Centering and clamping device and riveting system

Abstract

The application belongs to the technical field of riveting, and discloses a centering clamping device and a riveting system. The centering clamping device comprises a support body, a driving member, a clamping jaw and a first connecting member. Two clamping jaws are spaced apart and oppositely arranged along a first direction. Each clamping jaw is rotationally connected with the support body. The clamping end of each clamping jaw extends out of the support body. A clamping space for fixing a to-be-assembled nut is formed between the two clamping jaws. When the clamping jaws are in an open state, the to-be-assembled nut can enter and exit the clamping space. When the clamping jaws are in a clamping state, the to-be-assembled nut is clamped in the clamping space. The driving member is fixed to the support body. The driving member can drive the moving member to selectively abut against the clamping jaws to make the clamping jaws in the open state, or to be separated to make the clamping jaws in the clamping state. The support body is rotationally connected to the first connecting member. The centering clamping device and the riveting system provided by the application can accurately find a suitable position of a riveted nut, and improve work efficiency.

Description

Technical Field

[0001] This invention relates to the field of riveting technology, and more particularly to a centering clamping device and a riveting system. Background Technology

[0002] In modern manufacturing, especially in the automotive, aerospace, and electronics manufacturing sectors, nut riveting is a commonly used fixing and connection technique. Nut riveting provides a reliable fixing point for bolts or other fasteners by installing nuts onto metal or other material sheets. Nut riveting achieves a locking effect by using external pressure to force the nut's teeth into the periphery of a pre-drilled hole in the sheet metal, causing plastic deformation.

[0003] In traditional machining processes, uneven workpiece clamping directly affects machining accuracy and product quality. Although current riveting tools on the market can clamp and rivet nuts using fixtures, they suffer from the problem of the fixtures failing to accurately locate the appropriate position for the riveting nut, resulting in low work efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a centering clamping device and a riveting system that can accurately locate the position of the rivet nut and improve work efficiency.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] The centering clamping device includes:

[0007] Support body;

[0008] Two grippers are spaced apart and arranged opposite each other along a first direction. Each gripper is rotatably connected to the support body. The gripping end of each gripper extends out of the support body along a second direction. A clamping space is formed between the gripping ends of the two grippers to fix the nut to be assembled. The grippers have an open state and a clamped state. When the grippers are open, the gripping ends of the two grippers are far apart so that the nut to be assembled can enter and exit the clamping space. When the grippers are clamped, the gripping ends of the two grippers are close together so that the nut to be assembled is clamped in the clamping space. The first direction is perpendicular to the second direction.

[0009] The driving component is fixed to the support body. The output end of the driving component can extend and retract in the second direction. The output end of the driving component is fixedly connected to a moving component. The moving component is inserted into the support body. The driving component can drive the moving component to selectively abut against the gripper to make the gripper open or separate to make the gripper clamped.

[0010] The first connector and the driving component are both located on the side of the bracket body away from the gripper, and the bracket body is rotatably connected to the first connector.

[0011] Optionally, the first connecting member is a connecting ring. The inner peripheral wall of the first connecting member is provided with an annular groove extending along its own circumference. The centering and clamping device also includes multiple bearings. The multiple bearings are distributed at intervals along the circumference of the first connecting member. The outer ring of the bearing is limited to the two side walls of the annular groove and rolls with the bottom wall of the annular groove. The inner ring of the bearing is fixedly connected to a first rotating shaft, and at least part of the first rotating shaft is fixedly connected to the support body.

[0012] Optionally, the support body is provided with two first sliding grooves, and a pin is slidably arranged in each first sliding groove. The pin is rotatably connected to the gripper, and the middle part of the gripper is rotatably connected to the support body through a second rotating shaft. The extension direction of the first sliding groove is consistent with the rotation direction of the gripper around the second rotating shaft. The centering clamping device also includes a first elastic element, which can apply force to the two grippers to make the two grippers clamped.

[0013] Optionally, the two ends of the first elastic element are respectively fixed to two pins;

[0014] Alternatively, each pin is equipped with a first elastic element, one end of which is fixed to the corresponding pin, and the other end is located away from another pin along a first direction and fixed to the bracket body. The gripping ends of the pin and the gripper are located on both sides of the second rotating shaft.

[0015] Optionally, the centering clamping device further includes a centering element that is movably connected to the support body along the second direction and located between the two grippers.

[0016] Optionally, the centering clamping device further includes a connecting shaft and a second elastic member sleeved outside the connecting shaft. The connecting shaft is located between two jaws and fixed to the support body. One end of the second elastic member is fixed to or abuts against the support body, and the other end is fixed to or abuts against the centering member.

[0017] Optionally, the support body is provided with clamping members at both ends along the first direction. The clamping members are slidably connected to the support body along the first direction, and a clamping space is formed between the two clamping members to fix the workpiece to be assembled. The clamping space is located directly below the clamping space.

[0018] Optionally, both clamping members are provided with grooves, and the two ends of the bracket body are respectively inserted into the grooves of the two clamping members, and the clamping members and the bracket body slide together in the first direction.

[0019] Optionally, the support body is provided with second sliding grooves at both ends along the first direction, and the clamping member is provided with a third rotating shaft, which is slidably disposed in the second sliding groove. The extension direction of the second sliding groove is the same as that of the first direction.

[0020] Alternatively, one of the clamping element and the bracket body is provided with a sliding groove, and the other is provided with a slider. The slider slides in conjunction with the sliding groove, and the extension direction of the sliding groove is the same as the first direction.

[0021] The riveting system includes:

[0022] Centering clamping device;

[0023] A riveting tool is used to rivet a nut to be assembled within a clamping space to the workpiece to be assembled, which is located directly below the clamping space.

[0024] The beneficial effects of this invention are:

[0025] The centering clamping device and riveting system provided by this invention can drive the support body to rotate via a rotating drive component. The clamps rotate together with the support body, facilitating the clamps to accurately locate the position of the nut to be assembled and improving work efficiency. After the clamps locate the nut to be assembled, the drive component drives its output end to move a moving part along the second direction to abut against the clamps. Since the clamps are rotatably mounted on the support body, they are in an open state under the action of the abutting force of the moving part, so that the nut to be assembled can enter the clamping space between the two clamps. After the nut to be assembled enters the clamping space, the drive component drives its output end to move the moving part along the second direction to separate from the clamps. The abutting force acting on the clamps disappears, and the clamps are in a clamping state. The clamps can clamp the nut to be assembled in the clamping space, so as to rivet the nut to be assembled.

[0026] The gripper can switch between open and clamped states under the action of the drive component. The gripper then clamps the nut to be assembled, which not only eliminates errors and prevents the nut from shifting due to vibration or pressure, ensuring accurate riveting position, but also enables effective clamping of different types of press-fit nuts, improving versatility and reducing manufacturing costs. Attached Figure Description

[0027] Figure 1 This is a first structural schematic diagram of the centering clamping device provided in an embodiment of the present invention;

[0028] Figure 2 This is a second structural schematic diagram of the centering clamping device provided in an embodiment of the present invention;

[0029] Figure 3 This is a structural schematic diagram of the support body and centering component provided in an embodiment of the present invention;

[0030] Figure 4 This is a cross-sectional view of the centering clamping device provided in an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of the centering component provided in an embodiment of the present invention;

[0032] Figure 6 This is a structural schematic diagram of the clamping member and handle provided in the embodiments of the present invention.

[0033] In the diagram: 1. Driving component; 2. Moving component; 3. First elastic component; 4. First rotating shaft; 5. Pin; 6. First connecting component; 7. Connecting rod; 8. Second rotating shaft; 9. Bearing; 10. Second connecting component; 11. Connecting part; 12. Gripper; 13. Support body; 14. First gasket; 15. First pad; 16. Third rotating shaft; 17. Clamping component; 18. Handle; 19. Button; 20. Second pad; 21. Connecting plate; 22. Centering component; 23. Protrusion; 24. Second elastic component; 25. Second gasket; 26. Mounting cover plate; 27. Connecting block. Detailed Implementation

[0034] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0035] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0036] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0037] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0038] like Figure 1-6 As shown, an embodiment of the present invention provides a centering clamping device, including a support body 13, a driving member 1, a first connecting member 6, and two grippers 12. The two grippers 12 are spaced apart and arranged opposite each other along a first direction. Each gripper 12 is rotatably connected to the support body 13. The gripping end of each gripper 12 extends out of the support body 13 along a second direction. A clamping space is formed between the gripping ends of the two grippers 12 to fix the nut to be assembled. The grippers 12 have an open state and a clamped state. When the grippers 12 are in the open state, the gripping ends of the two grippers 12 are far apart so that the nut to be assembled can enter and exit the clamping space. When the grippers 12 are in the clamped state... In the first position, the gripping ends of the two jaws 12 are close to each other so that the nut to be assembled is clamped in the clamping space. The first direction is perpendicular to the second direction. The drive member 1 is fixed to the bracket body 13. The output end of the drive member 1 can extend and retract along the second direction. The output end of the drive member 1 is fixedly connected to a moving member 2, which is inserted into the bracket body 13. The drive member 1 can drive the moving member 2 to selectively abut against the jaws 12 so that the jaws 12 are in an open state, or to separate so that the jaws 12 are in a clamped state. The first connecting member 6 and the drive member 1 are both located on the side of the bracket body 13 away from the jaws 12. The bracket body 13 is rotatably connected to the first connecting member 6. Specifically, the first direction is the length direction of the bracket body 13, and the second direction is the width direction of the bracket body 13.

[0039] During the riveting process, the nut to be assembled must be strictly aligned with the hole in the workpiece. Rotating the drive unit 1 rotates the support body 13, causing the gripper 12 to rotate along with the support body 13, facilitating precise positioning of the nut and improving work efficiency. After the gripper 12 locates the nut, the drive unit 1 drives its output end to move the moving part 2 in the second direction to abut against the gripper 12. Since the gripper 12 is rotatably mounted on the support body 13, it is in an open state under the abutting force of the moving part 2, allowing the nut to enter the clamping space between the two grippers 12. After the nut enters the clamping space, the drive unit 1 drives its output end to move the moving part 2 in the second direction to separate from the gripper 12. The abutting force on the gripper 12 disappears, and the gripper 12 is in a clamped state, clamping the nut in the clamping space for riveting.

[0040] Under the action of the drive component 1, the gripper 12 can switch between the open state and the clamping state. The gripper 12 is used to clamp the nut to be assembled, which can not only eliminate errors and avoid the displacement of the nut to be assembled due to vibration or pressure, ensuring accurate riveting position, but also achieve effective clamping of different types of press-fit nuts, improve versatility and reduce manufacturing costs.

[0041] For example, the drive component 1 is an electro-hydraulic punching machine equipped with a double-action automatic reset mechanism. This mechanism uses hydraulic pressure to lower and raise the piston, resulting in a smoother operation and improved operational stability. In other embodiments, the drive component 1 can also be a pneumatic power source; specifically, it is a telescopic cylinder.

[0042] Specifically, the movable part 2 is a top pin. Optionally, the head of the movable part 2 is conical, which facilitates insertion between the two grippers 12, thereby making it easier for the movable part 2 to abut against the grippers 12.

[0043] It should be noted that if there are special types of nuts, the clamp 12 can be replaced to achieve flexible quick change of different types of clamp 12, improve versatility, save a lot of costs for repeated purchase and manufacturing of riveting tools, and reduce costs.

[0044] For example, such as Figure 2 As shown, the first connecting member 6 is a connecting ring. The inner circumferential wall of the first connecting member 6 is provided with an annular groove extending along its own circumference. The centering clamping device also includes multiple bearings 9. The multiple bearings 9 are distributed at intervals along the circumference of the first connecting member 6. The outer ring of the bearing 9 is limited to the two side walls of the annular groove and rolls with the bottom wall of the annular groove. The inner ring of the bearing 9 is fixedly connected to the second rotating shaft 8, and at least part of the first rotating shaft 4 is fixedly connected to the bracket body 13.

[0045] Optionally, three bearings 9 are provided, and the three bearings 9 are evenly distributed within the annular groove of the first connecting member 6. Continuing as... Figure 1 , 2 As shown, the support body 13 is rotatably connected to the first connecting member 6 via the first connecting member 6 and multiple bearings 9. The entire device is placed in an annular groove with three evenly distributed bearings 9. Through the rolling engagement between the bearings 9 and the first connecting member 6, the support body 13 and the gripper 12 can rotate relative to the first connecting member 6. Through the rotation of the bearing 9, the bearing 9 can rotate along the bottom wall of the annular groove of the first connecting member 6, while simultaneously driving the support body 13 to rotate around the circumference of the first connecting member 6. That is, by utilizing the rotation of the bearing 9, the support body 13 can also revolve relative to the first connecting member 6, enabling the gripper 12 on the support body 13 to rotate around the circumference of the first connecting member 6. This facilitates the gripper 12 to accurately locate the position of the nut to be assembled, making the operation more convenient, labor-saving, and accurate. It helps the device to accurately position and clamp the workpiece, improving work efficiency and quality.

[0046] In other embodiments, the first connector 6 is a connecting ring, and the inner peripheral wall of the first connector 6 may also be provided with a rack extending along its own circumference. The centering clamping device also includes multiple gears, which are distributed at intervals along the circumference of the first connector 6. The gears mesh with the rack of the first connector 6, and the gears are fixedly connected to the bracket body 13 through a rotating shaft.

[0047] In other embodiments, the support body 13 may also rotate around the outer periphery of the first connector 6, and this embodiment does not specifically limit this.

[0048] Furthermore, the support body 13 is provided with multiple connecting parts 11, and at least some of the bearings 9 are fixedly connected to the connecting parts 11 via the first rotating shaft 4. Specifically, the connecting part 11 is a connecting block.

[0049] For example, the connecting part 11 and the bracket body 13 are integrally formed structural components. In other embodiments, the connecting part 11 and the bracket body 13 may also be welded together.

[0050] Furthermore, the support body 13 is provided with two first sliding grooves, each with a pin 5 slidably disposed therein. The pin 5 is rotatably connected to the gripper 12, and the middle part of the gripper 12 is rotatably connected to the support body 13 via a second rotating shaft 8. The extension direction of the first sliding groove is consistent with the rotation direction of the gripper 12 around the second rotating shaft 8. The centering clamping device also includes a first elastic element 3, which can apply force to the two grippers 12 to keep them in a clamping state. When the moving part 2 separates from the gripper 12, the first elastic element 3 resets under its own elastic force, and the first elastic element 3 drives the gripper 12 to switch to the clamping state.

[0051] For example, the first elastic element 3 is a tension spring. Specifically, the two ends of the first elastic element 3 are respectively fixed to two pins 5.

[0052] like Figure 1-4 As shown, the middle part of the gripper 12 is rotatably connected to the support body 13 via the second rotating shaft 8. One end of the gripper 12 slides in the first groove via the pin 5. When the driving member 1 drives the moving member 2 to abut against the gripper 12, as the abutting force increases, the moving member 2 pushes the gripper 12 to rotate around the second rotating shaft 8. At the same time, the pin 5 slides in the first groove, so that the clamping ends of the two grippers 12 will move closer to each other to clamp the nut to be assembled in the clamping space. When the driving member 1 drives the moving member 2 to separate from the gripper 12, the two pins 5 will slide in the first groove towards each other under the elastic action of the first elastic member 3, so that the two grippers 12 rotate around the second rotating shaft 8, so that the clamping ends of the grippers 12 move away from each other, so that the nut to be assembled can enter and exit the clamping space.

[0053] Optionally, the first groove is arc-shaped, and the direction of extension of the arc is consistent with the rotation direction of the gripper 12.

[0054] In other embodiments, the first elastic element 3 may also be a compression spring. Specifically, each pin 5 is equipped with a first elastic element 3, one end of each first elastic element 3 is fixed to the corresponding pin 5, and the other end is fixed to the bracket body 13 along a first direction away from another pin 5. The gripping ends of the pin 5 and the gripper 12 are located on both sides of the second rotating shaft 8. Optionally, one end of each first elastic element 3 is fixed to the corresponding pin 5, and the other end is fixed to the connecting part 11.

[0055] Furthermore, the centering clamping device also includes a centering element 22, which is movably connected to the support body 13 along the second direction and located between the two grippers 12. Specifically, the centering element 22 is a centering shaft.

[0056] like Figure 2-4 As shown, the centering component 22 is placed between the two jaws 12. By inserting the centering component 22 into the through hole of the nut to be assembled, the nut to be assembled can be accurately positioned so that the jaws 12 can clamp the nut to be assembled and ensure accurate riveting position.

[0057] Optionally, the end face of the centering component 22 is provided with an arc surface, which facilitates the centering component 22 to enter the through hole of the nut to be assembled, and can also pass through the through holes of nuts of different specifications to be assembled, thereby improving versatility.

[0058] Furthermore, the centering clamping device also includes a connecting shaft and a second elastic element 24 sleeved outside the connecting shaft. The connecting shaft is located between the two jaws 12 and fixed to the support body 13. One end of the second elastic element 24 is fixed to the support body 13, and the other end is fixed to the centering element 22. Specifically, the second elastic element 24 is a compression spring.

[0059] When the centering component 22 is inserted into the through hole of the nut to be assembled, the nut to be assembled will apply a force to the centering component 22, and the centering component 22 will move towards the bracket body 13 in the second direction. During the movement, the centering component 22 will squeeze the second elastic component 24, and the second elastic component 24 will release a certain elastic potential energy, which can play a flexible centering role, reduce the wear between the centering component 22 and the nut to be assembled, and improve product quality.

[0060] In other embodiments, one end of the second elastic member 24 may abut against the support body 13, and the other end may abut against the centering member 22.

[0061] Optionally, the centering member 22 is provided with a protrusion 23, and one end of the second elastic member 24 is fixed or abutted against the protrusion 23. This arrangement is beneficial to the transmission of the force of the second elastic member 24.

[0062] Furthermore, the centering clamping device also includes a second connector 10. The outer peripheral wall of the first connector 6 is provided with a connecting lug. The second connector 10 is fixedly connected to the connecting lug via a connecting rod 7. The second connector 10 is provided with a lifting hole to facilitate the lifting of the entire device by a lifting device.

[0063] Furthermore, the support body 13 is provided with clamping members 17 at both ends along the first direction. The clamping members 17 are slidably connected to the support body 13 along the first direction. A clamping space is formed between the two clamping members 17 to fix the workpiece to be assembled. The clamping space is located directly below the clamping space.

[0064] like Figure 1 , 6 As shown, the clamping member 17 can clamp and fix the workpiece to be assembled, making it easy to press and rivet the nut to be assembled in the clamping space to the workpiece to be assembled in the clamping space.

[0065] Furthermore, both clamping members 17 are provided with grooves, and the two ends of the bracket body 13 are respectively inserted into the grooves of the two clamping members 17. One of the bracket body 13 and the clamping member 17 is provided with a second sliding groove extending along the first direction, and the other is provided with a sliding part, which slides in cooperation with the second sliding groove.

[0066] For example, the sliding part is a third rotating shaft 16, which passes through the clamping member 17 and the second slide groove. The clamping member 17 can slide relative to the support body 13 in the second slide groove via the third rotating shaft 16. The distance between the two clamping members 17 can be adjusted according to the size and model of the workpiece to be assembled, so as to be applicable to workpieces of different sizes and models and improve versatility. In other embodiments, the sliding part can also be a slider.

[0067] like Figure 1 As shown, the bracket body 13 is provided with an installation groove, and the clamping end of the gripper 12 is located in the installation groove. The inner walls on both sides of the installation groove are provided with a first pad 14 and a first pad block 15, which can not only prevent the clamping end of the gripper 12 from directly abutting against the bracket body 13 during the opening process and causing rigid damage, but also prevent the workpiece to be assembled from directly abutting against the bracket body 13 and causing rigid damage during the clamping process of the clamping member 17 clamping the workpiece to be assembled.

[0068] Furthermore, the centering clamping device also includes a handle 18, each clamping member 17 is equipped with a handle 18, the handle 18 is fixed to the clamping member 17, and the handle 18 is equipped with a button 19, which is used to control the opening and closing of the drive member 1.

[0069] like Figure 6As shown, the handle 18 is fixedly connected to the clamping member 17 via the connecting block 27. Each handle 18 is equipped with a button 19. By using two buttons 19 to control the drive member 1 simultaneously, the stability of the drive member can be guaranteed, the risk of accidental contact with one of the buttons 19 can be avoided, and the safety of the device can be improved.

[0070] Optionally, the handle 18 is provided with a mounting cover 26, on which the button 19 of the control drive 1 is mounted. A wiring hole for the button 19 is opened on the lower side of the handle 18. The mounting cover 26 can cover and hide the wiring of the button 19, improving the aesthetics.

[0071] At the lower end of the clamping member 17, a second shim 25, a connecting plate 21, and a second pad 20 are installed in sequence. The end faces of the connecting plate 21 and the second pad 20 on each side facing the connecting plate 21 and the second pad 20 on the other side are set to be arc-shaped, which facilitates the positioning of the journal and end face of the workpiece.

[0072] An embodiment of the present invention provides a riveting system, including a riveting tool and the aforementioned centering clamping device. The riveting tool is used to rivet a nut to be assembled within a clamping space to a workpiece to be assembled located directly below the clamping space. After the nut to be assembled and the workpiece to be assembled are clamped and fixed using the centering clamping device, the riveting tool is then used to rivet the nut to be assembled to the workpiece, thus completing the riveting operation.

[0073] Furthermore, the riveting system also includes a conveying device for conveying the workpiece to be assembled to the area directly below the clamping space.

[0074] Furthermore, the riveting system also includes a detection unit, which is used to detect whether the workpiece to be assembled is directly below the clamping space.

[0075] The riveting system also includes a controller, and the detection unit and button 19 are all communicatively connected to the controller. For example, the detection unit can detect whether the workpiece to be assembled is directly below the clamping space. If the workpiece is directly below the clamping space, the detection unit transmits a signal to the controller, and the controller controls the drive component 1 to drive the moving component 2 to abut against the gripper 12 via the control button 19, so that the nut to be assembled enters the clamping space and is clamped. Specifically, the detection unit is an ultrasonic sensor.

[0076] Furthermore, the riveting system also includes a robotic arm, which is detachably connected to the riveting tool. The robotic arm can drive the riveting tool to move to rivet the nut to be assembled in the clamping space to the workpiece to be assembled in the clamping space.

[0077] Once the nut to be assembled enters the clamping space and is clamped, the robotic arm drives the riveting tool to move so that it can rivet the nut to the workpiece, completing the riveting operation. This process reduces manual riveting operations and achieves intelligent riveting.

[0078] Specifically, the robotic arm is equipped with a first pneumatic interface, and the riveting tool is equipped with a second pneumatic interface corresponding to the first pneumatic interface of the robotic arm. The first pneumatic interface of the robotic arm can selectively connect to or disconnect from the second pneumatic interface of the riveting tool. By disconnecting the riveting tool, a new riveting tool can be replaced, satisfying the requirement of quick tool change. It should be noted that the specific connection between the riveting tool and the robotic arm is existing technology and will not be described in detail here.

[0079] In other embodiments, the detection unit can also be a vision camera, which is mounted on the robotic arm. The vision camera can transmit the captured image of the workpiece to be assembled to the robotic arm and perform preprocessing such as image correction, image segmentation, grayscale transformation, median filtering, and edge detection. Then, stereo matching is performed on the preprocessed image to obtain the three-dimensional coordinates of the workpiece to be assembled in the vision camera coordinate system. The three-dimensional coordinates of the workpiece to be assembled in the vision camera coordinate system are then converted into the three-dimensional coordinates of the workpiece to be assembled in the robotic arm coordinate system. The azimuth angle of the workpiece to be assembled relative to the robotic arm can be calculated based on the three-dimensional coordinates in the robotic arm coordinate system. A Cartesian position control mode is used for trajectory planning. The robotic arm moves to the vicinity of the workpiece to be assembled according to the planned trajectory to facilitate efficient riveting.

[0080] A vision camera can be used to visually locate the workpiece to be assembled and transmit the detection signal to the robotic arm. This visual guidance enables the robotic arm to drive the riveting tool to rivet the workpiece. It should be noted that converting the three-dimensional coordinates of the workpiece to be assembled in the vision camera coordinate system to the three-dimensional coordinates in the robotic arm coordinate system is existing technology, as is using a Cartesian position control mode for trajectory planning, which will not be discussed further here.

[0081] After the riveting is completed, the detection unit transmits a signal to the controller, which then controls the robotic arm to retract and prepare for the next process.

[0082] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A centering clamping device, characterized in that, include: The main body of the support frame (13); Two grippers (12) are spaced apart and arranged opposite each other along a first direction. Each gripper (12) is rotatably connected to the support body (13). The gripping end of each gripper (12) extends out of the support body (13) along a second direction. A clamping space is formed between the gripping ends of the two grippers (12) to fix the nut to be assembled. The grippers (12) have an open state and a clamping state. When the grippers (12) are in the open state, the gripping ends of the two grippers (12) are far apart from each other so that the nut to be assembled can enter and exit the clamping space. When the grippers (12) are in the clamping state, the gripping ends of the two grippers (12) are close to each other so that the nut to be assembled is clamped in the clamping space. The first direction is perpendicular to the second direction. A driving member (1) is fixed to the support body (13). The output end of the driving member (1) can extend and retract in the second direction. A moving member (2) is fixedly connected to the output end of the driving member (1). The moving member (2) is inserted into the support body (13). The driving member (1) can drive the moving member (2) to selectively abut against the gripper (12) so that the gripper (12) is in the open state, or to separate so that the gripper (12) is in the clamping state. The first connector (6) and the driving member (1) are both located on the side of the support body (13) away from the gripper (12), and the support body (13) is rotatably connected to the first connector (6); The first connecting member (6) is a connecting ring. The inner circumferential wall of the first connecting member (6) is provided with an annular groove extending along its own circumference. The centering clamping device also includes a plurality of bearings (9). The plurality of bearings (9) are distributed at intervals along the circumference of the first connecting member (6). The outer ring of the bearing (9) is limited to the two side walls of the annular groove and rolls with the bottom wall of the annular groove. The inner ring of the bearing (9) is fixedly connected to a first rotating shaft (4), and at least part of the first rotating shaft (4) is fixedly connected to the support body (13). The support body (13) is provided with two first sliding grooves, and a pin (5) is slidably arranged in each first sliding groove. The pin (5) is rotatably connected to the gripper (12). The middle part of the gripper (12) is rotatably connected to the support body (13) through a second rotating shaft (8). The extension direction of the first sliding groove is consistent with the rotation direction of the gripper (12) around the second rotating shaft (8). The centering clamping device also includes a first elastic element (3). The first elastic element (3) can apply force to the two grippers (12) to make the two grippers (12) be in the clamping state. The support body (13) is provided with clamping members (17) at both ends along the first direction. The clamping members (17) are slidably connected to the support body (13) along the first direction. A clamping space is formed between the two clamping members (17) to fix the workpiece to be assembled. The clamping space is located directly below the clamping space.

2. The centering clamping device according to claim 1, characterized in that, The two ends of the first elastic element (3) are respectively fixed to the two pins (5); Alternatively, each of the pins (5) is equipped with the first elastic element (3), one end of each first elastic element (3) is fixed to the corresponding pin (5), and the other end is located away from the other pin (5) along the first direction and fixed to the bracket body (13). The gripping ends of the pins (5) and the grippers (12) are located on both sides of the second rotating shaft (8).

3. The centering clamping device according to claim 1, characterized in that, The centering clamping device further includes a centering element (22), which is movably connected to the support body (13) along the second direction and located between the two grippers (12).

4. The centering clamping device according to claim 3, characterized in that, The centering clamping device further includes a connecting shaft and a second elastic element (24) sleeved outside the connecting shaft. The connecting shaft is located between the two jaws (12) and fixed to the support body (13). One end of the second elastic element (24) is fixed to or abuts against the support body (13), and the other end is fixed to or abuts against the centering element (22).

5. The centering clamping device according to claim 1, characterized in that, Both clamping members (17) are provided with grooves. The two ends of the bracket body (13) are respectively inserted into the grooves of the two clamping members (17). One of the bracket body (13) and the clamping members (17) is provided with a second sliding groove extending along the first direction, and the other is provided with a sliding part. The sliding part is slidably engaged with the second sliding groove.

6. The centering clamping device according to claim 1, characterized in that, The centering clamping device also includes a handle (18), each of the clamping members (17) is equipped with the handle (18), the handle (18) is fixed to the clamping member (17), the handle (18) is equipped with a button (19), the button (19) is used to control the opening and closing of the drive member (1).

7. A riveting system, characterized in that, include: The centering clamping device as described in any one of claims 1-6; A riveting tool is used to rivet a nut to be assembled within the clamping space to a workpiece to be assembled located directly below the clamping space.

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