Riveting manipulator

Abstract

The utility model discloses a rivet pulling mechanical arm which comprises a mechanical arm basic support, at least two automatic rivet pulling mechanisms are arranged on the mechanical arm basic support, each automatic rivet pulling mechanism is provided with a feeding mechanism, and the feeding mechanisms are used for automatically installing rivets on rivet pulling guns of the automatic rivet pulling mechanisms. A connecting flange and a recognition camera are further arranged on the mechanical arm base support, and the recognition camera is arranged to recognize the position of a rivet pulling hole and the specification of a rivet. According to the rivet pulling manipulator provided by the utility model, different rivet pulling guns and different specifications of rivet gun heads are arranged according to different workpieces, so that the problems of low working efficiency, low flexibility and poor stability of an existing rivet pulling assembly mode are solved, the working efficiency is greatly improved, and the problem of simultaneous rivet pulling of rivets of different specifications is solved.

Description

Technical Field

[0001] The utility model belongs to the technical field of automatic rivet pulling equipment, and in particular relates to a pulling riveting manipulator. Background Art

[0002] The statements herein merely provide background art related to the present invention and do not necessarily constitute prior art.

[0003] A manipulator is an automated operating device that can imitate some of the movements of human hands and arms to achieve the purpose of grabbing, moving objects or operating tools. A riveting manipulator is a device that can automatically achieve the riveting function. For example, Chinese invention patent CN113634706A discloses a self-riveting gun, which uses a gas-liquid booster cylinder as the riveting power source and locates the riveting position through a displacement monitoring device. However, this device has the following problems: the structure is single, each manipulator is equipped with a riveting gun, and can only complete the riveting of one type of rivet at a time, which is inefficient and has poor flexibility. When there are many rivet specifications, only a manual handheld riveting gun can be used, which has a low degree of automation and low processing efficiency. In addition, the device realizes the positioning of the riveting position through a displacement monitoring device, but this method also has the problem of inaccurate positioning, resulting in poor riveting quality. Utility Model Content

[0004] The utility model aims to provide a riveting manipulator, which can realize riveting of rivets of various specifications by configuring riveting manipulators of different models, thereby improving the riveting efficiency.

[0005] In order to achieve the above purpose, the utility model is implemented through the following technical solutions:

[0006] In the first aspect, an embodiment of the utility model provides a riveting robot, including a robot base bracket, on which at least two automatic riveting mechanisms are arranged, each of which is respectively provided with a feeding mechanism, and the feeding mechanism is used to automatically install rivets on the rivet gun of the automatic riveting mechanism; the robot base bracket is also provided with a connecting flange and an identification camera, and the identification camera is configured to identify the position of the rivet hole and the specification of the rivet.

[0007] As a further technical solution, the automatic riveting mechanism is fixed to the manipulator base bracket through a mounting plate, and the rivet gun and the feeding mechanism are arranged on the mounting plate.

[0008] As a further technical solution, the rivet gun includes a rivet gun barrel, the upper end of which is connected to a power cylinder, and the lower end of which is provided with a core pulling head.

[0009] As a further technical solution, the outside of the rivet gun barrel is fixedly connected to a fixed outer cylinder, the fixed outer cylinder is fixedly connected to a slide plate, the slide plate is installed on a slide rail, and the slide plate is connected to a telescopic cylinder.

[0010] As a further technical solution, the feeding mechanism includes a feeding hose and a feeding clamp, the feeding hose is connected to the material receiving seat, and the feeding clamp is configured to clamp the rivets on the material receiving seat and deliver them to the rivet gun of the automatic riveting mechanism.

[0011] As a further technical solution, both ends of the feeding hose are fixed to the mounting plate via hose fixing clamps, and the feeding clamping jaws are fixed to the mounting plate via clamping jaw mounting plates.

[0012] As a further technical solution, a feeding mechanism is also included, which includes a feeding silo, a discharge port of which is connected to a feeding hose via a material distribution track, and the feeding hose is connected to the feeding hose of the feeding mechanism.

[0013] As a further technical solution, the recognition camera is installed on the manipulator base bracket via a camera mounting bracket, and a camera light source is also provided on the camera mounting bracket.

[0014] As a further technical solution, the automatic riveting mechanism, the feeding mechanism and the identification camera are configured to be connected to a PLC control device respectively.

[0015] As a further technical solution, the manipulator base bracket is configured to be connected to the robot via a connecting flange, and a laser ranging sensor is provided on the robot, and the laser ranging sensor is configured to measure the depth of rivet assembly.

[0016] The beneficial effects of the above-mentioned embodiments of the utility model are as follows:

[0017] The rivet pulling robot provided by the utility model can be installed with a plurality of automatic rivet pulling mechanisms of different specifications as required. When in use, automatic rivet pulling mechanisms of different specifications are selected according to different rivet holes, thereby solving the problems of low working efficiency, low flexibility and poor stability in the existing rivet pulling assembly method, greatly improving the working efficiency, and solving the problem of simultaneously riveting rivets of different specifications.

[0018] The rivet pulling robot provided by the utility model is equipped with an identification camera and a laser ranging sensor, which can identify the specifications of rivets and locate the rivet pulling position, and can also measure the assembly depth of the rivets; the rivet pulling robot is also equipped with a feeding mechanism and a loading mechanism, and the PLC control device controls the feeding mechanism according to the information obtained from the identification camera and the laser ranging sensor, thereby being able to load the rivet gun, thereby improving the rivet pulling efficiency.

[0019] The rivet pulling robot provided by the utility model has a small size, is easy to be installed on various rivet pulling assembly equipment, has a wide range of applications, is highly practical, can cooperate with automated rivet pulling equipment to meet the rivet pulling of different workpieces, and can realize the rivet pulling assembly of rivets of different specifications. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention.

[0021] Figure 1 This is a schematic diagram of the overall structure of the riveting manipulator of the utility model;

[0022] Figure 2 It is a structural schematic diagram of the automatic riveting mechanism and feeding mechanism of the utility model;

[0023] Figure 3 It is a top view of the feeding mechanism of the utility model.

[0024] The schematic diagram is for illustrative purposes only;

[0025] Among them, 1. Robot base bracket; 2. Automatic riveting mechanism; 201. Mounting plate; 202. Slide rail; 203. Slide plate; 204. Power cylinder; 205. Riveting gun barrel; 206. Pulling head; 207. Telescopic cylinder; 208. Fixed outer cylinder; 3. Connecting flange; 4. Identification camera; 5. Feeding mechanism; 501. Feeding hose; 502. Hose fixing clamp; 503. Material receiving seat; 504. Clamp mounting plate; 6. Feeding mechanism; 601. Feeding silo; 602. Discharge port; 603. Feeding hose; 604. Material distribution track. DETAILED DESCRIPTION

[0026] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0027] Example 1

[0028] In a typical embodiment of the utility model, a riveting robot is provided, including a robot base bracket 1, on which at least two automatic riveting mechanisms 2 are arranged, each of which is provided with a feeding mechanism 5, and the feeding mechanism 5 is used to automatically install rivets on the rivet gun of the automatic riveting mechanism 2; the robot base bracket 1 is also provided with a recognition camera 4, and the recognition camera 4 is configured to recognize the position of the rivet hole and the specification of the rivet.

[0029] The manipulator base bracket 1 serves as a connecting frame and a supporting frame of the riveting manipulator. Automatic riveting mechanisms 5 of different specifications can be arranged on the manipulator base bracket 1 as needed. In the present embodiment, two automatic riveting mechanisms 2 are arranged. The two automatic riveting mechanisms 2 have the same structure, and the difference lies in the position of the rivet gun and the applicable rivet size.

[0030] like Figure 1 and Figure 2 As shown, the automatic riveting mechanism 2 is fixed on the manipulator base bracket 1 through a mounting plate 201. A connecting flange 3 is provided on the top of the manipulator base bracket 1, and a recognition camera 4 is provided on the bottom. The manipulator base bracket 1 is connected to the robot through the connecting flange 3, and the riveting manipulator is driven by the robot to perform automatic riveting work.

[0031] In this embodiment, the mounting plate 201 is provided with a rivet gun and a feeding mechanism 5, the rivet gun includes a rivet gun barrel 205, the upper end of the rivet gun barrel 205 is connected to the power cylinder 204, and the lower end of the rivet gun barrel 205 is provided with a core puller 206. Further, the outside of the rivet gun barrel 205 is fixedly connected with a fixed outer cylinder 208, the fixed outer cylinder 208 is fixedly connected to the slide plate 203, the slide plate 203 is installed on the slide rail 202, and the slide plate 203 is connected to the telescopic cylinder 207. The telescopic cylinder 207 drives the power cylinder 204 to descend, and the core puller 206 at the bottom of the rivet gun barrel 205 feeds the rivet into the rivet hole. Under the action of the power cylinder 204, the rivet gun barrel 205 enables the core puller 206 at the bottom of the rivet gun barrel 205 to realize the operation of pulling the nail after the precise feeding operation, and complete the rivet process.

[0032] like Figure 2As shown, the feeding mechanism 5 includes a feeding hose 501 and a feeding clamp. The feeding hose 501 is connected to the receiving seat 503. The feeding clamp clamps the rivet on the receiving seat 503 and sends it to the rivet gun of the automatic riveting mechanism 2. Both ends of the feeding hose 501 are fixed to the mounting plate 201 through hose fixing clamps 502. The feeding clamp (not shown in the figure, it is an existing structure) is fixed to the mounting plate 201 through the clamp mounting plate 504. The rivet enters the receiving seat 503 through the feeding hose 501. The feeding clamp clamps the rivet and sends it to the position of the core puller 206 of the rivet gun. After the core puller 206 clamps the rivet, the feeding clamp withdraws to complete the feeding process.

[0033] like Figure 3 As shown, the riveting robot also includes a feeding mechanism 6, which includes a feeding bin 601. The discharge port 602 of the feeding bin 601 is connected to the feeding hose 603 through a dividing track 604. The feeding hose 603 is connected to the feeding hose 501 of the feeding mechanism 5. A plurality of rivets are placed in the feeding bin 601, and a track is arranged inside the feeding bin 601. By vibrating and rotating the feeding bin 601, the rivets are sent one by one to the discharge port 602 of the dividing track. A dividing track 604 is provided at the discharge port. The dividing track 604 is a slide groove structure. The rivets are arranged as a whole in the dividing track 604, and move forward and fall into the feeding hose 603 under the action of vibration. The rivets are sent to the feeding hose 501 of the feeding mechanism 5 by air pressure blowing. The feeding mechanism 6 corresponds to the loading mechanism 5 and the feeding mechanism 6 one by one. Therefore, in the present embodiment, two feeding mechanisms 6 are provided, and the two feeding mechanisms are symmetrically arranged and have the same structure.

[0034] In this embodiment, the recognition camera 4 is installed on the manipulator base bracket 1 through a camera mounting bracket, and a camera light source 5 is also provided on the camera mounting bracket. The recognition camera 4 has the function of taking pictures to locate the holes to be riveted and identifying the specifications of the rivets.

[0035] In this embodiment, the automatic riveting mechanism 2, loading mechanism 5, feeding mechanism 6 and identification camera 4 are all connected to the PLC control device. The PLC control device controls the rivet gun and the feeding mechanism 6 according to the photographing results of the identification camera 4 to realize the automatic riveting process.

[0036] In this embodiment, the manipulator base support 1 is connected to the robot via a connecting flange 3, and a laser ranging sensor is provided on the robot, and the laser ranging sensor is configured to measure the depth of rivet assembly.

[0037] The working process of the riveting robot provided in this embodiment is as follows:

[0038] After the robot drives the manipulator to the specified position, the manipulator is equipped with an identification camera 4 and a laser ranging sensor to identify the workpiece being processed, the corresponding rivet hole position and the specifications of the rivet, and the corresponding feeding mechanism 6 and loading mechanism 5 are controlled by the PLC control device to load the rivet gun. The loading process is as follows: the rivets in the feeding bin 601 are sent to the receiving seat 503 through the feeding hose 603 and the feeding hose 501, and the loading claws send the rivets to the rivet gun, and the rivet gun performs the riveting work.

[0039] Since the riveting manipulator provided in this embodiment is provided with two automatic riveting mechanisms, taking a Φ6 rivet gun and a Φ10 rivet gun as examples, the robot clamps the Φ6 rivet gun to automatically assemble a Φ6 rivet, and the robot repeats the action to complete the assembly of all Φ6 rivets. The robot clamps the Φ10 rivet gun to automatically assemble a Φ10 rivet; the robot repeats the action to complete the assembly of all Φ10 rivets, and then the body is automatically transported to the next station by the motorized roller.

[0040] The existing riveting manipulators have a single structure, and each manipulator is equipped with a rivet gun, which can only complete the riveting of one type of rivet at a time, with low efficiency and poor flexibility. When there are many rivet specifications, only manual handheld rivet guns can be used, and the degree of automation and processing efficiency are low. The utility model has a novel structure, and the manipulator can select a suitable automatic riveting mechanism as needed, and can cooperate with automated equipment to perform riveting processing on the workpiece, and at the same time has a certain protective effect and is highly practical.

[0041] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A riveting robot, characterized in that: The invention comprises a manipulator base support (1), on which at least two automatic riveting mechanisms (2) are arranged, each of which is respectively provided with a feeding mechanism (5), and the feeding mechanism (5) is used to automatically install rivets on the riveting gun of the automatic riveting mechanism (2); the manipulator base support (1) is also provided with a connecting flange (3) and an identification camera (4), and the identification camera (4) is configured to identify the position of the rivet hole and the specifications of the rivet.

2. The riveting robot according to claim 1, characterized in that: The automatic riveting mechanism (2) is fixed to the manipulator base support (1) via a mounting plate (201), and the mounting plate (201) is provided with the riveting gun and the feeding mechanism (5).

3. The riveting robot according to claim 2, characterized in that: The rivet gun comprises a rivet gun barrel (205), the upper end of the rivet gun barrel (205) is connected to a power cylinder (204), and the lower end of the rivet gun barrel (205) is provided with a core pulling head (206).

4. The riveting robot according to claim 3, characterized in that: The outside of the rivet gun barrel (205) is fixedly connected to a fixed outer barrel (208), the fixed outer barrel (208) is fixedly connected to a slide plate (203), the slide plate (203) is installed on a slide rail (202), and the slide plate (203) is connected to a telescopic cylinder (207).

5. The riveting robot according to claim 2, characterized in that: The feeding mechanism (5) comprises a feeding hose (501) and a feeding clamp, wherein the feeding hose (501) is connected to a receiving seat (503), and the feeding clamp is configured to clamp the rivets on the receiving seat (503) and deliver them to the rivet gun of the automatic riveting mechanism (2).

6. The riveting robot according to claim 5, characterized in that: Both ends of the feeding hose (501) are fixed to the mounting plate (201) via hose fixing clamps (502), and the feeding clamping jaws are fixed to the mounting plate (201) via clamping jaw mounting plates (504).

7. The riveting robot according to claim 5, characterized in that: It also includes a feeding mechanism, wherein the feeding mechanism (6) includes a feeding bin (601), the discharge port (602) of the feeding bin (601) is connected to a feeding hose (603) via a material distribution track (604), and the feeding hose (603) is connected to the feeding hose (501) of the feeding mechanism (5).

8. The riveting robot according to claim 1, characterized in that: The recognition camera (4) is mounted on the manipulator base bracket (1) via a camera mounting bracket, and a camera light source is also provided on the camera mounting bracket.

9. The riveting robot according to claim 1, characterized in that: The automatic riveting mechanism (2), the feeding mechanism (5) and the identification camera (4) are arranged to be connected to a PLC control device respectively.

10. The riveting robot according to claim 1, characterized in that: The manipulator base support (1) is arranged to be connected to the robot via a connecting flange (3); a laser distance measuring sensor is arranged on the robot; and the laser distance measuring sensor is arranged to measure the depth of rivet assembly.

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