Servo rivet pulling mechanism

Abstract

The utility model discloses a servo rivet pulling mechanism which comprises a rivet pulling gun, a power assembly, a feeding device and a controller. The hand riveter comprises a first driving part and a pull rod in transmission connection with the first driving part, and the first driving part comprises a first driver; the power assembly is connected with a load fixing plate fixedly connected with the hand riveter. The feeding device comprises a nail cutting assembly and a second sliding assembly fixedly connected with the nail cutting assembly. The controller is electrically connected with the second sliding assembly and controls the second sliding assembly to move, the second sliding assembly drives the rivet cutting assembly to move the rivet nut to the position under the hand riveter, and the controller is electrically connected with the power assembly and controls the power assembly to drive the hand riveter to move and enable the pull rod to enter the rivet nut hole. The controller is electrically connected with the first driver and controls the first driver to drive the pull rod to rotate, and the pull rod is locked with the rivet nut and drives the rivet nut to rotate synchronously. The automatic nail feeding device can automatically feed and rotationally feed nails, manpower is saved, and working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the field of automatic riveting, in particular to a servo riveting mechanism. Background Art

[0002] In the existing technology, pull rivet fastening is a very common connection technology. During the riveting operation, the installation and positioning of the nut will affect the quality of the pull rivet. In order to ensure the quality of the connection, manual placement is usually chosen, which greatly increases the labor intensity and also greatly affects the production efficiency of the product. These defects are far from the existing industrial field's demand for automation, intelligence, and efficiency of equipment, which greatly limits its application and promotion in the modern industrial field. Utility Model Content

[0003] In view of the deficiencies in the prior art, the utility model provides a servo riveting mechanism with a simple structure and compact layout, which can realize automatic feeding and taking out nails and rotating and fastening nails, thereby improving work efficiency.

[0004] The utility model is achieved through the following technical solutions:

[0005] A servo riveting mechanism, comprising:

[0006] The rivet gun includes a first driving part and a pull rod connected to the first driving part, and the first driving part includes a first driver;

[0007] A power assembly, the power assembly being fixedly connected to a load fixing plate fixedly connected to the rivet gun;

[0008] A feeding device, the feeding device comprising a nail cutting assembly and a second sliding assembly fixedly connected to the nail cutting assembly;

[0009] The servo riveting mechanism also includes a controller, which is electrically connected to the second sliding assembly and controls the movement of the second sliding assembly. The second sliding assembly drives the nail cutting assembly to move the rivet nut to the bottom of the rivet gun. The controller is electrically connected to the power assembly and controls the movement of the power assembly. The power assembly drives the rivet gun to move and allows the pull rod to enter the rivet nut hole. The controller is electrically connected to the first driver and controls the rotation of the first driver. The first driver drives the pull rod to rotate. The pull rod is locked with the rivet nut and drives the rivet nut to rotate synchronously.

[0010] Furthermore, the first drive unit also includes a first transmission group arranged in the connecting shell, the first transmission group includes a first transmission wheel, a first idler wheel and a first synchronous belt, the first driver drives the first transmission wheel to rotate, and the first synchronous belt is mounted on the first transmission wheel and the first idler wheel.

[0011] Furthermore, the first driving part also includes a first rotating shaft; the first rotating shaft is matched with the first idler wheel, and the first rotating shafts are transmission-connected and coaxial with each other.

[0012] Furthermore, the power assembly includes a third driver, a threaded rod fixedly connected to the third driver, and a threaded sleeve matched with the threaded rod, and the threaded sleeve is fixedly connected to the load fixing plate.

[0013] Furthermore, the controller is electrically connected to the third driver and controls the rotation of the third driver. The third driver drives the threaded rod to rotate. The threaded sleeve moves up and down under the drive of the threaded rod. The threaded sleeve drives the load fixing plate to move. The load fixing plate drives the rivet gun to move up and down.

[0014] Furthermore, the second sliding assembly includes a guide rail, a second slider and a second cylinder; the guide rail is fixedly connected to the first fixed plate, the second slider is fixedly connected to the guide rail and slides along the guide rail, the second slider is fixedly connected to the nail cutting assembly, and the second cylinder is parallel to the guide rail.

[0015] Furthermore, the controller is electrically connected to the second cylinder and controls the sliding of the second cylinder. The second cylinder drives the second slider to slide along the guide rail, and the second slider drives the nail cutting assembly to slide to just below the rivet gun.

[0016] Furthermore, the rivet gun includes an electric cylinder assembly, which includes an electric cylinder, a movable cylinder body fixedly connected to the electric cylinder, and a push rod fixedly connected to the movable cylinder body; the electric cylinder includes a reciprocating nut, and the movable cylinder body is fixedly connected to the reciprocating nut.

[0017] Furthermore, the electric cylinder includes a lead screw; the electric cylinder assembly includes a tension sensor sleeved on the lead screw, the tension sensor is electrically connected to the controller and is used to detect the tension of the rivet gun.

[0018] Furthermore, the rivet gun also includes a transmission assembly; the transmission assembly includes a rivet assembly, the rivet assembly includes a fixing sleeve, a positioning sleeve mounted on the fixing sleeve, a ring mounted on the positioning sleeve, a positioning pin matched with the positioning sleeve, and a second connecting rod matched with the pull rod; a clamping opening is provided at the lower end of the fixing sleeve, the second connecting rod is mounted in the clamping opening, a through hole is opened on the fixing sleeve, and the positioning pin can be slidably placed in the through hole.

[0019] Compared with the prior art, the advantages of the present invention are:

[0020] 1. By setting up the rivet assembly, the pull rod can be quickly replaced, which is convenient and quick.

[0021] 2. Monitor and control the rivet pulling force by using a tension pressure sensor to ensure the stability of the rivet quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1A three-dimensional assembly diagram of a servo riveting mechanism according to an embodiment of the present invention;

[0023] Figure 2 This is a left side view of a rivet gun according to one embodiment of the present invention;

[0024] Figure 3 for Figure 2 Cross-sectional view along BB;

[0025] Figure 4 for Figure 3 A magnified view of middle A;

[0026] Figure 5 for Figure 3 Enlarged view of middle C;

[0027] Figure 6 for Figure 5 Enlarged view of middle D;

[0028] Figure 7 This is a three-dimensional assembly diagram of a buffer device according to an embodiment of the present invention;

[0029] Figure 8 This is an exploded view of a buffer assembly according to an embodiment of the present invention;

[0030] Figure 9 This is a front view of a buffer device according to an embodiment of the present invention;

[0031] Figure 10 This is a three-dimensional assembly diagram of a buffer component according to an embodiment of the present invention;

[0032] Figure 11 This is a three-dimensional assembly diagram of a feeding device according to an embodiment of the present invention;

[0033] Figure 12 This is a three-dimensional assembly diagram of a nail cutting assembly according to an embodiment of the present invention;

[0034] Figure 13 This is an exploded view of a nail cutting assembly according to an embodiment of the present invention;

[0035] Figure 14 This is an exploded view of a feeding assembly according to an embodiment of the present invention;

[0036] Figure 15 This is a three-dimensional assembly diagram of a second sliding component according to an embodiment of the present invention;

[0037] Figure 16 A bottom view of the second sliding assembly according to an embodiment of the present invention;

[0038] Figure 17 This is a circuit diagram of a servo riveting mechanism according to an embodiment of the present invention.

[0039] Explanation of reference numerals: 1. rivet gun; 10. rivet electric cylinder assembly; 101. pulling pressure sensor; 102. movable cylinder body; 103. push rod; 105. first boss; 107. first oil-free bushing; 11. transmission assembly; 110. fixing nut; 111. compression spring; 112. first connecting sleeve; 113. second connecting sleeve; 114. internal thread; 115. second step; 12. first connecting rod; 120. first shaft; 121. second shaft; 122. third shaft; 123. fourth shaft; 13. rivet assembly; 130. coil spring; 131. positioning sleeve; 132. circular ring; 133. fixing sleeve; 134. second connecting rod; 135. positioning pin; 136. pull rod; 137. clamp; 138. First through hole; 139. Second through hole; 14. Electric cylinder; 140. Lead screw; 141. Reciprocating nut; 15. First drive unit; 150. First drive unit; 151. First transmission assembly; 152. First rotating shaft; 153. First transmission pulley; 154. First idler pulley; 155. First synchronous pulley; 156. Connecting housing; 16. Second drive unit; 160. Second drive unit; 161. First reducer; 162. Second transmission assembly; 163. Second transmission pulley; 164. Second idler pulley; 165. Second synchronous pulley; 2. Buffer device; 20. Buffer assembly; 200. Spring; 201. Bolt; 202. First connecting plate; 203. Second connecting plate; 204. Fifth through hole; 205. Sixth through hole; 206, second oil-free bushing; 207, first gasket; 208, positioning hole; 21, power assembly; 211, third driver; 212, threaded rod; 213, first threaded seat; 214, second threaded seat; 215, threaded sleeve; 216, second reducer; 22, first sliding assembly; 220, slide rail; 221, first slider; 23, load fixing plate; 231, buckle; 24, support plate assembly; 240, first support plate; 241, second support plate; 242, third through hole; 25, first sensor; 26, second sensor; 270, second gasket; 3, feeding device; 30, nail cutting assembly; 300, first cylinder; 303, optical fiber unit; 305, first fixing block; 30 6. Second fixed block; 307. Protective shell; 308. Fourth through hole; 31. Feeding assembly; 310. Hose; 311. Clamping sleeve; 312. Material guide tube; 313. Bayonet; 314. Fifth connecting plate; 315. Sixth connecting plate; 32. Fixing assembly; 320. First fixing plate; 321. Second fixing plate; 322. Third fixing plate; 323. Step hole; 324. Fourth fixing plate; 33. Second sliding assembly; 330. Guide rail; 331. Second slider; 332. Third connecting plate; 333. Second cylinder; 334. Seventh connecting plate; 336. Receiving groove; 337. Second boss; D. Gap; 35. Rivet nut; 36. Clamping portion; 360. First clamping block; 361. Second clamping block;362, first included angle; 363, first arc; 364, second included angle; 365, second arc; 366, first groove; 367, second groove; 368, third groove; 369, fourth groove; 4, controller; 411, first servo controller; 412, second servo controller; 431, first solenoid valve; 432, second solenoid valve. DETAILED DESCRIPTION

[0040] The following is a further non-restrictive detailed description of the technical solution of the utility model in conjunction with the preferred embodiments and the accompanying drawings. In the description of the utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the utility model, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the utility model, and cannot be understood as limiting the utility model.

[0041] like Figure 1 As shown, a servo riveting mechanism according to an embodiment of the present invention includes a rivet gun 1 , a buffer device 2 fixedly connected to the rivet gun, and a feeding device 3 fixedly connected to the buffer device 2 .

[0042] Further references Figures 2 to 5The rivet gun 1 includes an electric cylinder assembly 10, a transmission assembly 11, and a first drive unit 15. The electric cylinder assembly 10 includes an electric cylinder 14, a movable cylinder body 102, and a push rod 103. The electric cylinder 14 includes a second drive unit 16, a lead screw 140 connected to the second drive unit 16, and a reciprocating nut 141 mounted on the lead screw 140. The second drive unit 16 includes a second driver 160, a first reducer 161, and a second transmission group 162. The second transmission group 162 includes a second transmission wheel 163 and a second idler wheel 164. The second driver 160 is fixedly connected to the first reducer 161 via a flat key (not shown). The first reducer 161 is fixedly connected to the second transmission wheel 163 via a flat key. The second synchronous belt 165 is mounted on the second transmission wheel 163 and the second idler wheel 164. The lead screw 140 is fixedly connected to the second idler wheel 164 via a coupling (not shown) and is coaxial with the rotation center of the second idler wheel 164. The reciprocating nut 141 is fitted over the lead screw 140 and is fixedly connected to the movable cylinder 102 via screws. A first boss 105 is provided at the bottom of the movable cylinder 102, and the bottom of the push rod 103 is fixedly connected to the first boss 105 via screws. A first oil-free bushing 107 is also provided on the outside of the movable cylinder 102 to reduce friction during movement. A bearing assembly 108 is also mounted on the push rod 103 to assist in movement.

[0043] The servo riveting mechanism also includes a controller 4 arranged in an electrical cabinet (not shown in the figure). The controller 4 is electrically connected to the second servo controller 412. The second servo controller 412 is electrically connected to the second driver 160 and controls the rotation of the second driver 160. Under the transmission action of the second transmission group 162, the screw 140 performs rotational motion, and the reciprocating nut 141 drives the movable cylinder body 102 to perform linear motion; the movable cylinder body 102 drives the push rod 103 to move up and down.

[0044] The transmission assembly 11 includes a first connecting rod 12, a fixing nut 110, a compression spring 111, a first connecting sleeve 112, a second connecting sleeve 113, and a rivet assembly 13. The first shaft portion 120 of the first connecting rod 12 is a hexagonal prism and is fixedly connected to the push rod 103. The compression spring 111 is engaged with the second shaft portion 121 of the first connecting rod 12. The first connecting sleeve 112 is provided with internal threads 114 at both the top and bottom. The upper internal threads 114 mate with the bottom external threads of the push rod 103, while the lower internal threads 114 mate with the external threads of the second connecting sleeve 113. The bottom of the third connecting sleeve 113 is provided with a second step 115, which abuts the bottom of the first connecting sleeve 112. The inner wall of the third connecting sleeve 113 abuts the third shaft portion 122 of the first connecting rod 12.

[0045] The rivet assembly 13 includes a coil spring 130, a positioning sleeve 131, a ring 132 mounted on the positioning sleeve 131, a fixing sleeve 133, a second connecting rod 134, and a pull rod 136. The upper end of the coil spring 130 is engaged with the fourth shaft portion 123 of the first connecting rod 12, and the lower end is engaged with the upper portion of the second connecting rod 134. The second connecting rod 134 is mated with the fixing sleeve 133 and has a first through hole 138 in the middle. The first through hole 138 has a semicircular structure at both ends and a rectangular structure in the middle. A positioning pin 135 is slidably installed in the first through hole 138. The positioning sleeve 131 is mounted on the fixing sleeve 133 and has a second through hole 139. The two ends of the positioning pin 135 are mated with the second through hole 139. The upper portion of the fixing sleeve 133 is adapted to fit seamlessly with the third shaft portion 122 of the first connecting rod 12. A clamping notch 137 is provided at the lower portion. Clamping notch 137 has internal threads that mate with the external threads on the upper portion of the pull rod 136. The pull rod 136 mates with the lower portion of the second connecting rod 134. When the push ring 132 drives the positioning sleeve 131 upward, the interface 137 opens, allowing for quick replacement of the pull rod 136.

[0046] The first drive unit 15 includes a first driver 150, a connecting housing 156, a first transmission assembly 151 disposed within the connecting housing 156, and a first rotating shaft 152. The first transmission assembly includes a first transmission pulley 153, a first idler pulley 154, and a first timing belt 155. The first driver 150 is fixedly connected to the first transmission pulley 153 via a key; the first timing belt 155 is mounted on the first transmission pulley 153 and the first idler pulley 154; the first rotating shaft 152 is fixedly connected to the first idler pulley 154 via a key and is coaxial with the rotational center of the first idler pulley 154 and the pull rod 136.

[0047] The controller 4 is electrically connected to the first servo controller 411, the first driver 150 is electrically connected to the first servo controller 411 and is controlled to rotate by the first servo controller 411, the first driver 150 drives the first transmission group 151 to rotate, and the first transmission group 151 drives the pull rod 136 to rotate at high speed. After the pull rod 136 is locked with the rivet nut 35, it drives the rivet nut 35 to rotate synchronously.

[0048] The lead screw 103 passes through the first rotating shaft 152 and is in clearance fit with the first rotating shaft 152. When the lead screw 103 moves up and down, a pulling force is generated, which drives the entire transmission assembly 11 to move upward. The pulling force at the pull rod 136 causes the rivet nut 35 to collapse, completing the pull riveting.

[0049] The electric riveting cylinder assembly 10 also includes a tension and pressure sensor 101 mounted on the lead screw 103, which is used to detect the tension generated during the riveting process and monitor the riveting quality. The controller 4 is electrically connected to the switch 413, which is electrically connected to the instrument 414. The instrument 414 is electrically connected to the second servo controller 412 and the analog module 415, respectively. The analog module 415 is electrically connected to the tension and pressure sensor 101.

[0050] like Figure 7 As shown, the buffer device 2 includes a buffer assembly 20 , a power assembly 21 , a first sliding assembly 22 , a load fixing plate 23 for connecting to the rivet gun 1 , and a support plate assembly 24 .

[0051] like Figure 8 As shown, the buffer assembly 20 includes two sets of springs 200, bolts 201 for mounting the two sets of springs 200, and a first connecting plate 202 and a second connecting plate 203 fixedly connected to the two sets of springs 200. Identical second washers 270 are fixedly connected to each end of the springs 200. One set of second washers 270 abuts the bottom of the first connecting plate 202, while the other set abuts the top of the second connecting plate 203. The first connecting plate 202 defines a sixth through-hole 205, into which a second oil-free bushing 206 is fixedly mounted. The second connecting plate 203 defines a positioning hole 208. The upper end of the bolt 201 is slidably connected to the second oil-free bushing 206; the lower end of the bolt 201 is received in the positioning hole 208 and fixed to the second connecting plate 203. The buffer assembly 20 also includes a set of first washers 207, which are mounted on the bolts 201 and abut the top of the first connecting plate 202. The diameter of the first gasket 207 is larger than the diameter of the sixth through hole 205 , and the sixth through hole 205 , the first gasket 207 and the positioning hole 208 are aligned with each other.

[0052] The support assembly 24 includes a first support plate 240 and a second support plate 241. The first support plate 240 is fixedly connected to the second support plate by screws; a third through hole 242 is provided on the first support plate 240.

[0053] like Figure 9 As shown, the power assembly 21 includes a third driver 211, a second reducer 216, a threaded rod 212, and a first threaded seat 213, a second threaded seat 214, and a threaded sleeve 215 that are clearance-fitted with the threaded rod 212. The third driver 211 is fixedly connected to the second reducer 216 via a flat key; the second reducer 216 is fixedly connected to the first support plate 240 via screws, and the output shaft of the second reducer 216 passes through the third through-hole 242 and is fixedly connected to the threaded rod 212 via a coupling.

[0054] The two groups of springs 200 and bolts 201 are symmetrically distributed on both sides of the threaded rod 212; the first connecting plate 202 and the second connecting plate 203 are both provided with a fifth through hole 204, and the threaded rod 212 is sleeved in the fifth through hole 204 of the first connecting plate 202 and the second connecting plate 203; the first threaded seat 213 and the second threaded seat 214 are both fixedly connected to the first support plate 240 by screws; the threaded sleeve 215 is fixedly connected to the first connecting plate 202 by screws.

[0055] like Figure 10 As shown, the load fixing plate 23 is fixedly connected to the front surface of the second connecting plate 203 by screws; the other side of the load fixing plate is fixedly connected to two buckles 25 by screws, and the rivet gun 1 is clamped in the buckles 25.

[0056] The controller 4 is electrically connected to the third servo controller 421, which is electrically connected to the third driver 211 and controls its movement. The third driver 211 rotates the threaded rod 212, causing the threaded sleeve 215 to move up and down under the influence of the threaded rod 212, which in turn drives the load-fixing plate 23 up and down. During operation, the rivet gun 1 may collide, generating an upward force that can cause collision errors. This upward force drives the load-fixing plate 23 upward, which in turn drives the second connecting plate 203. The second connecting plate 203 drives the bolt 201 to slide within the oil-free bushing 206, reducing the distance between the first connecting plate 202 and the second connecting plate 203. The two sets of springs 200 are deformed under the force, generating a downward elastic force, which cancels out the upward and elastic forces.

[0057] The first sliding assembly 22 includes a slide rail 220 and a first slider 221 slidably connected to the slide rail 220. The slide rail 220 and the first slider 221 are symmetrically located on either side of the threaded rod 212. The slide rail 220 is fixedly connected to the first support plate 240, and the ends of the first connecting plate 202 are fixedly connected to the two first sliders 221 above via screws. The first sliding assembly 22 assists the upward and downward movement of the buffer assembly 20.

[0058] The buffer device 2 also includes a first sensor 25 and a second sensor 26 for detecting and feeding back the movement position of the first slider 221. The first sensor 25 and the second sensor 26 are both arranged on the outside of the slide rail 220 and fixedly connected to the first support plate 240 by screws; the first sensor 25 is located at the highest movement point of the upper first slider 221, and the second sensor 26 is located at the lowest movement point of the upper first slider 221.

[0059] The first sensor (25) and the second sensor (26) are both electrically connected to the controller 4, and convert the optical signal of the detected movement position of the first slider (221) into an electrical signal and feed it back to the controller 4.

[0060] like Figures 11 to 13 As shown, the feeding device 3 includes a nail cutting assembly 30, a feeding assembly 31 for transporting rivet nuts 35, a fixing assembly 32 and a second sliding assembly 33. Corresponding to the preferred embodiment of the present utility model, the rivet nuts 35 are preferably hexagonal rivet nuts.

[0061] The nail cutting assembly 30 includes a first cylinder 300, a clamping portion 36 fixedly connected to the first cylinder 300, and an optical fiber unit 303. The first cylinder 300 includes a first fixing block 305 and a second fixing block 306. The clamping portion 36 includes a first clamping block 360 fixedly connected to the first fixing block 305 by screws, and a second clamping block 361 fixedly connected to the second fixing block 306 by screws. The first clamping block 360 has a first angle 362 and a first circular arc 363 on its inner side, while the second clamping block 361 has a second angle 364 and a second circular arc 365 on its outer side. The first and second circular arcs 363 and 365 form a first groove 366 for receiving the rivet nut 35, while the first and second angles 362 and 364 form a second groove 367 for positioning the rivet nut 35. The first groove 366 is a circular groove, while the second groove 367 is a regular hexagonal groove.

[0062] The fixing assembly 32 includes a third fixing plate 322 and a fourth fixing plate 324 fixedly connected to the third fixing plate 322 by screws.

[0063] The third fixing plate 322 is fixedly connected to the bottom surface of the first cylinder 300 via screws. A stepped hole 323 is provided on the third fixing plate 322, coaxial with the first groove 366 and the second groove 367, for receiving the rivet nut 35. The outer surface of the fourth fixing plate 324 is fixedly connected to the protective housing 307 via screws. The screws pass through screw holes 309 to securely connect the optical fiber unit 303 to the protective housing 307. A fourth through hole 308 is provided on the protective housing 307. A third groove 368 is provided on the inner side of the first clamping block 360, and a fourth groove 369 is provided on the outer side of the second clamping block 361. The fourth through hole 308, the third groove 368, and the fourth groove 369 are aligned in a straight line, allowing the detection signal from the optical fiber unit 303 to pass through.

[0064] The optical fiber unit 303 is electrically connected to the controller 4 to detect and feed back the signal of the rivet nut 35; the controller 4 is electrically connected to the first solenoid valve 431, and the first solenoid valve 431 is electrically connected to the first cylinder 300 and controls the movement of the first cylinder 300. The first cylinder 300 is relaxed to form the first groove 365, and the first cylinder 300 is clamped to form the second groove 366; the first groove 366 is coaxial with the second groove 367.

[0065] like Figure 14As shown, the feeding assembly 31 includes a hose 310, a clamping sleeve 311, a guide tube 312, and a fifth connecting plate 314 and a sixth connecting plate 315 that clamp the guide tube 312. The hose 310 is connected to an external feeder (not shown in the figure) and is used to transport the rivet nuts 35 to the feeding device 3. The clamping sleeve 311 is provided with multiple bayonet holes 313. The hose 310 passes through the clamping sleeve 311 and is fixed in the bayonet holes 313. The clamping sleeve 311 is connected to the guide tube 312. The guide tube 312 is located directly above the stepped hole 323 and is always kept vertically downward to prevent the rivet nut 35 from getting stuck. The fifth connecting plate 314 is fixedly connected to the second support plate 241 by screws; the fixing assembly 32 includes a second fixing plate 321, and the sixth connecting plate 315 is fixedly connected to the second fixing plate 321 by screws.

[0066] like Figure 15 As shown, the fixing assembly 32 further includes a first fixing plate 320 .

[0067] The second sliding assembly 33 includes a guide rail 330, a second slider 331, a third connecting plate 332 fixedly connected to the second slider 331, and a second cylinder 333. The guide rail 330 is fixedly connected to the first fixed plate 320, the second slider 331 is fixedly connected to and slides along the guide rail 330, and the third connecting plate 332 is fixedly connected to the cylinder 300. In a preferred embodiment of the present invention, the second cylinder 333 is preferably a magnetically coupled rodless cylinder. The second cylinder 333 is fixedly connected to the first fixed plate 320 via screws and is parallel to the guide rail 330. A seventh connecting plate 334 is fixedly connected to the second cylinder 333 via screws. The third connecting plate 332 defines a receiving groove 336, and the seventh connecting plate 334 is provided with a second boss 337. The second boss 337 is received within the receiving groove 336, with a gap D between the sidewalls of the receiving groove 336 and the second boss 337, effectively preventing any jamming during movement.

[0068] The controller 4 is electrically connected to the second solenoid valve 432, the second solenoid valve 432 is electrically connected to the second cylinder 333 and controls the movement of the magnetic ring (not shown in the figure) of the second cylinder 333, the magnetic ring drives the second slider 331 to move, and the second slider 331 drives the nail cutting assembly 30 to translate along the guide rail 330.

[0069] During use, the feeder delivers the rivet nut 35 to the feeding device 3. The rivet nut 35 passes through the hose 310 and reaches the first groove 366 of the nail cutting assembly 30. The optical fiber unit 303 transmits a signal detecting the rivet nut 35 to the controller 4. The controller 4 controls the movement of the first cylinder 300 by controlling the first solenoid valve 431. The first groove 366 becomes the second groove 367, and the angle of the rivet nut 35 is fixed. After the first cylinder 300 moves to the desired position, the controller 4 controls the movement of the second cylinder 333 by controlling the second solenoid valve 432. The magnetic ring of the second cylinder 333 drives the second slide 331 to move along the guide rail 330. The second slide 331 drives the nail cutting assembly 30 to move directly below the rivet gun 1. Controller 4 controls the third actuator 211 by controlling the third servo controller 421. The threaded rod 212 converts rotary motion into linear motion. The threaded sleeve 215 drives the buffer assembly 20 in linear motion, which absorbs any collision errors during movement. Driven by the load-holding plate 23, the rivet gun 1 moves to the nail cutting assembly 30. The pull rod 136 extends into the rivet nut 35. Controller 4 controls the first actuator 150 by controlling the first servo controller 411, driving the pull rod 136 to rotate at high speed, tightening the rivet nut 35. The rivet gun 1 drives the rivet nut 35 into the hole to be drawn. Controller 4 controls the second actuator 160 by controlling the second servo controller 412, rotating the electric cylinder 14, converting rotary motion into linear motion. This drives the push rod 103 upward, generating a tensile force that causes the rivet nut 35 to collapse, completing the draw. Controller 4 controls the third servo controller 421 to reverse the third actuator 211, returning the rivet gun to its original position.

[0070] In this embodiment of the servo riveting mechanism, the feeder 3 moves the rivet nut 35 directly below the rivet gun 1. The buffer assembly 2 drives the rivet gun 1 downward toward the feeder 3. The first driver 150 then rotates the pull rod 136 at high speed, tightening the rivet nut 35. This allows for automatic rivet removal, saving time and improving work efficiency. The buffer assembly 20 absorbs any collision errors that may occur during the upward and downward movement of the rivet gun 1, improving riveting accuracy and extending the gun's service life.

[0071] The above-described embodiments merely represent several implementation methods of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A servo riveting mechanism, comprising: A rivet gun (1), the rivet gun (1) comprising a first drive unit (15) and a pull rod (136) in transmission connection with the first drive unit (15), the first drive unit (15) comprising a first driver (150); A power assembly (21), wherein the power assembly (21) is fixedly connected to a load fixing plate (23) fixedly connected to the rivet gun (1); A feeding device (3), the feeding device (3) comprising a nail cutting assembly (30) and a second sliding assembly (33) fixedly connected to the nail cutting assembly (30); The servo riveting mechanism is characterized in that the servo riveting mechanism further includes a controller (4), the controller (4) is electrically connected to the second sliding assembly (33) and controls the movement of the second sliding assembly (33), and the second sliding assembly (33) moves the rivet nut (35) to the bottom of the rivet gun (1) by driving the nail cutting assembly (30), the controller (4) is electrically connected to the power assembly (21) and controls the movement of the power assembly (21), and the power assembly (21) drives the rivet gun (1) to move and causes the pull rod (136) to enter the hole of the rivet nut (35), the controller (4) is electrically connected to the first driver (150) and controls the rotation of the first driver (150), and the first driver (150) drives the pull rod (136) to rotate, the pull rod (136) and the rivet nut (35) are locked and drive the rivet nut (35) to rotate synchronously.

2. The servo riveting mechanism according to claim 1, characterized in that: The first drive unit (15) further includes a first transmission group (151) disposed in the connecting housing (156), the first transmission group (151) including a first transmission wheel (153), a first idler wheel (154) and a first synchronous belt (155), the first driver (150) driving the first transmission wheel (153) to rotate, and the first synchronous belt (155) is sleeved on the first transmission wheel (153) and the first idler wheel (154).

3. The servo riveting mechanism according to claim 2, characterized in that: The first driving part (15) further includes a first rotating shaft (152); the first rotating shaft (152) is matched with the first idler wheel (154); the first rotating shaft (152) is transmission-connected with the pull rod (136) and is coaxial with each other.

4. The servo riveting mechanism according to claim 1, characterized in that: The power assembly (21) comprises a third driver (211), a threaded rod (212) fixedly connected to the third driver (211), and a threaded sleeve (215) matched with the threaded rod (212), wherein the threaded sleeve (215) is fixedly connected to the load fixing plate (23).

5. The servo riveting mechanism according to claim 4, characterized in that: The controller (4) is electrically connected to the third driver (211) and controls the third driver (211) to rotate. The third driver (211) drives the threaded rod (212) to rotate. The threaded sleeve (215) moves up and down under the drive of the threaded rod (212). The threaded sleeve (215) drives the load fixing plate (23) to move. The load fixing plate (23) drives the rivet gun (1) to move up and down.

6. The servo riveting mechanism according to claim 1, characterized in that: The second sliding assembly (33) comprises a guide rail (330), a second slider (331) and a second cylinder (333); the guide rail (330) is fixedly connected to the first fixed plate (320), the second slider (331) is fixedly connected to the guide rail (330) and slides along the guide rail (330), the second slider (331) is fixedly connected to the nail cutting assembly (30), and the second cylinder (333) is parallel to the guide rail (330).

7. The servo riveting mechanism according to claim 6, characterized in that: The controller (4) is electrically connected to the second cylinder (333) and controls the sliding of the second cylinder (333). The second cylinder (333) drives the second slider (331) to slide along the guide rail (330). The second slider (331) drives the nail cutting assembly (30) to slide to just below the rivet gun (1).

8. The servo riveting mechanism according to claim 1, characterized in that: The rivet gun (1) comprises an electric cylinder assembly (10), wherein the electric cylinder assembly (10) comprises an electric cylinder (14), a movable cylinder body (102) fixedly connected to the electric cylinder (14), and a push rod (103) fixedly connected to the movable cylinder body (102); the electric cylinder (14) comprises a reciprocating nut (141), and the movable cylinder body (102) is fixedly connected to the reciprocating nut (141).

9. The servo riveting mechanism according to claim 8, characterized in that: The electric cylinder (14) includes a lead screw (140); the electric cylinder assembly (10) includes a tension sensor (101) sleeved on the lead screw (140); the tension sensor (101) is electrically connected to the controller (4) and is used to detect the tension of the rivet gun (1).

10. The servo riveting mechanism according to claim 1, characterized in that: The rivet gun (1) also includes a transmission assembly (11); the transmission assembly (11) includes a rivet assembly (13), and the rivet assembly (13) includes a fixing sleeve (133), a positioning sleeve (131) mounted on the fixing sleeve (133), a ring (132) mounted on the positioning sleeve (131), a positioning pin (135) matched with the positioning sleeve (131), and a second connecting rod (134) matched with the pull rod (136); a clamping opening (137) is provided at the lower end of the fixing sleeve (133), the second connecting rod (134) is mounted in the clamping opening (137), a first through hole (138) is opened on the fixing sleeve (133), and the positioning pin (135) can be slidably placed in the first through hole (138).

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