A nut press-fitting robot and press assembly

Abstract

The application discloses a nut stamping installation robot and a stamping machine assembly, wherein the nut stamping installation robot is a feeding and discharging robot unit which feeds and discharges the stamping machine assembly, the feeding and discharging robot unit comprises a support, an up-down moving module, a left-right moving module and a clamping hand module; the up-down moving module is arranged on the support and can reciprocate up and down along the movable support; the left-right moving module is arranged on the up-down moving module and can reciprocate left and right relative to the up-down moving module; and the clamping hand module is arranged on the left-right moving module. The nut stamping installation robot is adopted to feed nuts, when the nuts are switched, the clamping hand stroke can be conveniently adjusted for adaptation, the flexibility is higher, the structures of relevant components are simple, and the maintenance is easy. Furthermore, the flatness of operation can be improved through the optimized design of stamping dies and lower dies.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of nut stamping installation equipment, in particular to a nut stamping installation robot and a stamping machine assembly. BACKGROUND

[0002] The nut is pressed into the preset position of the plate by the embossing tooth, plastic deformation is generated around the hole, and locking is achieved, so that the thin plate or sheet metal connection is realized, which is a common connection method, has the advantages of convenient installation, firm connection, high torsional resistance and tensile resistance, and is widely applied to the fixation of various metal plates.

[0003] For small and medium-sized sheet metal processing enterprises, the stamping installation and processing of the above-mentioned nuts of different types and different installation modes are required, and the processing amount also has great changes, from a small amount of scattered processing to large-scale processing, and the processing efficiency and flexibility of the stamping equipment are required to be high, and the existing automatic stamping equipment, such as the stamping machine with a pneumatic nut conveying device, often needs to be switched and debugged in a relatively complex manner. Although the simple stamping equipment has high flexibility, it needs manual nut placement, the stamping operation efficiency is low, and there is a certain safety risk. SUMMARY

[0004] The application aims to provide a nut stamping installation robot and a stamping machine assembly to solve the problems in the prior art.

[0005] In order to achieve the above-mentioned purpose, the technical scheme of the application provides a nut stamping installation robot and a stamping machine assembly.

[0006] The nut stamping installation robot is an up-down feeding robot unit for the stamping machine assembly, and the up-down feeding robot unit comprises a support, an up-down moving module, a left-right moving module and a clamping hand module. The up-down moving module is arranged on the support and comprises an up-down actuator, a moving part and a vertical guide rail. The up-down actuator and the vertical guide rail are fixed on the support, and the moving part is connected to the up-down actuator and cooperates with the vertical guide rail. The left-right moving module comprises a left-right actuator, a left-right moving part and a horizontal guide rail. The left-right actuator and the horizontal guide rail are fixed on the moving part, and the left-right moving part is connected to the left-right actuator and cooperates with the horizontal guide rail. The clamping hand module is arranged on the left-right moving part.

[0007] Further, the up-down feeding robot unit further comprises a front-rear moving module. The front-rear moving module comprises a moving guide rail and a front-rear moving actuator. The support is movably connected to the moving guide rail and reciprocally moves along the moving guide rail under the driving of the front-rear moving actuator. The front-rear moving actuator is any one of an electric cylinder and a pneumatic cylinder.

[0008] Further, the left and right moving module left and right actuating members are any one of electric cylinders or air cylinders, fixed on the moving member, the horizontal guide rail is matched with the left and right moving members through the groove slide structure, the left and right moving members are L-shaped, and the left and right actuating members are arranged at the lower part of the left and right moving members and connected with the downward protruding parts thereof.

[0009] Further, the clamping hand module comprises a clamping hand actuating member and a clamping hand member, the clamping hand member comprises two oppositely arranged clamping hand heads, one of which is connected to the clamping hand actuating member, and the clamping hand actuating member is any one of an electric cylinder or an air cylinder.

[0010] Further, a plurality of positioning holes or positioning grooves are arranged on the left and right moving members, two limiting members are detachably arranged at the positioning holes or the positioning grooves through bolt structures, a trigger member is arranged on the upper part of the moving member, the end part of the trigger member is located between the two limiting members, and the limiting member comprises a limiting base and an acting member.

[0011] The application also discloses a stamping machine assembly matched with the above-mentioned nut stamping installation robot, which comprises a vibration feeding unit, a stamping machine, a stamping die head and a stamping lower die unit.

[0012] Further, the vibration feeding unit comprises a circular vibration feeder, a linear vibration feeder and a temporary storage table, the circular vibration feeder discharge port is connected to the linear vibration feeder feeding port, the temporary storage table is arranged on one side of the linear vibration feeder discharge port, the temporary storage table comprises a base and a baffle, the upper part of the base is provided with a cross-shaped groove, the baffle is arranged on the side of the cross-shaped groove away from the linear vibration feeder discharge port, and the groove depth of the cross-shaped groove parallel to the linear vibration feeder is deeper than the groove depth of the cross-shaped groove perpendicular to the linear vibration feeder.

[0013] Further, the punch die head comprises a die seat, a die head, an outer limiting cup, an upper spring, and a pressing ring; the die seat is arranged at the position of the punch head of the punch, the bottom surface of the die seat is provided with a threaded hole, the upper part of the die head is detachably connected with the bottom part of the die seat through a bolt structure, the outer limiting cup is fixed on the bottom surface of the die seat through a bolt structure, the outer limiting cup is a hollow rotary cavity coaxial with the die head and provided with a through hole at the bottom for the die head to pass through, the pressing ring is a hollow rotary cavity coaxial with the die head and provided with a convex edge at the top, the outer diameter of the convex edge is larger than the through hole at the bottom of the outer limiting cup, and the lower part of the pressing ring passes through the through hole at the bottom of the outer limiting cup; the upper spring is arranged on the upper part of the convex edge of the pressing ring and located in the gap between the die head and the inner wall of the outer limiting cup, and the upper part of the upper spring is in abutment with the bottom surface of the die seat; when not under pressure, the bottom part of the die head extends out of the bottom part of the outer limiting cup and does not extend out of the pressing ring.

[0014] Further, the lower die head comprises a connecting rod and a lower die head part, the outer side of the connecting rod is provided with a thread for detachable connection with the lower die module, and the lower die head part is arranged at the upper part of the lower die head and has a hexagonal outer contour.

[0015] Further, a through hole is arranged at the center of the connecting rod and the lower die head part, and an indicating unit is arranged at the through hole, the indicating unit comprises an outer fixed tube seat, a lower spring, and an indicating column, the two ends of the lower spring are in abutment with the outer fixed tube seat and the lower part of the indicating column respectively, the lower spring and the lower part of the indicating column are located in the outer fixed tube seat, and the outer diameter of the indicating column is smaller than the inner diameter of the nut; the outer fixed tube seat is arranged at the through hole, and when not under pressure, the lower spring pushes the indicating column so that the top part of the indicating column extends out of the top part of the lower die head part.

[0016] The robot for nut punching and installation and the punch assembly provided by the application have the advantages that the nut feeding is performed by the feeding robot in cooperation with the feeding equipment, the clamping stroke can be conveniently adjusted for adaptation when the nut is switched, the flexibility is high, the related component structure is simple, and the robot is easy to maintain and repair. Further, the optimized design of the punch die head and the lower die head can improve the flatness of the operation, avoid the processing errors caused by the nut inclination and the workpiece inclination, and facilitate the on-site operation of workers. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is the overall scheme schematic diagram of the first embodiment of the application.

[0018] Figure 2 is the overall scheme schematic diagram of the second embodiment of the application.

[0019] Figure 3 is the local enlarged view of the feeding robot of the first embodiment of the application.

[0020] Figure 4 It is a partially enlarged view of the technical solution of the second embodiment of the present invention.

[0021] Figure 5 It is a partial schematic diagram of the loading and unloading robot according to the second embodiment of the present invention.

[0022] Figure 6 This is a schematic diagram from another perspective of the loading and unloading robot according to the second embodiment of the present invention.

[0023] Figure 7 It is a schematic diagram of the punching die and the lower die of the present invention. DETAILED DESCRIPTION

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0025] As attached Figures 1-7 As shown, the present invention relates to a nut stamping and installation robot and a stamping machine assembly, which includes a loading and unloading robot unit 12 and a stamping machine assembly 2.

[0026] Attached Figure 1 The first embodiment is shown, in which the loading and unloading robot unit 12 is responsible for loading and unloading of two punching machine assemblies 2; Figure 2 A second embodiment is shown, in which the loading and unloading robot unit 12 is responsible for loading and unloading a punching machine assembly 2 .

[0027] As attached Figure 1 、 2 As shown in Figure 4, the punching machine assembly 2 includes a vibrating feeding unit 11, a punching machine 21, a punching die 22, and a punching lower die unit 23; the punching die 22 is arranged on the punching head of the punching machine 21, and the punching lower die unit 23 is arranged at a position relative to the punching head, and the punching lower die unit 23 includes a base 231, a lower module 232, a lower die 233, and a leveling seat 234. The base 231 is arranged on the punching machine 21, and the lower module 232 is detachably fixed on the base 231. A plurality of through holes are provided on the lower module 232, and the lower die 233 and the leveling seat 234 are detachably arranged at the through holes on the lower module 232.

[0028] Further, a through hole is arranged on the base 231, the lower module 232 is detachably arranged at the through hole, the base 231 is arranged with a slot 2311 below the through hole, a waste discharge chute 2312 is arranged at the slot in an inclined manner, and the through hole on the lower module 232 is communicated with the slot 2311. The waste discharge chute 2312 is mainly suitable for the operation of self-piercing rivet nuts.

[0029] The punching and fixing of the nut are realized by the punching die 22 and the lower die 233, and the specific structure can be the existing product in the field. The top height of the leveling seat 234 is consistent with the lower die 233, and the horizontal placement of the workpiece can be more labor-saving. The punching die 22, the lower die 233 and the leveling seat 234 are arranged in multiple groups.

[0030] The vibration feeding unit 11 adopted in the embodiment one and the embodiment two is consistent in structure, as shown in the accompanying drawings. Figure 1 、 2 The vibration feeding unit 11 includes a circular vibration feeder 111, a linear vibration feeder 112 and a temporary storage table 113, wherein the discharge port of the circular vibration feeder 111 is connected to the feeding port of the linear vibration feeder 112, the temporary storage table 113 is arranged on one side of the discharge port of the linear vibration feeder 112, and the nut is discharged from the discharge port of the linear vibration feeder 112 and enters the temporary storage table 113.

[0031] The circular vibration feeder 111 and the linear vibration feeder 112 can be selected from existing devices, and the temporary storage table 113 includes a base 1131 and a baffle 1132. The upper part of the base is arranged with a cross recess, and the baffle 1132 is arranged on one side of the cross recess away from the discharge port of the linear vibration feeder 112. The nut enters the cross recess of the temporary storage table 113 through the circular vibration feeder 111 and the linear vibration feeder 112. The depth of the cross recess parallel to the linear vibration feeder 112 is shallower than the depth of the cross recess perpendicular to the linear vibration feeder 112, so as to facilitate clamping.

[0032] The core difference between the feeding and discharging robot unit 12 in the embodiment one and the embodiment two is that the feeding and discharging robot unit 12 in the embodiment one can be moved as a whole to realize feeding and discharging of the two punching machine assemblies 2.

[0033] As shown in the accompanying drawings, Figure 1 、 3 The feeding and discharging robot unit 12 in the embodiment one includes a front and rear moving module 120, a movable support 121a, a first up and down moving module 122a, a left and right moving module 123 and a clamping hand module 124.

[0034] The forward and backward moving module 120 includes a movable guide rail 1201 and a forward and backward moving actuator 1202. The movable bracket 121a is movably connected to the movable guide rail 1201 and moves back and forth along the movable guide rail 1201 driven by the forward and backward moving actuator 1202. The forward and backward moving actuator 1202 in the accompanying drawings is a cylinder, but it can also be other common actuating structures. The movable guide rail 1201 is movably connected to the movable bracket 121a through a slide rail, which is a common existing product in this field. The setting position of the movable guide rail 1201 is adaptively set according to the position of the two punching machine assemblies 2. The movable guide rail 1201 is set on the ground through a support column 1203, and can also be fixed to the ceiling.

[0035] The first vertical movement module 122a is arranged on the movable bracket 121a and can reciprocate up and down along the movable bracket 121a. The left and right movement module 123 is arranged on the vertical movement module 122 and can reciprocate left and right relative to the vertical movement module 122. The gripping module 124 is arranged on the left and right movement module 123.

[0036] As attached Figure 2 、 5 As shown, the loading and unloading robot unit 12 in the second embodiment includes a bracket 121 , a vertical movement module 122 , a horizontal movement module 123 , and a gripper module 124 .

[0037] The vertical movement module 122 is provided on the bracket 121 and can reciprocate up and down along the bracket 121. The horizontal movement module 123 is provided on the vertical movement module 122 and can reciprocate left and right relative to the vertical movement module 122. The gripping module 124 is provided on the horizontal movement module 123.

[0038] The structures of the left-right moving module 123 and the gripping module 124 in the first and second embodiments are completely identical. The partial components used in the first up-and-down moving module 122a and the up-and-down moving module 122 have the same structure, and the installation positions are in a mirror-symmetrical relationship.

[0039] In Example 1, the first up and down moving module 122a is arranged on the movable bracket 121a, and includes an up and down actuator 1221, a moving member 1222, and a vertical guide rail 1223. The up and down actuator 1221 can be any one of an electric cylinder and a pneumatic cylinder, which is fixed on the movable bracket 121a. The vertical guide rail 1223 fixes the lower part of the movable bracket 121a and cooperates with the moving member 1222 through a groove slide structure to achieve up and down sliding. The upper part of the moving member 1222 is connected to the up and down actuator 1221, and moves back and forth up and down under its drive.

[0040] The up-and-down moving module 122 in Embodiment Two is arranged on the bracket 121 and comprises an up-and-down actuator 1221, a moving piece 1222 and a vertical guide rail 1223. The up-and-down actuator 1221 can be any one of an electric cylinder and a pneumatic cylinder and is fixed on the bracket 121. The vertical guide rail 1223 is fixed on the upper portion of the bracket 121 and cooperates with the moving piece 1222 through a groove slide structure to realize up-and-down sliding. The moving piece 1222 is connected to the up-and-down actuator 1221 at the lower portion and reciprocates up and down under the driving of the up-and-down actuator 1221.

[0041] The left-and-right moving module 123 comprises a left-and-right actuator 1231, a left-and-right moving piece 1232 and a horizontal guide rail 1233. The left-and-right actuator 1231 can be any one of an electric cylinder and a pneumatic cylinder and is fixed on the moving piece 1222. The horizontal guide rail 1233 is fixed on the moving piece 1222 and cooperates with the left-and-right moving piece 1232 through a groove slide structure to realize left-and-right sliding. The left-and-right moving piece 1232 is connected to the left-and-right actuator 1231 at one side. As shown in the accompanying drawings, the left-and-right moving piece 1232 is in the shape of L. The left-and-right actuator 1231 is arranged at the lower portion of the left-and-right moving piece 1232 and is connected to the downward protruding portion thereof. Figure 5 、 6

[0042] The clamping hand module 124 is arranged on the left-and-right moving piece 1232 and comprises a clamping hand actuator 1241 and a clamping hand piece 1242. The clamping hand piece 1242 comprises two oppositely arranged clamping hand heads, one of which is connected to the clamping hand actuator 1241 and changes the distance between the bottoms of the two clamping hand heads to realize clamping and loosening. The clamping hand actuator 1241 can be any one of an electric cylinder and a pneumatic cylinder.

[0043] Furthermore, a plurality of positioning holes or positioning grooves are arranged on the left-and-right moving piece 1232. Two limit pieces 1234 are detachably arranged at the positioning holes or positioning grooves through a bolt structure. A trigger piece 1224 is arranged at the upper portion of the moving piece 1222 and the end portion of the trigger piece 1224 is located between the two limit pieces 1234. The position between the two limit pieces 1234 and the trigger piece 1224 can be adjusted to conveniently adjust the stroke of the left-and-right moving piece 1232.

[0044] The limit piece 1234 comprises a limit base x1 and an acting piece x2. The acting piece x2 can be any one of a press switch and a proximity sensor.

[0045] ​During use, the gripper module 124 is moved to the upper part of the temporary storage table 113 through the action of the up and down moving module 122 and the left and right moving module 123. The gripper module 124 clamps the nut at the cross groove, and then is driven to move upward by the up and down moving module 122. The left and right moving module 123 drives it to move left / right to the nut placement position, and then the up and down moving module 122 drives it to move downward to complete the nut placement.

[0046] In order to improve the smoothness of the operation, avoid machining errors caused by tilting of nuts and workpieces, and facilitate on-site operations of workers, such as the attached Figure 7 As shown, the present application also provides an optimized design of a stamping die 22 and a lower die 233 .

[0047] The punching die 22 includes a die base p0, a die p1, an outer limit cup p2, an upper spring p3, and a pressure ring p4. The die holder p0 is positioned at the punch head position of the punch press 21. Its connection structure is conventional in the field. The die holder p0 has a threaded hole on its bottom surface. The upper portion of the die p1 is detachably connected to the bottom portion of the die holder p0 via a bolt structure. The outer limit cup p2 is bolted to the bottom of the die holder p0. The outer limit cup p2 is a hollow, rotating cavity coaxial with the die p1 and has a through-hole at its bottom for the die p1 to pass through. The pressure ring p4 is a hollow, rotating cavity with an inner diameter larger than that of the die p1 and coaxial with the die p1. The top of the pressure ring p4 has a protruding edge with an outer diameter larger than the through-hole at the bottom of the outer limit cup p2. The lower portion of the pressure ring p4 passes through the through-hole at the bottom of the outer limit cup p2. An upper spring p3 is installed above the protruding edge of the pressure ring p4. The upper spring p3 is located in the gap between the die p1 and the inner wall of the outer limit cup p2.

[0048] When in use, the punching die 22 moves downward, and the pressure ring p4 contacts the workpiece first, which can press the workpiece onto the lower die. The punching die 22 continues to move downward and the upper spring p3 is compressed, and the die p1 gradually extends from the outer limit cup p2 and the pressure ring p4 to punch the nut.

[0049] Furthermore, in order to achieve the precise position of the nut, in the embodiment of the present application, the nut is placed in the lower die head 233, as shown in the attached Figure 7 As shown, the lower die head 233 includes a connecting rod p5 and a lower die head p6. The connecting rod p5 is provided with a thread on the outside, through which it is detachably connected to the lower die block 232. The lower die head p6 is located above the lower die head 233 and has a hexagonal outer profile, which facilitates tightening the lower die head 233 to the lower die block 232. The upper portion of the lower die head p6 is provided with a nut groove p61 that is consistent with the shape of a nut. The groove depth is less than the height of the nut. When in use, the nut is placed in the nut groove p61, and the nut groove p61 is used to limit the position to achieve accurate positioning.

[0050] Further, in order to facilitate the workers to quickly move the workpiece reserved hole to the nut position, a through hole or a blind hole is arranged in the center of the connecting rod p5 and / or the lower die head p6. In the drawings, a through hole is arranged in the center of the connecting rod p5 and the lower die head p6, and an indication unit p7 is arranged at the through hole. The indication unit includes an outer fixed tube seat p71, a lower spring p72, and an indication column p73. The lower spring p72 is sleeved outside the indication column p73, and the lower spring p72 and the indication column p73 are located in the outer fixed tube seat p71. The outer diameter of the indication column p73 is smaller than the inner diameter of the nut. The outer side of the outer fixed tube seat p71 is arranged in the through hole of the connecting rod p5 through a threaded structure. When not under pressure, the top of the indication column p73 protrudes from the top of the lower die head p6, which is used to indicate the position of the lower die head 233. During the stamping process, the die head p1 pushes the indication column p73 to move downward, which has no adverse effect on the stamping process.

[0051] It should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing", "arranging" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.

Claims

1. A punch assembly for punching and installing nuts, characterized in that: The punching machine assembly includes a vibrating feeding unit, a punching machine, a punching die head, and a punching lower die unit; the punching die head is arranged on the punching head of the punching machine, and a punching lower die unit is arranged at a position opposite to the punching head, and the punching lower die unit includes a base, a lower module, a lower die head, and a leveling seat, the base is arranged on the punching machine, the lower module is detachably fixed to the base, a plurality of through holes are arranged on the lower module, and the lower die head and the leveling seat are detachably arranged at the through holes on the lower module; the base is provided with a through hole, the lower module is detachably arranged at the through hole, the base is provided with a slot below the through hole, a waste material discharge chute is obliquely arranged at the slot, and the through hole on the lower module is connected with the slot; The stamping die head includes a die head seat, a die head, an outer limit cup, an upper spring, and a pressure ring; the die head seat is arranged at the position of the punching head of the punching machine, a threaded hole is arranged on the bottom surface of the die head seat, the upper part of the die head is detachably connected with the bottom of the die head seat by a bolt structure, the outer limit cup is fixed to the bottom surface of the die head seat by a bolt structure, the outer limit cup is an internal hollow rotary cavity, is coaxial with the die head, and a through hole is arranged on the bottom for the die head to pass through, and the pressure ring is an internal hollow rotary cavity. The rotating cavity has an inner diameter larger than the die head and is coaxial with the die head. A protruding edge is provided on the top of the pressure ring. The outer diameter of the protruding edge is larger than the through hole on the bottom surface of the outer limit cup. The lower part of the pressure ring passes through the through hole on the bottom surface of the outer limit cup. An upper spring is provided on the upper part of the protruding edge of the pressure ring. The upper spring is located in the gap between the die head and the inner wall of the outer limit cup. The upper part of the upper spring abuts against the bottom surface of the die head seat. When not under pressure, the bottom of the die head extends out of the bottom of the outer limit cup and does not extend out of the pressure ring. The lower die head includes a connecting rod and a lower die head. The outer side of the connecting rod is provided with a thread, and is detachably connected to the lower die block through the thread. The lower die head is located at the upper part of the lower die head and has a hexagonal outer contour. A nut groove consistent with the shape of a nut is provided on the upper part of the lower die head, and the depth of the groove is less than the height of the nut. A through hole is provided in the center of the connecting rod and the lower die head, and an indicating unit is provided at the through hole. The indicating unit includes an external fixed tube seat, a lower spring, and an indicating column. The two ends of the lower spring are respectively abutted against the external fixed tube seat and the lower part of the indicating column. The lower spring and the lower part of the indicating column are located in the external fixed tube seat, and the outer diameter of the indicating column is smaller than the inner diameter of the nut. The external fixed tube seat is provided at the through hole. When not under pressure, the lower spring pushes the indicating column so that the top of the indicating column extends out of the top of the lower die head.

2. The punch assembly according to claim 1, wherein: The vibration loading unit includes a circular vibration loader, a linear vibration loader, and a temporary storage table, wherein the discharge port of the circular vibration loader is connected to the feed port of the linear vibration loader, and the temporary storage table is arranged on one side of the discharge port of the linear vibration loader. The temporary storage table includes a base and a baffle. A cross groove is provided on the upper part of the base, and a baffle is provided on the side of the cross groove away from the discharge port of the linear vibration loader. The depth of the cross groove parallel to the linear vibration loader is deeper than the groove perpendicular to it.

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