Automatic riveting equipment

Abstract

The utility model relates to automatic riveting equipment which comprises a pre-riveting operation line used for conducting riveting preparation work to obtain a product to be riveted, a punching machine used for conducting riveting operation on the product to be riveted to obtain a riveted product, and a material collecting operation line used for collecting materials of the riveted product. The automatic riveting equipment further comprises a six-axis mechanical arm used for transferring a product to be riveted to the punching machine from the pre-riveting operation line and transferring a riveted product to the material receiving operation line from the punching machine, and the six-axis mechanical arm is arranged among the pre-riveting operation line, the punching machine and the material receiving operation line. The six-axis mechanical arm is provided with a clamping jaw used for clamping a product to be riveted or a riveted product. The pre-riveting operation line comprises a feeding carrier, a transferring mechanism, an oil removing mechanism, a rivet installing mechanism, a rivet storing mechanism and a material distributing mechanism. The automatic assembling device can reduce manpower, reduce labor intensity of operators, avoid direct contact between the operators and a punching machine, save assembling time and improve product quality.

Description

Technical Field

[0001] The utility model relates to automated production equipment, in particular to equipment used for automated riveting. Background Art

[0002] Riveting is a common joining process in machining and assembly production. Riveting involves using the pressure of a punch press to force a rivet into a rivet hole on a workpiece from one side, creating a secure connection. It's widely used in aerospace, automotive, shipbuilding, and machinery manufacturing, offering advantages such as reliable connections, high load-bearing capacity, and excellent structural strength.

[0003] In existing factories, the loading and unloading of punch presses during the riveting assembly process is typically done manually. This involves manually removing oil with an air gun, manually inserting rivets, placing the product into the punch press die, and manually pressing the start button to initiate the riveting process. This method compromises product quality and production efficiency, while also incurring high labor and machinery costs. Furthermore, during the riveting process, workers are constantly in direct contact with the punch press, posing a potential safety hazard. Summary of the Invention

[0004] The purpose of the utility model is to provide an automated riveting device which can automatically carry out the entire riveting process, improve production efficiency and product quality, reduce manpower and machinery costs, and reduce safety hazards.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0006] An automated riveting device comprises a pre-riveting operation line for performing riveting preparation work to obtain a product to be riveted, a punch press for performing riveting operations on the product to be riveted to obtain a riveted product, and a receiving operation line for receiving the riveted product. The automated riveting device also comprises a six-axis manipulator for transferring the product to be riveted from the pre-riveting operation line to the punch press and transferring the riveted product from the punch press to the receiving operation line. The six-axis manipulator is arranged between the pre-riveting operation line, the punch press and the receiving operation line, and the six-axis manipulator is provided with a clamping claw for clamping the product to be riveted or the riveted product.

[0007] The clamp includes a connecting frame, a suction cup arranged on the connecting frame, a pressure column arranged on the connecting frame and used to prevent the rivet from jumping out, and a clamp detector used to detect whether the suction cup sucks up the product to be riveted or the riveted product.

[0008] The six-axis manipulator is provided with two clamping claws, and the clamping claws are rotatably connected to the six-axis manipulator via an adapter frame.

[0009] The pre-riveting operation line includes a loading carrier for placing the product to be riveted, a transfer mechanism for driving the loading carrier to transfer, an oil removal mechanism for degreasing the rivet holes on the product to be riveted, a stapling mechanism for placing rivets into the rivet holes on the product to be riveted, a nail storage mechanism for storing rivets, and a material distribution mechanism for transferring rivets from the nail storage mechanism to the stapling mechanism; the oil removal mechanism is arranged at the oil removal station, the stapling mechanism is arranged at the stapling station, and the loading station, the oil removal station, and the stapling station are sequentially distributed on the transfer line of the transfer mechanism.

[0010] The loading carrier includes a carrying plate, a rotating pressing cylinder arranged on the carrying plate and used to press the product to be riveted, a loading detector for detecting whether the product to be riveted is placed on the carrying plate, and a rivet detector for detecting whether a rivet is placed in the rivet hole on the product to be riveted.

[0011] The transfer mechanism includes a transfer Y-axis module arranged along the Y-axis direction, and the loading carrier is slidably connected to the transfer Y-axis module.

[0012] The oil removal mechanism includes an oil removal X-axis module arranged along the X-axis direction and mounted above the transfer mechanism, and an air blowing device slidably arranged on the oil removal X-axis module.

[0013] The stapling mechanism includes a stapling X-axis module arranged along the X-axis direction and mounted above the transfer mechanism, a stapling Y-axis module slidably arranged on the stapling X-axis module, a Z-axis cylinder slidably arranged on the stapling Y-axis module and capable of extending and retracting along the Z-axis direction, and a stapling chuck connected to the Z-axis cylinder, and the stapling chuck is connected to the material dividing mechanism.

[0014] The nail storage mechanism includes a vibrating plate with a circular vibration track and a straight vibration track; the material dividing mechanism includes a material dividing platform connected to the straight vibration track, a nail blowing track connected to the material dividing platform and the nail binding mechanism respectively, a material dividing cylinder arranged on the material dividing platform and used to push rivets into the nail blowing track, and a material dividing detector arranged on the nail blowing track and used to detect whether there are rivets passing through the nail blowing track.

[0015] The material receiving operation line includes a material receiving belt and a material receiving driving mechanism for driving the material receiving belt to roll.

[0016] Due to the application of the above technical solution, the utility model has the following advantages compared with the existing technology: the utility model can not only reduce manpower, but also reduce the labor intensity of operators, avoid problems such as direct contact between operators and punching machines, and can fully and reasonably arrange human resources, save assembly time, improve product quality, create maximum benefits for enterprises, and fully reflect the value of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Attachment Figure 1 This is a schematic structural diagram of the automated riveting equipment of the present invention.

[0018] Attachment Figure 2 This is a schematic structural diagram of the automated riveting equipment of the present invention.

[0019] Attachment Figure 3 This is a schematic structural diagram of a six-axis manipulator in the automated riveting equipment of the present utility model.

[0020] Attachment Figure 4 This is a schematic diagram of the structure of the gripper of the six-axis manipulator in the automated riveting equipment of the present utility model.

[0021] Attachment Figure 5 It is a structural schematic diagram of the loading carrier and transfer mechanism in the automated riveting equipment of the present utility model.

[0022] Attachment Figure 6 It is a structural schematic diagram of the feeding carrier, transfer mechanism, oil removal mechanism and stapling mechanism in the automatic riveting equipment of the present utility model.

[0023] Attachment Figure 7 It is a structural schematic diagram of the stapling mechanism in the automatic riveting equipment of the present utility model.

[0024] Attachment Figure 8 It is a structural schematic diagram of the nail storage mechanism and the material distribution mechanism in the automatic riveting equipment of the present utility model.

[0025] In the above figures: 1. Punch; 2. Six-axis robot; 3. Fence; 4. Gripper; 5. Connecting frame; 6. Suction cup; 7. Pressure column; 8. Gripper detector; 9. Adapter frame; 10. Loading carrier; 11. Transfer mechanism; 12. Oil removal mechanism; 13. Nailing mechanism; 14. Nail storage mechanism; 15. Material separation mechanism; 16. Carrying plate; 17. Rotary pressing cylinder; 18. Loading detector; 19. Rivet detector; 20 , transfer Y-axis module; 21. Degreasing X-axis module; 22. Air blowing device; 23. Stapling X-axis module; 24. Stapling Y-axis module; 25. Z-axis cylinder; 26. Stapling chuck; 27. Vibrating plate; 28. Circular vibration track; 29. ​​Straight vibration track; 30. Material dividing table; 31. Blowing nail track; 32. Material dividing cylinder; 33. Material dividing detector; 34. Material receiving belt; 35. Pre-riveting operation line; 36. Material receiving operation line. DETAILED DESCRIPTION

[0026] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings.

[0027] Example 1: As shown in the attached Figure 1 and attached Figure 2 As shown, an automated riveting system comprises four main components: a pre-riveting line 35, a punch press 1, a material collection line 36, and a six-axis robot 2, along with corresponding control systems. The pre-riveting line 35 is located on the pre-riveting workbench, to one side of the punch press 1. The material collection line 36 is also located to one side of the punch press 1, with the six-axis robot 2 positioned between the pre-riveting line 35, the punch press 1, and the material collection line 36. The automated riveting system may also be surrounded by a fence 3. The pre-riveting line 35 performs riveting preparations (including inserting rivets) to produce the product to be riveted. Specifically, the pre-riveting line 35 cleans the product to be riveted and inserts rivets into its rivet holes. The punch press 1 performs riveting operations on the product to produce the finished product, connecting the products to be riveted using rivets. The material collection line 36 collects the finished product.

[0028] As attached Figure 3 and attached Figure 4As shown, the six-axis manipulator 2 is used to transfer the product to be riveted from the pre-riveting operation line 35 to the punch press 1, and to transfer the riveted product from the punch press 1 to the material receiving operation line 36. The six-axis manipulator 2 is provided with a clamping jaw 4 for clamping the product to be riveted or the riveted product. The clamping jaw 4 includes a connecting frame 5, a suction cup 6, a pressure column 7 and a clamping jaw detector 8. The connecting frame 5 is connected to the six-axis manipulator 2, and the suction cup 6 is provided on the connecting frame 5 and is used to suck the product to be riveted or the riveted product. The pressure column 7 is provided on the connecting frame 5, which corresponds to the riveting position on the product to be riveted or the riveted product and is used to prevent the rivet from jumping out. The clamping jaw detector 8 is used to detect whether the suction cup 6 has sucked up the product to be riveted or the riveted product, and it can be a photoelectric detector. In this embodiment, the six-axis manipulator 2 is provided with two clamping jaws 4, which are rotatably connected to the six-axis manipulator 2 through an adapter frame 9.

[0029] The pre-riveting operation line 35 includes a loading carrier 10 , a transfer mechanism 11 , an oil removal mechanism 12 , a stapling mechanism 13 , a stapling storage mechanism 14 and a material separation mechanism 15 .

[0030] As attached Figure 5 and attached Figure 6 As shown, the loading carrier 10 is used to place the products to be riveted, and it includes a carrying plate 16, a rotary pressing cylinder 17, a loading detector 18 and a rivet detector 19. The carrying plate 16 is used to carry the products to be riveted, and the rotary pressing cylinder 17 is arranged on the carrying plate 16 and is used to press the products to be riveted. The loading detector 18 is arranged on the carrying plate 16, and is used to detect whether the products to be riveted are placed on the carrying plate 16. A photoelectric detector can be used. The rivet detector 19 is arranged on the carrying plate 16. It is used to detect whether rivets are placed in the rivet holes on the products to be riveted. An optical fiber detector can be used. The transfer mechanism 11 is used to drive the loading carrier 10 to transfer. It includes a transfer Y-axis module 20 arranged along the Y-axis direction. The loading carrier 10 is slidably connected to the transfer Y-axis module 20. The transfer Y-axis module 20 has a drive mechanism for driving the loading carrier 10 to move and is configured with corresponding control buttons. One end of the transfer mechanism 11 forms a loading station, where workers place the product to be riveted into the loading carrier 10. In this embodiment, two sets of loading carriers 10 and transfer mechanisms 11 are arranged in parallel. Furthermore, the pre-riveting workbench also features a degreasing station and a stapling station. These stations are sequentially distributed along the transfer path of the transfer mechanism 11, i.e., they are arranged along the Y-axis, which is defined as the longitudinal direction on a horizontal plane.

[0031] As attached Figure 6As shown, the degreasing mechanism 12 is located at the degreasing station and is used to degreasing the rivet holes on the product to be riveted. The degreasing mechanism 12 includes an X-axis degreasing module 21, which is positioned along the X-axis and mounted above the transfer mechanism 11, and an air blowing device 22, which is slidably mounted on the X-axis degreasing module 21. The X-axis direction is defined as the horizontal direction on a horizontal plane.

[0032] As attached Figure 6 and attached Figure 7 As shown, the stapling mechanism 13 is located at the stapling station and is used to place rivets into the rivet holes on the products to be riveted. The stapling mechanism 13 includes a stapling X-axis module 23 arranged along the X-axis direction and mounted above the transfer mechanism 11; a stapling Y-axis module 24 slidably mounted on the stapling X-axis module 23; a Z-axis cylinder 25 slidably mounted on the stapling Y-axis module 24 and capable of extending and retracting along the Z-axis direction; and a stapling chuck 26 connected to the Z-axis cylinder 25. The stapling chuck 26 is connected to the material distribution mechanism 15.

[0033] As attached Figure 8 As shown, the nail storage mechanism 14 includes a vibration plate 27 having a circular vibration track 28 and a straight vibration track 29 , wherein rivets can be contained therein, and when vibrating, the rivets can be sequentially delivered through the circular vibration track 28 and the straight vibration track 29 .

[0034] As attached Figure 8 As shown, the feeding mechanism 15 is used to transfer rivets from the nail storage mechanism 14 to the nail binding mechanism 13. The feeding mechanism 15 includes a feeding platform 30 connected to the linear vibration track 29, a nail blowing track 31 connected to the feeding platform 30 and the nail binding chuck 26 in the nail binding mechanism 13, a feeding cylinder 32 disposed on the feeding platform 30 and used to push rivets into the nail blowing track 31, and a feeding detector 33 disposed on the nail blowing track 31 and used to detect whether a rivet passes through the nail blowing track 31. The feeding detector 33 can be a ring-shaped photoelectric detector.

[0035] The material receiving line 36 includes a material receiving belt 34 and a material receiving drive mechanism for driving the material receiving belt 34 to rotate.

[0036] The workflow of the above-mentioned automated riveting equipment is as follows:

[0037] The operator places the product to be riveted onto the loading carrier 10. The rotating pressing cylinder 17 compresses the product during operation, preventing it from shifting due to rapid movement and affecting the accuracy of subsequent stapling. The loading detector 18 detects the presence of the product, effectively preventing operators from wasting time by pressing the start button in vain, causing the equipment to run idle. The rivet detector 19 determines whether rivets are installed, preventing unloaded products from being discharged.

[0038] After placing the product to be riveted, the operator presses the corresponding button to activate the transfer mechanism 11, causing the loading carrier 10 to move along the transfer Y-axis module 20. When the loading carrier 10 moves to the degreasing station, the degreasing mechanism 12 is activated to first move the air blowing device 22 along the degreasing X-axis module 21 to the appropriate position. The air blowing device 22 is then activated to blow away the stamping oil around the rivet holes on the product to be riveted, preventing any residual stamping oil from remaining inside the rivet holes. After degreasing, the product to be riveted continues along the transfer Y-axis module 20 to the stapling station.

[0039] Operators pre-load a certain number of rivets onto the vibrating plate 27. The rivets then pass through the circular and linear vibrating tracks 28 and 29 of the vibrating plate 27 and enter the feed mechanism 15. On the feed table 30, a feed cylinder 32 feeds the rivets into the blowing track 31. From there, the rivets enter the stapling chuck 26 of the stapling mechanism 13. A feed detector 33 detects whether any rivets pass through the blowing track 31 during this process, preventing subsequent empty stapling.

[0040] When the product to be riveted moves to the stapling station, the stapling mechanism 13 receives a signal to begin stapling. The stapling X-axis module 23 and the stapling Y-axis module 24 allow the stapling chuck 26 to be moved to any desired position, corresponding to the rivet hole on the product to be riveted. After the rivet enters the stapling chuck 26 via the blowing track 31, the Z-axis cylinder 25 is controlled to press downward, inserting the rivet into the rivet hole on the product to be riveted. This completes the pre-riveting process. Two sets of loading carriers 10 and transfer mechanisms 11 enable the aforementioned pre-riveting process to be performed continuously.

[0041] After completing the pre-riveting operations, the control system sends a stapling completion signal to the six-axis robot 2. The six-axis robot 2 removes the product to be riveted and transfers it to the punch press 1. Specifically, it uses the gripper 4 to pick up the product to be riveted and transports it to the punch press 1. The six-axis robot 2 also removes the riveted product from the punch press 1 and transfers it to the receiving line 36. Because the six-axis robot 2 is equipped with dual grippers 4, it can immediately remove the riveted product from the punch press 1 and place it into the punch press 1 mold, effectively reducing the equipment's CT. When the gripper 4 picks up the product to be riveted or the riveted product, the gripper detector 8 detects whether the product has been picked up, effectively preventing material from stacking up in the mold and damaging the product or mold. The pressure column 7 is used to prevent rivets from jumping out during transportation.

[0042] After the product to be riveted is placed in punch press 1, it is activated and riveted. After riveting is complete, the six-axis robot 2 reenters punch press 1 to remove the previously riveted product and place the next product into the die within punch press 1. The six-axis robot 2 then exits punch press 1 and places the riveted product onto the receiving conveyor 34. Operators collect the riveted products from the receiving conveyor 34, visually inspect them, and then pack them into boxes. The receiving conveyor 34 can accommodate a certain number of riveted products, allowing time for visual inspection and packing, reducing the frequency of manual material collection.

[0043] The use of this automated riveting equipment can greatly reduce labor costs, lower labor intensity, and improve production efficiency and product quality, while safety is also greatly improved.

[0044] The above embodiments are intended only to illustrate the technical concepts and features of the present invention. Their purpose is to enable those familiar with the art to understand the contents of the present invention and implement them accordingly. They are not intended to limit the scope of protection of the present invention. Any equivalent changes or modifications based on the spirit of the present invention are intended to be included in the scope of protection of the present invention.

Claims

1. An automated riveting device, characterized in that: The automated riveting equipment includes a pre-riveting operation line for performing riveting preparation work to obtain a product to be riveted, a punch press for performing riveting operations on the product to be riveted to obtain a riveted product, and a receiving operation line for receiving the riveted product. The automated riveting equipment also includes a six-axis manipulator for transferring the product to be riveted from the pre-riveting operation line to the punch press and transferring the riveted product from the punch press to the receiving operation line. The six-axis manipulator is arranged between the pre-riveting operation line, the punch press and the receiving operation line. The six-axis manipulator is provided with a clamping claw for clamping the product to be riveted or the riveted product.

2. The automated riveting equipment according to claim 1, characterized in that: The clamp includes a connecting frame, a suction cup arranged on the connecting frame, a pressure column arranged on the connecting frame and used to prevent the rivet from jumping out, and a clamp detector used to detect whether the suction cup sucks up the product to be riveted or the riveted product.

3. The automated riveting equipment according to claim 2, characterized in that: The six-axis manipulator is provided with two clamping claws, and the clamping claws are rotatably connected to the six-axis manipulator via an adapter frame.

4. The automated riveting equipment according to any one of claims 1 to 3, characterized in that: The pre-riveting operation line includes a loading carrier for placing the product to be riveted, a transfer mechanism for driving the loading carrier to transfer, an oil removal mechanism for degreasing the rivet holes on the product to be riveted, a stapling mechanism for placing rivets into the rivet holes on the product to be riveted, a nail storage mechanism for storing rivets, and a material distribution mechanism for transferring rivets from the nail storage mechanism to the stapling mechanism; the oil removal mechanism is arranged at the oil removal station, the stapling mechanism is arranged at the stapling station, and the loading station, the oil removal station, and the stapling station are sequentially distributed on the transfer line of the transfer mechanism.

5. The automated riveting equipment according to claim 4, characterized in that: The loading carrier includes a carrying plate, a rotating pressing cylinder arranged on the carrying plate and used to press the product to be riveted, a loading detector for detecting whether the product to be riveted is placed on the carrying plate, and a rivet detector for detecting whether a rivet is placed in the rivet hole on the product to be riveted.

6. The automated riveting equipment according to claim 4, characterized in that: The transfer mechanism includes a transfer Y-axis module arranged along the Y-axis direction, and the loading carrier is slidably connected to the transfer Y-axis module.

7. The automated riveting equipment according to claim 4, characterized in that: The oil removal mechanism includes an oil removal X-axis module arranged along the X-axis direction and mounted above the transfer mechanism, and an air blowing device slidably arranged on the oil removal X-axis module.

8. The automated riveting equipment according to claim 4, characterized in that: The stapling mechanism includes a stapling X-axis module arranged along the X-axis direction and mounted above the transfer mechanism, a stapling Y-axis module slidably arranged on the stapling X-axis module, a Z-axis cylinder slidably arranged on the stapling Y-axis module and capable of extending and retracting along the Z-axis direction, and a stapling chuck connected to the Z-axis cylinder, and the stapling chuck is connected to the material dividing mechanism.

9. The automated riveting equipment according to claim 4, characterized in that: The nail storage mechanism includes a vibrating plate with a circular vibration track and a straight vibration track; the material dividing mechanism includes a material dividing platform connected to the straight vibration track, a nail blowing track connected to the material dividing platform and the nail binding mechanism respectively, a material dividing cylinder arranged on the material dividing platform and used to push rivets into the nail blowing track, and a material dividing detector arranged on the nail blowing track and used to detect whether there are rivets passing through the nail blowing track.

10. The automated riveting equipment according to claim 1, characterized in that: The material receiving operation line includes a material receiving belt and a material receiving driving mechanism for driving the material receiving belt to roll.

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