Automatic shell riveting equipment

Abstract

The present invention belongs to the technical field of automatic assembly equipment, and discloses an automatic riveting device for a shell, including a base assembly and a bottom plate support assembly, a side plate positioning assembly, a crossbeam positioning assembly and a riveting assembly all arranged on the base assembly, the bottom plate support assembly includes a bottom plate support for supporting the bottom plate, a bottom plate positioning mechanism and a change mechanism, the bottom plate positioning mechanism is configured to position the bottom plate on the bottom plate support, the change mechanism is connected to the bottom plate support, the change mechanism is configured to lift the bottom plate support in a vertical direction to adjust the height position of the bottom plate and adapt the side plates, the side plate positioning assembly is configured to position two side plates on the bottom plate support, the crossbeam positioning assembly is configured to move the crossbeam and position the crossbeam on two side plates, and the riveting assembly rivets the connection between the bottom plate and the side plate and the connection between the side plate and the crossbeam. The automatic riveting device for a shell of the present invention can be compatible with the assembly of multiple shell structures of different models, with accurate positioning and high assembly efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of automatic assembly equipment, and in particular to automatic riveting equipment for shells. Background Art

[0002] The outer shell of a washing machine is an important structure that forms the overall frame of the washing machine. For metal outer shells, the connection of several plates that make up the outer shell is generally achieved by riveting. Some existing washing machine outer shells are composed of a bottom plate, two side plates, a back plate, a top plate, and a front panel for installing the door body. At the same time, in order to increase the structural strength, a crossbeam reinforcement is provided between the tops of the two side plates. The first step of outer shell assembly is to rivet the bottom plate, the two side plates, and the crossbeam reinforcement. The side plates are large-area plate-shaped parts, and the crossbeam reinforcement is a slender rod-shaped part, which is difficult to position and easy to deform. Therefore, the existing outer shell assembly equipment is often divided into multiple workstations to assemble the above-mentioned structural parts. The products are transported between multiple workstations and clamped and positioned multiple times, and the assembly efficiency is low. Moreover, due to the large number of washing machine structural models, it is difficult for the same workstation to be compatible with shells of different models and sizes, and the versatility is poor. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic shell riveting device, which can solve the problems that the existing shell assembly equipment needs to be divided into multiple workstations, has low assembly efficiency, is difficult to be compatible with shells of different models and sizes, and has poor versatility.

[0004] To achieve this object, the present invention adopts the following technical solutions:

[0005] An automatic shell riveting device is provided for assembling a shell structure, wherein the shell structure comprises a bottom plate, two side plates connected on both sides of the bottom plate, and a crossbeam, wherein the two ends of the crossbeam are respectively connected to the upper ends of the two side plates away from the bottom plate, wherein the shell structure has a plurality of models, and in different shell structures, the relative heights of the bottom plate and the side plates in the vertical direction are different, wherein the automatic shell riveting device comprises a base assembly and a bottom plate support assembly, a side plate positioning assembly, a crossbeam positioning assembly, and a riveting assembly all arranged on the base assembly, wherein the bottom plate support assembly comprises a bottom plate support for supporting the bottom plate The invention relates to a component, a base plate positioning mechanism and a mold changing mechanism, wherein the base plate positioning mechanism is configured to position the base plate on the base plate support member, the mold changing mechanism is connected to the base plate support member, the mold changing mechanism is configured to lift and lower the base plate support member in a vertical direction to adjust the height position of the base plate and adapt the side upright plates, the side upright plate positioning assembly is configured to position the two side upright plates on the base plate support member, the crossbeam positioning assembly is configured to move the crossbeam and position the crossbeam on the two side upright plates, and the riveting assembly is used to rivet the connection between the base plate and the side upright plates and the connection between the side upright plates and the crossbeam.

[0006] In one embodiment, the type-changing mechanism comprises:

[0007] A bottom plate lifting driving member, wherein the output end of the bottom plate lifting driving member is connected to the bottom plate supporting member, and the bottom plate lifting driving member is used to drive the bottom plate supporting member to lift in a vertical direction;

[0008] A movable support member, wherein the movable support member has a plurality of support blocks arranged in parallel, the heights of the plurality of support blocks in the vertical direction are different, the movable support member is movably arranged on the base assembly, the movable support member is located below the bottom plate support member, and the movable support member moves in the horizontal direction so that one of the plurality of support blocks abuts against and supports the bottom plate support member.

[0009] In one embodiment, the base plate support has three height gears, the movable support has three support blocks arranged in parallel and with different heights, the changing mechanism also includes a support driving mechanism, the support driving mechanism includes two first driving cylinders connected in series, the piston strokes of the two first driving cylinders are different, one of the two first driving cylinders is fixedly connected to the base assembly, and the output end is connected to the other first driving cylinder, the output end of the other first driving cylinder is connected to the movable support, and at least one of the two first driving cylinders is actuated so that the three support blocks correspond to the three height gears of the base plate support respectively.

[0010] In one embodiment, the riveting assembly includes a first riveting clamp movably arranged on the base plate support member, the first riveting clamp is used to rivet the connection between the base plate and the side plate, the side plate positioning assembly includes a first transverse positioning mechanism for the side plate, the output end of the first transverse positioning mechanism for the side plate has a first side plate positioning surface, the first riveting clamp has a second side plate positioning surface, the output end of the first transverse positioning mechanism for the side plate and the first riveting clamp can move toward each other so that the first side plate positioning surface and the second side plate positioning surface respectively abut against the two sides of the side plate.

[0011] In one embodiment, the first side upright plate positioning surface and the second side upright plate positioning surface respectively abut against two sides of the bottom of the side upright plate, the riveting assembly includes a second rivet clamp movably arranged on the bottom plate support, the second rivet clamp is used to rivet the connection between the side upright plate and the crossbeam, the side upright plate positioning assembly also includes a second transverse positioning mechanism for the side upright plate, the output end of the second transverse positioning mechanism for the side upright plate has a third side upright plate positioning surface, the second rivet clamp has a fourth side upright plate positioning surface, the output end of the second transverse positioning mechanism for the side upright plate and the second rivet clamp can move toward each other so that the third side upright plate positioning surface and the fourth side upright plate positioning surface respectively abut against two sides of the top of the side upright plate.

[0012] In one embodiment, the edge extending in the vertical direction on the side upright plate has a vertical bent flange extending in the direction of the other side upright plate, and the crossbeam includes a horizontally arranged crossbeam portion and a mounting portion connected to both ends of the crossbeam portion, the crossbeam portion and the two mounting portions are in a U-shaped structure, the crossbeam portion is erected between the two side upright plates, the mounting portion fits the vertical bent flange, the fourth side upright plate positioning surface of the second rivet pliers abuts the inner side edge of the side upright plate, the riveting portion of the second rivet pliers is used to rivet the mounting portion and the vertical bent flange, the rivet pliers body of the second rivet pliers is connected to the riveting portion, the rivet pliers body can drive the rivet portion to move back and forth in the vertical direction to correspond to multiple riveting points on the vertical bent flange, and the rivet pliers body is tilted to avoid the vertical bent flange.

[0013] In one embodiment, the side upright plate positioning assembly further includes a side upright plate longitudinal positioning mechanism, and the side upright plate longitudinal positioning mechanism is used to position the side upright plate along a second direction, and the second direction is perpendicular to the positioning direction of the side upright plate first transverse positioning mechanism.

[0014] In one embodiment, the bottom plate positioning mechanism includes a bottom plate transverse positioning member, a bottom plate longitudinal positioning member and a bottom plate crimping member, the bottom plate transverse positioning member is used to position the bottom plate along a first direction, the bottom plate longitudinal positioning member is used to position the bottom plate along a second direction, and the bottom plate crimping member is used to be crimped to the bottom plate along a vertical direction, and the first direction, the second direction and the vertical direction are perpendicular to each other.

[0015] In one embodiment, the beam positioning assembly includes a beam support frame, a beam positioning mechanism and a beam moving mechanism, the beam support frame has a support groove, the beam can be movably placed in the support groove, the beam positioning mechanism is used to position the beam along the first direction and / or the second direction so that the beam is adapted to the output end of the beam moving mechanism, and the beam moving mechanism is used to move the beam so that the mounting portion of the beam fits the vertical bent flange of the side panel.

[0016] In one embodiment, one of the crossbeam and the crossbeam moving mechanism has a positioning groove, and the other has a positioning pin, and the positioning pin can be inserted into the positioning groove to connect the crossbeam to the crossbeam moving mechanism; and / or,

[0017] The crossbeam moving mechanism has a first moving mode and a second moving mode. In the first moving mode, the crossbeam moving mechanism moves the crossbeam out of the support groove. In the second moving mode, the crossbeam moving mechanism moves the crossbeam toward the side vertical plate so that the mounting portion abuts against the vertical bending flange; and / or,

[0018] The crossbeam moving mechanism is a two-axis moving mechanism, and the output end of the crossbeam moving mechanism can move in the vertical direction and / or the first direction. The support groove is located on the upper side of the side vertical plate, and the output end of the crossbeam moving mechanism moves in the vertical direction and the first direction at the same time, so that the moving path of the crossbeam forms an acute angle with the vertical direction.

[0019] Beneficial effects of the present invention:

[0020] The automatic shell riveting device provided by the present invention comprises a base assembly and a bottom plate support assembly, a side plate positioning assembly, a crossbeam positioning assembly and a riveting assembly all arranged on the base assembly. The bottom plate support assembly comprises a bottom plate support member for supporting the bottom plate, a bottom plate positioning mechanism and a change mechanism, and the bottom plate positioning mechanism is configured to position the bottom plate on the bottom plate support member. The change mechanism is connected to the bottom plate support member, and the change mechanism is configured to lift the bottom plate support member in a vertical direction to adjust the height position of the bottom plate and adapt the side plate. When it is necessary to switch the model of the assembled shell structure, the change mechanism is actuated to lift the bottom plate support member in a vertical direction to adjust the height position of the bottom plate so that it can be adapted to the corresponding side plate. The same automatic shell riveting device is compatible with the assembly requirements of a variety of different models and different sizes of shell structures, and has strong applicability. The side plate positioning assembly is configured to position two side plates on the bottom plate support member, and the crossbeam positioning assembly is configured to move the crossbeam and position the crossbeam on the two side plates. Both the crossbeam and the side plates can be well positioned to reduce the risk of deformation. The riveting assembly is used to rivet the connection between the bottom plate and the side plates, and the connection between the side plates and the crossbeam. The bottom plate is positioned by the bottom plate positioning mechanism as the assembly reference. The side plate positioning assembly positions the two side plates on the bottom plate support to ensure the position accuracy of the connection between the side plates and the bottom plate; then the crossbeam positioning assembly positions the crossbeam on the side plates to ensure the position accuracy of the connection between the crossbeam and the side plates, and finally the riveting assembly is used for riveting assembly. During the assembly process of the bottom plate, the two side plates and the crossbeam, there is no need to change workstations or transport, which improves assembly efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic structural diagram of a shell automatic riveting device provided by an embodiment of the present invention;

[0022] Figure 2 is a structural schematic diagram of a housing structure provided by an embodiment of the present invention;

[0023] Figure 3 is a partial structural schematic diagram of a bottom plate support assembly provided by an embodiment of the present invention;

[0024] Figure 4 is a partial structural side view of a bottom plate support assembly provided by an embodiment of the present invention;

[0025] Figure 5 is a partial structural schematic diagram of a riveting assembly provided by an embodiment of the present invention;

[0026] Figure 6 This is a partial structural diagram of the side stand positioning assembly provided by an embodiment of the present invention.

[0027] Figure 7 It is a schematic structural diagram of a second riveting clamp and a beam positioning assembly provided in an embodiment of the present invention.

[0028] In the figure:

[0029] 1. Base assembly;

[0030] 2. Bottom plate support assembly; 21. Bottom plate support member; 22. Bottom plate positioning mechanism; 222. Bottom plate longitudinal positioning member; 223. Bottom plate crimping member; 23. Changing mechanism; 231. Bottom plate lifting driving member; 232. Moving supporting member; 2321. Support block; 233. Support member driving mechanism;

[0031] 3. Side stand plate positioning assembly; 31. First side stand plate transverse positioning mechanism; 311. First side stand plate positioning surface; 32. Second side stand plate transverse positioning mechanism; 321. Third side stand plate positioning surface; 33. Side stand plate longitudinal positioning mechanism;

[0032] 4. Beam positioning assembly; 41. Beam support frame; 411. Support slot; 42. Beam positioning mechanism; 43. Beam moving mechanism; 431. Positioning pin;

[0033] 5. Riveting assembly; 51. First riveting clamp; 511. Second side vertical plate positioning surface; 52. Second riveting clamp; 521. Fourth side vertical plate positioning surface; 522. Riveting part; 523. Riveting clamp body;

[0034] 100. Shell structure; 101. Bottom plate; 102. Side plate; 1021. Vertical bending flange; 103. Crossbeam; 1031. Crossbeam portion; 1032. Mounting portion; 1033. Positioning groove. DETAILED DESCRIPTION

[0035] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and the first feature "above", "above" and "above" the second feature include the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature "below", "below" and "below" the second feature include the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] Embodiments of the present invention are described in detail below, examples of which 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. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0039] The outer shell of a washing machine is an important structure that forms the overall frame of the washing machine. For metal outer shells, the connection of several plates that make up the outer shell is generally achieved by riveting. Some existing washing machine outer shells are composed of a bottom plate, two side plates, a back plate, a top plate, and a front panel for installing the door body. At the same time, in order to increase the structural strength, a crossbeam reinforcement is provided between the tops of the two side plates. The first step of outer shell assembly is to rivet the bottom plate, the two side plates, and the crossbeam reinforcement. The side plates are large-area plate-shaped parts, and the crossbeam reinforcement is a slender rod-shaped part, which is difficult to position and easy to deform. Therefore, the existing outer shell assembly equipment is often divided into multiple workstations to assemble the above-mentioned structural parts. The products are transported between multiple workstations and clamped and positioned multiple times, and the assembly efficiency is low. Moreover, due to the large number of washing machine structural models, it is difficult for the same workstation to be compatible with shells of different models and sizes, and the versatility is poor.

[0040] In order to solve the above problems, an embodiment of the present invention provides an automatic riveting device for a shell.

[0041] like Figure 1 and Figure 2 As shown, the shell automatic riveting equipment of this embodiment is used to assemble a shell structure 100, which includes a bottom plate 101, two side plates 102 connected to both sides of the bottom plate 101, and a crossbeam 103, and the two ends of the crossbeam 103 are respectively connected to the upper ends of the two side plates 102 away from the bottom plate 101. In this embodiment, the shell structure 100 has multiple models, and in different shell structures 100, the relative heights of the bottom plate 101 and the side plates 102 along the vertical direction are different; the bottom plate 101 of some shell structures 100 is set on the upper side of the bottom flange of the side plates 102, and the bottom plate 101 of some shell structures 100 is set on the lower side of the bottom flange of the side plates 102, or the bottom plate 101 of some shell structures 100 is provided with a flange for connecting the side plates 102, so that the relative heights of the bottom plate 101 and the side plates 102 along the vertical direction are different.

[0042] The automatic shell riveting device includes a base assembly 1 and a bottom plate support assembly 2, a side plate positioning assembly 3, a crossbeam positioning assembly 4 and a riveting assembly 5, all of which are arranged on the base assembly 1. The bottom plate support assembly 2 includes a bottom plate support member 21 for supporting a bottom plate 101, a bottom plate positioning mechanism 22 and a change mechanism 23. The bottom plate positioning mechanism 22 is configured to position the bottom plate 101 on the bottom plate support member 21. The change mechanism 23 is connected to the bottom plate support member 21. The change mechanism 23 is configured to lift the bottom plate support member 21 in a vertical direction to adjust the height position of the bottom plate 101 and adapt the side plate 102. When it is necessary to switch the model of the assembled shell structure 100, the change mechanism 23 is actuated to lift the bottom plate support member 21 in a vertical direction to adjust the height position of the bottom plate 101 so that it can be adapted to the corresponding side plate 102. The same automatic shell riveting device is compatible with the assembly requirements of a variety of shell structures 100 of different models and sizes, and has strong applicability. The side plate positioning assembly 3 is configured to position the two side plates 102 on the bottom plate support 21, and the crossbeam positioning assembly 4 is configured to move the crossbeam 103 and position the crossbeam 103 on the two side plates 102. The crossbeam 103 and the side plates 102 can be well positioned to reduce the risk of deformation. The riveting assembly 5 is used to rivet the connection between the bottom plate 101 and the side plates 102 and the connection between the side plates 102 and the crossbeam 103. The bottom plate 101 positioned by the bottom plate positioning mechanism 22 is used as the assembly reference. The side plate positioning assembly 3 positions the two side plates 102 on the bottom plate support 21 to ensure the position accuracy of the connection between the side plates 102 and the bottom plate 101; then the crossbeam positioning assembly 4 positions the crossbeam 103 on the side plates 102 to ensure the position accuracy of the connection between the crossbeam 103 and the side plates 102, and finally the riveting assembly 5 performs riveting assembly. During the assembly process of the bottom plate 101 , the two side upright plates 102 and the cross beam 103 , there is no need to change workstations or transport, thereby improving assembly efficiency.

[0043] like Figure 3As shown, the change mechanism 23 includes a bottom plate lifting drive 231 and a mobile support 232. The output end of the bottom plate lifting drive 231 is connected to the bottom plate support 21, and the bottom plate lifting drive 231 is used to drive the bottom plate support 21 to rise and fall in the vertical direction. The bottom plate support 21 after lifting needs stable support to ensure assembly accuracy. Therefore, the mobile support 232 has a plurality of support blocks 2321 arranged in parallel, and the heights of the plurality of support blocks 2321 in the vertical direction are different. The mobile support 232 is movably arranged on the base assembly 1. The mobile support 232 is located below the bottom plate support 21, and the mobile support 232 moves in the horizontal direction so that one of the plurality of support blocks 2321 abuts against and supports the bottom plate support 21. The height setting of the support block 2321 in the vertical direction is adapted to the lifting height required by the bottom plate support 21, and the mobile support 232 moves in the horizontal direction so that the corresponding support block 2321 supports the bottom plate support 21, and the change adjustment method is simple. Preferably, the movable support member 232 moves in a horizontal plane, and the moving direction is perpendicular to the bottom plate support member 21. The bottom plate lifting drive member 231 can adopt a servo module, which has high movement accuracy and can make the bottom plate support member 21 stay at any height position to meet the size requirements of different models of housing structures 100.

[0044] Exemplarily, in one embodiment, the bottom plate support member 21 has three height levels, such as Figure 4 As shown, the movable support member 232 has three support blocks 2321 arranged in parallel and of different heights. The change mechanism 23 also includes a support member driving mechanism 233, and the support member driving mechanism 233 includes two first driving cylinders connected in series. The piston strokes of the two first driving cylinders are different. One of the two first driving cylinders is fixedly connected to the base assembly 1, and the output end is connected to the other first driving cylinder. The output end of the other first driving cylinder is connected to the movable support member 232. At least one of the two first driving cylinders is actuated so that the three support blocks 2321 correspond to the bottom plate support members 21 of three height gears respectively. For example, when one of the first driving cylinders is actuated, the movable support member 232 has a first stroke S1 and one of the three support blocks 2321 abuts against the bottom plate support member 21; when the other first driving cylinder is actuated, the movable support member 232 has a second stroke S2 ​​and another of the three support blocks 2321 abuts against the bottom plate support member 21; when the two first driving cylinders are actuated simultaneously, the stroke of the movable support member 232 is S1+S2, and the third of the three support blocks 2321 abuts against the bottom plate support member 21. This structure of realizing different strokes by connecting cylinders in series has a simple stroke adjustment method, and the cost of the cylinders is slightly lower than that of the servo module, which can reduce the assembly cost.

[0045] The riveting assembly 5 includes a first riveting clamp 51 movably arranged on the bottom plate support 21, and the first riveting clamp 51 is used to rivet the connection between the bottom plate 101 and the side plate 102. The side plate positioning assembly 3 includes a first lateral positioning mechanism 31 for the side plate, the output end of the first lateral positioning mechanism 31 for the side plate has a first side plate positioning surface 311, and the first riveting clamp 51 has a second side plate positioning surface 511. The output end of the first lateral positioning mechanism 31 for the side plate and the first riveting clamp 51 can move toward each other, so that the first side plate positioning surface 311 and the second side plate positioning surface 511 respectively abut against the two sides of the side plate 102. The first riveting clamp 51 and the first lateral positioning mechanism 31 for the side plate are clamped on both sides of the side plate 102, and the first riveting clamp 51 is cleverly used to provide one side support, reduce the positioning fixture, simplify the structure of the shell automatic riveting equipment, and save space. Moreover, the surface contact support method is relatively stable, reducing the risk of clamping deformation of the side plate 102.

[0046] The number of the first riveting clamps 51 is determined according to the riveting requirements of the bottom plate 101 and the side plate 102. In this embodiment, the bottom plate 101 and the side plate 102 need to be riveted at the four corners of the bottom plate 101. Therefore, the riveting assembly 5 includes four first riveting clamps 51. Figure 5 As shown; four first riveting clamps 51 are respectively arranged at the four corners of the bottom plate 101, wherein two first riveting clamps 51 are used to position the side upright plate 102 on one side, forming two-point support for the side upright plate 102, and the support is relatively stable; the other two first riveting clamps 51 are used to position the side upright plate 102 on the other side, so that the two side upright plates 102 on both sides of the bottom plate 101 have better support to reduce deformation.

[0047] Since the side upright plate 102 is a plate-like structure and is easy to deform, the first side upright plate positioning surface 311 and the second side upright plate positioning surface 511 respectively abut against the two sides of the bottom of the side upright plate 102, and the riveting assembly 5 includes a second riveting clamp 52 that is also movably arranged on the bottom plate support 21. The second riveting clamp 52 is used to rivet the connection between the side upright plate 102 and the crossbeam 103. The side upright plate positioning assembly 3 also includes a second lateral positioning mechanism 32 for the side upright plate, and the output end of the second lateral positioning mechanism 32 for the side upright plate has a third side upright plate positioning surface 321, and the second riveting clamp 52 has a fourth side upright plate positioning surface 521. The output end of the second lateral positioning mechanism 32 for the side upright plate and the second riveting clamp 52 can move toward each other, so that the third side upright plate positioning surface 321 and the fourth side upright plate positioning surface 521 respectively abut against the two sides of the top of the side upright plate 102. In this way, the upper and lower ends of each side upright plate 102 are well supported and positioned, and the assembly process is simplified. The first riveting clamp 51 and the second riveting clamp 52 have completed the adjustment of the relative positions in the process of supporting the side vertical plate 102. After the support is formed, riveting can be performed without riveting alignment again, thereby further improving the assembly efficiency.

[0048] The first riveting clamp 51 and the second riveting clamp 52 both abut against the inner side surface of the side vertical plate 102 to adapt to the position requirements of the riveting points. Correspondingly, the first lateral positioning mechanism 31 of the side vertical plate and the second lateral positioning mechanism 32 of the side vertical plate respectively abut against the outer side surface of the side vertical plate 102. Moreover, it can be understood that the first lateral positioning mechanism 31 of the side vertical plate is provided with two groups, and the second lateral positioning mechanism 32 of the side vertical plate is also provided with two groups, corresponding to the two side vertical plates 102 respectively. In this embodiment, the bottom edge of the side vertical plate 102 is folded inward to form a bottom flange, the bottom flange abuts against the bottom plate 101, and the riveting points are distributed at the overlapping position of the bottom flange and the bottom plate 101. Therefore, the first riveting clamp 51 and the second riveting clamp 52 abut against the inner side surface of the side vertical plate 102 for positioning.

[0049] The edge extending in the vertical direction on the side vertical plate 102 has a vertical bending flange 1021 extending toward the other side vertical plate 102, and the vertical bending flange 1021 is used to connect the cross beam 103. The cross beam 103 includes a horizontally arranged cross beam portion 1031 and a mounting portion 1032 connected to both ends of the cross beam portion 1031. The cross beam portion 1031 and the two mounting portions 1032 are in a U-shaped structure. The cross beam portion 1031 is erected between the two side vertical plates 102, and the mounting portion 1032 fits the vertical bending flange 1021. The overlapping position of the mounting portion 1032 and the vertical bending flange 1021 forms a riveting point. The fourth side vertical plate positioning surface 521 of the second riveting clamp 52 abuts against the inner side edge of the side vertical plate 102, and the riveting portion 522 of the second riveting clamp 52 is used to rivet the mounting portion 1032 and the riveting points on the vertical bending flange 1021. The rivet clamp body 523 of the second rivet clamp 52 is connected to the riveting part 522. The rivet clamp body 523 can drive the riveting part 522 to move back and forth in the vertical direction to correspond to multiple riveting points on the vertical bending flange 1021. In order to avoid the vertical bending flange 1021, the rivet clamp body 523 is tilted to avoid the vertical bending flange 1021. In this way, when the riveting part 522 moves back and forth in the vertical direction to correspond to multiple riveting points, the rivet clamp body 523 will not contact the vertical bending flange 1021, thereby avoiding interference.

[0050] like Figure 6 As shown, the side stand plate positioning assembly 3 further includes a side stand plate longitudinal positioning mechanism 33, which is used to position the side stand plate 102 along a second direction, the second direction being perpendicular to the positioning direction of the side stand plate first transverse positioning mechanism 31. Figure 1As shown in the figure, the left-right direction is the first direction, and the front-back direction is the second direction. The side vertical plate longitudinal positioning mechanism 33 positions the side vertical plate 102 along the second direction, so that the side vertical plate 102 is completely positioned in the horizontal direction. In this embodiment, two groups of side vertical plate longitudinal positioning mechanisms 33 are also provided, corresponding to two side vertical plates 102 respectively. A single side vertical plate longitudinal positioning mechanism 33 has a positioning surface extending in the vertical direction, which increases the contact area with the side vertical plate 102, and the positioning process is more stable, preventing the side vertical plate 102 from tilting or falling.

[0051] The first riveting clamp 51, the second riveting clamp 52, the first lateral positioning mechanism 31, the second lateral positioning mechanism 32 and the longitudinal positioning mechanism 33 of the side plate can be driven by a servo module or a cylinder, which is not specifically limited in this embodiment. The structure of the servo module or the cylinder can be set according to the prior art.

[0052] The bottom plate positioning mechanism 22 includes a bottom plate transverse positioning member, a bottom plate longitudinal positioning member 222 and a bottom plate crimping member 223. The bottom plate transverse positioning member is used to position the bottom plate 101 along a first direction, the bottom plate longitudinal positioning member 222 is used to position the bottom plate 101 along a second direction, and the bottom plate crimping member 223 is used to be crimped to the bottom plate 101 along a vertical direction. The first direction, the second direction and the vertical direction are perpendicular to each other.

[0053] Specifically, a robot (not shown in the figure) picks up the bottom plate 101 transported by the conveyor line and places it on the bottom plate support 21. The bottom plate transverse positioning member includes two transverse power members arranged on both sides of the bottom plate 101 along the first direction. The two transverse power members push against the bottom plate 101 in opposite directions to ensure the accuracy of the position of the bottom plate 101 in the first direction. The bottom plate longitudinal positioning member 222 includes two longitudinal power members arranged at both ends of the bottom plate 101 along the second direction. The two longitudinal power members push against the bottom plate 101 in opposite directions to ensure the accuracy of the position of the bottom plate 101 in the second direction. After the bottom plate 101 is accurately positioned in the horizontal plane, the bottom plate crimping member 223 is crimped to the bottom plate 101 in the vertical direction, so that the bottom plate 101 is completely constrained on the bottom plate support 21.

[0054] In addition to the vertical movement, the bottom plate crimping part 223 can also move in the second direction to form an avoidance. In the initial state, the bottom plate crimping part 223 is away from the station where the bottom plate 101 is placed on the bottom plate support 21, so that the manipulator can place the bottom plate 101 on the bottom plate support 21. After the bottom plate transverse positioning part and the bottom plate longitudinal positioning part 222 are actuated and the bottom plate 101 is accurately positioned in the horizontal plane, the bottom plate crimping part 223 will be actuated and the bottom plate 101 will be completely constrained on the bottom plate support 21. Subsequently, the bottom plate transverse positioning part and the bottom plate longitudinal positioning part 222 are actuated again, moving in the opposite direction and away from the bottom plate 101, forming an avoidance, which is convenient for the subsequent positioning of the side plate 102 in the first direction. The above structure can not only ensure the accuracy of the positioning of the bottom plate 101, but also has the convenience of assembly.

[0055] It should be noted that, in one embodiment, the first transverse positioning mechanism 31 of the side plate can be the same structural member as the transverse positioning member of the bottom plate. Since the side plate 102 is relatively thin, the travel difference between the first transverse positioning mechanism 31 of the side plate and the transverse positioning member of the bottom plate in the first direction is relatively small, and the movement direction of the output end is the same. Therefore, the transverse positioning member of the bottom plate can be used as the first transverse positioning mechanism 31 of the side plate, thereby further simplifying the overall structure of the automatic riveting equipment of the shell.

[0056] The bottom plate transverse positioning member, the bottom plate longitudinal positioning member 222 and the bottom plate crimping member 223 can be driven by a servo module or a cylinder, which is not specifically limited in this embodiment. The structure of the servo module or the cylinder can be set with reference to the prior art.

[0057] like Figure 7 As shown, the beam positioning assembly 4 includes a beam support frame 41, a beam positioning mechanism 42 and a beam moving mechanism 43. The beam support frame 41 has a support groove 411, and the beam 103 can be movably placed in the support groove 411. The manipulator grabs the beam 103 and places the beam 103 in the support groove 411. The beam positioning mechanism 42 is used to position the beam 103 along the first direction and / or the second direction. The beam 103 extends along the first direction and penetrates the support groove 411. Therefore, the beam positioning mechanism 42 includes a beam transverse positioning mechanism and a beam longitudinal positioning mechanism. The beam transverse positioning mechanism adjusts the position of the beam 103 on the beam 103 along the first direction, and the beam longitudinal positioning mechanism adjusts the position of the beam support frame 41 along the second direction, so that the beam 103 is accurately positioned. The accurately positioned crossbeam 103 fits the output end of the crossbeam moving mechanism 43 , and the output end of the crossbeam moving mechanism 43 is used to move the crossbeam 103 so that the mounting portion 1032 of the crossbeam 103 fits the vertically bent flange 1021 of the side plate 102 .

[0058] The crossbeam 103 is initially positioned on the crossbeam support frame 41, which can reduce the subsequent positioning actions of the crossbeam moving mechanism 43. For example, the crossbeam moving mechanism 43 only needs to adjust the position of the crossbeam 103 relative to the side upright plate 102 in the height direction, and does not need to adjust the position of the crossbeam 103 relative to the side upright plate 102 along the first direction, thereby improving assembly efficiency. The action of the crossbeam positioning mechanism 42 can be performed simultaneously with the action of the bottom plate positioning mechanism 22 and the side upright plate positioning assembly 3. When the bottom plate 101 and the side upright plate 102 are accurately positioned, the crossbeam 103 has been initially positioned.

[0059] In order to improve the connection convenience between the crossbeam 103 and the output end of the crossbeam moving mechanism 43, one of the crossbeam 103 and the crossbeam moving mechanism 43 is provided with a positioning groove 1033, and the other has a positioning pin 431, which can be inserted into the positioning groove 1033 to connect the crossbeam 103 to the crossbeam moving mechanism 43. The axial direction of the positioning pin 431 extends along the second direction, and when the positioning pin 431 is inserted into the positioning groove 1033, the crossbeam moving mechanism 43 can drive the crossbeam 103 to move.

[0060] Specifically, the beam moving mechanism 43 has a first moving mode and a second moving mode. In the first moving mode, the beam moving mechanism 43 moves the beam 103 out of the support groove 411. In this embodiment, for ease of operation, the opening of the support groove 411 is upward, and the beam moving mechanism 43 moves upward in the vertical direction to drive the beam 103 out of the support groove 411. Subsequently, in the second moving mode, the beam moving mechanism 43 moves the beam 103 toward the direction close to the side vertical plate 102 so that the mounting portion 1032 abuts against the vertical bending flange 1021.

[0061] The crossbeam moving mechanism 43 is a two-axis moving mechanism, and the output end of the crossbeam moving mechanism 43 can move in the vertical direction and / or the first direction. In this embodiment, the support groove 411 is located above the side of the side vertical plate 102 to avoid interference with the movement of the side vertical plate positioning assembly 3. In the second moving mode, the output end of the crossbeam moving mechanism 43 moves in the vertical direction and the first direction at the same time, so that the moving path of the crossbeam 103 forms an acute angle with the vertical direction, that is, the moving path of the crossbeam 103 is inclined relative to the horizontal plane, so that it can quickly abut the side vertical plate 102, further improving the assembly efficiency.

[0062] The beam positioning mechanism 42 and the beam moving mechanism 43 can be driven by a servo module or a cylinder, which is not specifically limited in this embodiment. The structure of the servo module or the cylinder can be set with reference to the prior art.

[0063] After completing the assembly of the above-mentioned bottom plate 101 of the shell structure 100, the two side vertical plates 102 connected on both sides of the bottom plate 101, and the cross beam 103, other structural parts can be assembled on the bottom plate support 21 in this embodiment, or transferred to other workstations.

[0064] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A shell automatic riveting device, used for assembling a shell structure (100), wherein the shell structure (100) comprises a bottom plate (101), two side plates (102) connected to both sides of the bottom plate (101), and a crossbeam (103), wherein two ends of the crossbeam (103) are respectively connected to upper ends of the two side plates (102) away from the bottom plate (101), and the shell structure (100) has a plurality of models, and in different shell structures (100), the relative heights of the bottom plate (101) and the side plates (102) in the vertical direction are different, and characterized in that: The automatic shell riveting device comprises a base assembly (1), and a bottom plate support assembly (2), a side plate positioning assembly (3), a crossbeam positioning assembly (4), and a riveting assembly (5) all arranged on the base assembly (1); the bottom plate support assembly (2) comprises a bottom plate support member (21) for supporting the bottom plate (101), a bottom plate positioning mechanism (22), and a mold changing mechanism (23); the bottom plate positioning mechanism (22) is arranged to position the bottom plate (101) on the bottom plate support member (21); the mold changing mechanism (23) is connected to the bottom plate support member (21); and the mold changing mechanism (23) is arranged The bottom plate support member (21) is configured to lift and lower the bottom plate (101) in a vertical direction to adjust the height position of the bottom plate (101) and adapt the side plates (102); the side plate positioning assembly (3) is configured to position the two side plates (102) on the bottom plate support member (21); the crossbeam positioning assembly (4) is configured to move the crossbeam (103) and position the crossbeam (103) on the two side plates (102); and the riveting assembly (5) is used to rivet the connection between the bottom plate (101) and the side plates (102) and the connection between the side plates (102) and the crossbeam (103).

2. The automatic shell riveting equipment according to claim 1, characterized in that: The type changing mechanism (23) comprises: A bottom plate lifting driving member (231), wherein an output end of the bottom plate lifting driving member (231) is connected to the bottom plate supporting member (21), and the bottom plate lifting driving member (231) is used to drive the bottom plate supporting member (21) to lift and lower in a vertical direction; A movable support member (232), the movable support member (232) having a plurality of support blocks (2321) arranged in parallel, the plurality of support blocks (2321) having different heights in the vertical direction, the movable support member (232) being movably arranged on the base assembly (1), the movable support member (232) being located below the bottom plate support member (21), and the movable support member (232) being movable in the horizontal direction so that one of the plurality of support blocks (2321) abuts against and supports the bottom plate support member (21).

3. The automatic shell riveting equipment according to claim 2, characterized in that: The bottom plate support member (21) has three height gears, the movable support member (232) has three support blocks (2321) arranged in parallel and having different heights, the change mechanism (23) also includes a support member driving mechanism (233), the support member driving mechanism (233) includes two first driving cylinders connected in series, the piston strokes of the two first driving cylinders are different, one of the two first driving cylinders is fixedly connected to the base assembly (1), and the output end is connected to the other first driving cylinder, the output end of the other first driving cylinder is connected to the movable support member (232), at least one of the two first driving cylinders is actuated to make the three support blocks (2321) correspond to the bottom plate support member (21) of the three height gears respectively.

4. The automatic shell riveting equipment according to claim 1, characterized in that: The riveting assembly (5) comprises a first riveting clamp (51) movably arranged on the bottom plate support member (21), the first riveting clamp (51) being used for riveting the connection between the bottom plate (101) and the side upright plate (102), the side upright plate positioning assembly (3) comprising a first side upright plate transverse positioning mechanism (31), the output end of the first side upright plate transverse positioning mechanism (31) having a first side upright plate positioning surface (311), the first riveting clamp (51) having a second side upright plate positioning surface (511), the output end of the first side upright plate transverse positioning mechanism (31) and the first riveting clamp (51) being able to move towards each other, so that the first side upright plate positioning surface (311) and the second side upright plate positioning surface (511) respectively abut against two sides of the side upright plate (102).

5. The automatic shell riveting equipment according to claim 4, characterized in that: The first side upright plate positioning surface (311) and the second side upright plate positioning surface (511) respectively abut against two sides of the bottom of the side upright plate (102); the riveting assembly (5) comprises a second riveting clamp (52) which is also movably arranged on the bottom plate support member (21); the second riveting clamp (52) is used for riveting the connection between the side upright plate (102) and the crossbeam (103); the side upright plate positioning assembly (3) also comprises a second side upright plate transverse positioning mechanism (32); the output end of the second side upright plate transverse positioning mechanism (32) has a third side upright plate positioning surface (321); the second riveting clamp (52) has a fourth side upright plate positioning surface (521); the output end of the second side upright plate transverse positioning mechanism (32) and the second riveting clamp (52) can move towards each other so that the third side upright plate positioning surface (321) and the fourth side upright plate positioning surface (521) respectively abut against two sides of the top of the side upright plate (102).

6. The automatic shell riveting equipment according to claim 5, characterized in that: The edge extending in the vertical direction on the side upright plate (102) has a vertically bent flange (1021) extending in the direction of the other side upright plate (102); the crossbeam (103) comprises a horizontally arranged crossbeam portion (1031) and mounting portions (1032) connected to both ends of the crossbeam portion (1031); the crossbeam portion (1031) and the two mounting portions (1032) are in a U-shaped structure; the crossbeam portion (1031) is arranged between the two side upright plates (102); the mounting portion (1032) is in contact with the vertically bent flange (1021); the second riveting clamp (52) The fourth side vertical plate positioning surface (521) abuts against the inner side edge of the side vertical plate (102); the riveting portion (522) of the second riveting clamp (52) is used to rivet the mounting portion (1032) and the vertical bending flange (1021); the riveting clamp body (523) of the second riveting clamp (52) is connected to the riveting portion (522); the riveting clamp body (523) can drive the riveting portion (522) to move back and forth in the vertical direction to correspond to multiple riveting points on the vertical bending flange (1021); the riveting clamp body (523) is inclined to avoid the vertical bending flange (1021).

7. The automatic shell riveting equipment according to claim 4, characterized in that: The side upright plate positioning assembly (3) further comprises a side upright plate longitudinal positioning mechanism (33), wherein the side upright plate longitudinal positioning mechanism (33) is used to position the side upright plate (102) along a second direction, wherein the second direction is perpendicular to the positioning direction of the side upright plate first transverse positioning mechanism (31).

8. The automatic shell riveting equipment according to any one of claims 1 to 7, characterized in that: The bottom plate positioning mechanism (22) comprises a bottom plate transverse positioning member, a bottom plate longitudinal positioning member (222) and a bottom plate crimping member (223), wherein the bottom plate transverse positioning member is used to position the bottom plate (101) along a first direction, the bottom plate longitudinal positioning member (222) is used to position the bottom plate (101) along a second direction, and the bottom plate crimping member (223) is used to be crimped to the bottom plate (101) along a vertical direction, wherein the first direction, the second direction and the vertical direction are perpendicular to each other.

9. The automatic shell riveting equipment according to any one of claims 1 to 7, characterized in that: The crossbeam positioning assembly (4) comprises a crossbeam support frame (41), a crossbeam positioning mechanism (42) and a crossbeam moving mechanism (43); the crossbeam support frame (41) has a supporting groove (411), the crossbeam (103) can be movably placed in the supporting groove (411); the crossbeam positioning mechanism (42) is used to position the crossbeam (103) along a first direction and / or a second direction so that the crossbeam (103) is adapted to the output end of the crossbeam moving mechanism (43); the crossbeam moving mechanism (43) is used to move the crossbeam (103) so that the mounting portion (1032) of the crossbeam (103) fits the vertically bent flange (1021) of the side plate (102).

10. The automatic shell riveting equipment according to claim 9, characterized in that: One of the crossbeam (103) and the crossbeam moving mechanism (43) is provided with a positioning groove (1033), and the other has a positioning pin (431), and the positioning pin (431) can be inserted into the positioning groove (1033) so that the crossbeam (103) is connected to the crossbeam moving mechanism (43); and / or, The crossbeam moving mechanism (43) has a first moving mode and a second moving mode. In the first moving mode, the crossbeam moving mechanism (43) moves the crossbeam (103) out of the supporting groove (411). In the second moving mode, the crossbeam moving mechanism (43) moves the crossbeam (103) toward the side vertical plate (102) so that the mounting portion (1032) abuts against the vertical bending flange (1021); and / or, The crossbeam moving mechanism (43) is a two-axis moving mechanism, the output end of the crossbeam moving mechanism (43) can move in a vertical direction and / or a first direction, the support groove (411) is located on the upper side of the side vertical plate (102), and the output end of the crossbeam moving mechanism (43) moves in the vertical direction and the first direction at the same time, so that the moving path of the crossbeam (103) forms an acute angle with the vertical direction.

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