Rotary riveting manipulator

Abstract

The utility model provides a rotary riveting mechanical arm which comprises a mounting vertical plate, a vertical sliding table, a limiting block, a lifting driving motor, a riveting assembly, a material taking assembly and a linkage assembly, and the riveting assembly comprises a first lifting plate, a first boss and a riveting head. The material taking assembly comprises a second lifting plate, a second boss, a rotary driving assembly, a rotary seat, a pressing column, a first reset spring and a material taking adsorption head, the rotary seat is rotatably installed on the second boss, a first convex ring is arranged at the upper end of the pressing column, the lower end of the pressing column penetrates through the rotary seat, and the first reset spring is arranged on the pressing column in a sleeving mode; the upper ends and the lower ends of the first reset springs abut against the first protruding rings and the rotating base correspondingly, the material taking adsorption heads are fixed to the lower ends of the pressing columns, the multiple sets of pressing columns, the multiple sets of first reset springs and the multiple sets of material taking adsorption heads are arranged, and the linkage assembly comprises an upper connecting block, a lower connecting block, a connecting guide column and a second reset spring. The riveting device has the advantages that multiple sets of screws can be sucked at the same time, the material taking efficiency is improved, and the riveting precision can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to riveting equipment field, especially relate to a rotary riveting mechanical hand. BACKGROUND

[0002] In the assembly process of various products, riveting screws are needed to rivet and connect different parts, and during riveting, the riveting screws are generally grabbed one by one from a screw feeder by a taking mechanical hand and placed on the corresponding position on the workpiece, and then the screws are pressed down by a riveting die to realize riveting. However, the current taking mechanical hand can only grab a group of screws at a time, and when there are multiple riveting positions on the workpiece, the taking mechanical hand needs to take materials repeatedly, which is not efficient. Moreover, after the screws on the workpiece are placed in place, the die can be started to rivet, and if a group of screws is not placed in place, the pressing stroke of the die will be affected, resulting in poor riveting effect of other screws. Therefore, it is necessary to make a rotary riveting mechanical hand to solve the above problems. SUMMARY

[0003] The utility model aims at providing a rotary riveting mechanical hand to solve the problems mentioned in the background art.

[0004] In order to achieve the above-mentioned purpose, the utility model provides the following technical scheme:

[0005] The utility model provides a kind of rotary riveting and pressing manipulator, including installation vertical plate, vertical sliding table, limit block, lifting drive motor, riveting and pressing assembly, material taking assembly and linkage assembly, vertical sliding table is fixed in the downside of installation vertical plate, vertical sliding table is side by side and is provided with two groups, limit block is fixed on installation vertical plate and is corresponding between two groups vertical sliding table, lifting drive motor is fixed on the upside of installation vertical plate, riveting and pressing assembly includes first lifting plate, first boss and riveting and pressing head, first lifting plate rear side is slidably connected with vertical sliding table, first boss is fixed on the front side of first lifting plate, the power output end of lifting drive motor is fixedly connected with the upper end of first boss, riveting and pressing head is fixed below first boss, material taking assembly includes second lifting plate, second boss, rotary drive assembly, rotary seat, pressure column, first return spring and material taking suction head, second lifting plate is slidably connected with vertical sliding table and is corresponding below first lifting plate, second boss is fixed on the front side of second lifting plate and is corresponding above limit block, rotary drive assembly is fixed on second boss, rotary seat is rotatably installed on second boss, the upper end of pressure column is equipped with first lug, pressure column lower end is provided through rotary seat, first return spring is sleeved on pressure column, and the upper and lower ends of first return spring are respectively in contact with first lug, rotary seat, material taking suction head is fixed on the lower end of pressure column, pressure column, first return spring and material taking suction head are provided with multiple groups around the rotation axis of rotary seat, linkage assembly includes upper connecting block, lower connecting block, connecting guide column and second return spring, upper connecting block and lower connecting block are fixed on first lifting plate and second lifting plate respectively, the lower end of connecting guide column is fixed on lower connecting block and the upper end is provided through upper connecting block, the upper end of connecting guide column is equipped with second lug, and second return spring is sleeved on connecting guide column and is corresponding between upper connecting block and lower connecting block.

[0006] Further description of the utility model: rotary drive assembly includes connecting frame, rotary motor, drive gear and synchronous belt, connecting frame is fixed on second boss, rotary motor is fixed on connecting frame, drive gear is fixed on the power output end of rotary motor, rotary seat is equipped with gear ring on the periphery, synchronous belt is around drive gear and the periphery of gear ring, and synchronous belt is engaged with drive gear and gear ring.

[0007] Further description of the utility model: material taking assembly further includes limit sleeve, and limit sleeve lower end is fixed on rotary seat, limit sleeve is sleeved corresponding to the periphery of first return spring and corresponding below first lug.

[0008] Further description of the utility model: it further includes photographing positioning assembly, and photographing positioning assembly is fixed on installation vertical plate and downward shooting end.

[0009] The utility model discloses an advantageous effect is: install vertical plate fixed on three axle driving arrangement, three axle driving arrangement drives install vertical plate and moves along X, Y, Z axle direction, install vertical plate and descend to screw feeder and take material suction head adsorbs a group of screws, then install vertical plate rises, and rotation drive subassembly drives rotary seat rotation to make another group take material suction head be in screw feeder above, thereby can continue to take the next group screw, when all take material suction head all take material, three axle driving arrangement drives rotary riveting and pressing manipulator and moves to riveting and pressing work station, and lift drive motor drives first lift plate and falls, and through linkage subassembly drive second lift plate and fall simultaneously, make screw put into the hole position on work piece, along with first lift plate continue to fall, second reset spring is compressed, and riveting head contacts the upper end of pressure column, and riveting head is pressed down pressure column, and first reset spring is compressed, and pressure column exerts pressure to screw, to make screw riveting and press on work piece, then, rotary riveting and pressing manipulator rises, and rotation drive subassembly drives rotary seat rotation, and make another group pressure column correspond to riveting head below, can carry out screw riveting and press to the next position of work piece. BRIEF DESCRIPTION OF DRAWINGS

[0010] Figure 1 It is the overall structure diagram of the utility model;

[0011] Figure 2 It is Figure 1 The local enlarged view of position A in

[0012] Figure 3 It is the structure diagram of taking material subassembly in the utility model;

[0013] BRIEF DESCRIPTION OF DRAWINGS:

[0014] 1, install vertical plate, 2, vertical slide, 3, limit block, 4, lift drive motor, 5, riveting subassembly,

[0015] 51, first lift plate, 52, first boss, 53, riveting head, 6, taking material subassembly, 61, second lift plate, 62, second boss, 63, rotation drive subassembly, 631, connecting frame, 632, rotary motor, 633, drive gear, 634, synchronous belt, 64, rotary seat, 65, pressure column, 66, first reset spring, 67, taking material suction head, 68, limit sleeve, 7, linkage subassembly, 71, upper connecting block, 72, lower connecting block, 73, connecting guide column, 74, second reset spring, 8, photographing positioning assembly. DETAILED DESCRIPTION

[0016] The utility model makes further explanation in combination with the drawings:

[0017] As Figures 1 to 3 shown, a rotary riveting mechanical hand, comprising a mounting vertical plate 1, a vertical sliding table 2, a limiting block 3, a lifting driving motor 4, a riveting assembly 5, a material taking assembly 6 and a linkage assembly 7, the vertical sliding table 2 is fixed on the lower side of the mounting vertical plate 1, the vertical sliding table 2 is arranged in two groups side by side, the limiting block 3 is fixed on the mounting vertical plate 1 and corresponds to the two groups of vertical sliding tables 2, the lifting driving motor 4 is fixed on the upper side of the mounting vertical plate 1, the riveting assembly 5 comprises a first lifting plate 51, a first boss 52 and a riveting head 53, the rear side of the first lifting plate 51 is slidingly connected with the vertical sliding table 2, the first boss 52 is fixed on the front side of the first lifting plate 51, the power output end of the lifting driving motor 4 is fixedly connected with the upper end of the first boss 52, the riveting head 53 is fixed below the first boss 52, the material taking assembly 6 comprises a second lifting plate 61, a second boss 62, a rotary driving assembly 63, a rotary seat 64, a pressing column 65, a first return spring 66 and a material taking suction head 67, the second lifting plate 61 is slidingly connected with the vertical sliding table 2 and corresponds to the lower side of the first lifting plate 51, the second boss 62 is fixed on the front side of the second lifting plate 61 and corresponds to the upper side of the limiting block 3, the rotary driving assembly 63 is fixed on the second boss 62, the rotary seat 64 is rotatably installed on the second boss 62, the upper end of the pressing column 65 is provided with a first protruding ring, the lower end of the pressing column 65 penetrates through the rotary seat 64, the first return spring 66 is sleeved on the pressing column 65, the upper and lower ends of the first return spring 66 respectively abut against the first protruding ring and the rotary seat 64, the material taking suction head 67 is fixed on the lower end of the pressing column 65, the pressing column 65, the first return spring 66 and the material taking suction head 67 are arranged in multiple groups around the rotary shaft of the rotary seat 64, the linkage assembly 7 comprises an upper connecting block 71, a lower connecting block 72, a connecting guide column 73 and a second return spring 74, the upper connecting block 71 and the lower connecting block 72 are respectively fixed on the first lifting plate 51 and the second lifting plate 61, the lower end of the connecting guide column 73 is fixed on the lower connecting block 72 and the upper end penetrates through the upper connecting block 71, the upper end of the connecting guide column 73 is provided with a second protruding ring, the second return spring 74 is sleeved on the connecting guide column 73 and corresponds to the space between the upper connecting block 71 and the lower connecting block 72.

[0018] The mounting vertical plate 1 is fixed on the three-axis driving device, the three-axis driving device drives the mounting vertical plate 1 to move along the X, Y and Z axes, the mounting vertical plate 1 moves to the screw feeder and is lowered, the taking suction head 67 adsorbs a group of screws, then the mounting vertical plate 1 is raised, the rotary driving assembly 63 drives the rotary seat 64 to rotate, so that another group of taking suction heads 67 are above the screw feeder, so that the next group of screws can be continuously adsorbed, when all the taking suction heads 67 take the screws, the three-axis driving device drives the rotary riveting and pressing mechanical arm to move to the riveting and pressing station, the lifting driving motor 4 drives the first lifting plate 51 to descend, and simultaneously drives the second lifting plate 61 to descend through the linkage assembly 7, so that the screws are placed into the hole positions on the workpiece, with the continuous descending of the first lifting plate 51, the second reset spring 74 is compressed, the riveting and pressing head 53 contacts the upper end of the pressing column 65, the riveting and pressing head 53 presses the pressing column 65 downward, and simultaneously the first reset spring 66 is compressed, the pressing column 65 applies pressure to the screw, so that the screw is riveted and pressed on the workpiece, then the rotary riveting and pressing mechanical arm is raised, the rotary driving assembly 63 drives the rotary seat 64 to rotate, so that another group of pressing columns 65 correspond to below the riveting and pressing head 53, that is, the next position of the workpiece can be riveted and pressed with the screws. The advantage of the design is that a plurality of groups of screws can be adsorbed at the same time, the back-and-forth stroke of the mechanical arm for taking the screws is reduced, the taking efficiency is improved, on the other hand, the mechanical arm can directly rivet and press after the screws are placed on the workpiece, and the riveting and pressing precision is improved.

[0019] The rotary driving assembly 63 comprises a connecting frame 631, a rotary motor 632, a driving gear 633 and a synchronous belt 634, the connecting frame 631 is fixed on the second boss 62, the rotary motor 632 is fixed on the connecting frame 631, the driving gear 633 is fixed on the power output end of the rotary motor 632, the rotary seat 64 is provided with a gear ring on the outer periphery, and the synchronous belt 634 is wound on the outer periphery of the driving gear 633 and the gear ring and is in mesh with the driving gear 633 and the gear ring.

[0020] The rotary motor 632 rotates the driving gear 633, the driving gear 633 drives the gear ring to rotate through the synchronous belt 634, so as to control the rotary action of the rotary seat 64.

[0021] The taking assembly 6 further comprises a limiting sleeve 68, the lower end of the limiting sleeve 68 is fixed on the rotary seat 64, and the limiting sleeve 68 is sleeved on the outer periphery of the first reset spring 66 and below the first protruding ring.

[0022] The limiting sleeve 68 can limit the maximum pressing distance of the pressing column 65, so as to avoid that the workpiece is damaged due to the excessive pressing stroke.

[0023] In the design, a photographing positioning assembly 8 is further included, the photographing positioning assembly 8 is fixed on the mounting vertical plate 1 and the photographing end faces downward.

[0024] First, the hole position on the workpiece is positioned by the photographing positioning assembly 8, so that the placement position of the screw is more accurate, and the yield is improved.

[0025] The above is not any limitation on the technical range of the utility model, any modification, equivalent change and modification made according to the technical essence of the utility model to the above embodiments still belong to the range of the technical scheme of the utility model.

Claims

1. A rotary rivet pressing robot, characterized by: The utility model provides a kind of riveting and taking device, including installation vertical plate, vertical sliding table, limiting block, lifting drive motor, riveting assembly, material taking assembly and linkage assembly, the vertical sliding table is fixed in the lower side of the installation vertical plate, the vertical sliding table is left and right side by side and is provided with two groups, the limiting block is fixed on the installation vertical plate and is corresponding between two groups the vertical sliding table, the lifting drive motor is fixed on the upper side of the installation vertical plate, the riveting assembly includes first lifting plate, first boss and riveting head, the first lifting plate rear side is slidably connected with the vertical sliding table, the first boss is fixed on the front side of the first lifting plate, the power output end of the lifting drive motor is fixedly connected with the upper end of the first boss, the riveting head is fixed below the first boss, the material taking assembly includes second lifting plate, second boss, rotary drive assembly, rotary seat, pressure column, first return spring and material taking suction head, the second lifting plate is slidably connected with the vertical sliding table and is corresponding below the first lifting plate, the second boss is fixed on the front side of the second lifting plate and is corresponding above the limiting block, the rotary drive assembly is fixed on the second boss, the rotary seat is rotatably installed on the second boss, the pressure column upper end is equipped with first lug, the pressure column lower end is threaded through the rotary seat, the first return spring is sleeved on the pressure column, the upper and lower ends of the first return spring are respectively in contact with the first lug, the rotary seat, the material taking suction head is fixed on the lower end of the pressure column, the pressure column, the first return spring and the material taking suction head are provided with multiple groups around the rotation shaft of the rotary seat, the linkage assembly includes upper connecting block, lower connecting block, connecting guide column and second return spring, the upper connecting block and the lower connecting block are respectively fixed on the first lifting plate and the second lifting plate, the lower end of the connecting guide column is fixed on the lower connecting block and the upper end is threaded through the upper connecting block, the upper end of the connecting guide column is equipped with second lug, the second return spring is sleeved on the connecting guide column and is corresponding between the upper connecting block and the lower connecting block.

2. A rotary riveting press robot according to claim 1, characterized in that: The rotary drive assembly includes connecting frame, rotary motor, drive gear and synchronous belt, the connecting frame is fixed on the second boss, the rotary motor is fixed on the connecting frame, the drive gear is fixed on the power output end of the rotary motor, the outer periphery of the rotary seat is provided with gear ring, the synchronous belt is around the drive gear and the outer periphery of the gear ring, and the synchronous belt is engaged with the drive gear and the gear ring.

3. A rotary riveter according to claim 1, wherein: The material taking assembly further includes limiting sleeve, the lower end of the limiting sleeve is fixed on the rotary seat, and the limiting sleeve is sleeved corresponding to the outer periphery of the first return spring and below the first lug.

4. The rotary riveter of claim 1, wherein: It also includes a photographing positioning assembly, which is fixed on the installation vertical plate with the shooting end downward.

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