Self-adaptive floating mechanism applied to horizontal riveting of vision-assisted robot

Abstract

The invention discloses a self-adaptive floating mechanism applied to horizontal riveting of a vision-assisted robot, and relates to the technical field of mechanical manufacturing equipment, the self-adaptive floating mechanism comprises a mounting seat, a connecting seat and a sliding seat; the mounting base is of an H-shaped structure and comprises a horizontal plate and vertical plates arranged on the left side and the right side of the horizontal plate. The connecting base is rotatably arranged on the top face of the horizontal plate, welding plates are arranged on the front side and the rear side of the connecting base correspondingly, and kidney-shaped holes are formed in the welding plates. The sliding seat is arranged on the bottom surface of the horizontal plate in a left-right sliding mode, mounting plates are arranged on the front side and the rear side of the sliding seat correspondingly, and via holes are formed in the mounting plates; floating units are arranged in the kidney-shaped holes and the via holes, and the two ends of each floating unit extend outwards to be connected with the corresponding vertical plates. The riveting device is suitable for transverse and multidirectional riveting, and the working precision is high.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical manufacturing equipment, and in particular to an adaptive floating mechanism used for horizontal riveting of a vision-assisted robot. Background Art

[0002] Riveting is a non-detachable connection that uses riveting pressure to connect the riveted parts and the workpiece together. It is widely used in building structures and mechanical manufacturing fields.

[0003] When a riveting pliers mounted on a robotic arm currently rivets a workpiece, since the connection between the free end of the robotic arm and the riveting pliers is mostly a rigid connection, the riveting pliers will vibrate during the riveting process. This vibration is transmitted to the precision robotic arm through the connection part, which can easily cause damage to the robotic arm. The maintenance cost of the robotic arm is high, which can easily cause great losses.

[0004] In order to solve the above problems, the Chinese patent document "Floating riveting pliers for robot arms" (patent application number: 202221959800.2) discloses a floating riveting pliers. When the riveting pliers are performing riveting work, vibrations are generated. Under the action of the fixed spring, the riveting pliers slide along the fixed column. The fixed spring absorbs and buffers the vibrations generated, thereby protecting the connecting plate and the robot arm, which is beneficial to extending the service life of the device.

[0005] However, the above solution has the following defects:

[0006] 1. The floating riveting pliers are mainly used for vertical riveting work, and because the riveting pliers are directly connected to the robot arm through a floating mechanism, this structure is not suitable for horizontal and multi-directional riveting.

[0007] 2. The working accuracy of the floating riveting pliers is not high. Summary of the invention

[0008] In view of the defects existing in the prior art, the object of the present invention is to provide an adaptive floating mechanism for horizontal riveting of a vision-assisted robot, which is suitable for lateral and multi-directional riveting and has high working precision.

[0009] In order to achieve the above purpose, the technical solution adopted by the present invention is: an adaptive floating mechanism applied to horizontal riveting of a visual-assisted robot, including a mounting seat, a connecting seat and a sliding seat; the mounting seat is in an H-shaped structure, including a horizontal plate and vertical plates arranged on the left and right sides of the horizontal plate; the connecting seat is rotatably arranged on the top surface of the horizontal plate, and welding plates are respectively arranged on the front and back sides of the connecting seat, and the welding plates are provided with waist-shaped holes; the sliding seat is slidably arranged on the bottom surface of the horizontal plate, and mounting plates are respectively arranged on the front and back sides of the sliding seat, and the mounting plates are provided with through holes; floating units are arranged in the waist-shaped holes and the through holes, and the two ends of the floating units extend outward to be connected with the corresponding vertical plates.

[0010] A further improvement is that the floating unit comprises a shaft, and compression springs are respectively sleeved on both ends of the shaft.

[0011] A further improvement is that a spacer sleeve for separating two compression springs is arranged in the middle of the shaft.

[0012] A further improvement is that an adjustment stopper is provided at least at one end of the shaft.

[0013] A further improvement is that a linear guide rail is provided on the bottom surface of the horizontal plate, and the sliding seat is slidably connected to the linear guide rail via a sliding block.

[0014] A further improvement is that the connecting seat includes a cylinder and a mounting block, a tapered roller bearing is arranged in the cylinder, the lower end of the mounting block is fixedly connected to the horizontal plate, and the upper end of the mounting block extends into the cylinder and passes through the tapered roller bearing and is locked by a locking nut.

[0015] A further improvement is that the upper edge of the cylinder is bent outward to form a flange surface for connecting to the end of the robot arm.

[0016] A further improvement is that it also includes a visual camera, which is connected to the flange surface through a connecting plate.

[0017] A further improvement is that the bottom of the sliding seat is connected to the riveting pliers through a transfer block.

[0018] A further improvement is that the riveting pliers include a machine base, the top of the machine base is connected to the adapter block, the bottom of the machine base is provided with a working notch, and two side walls of the working notch are respectively provided with positioning pins and a rivet gun.

[0019] The beneficial effects of the present invention are:

[0020] 1. In the present invention, there are compression springs passing through the shaft on both sides of the two welding plates of the connecting seat. When relative rotation occurs, the springs are squeezed and a reaction force is applied to reset the mechanism, so that the connecting seat and the mounting block can rotate within a limited range. In addition, there are compression springs passing through the shaft on both sides of the through hole. When the riveting pliers (hydraulic drive) are working, their reaction force causes the spring on the mechanism to be compressed, and the slider is pushed along the guide rail by the spring reaction force to achieve robot fixed-point riveting (lateral or multi-directional). After the riveting is completed, the rivet head retracts, the mechanism automatically resets, and the spring pushes the slider back to its initial position. The lateral and multi-directional riveting of the present invention is achieved by the above-mentioned two groups of floating units working in conjunction with the connecting seat and the sliding seat.

[0021] 2. In the present invention, a visual camera is installed on the flange surface of the connecting seat to confirm the presence and location of rivets through visual positioning, and to identify whether the hole needs to be riveted (each hole has preset data to ensure position accuracy), thereby improving work accuracy.

[0022] 3. In the present invention, since the connecting seat and the horizontal plate are rotatably connected, and floating units are respectively provided on both sides of the connecting seat, when the riveting clamp is working, if the rivet center is not correctly aligned, the riveting clamp will rotate with the robot arm to prevent the machine from being damaged, thereby improving the fault tolerance and redundancy capability of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A three-dimensional diagram of an adaptive floating mechanism used for horizontal riveting of a vision-assisted robot in an embodiment of the present invention;

[0024] Figure 2 It is a front view of an adaptive floating mechanism applied to horizontal riveting of a vision-assisted robot in an embodiment of the present invention;

[0025] Figure 3 It is a side view of an adaptive floating mechanism applied to horizontal riveting of a vision-assisted robot in an embodiment of the present invention;

[0026] Figure 4 A top view of an adaptive floating mechanism used for horizontal riveting of a vision-assisted robot in an embodiment of the present invention;

[0027] Figure 5 for Figure 2 Sectional view along AA direction;

[0028] Figure 6 for Figure 5 A magnified schematic diagram of part B;

[0029] Figure 7 for Figure 1 Schematic diagram of the structure after removing the rivet clamp.

[0030] Reference numerals:

[0031] 1-mounting seat; 11-horizontal plate; 12-vertical plate; 13-linear guide rail;

[0032] 2-connecting seat; 21-cylinder; 22-flange surface; 23-mounting block; 24-tapered roller bearing; 25-locking nut; 26-welding plate; 27-waist-shaped hole; 28-visual camera; 29-connecting plate;

[0033] 3-sliding seat; 31-sliding block; 32-adapter block; 33-mounting plate; 34-through hole;

[0034] 4-riveting pliers; 41-machine base; 42-working notch; 43-locating pin; 44-riveting gun;

[0035] 5-floating unit; 51-shaft; 52-spacer; 53-compression spring; 54-adjusting block. DETAILED DESCRIPTION

[0036] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions.

[0037] In the description of the present invention, it should be noted that directional words, such as the terms "center", "lateral (X)", "longitudinal (Y)", "vertical (Z)", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating directions and positional relationships are based on the directions or positional relationships shown in the accompanying drawings, which are only for the convenience of narrating the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and cannot be understood as limiting the specific scope of protection of the present invention.

[0038] The following is a further description of the specific embodiments of the present invention in conjunction with the drawings of the specification, so that the technical solution and its beneficial effects of the present invention are clearer and more explicit. The following description of the embodiments with reference to the drawings is exemplary and intended to explain the present invention, but cannot be understood as limiting the present invention.

[0039] See also Figure 1 to Figure 4As shown, an embodiment of the present invention provides an adaptive floating mechanism for horizontal riveting of a visually assisted robot, including a mounting seat 1, a connecting seat 2 and a sliding seat 3; the mounting seat 1 is an H-shaped structure, including a horizontal plate 11 and vertical plates 12 arranged on the left and right sides of the horizontal plate 11; the connecting seat 2 is rotatably arranged on the top surface of the horizontal plate 11, and welding plates 26 are respectively arranged on the front and rear sides of the connecting seat 2, and the welding plates 26 are provided with waist-shaped holes 27; the sliding seat 3 is slidably arranged on the bottom surface of the horizontal plate 11, and mounting plates 33 are respectively arranged on the front and rear sides of the sliding seat 3, and the mounting plates 33 are provided with through holes 34; specifically, a linear guide rail 13 is arranged on the bottom surface of the horizontal plate 11, and the sliding seat 3 is slidably connected to the linear guide rail 13 through a slider 31. Floating units 5 are arranged in both the waist-shaped holes 27 and the through holes 34, and both ends of the floating unit 5 extend outwards to connect with the corresponding vertical plates 12.

[0040] See also Figure 2 As shown, the floating unit 5 includes a shaft 51, and compression springs 53 are respectively sleeved on both ends of the shaft 51. Specifically, a spacer 52 is provided in the middle of the shaft 51 for separating the two compression springs 53. An adjustment stopper 54 is provided at at least one end of the shaft 51.

[0041] See also Figure 5 to Figure 7 As shown, the connection seat 2 includes a cylinder 21 and a mounting block 23. A tapered roller bearing 24 is arranged in the cylinder 21. The lower end of the mounting block 23 is fixedly connected to the horizontal plate 11. The upper end of the mounting block 23 extends into the cylinder 21 and passes through the tapered roller bearing 24 and is locked by a locking nut 25. Specifically, the upper edge of the cylinder 21 is bent outward to form a flange surface 22 for connecting the end of the robot arm. The connection seat 2 also includes a visual camera 28, which is connected to the flange surface 22 through a connecting plate 29.

[0042] See also Figure 2 As shown, the bottom of the sliding seat 3 is connected to the riveting pliers 4 through the adapter block 32. Specifically, the riveting pliers 4 include a machine base 41, the top of the machine base 41 is connected to the adapter block 32, a working notch 42 is provided at the bottom of the machine base 41, and two side walls of the working notch 42 are respectively provided with positioning pins 43 and a rivet gun 44.

[0043] The working principle of the present invention is:

[0044] 1. The upper end of the connection seat has a flange surface, which is connected to the flange plate at the end of the robot arm. There are waist-shaped holes on the welding plates on both sides of the connection seat, and the two shafts on the upper end pass through the waist-shaped holes on both sides. There is a tapered roller bearing between the connection seat and the mounting block, which can realize the relative rotation of the two blocks in the horizontal plane; there are compression springs on both sides of the two welding plates of the connection seat passing through the shaft. When relative rotation occurs, the springs are squeezed, and a reaction force is applied to reset the mechanism, so that the connection seat and the mounting block can rotate within a limited range.

[0045] 2. A visual camera is installed on the flange surface of the connector to confirm the presence and location of rivets through visual positioning, and to identify whether the holes need to be riveted (each hole has preset data to ensure position accuracy).

[0046] 3. A linear guide and a slider are installed on the lower side of the mounting seat. There is a mounting plate on the slider. There are through holes on the mounting plate. The two shafts pass through the through holes of the mounting plate. There are compression springs on both sides of the through holes. When the riveting clamp (hydraulic drive) works, its reaction force compresses the spring on the mechanism, and the slider is pushed by the spring reaction force to move along the guide rail to achieve robot fixed-point riveting (horizontal or multi-directional). After riveting is completed, the rivet head retracts, the mechanism automatically resets, and the spring pushes the slider back to the initial position.

[0047] In the description of the specification, the description with reference to the terms "one embodiment", "preferably", "example", "specific example" or "some examples" 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, and the schematic expressions of the above terms in this specification 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.

[0048] Through the description of the above structure and principle, technicians in the relevant technical field should understand that the present invention is not limited to the above-mentioned specific implementation methods. Improvements and substitutions based on the present invention using the well-known technology in the field all fall within the protection scope of the present invention and should be defined by the claims.

Claims

1. An adaptive floating mechanism for horizontal riveting with a vision-assisted robot, comprising a mounting seat (1), characterized in that: It also includes a connecting seat (2) and a sliding seat (3); The mounting seat (1) is in an H-shaped structure, comprising a horizontal plate (11) and vertical plates (12) arranged on the left and right sides of the horizontal plate (11); The connecting seat (2) is rotatably arranged on the top surface of the horizontal plate (11), and welding plates (26) are respectively arranged on the front and rear sides of the connecting seat (2), and the welding plates (26) are provided with waist-shaped holes (27); The sliding seat (3) is slidably arranged on the bottom surface of the horizontal plate (11), and mounting plates (33) are respectively arranged on the front and rear sides of the sliding seat (3), and the mounting plates (33) are provided with through holes (34); A floating unit (5) is disposed in each of the waist-shaped hole (27) and the through hole (34), and two ends of the floating unit (5) extend outwards to be connected to a corresponding vertical plate (12).

2. The adaptive floating mechanism for horizontal riveting with a vision-assisted robot according to claim 1 is characterized in that: The floating unit (5) comprises a shaft (51), and compression springs (53) are respectively sleeved on both ends of the shaft (51).

3. The adaptive floating mechanism for horizontal riveting with a vision-assisted robot according to claim 2 is characterized in that: A spacer sleeve (52) for separating two compression springs (53) is provided in the middle of the shaft (51).

4. The adaptive floating mechanism for horizontal riveting with a vision-assisted robot according to claim 2 is characterized in that: At least one end of the shaft (51) is provided with an adjustment stopper (54).

5. The adaptive floating mechanism for horizontal riveting with a vision-assisted robot according to claim 1 is characterized in that: A linear guide rail (13) is provided on the bottom surface of the horizontal plate (11), and the sliding seat (3) is slidably connected to the linear guide rail (13) via a sliding block (31).

6. The adaptive floating mechanism for horizontal riveting with a vision-assisted robot according to claim 1, characterized in that: The connecting seat (2) comprises a cylinder (21) and a mounting block (23), a tapered roller bearing (24) is arranged in the cylinder (21), the lower end of the mounting block (23) is fixedly connected to the horizontal plate (11), and the upper end of the mounting block (23) extends into the cylinder (21) and penetrates the tapered roller bearing (24) and is then locked by a locking nut (25).

7. The adaptive floating mechanism for horizontal riveting with a vision-assisted robot according to claim 6 is characterized by: The upper edge of the cylinder (21) is bent outward to form a flange surface (22) for connecting to the end of the robot arm.

8. The adaptive floating mechanism for horizontal riveting with a vision-assisted robot according to claim 6 is characterized by: It also includes a visual camera (28), which is connected to the flange surface (22) via a connecting plate (29).

9. The adaptive floating mechanism for horizontal riveting with a vision-assisted robot according to claim 1, characterized in that: The bottom of the sliding seat (3) is connected to the riveting pliers (4) via a transfer block (32).

10. The adaptive floating mechanism for horizontal riveting with a vision-assisted robot according to claim 9, characterized in that: The riveting pliers (4) include a machine base (41), the top of which is connected to the adapter block (32), the bottom of which is provided with a working notch (42), and two side walls of the working notch (42) are respectively provided with positioning pins (43) and a riveting gun (44) opposite to each other.

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