Automatic riveting station of vision-assisted robot

Abstract

The utility model discloses a vision-assisted robot automatic riveting station, which relates to the technical field of mechanical manufacturing equipment and comprises a conveyor, a plurality of RGV trolleys used for supporting a frame are arranged on the conveyor, and robots used for riveting the frame are respectively arranged on two sides of the conveyor. A floating mechanism is arranged at the tail end of an arm of the robot and comprises a mounting base, a connecting base and a sliding base. The mounting base is of an H-shaped structure and comprises a horizontal plate and vertical plates arranged on the left side and the right side of the horizontal plate. The connecting base is rotatably arranged on the top face of the horizontal plate, welding plates are arranged on the front side and the rear side of the connecting base correspondingly, and kidney-shaped holes are formed in the welding plates. The sliding seat is arranged on the bottom surface of the horizontal plate in a left-right sliding mode, mounting plates are arranged on the front side and the rear side of the sliding seat correspondingly, and via holes are formed in the mounting plates; floating units are arranged in the kidney-shaped holes and the via holes, and the two ends of each floating unit extend outwards to be connected with the corresponding vertical plates.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical manufacturing equipment technical field, specifically speaking is a visual auxiliary robot automatic riveting station. BACKGROUND

[0002] Riveting is the non detachable connection that riveting piece and workpiece are connected together by riveting, and is widely used in building structure and mechanical manufacturing field.

[0003] At present, riveting tongs assembled on the mechanical arm vibrate when riveting workpiece, and the vibration is transmitted to the precision mechanical arm through the connecting part, which easily leads to damage of the mechanical arm, and the maintenance cost of the mechanical arm is high, which easily causes great loss.

[0004] In order to solve the above problems, Chinese patent document "floating riveting tongs for robot arm" (patent application number: 202221959800.2) discloses a floating riveting tongs, which generates vibration when riveting, and the riveting tongs slide along the fixed column under the action of the fixed spring, the fixed spring absorbs and buffers the generated vibration, and the connecting plate and the mechanical arm are protected, which is beneficial to prolong the service life of the device.

[0005] However, the above scheme has the following defects:

[0006] 1. The floating riveting tongs are mainly used for vertical riveting work, and since the riveting tongs are directly connected with the robot arm through the floating mechanism, this structure is not suitable for horizontal and multidirectional riveting.

[0007] 2. The working precision of the floating riveting tongs is not high. UTILITY MODEL CONTENT

[0008] In view of the defects in the prior art, the purpose of the utility model is to provide a visual auxiliary robot automatic riveting station, which adopts full automatic riveting, does not need manual operation, is suitable for horizontal and multidirectional riveting, and has high working precision.

[0009] The utility model discloses a visual auxiliary robot automatic riveting station, including conveyer, be provided with a plurality of RGV trolley for supporting the car frame on the conveyer, and the both sides of conveyer are provided with the robot for riveting car frame respectively, the arm end of robot is provided with floating mechanism, and floating mechanism includes mounting seat, connecting seat and sliding seat, the mounting seat is H-shaped structure, including horizontal board and setting the vertical board of horizontal board left and right sides, the connecting seat rotatable setting is in the top surface of horizontal board, and the front and back sides of connecting seat are provided with welding plate respectively, the welding plate is provided with the waist hole, the sliding seat is provided with the mounting plate of left and right sides respectively on the bottom surface of horizontal board, and the mounting plate is provided with the via hole, the waist hole and via hole all are provided with floating unit, and the both ends of floating unit extend outward and are connected with corresponding vertical board.

[0010] On the basis of the above technical scheme, the robot is a six-axis robot, and the two sides of the conveyer are respectively provided with ground rails, and the robot is slidingly arranged on the corresponding ground rail.

[0011] On the basis of the above technical scheme, the floating unit includes a shaft, and the two ends of the shaft are respectively sleeved with compression springs.

[0012] On the basis of the above technical scheme, the middle part of the shaft is provided with a spacer sleeve for separating the two compression springs, and at least one end of the shaft is provided with an adjusting stopper.

[0013] On the basis of the above technical scheme, the bottom surface of the horizontal plate is provided with a linear guide rail, and the sliding seat is slidingly connected with the linear guide rail through a sliding block.

[0014] On the basis of the above technical scheme, the connecting seat includes a cylinder and a mounting block, the cylinder is provided with a tapered roller bearing, the lower end of the mounting block is fixedly connected with the horizontal plate, the upper end of the mounting block extends into the cylinder and is locked through a locking nut after penetrating the tapered roller bearing.

[0015] On the basis of the above technical scheme, the upper end of the cylinder is outwardly bent to form a flange surface for connecting the end of the robot arm.

[0016] On the basis of the above technical scheme, further comprising a vision camera, the vision camera is connected with the flange surface through a connecting plate.

[0017] On the basis of the above technical scheme, the bottom of the sliding seat is connected with a rivet clamp through an adapter block.

[0018] On the basis of the above technical scheme, the rivet clamp includes a machine base, the top of the machine base is connected with the adapter block, the bottom of the machine base is provided with a working gap, and the two side walls of the working gap are respectively provided with a positioning pin and a rivet gun.

[0019] The utility model discious the following advantages:

[0020] 1, the utility model discious the following advantages:

[0021] 2, the utility model discious the following advantages:

[0022] 3, the utility model discious the following advantages:

[0023] 4, the utility model discious the following advantages: BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is the perspective drawing of visual auxiliary robot automatic riveting station in the utility model embodiment;

[0025] Figure 2 It is the front view of visual auxiliary robot automatic riveting station in the utility model embodiment;

[0026] Figure 3 It is Figure 2 It is the sectional view of A-A in the utility model embodiment;

[0027] Figure 4 It is the plan view of visual auxiliary robot automatic riveting station in the utility model embodiment;

[0028] Figure 5 It is the perspective drawing of floating mechanism in the utility model embodiment;

[0029] Figure 6 It is the front view of floating mechanism in the utility model embodiment;

[0030] Figure 7 is a side view of the floating mechanism in the embodiment of the utility model;

[0031] Figure 8 is a plan view of the floating mechanism in the embodiment of the utility model;

[0032] Figure 9 is Figure 6 is a sectional view along B-B direction in the embodiment of the utility model;

[0033] Figure 10 is Figure 9 is an enlarged schematic view of part C in the embodiment of the utility model;

[0034] Figure 11 is Figure 5 is a structural schematic view after the riveting clamp is removed.

[0035] Reference signs:

[0036] 1-conveyor; 11-RGV trolley; 12-carriage;

[0037] 2-robot; 21-ground rail;

[0038] 3-floating mechanism;

[0039] 31-mounting seat; 311-horizontal plate; 312-vertical plate; 313-linear guide rail;

[0040] 32-connection seat; 321-cylinder; 322-flange face; 323-mounting block; 324-tapered roller bearing; 325-locking nut; 326-welding plate; 327-waist-shaped hole; 328-vision camera; 329-connection plate;

[0041] 33-sliding seat; 331-sliding block; 332-adapting block; 333-mounting plate; 334-via hole;

[0042] 34-riveting clamp; 341-machine base; 342-working gap; 343-positioning pin; 344-riveting gun;

[0043] 35-floating unit; 351-shaft; 352-separation sleeve; 353-compression spring; 354-adjusting block. DETAILED DESCRIPTION

[0044] The embodiments of the utility model are described in detail below, and the embodiment examples are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements with the same or similar functions throughout.

[0045] In the description of the utility model, it is necessary to explain that, for the direction words, if the terms "center", "transverse (X)", "longitudinal (Y)", "vertical (Z)", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation and positional relationship based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the utility model and simplifying the description, and not indicating or implying that the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, and cannot be understood as limiting the specific protection scope of the utility model.

[0046] In addition, if the terms "first", "second" are only used for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. Therefore, the "first", "second" features can be explicitly or implicitly included one or more features, and in the description of the utility model, the meaning of "several", "several" is two or more than two, unless otherwise explicitly specified and limited.

[0047] In the utility model, unless otherwise specified and limited, if the terms "assembly", "connection", "connection" are understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected; it can be directly connected, or it can be connected through an intermediate medium, and it can be connected internally between two elements. For ordinary skilled persons in the art, the specific meaning of the above-mentioned terms in the utility model can be understood according to the specific circumstances.

[0048] In the utility model, unless otherwise specified and limited, the "upper" or "lower" of the first feature of the second feature can include the direct contact of the first and second features, or the contact of the first feature and the second feature through another feature between them. Moreover, the "upper", "lower" and "upper" of the first feature of the second feature include the vertical direction above and oblique above of the first feature of the second feature, or only indicate that the horizontal height of the first feature is higher than the height of the second feature. The "upper", "lower" and "lower" of the first feature of the second feature include the vertical direction below or oblique below of the first feature of the second feature, or only indicate that the horizontal height of the first feature is lower than the second feature.

[0049] The technical scheme of the utility model and its beneficial effects will be clearer and more explicit by further describing the specific embodiments of the utility model in combination with the drawings of the specification. The embodiments described below by referring to the drawings are exemplary, and are intended to explain the utility model, and cannot be understood as limiting the utility model.

[0050] Reference Figures 1-4The utility model embodiment provides a kind of visual auxiliary robot automatic riveting station, including conveyor 1, the RGV trolley 11 for supporting carriage 12 is provided on conveyor 1, the both sides of conveyor 1 are provided with the robot 2 for riveting carriage 12;The arm end of robot 2 is provided with floating mechanism 3.Specifically, robot 2 is six-axis robot, and the both sides of conveyor 1 are provided with ground rail 21, and robot 2 is slidably arranged in corresponding ground rail 21.

[0051] Referring to Figures 5-8 As shown in the figure, floating mechanism 3 includes mounting seat 31, connecting seat 32 and sliding seat 33;Mounting seat 31 is H-shaped structure, including horizontal plate 311 and vertical plate 312 being provided on the left and right sides of horizontal plate 311;Connecting seat 32 is rotatably arranged on the top surface of horizontal plate 311, and the front and rear sides of connecting seat 32 are provided with welding plate 326 respectively, and welding plate 326 is provided with waist-shaped hole 327;Sliding seat 33 is slidably arranged on the bottom surface of horizontal plate 311, and the front and rear sides of sliding seat 33 are provided with mounting plate 333 respectively, and mounting plate 333 is provided with through hole 334;Specifically, the bottom surface of horizontal plate 311 is provided with linear guide rail 313, and sliding seat 33 is slidably connected with linear guide rail 313 through sliding block 331.Waist-shaped hole 327 and through hole 334 are both provided with floating unit 35, and the two ends of floating unit 35 extend outward and are connected with corresponding vertical plate 312.

[0052] Referring to Figure 6 As shown in the figure, floating unit 35 includes shaft 351, and the two ends of shaft 351 are respectively sleeved with compression spring 353.Specifically, the middle part of shaft 351 is provided with spacer sleeve 352 for separating two compression springs 353;At least one end of shaft 351 is provided with adjusting stopper 354.

[0053] Referring to Figures 9-11 As shown in the figure, connecting seat 32 includes cylinder 321 and mounting block 323, and conical roller bearing 324 is arranged in cylinder 321, the lower end of mounting block 323 is fixedly connected with horizontal plate 311, the upper end of mounting block 323 extends into cylinder 321 and is locked through locking nut 325 after penetrating conical roller bearing 324.Specifically, the upper end of cylinder 321 is outwardly bent to form flange surface 322 for connecting the end of robot arm.See

[0054] Referring to Figure 6 As shown in the figure, the bottom of sliding seat 33 is connected with rivet 34 through adapter block 332.Specifically, rivet 34 includes machine base 341, the top of machine base 341 is connected with adapter block 332, working gap 342 is arranged on the bottom of machine base 341, and positioning pin 343 and rivet gun 344 are respectively arranged on the two side walls of working gap 342.

[0055] The working principle of the utility model is that;

[0056] 1. The frame is placed on the RGV trolley, and is conveyed from the previous station to the automatic riveting station by the conveyor.

[0057] 2. The six-axis robot can move along the bottom rail, the end of the mechanical arm is provided with a floating mechanism, a hydraulic riveter and a visual camera are installed on the mechanism, and the frame is automatically riveted according to visual positioning.

[0058] 2.1. The upper end of the connecting seat is provided with a flange surface, and is connected with the flange disc at the end of the robot arm. The two welding plates on the two sides of the connecting seat are provided with waist-shaped holes, and the two shafts at the upper end pass through the waist-shaped holes on the two sides. There is a tapered roller bearing between the connecting seat and the mounting block, so that the two plates can rotate relative to the horizontal plane; the two welding plates on the connecting seat are provided with compression springs penetrating the shafts, and when relative rotation occurs, the springs are compressed, and the mechanism is reset by applying a counterforce, so that the connecting seat and the mounting block are limited to rotate within a range.

[0059] 2.2. The visual camera is installed on the flange surface of the connecting seat, and the presence or absence of the rivet and the position thereof are confirmed through visual positioning, and whether the hole position needs to be riveted is identified (each hole position has preset data to ensure the position accuracy).

[0060] 2.3. The mounting seat is provided with a linear guide rail and a sliding block on the lower side, the sliding block is provided with a mounting plate, the mounting plate is provided with a through hole, two shafts penetrate the through hole of the mounting plate, and compression springs penetrate the shafts on the two sides of the through hole. When the riveter (hydraulic drive) works, the counterforce of the riveter makes the springs on the mechanism be compressed, the sliding block is pushed along the guide rail by the counterforce of the springs, riveting (transversely or in multiple directions) is realized, the riveting head is retracted after riveting is completed, the mechanism is automatically reset, and the sliding block is pushed back to the initial position by the springs.

[0061] 3. After riveting is completed, the RGV trolley conveys the frame to the next station for subsequent processing.

[0062] In the description of the specification, the description of the reference terms "one embodiment", "preferably", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are included in at least one embodiment or example of the utility model, and the illustrative description of the above terms in the specification does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0063] The utility model is not limited to the above-mentioned embodiment, and for ordinary skilled person in the art, without departing from the principle of the utility model, a number of improvements and refinements can be made, and these improvements and refinements are also considered to be within the protection scope of the utility model. The contents not described in detail in the specification belong to the prior art known to the person skilled in the art.

Claims

1. A visual auxiliary robot automatic riveting station, comprising a conveyor (1), a plurality of RGV trolleys (11) for supporting a carriage (12) are arranged on the conveyor (1), and a robot (2) for riveting the carriage (12) is arranged on each side of the conveyor (1); characterized in that: The arm end of the robot (2) is provided with a floating mechanism (3), the floating mechanism (3) comprises a mounting seat (31), a connecting seat (32) and a sliding seat (33); the mounting seat (31) is in H-shaped structure, comprising a horizontal plate (311) and vertical plates (312) arranged on the left and right sides of the horizontal plate (311); the connecting seat (32) is rotatably arranged on the top surface of the horizontal plate (311), and the front and rear sides of the connecting seat (32) are respectively provided with welding plates (326), the welding plates (326) are provided with waist-shaped holes (327); the sliding seat (33) is slidably arranged on the bottom surface of the horizontal plate (311), and the front and rear sides of the sliding seat (33) are respectively provided with mounting plates (333), the mounting plates (333) are provided with through holes (334); the waist-shaped holes (327) and the through holes (334) are both provided with floating units (35), and the two ends of the floating units (35) extend outward and are connected with the corresponding vertical plates (312).

2. The vision-aided robotic tacking station of claim 1, wherein: The robot (2) is a six-axis robot, and the two sides of the conveyor (1) are respectively provided with ground rails (21), and the robot (2) is slidably arranged on the corresponding ground rail (21).

3. The vision-aided robotic tacking station of claim 1, wherein: The floating unit (35) comprises a shaft (351), and the two ends of the shaft (351) are respectively sleeved with compression springs (353).

4. The vision-aided robotic tacking station of claim 3, wherein: The middle part of the shaft (351) is provided with a spacer sleeve (352) for separating the two compression springs (353); at least one end of the shaft (351) is provided with an adjusting stopper (354).

5. The vision-aided robotic tacking station of claim 1, wherein: The bottom surface of the horizontal plate (311) is provided with a linear guide rail (313), and the sliding seat (33) is slidably connected with the linear guide rail (313) through a sliding block (331).

6. The vision-aided robotic tacking station of claim 1, wherein: The connecting seat (32) comprises a cylinder (321) and a mounting block (323), the cylinder (321) is provided with a tapered roller bearing (324) therein, the lower end of the mounting block (323) is fixedly connected with the horizontal plate (311), and the upper end of the mounting block (323) extends into the cylinder (321) and is locked through a locking nut (325) after penetrating through the tapered roller bearing (324).

7. The vision-aided robotic tacking station of claim 6, wherein: The upper end edge of the cylinder (321) is outwardly bent to form a flange surface (322) for connecting the arm end of the robot.

8. The vision-aided robotic tacking station of claim 7, wherein: A visual camera (328) is further included, and the visual camera (328) is connected with the flange surface (322) through a connecting plate (329).

9. The vision-aided robotic tacking station of claim 1, wherein: The bottom of the sliding seat (33) is connected with a riveting clamp (34) through an adapter block (332).

10. The vision-aided robotic tacking station of claim 9, wherein: The riveting clamp (34) comprises a machine base (341), the top of the machine base (341) is connected with the adapter block (332), the bottom of the machine base (341) is provided with a working gap (342), and the two side walls of the working gap (342) are respectively provided with a positioning pin (343) and a riveting gun (344).

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