Automatic Rivet Nut Gun for Threshold Beam of New Energy Vehicles

Abstract

This application relates to the technical field of riveting equipment, and specifically discloses an automatic riveting nut gun for a threshold beam of a new energy vehicle, which includes a robotic arm. A machine cover is fixedly installed on the robotic arm. A Z-axis floating mechanism is arranged inside the machine cover, and a riveting cylinder for driving the longitudinal movement of the Z-axis floating mechanism is fixedly installed on one inner wall 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 settings of the Z-axis floating mechanism, Y-axis floating mechanism and X-axis floating mechanism in the machine cover, when riveting the nut to be riveted into the riveting hole of the workpiece, the chamfer of the nut to be riveted acts on the riveting hole, so that the guide sleeve I moves horizontally along the guide post I, and the guide sleeve II moves horizontally along the guide post II. With the support of the oil buffer, the hole position deviation is compensated by the two-way floating in the X and Y directions, so that the compensation efficiency of the hole position deviation is high, the structure is simple, the maintenance is convenient, and the cost is low.

Description

Technical Field

[0001] This application relates to the technical field of riveting equipment, and particularly to an automatic riveting nut gun for the threshold beam of new energy vehicles. Background Art

[0002] Riveting nuts are widely used in the new energy vehicle parts market. The installation and connection of riveting nuts do not damage the working surface and coating, have good bearing capacity and are not easily deformed. Moreover, riveting nuts have high salt spray and strong corrosion resistance, and can maintain stable performance in harsh environments. Riveting nuts do not require tapping internal threads or welding nuts, and the riveting is firm and efficient, effectively saving labor and time costs.

[0003] However, there will be situations such as missed riveting and unqualified riveting in traditional manual riveting. The robotic arm automatic riveting has the functions of leak prevention and error prevention compared with traditional manual riveting. When the automatic riveting gun on the traditional robotic arm is used for riveting thin sheet metal workpieces and welded workpieces, due to the deformation of thin sheets and welded parts, the traditional riveting gun has problems such as inaccurate positioning of riveting holes and high and low deviations in the depth of riveting positions, and there is no good compensation mechanism. For hole position deviation, 3D detection CCD detection and positioning are usually used in combination, and adding the 3D detection CCD positioning function will greatly increase the equipment cost, reduce the riveting efficiency, and is not convenient for factory maintenance. Therefore, in response to the needs of market customers, researching a set of stable and efficient compensation mechanisms for automated robotic arm riveting equipment can well solve the customer's budget and improve production efficiency. Summary of the Invention

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

[0005] To achieve the above object, this application adopts the following technical solutions: An automatic riveting nut gun for the threshold beam of new energy vehicles includes a robotic arm, and a machine cover is fixedly installed on the robotic arm. A Z-axis floating mechanism is arranged inside the machine cover, and a riveting cylinder for driving the longitudinal movement of the Z-axis floating mechanism is fixedly installed on one inner wall 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.

[0006] The Z-axis floating mechanism includes two groups of positioning blocks. The number of one group of positioning blocks is two, and a guide post I is arranged between the one group of positioning blocks. An oil pressure buffer I is arranged on the positioning block.

[0007] The Y-axis floating mechanism includes two guide sleeves Ⅰ that are movably sleeved on the positioning blocks, and also includes two groups of limit blocks. The number of limit blocks in one group is two, and a guide post Ⅱ is provided between the two limit blocks in one group. An oil buffer Ⅱ is provided on the limit block.

[0008] The X-axis floating mechanism includes a guide sleeve Ⅱ that is movably sleeved on the two guide posts Ⅱ. The guide sleeve Ⅱ is fixedly installed on the first limit block, and a riveting gun is fixedly installed at the bottom of the first limit block.

[0009] During use, the chamfer of the nut to be riveted acts on the riveting hole by itself. The guide sleeve Ⅰ moves horizontally along the guide post Ⅰ, and the guide sleeve Ⅱ moves horizontally along the guide post Ⅱ. With the support of the oil buffer, the hole position deviation is compensated by two-way floating.

[0010] Furthermore, the machine cover includes a cover plate Ⅰ fixedly installed at one end of the robotic arm. The riveting cylinder is fixedly installed on the inner wall of the cover plate Ⅰ. Both sides of the cover plate Ⅰ are fixedly connected with side plates. The two side plates are fixedly connected with a cover plate Ⅱ on the side far away from the cover plate Ⅰ. The top of the cover plate Ⅰ, the two side plates and the cover plate Ⅱ is fixedly installed with a top plate.

[0011] Furthermore, a passive plate is fixedly installed on the piston shaft of the riveting cylinder. The two ends of the passive plate are respectively movably sleeved with longitudinal guide shafts, and the two ends of the longitudinal guide shafts are fixedly connected with linkage plates. Two springs Ⅰ are respectively movably sleeved on the two longitudinal guide shafts between the passive plate and the linkage plates.

[0012] Furthermore, the Z-axis floating mechanism also includes two L-shaped plates. Both L-shaped plates are fixedly connected with the two linkage plates. A positioning ring plate is fixedly connected between the two L-shaped plates. 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 installed on the inner wall of the cover plate Ⅰ. The two guide rods are respectively arranged on both sides of the riveting cylinder. Two guide sliders are fixedly installed on one side of the positioning ring plate. The two guide sliders are respectively movably clamped with the two guide rods.

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

[0015] Furthermore, the other two sides of the top of the limit ring plate are respectively fixedly installed with positioning cone sleeves. Two positioning sleeves are fixedly installed on the positioning ring plate. The output shafts of the two positioning sleeves respectively extend below 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 riveting gun, and the bottom end of the guide shaft is designed to be conical.

[0017] Further, electromagnets are fixedly installed on the cover plate I, the two side plates, and the cover plate II. A power supply is fixedly installed on the top of the top plate. The wires on the four electromagnets are respectively connected to the power supply in a circuit. Second limiting blocks are fixedly installed on both sides of the first limiting block and on the outer sides of the two guide sleeves II, and the four second limiting blocks are respectively arranged inside the four electromagnets. A magnetic block is fixedly installed in the middle of the second limiting block. When the electromagnet is energized, the magnetic block on the electromagnet arranged corresponding to it is magnetically attracted. Oil pressure buffers I are respectively fixedly installed on one group of positioning blocks, and oil pressure switch buffer devices I are respectively fixedly installed on the other group of positioning blocks. The impact heads of the oil pressure buffers I and the oil pressure switch buffer devices I are respectively movably connected to the guide sleeve I. Oil pressure buffers II are respectively fixedly installed on one group of limiting blocks, and oil pressure switch buffer devices II are respectively fixedly installed on the other group of limiting blocks. The oil pressure switch buffer device I and the oil pressure switch buffer device II have the same structure.

[0018] Further, the oil pressure switch buffer device I respectively includes a tube body. Sealing plugs I and II are respectively fixedly installed at both ends of the tube body. A rectangular groove is opened in the middle of the side of the sealing plug II away from the tube body, and an oil inlet hole is opened on the tube body near the sealing plug II. The oil inlet hole is sealed with a sealing cover. The inner diameter value of the inner cavity of the tube body near the sealing plug I is greater than that of the other inner cavity. A piston I is arranged in one inner cavity of the tube body. A push shaft is fixedly connected to the middle of the piston I. The end of the push shaft away from the piston I extends out of the tube body and is fixedly connected to the impact head. The outer side of the push shaft is hermetically fitted with the inner side of the sealing plug I. A spring II is arranged between the side surface of the piston I and the inner wall of the middle of the tube body. A piston II is arranged in the other inner cavity of the tube body, and a throttle hole is opened on the piston II. 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 into the rectangular groove of the sealing plug II and is fixedly installed with an insulating block. The outer side of the piston II is hermetically 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 communicated with the rectangular groove are respectively opened in the middle of the upper and lower sides of the sealing plug II, and conductive spring pieces are respectively fixedly installed in the two grooves. The middle parts of the two conductive spring pieces extend into the rectangular groove and are movably connected to the U-shaped conductive sheet. The two conductive spring pieces are respectively electrically connected to wires through conductive terminals, and the wires are electrically connected to the electromagnet in the corresponding direction of the oil pressure switch buffer device I or the oil pressure switch buffer device II in the same circuit. A spring III is arranged between the piston II and the sealing plug II.

[0019] The beneficial effects of the present invention:

[0020] 1. The automatic riveting nut gun for the threshold beam of a new energy vehicle provided by this application, through the structural settings of the Z-axis floating mechanism, Y-axis floating mechanism, and X-axis floating mechanism inside the hood, when riveting the nut to be riveted into the riveting hole of the workpiece, the chamfer of the nut to be riveted acts on the riveting hole, causing the guide sleeve I to move horizontally along the guide post I and the guide sleeve II to move horizontally along the guide post II. With the support of the oil pressure buffer, the hole position deviation is compensated through two-way floating in the X and Y directions, resulting in a high compensation efficiency for the hole position deviation. Thus, the problem of incorrect hole position and reverse material jamming of the pull rod after forced riveting, making it impossible to retreat, is avoided. Moreover, compared with the method of detecting and positioning by the CCD system, the structure is simple, the maintenance is convenient, and the cost is relatively low.

[0021] 2. The automatic riveting nut gun for the threshold beam of a new energy vehicle provided by this application drives the piston shaft to drive the passive plate to move downward through the riveting cylinder, thereby being able to drive the two linkage plates and the Z-axis floating mechanism to move downward. At the same time, using the elastic force of spring I, it is pre-pressed during the riveting of the workpiece to eliminate the incoming material deviation compensation in the height direction of the workpiece.

[0022] 3. By respectively arranging magnetic blocks in four directions of the X-axis floating mechanism, and installing electromagnets corresponding to the magnetic blocks on the hood, and respectively fixedly installing an oil pressure switch buffer device I on one group of positioning blocks and an oil pressure switch buffer device II on one group of limit blocks. When there is a hole position deviation when the riveting cylinder drives the riveting gun to send the nut to be riveted into the riveting hole, and the difference between the inner and outer diameters of the nut to be riveted is relatively large, the guide shaft is used for guiding, causing the X-axis floating mechanism to move. As a result, the oil pressure switch buffer device is triggered, and 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 riveting gun can continue to move, ensuring that the nut can enter the riveting hole of the workpiece, and being able to compensate for the hole position deviation for different nuts, with a better compensation effect for the hole position deviation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings forming a part of the specification depict the embodiments disclosed in this application and, together with the specification, are used to explain the principles disclosed in this application.

[0024] Referring to the drawings, this application can be more clearly understood according to the following detailed description, where:

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

[0026] Figure 2 is Figure 1 the structural schematic diagram of the hood in

[0027] Figure 3 is Figure 2 the internal structural schematic diagram of the hood in

[0028] Figure 4 Front view of Figure 3 ;

[0029] Figure 5 Right view of Figure 4 ;

[0030] Figure 6 Exploded view of the three floating mechanisms in Figure 3 ;

[0031] Figure 7 Inner wall structure diagram of the middle cover plate Ⅰ in Figure 6 ;

[0032] Figure 8 Structure diagram of the Z-axis floating mechanism in Figure 6 ;

[0033] Figure 9 Structure diagram of the Y-axis floating mechanism in Figure 6 ;

[0034] Figure 10 Structure diagram of the X-axis floating mechanism in Figure 6 ;

[0035] Figure 11 Schematic diagram of the riveting state in the first embodiment;

[0036] Figure 12 Schematic diagram of the riveting state in the second embodiment;

[0037] Figure 13 Structure diagram of the engine hood in the third embodiment;

[0038] Figure 14 Inner structure diagram of Figure 13 ;

[0039] Figure 15 Structure diagram of the Z-axis floating mechanism in Figure 14 ;

[0040] Figure 16 Structure diagram of the Y-axis floating mechanism in Figure 14 ;

[0041] Figure 17 Top view of Figure 16 ;

[0042] Figure 18 Structure diagram of the X-axis floating mechanism in Figure 14 ;

[0043] Figure 19 Top view of Figure 18 ;

[0044] Figure 20For Figure 15 Schematic structural diagram of the medium hydraulic pressure switch buffer device I;

[0045] Figure 21 For Figure 20 Schematic sectional view of the cutaway structure;

[0046] Figure 22 For Figure 21 Schematic diagram of the enlarged partial structure at position A of the cutaway structure;

[0047] Figure 23 Schematic diagram of the state before riveting in the third embodiment;

[0048] Figure 24 Schematic diagram of the state during riveting in the third embodiment;

[0049] Figure 25 Schematic circuit diagram of the electromagnet in the third embodiment;

[0050] Figure 26 Schematic diagram of the state after riveting in the third embodiment.

[0051] In the figure:

[0052] 1. Robot 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 post I; 305. Hydraulic buffer I; 306. Positioning sleeve; 307. Positioning taper shaft; 308. Guide slider; 4. Y-axis floating mechanism; 401. Limiting ring plate; 402. Guide bushing I; 403. Positioning taper sleeve; 404. Limiting block; 405. Guide post II; 406. Hydraulic buffer II; 5. X-axis floating mechanism; 501. First limiting block; 502. Guide bushing II; 6. Riveting gun; 601. Guide shaft; 7. Riveting cylinder; 8. Passive plate; 9. Longitudinal guide shaft; 10. Linking plate; 11. Spring I; 12. Guide rod; 13. Nut to be riveted; 14. Electromagnet; 15. Power supply; 16. Second limiting block; 17. Magnetic block; 18. Hydraulic pressure switch buffer device I; 181. Tube body; 182. Seal plug I; 183. Seal plug II; 184. Piston I; 185. Push shaft; 186. Spring II; 187. Piston II; 188. Linking shaft; 189. Spring III; 19. Hydraulic pressure switch buffer device II; 20. Insulating block; 21. U-shaped conductive sheet; 22. Conductive spring piece. Detailed implementation manners

[0053] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts belong to the scope of protection of the present application. Embodiment

[0054] Please refer to Figures 1 - 2 , an automatic riveting nut gun for the threshold beam of a new energy vehicle, including a robotic arm 1, on which a hood 2 is installed. The hood 2 includes a cover plate Ⅰ 201 fixedly installed at one end of the robotic arm 1. Both sides of the cover plate Ⅰ 201 are fixedly connected with side plates 202. One side of the two side plates 202 away from the cover plate Ⅰ 201 is fixedly connected with a cover plate Ⅱ 203. The top of the cover plate Ⅰ 201, the two side plates 202 and the cover plate Ⅱ 203 is fixedly installed with a top plate 204. The hood 2 formed by splicing the cover plate Ⅰ 201, the side plates 202, the cover plate Ⅱ 203 and the top plate 204 protects the components inside the hood 2. Please refer to Figures 2 - 5 , a Z-axis floating mechanism 3 is provided inside the hood 2. 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. 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. The X-axis floating mechanism 5 can move horizontally relative to the Y-axis floating mechanism 4.

[0055] Please refer to Figures 6 - 10 , a riveting cylinder 7 is fixedly installed on the inner wall of the cover plate Ⅰ 201. A passive plate 8 is fixedly installed on the piston shaft of the riveting cylinder 7. Longitudinal guide shafts 9 are respectively movably sleeved at both ends of the passive plate 8, and linkage plates 10 are fixedly connected to both ends of the longitudinal guide shafts 9. Spring Ⅰ 11 located between the passive plate 8 and the linkage plates 10 is respectively movably sleeved on the two longitudinal guide shafts 9.

[0056] Please refer to Figures 6 - 8 , the Z-axis floating mechanism 3 includes two L-shaped plates 301. Both of the two L-shaped plates 301 are fixedly connected with the two linkage plates 10. By driving the piston shaft of the riveting cylinder 7 to drive the passive plate 8 to move downward, the two linkage plates 10 and the Z-axis floating mechanism 3 can be driven to move downward. At the same time, using the elastic force of the spring Ⅰ 11, pre-pressure is applied during riveting of the workpiece to eliminate the compensation for the incoming material deviation in the height direction of the workpiece. A positioning ring plate 302 is fixedly connected between the two L-shaped plates 301. On both sides of the bottom of the positioning ring plate 302, a group of positioning blocks 303 are respectively fixedly installed. The number of a group of positioning blocks 303 is two, and the two positioning blocks 303 are respectively arranged at both ends of the bottom of the positioning ring plate 302. Guide posts Ⅰ 304 are respectively fixedly installed in the middle between each group of positioning blocks 303, and an oil pressure buffer Ⅰ 305 located above the guide post Ⅰ 304 is fixedly installed on each positioning block 303.

[0057] On the inner wall of the cover plate I 201, two guide rods 12 are fixedly installed. The two guide rods 12 are respectively arranged on both sides of the riveting cylinder 7. On one side of the positioning ring plate 302, two guide sliders 308 are fixedly installed. The two guide sliders 308 are respectively movably clamped with the two guide rods 12. By means of the guiding and limiting effects of the guide rods 12 on the guide sliders 308, the Z-axis floating mechanism 3 can move longitudinally relative to the machine cover 2 stably.

[0058] Please refer to Figures 8 - 9 , the Y-axis floating mechanism 4 includes a limit ring plate 401. On both sides of the top of the limit ring plate 401, guide sleeves I 402 are respectively fixedly installed. The two guide sleeves I 402 are respectively movably sleeved with the two guide posts I 304, so that the guide sleeves I 402 can move horizontally along the guide posts I 304, thereby providing compensation in this direction, that is, providing compensation in the Y direction. And the impact head of the oil buffer I 305 is movably connected with the guide sleeve I 402. By using the oil buffer I 305 to abut against both sides of the guide sleeve I 402 for support, the guide sleeve I 402 always tends to the middle of the guide post I 402 under normal conditions. On the other two sides of the top of the limit ring plate 401, positioning cone sleeves 403 are respectively fixedly installed. On the positioning ring plate 302, two positioning sleeves 306 are fixedly installed. The output shafts of the two positioning sleeves 306 respectively extend below the two positioning cone sleeves 403 and are fixedly installed with positioning cone shafts 307. On both sides of the limit ring plate 401, a group of limit blocks 404 are respectively fixedly installed. The two groups of limit blocks 404 are respectively arranged outside the two ends of the guide sleeve I 402. The number of a group of limit blocks 404 is two, and a guide post II 405 located below the limit ring plate 401 is fixedly installed between a group of limit blocks 404. An oil buffer II 406 is respectively fixedly installed on each limit block 404.

[0059] Please refer to Figures 9 - 10 , the X-axis floating mechanism 5 includes a first limiting block 501. On both sides of the first limiting block 501, guide sleeves II 502 are respectively fixedly installed. The two guide sleeves II 502 are respectively movably sleeved with the two guide posts II 405, so that the guide sleeves II 502 can move horizontally along the guide posts II 405, thereby providing compensation in this direction, that is, providing compensation in the X direction. At the bottom of the first limiting block 501, a riveting gun 6 is fixedly installed. At the bottom end of the riveting gun 6, a guide shaft 601 is provided.

[0060] During use, after the robotic arm 1 drives the guide shaft 601 at the bottom end of the riveting gun 6 to pick up the nut 13 to be riveted, the robotic arm 1 drives the X-axis floating mechanism 5 to move to the riveting area of the workpiece. 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 feeding the nut 13 to be riveted on the guide shaft 601 into the riveting hole of the workpiece for riveting.

[0061] When there is a hole position deviation when the riveting cylinder 7 drives the riveting gun 6 to send the nut 13 to be riveted into the riveting hole, and the value of this hole position deviation is less than the horizontal distance value of the bottom chamfer of the nut 13 to be riveted itself, specifically as Figure 11 shown. At this time, the chamfer of the nut 13 to be riveted itself acts on the riveting hole, causing the guide sleeve I 402 to move horizontally along the guide post I 304, and the guide sleeve II 502 to move horizontally along the guide post II 405. With the support of the oil pressure buffer, the hole position deviation is compensated through the two-way floating in the X and Y directions, thereby avoiding the problems of incorrect hole position, reverse material jamming of the pull rod after forced riveting, and inability to retreat. Moreover, compared with the method of detecting and positioning by the CCD system, the structure is simple, the maintenance is convenient, and the cost is low. Embodiment

[0062] Please refer to Figure 12 , on the basis of Embodiment 1, different from Embodiment 1, the bottom end of the guide shaft 601 is designed as a cone. Through the cone design at the bottom end of the guide shaft 601, when there is a hole position deviation when the riveting cylinder 7 drives the riveting gun 6 to send the nut 13 to be riveted into the riveting hole, and the value of this hole position deviation is greater than the horizontal distance value of the bottom chamfer of the nut 13 to be riveted itself, the conical surface of the guide shaft 601 is used for guiding, the guide sleeve I 402 moves horizontally along the guide post I 304, and the guide sleeve II 502 moves horizontally along the guide post II 405. With the support of the oil pressure buffer, the hole position deviation is compensated through the two-way floating in the X and Y directions. Compared with the embodiment, the hole position deviation value that can be compensated is larger and the effect is better. Embodiment

[0063] Please refer to Figures 13 - 19 , on the basis of Embodiment 2, different from Embodiment 2, electromagnets 14 are fixedly installed on the cover plate I 201, the two side plates 202 and the cover plate II 203, and a power supply 15 is fixedly installed on the top of the top plate 204. The wires on the four electromagnets 14 are respectively connected to the power supply 15 in a circuit. Please specifically refer to Figures 18 - 19 , second limit blocks 16 are respectively fixedly installed on both sides of the first limit block 501 and the outer sides of the two guide sleeves II 502, and the four second limit blocks 16 are respectively arranged corresponding to the inner sides of the four electromagnets 14. A magnetic block 17 is fixedly installed in the middle of the second limit block 16. When the electromagnet 14 is energized, the magnetic block 17 on the corresponding electromagnet 14 attracts magnetically.

[0064] Please refer to Figure 15 , oil pressure buffers I 305 are respectively fixedly installed on one group of positioning blocks 303, and oil pressure switch buffer devices I 18 are respectively fixedly installed on the other group of positioning blocks 303. The impact heads of the oil pressure buffers I 305 and the oil pressure switch buffer devices I 18 are respectively movably connected to the guide sleeve I 402. Please refer to Figures 16 - 17, on one set of limiting blocks 404, oil hydraulic buffers II 406 are respectively and fixedly installed, and on the other set of limiting blocks 404, oil pressure switch buffer devices II 19 are respectively and fixedly installed. The structures of the oil pressure switch buffer device I 18 and the oil pressure switch buffer device II 19 are the same.

[0065] Please refer to Figures 20 - 22 , the oil pressure switch buffer device I 18 respectively includes a pipe body 181. At both ends of the pipe body 181, a sealing plug I 182 and a sealing plug II 183 are respectively and fixedly installed. In the middle of the side of the sealing plug II 183 away from the pipe body 181, a rectangular groove is opened, and an oil inlet hole is opened on the pipe body 181 near the sealing plug II 183, and a sealing cover is arranged on the oil inlet hole for sealing. The inner diameter value of the inner cavity of the pipe body 181 on the side close to the sealing plug I 182 is greater than that of the inner cavity on the other side. In one inner cavity of the pipe body 181, there is a piston I 184. In the middle of the piston I 184, a push shaft 185 is fixedly connected. One end of the push shaft 185 away from the piston I 184 extends out of the outside of the pipe body 181 and is fixedly connected with a collision head, and the outer side of the push shaft 185 is in sealing fit with the inner side of the sealing plug I 182. Between the side surface of the piston I 184 and the inner wall of the middle part of the pipe body 181, there is a spring II 186. In the other inner cavity of the pipe body 181, there is a piston II 187, and a throttle hole is opened on the piston II 187. In the middle of the piston II 187, a linkage shaft 188 is fixedly connected. 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 in sealing fit with the inner side of the sealing plug II 183. In the middle of the insulating block 20, a U-shaped conductive sheet 21 is fixedly installed. In the middle of the upper and lower sides of the sealing plug II 183, grooves communicated with the rectangular groove are opened, and two conductive spring pieces 22 are respectively and fixedly installed in the two grooves. The middle parts of the two conductive spring pieces 22 extend into the rectangular groove and are movably connected with the U-shaped conductive sheet 21. The two conductive spring pieces 22 are respectively electrically connected with wires through conductive terminals, and the wires are electrically connected with the electromagnet 14 in the corresponding direction of the oil pressure switch buffer device I 18 or the oil pressure switch buffer device II 19 in the same circuit, so that the conductive spring pieces 22 in the oil pressure switch buffer device I 18 or the oil pressure switch buffer device II 19 are in contact with the two U-shaped conductive sheets 21, and the electromagnet 14 in the corresponding direction of the oil pressure switch buffer device I 18 or the oil pressure switch buffer device II 19 is energized to generate a magnetic attraction force on the magnetic block 17. Between the piston II 187 and the sealing plug II 183, there is a spring III 189. By using the elastic force of the spring III 189, in the normal state, the U-shaped conductive sheet 21 always tends to be close to but not in contact with the conductive spring piece 22.

[0066] During use, when the riveting cylinder 7 drives the riveting gun 6 to send the nut 13 to be riveted into the riveting hole and there is a hole position deviation, and the difference between the inner and outer diameters of the nut 13 to be riveted is relatively large, the guide shaft 601 is used for guiding, as Figure 23As shown, as the riveting gun 6 continues to move downward until the bottom of the nut 13 to be riveted contacts the workpiece surface, as Figure 24 shown, since the difference between the inner and outer diameters of the nut 13 to be riveted is relatively large, if the technical solution of the second embodiment is still adopted, the nut 13 to be riveted cannot be sent into the riveting hole anymore. At this time, in the third embodiment, during the movement of the guide shaft 601 from Figures 22 to 23 when the riveting gun 6 moves horizontally in one direction, the guide sleeve I 402 or the guide sleeve II 502 will push the impact head to move to one side. The impact head drives the push shaft 185 and the piston I 184 to move and compress the spring II 186. By using the fact that the inner diameter of the inner cavity where the piston I 184 is located is larger than the inner diameter of the inner cavity where the piston II 187 is located, the oil pressure in the chamber between the piston I 184 and the piston II 187 increases. A part of the high-viscosity thickened oil on one side of the piston I flows through the throttle hole on the piston II 187, and the other part pushes the piston II 187 to drive the linkage shaft 188 to move towards the sealing plug II 183, so that the U-shaped conductive sheet 21 contacts the two conductive reeds 22, as Figure 25 shown, the circuit where the electromagnet 14 is located is energized to generate a magnetic suction force on the magnetic block 17, so that the riveting gun 6 can continue to move, that is, from the state shown in Figure 24 to the state shown in Figure 26 shown, ensuring that the nut can enter the riveting hole of the workpiece to complete the riveting work. After the riveting is completed, after the guide shaft 601 disengages from the nut 13 to be riveted, the piston II 187 is reset by the elastic force of the spring III 189, the U-shaped conductive sheet 21 is separated from the insulating block 20, and the corresponding electromagnet 14 is powered off accordingly. At the same time, the piston I 184 is reset by the elastic force of the spring II 186 to prepare for the riveting of the next nut. Compared with the second embodiment, it can compensate for the hole position deviation for different nuts, and the compensation effect of the hole position deviation is better.

Claims

1. An automatic rivet nut gun for the sill beam of a new energy vehicle, comprising a robotic arm, and a hood fixedly installed on the robotic arm, characterized in that Inside the hood, there is a Z-axis floating mechanism, and on one inner wall of the hood, a riveting cylinder for driving the longitudinal movement of the Z-axis floating mechanism is fixedly installed. On the Z-axis floating mechanism, there is a Y-axis floating mechanism, and on the Y-axis floating mechanism, there is an X-axis floating mechanism; The Z-axis floating mechanism includes two groups of positioning blocks. The number of one group of positioning blocks is two, and a guide post I is arranged between the two positioning blocks of one group. An oil pressure buffer I is arranged on the positioning block; The Y-axis floating mechanism includes two guide sleeves I that are movably sleeved on the positioning blocks, and also includes two groups of limit blocks. The number of one group of limit blocks is two, and a guide post II is arranged between the two limit blocks of one group. An oil pressure buffer II is arranged on the limit block; The X-axis floating mechanism includes a guide sleeve II that is movably sleeved on two guide posts II. The guide sleeve II is fixedly installed on the first limiting block, and a riveting gun is fixedly installed at the bottom of the first limiting block; During use, by utilizing the chamfer of the nut to be riveted acting on the riveting hole, the guide sleeve I moves horizontally along the guide post I, and the guide sleeve II moves horizontally along the guide post II. With the support of the oil pressure buffer, the hole position deviation is compensated through two-way floating; Electromagnets are fixedly installed on the cover plate I, the two side plates, and the cover plate II. A power supply is fixedly installed on the top of the top plate. The wires on the four electromagnets are respectively connected to the power supply in a circuit. Second limiting blocks are respectively fixedly installed on both sides of the first limiting block and the outer sides of the two guide sleeves II, and the four second limiting blocks are respectively arranged inside the four electromagnets correspondingly. A magnetic block is fixedly installed in the middle of the second limiting block. When the electromagnet is energized, the magnetic block on the electromagnet corresponding to it is magnetically attracted. Oil pressure buffers I are respectively fixedly installed on one group of positioning blocks, and oil pressure switch buffer devices I are respectively fixedly installed on the other group of positioning blocks. The impact heads of the oil pressure buffer I and the oil pressure switch buffer device I are respectively movably connected to the guide sleeve I. Oil pressure buffers II are respectively fixedly installed on one group of limit blocks, and oil pressure switch buffer devices II are respectively fixedly installed on the other group of limit blocks. The oil pressure switch buffer device I and the oil pressure switch buffer device II have the same structure; The hydraulic pressure switch buffer device I respectively includes a tube body. Sealing plugs I and II are fixedly installed at both ends of the tube body. A rectangular groove is formed in the middle of the side of the sealing plug II away from the tube body, and an oil inlet hole is formed in the tube body near the sealing plug II. A sealing cover is arranged on the oil inlet hole for sealing. The inner diameter value of the inner cavity of the tube body near the sealing plug I is greater than that of the other side. A piston I is arranged in one inner cavity of the tube body. A push shaft is fixedly connected to the middle of the piston I. The end of the push shaft away from the piston I extends out of the tube body and is fixedly connected to a collision head. The outer side of the push shaft is in sealing fit with the inner side of the sealing plug I. A spring II is arranged between the side surface of the piston I and the inner wall of the middle part of the tube body. A piston II is arranged in the other inner cavity of the tube body, and a throttle hole is formed in the piston II. 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 into the rectangular groove of the sealing plug II and is fixedly installed with an insulating block. The outer side of the piston II is in sealing fit 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 communicated with the rectangular groove are formed in the middle of the upper and lower sides of the sealing plug II, and conductive spring pieces are respectively fixedly installed in the two grooves. The middle parts of the two conductive spring pieces extend into the rectangular groove and are movably connected to the U-shaped conductive sheet. The two conductive spring pieces are electrically connected to wires through conductive terminals, and the wires are electrically connected to the electromagnets in the corresponding directions of the hydraulic pressure switch buffer device I or the hydraulic pressure switch buffer device II in the same circuit. A spring III is arranged between the piston II and the sealing plug II.

2. The automatic rivet nut gun for the threshold beam of a new energy vehicle according to claim 1, characterized in that, The hood includes a cover plate I fixedly installed at one end of the robotic arm. The riveting cylinder is fixedly installed on the inner wall of the cover plate I. Side plates are fixedly connected to both sides of the cover plate I. Cover plate II is fixedly connected to the sides of the two side plates away from the cover plate I. A top plate is fixedly installed on the tops of the cover plate I, the two side plates and the cover plate II.

3. The automatic rivet nut gun for the threshold beam of a new energy vehicle according to claim 2, characterized in that, A passive plate is fixedly installed on the piston shaft of the riveting cylinder. Longitudinal guide shafts are respectively movably sleeved at both ends of the passive plate, and linkage plates are fixedly connected to both ends of the longitudinal guide shafts. Springs I are respectively movably sleeved on the two longitudinal guide shafts between the passive plate and the linkage plates.

4. The automatic rivet nut gun for the threshold beam of a new energy vehicle according to claim 3, characterized in that, The Z-axis floating mechanism further includes two L-shaped plates. Both of the two L-shaped plates are fixedly connected to the two linkage plates. A positioning ring plate is fixedly connected between the two L-shaped plates. Two groups of positioning blocks are respectively arranged on both sides of the bottom of the positioning ring plate.

5. The automatic rivet nut gun for the threshold beam of a new energy vehicle according to claim 4, wherein Two guide rods are fixedly installed on the inner wall of the cover plate I. The two guide rods are respectively arranged on both sides of the riveting cylinder. Two guide sliders are fixedly installed on one side of the positioning ring plate. The two guide sliders are respectively movably clamped with the two guide rods.

6. The automatic riveting nut gun for the threshold beam of a new energy vehicle according to claim 4, wherein, The Y-axis floating mechanism further includes a limiting ring plate. The two guide sleeves I are respectively fixedly installed on the top of the limiting ring plate, and two groups of limiting blocks are respectively fixedly installed on both sides of the limiting ring plate.

7. The automatic rivet nut gun for the threshold beam of a new energy vehicle according to claim 6, characterized in that, Positioning cone sleeves are respectively fixedly installed on the other two sides of the top of the limiting ring plate. Two positioning sleeves are fixedly installed on the positioning ring plate. The output shafts of the two positioning sleeves respectively extend below the two positioning cone sleeves and are fixedly installed with positioning cone shafts.

8. The automatic rivet nut gun for the threshold beam of a new energy vehicle according to claim 1, characterized in that, The bottom end of the riveting gun is provided with a guiding shaft, and the bottom end of the guiding shaft is designed to be conical.

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