Full-automatic intelligent rivet pulling device of robot

Abstract

The utility model belongs to the technical field of rivet nut installation, and particularly provides a robot full-automatic intelligent rivet device. A moving motor is arranged at the upper end of the rack, a mounting bracket is arranged at the output end of the moving motor, an upward pulling mechanism is arranged in the mounting bracket, a clutch mechanism is arranged at the lower end of the upward pulling mechanism, an executing mechanism is arranged at the lower end of the mounting bracket, and a second meshing piece matched with the first meshing piece is arranged at the upper end of the executing mechanism; a guide rod matched with the shifting fork is further arranged at the upper end of the executing mechanism, and an identification camera is arranged on the side, corresponding to the executing mechanism, of the surface of the rack. The automatic riveting device has the specific beneficial effects that the riveting efficiency is improved through the positioning recognition function of the recognition camera, intelligent and large-batch riveting is achieved, a simpler mechanical structure transmission line is adopted, energy loss in the transmission process is reduced, meanwhile, the production cost of the automatic riveting device is reduced, and the automatic riveting device is easy to install and convenient to maintain.

Description

Technical Field

[0001] The utility model belongs to the technical field of rivet nut installation, and in particular relates to a robot fully automatic intelligent rivet device. Background Art

[0002] The installation of rivet nuts requires a rivet nut gun. When installing rivet nuts in batches, a fully automatic rivet nut gun is generally used. However, the current fully automatic rivet nut gun has the problem of misalignment of rivet holes when handling the installation of batches of rivet nuts. The rivet holes cannot be found quickly, which affects the riveting efficiency and is not intelligent enough. At the same time, the existing fully automatic rivet nut gun has a complex mechanical structure transmission route, excessive energy loss, and is difficult to install and maintain. For this reason, a robot fully automatic intelligent riveting device is urgently needed. Utility Model Content

[0003] In view of the technical defects existing in the background technology, the utility model proposes a robot fully automatic intelligent riveting device, which solves the above technical problems and meets the actual needs. The specific technical solution is as follows:

[0004] A robot fully automatic intelligent riveting device comprises a frame, a mobile motor is provided at the upper end of the frame, a mounting bracket is provided at the output end of the mobile motor, a pull-up mechanism is provided in the mounting bracket, a clutch mechanism is provided at the lower end of the pull-up mechanism, the clutch mechanism comprises a fixed plate arranged on the inner side of the mounting bracket, a clutch motor is provided at the upper end of the fixed plate, a shift fork is provided at the output end of the clutch motor, a bearing matched with the shift fork is provided at the lower end of the pull-up mechanism, a first engaging member is provided at the lower end of the shift fork, an actuator is provided at the lower end of the mounting bracket, a second engaging member matched with the first engaging member is provided at the upper end of the actuator, a guide rod matched with the shift fork is also provided at the upper end of the actuator, and an identification camera is provided at the side of the frame surface corresponding to the actuator.

[0005] As an improvement of the above solution, a lifting track is provided on the surface of the frame, and a lifting connection block matched with the lifting track is provided on the back side of the mounting bracket.

[0006] As an improvement of the above scheme, a rotating motor is also provided at the upper end of the fixed plate, a first gear is provided at the output end of the rotating motor, a second gear matched with the first gear is provided at the lower end of the fixed plate, and a third gear matched with the second gear is also provided at the lower end of the pulling mechanism.

[0007] As an improvement of the above solution, a rivet rod is provided at the lower end of the actuator, a central axis is provided at the upper end of the rivet rod, a protective sleeve is provided on the outer side of the rivet rod, and a positioning sleeve is provided at the upper end of the protective sleeve.

[0008] As an improvement of the above scheme, the second engaging part is provided at the upper end of the positioning sleeve, the central axis passes through the positioning sleeve, and a fourth gear matched with the first engaging part is provided at the position of the central axis corresponding to the upper end of the positioning sleeve, and the bearing is provided at the upper end of the first engaging part.

[0009] As an improvement of the above solution, a pull-up motor is provided at the upper end of the pull-up mechanism, and an output end of the pull-up motor is connected to the central axis.

[0010] The beneficial effects of the utility model are as follows: a rotating motor is used to realize the forward and reverse rotation functions of the central shaft and the reverse function of the protective sleeve, which are used for the threaded connection between the rivet rod and the rivet; a clutch mechanism is used to control the connection and separation of the central shaft and the positioning sleeve, so that only the reverse function of the protective sleeve can be realized; the upper pulling mechanism is used to realize the completion of the riveting action and provide axial force for the riveting action; the actuator is used to fix the rivet rod, which is threadedly connected to the rivet under the drive of the rotating motor; the recognition camera can locate and identify the rivet hole, improve the speed and success rate of rivet riveting, and improve the riveting efficiency through the positioning and recognition function of the recognition camera, realize intelligent and large-scale riveting, adopt a simpler mechanical structure transmission line, reduce the energy loss in the transmission process, and at the same time reduce the production cost of the device, and it is easy to install and maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a schematic diagram of the overall structure of the robot fully automatic intelligent riveting device of the utility model;

[0012] Figure 2 It is a structural schematic diagram of the rotary motor of the robot fully automatic intelligent riveting device of the utility model;

[0013] Figure 3 It is a structural schematic diagram of the clutch mechanism of the robot fully automatic intelligent riveting device of the utility model;

[0014] Figure 4 The exploded diagram is a clutch mechanism of the robot fully automatic intelligent riveting device of the utility model.

[0015] Among them: frame 1, mobile motor 11, lifting rail 12, mounting bracket 2, lifting connection block 21, pulling mechanism 3, pulling motor 31, clutch mechanism 4, fixing plate 41, clutch motor 42, fork 43, bearing 44, first engagement member 45, second engagement member 46, guide rod 47, fourth gear 48, actuator 5, rivet rod 51, center shaft 52, protective cover 53, positioning cover 54, identification camera 6, rotating motor 7, first gear 71, second gear 72, third gear 73. DETAILED DESCRIPTION

[0016] The implementation methods of the present invention are described below in conjunction with the accompanying drawings and relevant embodiments. The implementation methods of the present invention are not limited to the following embodiments, and the present invention involves relevant necessary components in this technical field, which should be regarded as common knowledge in this technical field and can be known and mastered by technical personnel in this technical field.

[0017] like Figures 1 to 4 As shown, a robot fully automatic intelligent riveting device includes a frame 1, a mobile motor 11 is provided at the upper end of the frame 1, a mounting bracket 2 is provided at the output end of the mobile motor 11, a pull-up mechanism 3 is provided in the mounting bracket 2, a clutch mechanism 4 is provided at the lower end of the pull-up mechanism 3, the clutch mechanism 4 includes a fixed plate 41 arranged on the inner side of the mounting bracket 2, a clutch motor 42 is provided at the upper end of the fixed plate 41, a shift fork 43 is provided at the output end of the clutch motor 42, a bearing 44 matched with the shift fork 43 is provided at the lower end of the pull-up mechanism 3, a first engagement member 45 is provided at the lower end of the shift fork 43, an actuator 5 is provided at the lower end of the mounting bracket 2, a second engagement member 46 matched with the first engagement member 45 is provided at the upper end of the actuator 5, a guide rod 47 matched with the shift fork 43 is also provided at the upper end of the actuator 5, and an identification camera 6 is provided on the side of the frame 1 surface corresponding to the actuator 5.

[0018] like Figure 1 As shown, it should be noted that a lifting track 12 is provided on the surface of the frame 1 , and a lifting connection block 21 adapted to the lifting track 12 is provided on the back side of the mounting bracket 2 .

[0019] like Figure 2 As shown, it should be noted that a rotating motor 7 is also provided at the upper end of the fixed plate 41, a first gear 71 is provided at the output end of the rotating motor 7, a second gear 72 matched with the first gear 71 is provided at the lower end of the fixed plate 41, and a third gear 74 matched with the second gear 72 is also provided at the lower end of the pulling mechanism 3.

[0020] like Figure 3 and Figure 4 As shown, it should be noted that a rivet rod 51 is provided at the lower end of the actuator 5, a central axis 52 is provided at the upper end of the rivet rod 51, a protective sleeve 53 is provided on the outer side of the rivet rod 51, and a positioning sleeve 54 is provided at the upper end of the protective sleeve 53.

[0021] like Figure 3 and Figure 4As shown, it should be noted that the second engaging member 46 is provided at the upper end of the positioning sleeve 54, the center axis 52 passes through the positioning sleeve 54, and the fourth gear 48 matched with the first engaging member 45 is provided at the position of the center axis 52 corresponding to the upper end of the positioning sleeve 54, and the upper end of the first engaging member 45 is provided with the bearing 44.

[0022] like Figure 1 As shown, it should be noted that a pull-up motor 31 is provided at the upper end of the pull-up mechanism 3 , and an output end of the pull-up motor 31 is connected to the central shaft 52 .

[0023] Working principle: The rotating motor 7 is used to realize the forward and reverse functions of the central shaft 52 and the reverse function of the protective sleeve 53, which is used for the threaded connection between the rivet rod 51 and the rivet; the clutch mechanism 4 is used to control the connection and separation of the central shaft 52 and the positioning sleeve 54, so that the protective sleeve 53 can only have the reverse function; the upper pulling mechanism 3 is used to complete the riveting action and provide axial force for the riveting action; the actuator 5 is used to fix the rivet rod 51, which is threadedly connected to the rivet under the drive of the rotating motor 7; the identification camera 6 can locate and identify the rivet hole, thereby improving the speed and success rate of rivet riveting;

[0024] Before work, the frame 1 is connected to the industrial robot arm, and the industrial robot arm and the identification camera 6 are used together to quickly move the rivet rod 51 to the rivet nut, and the mobile motor 11 is driven to move the mounting bracket 2 downward as a whole, so that the end of the rivet rod 51 contacts the rivet nut. At this time, the rotating motor 7 will drive the central shaft 52 and the rivet rod 51 to rotate, so that the rivet nut is connected to the rivet rod 51, and automatic feeding is completed. The rivet rod 51 is quickly moved to the rivet hole by the industrial robot arm and the identification camera 6 again for riveting, and the first meshing member 45 is connected to the second meshing member 46 by the clutch motor 42. At this time, the rotating motor 7 drives the central shaft 52 and the positioning sleeve 54 to rotate together, and the mounting bracket 2 is moved downward as a whole by the moving motor 11, so that the rivet nut enters the rivet hole and the lower end of the protective sleeve 53 contacts the upper end of the rivet nut. At the same time, the upper pulling motor 31 is driven to pull the central shaft 52 and the rivet rod 51 upward to deform the rivet nut and complete the riveting action. By identifying the positioning recognition function of the recognition camera 6, the riveting efficiency is improved, and intelligent and large-scale riveting is realized. A simpler mechanical structure transmission line is adopted, which reduces the energy loss in the transmission process, reduces the production cost of the device, and is easy to install and maintain.

[0025] The above is only a preferred embodiment of the present invention. It should be pointed out that ordinary technicians in this technical field can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A robot fully automatic intelligent riveting device, comprising a frame, characterized in that: A moving motor is provided at the upper end of the frame, a mounting bracket is provided at the output end of the moving motor, a pulling mechanism is provided inside the mounting bracket, a clutch mechanism is provided at the lower end of the pulling mechanism, the clutch mechanism comprises a fixing plate arranged on the inner side of the mounting bracket, a clutch motor is provided at the upper end of the fixing plate, a shift fork is provided at the output end of the clutch motor, a bearing matched with the shift fork is provided at the lower end of the pulling mechanism, a first engaging member is provided at the lower end of the shift fork, an actuator is provided at the lower end of the mounting bracket, a second engaging member matched with the first engaging member is provided at the upper end of the actuator, a guide rod matched with the shift fork is also provided at the upper end of the actuator, and an identification camera is provided on the side of the frame surface corresponding to the actuator.

2. The robot fully automatic intelligent riveting device according to claim 1 is characterized in that: A lifting track is arranged on the surface of the frame, and a lifting connection block matched with the lifting track is arranged on the back side of the mounting bracket.

3. The robot fully automatic intelligent riveting device according to claim 1 is characterized in that: A rotating motor is also provided at the upper end of the fixed plate, a first gear is provided at the output end of the rotating motor, a second gear matched with the first gear is provided at the lower end of the fixed plate, and a third gear matched with the second gear is also provided at the lower end of the pulling mechanism.

4. The robot fully automatic intelligent riveting device according to claim 1 is characterized in that: A rivet rod is arranged at the lower end of the actuator, a central axis is arranged at the upper end of the rivet rod, a protective sleeve is arranged at the outer side of the rivet rod, and a positioning sleeve is arranged at the upper end of the protective sleeve.

5. The robot fully automatic intelligent riveting device according to claim 4 is characterized in that: The second engaging member is disposed at the upper end of the positioning sleeve, the central axis passes through the positioning sleeve, and a fourth gear matched with the first engaging member is disposed at a position of the central axis corresponding to the upper end of the positioning sleeve, and the bearing is disposed at the upper end of the first engaging member.

6. The robot fully automatic intelligent riveting device according to claim 4 is characterized in that: A pull-up motor is disposed at the upper end of the pull-up mechanism, and an output end of the pull-up motor is connected to the central shaft.

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