Flexible working system capable of rapidly switching and automatically and continuously pulling and riveting

Abstract

The invention relates to a flexible working system capable of achieving rapid switching and automatic and continuous rivet pulling. The flexible working system comprises a feeding conveying module, a first carrying mechanical arm, a mechanical arm, a rivet pulling workbench, a second carrying mechanical arm, a visual detection device, a discharging conveying module and a control system. When a worker places a single workpiece to be riveted on the feeding conveying module, the first carrying mechanical arm grabs and places the workpiece on the first secondary positioning tool, the mechanical arm picks up the workpiece from the first secondary positioning tool and conveys the workpiece into a rivet pulling workbench of the automatic riveting work station, and the mechanical arm places the workpiece on the second secondary positioning tool after riveting is completed. A second carrying manipulator picks up the workpiece and carries the workpiece to a conveyor belt of the visual detection device, a sensor of the visual detection device senses that the workpiece begins to be detected, the conveyor belt works after detection is completed, a single piece is conveyed out of the visual detection table and is conveyed out of an enclosed space through a discharging conveying module, and a work station can be linked after the workpiece is discharged by a worker; the equipment comprehensive utilization rate is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of riveting, and more particularly to a flexible, rapidly switchable and automatic continuous riveting working system. Background Art

[0002] Riveting technology, a key process for connecting automotive sheet metal parts, has evolved from manual operation to automation and intelligentization. Early manual riveting workstations relied on worker experience, resulting in low efficiency and poor consistency. With the popularization of industrial robotics, automated riveting workstations have gradually become mainstream. However, existing automated workstations generally suffer from three major technical bottlenecks:

[0003] 1. Lack of flexibility: Traditional positioning tooling uses mechanical limit hard positioning. When the product changes, the entire set of fixtures needs to be replaced (taking about 40-60 minutes), and the sensor parameters need to be re-adjusted after switching between different products, which seriously affects the flexibility of the production line.

[0004] 2. Inefficient testing: Current solutions often rely on manual spot checks or offline testing, which consumes over 20% of the production cycle and provides no real-time feedback on riveting quality. In critical areas, the risk of missed inspections can lead to major quality incidents.

[0005] 3. Poor system coordination: Each module in the existing workstation (e.g., loading, riveting, and testing) uses an independent control system, resulting in redundant waiting time between process connections. For example, the existing technology requires the robot arm and conveyor belt to repeatedly start and stop, resulting in an overall equipment utilization rate of less than 70%, seriously hindering production capacity expansion.

[0006] Therefore, how to provide a flexible, fast-switching, and automatic continuous riveting system is an urgent problem that needs to be solved by those skilled in the art. Summary of the Invention

[0007] The present invention provides a flexible, rapidly switchable and automatic continuous riveting work system, which solves the shortcomings of existing automatic riveting workstations.

[0008] The present invention adopts the following technical solution: a flexible, fast-switching, and automatic continuous riveting system, comprising:

[0009] Loading and conveying module, used for orderly and directional conveying of workpieces;

[0010] A first handling robot is used to carry the workpiece on the loading and conveying module to a secondary positioning fixture for temporary positioning and storage;

[0011] A robotic arm is used to grab the workpiece in the secondary positioning tool and transfer it;

[0012] The riveting workbench is equipped with a riveting device and receives the workpiece transported by the robotic arm for riveting. The robotic arm transfers the riveted workpiece to the secondary positioning tooling 2 for temporary storage;

[0013] A second handling robot is used to carry the workpiece temporarily stored on the second secondary positioning tooling;

[0014] a visual inspection table, equipped with a visual inspection device for inspecting workpieces, and receiving the workpieces transferred by the second handling robot for inspection;

[0015] The unloading and conveying module is located behind the visual inspection table and conveys the qualified workpieces outward;

[0016] The control system is electrically connected and coordinately controls the loading and conveying module, the first handling robot, the robotic arm, the riveting device, the second handling robot, the visual inspection device and the unloading and conveying module.

[0017] According to the working system of the present invention, the loading and conveying module includes a loading conveyor electrically connected to the control system, the input end of the loading conveyor is provided with a loading conveyor belt start sensor for detecting the workpiece, and the output end is arranged with a loading conveyor belt stop sensor for detecting the workpiece.

[0018] According to the working system of the present invention, the first handling robot and the secondary positioning tooling 1 are jointly fixed on the first base, the bottom of the first handling robot is close to the loading and conveying module, and the gripping end thereof moves on the loading and conveying module and the top of the secondary positioning tooling 1; the second handling robot and the secondary positioning tooling 2 are jointly fixed on the second base, and the gripping end of the second handling robot moves on the secondary positioning tooling 2 and the top of the visual inspection table; and the secondary positioning tooling 1 and the secondary positioning tooling 2 are arranged in mirror images on both sides of the robot arm, and the operating end of the robot arm moves on the secondary positioning tooling 1, the secondary positioning tooling 2 and the riveting workbench.

[0019] According to the working system of the present invention, the gripping end structures of the first handling robot and the second handling robot are the same, both including: a three-claw clamping end and a clamping infrared sensor 1; the clamping infrared sensor 1 corresponding to the first handling robot is used to detect the hole position on the workpiece; the clamping infrared sensor 1 corresponding to the second handling robot is used to detect the position of the rivet on the workpiece.

[0020] According to the working system of the present invention, the secondary positioning tool 1 includes:

[0021] A first fixture base is supported by a first bracket in a working area below the first handling robot;

[0022] Four support columns are installed at the four corners of the fixture base, and the top of each support column is connected to a displacement sensor. The top of the displacement sensor is connected to a spherical structure and detects the size and surface of the workpiece.

[0023] A photoelectric sensor 1 is fixed to the center of the fixture base 1 through a first Z-shaped frame and is electrically connected to the control system to detect whether the workpiece is in place;

[0024] Two positioning members are fixed to one side of the first clamp base via two sets of second Z-shaped frames;

[0025] Among them, the space area formed above the spherical structure of the four support pillars and below the two positioning parts is used for positioning and temporarily storing the workpiece facing up, and the photoelectric sensor 1 and the displacement sensor 1 are both electrically connected to the control system.

[0026] According to the working system of the present invention, the secondary positioning tool 2 includes:

[0027] A second fixture base is supported by a second bracket in the working area below the second handling robot;

[0028] A plurality of external support columns are mounted on the corners of the second fixture base via fixing plates, and each of the external support columns has a tapered guide section at the top;

[0029] A plurality of inner support columns are connected to the second fixture base and located inside the outer support columns, and are provided with a second displacement sensor. A spherical structure is connected to the top of the second displacement sensor for detecting the size and profile of the workpiece;

[0030] A second photoelectric sensor, located near the two inner support columns and fixed to the second fixture base via a third Z-shaped frame, is used to detect whether the workpiece is in place;

[0031] Among them, multiple outer support columns enclose the outer contour of the workpiece, and the spherical structures on the top of multiple inner support columns support the front of the workpiece from the bottom. The second photoelectric sensor and the second displacement sensor are both electrically connected to the control system.

[0032] According to the working system of the present invention, the operating end of the robotic arm includes:

[0033] A connecting flange connected to the robotic arm;

[0034] The clamping assembly has two sets connected by a flange connection plate;

[0035] A second clamping infrared sensor, each of the clamping components is provided with a second clamping infrared sensor for identifying the key surface dimensions of the workpiece;

[0036] The control box is electrically connected to the second clamping infrared sensor and the clamping component, and the control box is electrically connected to the control system.

[0037] According to the working system of the present invention, the rivet pulling device has an automatic rivet conveyor, and the rivets are conveyed to the rivet conveying gun head position through the rivet conveying pipe. The rivet pulling gun head grabs the rivets from the rivet conveying gun head and rivets the workpiece on the rivet pulling workbench.

[0038] According to the working system of the present invention, the incoming material end of the visual inspection table is provided with a visual inspection start sensor, and the qualified workpieces detected by the visual inspection device are transported through the unloading conveyor of the unloading conveying module, and the end of the unloading conveyor is provided with a unloading belt stop sensor; the visual inspection device detects unqualified workpieces and triggers an alarm, and the system stops working.

[0039] According to the working system of the present invention, the control system is electrically connected to the power distribution cabinet, the electrical control cabinet and the robotic arm control cabinet.

[0040] It can be seen from the above technical solutions that compared with the prior art, the present invention has the following beneficial effects:

[0041] The system of the present invention optimizes the efficiency of equipment coordination. The dual-handling manipulator and the robotic arm work together to reduce process waiting time, and the comprehensive utilization rate of equipment is increased to 85% (70% of the traditional system). The synchronous control of the robotic arm and the riveting workbench shortens the single-piece processing cycle to 90 seconds (the existing technology requires at least 120 seconds).

[0042] This invention enhances flexible production capabilities by utilizing mirrored secondary positioning fixtures (1 and 2) in conjunction with displacement sensors to achieve temporary positioning of parts. Furthermore, the gripping sections of both handling manipulators and the robotic arm utilize pneumatic locking, enabling quick switching of gripping ends based on product specifications. The upper supports of secondary positioning fixtures (1 and 2) are removable, enabling rapid switching based on workpiece size, achieving increased flexibility.

[0043] This invention utilizes a closed-loop inspection process: Pre-inspection: The feeding conveyor stop sensor and the clamping infrared sensor 1 coordinate to detect hole position deviation (accuracy ±0.1mm). During in-process inspection, the robotic arm's clamping infrared sensor 2 monitors key surface dimensions in real time. Finally, a visual inspection device achieves 100% in-line inspection (at a speed of over 20 pieces / minute). If a rivet position deviation of 0.3mm or greater is detected, the system triggers an alarm and self-locks within 0.5 seconds, achieving a 100% rejection rate for defective products. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0045] Figure 1 A schematic structural diagram of a flexible, rapidly switchable, and automatic continuous riveting system provided by the present invention;

[0046] Figure 2 A schematic diagram of the arrangement of the first handling robot or the second handling robot is shown;

[0047] Figure 3 The schematic diagram of the structure of the secondary positioning tooling is shown;

[0048] Figure 4 The diagram shows the operation end of the robot arm clamping the workpiece and placing it on the secondary positioning tooling 2;

[0049] Figure 5 The schematic diagram of the operating end of the robot arm and the secondary positioning tooling 2 is shown;

[0050] Figure 6 A schematic diagram of the operating end of the robotic arm and the secondary positioning tooling 2 from another perspective is shown. DETAILED DESCRIPTION

[0051] 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.

[0052] Due to the problems of insufficient flexibility, low detection efficiency, poor system coordination, etc. in the existing riveting workstation, the embodiment of the present invention discloses a flexible, fast-switching and automatic continuous riveting work system. Figure 1-6 , including: loading and conveying module, first handling robot 6, secondary positioning tool 1 7, robot arm 8, riveting workbench 14, secondary positioning tool 2 15, second handling robot 17, visual inspection device 18, unloading and conveying module and control system;

[0053] The loading and conveying module is used to transport the workpiece 3 in an orderly and directional manner. Orderly means that workers load the workpieces from the loading rack in an orderly manner according to a certain production rhythm, and directional means that the workpiece 3 is placed with the front side facing upwards during the loading process; the first handling robot 6 transports the workpiece 3 on the loading and conveying module to the secondary positioning fixture 7 for temporary positioning and storage; the robot arm 8 grabs the workpiece 3 in the secondary positioning fixture 7 for transportation; the riveting workbench 14 is equipped with a riveting device, and receives the workpiece 3 transported by the robot arm 8 for riveting, and the robot arm 8 transfers the riveted workpiece 3 to the secondary positioning fixture 15 for temporary storage. Storage; the second handling robot 17 transports the workpiece 3 temporarily stored on the secondary positioning tool 15; the visual inspection table 19 is equipped with a visual inspection device 18 for inspecting the workpiece 3, and receives the workpiece 3 transferred from the second handling robot 17 for inspection; the unloading and conveying module is located behind the visual inspection table 19, and transports the qualified workpiece 3 outward; the control system is electrically connected and overall coordinated to control the loading and conveying module, the first handling robot 6, the robotic arm 8, the riveting device, the second handling robot 17, the visual inspection device 18 and the unloading and conveying module.

[0054] Therefore, the above technical solution realizes the synergy of the system, the entire production rhythm is orderly and interconnected, the comprehensive utilization rate of equipment is increased to 85%, and the single-piece processing cycle is shortened to 90 seconds.

[0055] The ends of the first handling robot 6, the second handling robot 17, and the robot arm 8 all have cylindrical locking pins, and the corresponding grasping ends (operating ends) of the three have pneumatic locks that cooperate with the cylindrical locking pins (locking matching structures), which can realize rapid replacement of fixtures according to product specifications and achieve flexibility.

[0056] The locking and matching structure can be realized by the following structure:

[0057] Locking pin (fixed to the handling manipulator or the end of the manipulator arm); the locking pin body is made of 40CrNiMoA alloy steel (surface nitrided), with a graded diameter: a 10mm diameter guide section (15° taper angle) at the head, a 12mm diameter lock groove section at the middle, and a 14mm diameter limit section at the tail. The lock groove structure is an annular V-groove (1.5mm deep, 60° angle), the return spring stiffness coefficient is 8N / mm, and the preload is 5mm. The travel range is 0-8mm for compression stroke.

[0058] The lock (integrated into the gripper or operator) features a housing made of 7075-T6 aluminum alloy (anodized). Its internal structure features a three-stage stepped bore (14mm diameter upper guide hole, 20mm diameter middle steel ball chamber, and 25mm diameter lower piston chamber). The steel ball is GCr15 bearing steel (8mm, HRC60-62 hardness), and the piston is made of polyetheretherketone (PEEK) with a 45° top taper angle. The drive spring is a stainless steel coil spring (12N / mm stiffness coefficient). There are two air connections: one for locking (P1 port), a 6mm quick-connect connector with an operating pressure of 0.4-0.6MPa, and one for unlocking (P2 port), a 6mm quick-connect connector with an operating pressure of 0.3-0.5MPa.

[0059] Locking / unlocking process stage: Initially docking the robot arm or handling robot (first handling robot and second handling robot) The locking pin at the end is inserted into the lock along the guide hole. The conical surface of the locking pin head contacts the steel ball, pushing it down to compress the drive spring. When the lock groove reaches the steel ball position, the drive spring pushes the steel ball into the lock groove.

[0060] To complete the pre-positioning phase: The control system introduces 0.5MPa compressed air into port P1. The air pressure pushes the piston upward, causing the piston's conical surface to squeeze the steel ball inward, creating an interference fit between the steel ball and the lock groove (interference 0.05-0.1mm). When the piston reaches top dead center, the pressure sensor sends a signal indicating that locking is complete.

[0061] In the locked state, the air pressure maintains + the driving spring works together to produce a continuous locking force (≥800N); the steel ball and the lock groove contact surface form a surface contact (contact area ≥15mm 2 ) The control system switches the air path and introduces 0.4MPa compressed air into the P2 port. The air pressure pushes the piston downward, releasing the radial constraint on the steel ball. The drive spring is compressed, and the steel ball moves radially outward to disengage from the lock groove. The return spring pushes the locking pin out of the guide hole, completing the separation.

[0062] See attached Figure 1 and 2 In a specific embodiment of the present invention, the equipment is arranged as follows: in an enclosed space, refer to the directions of the drawings for explanation: a loading and conveying module is provided at the rear right side, and the workers are outside the enclosed space to ensure the safety of the work, that is, at least a part of the loading and conveying module is located outside the enclosed space; the first handling robot 6 and the secondary positioning tool 7 are fixed together on the first base 4, the bottom of the first handling robot 6 is close to the loading and conveying module, and the gripping end thereof is movable on the top of the loading and conveying module and the secondary positioning tool 7; the length arrangement direction of the first base 4 is arranged perpendicular to the material conveying module;

[0063] A material unloading and conveying module at least partially outside the enclosed space is provided on the left front side of the enclosed space, and workers unload materials outside the enclosed space. The rear of the material unloading and conveying module is adjacent to the conveyor belt of the visual inspection table 19, and a second base 16 is arranged on the right rear side of the visual inspection table 19. The second base 16 and the first base 4 are symmetrically arranged relative to the robot arm 8. The second handling robot 17 and the second positioning tool 15 are fixed together on the second base 16. The gripping end of the second handling robot 17 moves on the second positioning tool 15 and the top of the visual inspection table 19, and its movement path is roughly opposite to the movement path of the first handling robot 6; and the second positioning tool 1 7 and the second positioning tool 2 15 are arranged in a mirror image on both sides of the robot arm 8, and the operating end of the robot arm 8 moves on the second positioning tool 1 7, the second positioning tool 2 15 and the riveting workbench 14. Figure 2 The schematic diagram of the arrangement position of the first base 4, the first handling robot 6 and the secondary positioning tool 7 is roughly shown in the figure; in fact, the arrangement of the second handling robot 17, the secondary positioning tool 15 and the second base 16 is similar to that of the first base 4, the first handling robot 6 and the secondary positioning tool 7, which is a mirror image arrangement. Figure 2 The second handling robot 17 and the second base 16 are also identified.

[0064] Therefore, when the worker places a single workpiece to be riveted on the loading and conveying module, the first handling robot 6 grabs the workpiece and places it on the secondary positioning tooling 7. The robot arm 8 picks up the workpiece from the secondary positioning tooling 7 and sends it to the rivet workbench 14 of the automatic riveting workstation. After the riveting is completed, the robot arm places the workpiece on the secondary positioning tooling 15. The second handling robot 17 picks up the workpiece and transports it to the conveyor belt of the visual inspection device. The sensor of the visual inspection device senses the workpiece and starts to inspect. After the inspection is completed, the conveyor belt works to transport the single piece out of the visual inspection table 19 and transports it to the outside of the enclosed space through the unloading and conveying module. The workstation can only be linked after the worker unloads the piece.

[0065] More specifically, the loading and conveying module includes a loading conveyor 1 electrically connected to the control system. The input end of the loading conveyor 1 is provided with a loading conveyor start sensor 2 for detecting the workpiece 3, and the output end is provided with a loading conveyor stop sensor 5 for detecting the workpiece 3. Workers remove the individual pieces to be riveted from the material rack and place them onto the loading conveyor in a fixed orientation. The loading conveyor is equipped with a conveyor start sensor 2 on the side. When the conveyor start sensor 2 senses a piece, the loading conveyor starts. When the first piece on the loading conveyor reaches the position of the loading conveyor stop sensor 5, the loading conveyor stops.

[0066] The gripping ends 601 of the first and second handling manipulators 6 and 17 of the present invention share the same structure, including a three-claw gripping end and a first gripping infrared sensor. The first gripping infrared sensor corresponding to the first handling manipulator 6 detects the position of holes in the workpiece 3; the first gripping infrared sensor corresponding to the second handling manipulator 17 detects the position of rivets on the workpiece 3. The gripping ends 601 can be implemented using existing structures, such as silicone gripping jaws, each of which is an independent airbag-like structure that is inflated and deflated by a cylinder to grip and release the workpiece.

[0067] The first handling robot 6 may not be provided with a clamping infrared sensor 1, because it is only used for loading.

[0068] In the embodiments of the present invention, see the attached Figure 3 The secondary positioning tool 7 includes: a fixture base 701, four support columns 702, a displacement sensor 706, a photoelectric sensor 703, two positioning pieces 705, and a second Z-shaped frame 704; the fixture base 701 is supported in the working area below the first handling robot 6 by a first bracket; the four support columns 702 are installed at the four corners of the fixture base 701, and the top of the displacement sensor 706 is connected to a spherical structure, and the size and shape of the workpiece 3 are detected. surface; a photoelectric sensor 703 is fixed to the center of the fixture base 701 through a first Z-shaped frame, and is electrically connected to the control system to detect whether the workpiece 3 is in place; two positioning members 705 are fixed to one side of the fixture base 701 through two groups of second Z-shaped frames 704; wherein, the space area formed above the spherical structure of the four support columns 702 and below the two positioning members 705 is used for positioning and temporarily storing the workpiece 3 facing up, and the photoelectric sensor 703 and the displacement sensor 706 are both electrically connected to the control system.

[0069] Advantageously, see Appendix Figure 4-6The secondary positioning tool 15 includes: a second clamp base 1501, multiple outer support columns 1503, multiple inner support columns 1502, and a second photoelectric sensor 1054; the second clamp base 1501 is supported in the working area below the second handling robot 17 by a second bracket; multiple outer support columns 1503 are installed on the corners of the second clamp base 1501 through a fixing plate, and the tops of the multiple inner support columns 1502 are connected to the second clamp base 1501 and are located on the inner side of the outer support columns 1503, and have a There is a second displacement sensor, the top of which is connected to a spherical structure for detecting the size and shape of the workpiece 3; a second photoelectric sensor 1054 is close to the two inner support columns 1502, and is fixed to the second fixture base 1501 through a third Z-shaped frame, for detecting whether the workpiece 3 is in place; wherein, multiple outer support columns 1503 enclose the outer contour of the workpiece 3, and the spherical structures on the top of the multiple inner support columns 1502 support the front of the workpiece 3 from the bottom, and the second photoelectric sensor 1054 and the second displacement sensor are both electrically connected to the control system.

[0070] The corresponding photoelectric sensors on the secondary positioning tool 1 7 and the secondary positioning tool 2 15 determine whether the workpiece is in place. The normal position information of the workpiece is pre-stored in the control system. When the displacement sensor detects that the workpiece is offset, the control system compares the workpiece position offset and adjusts the offset corresponding to the grasping end (operating end) to achieve accurate grasping of the workpiece.

[0071] Among them, the fixture bases corresponding to the secondary positioning tooling 7 and the secondary positioning tooling 15 are provided with multiple connection holes. According to the different workpiece sizes, the support parts corresponding to other connection holes can be adjusted or replaced quickly, which also reflects flexibility.

[0072] Advantageously, the operating end 801 of the robotic arm 8 includes: a connecting flange 8011, a clamping assembly 8013, a clamping infrared sensor 2 8014 and a flange connecting plate 8015; the connecting flange 8011 is connected to the robotic arm 8; the clamping assembly 8013 has two groups, which are connected through the flange connecting plate 8015; each of the clamping assemblies 8013 has a clamping infrared sensor 2 8014 for identifying the key surface dimensions of the workpiece 3 (such as the positioning surface or contour surface of the workpiece); a control box 8012, which is electrically connected to the clamping infrared sensor 2 8014 and the clamping assembly 8013, and the control box 8012 is electrically connected to the control system.

[0073] In other embodiments of the present invention, the rivet pulling device has an automatic rivet conveyor 10, the rivets are conveyed to the rivet conveying gun head 12 through the rivet conveying pipe 11, the rivet gun head 13 grabs the rivets from the rivet conveying gun head 12, and rivets the workpiece 3 on the rivet workbench 14.

[0074] See attached Figure 1 The incoming material end of the visual inspection station 19 is equipped with a visual inspection start sensor 20. Workpieces 3 that pass inspection by the visual inspection device 18 are conveyed to the unloading conveyor module's unloading conveyor 22. The end of unloading conveyor 22 is equipped with a unloading belt stop sensor 21. When the visual inspection device 18 detects an unqualified workpiece 3, an alarm is triggered, and the system stops operating. The control system is electrically connected to the power distribution cabinet 23, the electrical control cabinet 24, and the robotic arm control cabinet 9.

[0075] The system operation process of the present invention is as follows:

[0076] 1. Loading stage:

[0077] The worker places the workpiece 3 on the loading conveyor in the preset orientation (front facing up). When the loading conveyor start sensor 2 detects the workpiece 3, the conveyor starts; it automatically stops when it reaches the loading conveyor stop sensor 5. The first handling robot 6 grabs the workpiece 3 with the three-claw gripper end 601, and the infrared sensor 1 detects the hole position deviation.

[0078] 2. Precision Positioning Stage: Workpiece 3 is placed on secondary positioning fixture 7. The spherical structure of four support pillars 702 achieves three-dimensional positioning. After photoelectric sensor 703 confirms the position, displacement sensor 706 detects the surface dimensions of workpiece 3 (error ≤ 0.1mm).

[0079] 3. Riveting Processing: Robot arm 8 grasps workpiece 3 via gripper assembly 8013 and uses infrared sensor 2 8014 to verify key dimensions. The riveting device automatically delivers rivets from automatic riveting conveyor 10 through rivet delivery pipe 11 to rivet delivery gun head 12. After riveting gun head 13 completes the riveting, robot arm 8 transfers workpiece 3 (reverse side up) to secondary positioning fixture 2 15.

[0080] 4. Quality Inspection Stage: Second handling robot 17 transfers workpiece 3 to visual inspection station 19. Visual inspection device 18 performs sub-pixel analysis (with an accuracy of 0.02mm) on the rivet positions. The inspection results are fed back to the control system in real time. If the inspection passes, unloading conveyor 22 starts; if not, an alarm system is triggered and the system shuts down.

[0081] 5. Unloading stage: The qualified workpiece 3 is sent to the unloading belt stop sensor 21 via the unloading conveyor 22. After the worker removes the workpiece 3, the system automatically resets and enters the next cycle.

[0082] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0083] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A flexible, fast-switching and automatic continuous riveting system, characterized in that: include: A loading and conveying module for conveying workpieces (3) in an orderly and directional manner; A first handling manipulator (6) is used to carry the workpiece (3) on the loading and conveying module to a secondary positioning fixture (7) for temporary positioning and storage; A robotic arm (8) is used to grab the workpiece (3) in the secondary positioning tool (7) for transportation; A riveting workbench (14) is equipped with a riveting device and receives the workpiece (3) transported by the mechanical arm (8) for riveting. The mechanical arm (8) transfers the riveted workpiece (3) to the secondary positioning tool (15) for temporary storage. A second transporting manipulator (17) transports the workpiece (3) temporarily stored on the second secondary positioning tool (15); A visual inspection table (19) is installed with a visual inspection device (18) for inspecting a workpiece (3), and receives the workpiece (3) transferred from the second transport robot (17) for inspection; A material unloading and conveying module is located behind the visual inspection table (19) and conveys the workpieces (3) that have passed the inspection outward; The control system is electrically connected and integrally controls the loading and conveying module, the first handling robot (6), the robot arm (8), the riveting device, the second handling robot (17), the visual inspection device (18) and the unloading and conveying module.

2. A flexible, fast-switching, and automatic continuous riveting system according to claim 1, characterized in that: The loading and conveying module comprises a loading conveyor (1) electrically connected to the control system, wherein an input end of the loading conveyor (1) is provided with a loading conveyor belt start sensor (2) for detecting a workpiece (3), and an output end thereof is provided with a loading conveyor belt stop sensor (5) for detecting a workpiece (3).

3. The flexible, fast-switching, and automatic continuous riveting system according to claim 1 is characterized in that: The first handling robot (6) and the second positioning tool (7) are fixed together on the first base (4), the bottom of the first handling robot (6) is close to the loading and conveying module, and its gripping end moves on the loading and conveying module and the top of the second positioning tool (7); the second handling robot (17) and the second positioning tool (15) are fixed together on the second base (16), and the gripping end of the second handling robot (17) moves on the top of the second positioning tool (15) and the visual inspection table (19); and the second positioning tool (7) and the second positioning tool (15) are arranged in a mirror image on both sides of the robot arm (8), and the operating end of the robot arm (8) moves on the second positioning tool (7), the second positioning tool (15) and the riveting workbench (14).

4. A flexible, fast-switching, and automatic continuous riveting system according to claim 3, characterized in that: The gripping ends (601) of the first handling robot (6) and the second handling robot (17) have the same structure, both comprising: a three-claw clamping end and a clamping infrared sensor; the clamping infrared sensor corresponding to the first handling robot (6) is used to detect the hole position on the workpiece (3); the clamping infrared sensor corresponding to the second handling robot (17) is used to detect the position of the rivet on the workpiece (3).

5. The flexible, fast-switching, and automatic continuous riveting system according to claim 3 is characterized in that: The secondary positioning tool (7) includes: A clamp base (701) is supported by a first bracket in a working area below the first handling robot (6); Four support columns (702) are installed at four corners of the fixture base (701), and the top of each support column is connected to a displacement sensor (706). The top of the displacement sensor (706) is connected to a spherical structure and detects the size and profile of the workpiece (3). A photoelectric sensor (703) is fixed to the center of the fixture base (701) via a first Z-shaped frame and is electrically connected to the control system to detect whether the workpiece (3) is in place; Two positioning members (705) are fixed to one side of the clamp base (701) via two sets of second Z-shaped frames; The space formed above the spherical structure of the four support columns (702) and below the two positioning members (705) is used for positioning and temporarily storing the workpiece (3) facing upwards, and the photoelectric sensor (703) and the displacement sensor (706) are both electrically connected to the control system.

6. The flexible, fast-switching, and automatic continuous riveting system according to claim 3 is characterized in that: The secondary positioning tool 2 (15) includes: A second clamp base (1501) is supported by a second bracket in a working area below the second handling robot (17); A plurality of external support columns (1503) are mounted on the corners of the second clamp base (1501) via a fixing plate, and each of the external support columns has a tapered guide section at its top; A plurality of inner support columns (1502) are connected to the second fixture base (1501) and are located inside the outer support columns (1503), and are provided with a second displacement sensor. The top of the second displacement sensor is connected to a spherical structure for detecting the size and profile of the workpiece (3); A second photoelectric sensor (1054), located near the two inner support columns (1502) and fixed to the second fixture base (1501) via a third Z-shaped frame, is used to detect whether the workpiece (3) is in place; Among them, multiple external support columns (1503) enclose the outer contour of the workpiece (3), and the spherical structures on the top of multiple internal support columns (1502) support the front of the workpiece (3) from the bottom, and the photoelectric sensor 2 (1054) and the displacement sensor 2 are both electrically connected to the control system.

7. The flexible, fast-switching, and automatic continuous riveting system according to claim 3 is characterized in that: The operating end (801) of the robotic arm (8) comprises: A connecting flange (8011) connected to the robotic arm (8); The clamping assembly (8013) has two sets connected by a flange connection plate (8015); A second clamping infrared sensor (8014), each of the clamping components (8013) is provided with a second clamping infrared sensor (8014) for identifying the key surface dimensions of the workpiece (3); The control box (8012) is electrically connected to the second clamping infrared sensor (8014) and the clamping assembly (8013), and the control box (8012) is electrically connected to the control system.

8. A flexible, fast-switching, and automatic continuous riveting system according to any one of claims 1 to 7, characterized in that: The riveting device has an automatic riveting conveyor (10), rivets are conveyed to a rivet conveying gun head (12) through a rivet conveying pipe (11), a rivet gun head (13) grabs the rivets from the rivet conveying gun head (12), and rivets the workpiece (3) on a riveting workbench (14).

9. A flexible, fast-switching, and automatic continuous riveting system according to any one of claims 1 to 7, characterized in that: The incoming material end of the visual inspection table (19) is provided with a visual inspection start sensor (20); the workpiece (3) detected as qualified by the visual inspection device (18) is conveyed through a discharge conveyor (22) of a discharge conveying module; the end of the discharge conveyor (22) is provided with a discharge belt stop sensor (21); when the visual inspection device (18) detects an unqualified workpiece (3), an alarm is triggered and the system stops working.

10. A flexible, fast-switching, and automatic continuous riveting system according to any one of claims 1 to 7, characterized in that: The control system is electrically connected to the power distribution cabinet (23), the electrical control cabinet (24) and the robotic arm control cabinet (9).

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