Manipulator double-sided automatic drilling and rivet pressing all-in-one machine equipment

Abstract

The invention relates to the technical field of rivet pressing, and particularly discloses mechanical arm double-face automatic drilling and rivet pressing all-in-one machine equipment which comprises a rack, a discharging roller and a rivet pressing assembly, the rivet pressing assembly is used for conducting rivet pressing work on a plate, the discharging roller is used for conveying the plate to the position below a station of the rivet pressing assembly, and the mechanical arm double-face automatic drilling and rivet pressing all-in-one machine equipment further comprises two mechanical arms, the clamping device is used for clamping plates; the guide rail is mounted at the upper part of the rack; the number of the conveying belts is two, the conveying belts are installed on the guide rail, the two conveying belts are arranged side by side, and the two manipulators are arranged on the two conveying belts respectively and can synchronously move along with the two conveying belts in a staggered mode. The two manipulators are driven by the two conveying belts to sequentially clamp the plate to the position below the rivet pressing assembly to conduct drilling and rivet pressing work, then the machined plate is placed on the stacking frame through the manipulators to complete stacking work, compared with the prior art, continuous drilling, rivet pressing and stacking work can be completed, and efficiency is remarkably improved.

Description

Technical Field

[0001] The invention relates to the technical field of rivets, and in particular to a manipulator double-sided automatic drilling and rivet integrated machine equipment. Background Art

[0002] In the packaging industry, there is a packaging box that uses a steel belt structure for edge sealing. The packaging box structure includes: a cover plate, a bottom plate, a vertical plate, and a steel belt structure fixed to the edges on all sides; the steel belt structure is an L-shaped 90° bent strip structure with a top edge and a vertical edge. The top edge is punched out with a row of triangular nail structures and pressed on the cover plate and the bottom plate to make them fit together firmly. Screw holes are drilled on the other side of the vertical edge, and rivet nuts are installed on the edge of the vertical plate so that they can be detachably installed and fixed together with screws. The position of the rivet nuts on the vertical plate should be consistent with the steel plate. The screw holes on the belt structure are aligned with each other, so before installation, it is necessary to drill holes on the vertical plate, install the rivet nuts into the holes, and then use the riveting machine to press and fix the rivet nuts. Therefore, the process of processing the vertical edge is to measure the hole size, put the vertical plate on the workbench, drill holes, press rivets, and stack the vertical plates. Now, simple mechanical coordination is mostly used to complete the process. The processing accuracy and finished product efficiency of such a process are low, the labor intensity is high, and it is laborious. Therefore, a fully automatic positioning, drilling, pressing and stacking equipment is needed;

[0003] In the prior art, the stacking of drilling and rivet presses is usually completed by three machines:

[0004] Comparative Document 1: Patent Publication No. CN202221660201.0 discloses a double-station feeding platform for a hydraulic riveting machine. The patent realizes the double-station feeding process through a power input, which improves the riveting efficiency while reducing the complexity and energy consumption of the structure. Through the synchronous belt transportation structure, while the belt transportation does not change the transportation direction, a driving motor and belt transmission structure are used to realize the double-station feeding structure function;

[0005] Comparative Document 2: Patent Publication No. CN202410911019.5 discloses an automatic drilling and riveting integrated machine, which can realize the riveting work of a single plate, but cannot process continuously conveyed plates and does not have the stacking function;

[0006] Through the above existing technologies and existing technologies on the market, it can be concluded that: when performing riveting work on plates, although double-station work can be achieved, for example, the technology disclosed in Comparative Document 1, when processing two parts, the two parts need to be placed in the tooling at the same time, and then processed synchronously. This existing technology cannot achieve continuous processing of parts and stacking work; and the technology disclosed in Comparative Document 2 can still only perform riveting processing on a single plate and cannot achieve the effect of continuous processing. Summary of the invention

[0007] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0008] The present invention provides a robot double-sided automatic drilling and riveting integrated machine device, which can solve the problem of low processing efficiency when continuously riveting plates in the prior art. The specific scheme is as follows:

[0009] A manipulator double-sided automatic drilling and riveting integrated machine device, comprising a frame, a feeding roller and a riveting assembly, wherein the riveting assembly is used to perform riveting work on a plate, and the feeding roller is used to convey the plate to the bottom of the station of the riveting assembly;

[0010] Also includes:

[0011] The manipulator has two arms for clamping the plate;

[0012] A guide rail installed on the upper portion of the frame;

[0013] There are two conveyor belts installed on the guide rails, the two conveyor belts are arranged side by side, and the two manipulators are respectively arranged on the two conveyor belts and can move synchronously with the two conveyor belts;

[0014] The first cylinder is configured as a part of the manipulator, and is used to connect the manipulator to the conveyor belt, so that the manipulator can move up and down relative to the conveyor belt, and adjust the up and down position of the plate by the operator;

[0015] A stacking rack is installed in the middle of the frame and can move up and down driven by the lifting device;

[0016] A distance measuring device is arranged above the stacking rack and is used to monitor the highest point of the plate on the stacking rack;

[0017] Among them, according to the data fed back by the distance measuring device, the lifting equipment drives the stacking frame to move up and down, so as to adjust the highest point of the stacked plates in real time.

[0018] Preferably, there are two rivet assemblies, which are arranged at both ends of the discharge roller, and the distance between the two rivet assemblies can be adjusted by a driving device to adapt to plates of different widths.

[0019] Preferably, it also includes:

[0020] A fixed arm is fixedly mounted on the top of the frame, and the guide rail is slidably mounted below the fixed arm;

[0021] Among them, the front and rear positions of the guide rails are adjusted by the driving device, so as to realize the synchronous adjustment of the conveyor belt and the position of the robot to adapt to the width of the plate, so that the clamping position of the robot for the plate is always kept in the middle position.

[0022] Preferably, the pressure riveting assembly comprises:

[0023] A drilling device, used for drilling holes in the plate;

[0024] A pressure rivet device, which is used to place rivets in the holes after the plate is drilled;

[0025] The positioning cylinder is used to position the plate, and the rivet device, drilling device and positioning cylinder are fixed to each other.

[0026] Preferably, it also includes:

[0027] There are two sliding plates, which are respectively fixedly connected to the bottom of the drilling device and the rivet device in the two riveting assemblies;

[0028] A limit block, fixedly connected to the bottom of the sliding plate;

[0029] The base is arranged below the pressure riveting assembly, and a slide rail is fixedly connected to the top of the base, and the limit block is slidably connected to the slide rail;

[0030] There are two bearing platforms, which are respectively arranged on the top of the sliding plate. The top of the bearing platform is used to drag the plate to be processed. The two bearing platforms can be close to or away from each other.

[0031] Preferably, the pressure riveting assembly further includes:

[0032] A pressing wheel seat is fixed on one side of the rivet pressing device;

[0033] The pressure wheel is hingedly installed below the pressure wheel seat through an articulated frame, and the articulated frame is hingedly installed at the lower part of the pressure wheel seat through a torsion spring.

[0034] Preferably, it also includes:

[0035] A second lead screw, two ends of which are rotatably connected to two ends of the base, and the bottoms of the two bearing platforms are cooperatively connected to the second lead screw;

[0036] The servo motor is installed at one end of the base. The output end of the servo motor and both ends of the second lead screw are provided with synchronous wheels. The synchronous wheel at one end of the servo motor and the synchronous wheel at one end of the second lead screw are connected through a synchronous belt transmission.

[0037] Preferably, the manipulator comprises:

[0038] A fixed frame is located below the conveyor belt, a slider is connected to the top of the fixed frame, the slider is slidably connected to the guide rail, and an extrusion plate is also connected to the top of the fixed frame, a gap space is formed between the extrusion plate and the top of the fixed frame, and the conveyor belt is clamped by the gap space;

[0039] A limit frame, fixedly connected to a side of the fixing frame, the limit frame extends to the top of the guide rail, and the top of the limit frame forms an interlocking structure with the top of the guide rail;

[0040] The fixed box is fixedly connected to the bottom end of the first cylinder and has a clamping piece inside, and the clamping piece is used to clamp the plate.

[0041] Preferably, the clamping member comprises:

[0042] A second cylinder is fixedly mounted on the outer wall of the fixed box;

[0043] A fixed end connected to the extended end of the second cylinder;

[0044] An articulated seat, the articulated seat being fixedly connected to one end of the fixed end;

[0045] A first connecting arm, one end of which is hinged to the hinge seat;

[0046] A second connecting arm, one end of which is hinged to the hinge seat;

[0047] A first hinged arm, one end of which is hinged to the other end of the first linkage arm;

[0048] A second hinged arm, one end of which is hinged to the other end of the second linkage arm, the second hinged arm and the middle part of the first hinged arm are hinged to each other, and both ends of the hinge point are hinged to the side wall of the fixed box;

[0049] The lower clamping plate and the upper clamping plate are fixedly connected to one end of the first hinged arm and the second hinged arm respectively.

[0050] Preferably, the lifting device comprises:

[0051] There are two guide wheels, one of which is a single-groove design and the other is a double-groove design;

[0052] A palletizing cylinder is fixedly mounted on the rear end of the frame;

[0053] There are two ropes, which are fixed at both ends of the lifting plate respectively. One of the ropes is wound in one of the grooves of the double-groove guide wheel and then connected to one end of the stacking cylinder. The other rope is wound in turn in the other groove of the single-groove guide wheel and the double-groove guide wheel and then connected to one end of the stacking cylinder.

[0054] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0055] 1. Two conveyor belts drive two manipulators to clamp the plates under the riveting assembly in turn, perform drilling and riveting, and then place the processed plates on the stacking rack through the manipulator to complete the stacking. Compared with the existing technology, it can complete continuous drilling, riveting and stacking, and the efficiency is significantly improved.

[0056] 2. The highest point of the plate on the stacking rack can be detected by the distance measuring device, and then the height of the stacking rack can be adjusted in real time through the lifting component, so that the height of the top plate of the stacking rack is lower than the lowest point of the robot, thereby avoiding motion interference when the robot moves.

[0057] 3. The driving device can adjust the distance between the two riveting assemblies so that the riveting assemblies can adapt to plates of different widths and effectively perform riveting processing on plates of different widths. By adjusting the front and rear positions of the guide rails, the positions of the conveyor belt and the manipulator can be adjusted synchronously to adapt to the width of the plate.

[0058] 4. Drill holes in the plate using a drilling device, then use a rivet device to press rivets at the drilled positions, and finally use a robot to transport the plate to the stacking rack, thereby completing fully automatic processing and stacking.

[0059] Other features and advantages of the present invention will be described in the following description, and part of them will become obvious from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0061] Figure 1 It is a schematic diagram of the working state of the present invention;

[0062] Figure 2 It is an overall stereogram of the present invention;

[0063] Figure 3 For the present invention Figure 2 Enlarged view of point A in the middle;

[0064] Figure 4 A three-dimensional diagram of the manipulator of the present invention;

[0065] Figure 5 It is a partial stereogram of the manipulator of the present invention;

[0066] Figure 6 It is a rear perspective view of the whole of the present invention;

[0067] Figure 7 It is a partial stereogram of the present invention;

[0068] Figure 8 It is a left-side stereogram of the whole invention;

[0069] Fig. 9 A three-dimensional diagram of a sliding plate and a sliding rail of the present invention;

[0070] Fig.10 A three-dimensional diagram of the pressure riveting assembly and the second lead screw of the present invention;

[0071] Fig.11 It is a three-dimensional diagram of the press riveting assembly of the present invention;

[0072] Fig.12 It is a three-dimensional diagram of the stacking rack of the present invention.

[0073] The reference numerals are as follows:

[0074] 100. Robot double-sided automatic rivet pressing machine; 101. Frame; 102. Unloading roller; 103. Controller; 104. Fixed arm; 105. Guide rail; 106. First lead screw; 107. Lead screw nut; 108. Transmission roller; 109. Conveyor belt;

[0075] 110, manipulator; 111, fixed frame; 112, slider; 113, extrusion plate; 114, limit frame; 115, first cylinder; 116, telescopic end; 118, fixed box;

[0076] 117, clamping member; 119, second cylinder; 120, fixed end; 121, hinge seat; 122, first linkage arm; 123, second linkage arm; 124, first hinged arm; 125, second hinged arm; 126, lower clamping plate; 127, upper clamping plate;

[0077] 128, pressure riveting assembly; 133, pressure rivet device; 134, drilling device; 135, positioning cylinder; 136, bearing plate; 137, pressure wheel seat; 138, pressure wheel; 139, second lead screw; 140, servo motor; 141, synchronous belt; 142, synchronous wheel; 143, limit block;

[0078] 129, sliding plate; 130, slide rail; 131, base; 132, bearing platform; 145, lifting plate; 146, stacking rack; 147, guide wheel; 148, stacking cylinder; 149, rope; 150, laser rangefinder;

[0079] 200. Board materials. DETAILED DESCRIPTION

[0080] Preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention and are used to explain the principles of the present invention together with the embodiments of the present invention.

[0081] Embodiment 1: Figure 1 , Figure 2 , Figure 3 As shown, this embodiment provides a robot double-sided automatic drilling and riveting integrated machine device 100, which can perform riveting on the edge of a plate 200. The robot double-sided automatic drilling and riveting integrated machine device 100 includes:

[0082] The rack 101 is welded from a plurality of metal rods to form a rectangular frame. The rack 101 is stably placed on the ground and can be fixed to the ground by bolts to obtain a stable installation effect.

[0083] A distribution box is installed at one end of the frame 101 and is used to install electrical equipment. A discharge roller 102 is provided on the top of the distribution box. The discharge roller 102 can rotate under the drive of a driving device. When it is necessary to press rivets on the plate 200, the plate to be processed is placed on the top of the discharge roller 102, and then the discharge roller 102 is driven by the driving device to rotate, so that the plate 200 is moved to the position to be processed. A controller 103 is also fixedly installed on the top of the distribution box. The controller 103 is composed of buttons and a touch screen. The controller 103 can control the electrical components inside the distribution box;

[0084] There are two fixed arms 104, which are fixedly mounted at two ends of the top of the frame 101 respectively. A guide rail 105 is arranged below the fixed arm 104, and two ends of the guide rail 105 are slidably connected to the bottom of the fixed arm 104;

[0085] There are two manipulators 110, and the two manipulators 110 are installed below the guide rail 105;

[0086] There are two first lead screws 106, which are respectively arranged at the lower parts of the two fixed arms 104, and the two ends of the first lead screw 106 are rotatably mounted at the two ends of the fixed arms 104. The two ends of the guide rail 105 are respectively connected with lead screw nuts 107, and the two first lead screw nuts 107 are matched and connected with the middle part of the first lead screw 106. The ends of the two first lead screws 106 are connected by a synchronous component to realize synchronous rotation. The synchronous component can be specifically a chain drive or a belt drive.

[0087] In the above scheme, since the top of the guide rail 105 is slidably connected to the lower part of the fixed arm 104, when the two first lead screws 106 rotate synchronously, the first lead screw nut 107 can slide along the central axis direction of the first lead screw 106, thereby driving the guide rail 105 to move along the axial direction of the fixed arm 104, so that the two manipulators 110 can move synchronously with the guide rail 105.

[0088] like Figure 3 As shown, the robot double-sided automatic drilling and riveting integrated machine device 100 disclosed in this embodiment also includes:

[0089] There are four transmission rollers 108, and two transmission rollers 108 are rotatably connected to the two ends of the guide rail 105, and the two transmission rollers 108 at the same end are arranged side by side and concentrically and configured to rotate synchronously, and a driving device is installed at the rotating shaft of the transmission roller 108 at one end, so as to provide power for the transmission roller 108 to rotate;

[0090] There are two conveyor belts 109, and both ends of the two conveyor belts 109 are respectively connected to four transmission rollers 108;

[0091] It should be noted that the above-mentioned driving device can be a motor.

[0092] like Figure 4 , Figure 5 As shown, the manipulator 110 includes:

[0093] The fixed frame 111 is located below the conveyor belt 109. The top of the fixed frame 111 is connected with a slider 112. The slider 112 is slidably connected to the guide rail 105. The slider 112 and the guide rail 105 are configured to have an interlocking structure and the two cannot be separated. The top of the fixed frame 111 is also connected with an extrusion plate 113. A gap space is formed between the extrusion plate 113 and the top of the fixed frame 111. The gap space matches the thickness of the conveyor belt 109. The gap space clamps the conveyor belt 109, allowing the fixed frame 111 to move synchronously with the conveyor belt 109.

[0094] A limit frame 114 is fixedly connected to the side of the fixed frame 111, and the limit frame 114 extends to the top of the guide rail 105, and the top of the limit frame 114 and the top of the guide rail 105 form an interlocking structure, so that the fixed frame 111 cannot deviate from the guide rail 105;

[0095] A first cylinder 115 is fixedly installed inside the fixing frame 111, and a telescopic end 116 is provided at the bottom of the first cylinder 115;

[0096] A fixed box 118, fixedly connected to the bottom end of the telescopic end 116, and having a clamping member 117 inside;

[0097] like Figure 5 The machine, the clamping member 117 comprises:

[0098] The second cylinder 119 is fixedly mounted on the outer wall of the fixed box 118;

[0099] A fixed end 120 connected to the extended end of the second cylinder 119;

[0100] An articulated seat 121, wherein the articulated seat 121 is fixedly connected to one end of the fixed end 120;

[0101] A first linkage arm 122, one end of which is hinged to the hinge seat 121;

[0102] A second linking arm 123, one end of which is hinged to the hinge seat 121;

[0103] A first hinged arm 124, one end of which is hinged to the other end of the first linkage arm 122;

[0104] A second hinged arm 125, one end of which is hinged to the other end of the second linkage arm 123, the second hinged arm 125 and the middle part of the first hinged arm 124 are hinged to each other, and both ends of the hinge point are hinged to the side wall of the fixed box 118;

[0105] The lower clamping plate 126 and the upper clamping plate 127 are fixedly connected to one end of the first hinge arm 124 and the second hinge arm 125 respectively;

[0106] In the above scheme, when the protruding end of the second cylinder 119 is extended, it can drive the first linking arm 122, the second linking arm 123, the first hinged arm 124 and the second hinged arm 125 to fold toward the inside of the fixed box 118, so that the lower clamping plate 126 and the upper clamping plate 127 are separated from each other. When the protruding end of the second cylinder 119 is retracted, it can drive the first linking arm 122, the second linking arm 123, the first hinged arm 124 and the second hinged arm 125 to stretch toward the outer wall of the fixed box 118, so that the lower clamping plate 126 and the upper clamping plate 127 are close to each other, so that the plate 200 can be clamped.

[0107] Embodiment 2: Figure 6 , Figure 7 , Figure 8 As shown, the technical solution of this embodiment is different from that of the first embodiment in that the robot double-sided automatic drilling and riveting integrated machine device 100 disclosed in this embodiment further includes:

[0108] There are two riveting assemblies 128, which are installed at both ends of the unloading roller 102. The two riveting assemblies 128 can perform riveting work on both sides of the plate 200 respectively;

[0109] like Fig. 9 , Fig.10 As shown, a robot double-sided automatic drilling and riveting integrated machine device 100 also includes:

[0110] There are two sliding plates 129, which are respectively fixedly connected to the bottoms of the two riveting assemblies 128;

[0111] A limit block 143, fixedly connected to the bottom of the sliding plate 129;

[0112] The base 131 is arranged below the pressure riveting assembly 128 and is located at one side of the distribution box. The top of the base 131 is fixedly connected with the slide rail 130. The limit block 143 is slidably connected with the slide rail 130.

[0113] There are two carrying platforms 132, which are respectively arranged on the top of the sliding plate 129, and the top of the carrying platform 132 is used to drag the plate 200 to be processed;

[0114] A second lead screw 139, both ends of which are rotatably connected to both ends of the base 131, and the bottoms of the two support platforms 132 are cooperatively connected to the second lead screw 139;

[0115] The servo motor 140 is installed at one end of the base 131. The output end of the servo motor 140 and both ends of the second screw 139 are provided with synchronous wheels 142. The synchronous wheel 142 at one end of the servo motor 140 and the synchronous wheel at one end of the second screw 139 are connected through a synchronous belt 141. The synchronous wheel 142 can be a pulley or a sprocket, and the synchronous belt 141 can be a belt or a chain.

[0116] Embodiment 3: Fig.10 , Fig.11 As shown, the technical solution of this embodiment is different from that of the first or second embodiment in that the riveting assembly 128 in the manipulator double-sided automatic drilling and riveting integrated machine device 100 disclosed in this embodiment specifically includes:

[0117] The working principle of the rivet pressing device 133 is to apply pressure to the rivet placed in the preset hole of the workpiece through a special mold or a pressure head. The pressure causes the nail rod part of the rivet to undergo plastic deformation, thereby filling and locking in the hole of the workpiece. In this process, the workpiece material will also undergo a certain degree of plastic deformation to form a firm connection with the rivet.

[0118] The working principle of the drilling device 134 is to transmit power to the working part through the transmission part, so that the drill bit rotates and advances, thereby drilling the plate 200;

[0119] Positioning cylinder 135, the rivet pressing device 133, the drilling device 134 and the positioning cylinder 135 are all fixed on the top of the sliding plate 129;

[0120] A carrying plate 136 is fixedly connected to the top of the carrying platform 132;

[0121] A pressure wheel seat 137 is fixed to one side of the rivet pressing device 133;

[0122] The pressing wheel 138 is hingedly mounted below the pressing wheel seat 137 through an articulated frame, and the articulated frame is hingedly mounted on the lower part of the pressing wheel seat 137 through a torsion spring. Through the action of the torsion spring, the pressing wheel 138 can be pressed downward, thereby pressing the top of the plate 200, so that the plate is firmly fixed on the top of the bearing plate 136;

[0123] In the above scheme, when it is necessary to perform riveting work on the plate 200, the plate 200 is placed above the unloading roller 102, and then the unloading roller 102 conveys the plate 200 to one side of the positioning cylinder 135 and abuts against the positioning cylinder 135, and then one of the manipulators 110 clamps one end of the plate 200, and the positioning cylinder 135 rises, and the manipulator 110 clamps the plate 200 and moves it to the left, so that the side of the plate 200 is aligned with the bottom of the drilling device 134 to start drilling, and after completion, the manipulator 110 drives the plate 200 to continue to move, so that the drilling position is aligned with the bottom of the riveting device 133, and riveting is performed. At this time, the drilling device 134 continues to drill the next position until the manipulator 110 moves the plate 200 After reaching the last rivet position, the rivet pressing work is completed, and then the robot 110 moves the plate 200 to the stacking rack 146 described below for stacking. At the same time, another robot 110 moves the next plate 200 to be processed to one side of the positioning cylinder 135, and then performs the rivet pressing work. Finally, the robot 110 moves the plate 200 to the stacking rack 146 for stacking. The previous robot 110 that performed the stacking work returns to the rivet pressing station again and performs the rivet pressing work on the third plate 200. This reciprocating process is repeated, and the rivet pressing work is performed on each subsequent plate 200 in turn. This solution can improve the working efficiency of the rivets, and the two robots 110 work at intervals to achieve uninterrupted rivet pressing and stacking work.

[0124] like Fig.12 As shown, the present embodiment discloses a robot double-sided automatic drilling and riveting integrated machine device 100, which also includes:

[0125] A lifting plate 145, wherein the lifting plate 145 is slidably mounted on the rear end of the frame 101;

[0126] The stacking rack 146 is fixedly mounted on one end of the lifting plate 145, and the plate 200 after the riveting is completed is placed on the stacking rack 146. The lifting plate 145 and the stacking rack 146 can move up and down under the drive of the lifting device;

[0127] The lifting device comprises:

[0128] There are two guide wheels 147, one of which is a single-groove design and the other is a double-groove design;

[0129] A palletizing cylinder 148 is fixedly mounted at the rear end of the frame 101;

[0130] There are two ropes 149, which are fixed at both ends of the lifting plate 145, one of which is wound in one of the grooves of the double-groove guide wheel 147 and then connected to one end of the stacking cylinder 148, and the other rope 149 is wound in turn in the other grooves of the single-groove guide wheel 147 and the double-groove guide wheel 147 and then connected to one end of the stacking cylinder 148. When in use, when the stacking cylinder 148 is extended, the two ropes 149 can be lowered to lower the lifting plate 145 and the stacking rack 146, and when the stacking cylinder 148 is retracted, the two ropes 149 can be lifted upward to raise the lifting plate 145 and the stacking rack 146;

[0131] The laser rangefinder 150 is disposed above the stacking rack 146 and can measure the plates 200 stacked on the stacking rack 146. The laser rangefinder 150 can also be replaced with other components having the same effect, such as an ultrasonic rangefinder, a contact displacement sensor, and a visual sensor.

[0132] In the above scheme, the height of the plate 200 after stacking is measured by the laser rangefinder 150, and then the height of the stacking rack 146 is controlled by the stacking cylinder 148, so that the height of the top plate 200 of the stacking rack 146 after stacking is lower than the lowest point of the manipulator 110, so that motion interference occurs when the manipulator 110 moves.

[0133] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0134] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the embodiments of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0135] In the embodiments of the present application, the devices or elements referred to or implied must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present application. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise precisely and specifically specified.

[0136] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A robot double-sided automatic drilling and riveting integrated machine, comprising a frame (101), a feeding roller (102) and a riveting assembly (128), wherein the riveting assembly (128) is used to perform riveting work on a plate (200), and the feeding roller (102) is used to transport the plate (200) to a position below the riveting assembly (128); It is characterized in that Also includes: Two manipulators (110) are provided for clamping the plate (200); A guide rail (105) installed on the upper part of the frame (101); There are two conveyor belts (109) installed on the guide rail (105), the two conveyor belts (109) are arranged side by side, and the two manipulators (110) are respectively arranged on the two conveyor belts (109) and can move synchronously with the two conveyor belts (109); The first cylinder (115) is configured as a part of the manipulator (110) and is used to connect the manipulator (110) and the conveyor belt (109) so that the manipulator (110) can move up and down relative to the conveyor belt (109) to adjust the up and down position of the plate (200) by the operator; A stacking rack (146) is installed in the middle of the frame (101) and can move up and down driven by a lifting device; A distance measuring device is arranged above the stacking rack (146) and is used to monitor the height of the highest point of the plate (200) on the stacking rack (146); According to the data fed back by the distance measuring device, the lifting device drives the stacking frame (146) to move up and down, thereby adjusting the highest point of the stacked plates (200) in real time.

2. The robot double-sided automatic drilling and riveting integrated machine as claimed in claim 1, characterized in that: The two rivet assemblies (128) are arranged at two ends of the discharge roller (102), and the distance between the two rivet assemblies (128) can be adjusted by a driving device, so as to adapt to plates (200) of different widths.

3. The robot double-sided automatic drilling and riveting integrated machine as claimed in claim 2, characterized in that: Also includes: A fixed arm (104) is fixedly mounted on the top of the frame (101), and the guide rail (105) is slidably mounted below the fixed arm (104); The front and rear positions of the guide rail (105) are adjusted by a driving device, thereby achieving synchronous adjustment of the positions of the conveyor belt (109) and the manipulator (110) to adapt to the width of the plate (200) so that the manipulator (110) always maintains the clamping position of the plate (200) in the middle position.

4. The robot double-sided automatic drilling and riveting integrated machine as claimed in claim 1, characterized in that: The pressure riveting assembly (128) comprises: A drilling device (134) for drilling holes in the plate (200); A rivet pressing device (133), which is used to place a rivet in the hole after the plate (200) is drilled; The positioning cylinder (135) is used to position the plate (200), and the rivet device (133), the drilling device (134) and the positioning cylinder (135) are fixed to each other.

5. The robot double-sided automatic drilling and riveting integrated machine as claimed in claim 4, characterized in that: Also includes: The sliding plates (129) have two parts, and are respectively fixedly connected to the bottoms of the drilling devices (134) and the rivet devices (133) in the two riveting assemblies (128); A limit block (143) fixedly connected to the bottom of the sliding plate (129); A base (131) is arranged below the riveting assembly (128), and a slide rail (130) is fixedly connected to the top of the base, and the limit block (143) is slidably connected to the slide rail (130); There are two supporting platforms (132), which are respectively arranged on the top of the sliding plate (129). The top of the supporting platform (132) is used to drag the plate (200) to be processed. The two supporting platforms (132) can be close to each other or away from each other.

6. The robot double-sided automatic drilling and riveting integrated machine as claimed in claim 4, characterized in that: The pressure riveting assembly (128) also includes: A pressure wheel seat (137) is fixed on one side of the rivet pressing device (133); The pressure wheel (138) is hingedly mounted below the pressure wheel seat (137) via an articulated frame, and the articulated frame is hingedly mounted on the lower part of the pressure wheel seat (137) via a torsion spring.

7. The robot double-sided automatic drilling and riveting integrated machine as claimed in claim 5, characterized in that: Also includes: A second lead screw (139), two ends of which are rotatably connected to two ends of the base (131), and the bottoms of the two bearing platforms (132) are cooperatively connected to the second lead screw (139); A servo motor (140) is mounted on one end of the base (131); a synchronous wheel (142) is provided at the output end of the servo motor (140) and at both ends of the second lead screw (139); the synchronous wheel (142) at one end of the servo motor (140) and the synchronous wheel (142) at one end of the second lead screw (139) are connected by a synchronous belt (141).

8. The robot double-sided automatic drilling and riveting integrated machine as claimed in claim 1, characterized in that: The manipulator (110) comprises: A fixed frame (111) is located below the conveyor belt (109); a slider (112) is connected to the top of the fixed frame (111); the slider (112) is slidably connected to the guide rail (105); a pressing plate (113) is also connected to the top of the fixed frame (111); a gap space is formed between the pressing plate (113) and the top of the fixed frame (111); the gap space clamps the conveyor belt (109); A limiting frame (114) is fixedly connected to a side surface of the fixing frame (111), the limiting frame (114) extends to the top of the guide rail (105), and the top of the limiting frame (114) and the top of the guide rail (105) form an interlocking structure; The fixed box (118) is fixedly connected to the bottom end of the first cylinder (115), and has a clamping member (117) inside, and the clamping member (117) is used to clamp the plate (200).

9. The robot double-sided automatic drilling and riveting integrated machine as claimed in claim 8, characterized in that: The clamping member (117) comprises: A second cylinder (119) is fixedly mounted on the outer wall of the fixed box (118); A fixed end (120) connected to the protruding end of the second cylinder (119); An articulated seat (121), the articulated seat (121) being fixedly connected to one end of the fixed end (120); A first linkage arm (122), one end of which is hinged to the hinge seat (121); A second linkage arm (123), one end of which is hinged to the hinge seat (121); A first hinged arm (124), one end of which is hinged to the other end of the first linkage arm (122); A second hinged arm (125), one end of which is hinged to the other end of the second linkage arm (123), the second hinged arm (125) and the middle part of the first hinged arm (124) are hinged to each other, and the two ends of the hinge point are hinged to the side wall of the fixed box (118); The lower clamping plate (126) and the upper clamping plate (127) are respectively fixedly connected to one end of the first hinged arm (124) and the second hinged arm (125).

10. A robot double-sided automatic drilling and riveting integrated machine as claimed in any one of claims 1 to 9, characterized in that: The lifting device comprises: There are two guide wheels (147), one of which is a single-groove design and the other is a double-groove design; A palletizing cylinder (148) is fixedly mounted on the rear end of the frame (101); There are two ropes (149), which are fixed at both ends of the lifting plate (145), one of the ropes (149) is wound in one of the grooves of the double-groove guide wheel (147) and then connected to one end of the stacking cylinder (148), and the other rope (149) is wound in the other grooves of the single-groove guide wheel (147) and the double-groove guide wheel (147) in sequence and then connected to one end of the stacking cylinder (148).

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