Automatic sorting and pushing device for multi-specification rivets

Abstract

The invention provides an automatic sorting and pushing device for multi-specification rivets. The automatic sorting and pushing device comprises a rivet storage box, an end effector and a plurality of rivet conveying lines. The rivet storage box is used for storing rivets of various specifications; the end effector is used for mounting rivets on the parts; the multiple rivet conveying lines are connected with the rivet storage box and the end executor and used for conveying the rivets of the corresponding specifications in the rivet storage box to the end executor. Wherein each rivet conveying line comprises a rivet distributing valve, a rivet receiving valve and a relay valve which are sequentially connected through a rivet conveying pipeline, and a pneumatic assembly connected with the rivet conveying lines, the rivet distributing valves are connected with the rivet storage box through the rivet conveying pipelines, and the rivet distributing valves are used for separating and pushing rivets which are connected end to end and continuously move to the rivet receiving valves according to specified time intervals; the rivet receiving valve is used for controlling a single rivet to enter the relay valve, and the relay valve is used for pushing the single rivet to be conveyed to the end effector. According to the automatic nail feeding device, efficient, stable and automatic nail feeding can be achieved, and the requirement of flexible and automatic assembly can be met.

Description

Technical Field

[0001] The present invention relates to the technical field of automated assembly, and more specifically, to an automatic sorting and pushing device for multi-specification rivets. Background Art

[0002] The nail feeding system is an important part of an automatic drilling and riveting machine, mainly realizing the functions of storing and automatically conveying rivets. It is statistically shown that approximately 90% of the downtime failures of automatic drilling and riveting equipment are caused by the nail feeding system, and manual intervention is required to troubleshoot after jamming, which is time-consuming and inefficient. Among them, the control valve group in the nail feeding system is the key core component directly determining the reliability and stability of the nail feeding system. Especially in the aerospace drilling and riveting process, there are many types of rivet specifications, a large amount of riveting work, and a fast working rhythm. The currently widely used vibrating hopper type nail feeding method is to pour scattered rivets into the hopper, and they are automatically sorted under the action of motor vibration. The rivets are arranged in an orderly manner along a specific track on the inner wall of the hopper and then conveyed to the working position. However, the existing nail feeding system can no longer meet the production and manufacturing requirements of various components and parts with multiple varieties and small batches, and has poor reliability and stability. A large amount of time is required for manual troubleshooting when the system fails, seriously affecting the assembly efficiency.

[0003] During the automatic assembly process, the nail feeding system transports the nails to the nail receiver on the end effector according to the riveting operation requirements over a long distance, with characteristics such as long lines, many bends, and variable paths. Irregularly shaped fasteners such as countersunk head rivets further increase the difficulty of sorting and conveying. The currently widely used vibrating hopper type direct nail feeding method generally can only sort and arrange the same type or limited specification rivets for each hopper, and then convey them to the working position. It can neither achieve the rapid switching of multiple specification rivets, and jamming is likely to occur during the process. In the current development trend and background of customization and rapid response in the manufacturing industry, it is difficult to meet the automated assembly requirements of various components and parts with multiple varieties and small batches. To achieve instant, efficient, and stable automatic nail feeding for multiple specification rivets, it is necessary to focus on optimizing the design of the system on the conveying path from the nail storage system to the end effector to enable an automatic sorting and pushing device that can be compatible with different specification rivets to meet the requirements of flexible automated assembly. Summary of the Invention

[0004] (1) Technical Problems to be Solved

[0005] The technical problem to be solved by the present invention is that the existing nail feeding system is difficult to achieve efficient and stable automatic nail feeding and is insufficient to meet the requirements of flexible automated assembly.

[0006] (2) Technical Solutions

[0007] To achieve the above object, the technical solution adopted by the present invention is:

[0008] The present invention provides an automatic sorting and pushing device for multi-specification rivets, which includes a nail storage box, an end effector, and multiple rivet conveying lines; the nail storage box is used to store rivets of multiple specifications; the end effector is used to install rivets on parts; the multiple rivet conveying lines are connected to the nail storage box and the end effector, and are respectively used to convey the rivets of corresponding specifications in the nail storage box to the end effector; wherein, each rivet conveying line includes a nail sorting valve, a nail receiving valve, a relay valve, and a pneumatic component connected in sequence through a nail conveying pipeline. The nail sorting valve is connected to the nail storage box through the nail conveying pipeline. The nail sorting valve is used to separate and push the head-to-tail connected and continuously moving rivets to the nail receiving valve at specified time intervals. The nail receiving valve is used to control a single rivet to enter the relay valve. The relay valve is used to push a single rivet to the end effector.

[0009] Preferably, the nail sorting valve includes a nail sorting valve body, a first nail clamping component, and a second nail clamping component. The first nail clamping component and the second nail clamping component are connected to the nail sorting valve body, and the first nail clamping component and the second nail clamping component are respectively used to clamp and fix a single rivet in the rivet conveying line.

[0010] Preferably, the first nail clamping component and the second nail clamping component are arranged in a 90° front-back offset.

[0011] Preferably, the structure of the first nail clamping component is the same as that of the second nail clamping component. The first nail clamping component includes a first nail clamping pin, a second nail clamping pin, a first nail clamping cylinder, a second nail clamping cylinder, a first return spring, and a second return spring. The first nail clamping pin and the second nail clamping pin are slidably connected to the nail sorting valve body and are oppositely arranged in the rivet conveying line. The first nail clamping pin is connected to the output end of the first nail clamping cylinder. The second nail clamping pin is connected to the output end of the second nail clamping cylinder. One end of the first return spring is fixedly connected to the first nail clamping pin, and the other end of the first return spring is fixedly connected to the first nail clamping cylinder. One end of the second return spring is fixedly connected to the second nail clamping pin, and the other end of the second return spring is fixedly connected to the second nail clamping cylinder.

[0012] Preferably, the nail receiving valve includes a nail receiving valve body and a third nail clamping component; the structure of the third nail clamping component is the same as that of the first nail clamping component.

[0013] Preferably, the relay valve includes an inlet guiding section, a boosting channel section, and an outlet guiding section connected in sequence. The inlet guiding section is connected to the nail receiving valve through the rivet conveying line. The outlet guiding section is connected to the end effector. A air supplement port is provided at the boosting channel section.

[0014] Preferably, the pneumatic assembly includes a first pneumatic part, a second pneumatic part, and a third pneumatic part for outputting high-pressure gas to push the rivets to move. The first pneumatic part is connected to the nail separating valve, the second pneumatic part is connected to the nail receiving valve, and the third pneumatic part is connected to the relay valve.

[0015] Preferably, it further includes a laser sensor and an inductive ring sensor. A laser detection sensor and an inductive ring sensor are provided at each of the nail separating valve, the nail receiving valve, and the relay valve, and an inductive ring sensor is provided at the outlet of the relay valve.

[0016] Preferably, the rivet is a countersunk head rivet.

[0017] Preferably, it further includes a first support and a second support. A plurality of the nail receiving valves are arranged in parallel on the first support, and a plurality of the relay valves are arranged in parallel on the second support.

[0018] (III) Beneficial Effects

[0019] The above technical solutions of the present invention have at least the following advantages:

[0020] 1. Compared with the existing nail feeding method, the present invention connects the nail separating valve, the nail receiving valve, and the relay valve through a nail feeding pipeline. By introducing high-pressure gas into the nail feeding pipeline to push the rivets to move along the nail feeding pipeline, the transportation of the rivets is realized. The nail separating valve is used to separate and push the head-to-tail connected and continuously moving rivets to the nail receiving valve at specified time intervals. The nail receiving valve is used to control a single rivet to enter the relay valve. The relay valve is used to supplement gas to push a single rivet to be stably transported to the end effector. The multi-specification rivet automatic sorting and pushing device provided by the present invention has the characteristics of long line, many bends, and variable paths, and can meet the production and manufacturing requirements of various components and parts in small batches with multiple varieties, and has high reliability and stability.

[0021] 2. In the present invention, by setting sensors on each nail transportation line and detecting whether the rivets pass through the sensors, the position of the nail jamming fault can be located, manual intervention can be reduced, and the automatic assembly efficiency can be effectively improved. In summary, the present invention comprehensively applies technologies such as electrical multi-stage linkage and on-line detection, can effectively solve problems such as high nail jamming rate, low nail feeding efficiency, and poor process adaptability of the automatic nail feeding system, and can effectively improve the automatic drilling and riveting efficiency and quality of aerospace products. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the following described drawings 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.

[0023] Figure 1 It is a schematic structural diagram of the multi - specification rivet automatic sorting and pushing device provided by the embodiment of the present invention.

[0024] Figure 2 It is a schematic structural diagram of the nail - separating valve provided by the embodiment of the present invention.

[0025] Figure 3 It is a schematic structural diagram of the nail - receiving valve provided by the embodiment of the present invention.

[0026] Figure 4 It is a schematic structural diagram of the relay valve provided by the embodiment of the present invention.

[0027] Figure 5 It is a schematic diagram of the installation position of the sensor provided by the embodiment of the present invention.

[0028] Figure 6 It is a flow chart of the multi - specification rivet automatic sorting and pushing device for detecting the nail - jamming fault provided by the embodiment of the present invention.

[0029] Each reference numeral in the figure is as follows:

[0030] 1, nail - separating valve; 2, nail - receiving valve; 3, relay valve; 4, sensor; 5, nail - conveying pipeline; 6, rivet; 11, nail - separating valve body; 12, first nail - jamming component; 13, second nail - jamming component; 21, nail - receiving valve body; 22, third nail - jamming component; 31, inlet guiding section; 32, force - adding channel section; 33, outlet guiding section; 34, air - supplementing port; 41, laser sensor; 42, inductive ring sensor; 121, first nail - jamming pin; 122, second nail - jamming pin; 123, first nail - jamming cylinder; 124, second nail - jamming cylinder; 125, first return spring; 126, second return spring; 221, third nail - jamming pin; 222, fourth nail - jamming pin; 223, third nail - jamming cylinder; 224, fourth nail - jamming cylinder; 225, third return spring; 226, fourth return spring. Detailed implementation manners

[0031] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0032] It should be noted that when an element is referred to as "fixed to" or "set on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as "connected to" another element, it can be directly connected or indirectly connected to the other element.

[0033] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention, rather than indicating that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0034] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating relative importance or indicating the quantity of technical features. In the description of the present invention, the meaning of "a plurality of" is two or more unless otherwise specifically defined. The following describes the specific implementation of the present invention in more detail with reference to specific embodiments:

[0035] As Figure 1 , Figure 2 and Figure 3 shown, an automatic sorting and pushing device for multi-specification rivets according to an embodiment of the present invention includes a nail storage box (not shown), an end effector (not shown), and multiple rivet conveying lines; the nail storage box is used to store rivets 6 of multiple specifications; the end effector is used to install rivets 6 on parts; the multiple rivet conveying lines connect the nail storage box and the end effector and are respectively used to convey the rivets 6 of corresponding specifications in the nail storage box to the end effector; wherein, each rivet conveying line includes a nail splitting valve 1, a nail receiving valve 2, and a relay valve 3 connected in sequence through a nail conveying pipeline 5, and a pneumatic component (not shown) connected to the rivet conveying line. The nail splitting valve 1 is connected to the nail storage box through the nail conveying pipeline. The nail splitting valve 1 is used to separate and push the continuously moving rivets 6 connected end to end at a specified time interval to the nail receiving valve 2. The nail receiving valve 2 is used to control a single rivet 6 to enter the relay valve 3. The relay valve 3 is used to push a single rivet 6 to the end effector. Specifically, the nail storage box can adopt a nail storage box in the prior art, and the end effector can adopt an end effector in the prior art. Specifically, the nail splitting valve 1 is installed in the nail storage box of the corresponding specification, and multiple nail splitting valves 1 are respectively installed in the nail storage boxes of the corresponding specifications one by one to meet the nail splitting requirements of different specifications of rivets. The main function of the nail conveying pipeline 5 is to connect the control valve group (the nail splitting valve 1, the nail receiving valve 2, and the relay valve 3), and convey the rivets 6 to the rivet receiver on the end effector over a long distance. It has the characteristics of long line, many bends, and variable paths, and is mainly selected according to the rivet specifications and the requirements of riveting efficiency based on engineering experience. The nail conveying pipeline 5 is a flexible pipeline that can be bent to facilitate flexible assembly connection.

[0036] In one embodiment, the nail separating valve 1 includes a nail separating valve body 11, a first nail clamping assembly 12, and a second nail clamping assembly 13. The first nail clamping assembly 12 and the second nail clamping assembly 13 are connected to the nail separating valve body 11, and the first nail clamping assembly 12 and the second nail clamping assembly 13 are respectively used to clamp and fix a single rivet 6 in the rivet conveying line. Through the nail separating valve 1, the posture of the rivets 6 entering the rivet conveying line can be adjusted to the required state, and then multiple rivets 6 can be arranged in sequence end to end in the rivet conveying line.

[0037] In one embodiment, the structure of the first nail clamping assembly 12 is the same as that of the second nail clamping assembly 13. The first nail clamping assembly 12 includes a first nail clamping pin 121, a second nail clamping pin 122, a first nail clamping cylinder 123, a second nail clamping cylinder 124, a first return spring 125, and a second return spring 126. The first nail clamping pin 121 and the second nail clamping pin 122 are slidably connected to the nail separating valve body 11 and are oppositely arranged in the rivet conveying line. The first nail clamping pin 121 is connected to the output end of the first nail clamping cylinder 123, and the second nail clamping pin 122 is connected to the output end of the second nail clamping cylinder 124. One end of the first return spring 125 is fixedly connected to the first nail clamping pin 121, and the other end of the first return spring 125 is fixedly connected to the first nail clamping cylinder 123. One end of the second return spring 126 is fixedly connected to the second nail clamping pin 122, and the other end of the second return spring 126 is fixedly connected to the second nail clamping cylinder 124. Specifically, the nail separating process is divided into three steps: First step, the first nail clamping assembly 12 is powered on and supplied with air, the first nail clamping pin 121 and the second nail clamping pin 122 are loosened, and the rivet 6 enters the second nail clamping assembly 13 through the first nail clamping assembly 12 for positioning; Second step, the first nail clamping assembly 12 is powered off and the air supply is cut off, the first return spring 125 and the second return spring 126 are reset, and the subsequent rivets 6 enter the first nail clamping assembly 12 for positioning; Third step, the second nail clamping assembly 13 is powered on and supplied with air, and under the action of the high-pressure gas in the nail conveying pipeline 5, the rivet 6 is blown into the nail receiving valve 2. After that, the above three steps are repeated according to the nail separating instruction.

[0038] In one embodiment, the first nail clamping assembly 12 and the second nail clamping assembly 13 are arranged with a 90° front-back offset. Specifically, the axis of the nail clamping pin of the first nail clamping assembly 12 is perpendicular to the axis of the nail clamping pin of the second nail clamping assembly 13 and is arranged with a front-back offset. If there is a notch position on the head of the rivet 6 and the first nail clamping assembly 12 and the second nail clamping assembly 13 are arranged in parallel, if the notch position of the rivet 6 corresponds to the position of the nail clamping pin, the rivet 6 may pass through the first nail clamping assembly 12 and the second nail clamping assembly 13. In this embodiment, the first nail clamping assembly 12 and the second nail clamping assembly 13 are arranged at 90°, and by intercepting the rivet 6 through the perpendicular arrangement, the above problems can be effectively solved. The purpose of the front-back offset arrangement is to avoid mutual interference between the first nail clamping assembly 12 and the second nail clamping assembly 13.

[0039] In one embodiment, the nail-connecting valve 2 includes a nail-connecting valve body 21 and a third staple component 22; the structure of the third staple component 22 is the same as that of the first staple component 12. Specifically, the third staple component 22 includes a third staple pin 221, a fourth staple pin 222, a third staple cylinder 223, a fourth staple cylinder 224, a third return spring 225, and a fourth return spring 226; after the rivet 6 is blown from the staple-dividing valve 1 into the nail-connecting valve 2 and positioned in the third staple component 22, upon receiving the nail-sending instruction, the third staple component 22 is powered on to supply air, the third staple pin 221 and the fourth staple pin 222 are released, the rivet 6 is blown into the nail delivery pipeline 5, then the third staple component 22 is powered off and the air supply is cut off, and the third return spring 225 and the fourth return spring 226 are reset to wait for the next nail-sending instruction. The nail-connecting valve 2 can receive a single rivet and inject gas to push the single rivet 6 to move along the rivet delivery line, and can control the delivery time of the single rivet 6.

[0040] In one embodiment, the pneumatic assembly includes a first pneumatic part, a second pneumatic part, and a third pneumatic part for outputting high-pressure gas to push the rivet to move. The first pneumatic part is connected to the staple-dividing valve 1, the second pneumatic part is connected to the nail-connecting valve 2, and the third pneumatic part is connected to the relay valve 3.

[0041] In one embodiment, a sensor 4 is further included. The sensor 4 includes a laser sensor 41 and an inductive ring sensor 42. A laser detection sensor 41 and an inductive ring sensor 42 are provided at each of the staple-dividing valve 1, the nail-connecting valve 2, and the relay valve 3, and an inductive ring sensor 42 is provided at the outlet of the relay valve 3. As Figure 6 shown, the working process of the multi-specification rivet automatic sorting and pushing device is divided into: During the nail feeding process, counting is detected by sensors. Sensor 4 is used to detect whether the rivet 6 enters the nail feeding pipeline 5, and at the outlet of the relay valve 3, it is used to detect whether the rivet 6 passes through the position of the relay valve 3, so as to adjust the conveying air flow speed and conveying air pressure in real time. Specifically, when the inductive ring sensor 42 senses that there is a rivet 6 passing through, it will generate a corresponding electrical signal. The laser sensor 41 is arranged inside the corresponding valve body (nail separating valve 1, nail receiving valve 2, and relay valve 3). When the laser emitted by the laser sensor 41 is blocked by the rivet 6, a corresponding electrical signal will be generated, and then it can be judged whether there is a rivet 6 passing through the corresponding valve body. By setting the sensor 4 at the position of the corresponding valve body, the position of the jammed nail can be judged through the signal fed back by the sensor 4. For example, when the signals of the sensors at the single-number nail separating valve 1 and the nail receiving valve 2 are normal, and only the sensor signal at the relay valve 3 is abnormal, it can be judged that the position of the jammed nail is between the nail receiving valve 2 and the relay valve 3, thereby realizing the detection of the jammed nail fault. Using two sensors, namely the laser detection sensor 41 and the inductive ring sensor 42, to detect the rivet 6 can ensure the effectiveness of the detection and avoid detection errors caused by the failure of one sensor.

[0042] In one embodiment, the relay valve 3 includes an inlet guiding section 31, a boosting channel section 32, and an outlet guiding section 33 connected in sequence. The inlet guiding section 31 is connected to the nail receiving valve 2 through a nail conveying line, the outlet guiding section 33 is connected to the end effector, and an air supplement port 34 is provided at the boosting channel section 32. Specifically, the air supplement port 34 is connected to the third pneumatic part. When the rivet 6 passes through the outlet guiding section 33, it triggers the inductive ring sensor 42, and the corresponding air valve on the valve island acts to supplement air and pressurize through the air supplement port 34 to ensure the stable conveying of the rivet 6.

[0043] In one embodiment, the rivet 6 is a countersunk head rivet.

[0044] In one embodiment, it further includes a first support 51 and a second support 52. A plurality of nail receiving valves 2 are arranged in parallel on the first support 51, and a plurality of relay valves 3 are arranged in parallel on the second support 52.

[0045] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic sorting and pushing device for multi-specification rivets, characterized in that, Comprising: A nail storage box for storing rivets of multiple specifications; An end effector for installing rivets on parts; Multiple rivet conveying lines connecting the nail storage box and the end effector, respectively for conveying the rivets of corresponding specifications in the nail storage box to the end effector; Wherein, each rivet conveying line includes a nail separating valve, a nail receiving valve, a relay valve connected in sequence through a nail conveying pipeline, and a pneumatic component connected to the rivet conveying line. The nail separating valve is connected to the nail storage box through the nail conveying pipeline. The nail separating valve is used to separate and push the head-to-tail and continuously moving rivets at a specified time interval to the nail receiving valve. The nail receiving valve is used to control a single rivet to enter the relay valve. The relay valve is used to push a single rivet to the end effector.

2. The multi-specification rivet automatic sorting and pushing device according to claim 1, characterized in that, The nail separating valve includes a nail separating valve body, a first nail clamping component, and a second nail clamping component. The first nail clamping component and the second nail clamping component are connected to the nail separating valve body. The first nail clamping component and the second nail clamping component are respectively used to clamp and fix a single rivet in the rivet conveying line.

3. The multi-specification rivet automatic sorting and pushing device according to claim 2, wherein The first nail clamping component and the second nail clamping component are arranged with a 90° front-back dislocation.

4. The multi-specification rivet automatic sorting and pushing device according to claim 2, characterized in that, The structure of the first nail clamping component is the same as that of the second nail clamping component. The first nail clamping component includes a first nail clamping pin, a second nail clamping pin, a first nail clamping cylinder, a second nail clamping cylinder, a first return spring, and a second return spring. The first nail clamping pin and the second nail clamping pin are slidably connected to the nail separating valve body and are oppositely arranged in the rivet conveying line. The first nail clamping pin is connected to the output end of the first nail clamping cylinder. The second nail clamping pin is connected to the output end of the second nail clamping cylinder. One end of the first return spring is fixedly connected to the first nail clamping pin, and the other end of the first return spring is fixedly connected to the first nail clamping cylinder. One end of the second return spring is fixedly connected to the second nail clamping pin, and the other end of the second return spring is fixedly connected to the second nail clamping cylinder.

5. The automatic sorting and pushing device for multi-specification rivets according to claim 4, wherein The nail receiving valve includes a nail receiving valve body and a third nail clamping component; the structure of the third nail clamping component is the same as that of the first nail clamping component.

6. The automatic sorting and pushing device for multi-specification rivets according to claim 1, characterized in that, The relay valve includes an inlet guiding section, a boosting channel section, and an outlet guiding section connected in sequence. The inlet guiding section is connected to the nail receiving valve through the rivet conveying line. The outlet guiding section is connected to the end effector. A gas supplement port is provided at the boosting channel section.

7. The multi-specification rivet automatic sorting and pushing device according to claim 1, characterized in that, The pneumatic component includes a first pneumatic part, a second pneumatic part, and a third pneumatic part for outputting high-pressure gas to push the rivet to move. The first pneumatic part is connected to the nail separating valve. The second pneumatic part is connected to the nail receiving valve. The third pneumatic part is connected to the relay valve.

8. The multi-specification rivet automatic sorting and pushing device according to claim 1, characterized in that, It also includes a laser sensor and an inductive ring sensor. A laser detection sensor and an inductive ring sensor are provided at each of the nail separating valve, the nail receiving valve, and the relay valve. An inductive ring sensor is provided at the outlet of the relay valve.

9. The automatic sorting and pushing device for multi-specification rivets according to claim 1, wherein, The rivet is a countersunk head rivet.

10. The multi-specification rivet automatic sorting and pushing device according to claim 1, characterized in that, It also includes a first support and a second support. A plurality of the nail receiving valves are arranged in parallel on the first support. A plurality of the relay valves are arranged in parallel on the second support.

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