by the servo motor 14;

[0031] Another X-axis slide 19 is provided with a linear guide 23 and a ball screw pair 24, a linear guide 22 and a ball screw pair 25, the linear guide 23 and the ball screw pair 24 are connected to the Y-axis slide B27, and the linear guide 22 and the ball screw pair 25 are connected to the Y-axis slide A26;

[0032] The Y-axis slide B27 is driven to move by the servo motor 15, and the Y-axis slide A26 is driven to move by the servo motor 16;

[0033] The Y-axis slide B27 is installed with the drilling electric spindle 12, and the Y-axis slide A26 is installed with the rivet gun 11;

[0034] The drilling and rivet nut pulling are assisted by the 3D vision system 13 installed on the X-axis frame 2, and the precise positioning is achieved through the algorithm of the robot and servo system;

[0035] The material receiving and feeding system is installed on the X frame 2, including a sleeve fixing seat 3, and the sleeve fixing seat 17 is installed with a material guiding circular sleeve 4;

[0036] A fixed seat 17 is installed on one side of the X-axis frame 2, a linear guide 18 is installed on the fixed seat 17, a swing cylinder 6 is installed on the linear guide 18, and the translation of the swing cylinder 6 is completed by the extension and contraction of the cylinder 5 installed on the fixed seat;

[0037] A feeding plate 8 is installed on the swing surface of the swing cylinder 6, and a nut receiving fixture 7 is installed on the feeding plate 8. After the nut is delivered to the position, the clamping piece 9 extends out of the clamping nut through the cylinder 10, and then retreats to the flip position. The flip cylinder 6 flips 90 degrees, and after reaching the feeding position, waits for the rivet gun 11 to take the material;

[0038] Combined to form a robot end-effector structure that integrates automatic drilling, nut feeding, and rivet nut pulling;

[0039] Load it onto the robot to form an integrated robot that can automatically drill holes, feed nuts, and pull rivets and nuts.

[0040] in:

[0041] The robot flange seat 1 is used as the robot connection part.

[0042] The X-axis frame 2 forms the main structure of the X-axis module, and the Y-axis slide A26 and the Y-axis slide B27 form the Y-axis module.

[0043] When it is necessary to process the new energy battery shell:

[0044] First, the nut automatic feeding system prepares the rivet nuts;

[0045] Finally, the 3D visual positioning system locates the battery shell and determines the processing position and direction;

[0046] The automatic drilling system performs drilling operations on the battery casing according to a preset program;

[0047] After drilling is completed, the rivet gun is moved to the designated position to install the nut, and the automatic rivet nut system rivets the rivet nut to the hole.

[0048] The entire machining process is precisely controlled by the robot control system to ensure the accuracy and stability of the machining.

[0049] Compared with the prior art, the present invention integrates automatic drilling, rivet nut pulling and feeding. After being loaded onto the robot, it can form a highly integrated intelligent processing equipment that integrates automatic drilling, nut feeding and rivet nut pulling, thereby ensuring product processing efficiency and processing accuracy, reducing human resource occupation, and facilitating the implementation of enterprise production optimization.

[0050] The above are only some embodiments of the present invention. For those skilled in the art, several modifications and improvements can be made without departing from the creative concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. An integrated robot end effector for automatic drilling, nut feeding and rivet nut pulling, characterized by: It includes a robot flange seat for connecting the robot, an X-axis module is arranged on the robot flange seat, and the X-axis module is connected to the Y-axis module; The Y-axis module includes a Y-axis slide plate A and a Y-axis slide plate B; The Y-axis slide plate A is provided with a drilling electric spindle, and the Y-axis slide plate B is provided with a rivet gun; The X-axis module is equipped with a feeding module, which is combined to form a robot end-effector structure integrating automatic drilling, nut feeding, and rivet nut pulling. Load it onto the robot to form an integrated robot that can automatically drill holes, feed nuts, and pull rivets and nuts.

2. The automatic drilling, nut feeding, and rivet nut integrated robot end effector according to claim 1 is characterized in that: The X-axis module includes an X-axis frame. A set of linear guides A and ball screw pairs A are arranged on the lower end surface of the X-axis frame. The linear guides A and the ball screw pairs A are connected to the X-axis slide.

3. The automatic drilling, nut feeding and rivet nut integrated robot end effector according to claim 2 is characterized in that: The X-axis slide is driven to translate by servo motor A.

4. The automatic drilling, nut feeding, and rivet nut integrated robot end effector according to claim 3 is characterized by: A linear guide B and a ball screw pair B, a linear guide C and a ball screw pair C are arranged under the X-axis slide.

5. The automatic drilling, nut feeding, and rivet nut integrated robot end effector according to claim 4 is characterized in that: The linear guide B and the ball screw pair B connect the Y-axis slide plate A, and the linear guide C and the ball screw pair C connect the Y-axis slide plate B.

6. The automatic drilling, nut feeding, and rivet nut integrated robot end effector according to claim 5 is characterized in that: The Y-axis slide plate A is driven to move by the servo motor B, and the Y-axis slide plate B is driven to move by the servo motor C.

7. The automatic drilling, nut feeding, and rivet nut integrated robot end effector according to claim 6 is characterized in that: A 3D vision system is set up on the X-axis frame. The drilling and rivet nut positioning are assisted by the 3D vision system, and precise positioning is achieved through the algorithms of the robot and servo system.

8. The automatic drilling, nut feeding, and rivet nut integrated robot end effector according to claim 7 is characterized in that: The material receiving and conveying module comprises a sleeve fixing seat, and the sleeve fixing seat is provided with a material guiding circular sleeve.

9. The automatic drilling, nut feeding, and rivet nut integrated robot end effector according to claim 8, characterized in that: A fixed seat is provided on the X-axis frame, a linear guide is provided on the fixed seat, a swing cylinder is connected to the linear guide, and the translation of the swing cylinder is completed by the extension and retraction of cylinder A provided on the fixed seat; a feeding plate is provided on the swing surface of the swing cylinder, and a nut connecting fixture is loaded on the feeding plate.

10. The automatic drilling, nut feeding, and rivet nut integrated robot end effector according to claim 9, characterized in that: After the nut is delivered to the position, the clamping plate extends out of the clamping nut through cylinder B, and then retreats to the flipping position. The flipping cylinder flips 90 degrees, and after reaching the feeding position, it waits for the rivet gun to pick up the material.

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