Clip type FDS riveting system compatible with rivets of multiple specifications

Abstract

The utility model relates to the technical field of FDS riveting equipment, and discloses a cartridge clip type FDS riveting system compatible with rivets of multiple specifications, which comprises a tightening gun, a robot, a rivet filling station, a feeder, a rivet distributing mechanism, a cartridge clip and a controller, the robot drives the tightening gun to conduct riveting operation and drives the cartridge holder to be in butt joint with the rivet filling station, a storage bin of the rivet filling station and the cartridge holder are each provided with a plurality of rivet grooves capable of storing rivets of various specifications, different rivet feeders convey the rivets of different specifications into the rivet grooves of the storage bin to be stored, and then the storage bin fills the cartridge holder with the rivets. The nail filling station is used for filling nails for the cartridge holder, the nail filling station and the cartridge holder can be separated, then the cartridge holder is used for supplying the nails for the tightening gun, no nail feeding pipe is arranged on the side of the robot, the action of the robot is not limited by the nail feeding pipe, and the accessibility is better; the cartridge holder is provided with a plurality of rivet storage grooves, rivets of various specifications can be stored at the same time, the rivets can be selectively supplied to the tightening gun, one set of equipment can use the rivets of various specifications, and the flexibility degree of the equipment is high.

Description

Technical Field

[0001] The utility model relates to the technical field of FDS riveting equipment, and more specifically, to a magazine-type FDS riveting system compatible with multiple specifications of rivets. Background Technique

[0002] The FDS (fully known as Flow Drill Screw, hot melt self-tapping screw) equipment is a device that drives a tightening gun to perform riveting operations through a robot. Currently, the commonly used FDS equipment in the industry has two types: blow-type and magazine-type. The blow-type FDS equipment uses a feeder to supply nails to the tightening gun through a nail delivery pipe, and the magazine-type FDS equipment has a magazine on the tightening gun that can store rivets.

[0003] The maximum length of the nail delivery pipe of the blow-type FDS equipment is 20 meters. Limited by the nail delivery pipe, the movement range of the robot is limited, the accessibility is poor, the nail delivery time is 2 - 3 seconds, and the beat is slow.

[0004] A set of magazine-type FDS equipment can only use one specification of rivets. For each additional specification of rivets, an additional robot and a set of FDS equipment are required, resulting in low equipment utilization rate and high investment cost. Content of the Utility Model

[0005] The purpose of the utility model is to provide a magazine-type FDS riveting system compatible with multiple specifications of rivets to solve the problems in the above background technique.

[0006] To solve the above technical problems, the utility model is implemented by adopting the following technical solutions:

[0007] A magazine-type FDS riveting system compatible with multiple specifications of rivets includes a tightening gun 100 and a robot 200 that drives the tightening gun 100 to move, and further includes:

[0008] A nail filling station 300, the nail filling station 300 includes a storage bin 310 and an outlet baffle 320. The storage bin 310 has at least two first nail grooves 311 evenly distributed along the circumference. The first nail grooves 311 have spaces for storing rivets, and nail openings for the entry and exit of rivets are provided on both the top and bottom surfaces thereof; the outlet baffle 320 is movably arranged on the bottom surface of the storage bin 310 and can be controlled to perform translational movement to block and open the nail openings on the bottom surface of the storage bin 310;

[0009] At least one feeder 400, the feeder 400 fills the first nail grooves 311 with nails through a nail delivery pipe;

[0010] The nail separating mechanism 500 is connected to the robot 200. The nail separating mechanism 500 includes a box body 510 and a nail separating cylinder 520. A nail separating inlet for rivets to enter is provided on the top surface of the box body 510. Inside the box body 510, there are a vertically arranged nail separating channel 511 and a nail blowing channel 512. One end of the nail separating channel 511 is communicated with the nail separating inlet, and the other end is communicated with the nail blowing channel 512. One end of the nail blowing channel 512 is connected to the rivet conveying channel of the tightening gun 100, and the other end is connected to compressed air. The piston rod of the nail separating cylinder 520 extends into the box body 510, and the telescopic stroke is from one end to the other end of the nail separating channel 511.

[0011] The magazine 600 is rotatably connected to the top surface of the box body 510 and can be controlled to rotate. The magazine 600 has second nail grooves 610 with the same number and the same distribution as the first nail grooves 311. Nail openings for rivets to enter and exit are provided on both the top surface and the bottom surface of the second nail grooves 610. The nail opening on the bottom surface coincides with the nail separating inlet in sequence during the rotation of the magazine 600.

[0012] Further, a positioning pin 350 is provided on the bottom surface of the storage bin 310. Correspondingly, a positioning hole 620 that cooperates with the positioning pin 350 is provided on the top surface of the magazine 600.

[0013] Further, a first sensor 360 for detecting the position of the magazine 600 is provided on the bottom surface of the storage bin 310.

[0014] Further, a second sensor for detecting whether there is a rivet in the first nail groove 311 is provided in the first nail groove 311.

[0015] Further, the nail filling station 300 also has a fourth sensor for detecting the position of the nail outlet baffle 320.

[0016] Further, there are six first nail grooves 311, and the adjacent first nail grooves 311 are arranged at an angle of 60°.

[0017] Further, there are six feeders 400, and each feeder 400 fills a rivet into one of the first nail grooves 311.

[0018] Further, a third sensor for detecting whether there is a rivet in the second nail groove 610 is provided in the second nail groove 610.

[0019] Compared with the prior art, the beneficial effects of the present utility model are:

[0020] The magazine - type FDS riveting system compatible with multiple specifications of rivets provided by the utility model uses a nail - filling station to fill nails into the magazine. The nail - filling station and the magazine are separable. Then, the magazine supplies nails to the tightening gun. There is no nail - feeding tube on the robot side, and the movement of the robot is not restricted by the nail - feeding tube, so the accessibility is better. The magazine has multiple nail - storage grooves, which can store multiple specifications of rivets at the same time. It can be selected to supply nails to the tightening gun, enabling a set of equipment to use multiple specifications of rivets. The flexibility of the equipment is high, which can reduce equipment investment and save investment costs. Brief Description of the Drawings

[0021] The following further describes the present utility model with reference to the drawings:

[0022] Figure 1 It is a schematic structural diagram of a magazine - type FDS riveting system compatible with multiple specifications of rivets in an embodiment;

[0023] Figure 2 It is a schematic structural diagram of the nail - filling station in an embodiment;

[0024] Figure 3 It is a schematic structural diagram of the storage bin in an embodiment;

[0025] Figure 4 It is a schematic structural diagram of the tightening gun, the nail - separating mechanism and the magazine in an embodiment;

[0026] Figure 5 It is a schematic structural diagram of the nail - separating mechanism and the magazine in an embodiment;

[0027] Figure 6 It is a schematic diagram of the internal structure of the nail - separating mechanism in an embodiment;

[0028] Figure 7 It is a schematic diagram of the working process of a magazine - type FDS riveting system compatible with multiple specifications of rivets in an embodiment;

[0029] 100. Tightening gun;

[0030] 200. Robot;

[0031] 300. Nail - filling station, 310. Storage bin, 311. First nail groove, 320. Movable baffle at the nail - outlet, 330. Installation column, 340. Baffle - driving cylinder, 350. Positioning pin, 360. First sensor;

[0032] 400. Feeder, 410. Nail - feeding tube;

[0033] 500. Nail - separating mechanism, 510. Box body, 511. Nail - separating channel, 512. Nail - blowing channel, 520. Nail - separating cylinder, 521. Piston rod of the nail - separating cylinder;

[0034] 600. Magazine, 610. Second nail groove, 620. Positioning hole, 630. Servo motor;

[0035] 700. Controller;

[0036] 800. Rivet;

[0037] 900. Flange connection frame. Specific embodiments

[0038] For the purposes of making the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the present utility model will be described in detail below with reference to the accompanying drawings. Apparently, the described embodiments are some but not all of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without making any creative effort fall within the scope of protection of the present utility model.

[0039] Refer to Figures 1 to 6 , this embodiment provides a magazine - type FDS riveting system compatible with multiple - specification rivets, including a tightening gun 100, a robot 200, a nail - filling station 300, a feeder 400, a nail - separating mechanism 500, a magazine 600, and a controller 700.

[0040] The tightening gun 100, the nail - separating mechanism 500, and the magazine 600 are installed on the robotic arm of the robot 200 through a flange connection frame 900, and the robot 200 can drive the tightening gun 100, the nail - separating mechanism 500, and the magazine 600 to move together along a predetermined trajectory.

[0041] Both the tightening gun 100 and the robot 200 are existing products, and their specific structures will not be elaborated here.

[0042] The nail - filling station 300 includes a storage bin 310, a nail - outlet baffle 320, and a mounting column 330.

[0043] The mounting column 330 provides an installation foundation for the storage bin 310.

[0044] The storage bin 310 has six first nail grooves 311 evenly distributed along the circumference, and an included angle of 60° is provided between two adjacent first nail grooves 311, so that the storage bin 310 has a three-dimensional surrounding structure; the first nail groove 311 has a space for storing rivets, and nail openings for the rivets to enter and exit are provided on both the top surface and the bottom surface of the first nail groove 311. Each first nail groove 311 can store one specification of rivets, and the nail filling station 300 can store at most six specifications of rivets at the same time. In actual use, the number of first nail grooves 311 to be enabled depends on the number of rivet specifications required, and the remaining first nail grooves 311 can be reserved. At the same time, the number of rivets stored in each first nail groove 311 can be designed in combination with the usage amount of each vehicle.

[0045] The nail outlet baffle 320 is movably arranged on the bottom surface of the storage bin 310 and can be controlled to translate to block and open the nail opening on the bottom surface of the storage bin 310. And a fourth sensor for detecting the position of the nail outlet baffle 320 is also provided on the nail filling station 300. In this embodiment, the nail outlet baffle 320 is controlled to translate by a baffle driving cylinder 340. Specifically, the cylinder body of the baffle driving cylinder 340 is installed on the installation column 330, the piston rod of the baffle driving cylinder 340 horizontally extends and retracts, and is connected to the nail outlet baffle 320 through a connecting rod. The extension and retraction of the piston rod of the baffle driving cylinder 340 can drive the nail outlet baffle 320 to translate. A proximity switch for detecting the position of the piston is provided on the cylinder body of the baffle driving cylinder 340 as the fourth sensor. By detecting the position of the piston, the extension and retraction state of the piston rod is determined, and then the position of the nail outlet baffle 320 is judged.

[0046] The number of the feeders 400 is the same as the number of the first nail grooves 311, which is also six. Each feeder 400 is respectively communicated with the nail opening on the top surface of a first nail groove 311 through a nail feeding pipe 410 to fill the first nail groove 311 with nails. The six feeders 400 can provide different specifications of rivets, so that different specifications of rivets can be stored in the six first nail grooves 311. The feeder 400 adopts an existing product, and its specific structure will not be described in detail here.

[0047] The nail separating mechanism 500 and the tightening gun 100 are jointly connected to the robotic arm of the robot 200 and move together with the tightening gun 100. The nail separating mechanism 500 includes a box body 510 and a nail separating cylinder 520. The top surface of the box body 510 is provided with a nail separating inlet for rivets 800 to enter. Inside the box body 510, there are a nail separating channel 511 and a nail blowing channel 512 arranged perpendicular to each other. One end of the nail separating channel 511 communicates with the nail separating inlet, and the other end communicates with the nail blowing channel 512. One end of the nail blowing channel 512 is connected to the rivet conveying channel of the tightening gun 100, and the other end is connected to compressed air. The nail separating cylinder piston rod 521 of the nail separating cylinder 520 extends into the box body 510, and the telescopic stroke is from one end of the nail separating channel 511 to the other end. The rivet 800 enters the nail separating channel 511 from the nail separating inlet. The nail separating cylinder piston rod 521 extends out, pushing the rivet 800 from the nail separating channel 511 into the nail blowing channel 512. The compressed air connected to one end of the nail blowing channel 512 blows the rivet 800 into the rivet conveying channel of the tightening gun 100.

[0048] The magazine 600 is rotatably connected to the top surface of the box body 510 and can be controlled to rotate. The magazine 600 is configured to have the same structure as the storage bin 310, with six second nail grooves 610 that are the same as the first nail grooves 311. The six second nail grooves 610 are also evenly distributed along the circumference, and the adjacent second nail grooves 610 are arranged at an angle of 60°. Nail openings for the entry and exit of rivets are provided on both the top and bottom surfaces of the second nail grooves 610. Any nail opening on the bottom surface coincides with the position of the nail separating inlet in the process of the rotation of the magazine 600.

[0049] In this embodiment, the rotation of the magazine 600 is controlled by a servo motor 630. Specifically, the magazine 600 is rotatably connected to the box body 510 through a central axis. The bottom of the central axis is connected to the output shaft of the servo motor 630 using a shrink fit bushing and rotates under the drive of the servo motor 630. The position of the second nail groove 610 is switched according to production needs, so that different second nail grooves 610 coincide with the nail separating inlet of the box body 510. The rivets stored in the second nail grooves 610 enter the nail separating mechanism 500, and the nail separating mechanism 500 supplies nails to the tightening gun 100.

[0050] Since the magazine 600 is connected to the box body 510, the robot 200 can drive the magazine 600 to move together. When the second nail groove 610 in the magazine 600 is short of nails, the robot 200 can drive the magazine 600 to dock with the storage bin 310, and the storage bin 310 replenishes the rivets into the magazine 600.

[0051] In this embodiment, in order to accurately dock the magazine 600 with the storage bin 310, a positioning pin 350 is provided on the bottom surface of the storage bin 310. Correspondingly, a positioning hole 620 that cooperates with the positioning pin 350 is provided on the top surface of the magazine 600. When the positioning hole 620 is docked with the positioning pin 350, the second nail grooves 610 of the magazine 600 correspond to the first nail grooves 311 of the storage bin 310 one by one. At this time, when the nail outlet baffle 320 is opened, the rivets in the first nail grooves 311 can be blown into the corresponding second nail grooves 610.

[0052] In this embodiment, a first sensor 360 for detecting the position of the magazine 600 is provided on the bottom surface of the storage bin 310, so as to further determine whether the magazine 600 is docked with the storage bin 310.

[0053] The controller 700 is used to control the tightening gun 100, the robot 200, the baffle driving cylinder 340 of the nail filling station 300, the feeder 400, the nail separating cylinder 520 of the nail separating mechanism 500, and the servo motor 630 of the magazine 600 to perform collaborative operations. First, it controls the feeder 400 to fill nails for the nail filling station 300. Second, it controls the nail filling station 300 to fill nails for the magazine 600. Third, according to the instructions of the controller 700, it controls the magazine 600 to perform rivet type switching and the tightening gun 100 to perform riveting operations.

[0054] In this embodiment, in order to achieve automatic control, a second sensor for detecting whether there are rivets in the first nail grooves 311 is provided in the first nail grooves 311. When any one of the second sensors detects that there is a lack of nails in the corresponding first nail grooves 311, it transmits a signal to the controller 700, and the controller 700 controls the corresponding feeder 400 to fill nails into the first nail grooves 311. At the same time, a third sensor for detecting whether there are rivets in the second nail grooves 610 is provided in the second nail grooves 610. When any one of the third sensors detects that there is a lack of nails in the corresponding second nail grooves 610, it transmits a signal to the controller 700, and the controller 700 controls the robot 200 to drive the magazine 600 to move and dock with the storage bin 310. At this time, the first sensor 360 detects the signal of the magazine 600 and transmits the signal to the controller 700. The controller 700 controls the baffle driving cylinder 340 to act, opens the nail outlet baffle 320, and blows the rivets in the first nail grooves 311 into the corresponding second nail grooves 610.

[0055] Refer to Figure 7 , the general working process of a magazine-type FDS riveting system compatible with multiple specifications of rivets provided in this embodiment is as follows:

[0056] First, it is detected by the second sensor whether the rivets in the first nail groove 311 of the storage bin 310 are not filled up. If the result is that they are not filled up, it is confirmed by the fourth sensor that the nail outlet baffle 320 is in the closed state, and the controller 700 controls the feeder 400 to fill nails for the nail filling station 300. The rivets in the feeder 400 are blown through the nail feeding pipe to the nail filling station 300 and stored in the storage bin 310 until the first nail groove 311 of the storage bin 310 is filled up.

[0057] During the production line transmission or workpiece loading process, the robot 200 carries the tightening gun 100 and moves to the nail filling station 300, docks the magazine 600 with the storage bin 310, the baffle driving cylinder 340 drives the nail outlet baffle 320 to open, and the rivets stored in the storage bin 310 are blown into the magazine 600 until the second nail groove 610 of the magazine 600 is full. Subsequently, the baffle driving cylinder 340 drives the nail outlet baffle 320 to close, and the robot 200 carries the tightening gun 100 and separates from the nail filling station 300. After the workpiece reaches the working position, the robot 200 carries the tightening gun 100 to perform the riveting operation.

[0058] In the description of the present application, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation to the present application. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0059] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present utility model. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present utility model. Therefore, the present utility model will not be limited to the embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A clip-type FDS riveting system compatible with rivets of various specifications, comprising a tightening gun (100) and a robot (200) for driving the tightening gun (100), characterized in that: Also includes: A nail charging station (300), the nail charging station (300) comprising a material storage bin (310) and a nail outlet baffle (320), the material storage bin (310) having at least two first nail grooves (311) evenly distributed along the circumference, the first nail grooves (311) having space for storing rivets, and the top and bottom surfaces of the first nail grooves are both provided with nail openings for the rivets to enter and exit; the nail outlet baffle (320) is movably arranged on the bottom surface of the material storage bin (310), and can be controlled to move in translation to cover and open the nail openings on the bottom surface of the material storage bin (310); at least one feeder (400), the feeder (400) filling the first nail groove (311) with nails through a nail feeding tube; A nail separation mechanism (500) is connected to the robot (200), and the nail separation mechanism (500) comprises a box body (510) and a nail separation cylinder (520). The top surface of the box body (510) is provided with a nail separation entrance for rivets to enter. The box body (510) has a nail separation channel (511) and a nail blowing channel (512) arranged perpendicularly to each other. One end of the nail separation channel (511) is connected to the nail separation entrance, and the other end is connected to the nail blowing channel (512). One end of the nail blowing channel (512) is connected to the rivet conveying channel of the tightening gun (100), and the other end is connected to compressed air. The piston rod of the nail separation cylinder (520) extends into the box body (510), and the telescopic stroke is from one end of the nail separation channel (511) to the other end. A clip (600) is rotatably connected to the top surface of the box body (510) and can be controlled to rotate. The clip (600) has second nail grooves (610) with the same number and distribution as the first nail grooves (311). The top and bottom surfaces of the second nail grooves (610) are both provided with nail openings for rivets to enter and exit. The nail openings on the bottom surface are sequentially overlapped with the nail entrances during the rotation of the clip (600).

2. The clip-type FDS riveting system compatible with rivets of multiple specifications according to claim 1 is characterized in that: The bottom surface of the material storage bin (310) is provided with a positioning pin (350), and correspondingly, the top surface of the magazine (600) is provided with a positioning hole (620) that cooperates with the positioning pin (350).

3. The clip-type FDS riveting system compatible with rivets of multiple specifications according to claim 1 is characterized in that: The bottom surface of the storage bin (310) is provided with a first sensor (360) for detecting the position of the magazine (600).

4. The clip-type FDS riveting system compatible with rivets of multiple specifications according to claim 1 is characterized in that: A second sensor for detecting whether a rivet is present in the first nail groove (311) is arranged in the first nail groove (311).

5. The clip-type FDS riveting system compatible with rivets of multiple specifications according to claim 1 is characterized in that: The nail filling station (300) also has a fourth sensor for detecting the position of the nail outlet baffle (320).

6. The clip-type FDS riveting system compatible with rivets of multiple specifications according to claim 1 is characterized in that: There are six first nail grooves (311), and two adjacent first nail grooves (311) are arranged at an angle of 60°.

7. The clip-type FDS riveting system compatible with rivets of multiple specifications according to claim 6 is characterized in that: There are six feeders (400), and each feeder (400) is used to fill one of the first nail grooves (311) with nails.

8. The clip-type FDS riveting system compatible with rivets of multiple specifications according to claim 1 is characterized in that: A third sensor is arranged in the second nail groove (610) and is used to detect whether a rivet is present in the second nail groove (610).

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