Full-automatic core-pulling rivet-pulling system in vertical face horizontal direction

Abstract

The utility model belongs to the technical field of rivet pulling systems, and discloses a full-automatic core-pulling rivet pulling system in the vertical face horizontal direction, which comprises an industrial robot, a direction adjusting device is fixedly arranged on the working end of the industrial robot, and a rivet pulling gun and a visual device are arranged on the direction adjusting device. The industrial robot works to drive the hand riveter and the visual device to move through the direction adjusting device, the direction adjusting device is used for adjusting the axial position of the hand riveter, so that the hand riveter can accurately move to the riveting position, full-automatic core pulling and riveting in the vertical face horizontal direction can be achieved, manual work is replaced, and the production efficiency is improved. The production efficiency and the automation rate are improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of riveting systems, and in particular relates to a full-automatic core-pulling riveting system in the horizontal direction of a vertical surface. Background Art

[0002] The increasingly fierce competition in the automobile market has accelerated the pace of automobile product replacement. Lightweighting is an effective means to save energy, be green and low-carbon, and reduce costs. Among them, the most widely used lightweight method is to replace the traditional steel body with an aluminum body. Therefore, the corresponding aluminum connection process is increasingly used.

[0003] However, the development of aluminum connection technology is slow, and most of the processes are done manually. For example, the core-blind rivet process is the most reliable one among aluminum connection processes, but its application is relatively complicated, and it is difficult to realize automatic core-blind rivet in the horizontal direction of the facade, which limits the automated application of this technology. This conflicts with the high-capacity and high-automation production requirements of the automotive industry.

[0004] Therefore, how to achieve full automation integration through creative means to truly apply the core-pulling rivet technology to the existing high-capacity automotive automated production lines is a research topic for technicians in the entire automotive industry. Utility Model Content

[0005] The main technical problem to be solved by the utility model is to provide a fully automatic core-pulling riveting system in the horizontal direction of a vertical surface, which can realize full-automatic core-pulling riveting in the horizontal direction of a vertical surface, replace manual labor, and improve production efficiency and automation rate.

[0006] In order to solve the above technical problems, the utility model provides the following technical solutions:

[0007] A fully automatic core-pulling riveting system in the horizontal direction of a vertical surface comprises an industrial robot. An azimuth adjustment device is fixedly installed on the working end of the industrial robot. A rivet gun and a visual device are installed on the azimuth adjustment device. When the industrial robot works, the rivet gun and the visual device are driven to move by the azimuth adjustment device. The azimuth adjustment device is used to adjust the axial position of the rivet gun so that the rivet gun can be accurately moved to the riveting position.

[0008] The following is a further optimization of the above technical solution by the present invention:

[0009] A nail feeding machine is arranged outside the industrial robot, a nail feeding tube is arranged between the nail feeding machine and the rivet gun, and the rivets output by the nail feeding machine are transported to the rivet gun through the nail feeding tube.

[0010] Further optimization: the azimuth adjustment device includes a mounting seat, a sliding mechanism is installed on the mounting seat, a floating mechanism is installed on the front side of the sliding mechanism, and the rivet gun is fixedly installed on the floating mechanism.

[0011] Further optimization: a connecting flange is fixedly connected to a side surface of the mounting seat away from the sliding mechanism, and the connecting flange is fixedly connected to the working end of the industrial robot by bolts.

[0012] Further optimization: the sliding mechanism includes a connecting plate, which is slidably mounted on a mounting seat, on which a cylinder is fixedly mounted, the cylinder being arranged along the moving direction of the connecting plate, and the telescopic end of the cylinder being fixedly connected to the connecting plate.

[0013] Further optimization: a slide rail is fixedly installed on the mounting seat at a position below the connecting plate, the slide rail is arranged along the moving direction of the connecting plate, a slider is slidably installed on the slide rail, and the slider is fixedly installed below the connecting plate.

[0014] Further optimization: the visual device includes a visual camera, which is fixedly mounted on a mounting frame. The mounting frame is fixedly mounted on a mounting seat and is located at one side of the rivet gun.

[0015] Further optimization: a light source is installed on the visual camera; the lens of the visual camera is arranged obliquely to the rivet gun.

[0016] The utility model adopts the above technical scheme, which is ingenious in conception and reasonable in structure. Compared with the automatic core-pulling riveting in the vertical direction, the difficulty of the automatic core-pulling riveting in the horizontal direction of the facade is not of the same order of magnitude; the fully automatic core-pulling riveting system in the horizontal direction of the facade fills the gap in the application of the automatic core-pulling riveting process in the horizontal direction of the facade, and further applies the automatic core-pulling riveting process to the automobile automatic production line, thereby reducing labor and improving the efficiency and automation rate of the production line.

[0017] The application of the floating mechanism creatively eliminates the uncertainty of the relative position of the rivet and the rivet hole caused by the repeated positioning accuracy of the industrial robot, the cumulative error between the connections, the gap between the rivet and the rivet gun, etc. The application of the sliding mechanism ensures that the rivet gun is close to the surface of the workpiece to meet the riveting effect.

[0018] The utility model is further described below in conjunction with the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the utility model;

[0020] Figure 2 This is a schematic diagram of the structure of the orientation adjustment device in the embodiment of the utility model;

[0021] Figure 3 It is a side view of the orientation adjustment device in the embodiment of the utility model.

[0022] In the figure: 1-industrial robot; 2-nail feeder; 3-nail feeder tube; 4-position adjustment device; 401-mounting seat; 402-connecting flange; 403-connecting plate; 404-cylinder; 405-slide rail; 406-slider; 5-rivet gun; 6-visual device; 601-visual camera; 602-mounting frame. DETAILED DESCRIPTION

[0023] like Figure 1-3 As shown: a fully automatic core-pulling riveting system in the horizontal direction of a vertical surface, including an industrial robot 1, on the working end of the industrial robot 1 is fixedly installed an orientation adjustment device 4, on which a rivet gun 5 and a visual device 6 are installed, the industrial robot 1 works by driving the rivet gun 5 and the visual device 6 to move through the orientation adjustment device 4, and the orientation adjustment device 4 is used to adjust the axial position of the rivet gun 5 so that the rivet gun 5 can be accurately moved to the riveting position.

[0024] In this embodiment, the industrial robot 1 is a prior art, and the industrial robot 1 drives the rivet gun 5 to move to the position to be riveted through the position adjustment device 4.

[0025] A nail feeder 2 is disposed outside the industrial robot 1 , and a nail feeder tube 3 is disposed between the nail feeder 2 and the rivet gun 5 . The rivets output by the nail feeder 2 are transported to the rivet gun 5 through the nail feeder tube 3 .

[0026] In this embodiment, the nail feeder 2 and the rivet gun 5 are both prior art, and the nail feeder 2 is used to deliver rivets for the conveyor belt, and the rivet gun 5 is used to rivet the parts to be riveted.

[0027] The orientation adjustment device 4 comprises a mounting seat 401 , a sliding mechanism is mounted on the mounting seat 401 , a floating mechanism is mounted on the front side of the sliding mechanism, and the rivet gun 5 is fixedly mounted on the floating mechanism.

[0028] With such a design, the floating mechanism can enable the rivet gun 5 to have a floating function, so that the rivet gun 5 has a certain floating amount in the process of driving the rivet into the nail hole, thereby absorbing the accumulated error.

[0029] In addition, because the rivet gun 5 needs to be in close contact with the surface of the vehicle body during riveting, and the repeated positioning accuracy error of the robot itself and the error of the vehicle body itself make the front end of the rivet gun 5 not necessarily be able to smoothly stick to the surface of the vehicle body, so a sliding mechanism is designed, and the industrial robot 1 drives the rivet gun 5 to move and dock on one side of the rivet position. At this time, there is a certain distance between the front end of the rivet gun 5 and the rivet position. At this time, the sliding mechanism works to push the floating mechanism and the rivet gun 5 forward, so that the rivet gun 5 can be in close contact with the surface of the vehicle body each time to meet the riveting effect.

[0030] A connecting flange 402 is fixedly connected to a side surface of the mounting seat 401 away from the sliding mechanism, and the connecting flange 402 is fixedly connected to the working end of the industrial robot 1 through bolts.

[0031] With such a design, the connecting flange 402 is fixedly connected to the working end of the industrial robot 1 by bolts, so that the orientation adjustment device 4 can be fixedly installed on the industrial robot 1, which is convenient for assembly and installation.

[0032] The sliding mechanism includes a connecting plate 403 , which is slidably mounted on a mounting seat 401 , on which a cylinder 404 is fixedly mounted. The cylinder 404 is arranged along the moving direction of the connecting plate 403 , and a telescopic end of the cylinder 404 is fixedly connected to the connecting plate 403 .

[0033] With such a design, the cylinder 404 works to extend or retract its telescopic end, and at this time, the telescopic end of the cylinder 404 can drive the connecting plate 403 to move, which is convenient for use.

[0034] When in use, the industrial robot 1 drives the rivet gun 5 to move and stop on one side of the rivet position with a certain distance therefrom. At this time, the cylinder 404 works to push the connecting plate 403 forward, thereby driving the rivet gun 5 forward. At this time, with the help of the elastic function of the cylinder 404 itself, the rivet gun 5 can be close to the surface of the car body every time to meet the riveting effect.

[0035] A slide rail 405 is fixedly mounted on the mounting seat 401 at a position below the connecting plate 403 , and the slide rail 405 is arranged along the moving direction of the connecting plate 403 .

[0036] A slider 406 is slidably mounted on the slide rail 405 , and the slider 406 is fixedly mounted below the connecting plate 403 .

[0037] With this design, the connecting plate 403 can be slidably installed on the mounting seat 401 through the sliding connection between the slider 406 and the slide rail 405, which is convenient for assembly and installation. In addition, the cooperation between the slide rail 405 and the slider 406 can guide the connecting plate 403 to slide smoothly, thereby improving the use effect.

[0038] The floating mechanism is fixedly mounted on the connecting plate 403. The floating mechanism is a prior art and can be directly purchased on the market. The floating mechanism is manufactured by the German Schunk Company and the model number is AGE-S-XYZ-125-0.

[0039] After the floating mechanism is activated, the rivet gun 5 remains stationary at the original position under the action of gravity, and begins to float under the influence of other external forces (damping during the rivet feeding process).

[0040] The visual device includes a visual camera 601 , and the visual camera 601 is fixedly mounted on a mounting frame 602 . The mounting frame 602 is fixedly mounted on a mounting seat 401 and is located at one side of the rivet gun 5 .

[0041] The visual camera 601 is equipped with a light source, which can improve the scanning effect of the visual camera 601 and the use effect.

[0042] The lens of the visual camera 601 is arranged obliquely with respect to the rivet gun 5 , and the lens of the visual camera 601 faces the front end of the rivet gun 5 .

[0043] With this design, the position of the rivet hole can be accurately scanned by the visual camera 601, which is convenient to use.

[0044] The visual camera 601 and the industrial robot 1 are electrically connected through a control system. The visual camera 601 scans the position of the rivet hole, compares the standard hole coordinates through the visual system, calculates the offset and transmits the offset to the industrial robot 1. The industrial robot 1 automatically adjusts its own position coordinates according to the offset and moves to the theoretical position of the rivet hole.

[0045] In this embodiment, the technology of electrically connecting the visual camera 601 and the industrial robot 1 through a control system is prior art and will not be described in detail here.

[0046] During use, after the automobile body is in place, the industrial robot 1 drives the rivet gun 5 to move to the position to be riveted. Since the stopping position of each automobile body and the accuracy of the automobile body itself are different, the visual camera 601 first scans the position of the rivet hole, compares the standard hole coordinates through the visual system, calculates the offset and transmits the offset to the industrial robot 1. The industrial robot 2 automatically adjusts its own position coordinates according to the offset and moves to the theoretical position of the rivet hole.

[0047] Since the industrial robot 1 has its own repeated positioning accuracy and there is a gap between the rivet gun barrel of the rivet gun 5 and the rivet, all the accumulated errors are large, and the matching gap between the rivet and the nail hole is small, which may cause the rivet to fail to enter the nail hole smoothly; at this time, the floating mechanism can make the rivet gun 5 have a floating function, so that the process of the rivet entering the nail hole has a certain floating amount, which absorbs the accumulated errors.

[0048] In addition, because the rivet gun needs to be close to the surface of the car body during riveting, and the repeated positioning accuracy error of the robot itself and the error of the car body itself make the rivet gun not necessarily be able to stick to the surface of the car body smoothly, the industrial robot 1 drives the rivet gun 5 to move and stop on one side of the rivet position. At this time, there is a certain distance between the front end of the rivet gun 5 and the rivet position, and then the sliding mechanism can work. The remaining stroke is pushed forward by the cylinder 404, and with the help of the elastic function of the cylinder 404 itself, the rivet gun 5 can be close to the surface of the car body every time to meet the riveting effect.

[0049] For ordinary technicians in this field, according to the teachings of the present invention, without departing from the principles and spirit of the present invention, changes, modifications, substitutions and variations made to the implementation methods are still within the protection scope of the present invention.

Claims

1. A fully automatic core-pulling riveting system in the horizontal direction of a vertical surface, comprising an industrial robot (1), characterized in that: An orientation adjustment device (4) is fixedly mounted on the working end of the industrial robot (1), and a rivet gun (5) and a visual device (6) are mounted on the orientation adjustment device (4). When the industrial robot (1) is working, the orientation adjustment device (4) drives the rivet gun (5) and the visual device (6) to move. The orientation adjustment device (4) is used to adjust the axial position of the rivet gun (5) so that the rivet gun (5) can be accurately moved to the riveting position. The orientation adjustment device (4) comprises a mounting seat (401), a sliding mechanism is mounted on the mounting seat (401), a floating mechanism is mounted on the front side of the sliding mechanism, and the rivet gun (5) is fixedly mounted on the floating mechanism; The sliding mechanism comprises a connecting plate (403), the connecting plate (403) being slidably mounted on a mounting seat (401), a cylinder (404) being fixedly mounted on the mounting seat (401), the cylinder (404) being arranged along the moving direction of the connecting plate (403), and a telescopic end of the cylinder (404) being fixedly connected to the connecting plate (403).

2. The fully automatic core-pulling riveting system in the horizontal direction of the vertical surface according to claim 1 is characterized by: A nail feeder (2) is arranged outside the industrial robot (1), and a nail feeder tube (3) is arranged between the nail feeder (2) and the rivet gun (5). Rivets output by the nail feeder (2) are transported to the rivet gun (5) through the nail feeder tube (3).

3. The fully automatic core-pulling riveting system in the horizontal direction of the vertical surface according to claim 2 is characterized by: A connecting flange (402) is fixedly connected to a side surface of the mounting seat (401) away from the sliding mechanism, and the connecting flange (402) is fixedly connected to the working end of the industrial robot (1) via bolts.

4. The fully automatic core-pulling riveting system in the horizontal direction of the vertical surface according to claim 3 is characterized by: A slide rail (405) is fixedly mounted on the mounting seat (401) at a position below the connecting plate (403); the slide rail (405) is arranged along the moving direction of the connecting plate (403); a slider (406) is slidably mounted on the slide rail (405); and the slider (406) is fixedly mounted below the connecting plate (403).

5. The fully automatic core-pulling riveting system in the horizontal direction of the vertical surface according to claim 4 is characterized by: The visual device comprises a visual camera (601), wherein the visual camera (601) is fixedly mounted on a mounting frame (602). The mounting frame (602) is fixedly mounted on a mounting seat (401) and is located at a side position of the rivet gun (5).

6. The fully automatic core-pulling riveting system in the horizontal direction of the vertical surface according to claim 5 is characterized by: A light source is installed on the visual camera (601); the lens of the visual camera (601) and the rivet gun (5) are arranged at an angle.

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