A manipulator double-sided automatic drilling and riveting press integrated machine equipment

Abstract

The present invention relates to the technical field of press rivets, and specifically discloses a robotic double-sided automatic drilling and press riveting integrated machine device, which includes a frame, a feeding roller, and a press riveting assembly. The press riveting assembly is used for press riveting the plates, and the feeding roller is used to convey the plates to the position below the working station of the press riveting assembly. It also includes two robotic arms for clamping the plates; a guide rail installed on the upper part of the frame; two conveyor belts installed on the guide rail. The two conveyor belts are arranged side by side, and the two robotic arms are respectively arranged on the two conveyor belts and can move synchronously and staggeredly along with the two conveyor belts. The two conveyor belts drive the two robotic arms to clamp the plates to the position below the press riveting assembly in sequence for drilling and press riveting work, and then the processed plates are placed on the palletizing rack by the robotic arms to complete the palletizing work. Compared with the prior art, it can complete continuous drilling, press riveting, and palletizing work, and the efficiency is significantly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of press rivets, and particularly to a manipulator double-sided automatic drilling and press riveting integrated machine equipment. Background Art

[0002] In the packaging industry, there is a packaging box that uses a steel belt structure for edge sealing and packing. The packaging box structure includes: a cover plate, a bottom plate, a vertical plate, and a steel belt structure fixed to the four-sided edge sealing; the steel belt structure is an L-shaped 90° bent strip structure divided into a top edge and a vertical edge. Among them, a row of triangular nail structures are punched out on the top edge by a punching machine and pressed on the cover plate and the bottom plate to make them firmly cooperate together. Screw holes are drilled on the other 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 nut on the vertical plate should be consistent with the position of the screw hole on the steel belt structure. Therefore, before installation, it is necessary to drill the hole position on the vertical plate first, then install the rivet nut into the hole position, and then use a riveting machine to press and fix the rivet nut. Therefore, the processing process of the vertical edge is a series of steps such as measuring the hole position size, placing the vertical plate on the workbench, drilling, press riveting, and palletizing the vertical plate. At present, it is mostly completed by simple mechanical cooperation. Using such a process has low processing accuracy and finished product efficiency, and high labor intensity, which is time-consuming and laborious. Therefore, a device for automatic positioning drilling, press riveting, and palletizing is needed;

[0003] In the prior art, drilling, press riveting, and palletizing are usually completed by three machines;

[0004] Comparative Document 1: A double-station feeding platform of a hydraulic riveting machine disclosed in Patent Publication No. CN202221660201.0. This patent realizes the double-station feeding process through one power input, improves the riveting efficiency while reducing the complexity of the structure and energy consumption; through the transportation structure of the synchronous belt, while the belt transportation does not change the transportation direction, by using the structure of one driving motor and belt drive, the function of the double-station feeding structure can be realized;

[0005] Comparative Document 2: An automatic drilling and press riveting integrated machine equipment disclosed in Patent Publication No. CN202410911019.5. This patent can realize the press riveting work of a single sheet, but cannot process continuously conveyed sheets and does not have a palletizing function;

[0006] From the above prior art and the prior art on the market, it can be concluded that when performing press riveting work on a sheet, although double-station work can be realized, for example, in 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 prior art cannot realize the continuous processing of parts and the palletizing work; while the technology disclosed in Comparative Document 2 can still only perform press riveting processing on a single sheet and cannot achieve the effect of continuous processing. Summary of the Invention

[0007] The purpose of this section is to outline some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of the present application, to avoid obscuring the purpose of this section, the abstract, and the title, but such simplifications or omissions shall not be used to limit the scope of the present invention.

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

[0009] A double-sided automatic drilling and riveting press integrated machine for a manipulator, comprising a frame, a feeding roller, and a riveting assembly. The riveting assembly is used for riveting plates, and the feeding roller is used to convey the plates to the position below the working station of the riveting assembly;

[0010] It further includes:

[0011] Two manipulators, which are used for clamping the plates;

[0012] A guide rail, which is installed on the upper part of the frame;

[0013] Two conveyor belts, which are installed on the guide rail. 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 and staggeredly along with the two conveyor belts;

[0014] A first cylinder, which is configured as a part of the manipulator and is used to connect the manipulator and the conveyor belt, enabling the manipulator to move relatively up and down with respect to the conveyor belt, so as to adjust the vertical position of the plate with respect to the human;

[0015] A palletizing rack, which is installed in the middle of the frame and can move up and down under the drive of a lifting device;

[0016] A ranging device, which is configured above the palletizing rack and is used to monitor the highest point of the plates on the palletizing rack;

[0017] Among them, according to the data fed back by the ranging device, the lifting device drives the palletizing rack to move up and down, so as to adjust the highest point of the palletized plates in real time.

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

[0019] Preferably, it further includes:

[0020] The fixed arm is fixedly installed at the top of the frame, and the guide rail is slidably installed below the fixed arm;

[0021] Among them, the front and rear positions of the guide rail are adjusted by a driving device, so as to realize the synchronous adjustment of the positions of the conveyor belt and the manipulator to adapt to the width of the plate, and keep the clamping position of the manipulator on the plate always in the middle position.

[0022] Preferably, the riveting assembly includes:

[0023] The drilling device is used for drilling the plate;

[0024] The rivet pressing device places the rivet in the hole after the plate is drilled;

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

[0026] Preferably, it further includes:

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

[0028] The limit block is fixedly connected to the bottom of the sliding plate;

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

[0030] There are two bearing platforms, which are respectively arranged on the tops of the sliding plates. The tops of the bearing platforms are used to hold the plates to be processed, and the two bearing platforms can approach or move away from each other.

[0031] Preferably, the riveting assembly further includes:

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

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

[0034] Preferably, it further includes:

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

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

[0037] Preferably, the manipulator includes:

[0038] A fixed frame, located below the conveyor belt. A slider is connected to the top of the fixed frame, and the slider is slidably connected to the guide rail. 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 this gap space clamps the conveyor belt;

[0039] A limit frame, fixedly connected to the side of the fixed frame. The limit frame extends to the top of the guide rail, and an interlocking structure is formed between the top of the limit frame and the top of the guide rail;

[0040] A fixed box, fixedly connected to the bottom end of the first cylinder. It has a clamping member inside, and the clamping member is used to clamp the sheet.

[0041] Preferably, the clamping member includes:

[0042] A second cylinder, fixedly installed on the outer wall of the fixed box;

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

[0044] A hinge seat, fixedly connected to one end of the fixed end;

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

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

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

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

[0049] A lower clamping plate and an upper clamping plate, respectively fixedly connected to one end of the first hinge arm and the second hinge arm.

[0050] Preferably, the lifting device includes:

[0051] Guide wheels, there are two of them. One guide wheel is designed with a single groove, and the other guide wheel is designed with a double groove;

[0052] A palletizing oil cylinder, fixedly installed at the rear end of the frame;

[0053] The ropes, two in number, are respectively fixed at both ends of the lifting plate. One rope is wound in one of the grooves of the guide pulley with a double-groove design and then connected to one end of the palletizing oil cylinder. The other rope is successively wound in the single-groove guide pulley and the other groove of the double-groove guide pulley and then connected to one end of the palletizing oil cylinder.

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

[0055] 1. Driven by two conveyor belts, two manipulators successively clamp the plates to the lower part of the riveting assembly for drilling and riveting, and then the processed plates are placed on the palletizing rack by the manipulator to complete the palletizing work. Compared with the prior art, continuous drilling, riveting and palletizing can be completed, and the efficiency is significantly improved.

[0056] 2. The distance measuring device can detect the highest point of the plates on the palletizing rack, and then the lifting assembly can adjust the height of the palletizing rack in real time, so that the height of the topmost plate on the palletizing rack is lower than the lowest point of the manipulator, thus avoiding movement interference when the manipulator 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 process the plates of different widths with rivets. And by adjusting the front and rear positions of the guide rails, the positions of the conveyor belts and the manipulators can be synchronously adjusted to adapt to the width of the plates.

[0058] 4. The drilling device drills the plates first, then the riveting device rivets the drilled positions, and finally the manipulator transports the plates to the palletizing rack to complete full-automatic processing and palletizing.

[0059] Other features and advantages of the present invention will be described in the subsequent description, and some of them will be obvious from the description or understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained through the structures specifically pointed out in the written description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. Among them:

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

[0062] Figure 2 Overall three-dimensional view of the present invention;

[0063] Figure 3 Of the present invention Figure 2 Enlarged view at position A in the present invention;

[0064] Figure 4 Three-dimensional view of the manipulator of the present invention;

[0065] Figure 5 Partial three-dimensional view of the manipulator of the present invention;

[0066] Figure 6 Overall rear three-dimensional view of the present invention;

[0067] Figure 7 Partial three-dimensional view of the present invention;

[0068] Figure 8 Overall left three-dimensional view of the present invention;

[0069] Figure 9 Three-dimensional view of the sliding plate and the slide rail of the present invention;

[0070] Figure 10 Three-dimensional view of the riveting press assembly and the second lead screw of the present invention;

[0071] Figure 11 Three-dimensional view of the riveting press assembly of the present invention;

[0072] Figure 12 Three-dimensional view of the palletizing rack of the present invention.

[0073] Among them, the reference numerals are as follows:

[0074] 100, Double-sided automatic riveting machine for manipulator; 101, Frame; 102, Feeding roller; 103, Controller; 104, Fixed arm; 105, Guide rail; 106, First lead screw; 107, Lead screw nut; 108, Driving roller; 109, Conveyor belt;

[0075] 110, Manipulator; 111, Fixed frame; 112, Slide block; 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 hinge arm; 125, Second hinge arm; 126, Lower clamping plate; 127, Upper clamping plate;

[0077] 128. Riveting assembly; 133. Rivet pressing device; 134. Drilling device; 135. Positioning cylinder; 136. Carrier plate; 137. Press wheel seat; 138. Press wheel; 139. Second lead screw; 140. Servo motor; 141. Synchronous belt; 142. Synchronous pulley; 143. Limit block;

[0078] 129. Sliding plate; 130. Slide rail; 131. Base; 132. Carrier table; 145. Lifting plate; 146. Palletizing rack; 147. Guide wheel; 148. Palletizing oil cylinder; 149. Rope; 150. Laser rangefinder;

[0079] 200. Sheet metal. Detailed implementation manner

[0080] The following will specifically describe the preferred embodiments of the present invention in conjunction with the accompanying drawings. The accompanying drawings form a part of the present invention and are used together with the embodiments of the present invention to explain the principles of the present invention.

[0081] Embodiment 1: As Figure 1 , Figure 2 , Figure 3 shown, this embodiment provides a double-sided automatic drilling and riveting integrated machine device 100 for a manipulator, which can rivet the edge of the sheet metal 200. A double-sided automatic drilling and riveting integrated machine device 100 for a manipulator includes:

[0082] The frame 101 is welded by multiple metal rods and finally forms a cuboid frame. The frame 101 is stably placed on the ground and can be fixed to the ground by bolts to obtain a stable installation effect;

[0083] The distribution box is installed at one end of the frame 101 and is used for installing electrical equipment. A material feeding roller 102 is arranged on the top of the distribution box. The material feeding roller 102 can rotate driven by a driving device. When riveting the sheet metal 200, the sheet metal to be processed is placed above the material feeding roller 102, and then driven by the driving device, the material feeding roller 102 is driven to rotate, so that the sheet metal 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, and the controller 103 can control the electrical components inside the distribution box;

[0084] There are two fixed arms 104, which are respectively fixedly installed at both ends of the top of the frame 101. A guide rail 105 is arranged below the fixed arm 104, and both 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] The first lead screw 106, there are two of them, and the two first lead screws 106 are respectively arranged at the lower parts of the two fixed arms 104. The two ends of the first lead screw 106 are rotatably installed at the two ends of the fixed arm 104. The two ends of the guide rail 105 are respectively connected with lead screw nuts 107. The two first lead screw nuts 107 are connected in cooperation with the middle part of the first lead screw 106. The ends of the two first lead screws 106 are connected by a synchronization component to achieve synchronous rotation. The synchronization component can specifically be in the form of chain drive or belt drive, etc.;

[0087] In the above solution, 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 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 axis direction of the fixed arm 104, so that the two manipulators 110 can move synchronously following the guide rail 105.

[0088] As Figure 3 shown, a double-sided automatic drilling and riveting machine equipment 100 for manipulators disclosed in this embodiment further includes:

[0089] Drive rollers 108, there are four of them. The two ends of the guide rail 105 are respectively rotatably connected with two drive rollers 108, and the two drive rollers 108 at the same end are arranged side by side and concentrically and configured to rotate synchronously. A driving device is installed at the rotating shaft of the drive roller 108 at one end, so as to provide power for the drive roller 108 to rotate;

[0090] Conveyor belts 109, there are two of them. The two ends of the two conveyor belts 109 are respectively drivingly connected with the four drive rollers 108;

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

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

[0093] A fixed frame 111, 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 with the guide rail 105 and is configured such that the slider 112 and the guide rail 105 have an interlocking structure and cannot be separated. The top of the fixed frame 111 is also connected with a pressing plate 113. A gap space is formed between the pressing 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, so that the fixed frame 111 moves synchronously with the conveyor belt 109;

[0094] The limiting frame 114 is fixedly connected to the side surface of the fixed 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, preventing the fixed frame 111 from shifting relative to the guide rail 105.

[0095] The first cylinder 115 is fixedly installed inside the fixed frame 111. The bottom of the first cylinder 115 has a telescopic end 116.

[0096] The fixed box 118 is fixedly connected to the bottom end of the telescopic end 116, and it has a clamping member 117 inside.

[0097] As Figure 5 In the said machine, the clamping member 117 includes:

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

[0099] The fixed end 120 is connected to the extended end of the second cylinder 119.

[0100] The hinge seat 121 is fixedly connected to one end of the fixed end 120.

[0101] The first linkage arm 122 has one end hinged to the hinge seat 121.

[0102] The second linkage arm 123 has one end hinged to the hinge seat 121.

[0103] The first hinge arm 124 has one end hinged to the other end of the first linkage arm 122.

[0104] The second hinge arm 125 has one end hinged to the other end of the second linkage arm 123. The middle parts of the second hinge arm 125 and the first hinge 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 respectively fixedly connected to one end of the first hinge arm 124 and the second hinge arm 125.

[0106] In the above solution, when the extended end of the second cylinder 119 extends, it can drive the first linkage arm 122, the second linkage arm 123, the first hinge arm 124 and the second hinge arm 125 to fold towards the inside of the fixed box 118, making the lower clamping plate 126 and the upper clamping plate 127 move away from each other. When the extended end of the second cylinder 119 contracts, it can drive the first linkage arm 122, the second linkage arm 123, the first hinge arm 124 and the second hinge arm 125 to stretch towards the outer wall of the fixed box 118, making the lower clamping plate 126 and the upper clamping plate 127 move closer to each other, thereby clamping the plate 200.

[0107] Example 2: As Figure 6 , Figure 7 , Figure 8 shown, the technical solution of this embodiment different from that of Embodiment 1 is that a double-sided automatic drilling and riveting machine equipment 100 for a manipulator disclosed in this embodiment further includes:

[0108] Two riveting components 128 are installed at both ends of the feeding roller 102, and the two riveting components 128 can respectively perform riveting work on both sides of the plate 200;

[0109] As Figure 9 , Figure 10 shown, a double-sided automatic drilling and riveting machine equipment 100 for a manipulator further includes:

[0110] Two sliding plates 129 are respectively fixedly connected to the bottoms of the two riveting components 128;

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

[0112] A base 131 is arranged below the riveting component 128 and on one side of the distribution box. A slide rail 130 is fixedly connected to the top of the base 131, and the limit block 143 is slidably connected to the slide rail 130;

[0113] Two bearing platforms 132 are respectively arranged on the tops of the sliding plates 129, and the tops of the bearing platforms 132 are used to hold the plate 200 to be processed;

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

[0115] A servo motor 140 is installed at one end of the base 131. Synchronous wheels 142 are arranged at the output end of the servo motor 140 and at both ends of the second lead screw 139. A synchronous belt 141 is used for driving connection between the synchronous wheel 142 at one end of the servo motor 140 and the synchronous wheel at one end of the second lead screw 139. The synchronous wheel 142 can be a pulley or a sprocket, and the synchronous belt 141 can be a belt or a chain.

[0116] Example 3: As Figure 10 , Figure 11 shown, the technical solution of this embodiment different from that of Embodiment 1 or 2 is that the riveting component 128 in a double-sided automatic drilling and riveting machine equipment 100 for a manipulator disclosed in this embodiment specifically includes:

[0117] The rivet pressing device 133. The working principle of the rivet pressing device 133 is to apply pressure to the rivet placed in the pre - drilled hole of the workpiece through a special mold or punch. This pressure causes plastic deformation of the shank part of the rivet, which then fills and locks in the hole of the workpiece. During this process, the workpiece material also undergoes a certain degree of plastic deformation, forming a firm connection with the rivet;

[0118] The drilling device 134. Its working principle is to transmit power to the working part through the transmission part, making the drill bit rotate and advance, thereby drilling holes in the sheet 200;

[0119] The 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] The bearing plate 136 is fixedly connected to the top of the bearing table 132;

[0121] The press wheel seat 137 is fixed on one side of the rivet pressing device 133;

[0122] The press wheel 138 is hinged and installed below the press wheel seat 137 through a hinge frame. The hinge frame is hinged and installed at the lower part of the press wheel seat 137 through a torsion spring. Through the action of the torsion spring, the press wheel 138 can be pressed downward, thereby pressing the top of the sheet 200 tightly and firmly fixing the sheet on the top of the bearing plate 136;

[0123] In the above solution, when riveting the sheet 200, place the sheet 200 above the feeding roller 102. Then, the feeding roller 102 transports the sheet 200 to one side of the positioning cylinder 135 and abuts against the positioning cylinder 135. Then, one of the manipulators 110 clamps one end of the sheet 200. The positioning cylinder 135 rises, and the manipulator 110 clamps the sheet 200 and moves it to the left, aligning the side of the sheet 200 with the lower part of the drilling device 134 to start drilling. After completion, the manipulator 110 drives the sheet 200 to continue moving, aligning the drilling position with the lower part of the riveting device 133 to perform riveting. At this time, the drilling device 134 continues to drill the next position until the manipulator 110 moves the sheet 200 to the last riveting position, completing the riveting work. Then, the manipulator 110 moves the sheet 200 to the palletizing rack 146 described below for palletizing. At the same time, the other manipulator 110 moves the next sheet 200 to be processed to one side of the positioning cylinder 135, and then performs riveting work. Finally, this manipulator 110 moves the sheet 200 to the palletizing rack 146 for palletizing. The manipulator 110 that previously performed the palletizing work returns to the riveting station again to perform riveting work on the third sheet 200, and so on, successively performing riveting work on each subsequent sheet 200. Through this solution, the working efficiency of riveting can be improved, and continuous riveting and palletizing work can be achieved through the intermittent operation of the two manipulators 110.

[0124] As Figure 12 shown, a double-sided automatic drilling and riveting integrated machine device 100 disclosed in this embodiment further includes:

[0125] A lifting plate 145, which is slidably installed at the rear end of the frame 101;

[0126] A palletizing rack 146, fixedly installed at one end of the lifting plate 145. The sheet 200 after riveting is placed on the palletizing rack 146. The lifting plate 145 and the palletizing rack 146 can move up and down under the drive of the lifting device;

[0127] The lifting device includes:

[0128] Guide wheels 147, there are two of them. One guide wheel 147 is designed with a single groove, and the other guide wheel 147 is designed with a double groove;

[0129] A palletizing oil cylinder 148, fixedly installed at the rear end of the frame 101;

[0130] The ropes 149, two in number, are respectively 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 designed guide pulley 147 and then connected to one end of the palletizing oil cylinder 148. The other rope 149 is successively wound around the single-groove designed guide pulley 147 and the other groove of the double-groove designed guide pulley 147 and then connected to one end of the palletizing oil cylinder 148. When in use, when the palletizing oil cylinder 148 extends, the two ropes 149 can be let down, so that the lifting plate 145 and the palletizing rack 146 are lowered. When the palletizing oil cylinder 148 retracts, the two ropes 149 can be lifted upwards, so that the lifting plate 145 and the palletizing rack 146 rise;

[0131] The laser rangefinder 150 is arranged above the palletizing rack 146 and can measure the stacked plates 200 on the palletizing rack 146. The laser rangefinder 150 can also be replaced with other components having the same effect, such as: ultrasonic rangefinder, contact displacement sensor and vision sensor;

[0132] In the above solution, the height of the stacked plates 200 is measured by the laser rangefinder 150, and then the height of the palletizing rack 146 is controlled by the palletizing oil cylinder 148, so that the height of the uppermost plate 200 on the palletizing rack 146 after palletizing is lower than the lowest point of the manipulator 110, so that the manipulator 110 has movement interference during movement.

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

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

[0135] The devices or elements referred to in the embodiments of the present application or implied must have a specific orientation, be constructed and operate in a specific orientation, and thus cannot be construed as a limitation on the embodiments of the present application. In the description of the embodiments of the present application, the meaning of "a plurality" is two or more, unless otherwise specifically and precisely defined.

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

Claims

1. A double-sided automatic drilling and riveting press integrated machine for a manipulator, comprising a frame (101), a feeding roller (102) and a riveting assembly (128). The riveting assembly (128) is used for riveting the plate (200), and the feeding roller (102) is used for conveying the plate (200) to the position below the working station of the riveting assembly (128); It is characterized in that It further includes: Two manipulators (110), which are used for clamping the plate (200). The manipulator (110) includes: A fixed frame (111), which 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). An extrusion plate (113) is also connected to the top of the fixed frame (111). A gap space is formed between the extrusion plate (113) and the top of the fixed frame (111), and this gap space clamps the conveyor belt (109); A limit frame (114), which is fixedly connected to the side of the fixed frame (111). The limit frame (114) extends to the top of the guide rail (105), and an interlocking structure is formed between the top of the limit frame (114) and the top of the guide rail (105); A fixed box (118), which is fixedly connected to the bottom end of the first cylinder (115). A clamping member (117) is provided inside it, and the clamping member (117) is used for clamping the plate (200); A guide rail (105), which is installed on the upper part of the frame (101); Two conveyor belts (109), which are installed on the guide rail (105). The two conveyor belts (109) are arranged side by side. The two manipulators (110) are respectively arranged on the two conveyor belts (109) and can move synchronously and staggeredly along with the two conveyor belts (109); The first cylinder (115), which is configured as a part of the manipulator (110), is used for connecting the manipulator (110) and the conveyor belt (109), so that the manipulator (110) can move relatively up and down with respect to the conveyor belt (109), thereby adjusting the up and down position of the plate (200); A palletizing rack (146), which is installed in the middle of the frame (101) and can move up and down under the drive of a lifting device; When the first manipulator (110) performs drilling, riveting and palletizing operations, the second manipulator (110) is synchronously driven to clamp a new plate (200) from the feeding roller (102) and transfer it to the processing position of the riveting assembly (128); When the second manipulator (110) performs drilling, riveting and palletizing operations, the first manipulator (110) is synchronously driven to return to clamp the next plate (200); A ranging device, which is arranged above the palletizing rack (146) and is used for monitoring the height of the highest point of the plate (200) on the palletizing rack (146); Among them, according to the data fed back by the ranging device, the lifting device drives the palletizing rack (146) to move up and down, so as to adjust the highest point of the palletized plate (200) in real time.

2. The automatic double-sided drilling and riveting machine for manipulator according to claim 1, characterized in that: There are two rivet assemblies (128), which are arranged at both 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. A double-sided automatic drilling and riveting pressing integrated machine for a manipulator according to claim 2, characterized in that: Also includes: A fixed arm (104) is fixedly mounted on the top of the frame (101), and a 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 manipulator double-sided automatic drilling and riveting press integrated machine equipment according to claim 1, characterized in that: The pressure riveting assembly (128) includes: A drilling device (134) for drilling holes in the plate (200); A rivet press device (133) 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 manipulator double-sided automatic drilling and riveting press integrated machine equipment according to 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) is fixedly connected to the bottom of the sliding plate (129); A base (131) is arranged below the riveting assembly (128), a top of which is fixedly connected to a slide rail (130), and a limit block (143) is slidably connected to the slide rail (130); There are two carrying platforms (132), which are respectively arranged on the top of the sliding plate (129). The top of the carrying platform (132) is used to drag the plate (200) to be processed. The two carrying platforms (132) can be close to each other or away from each other.

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

7. The manipulator double-sided automatic drilling and riveting press integrated machine equipment according to 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. A double-sided automatic drilling and riveting machine for manipulator as described in claim 1, 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) is fixedly connected to one end of the fixed end (120); The first linkage arm (122), one end of which is hinged to the hinge seat (121); The second linkage arm (123), one end of which is hinged to the hinge seat (121); The first articulated arm (124), one end of which is hinged to the other end of the first linkage arm (122); The second articulated arm (125), one end of which is hinged to the other end of the second linkage arm (123). The middle parts of the second articulated arm (125) and the first articulated 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); The lower clamping plate (126) and the upper clamping plate (127) are respectively fixedly connected to one end of the first articulated arm (124) and the second articulated arm (125).

9. A double-sided automatic drilling and riveting machine for a manipulator according to any one of claims 1-8, characterized in that: The lifting device includes: Guide wheels (147), there are two of them. One guide wheel (147) is designed with a single groove, and the other guide wheel (147) is designed with a double groove; The palletizing oil cylinder (148) is fixedly installed at the rear end of the frame (101); Ropes (149), there are two of them, which are respectively fixed at both ends of the lifting plate (145). One rope (149) is wound in one of the grooves of the guide wheel (147) with a double groove design and then connected to one end of the palletizing oil cylinder (148). The other rope (149) is successively wound around the guide wheel (147) with a single groove design and the other groove of the guide wheel (147) with a double groove design and then connected to one end of the palletizing oil cylinder (148).

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