Self-adaptive floating mechanism applied to horizontal riveting of vision-assisted robot

Abstract

The utility model discloses a self-adaptive floating mechanism applied to horizontal riveting of a vision-assisted robot, which relates to the technical field of mechanical manufacturing equipment and comprises a mounting seat, a connecting seat and a sliding seat. 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. The riveting device is suitable for transverse and multidirectional riveting, and is high in working precision.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical manufacturing equipment technical field, specifically speaking is a kind of self-adapting floating mechanism applied to visual auxiliary robot horizontal riveting. BACKGROUND

[0002] Riveting is connected together by riveting pressure riveting piece and workpiece, and it is widely used in building structure and mechanical manufacturing field.

[0003] At present, riveting tongs assembled on mechanical arm vibrate when riveting workpiece, and the vibration is transmitted to precision mechanical arm through connecting part, which can easily cause damage to mechanical arm, and the maintenance cost of mechanical arm is high, which can easily cause 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 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 multi-directional 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 self-adapting floating mechanism applied to visual auxiliary robot horizontal riveting, which is suitable for horizontal and multi-directional riveting, and has high working precision.

[0009] The utility model discloses a kind of self-adaptive floating mechanisms applied to visual auxiliary robot horizontal riveting, including mounting seat, further including connecting seat and sliding seat;The mounting seat is H-shaped structure, including horizontal plate and the vertical plate being set on the left and right sides of horizontal plate;The connecting seat is rotatably arranged on the top surface of horizontal plate, and the front and rear sides of connecting seat are respectively provided with welding plate, and the welding plate is provided with a waist-shaped hole;The sliding seat is slidably arranged on the bottom surface of horizontal plate, and the front and rear sides of sliding seat are respectively provided with mounting plate, and the mounting plate is provided with via hole;Floating unit is arranged in the waist-shaped hole and via hole, and the two ends of floating unit extend outward and connect with corresponding vertical plate.

[0010] Further improvement lies in that the floating unit comprises a shaft, and the two ends of the shaft are respectively sleeved with compression springs.

[0011] Further improvement lies in that the middle part of the shaft is provided with a spacer sleeve for separating the two compression springs.

[0012] Further improvement lies in that at least one end of the shaft is provided with an adjusting stopper.

[0013] Further improvement lies in that the bottom surface of the horizontal plate is provided with a linear guide rail, and the sliding seat is slidably connected with the linear guide rail through a sliding block.

[0014] Further improvement lies in that the connecting seat comprises 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] Further improvement lies in that the upper end edge of the cylinder is outwardly bent to form a flange surface for connecting the end of a robot arm.

[0016] Further improvement lies in that it further comprises a vision camera, which is connected with the flange surface through a connecting plate.

[0017] Further improvement lies in that the bottom of the sliding seat is connected with a riveting clamp through an adapter block.

[0018] Further improvement lies in that the riveting clamp comprises 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 riveting gun.

[0019] The utility model has the advantages that:

[0020] 1. In the utility model, the two sides of the two welding plates of the connecting seat are penetrated by the shaft of the compression spring, when relative rotation occurs, the spring is extruded, the counterforce is applied to reset the mechanism, and the connecting seat and the mounting block are limited to rotate in a range. In addition, the two sides of the via hole are penetrated by the shaft of the compression spring. When the riveter (hydraulic drive) works, the counterforce makes the spring on the mechanism be compressed, the sliding block is pushed along the guide rail by the spring counterforce, the riveting of the robot is realized (transversely or multidirectionally), the rivet head is retracted after riveting, the mechanism is automatically reset, and the sliding block is pushed back to the initial position by the spring. The transverse and multidirectional riveting of the utility model is realized through the cooperation of the above two groups of floating units, the connecting seat and the sliding seat.

[0021] 2. In the utility model, the visual camera is installed on the flange surface of the connecting seat, whether the rivet exists and its position is confirmed through visual positioning, whether the hole position needs riveting (each hole position has preset data to ensure the position accuracy) is identified, and the working accuracy is improved.

[0022] 3. In the utility model, due to the rotatable connection of the connecting seat and the horizontal plate, and the floating units are arranged on the two sides of the connecting seat, when the riveter works, if the center of the rivet is not correctly aligned, the riveter will rotate with the robot arm, the robot is prevented from being damaged, and the fault tolerance redundancy capability of the product is improved. DRAWINGS

[0023] Figure 1 It is a perspective view of the self-adaptive floating mechanism applied to the visual auxiliary robot horizontal riveting in the utility model embodiment;

[0024] Figure 2 It is a front view of the self-adaptive floating mechanism applied to the visual auxiliary robot horizontal riveting in the utility model embodiment;

[0025] Figure 3 It is a side view of the self-adaptive floating mechanism applied to the visual auxiliary robot horizontal riveting in the utility model embodiment;

[0026] Figure 4 It is a top view of the self-adaptive floating mechanism applied to the visual auxiliary robot horizontal riveting in the utility model embodiment;

[0027] Figure 5 It is Figure 2 the sectional view in A-A direction in the utility model;

[0028] Figure 6 It is Figure 5 the enlarged schematic view of the B part in the utility model;

[0029] Figure 7 It is Figure 1 the structural schematic view after removing the riveter.

[0030] Reference signs:

[0031] 1-mounting seat; 11-horizontal plate; 12-vertical plate; 13-linear guide rail;

[0032] 2-connection seat; 21-cylinder; 22-flange face; 23-mounting block; 24-tapered roller bearing; 25-lock nut; 26-welding plate; 27-waist-shaped hole; 28-vision camera; 29-connection plate;

[0033] 3-sliding seat; 31-sliding block; 32-adaptor block; 33-mounting plate; 34-via hole;

[0034] 4-riveting clamp; 41-machine base; 42-working gap; 43-positioning pin; 44-riveting gun;

[0035] 5-floating unit; 51-shaft; 52-separation sleeve; 53-compression spring; 54-adjusting block. DETAILED DESCRIPTION

[0036] The embodiments of the present application 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 having the same or similar functions throughout.

[0037] In the description of the present application, it should be noted that for the orientation words, such as the terms "center", "lateral (X)", "longitudinal (Y)", "vertical (Z)", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. Indicate the orientation and positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to 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 present application.

[0038] The technical scheme of the present application and its beneficial effects will be clearer and more explicit through the further description of the specific embodiments of the present application in combination with the drawings of the specification. The description of the embodiments by referring to the drawings is exemplary and is intended to explain the present application, and cannot be understood as limiting the present application.

[0039] Referring to Figures 1-4As shown in the utility model embodiment provides a kind of applied to visual auxiliary robot horizontal riveting's self-adapting floating mechanism, including mounting seat 1, still including connecting seat 2 and sliding seat 3;Mounting seat 1 is H-shaped structure, including horizontal plate 11 and the vertical plate 12 being set in horizontal plate 11 left and right two sides;Connecting seat 2 is rotatably arranged on the top surface of horizontal plate 11, and the front and back sides of connecting seat 2 are respectively provided with welding plate 26, and welding plate 26 is provided with waist hole 27;Sliding seat 3 is slidably arranged on the bottom surface of horizontal plate 11, and the front and back sides of sliding seat 3 are respectively provided with mounting plate 33, and mounting plate 33 is provided with via hole 34;Specifically, the bottom surface of horizontal plate 11 is provided with linear guide rail 13, and sliding seat 3 is slidably connected with linear guide rail 13 by sliding block 31.Waist hole 27 and via hole 34 are both provided with floating unit 5, and the two ends of floating unit 5 extend outward and are connected with corresponding vertical plate 12.

[0040] Referring to Figure 2 As shown in the utility model embodiment, floating unit 5 includes shaft 51, and the two ends of shaft 51 are respectively sleeved with compression spring 53.Specifically, the middle part of shaft 51 is provided with spacer sleeve 52 for separating two compression springs 53.At least one end of shaft 51 is provided with adjusting stopper 54.

[0041] Referring to Figures 5-7 As shown in the utility model embodiment, connecting seat 2 includes cylinder 21 and mounting block 23, and conical roller bearing 24 is arranged in cylinder 21, the lower end of mounting block 23 is fixedly connected with horizontal plate 11, the upper end of mounting block 23 extends into cylinder 21 and is locked by lock nut 25 after penetrating conical roller bearing 24.Specifically, the upper end of cylinder 21 is outwardly bent to form flange surface 22 for connecting the end of robot arm.The connecting seat 2 further includes visual camera 28, and the visual camera 28 is connected with flange surface 22 through connecting plate 29.

[0042] Referring to Figure 2 As shown in the utility model embodiment, the bottom of sliding seat 3 is connected with riveting clamp 4 through adapter block 32.Specifically, riveting clamp 4 includes machine base 41, the top of machine base 41 is connected with adapter block 32, working gap 42 is formed in the bottom of machine base 41, and positioning pin 43 and riveting gun 44 are respectively arranged on the two side walls of working gap 42.

[0043] The working principle of the utility model is:

[0044] 1.The upper end of the connecting seat has a flange surface, which is connected with the flange plate at the end of the robot arm.The two sides of the connecting seat have waist-shaped holes, and the two shafts at the upper end pass through the waist-shaped holes on both sides.There is a conical roller bearing between the connecting seat and the mounting block, which can realize the relative rotation of the two blocks in the horizontal plane;The two sides of the two welding plates of the connecting seat are penetrated by compression springs, and when relative rotation occurs, the springs are squeezed, and the mechanism is reset by applying a counterforce, so that the connecting seat and the mounting block are limited to rotate within a certain range.

[0045] 2. The flange surface of the connecting seat is provided with a visual camera, and the visual positioning is used to confirm whether the rivet exists and its position, and identify whether the hole position needs riveting (each hole position has preset data to ensure the position accuracy).

[0046] 3. The lower side of the mounting seat is provided with a linear guide rail and a sliding block, the sliding block is provided with a mounting plate, the mounting plate is provided with a through hole, two shafts pass through the through hole of the mounting plate, and a compression spring passes through the shafts on both sides of the through hole. When the riveter (hydraulic drive) works, the reaction force makes the spring on the mechanism compressed, the sliding block is pushed along the guide rail by the reaction force of the spring, the robot is positioned and riveted (transversely or multidirectionally), the rivet head is retracted after riveting, the mechanism is automatically reset, and the sliding block is pushed back to the initial position by the spring.

[0047] In the description of the specification, the description of the 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.

[0048] Through the description of the structure and principle, those skilled in the art should understand that the utility model is not limited to the above-mentioned specific embodiments, and the improvements and replacements of the known technologies in the art on the basis of the utility model all fall within the protection scope of the utility model, which should be limited by the claims.

Claims

1. An adaptive floating mechanism applied to visual aided robot horizontal riveting, comprising a mounting seat (1), characterized in that: The connecting seat (2) and the sliding seat (3) are further included. The mounting seat (1) is in H-shaped structure, comprising a horizontal plate (11) and vertical plates (12) arranged on the left and right sides of the horizontal plate (11); The connecting seat (2) is rotatably arranged on the top surface of the horizontal plate (11), and the front and rear sides of the connecting seat (2) are respectively provided with welding plates (26), and the welding plates (26) are provided with waist-shaped holes (27). The sliding seat (3) is slidably arranged on the bottom surface of the horizontal plate (11), and the front and rear sides of the sliding seat (3) are respectively provided with mounting plates (33), and the mounting plates (33) are provided with through holes (34). The waist-shaped holes (27) and the through holes (34) are both provided with floating units (5), and the two ends of the floating units (5) extend outward and are connected with the corresponding vertical plates (12).

2. The self adaptive floating mechanism for vision aided robotic horizontal riveting application as claimed in claim 1 wherein: The floating unit (5) comprises a shaft (51), and the two ends of the shaft (51) are respectively sleeved with compression springs (53).

3. The self adaptive floating mechanism for vision aided robotic horizontal riveting application as claimed in claim 2 wherein: The middle part of the shaft (51) is provided with a spacer sleeve (52) for separating the two compression springs (53).

4. The self adaptive floating mechanism for vision aided robotic horizontal riveting application as claimed in claim 2, wherein: At least one end of the shaft (51) is provided with an adjusting stop block (54).

5. The self adaptive floating mechanism for vision aided robotic horizontal riveting as claimed in claim 1 wherein: The bottom surface of the horizontal plate (11) is provided with a linear guide rail (13), and the sliding seat (3) is slidably connected with the linear guide rail (13) through a sliding block (31).

6. The self adaptive floating mechanism for vision aided robotic horizontal riveting as claimed in claim 1 wherein: The connecting seat (2) comprises a cylinder (21) and a mounting block (23), the cylinder (21) is provided with a tapered roller bearing (24) therein, the lower end of the mounting block (23) is fixedly connected with the horizontal plate (11), and the upper end of the mounting block (23) extends into the cylinder (21) and is locked through a locking nut (25) after penetrating through the tapered roller bearing (24).

7. The self adaptive floating mechanism for vision aided robotic horizontal riveting application as claimed in claim 6 wherein: The upper end edge of the cylinder (21) is outwardly bent to form a flange surface (22) for connecting the end of a robot arm.

8. The self adaptive floating mechanism for vision aided robotic horizontal riveting application as claimed in claim 6 wherein: A visual camera (28) is further included, which is connected with the flange surface (22) through a connecting plate (29).

9. The self adaptive floating mechanism for vision aided robotic horizontal riveting as claimed in claim 1 wherein: The bottom of the sliding seat (3) is connected with a riveting clamp (4) through an adapter block (32).

10. The self adaptive floating mechanism for vision aided robotic horizontal riveting application as claimed in claim 9 wherein: The riveting clamp (4) comprises a machine base (41), the top of the machine base (41) is connected with the adapter block (32), the bottom of the machine base (41) is provided with a working gap (42), and the two side walls of the working gap (42) are respectively provided with a positioning pin (43) and a riveting gun (44).

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