Pressing rivet part feeding manipulator

Abstract

The utility model discloses a pressing rivet part feeding mechanical arm, and relates to the technical field of spin riveting machine machining. According to the technical scheme, the pressing rivet part feeding mechanical arm comprises a base, a rotating mechanism is installed on the base, a servo lifting mechanism is installed on the rotating mechanism, a servo push-pull mechanism is installed on the servo lifting mechanism, and a grabbing mechanism is installed on the servo push-pull mechanism; the grabbing mechanism comprises a telescopic mechanism used for controlling movement of the grabbing mechanism, a connecting block is installed on the telescopic mechanism, a limiting rod is installed at the top end of the telescopic mechanism and slidably connected with the connecting block, a connecting frame is slidably connected to the limiting rod, and a second limiting hole is formed in the connecting position of the connecting frame and the limiting rod. An adjusting mechanism is installed at the top end of the connecting frame and used for adjusting the position of the pressing rivet nut when the mechanical arm grabs, and the connecting frame is rotationally connected with the connecting block. The utility model aims to provide the pressing rivet part feeding manipulator which achieves the effect of positioning and correcting a pressing rivet nut during grabbing.

Description

Technical Field

[0001] The utility model discloses a riveting parts feeding manipulator, which relates to the technical field of rotary riveting machine processing. Background Art

[0002] The purpose of a self-clinching nut loading system is to transport nuts from a storage area to the production line for the riveting operation. The system must be designed to ensure that the nuts can be efficiently and accurately delivered to the processing location. In the loading system, a loading robot can be used to replace the operator to manually transfer the self-clinching nuts from one processing station to another for processing. The loading robot (also known as an automatic loading robot) is a device used to automatically transfer materials from a storage area to a production line or processing area. It plays a vital role in modern manufacturing and can significantly improve production efficiency and accuracy.

[0003] The shapes of self-clinching nuts vary. When they are grabbed and loaded, the different clamping positions may lead to inaccurate positioning when they are transferred to the workbench, making the processing less precise and affecting the processing quality. Therefore, it is necessary to provide a self-clinching parts loading robot to solve the above problems. Utility Model Content

[0004] The utility model aims to provide a manipulator for feeding press riveted parts, which can achieve the effect of positioning and correcting the press riveted nuts when grabbing them.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a robot for loading riveted parts, comprising a base, characterized in that: a rotating mechanism is installed on the base to control the rotation of the robot, a servo lifting mechanism is installed on the rotating mechanism to control the up and down movement of the robot, a servo push-pull mechanism is installed on the servo lifting mechanism to control the horizontal lateral movement of the robot, and a gripping mechanism is installed on the servo push-pull mechanism to grip and transfer the riveted nuts; the gripping mechanism includes a telescopic mechanism to control the movement of the gripping mechanism, a connecting block is installed on the telescopic mechanism, a limiting rod is installed on the top of the telescopic mechanism, the limiting rod is slidably connected to the connecting block, a connecting frame is slidably connected to the limiting rod, a second limiting hole is provided at the connection between the connecting frame and the limiting rod to limit the movement range of the connecting frame, an adjustment mechanism is installed on the top of the connecting frame to adjust the position of the riveted nut when the robot grips, and the connecting frame is rotatably connected to the connecting block.

[0006] Preferably, the adjustment mechanism includes a clamping jaw, a second spring is installed at the central axis of the clamping jaw, a receiving plate is installed at the top of the second spring, several groups of cavities are evenly arranged inside the receiving plate, a first spring is installed in the cavity, and a resistance block is installed at the other end of the first spring.

[0007] Preferably, the telescopic mechanism in the gripping mechanism is driven by a cylinder.

[0008] Preferably, a rectangular platform is provided on the connecting block, and a first limiting hole is provided at the central axis of the rectangular platform.

[0009] Preferably, two groups of connecting frames are provided, and the connecting frames are respectively installed at the upper and lower ends of the limiting rod.

[0010] Preferably, two groups of second springs are provided to protect the stability of the structure.

[0011] Preferably, the resistance block is slidably connected to the receiving plate, and the resistance block is slidably connected to the inner wall of the clamping jaw.

[0012] Compared with the prior art, the beneficial effect of the present invention is that the telescopic mechanism is driven by the cylinder to retract backward, so that the limit rod moves backward until it moves to the rearmost end of the second limit hole, and the continuous contraction causes the front end of the connecting frame to move inward, and the two sets of connecting frames move inward at the same angle and the same distance at the same time, so that the adjustment mechanism installed therein clamps the rivet nuts from both sides, thereby realizing the clamping of various types of rivet nuts of different sizes, and adaptively adjusting the clamping according to their sizes. Through the elastic force of the second spring and the provision of several groups of resistance blocks, when clamped to the sharp corner of the side, the expansion amount of the resistance block close to the sharp corner of the side becomes larger, so that the first spring will quickly return to its position, and the rivet nut is adjusted to the correct position by relying on the elastic force, so that the clamped rivet nuts are placed on the workbench in the same posture when clamped. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is an overall schematic diagram of a riveting parts loading robot;

[0014] Figure 2 for Figure 1 A schematic top view of the gripping mechanism of a riveted parts loading robot;

[0015] Figure 3 for Figure 1 A schematic diagram of the gripping mechanism of a riveted parts loading robot from above;

[0016] Figure 4 for Figure 3 Schematic diagram of the adjustment mechanism in the grabbing mechanism;

[0017] Among them, the reference numerals in the figures are:

[0018] 1. Base; 2. Rotating mechanism; 3. Servo push-pull mechanism; 4. Servo lifting mechanism; 5. Grasping mechanism; 51. Telescopic mechanism; 52. Connecting block; 521. First limiting hole; 53. Connecting frame; 54. Limiting rod; 55. Second limiting hole; 57. Adjusting mechanism; 571. Clamping claw; 572. Supporting plate; 573. Resistance block; 574. Anti-slip protrusion; 575. First spring; 576. Second spring. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0020] Specific implementation cases:

[0021] like Figure 1 As shown, a riveted parts feeding robot comprises a base 1, a rotating mechanism 2 is mounted on the base 1 for controlling the rotation of the robot, a servo lifting mechanism 4 is mounted on the rotating mechanism 2 for controlling the up and down movement of the robot, a servo push-pull mechanism 3 is mounted on the servo lifting mechanism 4 for controlling the horizontal lateral movement of the robot, and a gripping mechanism 5 is mounted on the servo push-pull mechanism 3 for gripping and transferring the riveted nuts;

[0022] The driving mode of the rotating mechanism 2, the servo push-pull mechanism 3 and the servo lifting mechanism 4 are all motor-driven, and the working principles of the rotating mechanism 2, the servo push-pull mechanism 3 and the servo lifting mechanism 4 are all existing technologies and will not be described in detail here.

[0023] like Figure 2-Figure 3 As shown, the grabbing mechanism 5 includes a telescopic mechanism 51 for controlling the movement of the grabbing mechanism 5, a connecting block 52 is installed on the telescopic mechanism 51, a limiting rod 54 is installed on the top of the telescopic mechanism 51, the limiting rod 54 is slidably connected to the connecting block 52, a rectangular platform (not shown) is provided on the connecting block 52, a first limiting hole 521 is provided at the central axis of the rectangular platform, a connecting frame 53 is slidably connected to the limiting rod 54, and two groups of connecting frames 53 are provided, the connecting frames 53 are respectively installed at the upper and lower ends of the limiting rod 54, a second limiting hole 55 is provided at the connection between the connecting frame 53 and the limiting rod 54 for limiting the range of movement of the connecting frame 53, an adjusting mechanism 57 is installed on the top of the connecting frame 53 for adjusting the position of the rivet nut when the manipulator is grabbing, and the connecting frame 53 is rotatably connected to the connecting block 52;

[0024] The telescopic mechanism 51 in the gripping mechanism 5 is driven by a cylinder, and the working principle of the telescopic mechanism 51 is the existing technology, which will not be described in detail here.

[0025] When the grabbing mechanism 5 is performing a grabbing operation, the telescopic mechanism 51 is driven by the cylinder to retract backward, causing the limiting rod 54 installed thereon to move backward accordingly. After the limiting rod 54 moves to the rear end of the second limiting hole 55, the front end of the connecting frame 53 is moved inward because the connecting frame 53 is rotatably connected to the connecting block 52, and the connection position is at the middle end of the connecting frame 53. The two sets of connecting frames 53 move inward at the same angle and distance at the same time, so that the adjustment mechanism 57 installed therein clamps the rivet nut from both sides.

[0026] The first limiting hole 521 in the rectangular platform above the connecting block 52 limits the range of linear motion of the limiting rod 54, making the mechanism more complete and stable during operation;

[0027] like Figure 3 As shown, the adjustment mechanism 57 includes a clamping jaw 571, and a second spring 576 is installed at the central axis of the clamping jaw 571. The second spring 576 is provided with two groups for protecting the stability of the structure. A receiving plate 572 is installed on the top of the second spring 576. Several groups of cavities (not shown in the figure) are evenly arranged inside the receiving plate 572. A first spring 575 is installed in the cavity. A resistance block 573 is installed at the other end of the first spring 575. The resistance block 573 is slidably connected to the receiving plate 572, and the resistance block 573 is slidably connected to the inner wall of the clamping jaw 571.

[0028] When the grabbing mechanism 5 is grabbing, the two groups of connecting frames 53 are simultaneously moved inward at the same angle and the same distance. When the receiving plate 572 or the abutting block 573 in the adjusting mechanism 57 installed thereon contacts the side surface of the rivet nut, it will be adaptively clamped. The second spring 576 contracts to provide it with a compressive elastic force. The inner wall of the clamping jaw 571 at one end of the abutting block 573 slides backward while the other end slides in the cavity inside the receiving plate 572. This process is the process of the abutting block 573 retracting into the receiving plate 572 to move to the appropriate position until the rivet nut is clamped. This process can clamp various types of rivet nuts of different sizes and perform adaptive adjustment and clamping according to their sizes.

[0029] When the clamping position is the side plane of the rivet nut, the working principle of the mechanism is as above. When the clamping position is the side sharp corner of the rivet nut, according to the elastic force of the second spring 576 and the fact that the abutment block 573 is provided with several groups, when the rivet nut is clamped to the side sharp corner, the abutment block 573 close to the side sharp corner will expand and contract, and the first spring 575 will quickly return to its position, relying on the elastic force to adjust the rivet nut to the correct position, thereby ensuring that the clamped rivet nut is placed on the workbench in the same posture when clamped;

[0030] In order to provide a stronger clamping force for the adjustment mechanism 57, an anti-slip protrusion 574 is provided on the abutment block 573, and a sliding groove (not shown) is provided on the receiving plate 572. The anti-slip protrusion 574 can slide in the sliding groove. The sliding groove and the anti-slip protrusion 574 not only increase the clamping force, but also make the connection between the receiving plate 572 and the abutment block 573 in the adjustment mechanism 57 more stable.

[0031] To sum up, the telescopic mechanism 51 is driven by the cylinder to retract backward, so that the limiting rod 54 moves backward until it moves to the rearmost end of the second limiting hole 55, and the continuous contraction causes the front end of the connecting frame 53 to move inward, and the two groups of connecting frames 53 move inward at the same angle and the same distance at the same time, so that the adjustment mechanism 57 installed therein clamps the rivet nuts from both sides, thereby realizing the clamping of various types of rivet nuts of different sizes, and adaptively adjusting the clamping according to their sizes. Through the elastic force of the second spring 576 and the provision of several groups of resistance blocks 573, when clamped to the sharp corner of the side, the expansion and contraction of the resistance block 573 close to the sharp corner of the side becomes larger, so that the first spring 575 will quickly return to its position, and the rivet nut is adjusted to the correct position by relying on the elastic force, so that the clamped rivet nuts are placed on the workbench in the same posture when clamped.

[0032] The above description is merely a preferred embodiment of the present application. The scope of protection of the present application is not limited to the above embodiment. All technical solutions based on this concept fall within the scope of protection of the present application. It should be noted that for those skilled in the art, improvements and modifications that do not depart from the principles of the present application should also be considered within the scope of protection of the present application.

Claims

1. A riveting parts feeding robot, comprising a base (1), characterized in that: The base (1) is provided with a rotating mechanism (2) for controlling the rotation of the manipulator, the rotating mechanism (2) is provided with a servo lifting mechanism (4) for controlling the up and down movement of the manipulator, the servo lifting mechanism (4) is provided with a servo push-pull mechanism (3) for controlling the horizontal lateral movement of the manipulator, and the servo push-pull mechanism (3) is provided with a grasping mechanism (5) for grasping and transferring the rivet nut. The grabbing mechanism (5) includes a telescopic mechanism (51), which is characterized in that: it is used to control the movement of the grabbing mechanism (5), a connecting block (52) is installed on the telescopic mechanism (51), a limiting rod (54) is installed on the top of the telescopic mechanism (51), the limiting rod (54) is slidably connected to the connecting block (52), a connecting frame (53) is slidably connected to the limiting rod (54), a second limiting hole (55) is provided at the connection between the connecting frame (53) and the limiting rod (54) for limiting the movement range of the connecting frame (53), an adjusting mechanism (57) is installed on the top of the connecting frame (53) for adjusting the position of the rivet nut when the manipulator grabs, and the connecting frame (53) is rotatably connected to the connecting block (52).

2. A riveting parts feeding robot according to claim 1, characterized in that: The adjusting mechanism (57) includes a clamping jaw (571), a second spring (576) is installed at the central axis of the clamping jaw (571), a receiving plate (572) is installed at the top end of the second spring (576), a plurality of cavities are evenly arranged inside the receiving plate (572), a first spring (575) is installed in the cavity, and a resistance block (573) is installed at the other end of the first spring (575).

3. The riveting parts feeding robot according to claim 1, characterized in that: The telescopic mechanism (51) in the grabbing mechanism (5) is driven by a cylinder.

4. The riveting parts feeding robot according to claim 1, characterized in that: A rectangular platform is provided on the connecting block (52), and a first limiting hole (521) is provided at the central axis of the rectangular platform.

5. The riveting parts feeding robot according to claim 1, characterized in that: Two groups of the connecting frames (53) are provided, and the connecting frames (53) are respectively installed at the upper and lower ends of the limiting rod (54).

6. The riveting parts feeding robot according to claim 2, characterized in that: The second spring (576) is provided in two groups for protecting the stability of the structure.

7. The riveting parts feeding robot according to claim 2, characterized in that: The resisting block (573) is slidably connected to the receiving plate (572), and the resisting block (573) is slidably connected to the inner wall of the clamping claw (571).

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