Automatic nut riveting gun for threshold beam of new energy automobile

Abstract

The invention relates to the technical field of riveting equipment, and particularly discloses an automatic nut riveting gun for a threshold beam of a new energy automobile, which comprises a mechanical arm, a machine cover is fixedly mounted on the mechanical arm, a Z-axis floating mechanism is arranged in the machine cover, and a riveting cylinder for driving the Z-axis floating mechanism to move longitudinally is fixedly mounted on the inner wall of one side of the machine cover; a Y-axis floating mechanism is arranged on the Z-axis floating mechanism, and an X-axis floating mechanism is arranged on the Y-axis floating mechanism. Through the structural arrangement of the Z-axis floating mechanism, the Y-axis floating mechanism and the X-axis floating mechanism in the machine cover, when a to-be-riveted nut is riveted to a riveting hole of a workpiece, the chamfer of the to-be-riveted nut acts on the riveting hole, so that a guide sleeve I horizontally moves along a guide column I, a guide sleeve II horizontally moves along a guide column II, and the to-be-riveted nut is riveted to the riveting hole in cooperation with supporting of an oil buffer. Hole position deviation is compensated through bidirectional floating in the X direction and the Y direction, so that the compensation efficiency of the hole position deviation is high, the structure is simple, maintenance is convenient, and cost is low.

Description

Technical Field

[0001] The present application relates to the technical field of riveting equipment, and in particular to an automatic rivet nut gun for a threshold beam of a new energy vehicle. Background Art

[0002] Pull rivet nuts are widely used in the new energy vehicle accessories market. The installation and connection of pull rivet nuts does not damage the working surface and coating. They have good bearing capacity and are not easy to deform. Pull rivet nuts have the characteristics of high salt spray and strong corrosion resistance. They can maintain stable performance in harsh environments. Pull rivet nuts do not require tapping internal threads or welding nuts. The riveting is firm and efficient, which effectively saves labor and time costs.

[0003] However, traditional manual riveting may result in missed rivets and unqualified riveting. Compared with traditional manual riveting, automatic riveting with robotic arms has the function of preventing leaks and errors. When the automatic rivet gun on the traditional robotic arm is riveting thin sheet metal workpieces and welded workpieces, due to the deformation of thin plates and weldments, the traditional rivet gun has no good compensation mechanism for problems such as inaccurate positioning of riveting holes and height deviation of riveting position depth when encountering these conditions. For hole position deviation, 3D detection CCD detection and positioning are usually used. Adding 3D detection CCD positioning function will greatly increase equipment cost, reduce riveting efficiency, and be inconvenient for factory maintenance. Therefore, based on market customer needs, a stable and efficient compensation mechanism is studied for automated robotic arm riveting equipment, which can well solve customer budgets and improve production efficiency. Summary of the invention

[0004] The present application proposes an automatic rivet nut gun for new energy vehicle threshold beams, which has the advantages of low cost and high efficiency in hole position deviation compensation, and is used to solve the problems of equipment cost and low riveting efficiency when the automatic rivet gun on the existing robotic arm is used with 3D detection CCD detection positioning.

[0005] To achieve the above-mentioned purpose, the present application adopts the following technical solution: an automatic rivet nut gun for a threshold beam of a new energy vehicle, comprising a robotic arm, a hood fixedly installed on the robotic arm, a Z-axis floating mechanism provided inside the hood, and a riveting cylinder driving the Z-axis floating mechanism to move longitudinally fixedly installed on an inner wall of one side of the hood, a Y-axis floating mechanism provided on the Z-axis floating mechanism, and an X-axis floating mechanism provided on the Y-axis floating mechanism.

[0006] The Z-axis floating mechanism comprises two groups of positioning blocks, wherein the number of positioning blocks in one group is two, and a guide column I is arranged between the positioning blocks in one group, and a hydraulic buffer I is arranged on the positioning block.

[0007] The Y-axis floating mechanism includes two guide sleeves I movably connected to the positioning blocks, and also includes two groups of limit blocks, one group of limit blocks has two blocks, and a guide column II is arranged between the limit blocks of one group, and an oil pressure buffer II is arranged on the limit block.

[0008] The X-axis floating mechanism comprises a guide sleeve II movably sleeved with two guide pillars II. The guide sleeve II is fixedly mounted on a limiting block, and a rivet gun is fixedly mounted on the bottom of the limiting block.

[0009] When in use, the chamfer of the nut to be riveted is used to act on the riveting hole, guide sleeve I moves horizontally along guide column I, guide sleeve II moves horizontally along guide column II, and with the support of the hydraulic buffer, the hole position deviation is compensated by bidirectional floating.

[0010] Furthermore, the hood includes a cover plate I fixedly mounted at one end of the robotic arm, the riveting cylinder fixedly mounted on the inner wall of the cover plate I, side plates are fixedly connected to both sides of the cover plate I, the two side plates are fixedly connected to the cover plate II on the side away from the cover plate I, and a top plate is fixedly mounted on the top of the cover plate I, the two side plates and the cover plate II.

[0011] Furthermore, a passive plate is fixedly installed on the piston shaft of the riveted cylinder, and longitudinal guide shafts are movably mounted on both ends of the passive plate, and linkage plates are fixedly connected on both ends of the longitudinal guide shafts, and springs I located between the passive plate and the linkage plate are movably mounted on the two longitudinal guide shafts.

[0012] Furthermore, the Z-axis floating mechanism also includes two L-shaped plates, both of which are fixedly connected to the two linkage plates, a positioning ring plate is fixedly connected between the two L-shaped plates, and two groups of positioning blocks are respectively arranged on both sides of the bottom of the positioning ring plate.

[0013] Furthermore, two guide rods are fixedly mounted on the inner wall of the cover plate I, and the two guide rods are arranged on both sides of the riveting cylinder. Two guide slide blocks are fixedly mounted on one side of the positioning ring plate, and the two guide slide blocks are movably connected to the two guide rods respectively.

[0014] Furthermore, the Y-axis floating mechanism also includes a limiting ring plate, the two guide sleeves I are respectively fixedly mounted on the top of the limiting ring plate, and the two groups of limiting blocks are respectively fixedly mounted on both sides of the limiting ring plate.

[0015] Furthermore, positioning cone sleeves are fixedly installed on the other two sides of the top of the limiting ring plate, and two positioning sleeves are fixedly installed on the positioning ring plate. The output shafts of the two positioning sleeves extend to the bottom of the two positioning cone sleeves and are fixedly installed with positioning cone shafts.

[0016] Furthermore, a guide shaft is provided at the bottom end of the rivet gun, and the bottom end of the guide shaft is conical in design.

[0017] Furthermore, electromagnets are fixedly mounted on the cover plate I, the two side plates and the cover plate II, a power supply is fixedly mounted on the top of the top plate, the wires on the four electromagnets are respectively connected to the power supply in a circuit, limiting blocks are fixedly mounted on both sides of the limiting block and on the outer sides of the two guide sleeves II, and the four limiting blocks are respectively arranged on the inner sides of the four electromagnets, a magnetic block is fixedly mounted in the middle of the limiting block, and the electromagnet is magnetically attracted to the magnetic block on the corresponding electromagnet when energized, one group of the positioning blocks is respectively fixedly mounted with a hydraulic buffer I, the other group of the positioning blocks is respectively fixedly mounted with a hydraulic switch buffer device I, and the impacted heads of the hydraulic buffer I and the hydraulic switch buffer device I are respectively movably connected with the guide sleeve I, one group of the limit blocks is respectively fixedly mounted with a hydraulic buffer II, the other group of the limit blocks is respectively fixedly mounted with a hydraulic switch buffer device II, and the structures of the hydraulic switch buffer device I and the hydraulic switch buffer device II are the same.

[0018] Furthermore, the oil pressure switch buffer device I comprises a tube body, and sealing plug I and sealing plug II are fixedly installed at both ends of the tube body, a rectangular groove is provided in the middle of the sealing plug II away from the tube body, and an oil inlet hole close to the sealing plug II is provided on the tube body, and a sealing cover is provided on the oil inlet hole for sealing, the inner diameter of the inner cavity of the tube body close to the sealing plug I is greater than the inner diameter of the inner cavity on the other side, and a piston I is provided in the inner cavity on one side of the tube body, a push shaft is fixedly connected to the middle of the piston I, an end of the push shaft away from the piston I extends out of the tube body and is fixedly connected to the impacted head, and the outer side of the push shaft is sealed with the inner side of the sealing plug I, a spring II is provided between the side of the piston I and the inner wall of the middle part of the tube body, a piston II is provided in the inner cavity on the other side of the tube body, and the movable A throttling hole is provided on plug II, and a linkage shaft is fixedly connected to the middle of the piston II. The end of the piston II away from the spring II extends to the rectangular groove of the sealing plug II and is fixedly installed with an insulating block, and the outer side of the piston II is sealed and fitted with the inner side of the sealing plug II. A U-shaped conductive sheet is fixedly installed in the middle of the insulating block. Grooves communicating with the rectangular groove are provided in the middle of the upper and lower sides of the sealing plug II, and conductive springs are fixedly installed in the two grooves respectively. The middle parts of the two conductive springs extend into the rectangular groove and are movably connected to the U-shaped conductive sheet. The two conductive springs are electrically connected to the wires through the conductive terminals, and the wires are electrically connected to the electromagnets in the corresponding directions of the oil pressure switch buffer device I or the oil pressure switch buffer device II in the same circuit. A spring III is provided between the piston II and the sealing plug II.

[0019] Beneficial effects of the present invention:

[0020] 1. The automatic rivet nut gun for the threshold beam of a new energy vehicle provided in the present application, through the structural arrangement of the Z-axis floating mechanism, the Y-axis floating mechanism and the X-axis floating mechanism in the hood, when the nut to be riveted is riveted to the riveting hole of the workpiece, the chamfer of the nut to be riveted itself is used to act on the riveting hole, so that the guide sleeve I moves horizontally along the guide column I, and the guide sleeve II moves horizontally along the guide column II, and with the support of the oil pressure buffer, the hole position deviation is compensated by the bidirectional floating in the X and Y directions, so that the compensation efficiency of the hole position deviation is high, thereby avoiding the problem of incorrect hole position, reverse jamming of the pull rod after forced riveting, and inability to retreat, and compared with the detection and positioning method of the CCD system, the structure is simple, maintenance is convenient, and the cost is low.

[0021] 2. The automatic rivet nut gun for the threshold beam of new energy vehicles provided in this application drives the passive plate downward by setting a riveting cylinder to drive the piston shaft, thereby driving the two linkage plates and the Z-axis floating mechanism to move downward, and at the same time utilizes the elastic force of spring I to pre-press the workpiece when riveting, so as to eliminate the incoming material deviation compensation in the height direction of the workpiece.

[0022] 3. Magnetic blocks are respectively arranged in four directions of the X-axis floating mechanism, and electromagnets corresponding to the magnetic blocks are installed on the machine cover, and a hydraulic switch buffer device I is fixedly installed on one group of positioning blocks, and a hydraulic switch buffer device II is fixedly installed on one group of limit blocks. When the riveting cylinder drives the rivet gun to send the nut to be riveted into the riveting hole, a hole position deviation occurs, and the difference between the inner and outer apertures of the nut to be riveted is large, the guide shaft is used for guidance to move the X-axis floating mechanism, thereby triggering the hydraulic switch buffer device, so that the electromagnet in the moving direction of the X-axis floating mechanism is energized to generate a magnetic attraction force on the magnetic block, so that the rivet gun can continue to move, ensuring that the nut can enter the riveting hole of the workpiece, and the hole position deviation can be compensated for different nuts, and the compensation effect of the hole position deviation is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which constitute a part of the specification, illustrate embodiments disclosed in the present application and, together with the description, serve to explain the principles disclosed in the present application.

[0024] The present application can be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0025] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0026] Figure 2 for Figure 1 Schematic diagram of the structure of the middle hood;

[0027] Figure 3 for Figure 2 Schematic diagram of the internal structure of the middle hood;

[0028] Figure 4 for Figure 3 A front view of

[0029] Figure 5 for Figure 4 Right view of;

[0030] Figure 6 for Figure 3 An exploded schematic diagram of the three floating mechanisms in the figure;

[0031] Figure 7 for Figure 6 Schematic diagram of the inner wall structure of the middle cover plate I;

[0032] Figure 8 for Figure 6 Structural diagram of the middle Z-axis floating mechanism;

[0033] Fig. 9 for Figure 6 Structural diagram of the middle Y-axis floating mechanism;

[0034] Fig.10 for Figure 6 Structural diagram of the middle X-axis floating mechanism;

[0035] Fig.11 This is a schematic diagram of the riveting state in the first embodiment;

[0036] Fig.12 This is a schematic diagram of the riveting state in the second embodiment;

[0037] Fig.13 It is a schematic diagram of the structure of the hood in the third embodiment;

[0038] Fig.14 for Fig.13 Schematic diagram of the internal structure;

[0039] Fig.15 for Fig.14 Structural diagram of the middle Z-axis floating mechanism;

[0040] Fig.16 for Fig.14 Structural diagram of the middle Y-axis floating mechanism;

[0041] Fig.17 for Fig.16 A top view of

[0042] Fig.18 for Fig.14 Structural diagram of the middle X-axis floating mechanism;

[0043] Fig.19 for Fig.18 A top view of

[0044] Fig. 20for Fig.15 Schematic diagram of the structure of the medium oil pressure switch buffer device I;

[0045] Fig.21 for Fig. 20 Schematic diagram of the cross-section structure;

[0046] Fig. 22 for Fig.21 A local enlarged structural schematic diagram;

[0047] Fig.23 This is a schematic diagram of the state before riveting in Example 3;

[0048] Fig.24 This is a schematic diagram of the riveting state in the third embodiment;

[0049] Fig.25 The schematic circuit diagram of the electromagnet in the third embodiment;

[0050] Fig.26 This is a schematic diagram of the state after riveting in Example 3.

[0051] In the figure:

[0052] 1. Robotic arm; 2. Machine cover; 201. Cover plate I; 202. Side plate; 203. Cover plate II; 204. Top plate; 3. Z-axis floating mechanism; 301. L-shaped plate; 302. Positioning ring plate; 303. Positioning block; 304. Guide column I; 305. Hydraulic buffer I; 306. Positioning sleeve; 307. Positioning cone shaft; 308. Guide slide block; 4. Y-axis floating mechanism; 401. Limiting ring plate; 402. Guide sleeve I; 403. Positioning cone sleeve; 404. Limiting block; 405. Guide column II; 406. Hydraulic buffer II; 5. X-axis floating mechanism; 501. Limiting block; 502. Guide sleeve II; 6 , rivet gun; 601, guide shaft; 7, riveting cylinder; 8, passive plate; 9, longitudinal guide shaft; 10, linkage plate; 11, spring I; 12, guide rod; 13, nut to be riveted; 14, electromagnet; 15, power supply; 16, limiting block; 17, magnetic block; 18, oil pressure switch buffer device I; 181, tube body; 182, sealing plug I; 183, sealing plug II; 184, piston I; 185, push shaft; 186, spring II; 187, piston II; 188, linkage shaft; 189, spring III; 19, oil pressure switch buffer device II; 20, insulating block; 21, U-shaped conductive sheet; 22, conductive spring sheet. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0054] Embodiment 1

[0055] See also Figure 1-Figure 2 , an automatic riveting nut gun for a threshold beam of a new energy vehicle, comprising a mechanical arm 1, a hood 2 is mounted on the mechanical arm 1, the hood 2 comprises a hood plate Ⅰ 201 fixedly mounted at one end of the mechanical arm 1, both sides of the hood plate Ⅰ 201 are fixedly connected with side plates 202, the two side plates 202 are fixedly connected with a hood plate Ⅱ 203 on the side away from the hood plate Ⅰ 201, a top plate 204 is fixedly mounted on the top of the hood plate Ⅰ 201, the two side plates 202 and the hood plate Ⅱ 203, the hood 2 is assembled by the hood plate Ⅰ 201, the side plates 202, the hood plate Ⅱ 203 and the top plate 204, and the components inside the hood 2 are protected, please refer to Figure 2-Figure 5 A Z-axis floating mechanism 3 is provided inside the hood 2, and the Z-axis floating mechanism 3 can move longitudinally relative to the hood 2. A Y-axis floating mechanism 4 is provided on the Z-axis floating mechanism 3, and the Y-axis floating mechanism 4 can move horizontally relative to the Z-axis floating mechanism 3. An X-axis floating mechanism 5 is provided on the Y-axis floating mechanism 4, and the X-axis floating mechanism 5 can move horizontally relative to the Y-axis floating mechanism 4.

[0056] See also Figure 6-Figure 10 A riveted cylinder 7 is fixedly installed on the inner wall of the cover plate Ⅰ201, and a passive plate 8 is fixedly installed on the piston shaft of the riveted cylinder 7. The two ends of the passive plate 8 are movably mounted with longitudinal guide shafts 9, and the two ends of the longitudinal guide shafts 9 are fixedly connected with linkage plates 10. The two longitudinal guide shafts 9 are movably mounted with springs Ⅰ11 located between the passive plate 8 and the linkage plate 10.

[0057] See also Figure 6-Figure 8The Z-axis floating mechanism 3 includes two L-shaped plates 301, and the two L-shaped plates 301 are fixedly connected to the two linkage plates 10. The piston shaft is driven by the riveting cylinder 7 to drive the passive plate 8 to move downward, thereby driving the two linkage plates 10 and the Z-axis floating mechanism 3 to move downward. At the same time, the elastic force of the spring Ⅰ11 is used to pre-press the workpiece when riveting to eliminate the incoming material deviation compensation in the height direction of the workpiece. A positioning ring plate 302 is fixedly connected between the two L-shaped plates 301, and a group of positioning blocks 303 are fixedly installed on both sides of the bottom of the positioning ring plate 302. The number of a group of positioning blocks 303 is two, and the two positioning blocks 303 are respectively arranged at the two ends of the bottom of the positioning ring plate 302. A guide column Ⅰ304 is fixedly installed in the middle between each group of positioning blocks 303, and each positioning block 303 is fixedly installed with an oil pressure buffer Ⅰ305 located above the guide column Ⅰ304.

[0058] Two guide rods 12 are fixedly installed on the inner wall of the cover plate Ⅰ201, and the two guide rods 12 are respectively arranged on both sides of the riveting cylinder 7. Two guide sliders 308 are fixedly installed on one side of the positioning ring plate 302. The two guide sliders 308 are movably connected with the two guide rods 12 respectively. The guiding and limiting effect of the guide rods 12 on the guide sliders 308 enables the Z-axis floating mechanism 3 to move stably longitudinally relative to the hood 2.

[0059] See also Figure 8-Figure 9 The Y-axis floating mechanism 4 includes a limiting ring plate 401, and guide sleeves Ⅰ402 are fixedly installed on both sides of the top of the limiting ring plate 401. The two guide sleeves Ⅰ402 are movably connected with the two guide pillars Ⅰ304, so that the guide sleeves Ⅰ402 can move horizontally along the guide pillars Ⅰ304, thereby providing compensation in this direction, that is, providing compensation in the Y direction, and the impacted head of the hydraulic buffer Ⅰ305 is movably connected with the guide sleeve Ⅰ402, and the hydraulic buffer Ⅰ305 is used to abut on both sides of the guide sleeve Ⅰ402 for support, so that the guide sleeve Ⅰ402 always tends to the middle of the guide pillar Ⅰ304 under normal conditions, and the other two sides of the top of the limiting ring plate 401 A positioning cone sleeve 403 is fixedly installed respectively, two positioning sleeves 306 are fixedly installed on the positioning ring plate 302, the output shafts of the two positioning sleeves 306 extend to the bottom of the two positioning cone sleeves 403 respectively and are fixedly installed with a positioning cone shaft 307, a group of limit blocks 404 are fixedly installed on both sides of the limit ring plate 401, the two groups of limit blocks 404 are respectively arranged on the outside of the two ends of the guide sleeve I 402, the number of a group of limit blocks 404 is two, and a guide column II 405 located below the limit ring plate 401 is fixedly installed between a group of limit blocks 404, and a hydraulic buffer II 406 is fixedly installed on each limit block 404.

[0060] See also Figure 9-10The X-axis floating mechanism 5 includes a limiting block 501, and guide sleeves II 502 are fixedly installed on both sides of the limiting block 501. The two guide sleeves II 502 are movably connected to the two guide pillars II 405, so that the guide sleeves II 502 can move horizontally along the guide pillars II 405, thereby providing compensation in this direction, that is, providing compensation in the X direction. A rivet gun 6 is fixedly installed at the bottom of the limiting block 501, and a guide shaft 601 is provided at the bottom end of the rivet gun 6.

[0061] When in use, after the guide shaft 601 at the bottom of the rivet gun 6 is driven by the robot arm 1 to take the nut 13 to be riveted, the robot arm 1 drives the X-axis floating mechanism 5 to move to the riveting area of ​​the workpiece, and the riveting cylinder 7 drives the piston shaft to move downward to push the passive plate 8 downward, thereby pushing the Z-axis floating mechanism 3, the Y-axis floating mechanism 4 and the X-axis floating mechanism 5 to move downward as a whole, and sending the nut 13 to be riveted on the guide shaft 601 into the riveting hole of the workpiece for riveting.

[0062] When the riveting cylinder 7 drives the riveting gun 6 to send the nut 13 to be riveted into the riveting hole, a hole position deviation occurs, and the hole position deviation value is smaller than the horizontal distance value of the bottom chamfer of the nut 13 to be riveted. Fig.11 As shown, at this time, the chamfer of the nut 13 to be riveted is used to act on the riveting hole, so that the guide sleeve I402 moves horizontally along the guide column I304, and the guide sleeve II502 moves horizontally along the guide column II405. With the support of the hydraulic buffer, the hole position deviation is compensated by bidirectional floating in the X and Y directions, thereby avoiding the problem of incorrect hole position, reverse jamming of the pull rod after forced riveting, and inability to retreat. Compared with the detection and positioning method of the CCD system, the structure is simple, maintenance is convenient, and the cost is low.

[0063] Embodiment 2

[0064] See also Fig.12 On the basis of the first embodiment, the difference from the first embodiment is that the bottom end of the guide shaft 601 is of a conical design. Through the conical design of the bottom end of the guide shaft 601, when the riveting cylinder 7 drives the rivet gun 6 to send the nut 13 to be riveted into the riveting hole, a hole position deviation occurs, and the hole position deviation value is greater than the horizontal distance value of the bottom chamfer of the nut 13 to be riveted. The conical surface of the guide shaft 601 is used for guidance, and the guide sleeve I402 is used to move horizontally along the guide column I304, and the guide sleeve II502 is used to move horizontally along the guide column II405. With the support of the oil pressure buffer, the hole position deviation is compensated by bidirectional floating in the X and Y directions. Compared with the embodiment, the vacancy deviation value that can be compensated is larger and the effect is better.

[0065] Embodiment 3

[0066] See also Figure 13-Figure 19On the basis of the second embodiment, the difference from the second embodiment is that the cover plate Ⅰ201, the two side plates 202 and the cover plate Ⅱ203 are all fixedly mounted with electromagnets 14, the top of the top plate 204 is fixedly mounted with a power supply 15, and the wires on the four electromagnets 14 are respectively connected to the power supply 15 in a circuit. Please refer to the specific Figure 18-19 Limiting blocks 16 are fixedly installed on both sides of the limiting block 501 and the outer sides of the two guide sleeves II 502, and the four limiting blocks 16 are respectively arranged on the inner sides of the four electromagnets 14. A magnetic block 17 is fixedly installed in the middle of the limiting block 16. When the electromagnet 14 is energized, it is magnetically attracted to the magnetic block 17 on the corresponding electromagnet 14.

[0067] See also Fig.15 , one group of positioning blocks 303 is respectively fixedly mounted with a hydraulic buffer Ⅰ305, and the other group of positioning blocks 303 is respectively fixedly mounted with a hydraulic switch buffer device Ⅰ18, and the impacted heads of the hydraulic buffer Ⅰ305 and the hydraulic switch buffer device Ⅰ18 are respectively movably connected with the guide sleeve Ⅰ402, see Figure 16-Figure 17 One set of limit blocks 404 is fixedly mounted with a hydraulic buffer II 406, and the other set of limit blocks 404 is fixedly mounted with a hydraulic switch buffer device II 19. The hydraulic switch buffer device I 18 and the hydraulic switch buffer device II 19 have the same structure.

[0068] See also Figure 20-22The oil pressure switch buffer device Ⅰ18 includes a tube body 181, and sealing plugs Ⅰ182 and sealing plugs Ⅱ183 are fixedly installed at both ends of the tube body 181. A rectangular groove is opened in the middle of the sealing plug Ⅱ183 away from the tube body 181, and an oil inlet hole near the sealing plug Ⅱ183 is opened on the tube body 181, and a sealing cover is set on the oil inlet hole for sealing. The inner diameter of the inner cavity of the tube body 181 on one side close to the sealing plug Ⅰ182 is greater than the inner diameter of the inner cavity on the other side. A piston Ⅰ184 is provided in the inner cavity of one side of the tube body 181, and the middle of the piston Ⅰ184 is fixedly connected with A push shaft 185, one end of the push shaft 185 away from the piston Ⅰ184 extends out of the tube body 181 and is fixedly connected to the impacted head, and the outer side of the push shaft 185 is sealed and fitted with the inner side of the sealing plug Ⅰ182, a spring Ⅱ186 is provided between the side of the piston Ⅰ184 and the middle inner wall of the tube body 181, a piston Ⅱ187 is provided in the inner cavity on the other side of the tube body 181, and a throttling hole is opened on the piston Ⅱ187, a linkage shaft 188 is fixedly connected to the middle of the piston Ⅱ187, and the end of the piston Ⅱ187 away from the spring Ⅱ186 extends to the rectangular groove of the sealing plug Ⅱ183 and An insulating block 20 is fixedly installed, and the outer side of the piston II 187 is sealed and fitted with the inner side of the sealing plug II 183. A U-shaped conductive sheet 21 is fixedly installed in the middle of the insulating block 20. A groove communicating with the rectangular groove is opened in the middle of the upper and lower sides of the sealing plug II 183, and conductive springs 22 are fixedly installed in the two grooves respectively. The middle parts of the two conductive springs 22 extend into the rectangular groove and are movably connected to the U-shaped conductive sheet 21. The two conductive springs 22 are electrically connected to the wires through the conductive terminals, and the wires are connected to the oil pressure switch buffer device I 18 or the oil pressure switch buffer device II 19. The electromagnets 14 in the corresponding directions are electrically connected in the same circuit, so that the insulating block 20 in the oil pressure switch buffer device Ⅰ18 or the oil pressure switch buffer device Ⅱ19 contacts the two U-shaped conductive sheets 21, and the electromagnets 14 in the corresponding directions of the oil pressure switch buffer device Ⅰ18 or the oil pressure switch buffer device Ⅱ19 are energized to generate a magnetic attraction force on the magnetic block 17. A spring Ⅲ189 is provided between the piston Ⅱ187 and the sealing plug Ⅱ183. By utilizing the elastic force of the spring Ⅲ189, under normal conditions, the U-shaped conductive sheet 21 always tends to be close to but not in contact with the conductive spring sheet 22.

[0069] When in use, when the riveting cylinder 7 drives the riveting gun 6 to send the nut 13 to be riveted into the riveting hole, a hole position deviation occurs, and when the difference between the inner and outer hole diameters of the nut 13 to be riveted is large, the guide shaft 601 is used for guidance, such as Fig.23 As shown, as the riveting gun 6 continues to move downward, until the bottom of the nut 13 to be riveted contacts the surface of the workpiece, as shown in FIG. Fig.24 As shown, due to the large difference in the inner and outer diameters of the nut 13 to be riveted, if the technical solution of the second embodiment is still used, the nut 13 to be riveted cannot be sent into the riveting hole. In this case, in the third embodiment, the guide shaft 601 is Figure 22 to Figure 23During the movement of the rivet gun 6, the horizontal movement in one direction will cause the guide sleeve Ⅰ402 or the guide sleeve Ⅱ502 to push the impacted head to move to one side, and the impacted head drives the push shaft 185 and the piston Ⅰ184 to move the compression spring Ⅱ186. The inner diameter of the inner cavity where the piston Ⅰ184 is located is greater than the inner diameter of the inner cavity where the piston Ⅱ187 is located. The oil pressure in the chamber between the piston Ⅰ184 and the piston Ⅱ187 increases, and part of the high-viscosity thickened oil on one side of the piston Ⅰ184 flows through the throttle hole on the piston Ⅱ187, and the other part pushes the piston Ⅱ187 to drive the linkage shaft 188 to move toward the sealing plug Ⅱ183, so that the U-shaped conductive sheet 21 contacts the two conductive spring sheets 22, such as Fig.25 As shown, the circuit where the electromagnet 14 is located is energized, generating a magnetic attraction force on the magnetic block 17, so that the riveting gun 6 can continue to move, that is, Fig.24 The state shown moves to Fig.26 The state shown ensures that the nut can enter the riveting hole of the workpiece to complete the riveting work. After the riveting is completed, the guide shaft 601 is separated from the nut 13 to be riveted, and the elastic force of the spring III 189 is used to reset the piston II 187, and the U-shaped conductive sheet 21 is separated from the insulating block 20. The corresponding electromagnet 14 is then powered off, and at the same time, the elastic force of the spring II 186 pushes the piston I 184 to reset in preparation for the riveting of the next nut. Compared with the second embodiment, the hole position deviation can be compensated for different nuts, and the hole position deviation compensation effect is better.

Claims

1. An automatic rivet nut gun for a new energy vehicle threshold beam, comprising a mechanical arm (1), a hood (2) fixedly mounted on the mechanical arm (1), characterized in that: A Z-axis floating mechanism (3) is provided inside the hood (2), and a riveting cylinder (7) for driving the Z-axis floating mechanism (3) to move longitudinally is fixedly installed on an inner wall of one side of the hood (2); a Y-axis floating mechanism (4) is provided on the Z-axis floating mechanism (3), and an X-axis floating mechanism (5) is provided on the Y-axis floating mechanism (4); The Z-axis floating mechanism (3) comprises two groups of positioning blocks (303), wherein the number of each group of positioning blocks (303) is two, and a guide column I (304) is provided between the positioning blocks (303), and an oil pressure buffer I (305) is provided on the positioning blocks (303); The Y-axis floating mechanism (4) comprises two guide sleeves I (402) movably sleeved with the positioning block (303), and also comprises two groups of limit blocks (404), wherein the number of each group of limit blocks (404) is two, and a guide column II (405) is arranged between each group of limit blocks (404), and an oil pressure buffer II (406) is arranged on the limit block (404); The X-axis floating mechanism (5) comprises a guide sleeve II (502) movably sleeved with two guide pillars II (405), the guide sleeve II (502) being fixedly mounted on a limiting block (501), and a rivet gun (6) being fixedly mounted on the bottom of the limiting block (501); When in use, the chamfer of the nut 13 to be riveted is used to act on the riveting hole, the guide sleeve I (402) moves horizontally along the guide column I (304), and the guide sleeve II (502) moves horizontally along the guide column II (405), and with the support of the oil pressure buffer, the hole position deviation is compensated by bidirectional floating.

2. The automatic rivet nut gun for the new energy vehicle threshold beam according to claim 1, characterized in that: The machine cover (2) includes a cover plate I (201) fixedly mounted on one end of the robot arm (1), the riveting cylinder (7) fixedly mounted on the inner wall of the cover plate I (201), both sides of the cover plate I (201) are fixedly connected with side plates (202), the two side plates (202) are fixedly connected with a cover plate II (203) on the side away from the cover plate I (201), and a top plate (204) is fixedly mounted on the top of the cover plate I (201), the two side plates (202) and the cover plate II (203).

3. The automatic rivet nut gun for the new energy vehicle threshold beam according to claim 2, characterized in that: A passive plate (8) is fixedly mounted on the piston shaft of the riveting cylinder (7), and longitudinal guide shafts (9) are movably mounted on both ends of the passive plate (8), and linkage plates (10) are fixedly connected to both ends of the longitudinal guide shaft (9), and springs I (11) located between the passive plate (8) and the linkage plate (10) are movably mounted on the two longitudinal guide shafts (9).

4. The automatic rivet nut gun for the new energy vehicle threshold beam according to claim 3 is characterized in that: The Z-axis floating mechanism (3) further comprises two L-shaped plates (301), the two L-shaped plates (301) are fixedly connected to the two linkage plates (10), a positioning ring plate (302) is fixedly connected between the two L-shaped plates (301), and two groups of positioning blocks (303) are respectively arranged on both sides of the bottom of the positioning ring plate (302).

5. The automatic rivet nut gun for the new energy vehicle threshold beam according to claim 4, characterized in that: Two guide rods (12) are fixedly mounted on the inner wall of the cover plate I (201), and the two guide rods (12) are arranged on both sides of the riveting cylinder (7). Two guide slide blocks (308) are fixedly mounted on one side of the positioning ring plate (302), and the two guide slide blocks (308) are movably engaged with the two guide rods (12) respectively.

6. The automatic rivet nut gun for the new energy vehicle threshold beam according to claim 4, characterized in that: The Y-axis floating mechanism (4) further comprises a limiting ring plate (401), the two guide sleeves I (402) are respectively fixedly mounted on the top of the limiting ring plate (401), and the two sets of limiting blocks (404) are respectively fixedly mounted on both sides of the limiting ring plate (401).

7. The automatic rivet nut gun for the new energy vehicle threshold beam according to claim 6, characterized in that: Positioning cone sleeves (403) are fixedly mounted on the other two sides of the top of the limiting ring plate (401), and two positioning sleeves (306) are fixedly mounted on the positioning ring plate (302). The output shafts of the two positioning sleeves (306) extend to the bottom of the two positioning cone sleeves (403) and are fixedly mounted with positioning cone shafts (307).

8. The automatic rivet nut gun for the new energy vehicle threshold beam according to claim 1, characterized in that: A guide shaft (601) is provided at the bottom end of the rivet gun (6), and the bottom end of the guide shaft (601) is of conical design.

9. The automatic rivet nut gun for the new energy vehicle threshold beam according to claim 6, characterized in that: The cover plate I (201), the two side plates (202) and the cover plate II (203) are all fixedly mounted with electromagnets (14); a power source (15) is fixedly mounted on the top of the top plate (204); the wires on the four electromagnets (14) are respectively connected to the power source (15) in a circuit; limiting blocks (16) are respectively fixedly mounted on both sides of the limiting block (501) and on the outer sides of the two guide sleeves II (502); and the four limiting blocks (16) are respectively arranged on the inner sides of the four electromagnets (14); a magnetic block (17) is fixedly mounted in the middle of the limiting block (16); when the electromagnet (14) is energized, the corresponding electromagnet (14) is The magnetic blocks (17) are magnetically attracted to each other, one group of positioning blocks (303) is respectively fixedly mounted with a hydraulic buffer I (305), and the other group of positioning blocks (303) is respectively fixedly mounted with a hydraulic switch buffer device I (18), and the impacted heads of the hydraulic buffer I (305) and the hydraulic switch buffer device I (18) are respectively movably connected to the guide sleeve I (402), one group of limit blocks (404) is respectively fixedly mounted with a hydraulic buffer II (406), and the other group of limit blocks (404) is respectively fixedly mounted with a hydraulic switch buffer device II (19), and the structures of the hydraulic switch buffer device I (18) and the hydraulic switch buffer device II (19) are the same.

10. The automatic rivet nut gun for the new energy vehicle threshold beam according to claim 9, characterized in that: The oil pressure switch buffer device I (18) comprises a tube body (181), and a sealing plug I (182) and a sealing plug II (183) are fixedly installed at both ends of the tube body (181), and a rectangular groove is provided in the middle of the sealing plug II (183) away from the tube body (181), and an oil inlet hole is provided on the tube body (181) near the sealing plug II (183), and a sealing cover is provided on the oil inlet hole for sealing, and the inner diameter value of the inner cavity of the tube body (181) on the side close to the sealing plug I (182) is greater than the inner diameter value of the inner cavity on the other side thereof. The inner cavity of one side of the tube body (181) is provided with a piston I (184), the middle of the piston I (184) is fixedly connected with a push shaft (185), one end of the push shaft (185) away from the piston I (184) extends out of the tube body (181) and is fixedly connected to the impacted head, and the outer side of the push shaft (185) is sealed with the inner side of the sealing plug I (182), a spring II (186) is provided between the side of the piston I (184) and the inner wall of the middle part of the tube body (181), and the inner cavity of the other side of the tube body (181) is provided with a spring The piston II (187) is provided with a throttling hole, the middle of the piston II (187) is fixedly connected with a linkage shaft (188), one end of the piston II (187) away from the spring II (186) extends into the rectangular groove of the sealing plug II (183) and is fixedly installed with an insulating block (20), and the outer side of the piston II (187) is sealed with the inner side of the sealing plug II (183), the middle of the insulating block (20) is fixedly installed with a U-shaped conductive sheet (21), and the middle of the upper and lower sides of the sealing plug II (183) are A groove communicating with the rectangular groove is provided, and conductive springs (22) are fixedly installed in the two grooves respectively. The middle parts of the two conductive springs (22) extend into the rectangular groove and are movably connected to the U-shaped conductive sheet (21). The two conductive springs (22) are electrically connected to wires through conductive terminals, and the wires are electrically connected to the electromagnets (14) in the corresponding directions of the oil pressure switch buffer device I (18) or the oil pressure switch buffer device II (19) in the same circuit. A spring III (189) is provided between the piston II (187) and the sealing plug II (183).

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