Automatic rivet pulling mechanism

Abstract

The invention discloses an automatic rivet pulling mechanism and relates to the technical field of rivet pulling, the automatic rivet pulling mechanism comprises a rack and further comprises a rivet pulling gun, a driving assembly and a feeding assembly which are arranged on the rack, the rivet pulling gun comprises a gun body, a rivet rod, a rotating component and a lifting component, and the driving assembly comprises a first driving piece, a first lead screw and a lifting plate; the feeding assembly comprises a feeding pipe, a rotating piece, a rotating plate and a clamping piece. According to the automatic riveting machine, continuous feeding is conducted on the hand riveter through the integrated automatic feeding assembly, lifting and positioning of the hand riveter are controlled through the high-precision servo driving assembly, full-automatic closed-loop control is achieved in the riveting technological process, whole-process mechanization and intellectualization of the operation process are guaranteed, and therefore the riveting efficiency and quality are remarkably improved.

Description

Technical Field

[0001] This application relates to the field of riveting technology, and in particular to an automatic riveting mechanism. Background Technology

[0002] A rivet nut is a fastening element based on the principle of single-sided riveting. During installation, no pre-tapping or welding is required. Axial tension is applied using specialized riveting equipment, causing controlled plastic deformation at the tail end, which then tightens against the substrate, thus forming a high-strength internal thread connection within a thin-walled component.

[0003] Currently, in traditional assembly systems, riveting operations generally rely on manual or pneumatic riveting guns operated by hand. This model has inherent systemic shortcomings: First, its cycle time is limited by the operator's skill and physical strength, resulting in a slow production pace and restricting overall riveting efficiency. Second, the process quality is highly dependent on individual experience and consistency, making it impossible to accurately control and repeat key riveting parameters (such as riveting force and stroke), directly affecting the strength consistency and long-term reliability of the connected structure. Summary of the Invention

[0004] To improve the efficiency and quality of riveting, this application provides an automatic riveting mechanism.

[0005] The automatic riveting mechanism provided in this application adopts the following technical solution: An automatic riveting mechanism includes a frame, and further includes a rivet gun, a drive assembly, and a feeding assembly mounted on the frame. The rivet gun includes a gun body, a rivet rod, a rotating component, and a lifting component. The gun body is mounted on the frame, the rivet rod is located at the bottom of the gun body, and a rivet nut is threaded onto the bottom end of the rivet rod. The rotating component is mounted on the gun body and is used to drive the rivet rod to rotate. The lifting component is mounted on the gun body and is used to drive the rivet rod to move up and down. The drive assembly includes a first drive member, a first lead screw, and a lifting plate. The first drive member is mounted on the frame, and the lifting plate slides... The rivet gun is mounted on the frame and the first lead screw is rotatably mounted on the frame and passes through the lifting plate. The top end of the first lead screw is fixedly connected to the driving end of the first driving component. The feeding assembly includes a feeding pipe, a rotating component, a rotating plate, and a clamping component. The feeding pipe is mounted on the frame, the rotating component is mounted at the bottom of the frame, the rotating plate is mounted at the rotating end of the rotating component, and a storage groove is provided on the rotating plate. The feeding pipe feeds the rivet nut into the storage groove, and the clamping component is mounted inside the rotating plate and clamps the rivet nut.

[0006] By adopting the above technical solution, when riveting rivet nuts, the feeding mechanism conveys the rivet nuts through the feeding pipe. The rivet nuts fall into the storage trough, where the clamping component clamps and fixes them. The rotating component then moves the rivet nuts to below the rivet gun via the rotating plate. The first driving component drives the lifting plate to move downwards via the first lead screw. The lifting plate moves the rivet gun downwards, aligning the bottom end of the rivet rod with the rivet nut. During the descent of the rivet gun, the rotating component drives the rivet rod to rotate, causing the rivet rod to screw into the rivet nut. After the rivet gun moves the rivet nut upwards, the rotating plate moves back to its original position. The rivet gun then moves the rivet nut into the mounting slot. The lifting component moves the rivet rod and completes the riveting. The entire riveting operation is mechanized, thereby improving the efficiency and quality of riveting.

[0007] Preferably, the rotating component includes a second driving member, a driving rod, and a driving sleeve. The second driving member is disposed at the top of the gun body. The driving rod is rotatably disposed inside the gun body and connected to the driving end of the second driving member. A gun head is rotatably disposed at the bottom of the gun body. The driving sleeve is slidably disposed inside the gun head and slidably connected to the driving rod. The rivet is disposed at the bottom end of the driving sleeve, and the bottom end of the rivet extends out of the gun head.

[0008] By adopting the above technical solution, the second driving component drives the driving sleeve to rotate through the driving rod, and the driving sleeve drives the gun head and the rivet rod to rotate together. During the rotation of the rivet rod, it can be screwed into the rivet nut.

[0009] Preferably, the lifting component includes a third driving member, a driving gear, a driven gear, a lead screw, a second lead screw, a pull rod, and an inner sleeve. The third driving member is mounted on the gun body, the driving gear is mounted on the driving end of the third driving member, the lead screw is rotatably mounted inside the gun body, the driven gear is fixedly mounted on the lead screw and meshes with the driving gear, the second lead screw is sleeved on the driving rod and threaded into the lead screw, the pull rod is sleeved on the driving rod, the top end of the pull rod is fixedly connected to the bottom end of the second lead screw, the inner sleeve is fixedly mounted on the top end of the driving rod, the bottom end of the pull rod is slidably inserted into the inner sleeve, a first retaining ring is formed on the outer side wall of the bottom end of the pull rod, and a second retaining ring is formed on the inner side wall of the top end of the inner sleeve, the first retaining ring moving to abut against the second retaining ring.

[0010] By adopting the above technical solution, the third driving component drives the screw nut to rotate through the driving gear and the driven gear. The screw nut drives the second screw to move up and down. The second screw drives the pull rod to move up and down. When the pull rod moves up, the pull rod drives the first retaining ring to move and abut against the second retaining ring and drives the inner sleeve to move up. The inner sleeve then drives the rivet rod to move into the gun head through the driving sleeve, thereby completing the riveting operation.

[0011] Preferably, a stop post is provided inside the drive sleeve, the bottom end of the drive rod is slidably inserted into the top end of the drive sleeve, a stop block is fixedly provided at the bottom end of the drive rod, the stop block is located inside the drive sleeve, a first elastic element is provided inside the drive sleeve, the two ends of the first elastic element abut against the stop block and the stop post respectively, when the rivet rod is screwed into the rivet nut and the top end of the rivet nut moves to abut against the gun head, the rivet rod continues to rotate and move into the gun head, the rivet rod drives the inner sleeve to move upward through the drive sleeve, and a gap is formed between the first stop ring and the second stop ring.

[0012] By adopting the above technical solution, when the rivet rod is not screwed into the rivet nut, the first elastic element pushes the drive sleeve and rivet rod to move through the stop post, causing the rivet rod to extend out of the gun head and the first retaining ring to abut against the second retaining ring; after the rivet rod contacts the rivet nut, the rivet rod and drive sleeve move upward, the drive sleeve drives the stop post to move and squeeze the first elastic element, and a gap is formed between the first retaining ring and the second retaining ring. When the rivet rod rotates, it will drive the inner sleeve and the second retaining ring to rotate synchronously. The gap prevents friction between the first retaining ring and the second retaining ring, reducing friction between the first retaining ring and the second retaining ring, thereby improving the accuracy of the riveting operation; during the rivet rod screwing in, since the screwing speed and the vertical movement speed are not necessarily synchronized, the internal first elastic element plays the role of buffering to ensure stable tightening axial force, and can also protect the rivet rod from damage during rotation due to other unknown reasons (such as incorrect sheet metal, incorrect hole making, inaccurate trajectory, etc.).

[0013] Preferably, an outer sleeve is coaxially rotatably fitted on the outer side of the inner sleeve, a guide block is fixedly provided on the outer wall of the outer sleeve, a guide groove is provided in the gun body, and the guide block is slidably disposed in the guide groove.

[0014] By adopting the above technical solution, the inner sleeve moves synchronously with the outer sleeve, and the outer sleeve drives the guide block to move in the guide groove, thereby guiding the movement of the inner sleeve. The inner sleeve then guides the movement of the rivet rod through the drive sleeve, thus improving the stability of the riveting operation.

[0015] Preferably, a displacement sensor is provided on the side wall of the gun body, and a detection plate is fixedly provided on the outer side wall of the outer sleeve, with the displacement sensor located outside the detection plate.

[0016] By adopting the above technical solution, the outer sleeve moves synchronously with the detection plate during its movement, and the displacement sensor detects the movement distance of the detection plate, thereby enabling accurate detection of the movement distance of the rivet rod.

[0017] Preferably, a pressure sensor is provided inside the gun body, and the pressure sensor is located directly above the outer tube. The outer tube moves upward and contacts the pressure sensor.

[0018] By adopting the above technical solution, when the rivet rod moves upward to perform riveting operations, the outer sleeve moves to contact and squeeze the pressure sensor, thereby enabling accurate detection of the riveting tension of the rivet rod.

[0019] Preferably, a lifting block is slidably disposed inside the lifting plate, the first lead screw passes through the lifting block, a second elastic element is disposed at the bottom of the lifting block, a connecting member is disposed inside the lifting block, the connecting member passes through the second elastic element, and the top end of the connecting member is fixedly connected to the lifting block.

[0020] By adopting the above technical solution, the first lead screw drives the lifting plate to move up and down through the lifting block, and the lifting plate then drives the rivet gun to move up and down. When the rivet gun is performing riveting operations, the second elastic element provides elastic force, making the contact between the top of the rivet nut and the working end face tighter, thereby improving the stability of the riveting operation.

[0021] Preferably, multiple elastic pads are provided on the side walls and bottom walls of the frame, and connecting plates are fixedly provided on the multiple elastic pads. The connecting plates are fixedly connected to the robotic arm. Mounting plates are fixedly provided on opposite sides of the connecting plates. A translation component is provided on the mounting plate. The translation end of the translation component is provided with a limiting head. Mounting blocks are fixedly provided on the side walls of the frame. Limiting grooves are opened on opposite side walls of the mounting blocks. Multiple limiting heads are movably inserted into the limiting grooves.

[0022] By adopting the above technical solution, when the limiting head is inserted into the limiting groove, the robotic arm is connected to the frame through the connecting plate, mounting plate, translation component, limiting head, and mounting block, making the frame a rigid connection. When the limiting head moves out of the limiting groove, the robotic arm is connected to the frame through the connecting plate, elastic pad, and flexible connection.

[0023] In summary, this application includes at least one of the following beneficial technical effects: 1. Using a rivet gun, drive assembly, and feeding assembly, when riveting rivet nuts, the feeding mechanism conveys the rivet nuts through the feeding pipe. The rivet nuts fall into the storage trough, where the clamping component clamps and fixes them. The rotating component then moves the rivet nuts to below the rivet gun via a rotating plate. The first drive component drives the lifting plate to move downwards via the first lead screw. The lifting plate moves the rivet gun downwards, aligning the bottom end of the rivet rod with the rivet nut. During the descent of the rivet gun, the rotating component drives the rivet rod to rotate, causing the rivet rod to screw into the rivet nut. After the rivet gun moves the rivet nut upwards, the rotating plate moves back to its original position. The rivet gun then moves the rivet nut into the mounting slot. The lifting component moves the rivet rod and completes the riveting. The entire riveting operation is mechanized, thereby improving the efficiency and quality of riveting. 2. With the help of the gap, after the rivet is screwed into the rivet nut, the rivet drive sleeve moves upward. The drive sleeve drives the stop post to move and squeeze the first elastic element, and a gap is formed between the first stop ring and the second stop ring. When the rivet rotates, it will drive the inner sleeve and the second stop ring to rotate synchronously. The gap prevents friction between the first stop ring and the second stop ring, reducing the friction between the first stop ring and the second stop ring, thereby improving the accuracy of the riveting operation. 3. Using displacement and pressure sensors, the outer sleeve moves synchronously with the detection plate. The displacement sensor detects the movement distance of the detection plate, while the outer sleeve moves to contact and squeeze the pressure sensor, thus enabling accurate detection of the rivet rod's movement distance and riveting tension. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the automatic riveting mechanism of this application; Figure 2 For this application Figure 1 Enlarged view of point A in the middle; Figure 3 This is a partial structural diagram of the automatic riveting mechanism of this application, to highlight the clamping component; Figure 4 This is a partial exploded view of the automatic riveting mechanism of this application; Figure 5 This is a partial structural cross-sectional view of the automatic riveting mechanism of this application; Figure 6 For this application Figure 5 Enlarged view of point B in the middle; Figure 7 For this application Figure 5 Enlarged view of point C in the middle; Figure 8 This is a partial structural diagram of the automatic riveting mechanism of this application, to highlight the rotating and lifting components; Figure 9 This is a partial structural diagram of the automatic riveting mechanism of this application, highlighting the mounting block.

[0025] Reference numerals: 1. Frame; 2. Rivet nut; 3. Material storage trough; 4. Rivet gun; 41. Gun body; 42. Rivet rod; 43. Rotating component; 431. Second drive component; 432. Drive rod; 433. Drive sleeve; 44. Lifting component; 441. Third drive component; 442. Drive gear; 443. Driven gear; 444. Lead screw nut; 445. Second lead screw; 446. Pull rod; 447. Inner sleeve; 5. Drive assembly; 51. First drive component; 52. First lead screw; 53. Lifting plate; 6. Feeding assembly; 61. Feeding pipe; 62. Rotating component 63. Rotating plate; 64. Clamping component; 7. Gun head; 8. First retaining ring; 9. Second retaining ring; 10. Gap; 11. Stop post; 12. Stop block; 13. First elastic component; 14. Outer sleeve; 15. Guide block; 16. Guide groove; 17. Displacement sensor; 18. Detection plate; 19. Pressure sensor; 20. Lifting block; 21. Second elastic component; 22. Connecting component; 23. Elastic pad; 24. Connecting plate; 25. Mounting plate; 26. Translation component; 27. Limiting head; 28. Mounting block; 29. ​​Limiting groove; 30. Connecting rod; 31. Moving plate. Detailed Implementation

[0026] The following is in conjunction with the appendix Figures 1-9 This application will be described in further detail.

[0027] This application discloses an automatic riveting mechanism.

[0028] Reference Figure 1 An automatic riveting mechanism includes a frame 1 and a riveting gun 4, a drive assembly 5, and a feeding assembly 6 mounted on the frame 1. The drive assembly 5 is used to drive the riveting gun 4 to move up and down, and the feeding assembly 6 is used to feed the riveting nut 2 to the riveting gun 4.

[0029] Reference Figure 2 and Figure 3 Specifically, the feeding assembly 6 includes a feeding pipe 61, a rotating component 62, a rotating plate 63, and a clamping component 64. The feeding pipe 61 is fixedly installed on the frame 1, and its top end is connected to the vibrating feeding mechanism. The rotating component 62 is fixedly installed at the bottom of the frame 1, the rotating plate 63 is fixedly installed at the rotating end of the rotating component 62, and the clamping component 64 is fixedly installed inside the rotating plate 63. A storage groove 3 is provided on the rotating plate 63 directly below the bottom end of the feeding pipe 61. In this application, the rotating component 62 can be a rotary cylinder, and the clamping component 64 can be a gripper cylinder.

[0030] Reference Figure 4The drive assembly 5 includes a first drive member 51, a first lead screw 52, ​​and a lifting plate 53. The first drive member 51 is fixedly installed on the top of the frame 1, and the first lead screw 52 is rotatably installed on the frame 1. The top end of the first lead screw 52 is fixedly connected to the drive end of the first drive member 51. In this application, the first drive member 51 can be selected as a servo motor.

[0031] The lifting plate 53 is slidably mounted on the frame 1 in the vertical direction via a guide rail and slider structure, and the rivet gun 4 is mounted on the lifting plate 53. A lifting block 20 is threaded onto the first lead screw 52. The lifting block 20 is slidably mounted on the bottom center of the lifting plate 53. Two second elastic elements 21 are installed at the bottom of the lifting block 20, and each of the two second elastic elements 21 contains a connecting element 22. The top end of the connecting element 22 passes through the lifting block 20 and is threadedly fixed to the lifting plate 53. In this application, the second elastic element 21 can be a spring, and the connecting element 22 can be a bolt.

[0032] The rivet gun 4 includes a gun body 41, a rivet rod 42, a rotating component 43, and a lifting component 44. The gun body 41 is fixedly mounted on a lifting plate 53. A gun head 7 is rotatably mounted on the bottom end of the gun body 41 via a bearing. The rivet rod 42 is installed inside the gun head 7, with its bottom end extending out of the gun head 7. The rotating component 43 is mounted on the gun body 41 and is used to drive the rivet rod 42 and the gun head 7 to rotate together. The lifting component 44 is mounted on the gun body 41 and is used to drive the rivet rod 42 to rise and fall.

[0033] In the automated riveting process of the rivet nut 2, the vibrating feeding mechanism first transports the rivet nut to the storage tank 3 via the feeding pipe 61. Then, the clamping member 64 grips and fixes the rivet nut; the rotating member 62 drives the rotating plate 63 to precisely move the rivet nut to the preparatory position directly below the rivet gun 4. The first driving member 51 drives the first lead screw 52 to rotate, and the first lead screw 52 drives the rivet gun 4 downwards via the lifting block 20 and the lifting plate 53, aligning the axis of the rivet rod 42 with the threaded hole of the rivet nut. During the downward movement, the rivet rod 42 actively screws into the internal thread of the rivet nut under the drive of the rotating mechanism, achieving reliable engagement. After gripping, the rivet gun 4 retracts, the rotating plate 63 resets, and the robotic arm drives the automatic riveting mechanism to move above the workpiece mounting hole. Finally, the rivet gun 4 descends again, and after the rivet nut 2 enters the mounting hole, the lifting assembly moves the rivet rod 42 upward and applies a pulling riveting force, causing the rivet nut to undergo plastic deformation within the mounting hole, thus completing the riveting. This fully automated process significantly improves the efficiency and quality of riveting. Simultaneously, during the riveting operation, the second elastic element 21 generates continuous pre-pressure, ensuring a constant and tight fit between the top of the rivet nut and the workpiece surface, thereby significantly improving the stability of the riveting process.

[0034] Reference Figure 5 , Figure 6 , Figure 7 and Figure 8 Specifically, the rotating component 43 includes a second driving member 431, a driving rod 432, and a driving sleeve 433. The second driving member 431 is fixedly installed at the top of the gun body 41, and the driving rod 432 is rotatably installed inside the gun body 41. The top of the driving rod 432 is fixedly connected to the driving end of the second driving member 431. In this application, the second driving member 431 can be a servo motor. The driving sleeve 433 is slidably installed in the gun head 7 in the vertical direction. The cross-section of the middle section of the driving sleeve 433 is hexagonal and is adapted to slide in the gun head 7.

[0035] The bottom end of the drive rod 432 is hexagonal and is slidably inserted into the top end of the drive sleeve 433. The rivet rod 42 is detachably installed at the bottom end of the drive sleeve 433. The second drive component 431 drives the drive rod 432 to rotate, the drive rod 432 drives the drive sleeve 433 to rotate, and the drive sleeve 433 drives the rivet rod 42 and the gun head 7 to rotate together. During the rotation, the rivet rod 42 can be screwed into the riveting nut.

[0036] The lifting component 44 includes a third driving member 441, a driving gear 442, a driven gear 443, a lead screw 444, a second lead screw 445, a pull rod 446, and an inner sleeve 447. The third driving member 441 is fixedly installed on the side of the gun body 41, and the driving gear 442 is rotatably installed inside the gun body 41. The driving gear 442 is fixedly connected to the driving section of the third driving member 441. In this application, the third driving member 441 can be selected as a servo motor.

[0037] The second lead screw 445 and the pull rod 446 are both slidably sleeved on the drive rod 432, with the bottom end of the second lead screw 445 fixedly connected to the top end of the pull rod 446. The lead screw nut 444 is rotatably installed inside the gun body 41, and the second lead screw 445 is threaded through the lead screw nut 444. The driven gear 443 is fixedly sleeved on the outside of the lead screw nut 444, and the driven gear 443 meshes with the drive gear 442.

[0038] The inner sleeve 447 is fixedly sleeved on the top end of the drive sleeve 433, and the bottom end of the pull rod 446 is slidably installed in the inner sleeve 447. A first retaining ring 8 is integrally formed on the outer side wall of the bottom end of the pull rod 446, and a second retaining ring 9 is integrally formed on the top end of the inner side wall of the inner sleeve 447. The first retaining ring 8 moves to abut against the second retaining ring 9.

[0039] The third driving component 441 drives the screw nut 444 to rotate via the driving gear 442 and the driven gear 443, thereby converting the rotational motion into the linear motion of the second screw 445. The second screw 445 drives the pull rod 446 upward, causing the first retaining ring 8 and the second retaining ring 9 to tightly engage and form a rigid connection. This transmits the pulling force to the inner sleeve 447, which then drives the rivet rod 42 to retract into the rivet head 7 via the driving sleeve 433, thus achieving riveting.

[0040] An outer sleeve 14 is rotatably mounted on the outer wall of the inner sleeve 447 via two bearings. Three guide blocks 15 are fixedly mounted at equal intervals along the outer wall of the outer sleeve 14 along its own axial direction. Three guide grooves 16 are provided on the inner wall of the gun body 41, and the three guide blocks 15 are slidably mounted in the three guide grooves 16 respectively.

[0041] During the riveting process, as the lifting component 44 drives the rivet 42 to rise, the inner sleeve 447 drives the outer sleeve 14 to rise and move synchronously. The outer sleeve 14 drives the three guide blocks 15 to slide within the three guide grooves 16. The guide blocks 15 and the guide grooves 16 cooperate to guide the movement of the outer sleeve 14, which in turn guides the movement of the rivet 42 through the inner sleeve 447 and the drive sleeve 433, making the riveting operation more precise.

[0042] A pressure sensor 19 is fixedly installed inside the gun body 41. The pressure sensor 19 is sleeved on the pull rod 446 and located directly above the outer tube 14. A detection plate 18 is fixedly installed on the outer wall of the outer tube 14, and a displacement sensor 17 is installed on the outer wall of the gun body 41. The displacement sensor 17 is located outside the detection plate 18.

[0043] The automatic riveting mechanism monitors the detection plate 18 on the outer sleeve 14 in real time through the displacement sensor 17, thereby accurately obtaining the axial displacement of the rivet 42. At the same time, when the outer sleeve 14 contacts and squeezes the pressure sensor 19 during the riveting process, the pressure sensor 19 can collect riveting force data in real time, realizing dual monitoring of displacement and riveting force during the riveting process.

[0044] A stop post 11 is fixedly installed inside the drive sleeve 433, and a stop block 12 is fixedly installed at the bottom end of the drive rod 432. The stop block 12 is located inside the drive sleeve 433, and a first elastic element 13 is installed inside the drive sleeve 433. The two ends of the first elastic element 13 abut against the stop block 12 and the stop post 11, respectively. In this application, the first elastic element 13 can be selected as a spring.

[0045] In the initial pre-tightened state, the first elastic element 13 pushes the drive sleeve 433 and the rivet 42 downward through the stop post 11, keeping the rivet 42 extended, and the first retaining ring 8 and the second retaining ring 9 in contact. When the rivet 42 is screwed into the riveting nut and the top of the riveting nut abuts against the gun head 7, the rivet 42 continues to move downward. At this time, the rivet 42 drives the drive sleeve 433 to slide upward inside the gun head 7. The drive sleeve 433 drives the inner sleeve 447 and the second retaining ring 9 to move upward, so that a gap 10 is formed between the first retaining ring 8 and the second retaining ring 9. Subsequently, during the process of the rivet 42 being screwed into the riveting nut, the second retaining ring 9 rotates, while the first retaining ring 8 does not rotate. The first retaining ring 8 and the second retaining ring 9 do not contact each other, reducing the frictional loss between the first retaining ring 8 and the second retaining ring 9, thereby improving the accuracy of the riveting operation.

[0046] Meanwhile, during the screwing-in process of the rivet 42, since the screwing speed and the vertical movement speed are not necessarily synchronized, the first elastic element 13 inside plays the role of buffering to ensure stable tightening axial force. It can also protect the rivet 42 from damage during rotation due to other unknown reasons (such as incorrect sheet metal, incorrect hole making, inaccurate trajectory, etc.).

[0047] Reference Figure 3 and Figure 9 Six elastic pads 23 are fixedly installed on the side and bottom walls of the frame 1. An L-shaped connecting plate 24 is fixedly installed on the six elastic pads 23. The connecting plate 24 is fixedly connected to the robotic arm. In this application, the elastic pads 23 can be made of rubber material.

[0048] Mounting plates 25 are fixedly installed on opposite side walls of the connecting plate 24 in the horizontal direction. Translational components 26 are fixedly installed on the side walls of the two mounting plates 25 that are far apart from each other. In this application, the translational components 26 can be cylinders. Connecting rods 30 are fixedly installed at the upper and lower ends of the two mounting plates 25 that are close to each other on the side walls. Two movable plates 31 are slidably installed on the two connecting rods 30. The driving ends of the two translational components 26 are fixedly connected to the two movable plates 31.

[0049] Two limit heads 27 are fixedly installed on the side walls of the two movable plates 31 that are close to each other. An installation block 28 is fixedly installed on the side wall of the frame 1. Two limit grooves 29 are opened on the opposite side walls of the horizontal direction of the installation block 28, and the four limit heads 27 are respectively moved and inserted into the four limit grooves 29.

[0050] The automatic riveting mechanism has two working modes: rigid and flexible. When the limiting head 27 moves and inserts into the limiting groove 29, the frame 1 and the robotic arm form a rigid connection to ensure high-precision riveting operations. When the limiting head 27 disengages from the limiting groove 29, the robotic arm forms a flexible connection with the frame 1 through the elastic pad 23. At this time, the automatic riveting mechanism can effectively absorb vibration and impact, thus enabling it to adapt to different riveting conditions.

[0051] The implementation principle of the automatic riveting mechanism in this application embodiment is as follows: In the automated riveting process of the rivet nut 2, the vibrating feeding mechanism first transports the rivet nut to the storage tank 3 via the feeding pipe 61. Subsequently, the clamping member 64 grips and fixes the rivet nut; the rotating member 62 drives the rotating plate 63 to accurately move the rivet nut to the preparatory position directly below the rivet gun 4. The first driving member 51 drives the first lead screw 52 to rotate, and the first lead screw 52 drives the rivet gun 4 to move downward through the lifting block 20 and the lifting plate 53, so that the axis of the rivet rod 42 is aligned with the threaded hole of the rivet nut. During the downward movement, the rivet rod 42 actively screws into the internal thread of the rivet nut under the drive of the rotating mechanism, achieving reliable engagement. After the gripping is completed, the rivet gun 4 retracts, the rotating plate 63 resets, and the robotic arm drives the automatic riveting mechanism to move above the workpiece mounting hole. Finally, the rivet gun 4 descends again, and after the rivet nut 2 enters the mounting hole, the lifting assembly moves the rivet rod 42 upward and applies a pulling riveting force, causing the rivet nut to undergo plastic deformation within the mounting hole, thus completing the riveting. This fully automated process significantly improves the efficiency and quality of riveting. Simultaneously, during the riveting operation, the second elastic element 21 generates continuous pre-pressure, ensuring a constant and tight fit between the top of the rivet nut and the workpiece surface, thereby significantly improving the stability of the riveting process.

[0052] The above are merely optional embodiments of this disclosure and are not intended to limit this disclosure. Various modifications and variations can be made to this disclosure by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. An automatic pull-rivet mechanism characterized by: The utility model provides a kind of automatic rivet gun, including rack (1), further including setting on rack (1) pull riveter (4), drive assembly (5) and feeding assembly (6); The pull riveter (4) includes a gun body (41), a rivet rod (42), a rotating component (43), and a lifting component (44). The gun body (41) is arranged on the rack (1). The rivet rod (42) is arranged at the bottom of the gun body (41). A rivet nut (2) is threadedly sleeved at the bottom end of the rivet rod (42). The rotating component (43) is arranged on the gun body (41) and used to drive the rivet rod (42) to rotate. The lifting component (44) is arranged on the gun body (41) and used to drive the rivet rod (42) to lift. The drive assembly (5) includes a first driving member (51), a first lead screw (52), and a lifting plate (53). The first driving member (51) is arranged on the rack (1). The lifting plate (53) is slidingly arranged on the rack (1). The pull riveter (4) is arranged on the lifting plate (53). The first lead screw (52) is rotationally arranged on the rack (1) and penetrates through the lifting plate (53). The top end of the first lead screw (52) is fixedly connected with the driving end of the first driving member (51). The feeding assembly (6) includes a feeding pipe (61), a rotating member (62), a rotating plate (63), and a clamping member (64). The feeding pipe (61) is arranged on the rack (1). The rotating member (62) is arranged at the bottom of the rack (1). The rotating plate (63) is arranged at the rotating end of the rotating member (62). The rotating plate (63) is provided with a storage groove (3). The feeding pipe (61) delivers the rivet nut (2) into the storage groove (3). The clamping member (64) is arranged in the rotating plate (63) and clamps the rivet nut (2).

2. The automatic pull-rivet mechanism according to claim 1, wherein: The rotating component (43) includes a second driving member (431), a driving rod (432), and a driving sleeve (433). The second driving member (431) is arranged at the top of the gun body (41). The driving rod (432) is rotationally arranged in the gun body (41) and connected with the driving end of the second driving member (431). The bottom of the gun body (41) is rotationally provided with a gun head (7). The driving sleeve (433) is slidingly arranged in the gun head (7) and slidingly connected with the driving rod (432). The rivet rod (42) is arranged at the bottom end of the driving sleeve (433). The bottom end of the rivet rod (42) extends out of the gun head (7).

3. The automatic pull-rivet mechanism according to claim 2, wherein: The lifting component (44) comprises a third driving member (441), a driving gear (442), a driven gear (443), a nut (444), a second lead screw (445), a pull rod (446) and an inner sleeve (447), the third driving member (441) is arranged on the gun body (41), the driving gear (442) is arranged on the driving end of the third driving member (441), the nut (444) is rotatably arranged in the gun body (41), the driven gear (443) is fixedly arranged on the nut (444) and meshes with the driving gear (442), the second lead screw (445) is sleeved on the driving rod (432) and threadedly arranged in the nut (444), the pull rod (446) is sleeved on the driving rod (432), the top end of the pull rod (446) is fixedly connected with the bottom end of the second lead screw (445), the inner sleeve (447) is fixedly arranged at the top end of the driving sleeve (433), the bottom end of the pull rod (446) is slidingly inserted into the inner sleeve (447), the first stop ring (8) is formed on the outer side wall of the bottom end of the pull rod (446), the second stop ring (9) is formed on the inner side wall of the top end of the inner sleeve (447), and the first stop ring (8) moves to abut against the second stop ring (9).

4. The automatic pull-rivet mechanism according to claim 3, wherein: The driving sleeve (433) is provided with a stop column (11), the bottom end of the driving rod (432) is slidingly inserted into the top end of the driving sleeve (433), the bottom end of the driving rod (432) is fixedly provided with a stop block (12), the stop block (12) is located in the driving sleeve (433), the driving sleeve (433) is provided with a first elastic member (13), the two ends of the first elastic member (13) abut against the stop block (12) and the stop column (11) respectively, when the rivet rod (42) is screwed into the rivet nut (2) and the top end of the rivet nut (2) moves to abut against the gun head (7), the rivet rod (42) continues to rotate and moves into the gun head (7), the rivet rod (42) drives the inner sleeve (447) to move upward through the driving sleeve (433), and the gap (10) is formed between the first stop ring (8) and the second stop ring (9).

5. The automatic pull-rivet mechanism according to claim 3, wherein: The outer side of the inner sleeve (447) is coaxially rotatably provided with an outer sleeve (14), the outer side wall of the outer sleeve (14) is fixedly provided with a guide block (15), the gun body (41) is provided with a guide groove (16), and the guide block (15) is slidingly arranged in the guide groove (16).

6. The automatic pull-rivet mechanism according to claim 5, wherein: The side wall of the gun body (41) is provided with a displacement sensor (17), the outer side wall of the outer sleeve (14) is fixedly provided with a detection plate (18), and the displacement sensor (17) is located on the outer side of the detection plate (18).

7. The automatic pull-rivet mechanism according to claim 5, wherein: The gun body (41) is provided with a pressure sensor (19), the pressure sensor (19) is located directly above the outer sleeve (14), and the outer sleeve (14) moves upward and contacts the pressure sensor (19).

8. The automatic pull-rivet mechanism according to claim 2, wherein: The lifting plate (53) is internally slidably provided with a lifting block (20), the first lead screw (52) is threaded through the lifting block (20), the bottom of the lifting block (20) is provided with a second elastic member (21), a connecting piece (22) is threaded in the lifting block (20), the connecting piece (22) passes through the second elastic member (21), and the top end of the connecting piece (22) is fixedly connected with the lifting block (20).

9. The automatic pull-rivet mechanism according to claim 1, wherein: The side wall and the bottom wall of the rack (1) are provided with a plurality of elastic pads (23), a plurality of the elastic pads (23) are fixedly provided with connecting plates (24), the connecting plates (24) are fixedly connected with the mechanical arm, opposite sides of the connecting plates (24) are fixedly provided with mounting plates (25), the mounting plates (25) are provided with translation pieces (26), the translation ends of the translation pieces (26) are provided with limiting heads (27), the side wall of the rack (1) is fixedly provided with mounting blocks (28), limiting grooves (29) are formed in the opposite side walls of the mounting blocks (28), and a plurality of the limiting heads (27) are movably inserted into the limiting grooves (29).

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