Crankshaft riveting device

Abstract

The utility model provides a crankshaft riveting device. The crankshaft riveting device comprises a rotary table, a lower balance block feeding device, an upper balance block feeding device, a rivet feeding device, a crankshaft positioning rotary table, a riveting device body and a workpiece detection sensing device, wherein the lower balance block feeding device, the upper balance block feeding device, the rivet feeding device, the crankshaft positioning rotary table, the riveting device body and the workpiece detection sensing device are distributed on the outer side of the rotary table in the circumferential direction. A plurality of stations are distributed on the rotary disc in the circumferential direction at equal intervals, and a set of assembly tools and a set of assembly tools are detachably installed on the stations. Two groups of transportation tools are detachably mounted on the crankshaft positioning rotary table; each of the finished product tool and the transportation tool comprises a limiting groove and a limiting hole; the assembly tool comprises two positioning pins, a jacking driving piece is arranged below the rotary table, and the positioning pins are connected with the jacking driving piece; the rivet feeding device comprises a feeding manipulator; the jacking driving piece jacks the positioning pin upwards, and when a workpiece is fed, riveting holes of the lower balance block, the crankshaft and the upper balance block are inserted into the positioning pin; when the rivets are fed, the feeding mechanical arm conducts discharging, the rivets abut against the positioning pins and face downwards, the positioning pins retract into the assembly tool, and the rivets are inserted into the rivet holes.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of crankshaft riveting, especially to a crankshaft riveting device. BACKGROUND

[0002] The crankshaft is one of the most important components in the compressor, and its main function is to bear the force transmitted by the connecting rod and generate a rotational torque around its own axis. Compressors have different requirements for balancing blocks and rivets for different crankshafts. Compressor manufacturers rivet the crankshafts and balancing blocks according to customer requirements to meet customer needs.

[0003] The existing crankshaft riveting equipment is manually loaded with a crankshaft tooling, then automatically loaded with balancing blocks and pins, and finally riveted. The tooling positioning is achieved by pressing from the upper end and rotating the disc to position the pin when loading. The riveting position is the same as the finished product position. The current crankshaft riveting equipment can only rivet crankshafts with single upper balancing blocks. For crankshafts with lower balancing blocks and multiple balancing blocks, it cannot be achieved. Due to the presence of lower balancing blocks on the crankshafts, the existing tooling cannot be achieved, and the tooling precision is not enough, which may cause tilting. SUMMARY

[0004] The utility model aims at solving the problem that the existing crankshaft riveting equipment cannot install lower balancing blocks, and provides a crankshaft riveting device that can rivet multiple balancing blocks and is compatible with various crankshafts, balancing blocks, and rivets, allowing for quick shape changes.

[0005] To solve the above technical problems, the utility model provides a kind of crankshaft riveting device, including the rotating disc driven by splitter and the lower balancing block feeding device, upper balancing block feeding device, rivet feeding device, crankshaft positioning rotary table, riveting device and the workpiece detection sensing device corresponding each device distributed in rotating disc circumferential outside;

[0006] A plurality of stations are distributed equidistantly along the circumference of the rotating disc, and a set of assembly tooling and a set of finished product tooling are detachably installed on the stations;The crankshaft positioning rotary table is connected to the rotating disc and the riveting device, and two sets of transportation tooling are detachably installed on the crankshaft positioning rotary table.

[0007] The finished product tooling and the transportation tooling both include a limiting slot and a limiting hole, the limiting slot is used to place the lower balancing block, and the limiting hole is used to limit the crankshaft;

[0008] The assembly tooling includes two positioning pins, a jacking drive is arranged below the rotating disc, the positioning pins penetrate through the assembly tooling and the rotating disc, and are connected to the jacking drive;The rivet feeding device includes a feeding manipulator, and the feeding manipulator is used to grab the rivets for feeding;

[0009] The lifting drive component lifts the positioning pin upwards out of the assembly fixture. When the workpiece is loaded, the rivet holes of the lower balance block, crankshaft, and upper balance block are inserted into the positioning pin. When the rivet is loaded, the lifting drive component disconnects the lifting of the positioning pin, the loading robot unloads the workpiece, the rivet abuts against the positioning pin and moves downwards, the positioning pin retracts into the assembly fixture, and the rivet is inserted into the rivet hole.

[0010] In a preferred embodiment, both the lower balance block feeding device and the upper balance block feeding device include two sets of feeding devices arranged at adjacent workstations;

[0011] The feeding device includes a balance block vibratory plate, a straight vibratory feed channel and a first robotic arm module; the straight vibratory feed channel is connected to the balance block vibratory plate, and a lifting and distributing component is provided at the end of the feed channel, the lifting and distributing component includes a lifting cylinder and a material picking port;

[0012] The lifting cylinder drives the material inlet to move up and down, and the first robotic arm module acquires the balance block inside the material inlet.

[0013] In a preferred embodiment, a second robotic arm module is provided between the turntable and the crankshaft positioning rotary table. Both the first robotic arm module and the second robotic arm module include a material handling claw and a drive module.

[0014] The second robotic arm's gripper is used to pick up the workpiece being processed on the assembly fixture and transfer it to the transport fixture, or to pick up the finished workpiece on the transport fixture and transfer it to the finished product fixture.

[0015] In a preferred embodiment, the material handling claw includes a three-claw hand and a pressing component, the three-claw hand being distributed along a triangle, and the pressing component being located in the middle of the triangle;

[0016] The material handling port is provided with three first clearance structures corresponding to the three-claw gripper; the assembly tooling, finished product tooling and transportation tooling are all provided with three second clearance structures corresponding to the three-claw gripper.

[0017] In a preferred embodiment, a crankshaft loading platform is provided on the periphery of the turntable, and the workpiece detection sensing device includes an upper balance block detection device, a lower balance block detection device, a crankshaft detection device, and a pin detection device.

[0018] The following components are sequentially arranged along the turntable: the lower balance block feeding device, the lower balance block detection device, the crankshaft feeding platform, the crankshaft detection device, the upper balance block feeding device, the upper balance block detection device, the rivet feeding device, the pin detection device, and the riveting device; the finished product tooling unloads the finished product onto the crankshaft feeding platform.

[0019] In a preferred embodiment, the rivet feeding device includes a rivet vibratory feeder, a rivet receiving assembly, and a rivet distributing assembly;

[0020] The rivet feeding assembly is connected to the rivet vibratory plate and the rivet receiving assembly respectively, and the loading robot picks up the rivets from the rivet receiving assembly.

[0021] In a preferred embodiment, the rivet material distribution assembly includes a material distribution seat and a material distribution component. The material distribution seat includes a material storage channel and an inlet and an outlet disposed at the upper and lower ends of the material storage channel.

[0022] The rivet receiving assembly includes a receiving seat, and a receiving port is provided on the upper part of the receiving seat, which is connected to the discharge port;

[0023] The rivet vibratory feeder is connected to the feed port for rivet feeding; the material storage channel is equipped with the material distribution component, and the material storage channel stores rivets; the material distribution component is used to open and close the discharge port and to distribute rivets to the receiving port.

[0024] In a preferred embodiment, the rivet receiving assembly includes a receiving drive and a feeding drive. The receiving drive drives the receiving seat to rise and fall, and the feeding drive drives the receiving seat to move back and forth to a first position or a second position.

[0025] In the first position, the receiving drive unit drives the receiving seat to rise, the receiving port connects with the discharge port, and the material distribution unit controls the rivets in the storage channel to be lowered to the receiving port.

[0026] In the second position, the receiving seat moves forward and away from the distributing seat, and the loading robot picks up the rivet at the receiving port.

[0027] In a preferred embodiment, the crankshaft positioning rotary table includes a placement plate and a rotary swing cylinder, and the two sets of transport fixtures are respectively installed at both ends of the placement plate; the rotary swing cylinder drives the placement plate to rotate, and the two sets of transport fixtures alternately transport workpieces between the turntable and the riveting device.

[0028] In a preferred embodiment, a lifting and pressing member is provided on one side of the placement plate. The lifting and pressing member is located below the placement plate. The lifting and pressing member includes a lifting drive member and a pressing block. The lifting drive member drives the pressing block to rise and fall. The pressing block rises and abuts against the bottom of the placement plate.

[0029] Compared with the prior art, the technical solution of this utility model has the following beneficial effects:

[0030] 1. By setting up upper and lower balance weight feeding devices and limiting grooves on the tooling to fit the lower balance weight, the riveting of the upper and lower balance weights can be realized, and it is compatible with the assembly of multiple balance weights on the crankshaft. The tooling adopts a detachable installation structure, which can realize quick changeover and is compatible with the assembly of various crankshafts, balance weights, and rivets.

[0031] 2. By setting a limiting groove on the tooling, misalignment between the crankshaft and the balance block can be prevented during crankshaft riveting, thereby improving the tooling accuracy and avoiding tilting.

[0032] 3. By using the crankshaft positioning rotary table to connect the turntable tooling and riveting device, the riveting position is separated from the assembly position and the finished product position, thus realizing the separation of the assembly position and the finished product position, and at the same time realizing the assembly of the lower balance block.

[0033] 4. By using locating pins in the assembly fixture, multiple balance weights can be pre-assembled. The locating pins on the fixture work in conjunction with the rivets used for feeding. The rivets press down and replace the position of the locating pins, ensuring the accurate positioning of the crankshaft, balance weights, and rivets. Attached Figure Description

[0034] Figure 1 This is a top view of the crankshaft riveting device in a preferred embodiment of the present invention;

[0035] Figure 2 This is a diagram of the turntable structure in a preferred embodiment of the present invention;

[0036] Figure 3 This is a diagram showing the feeding device and turntable in a preferred embodiment of the present invention;

[0037] Figure 4 This is a structural diagram of the first robotic arm module in a preferred embodiment of the present invention;

[0038] Figure 5 This is a structural diagram of the straight vibrating feed channel in a preferred embodiment of the present invention;

[0039] Figure 6 This is a diagram showing the fit between the balance block detection device and the turntable in a preferred embodiment of the present invention;

[0040] Figure 7 This is a structural diagram of the crankshaft detection device in a preferred embodiment of the present invention;

[0041] Figure 8 This is a diagram showing the fit between the rivet feeding assembly and the rivet receiving assembly in a preferred embodiment of this utility model.

[0042] Figure 9 This is a diagram showing the assembly of the rivet receiving component and the loading robot in a preferred embodiment of this utility model.

[0043] Figure 10This is a diagram showing the fit between the pin detection device and the turntable in a preferred embodiment of the present invention;

[0044] Figure 11 This is a flowchart of the workpiece transportation and riveting process in a preferred embodiment of the present invention;

[0045] Figure 12 This is a structural diagram of the crankshaft positioning rotary table in a preferred embodiment of the present invention;

[0046] Figure 13 This is a cross-sectional view of the rivet material distribution and splicing in a preferred embodiment of the present invention;

[0047] Figure 14 This is a structural diagram of the assembly tooling and finished product tooling in a preferred embodiment of this utility model.

[0048] Explanation of reference numerals in the attached drawings: 1. Turntable; 11. Assembly fixture; 12. Finished product fixture; 13. Positioning pin; 14. Lifting drive component; 15. Limiting groove; 16. Limiting hole; 17. Second clearance structure; 2. Lower balance block feeding device; 21. Balance block vibrating plate; 22. Straight vibrating material channel; 23. First robotic arm module; 231. Picking claw; 2311. Claw; 2312. Pressing component; 232. Lifting module; 233. Linear module; 234. Rotation Module; 24. Lifting cylinder; 25. Material inlet; 251. First clearance structure; 3. Crankshaft loading platform; 4. Crankshaft detection device; 41. Second detection seat; 42. Front and rear slide cylinders; 43. Detection fixture; 44. Through slot; 45. Through-beam photoelectric sensor; 5. Upper balance block loading device; 6. Balance block detection device; 61. Lower balance block detection device; 62. Upper balance block detection device; 63. Clamping cylinder; 64. First detection seat; 65. First light 66. Electrical sensor; 7. Press block; 8. Rivet feeding device; 9. Feeding robot; 10. Upper and lower gripping module; 11. Front and rear push cylinder; 12. Rivet vibratory feeder; 13. Rivet receiving assembly; 14. Receiving port; 15. Receiving drive component; 16. Feeding drive component; 17. Receiving seat; 18. Rivet sorting assembly; 19. Sorting seat; 10. Sorting component; 11. Feed inlet; 12. Sorting and clamping cylinder; 13. Storage passage 746. Discharge port; 8. Pin detection device; 81. Third detection seat; 82. Upper and lower cylinders; 83. Second photoelectric sensor; 9. Riveting device; 10. Crankshaft positioning rotary table; 101. Transport fixture; 102. Second robotic arm module; 103. Placement plate; 104. Rotary swing cylinder; 105. Lifting drive component; 106. Clamping block; 1001. Lower balance block; 1002. Crankshaft; 1003. Upper balance block; 1004. Rivet. Detailed Implementation

[0049] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0050] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "top / bottom," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0051] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed", "equipped with", "sleeved / connected", "connected", etc., should be interpreted broadly. For example, "connection" can be a wall-mounted connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0052] refer to Figures 1-14 This embodiment provides a crankshaft 1002 riveting device 9, including a turntable 1 driven by a divider and a lower balance block feeding device 2, an upper balance block feeding device 5, a rivet feeding device 7, a crankshaft positioning rotary table 10, a riveting device 9, and a workpiece detection sensing device corresponding to each device, distributed on the outer side of the turntable 1.

[0053] like Figure 1 The workpiece detection sensing device includes an upper balance block detection device 62, a lower balance block detection device 61, a crankshaft detection device 4, and a pin detection device 8. A crankshaft loading platform 3 is arranged around the turntable 1. The lower balance block loading device 2, lower balance block detection device 61, crankshaft loading platform 3, crankshaft detection device 4, upper balance block loading device 5, upper balance block detection device 62, rivet loading device 7, pin detection device 8, and riveting device 9 are arranged sequentially along the turntable 1. The finished product fixture 12 unloads the finished product on the crankshaft loading platform 3. The crankshaft loading platform 3 is where workers load the crankshaft 1002 and unload the finished product.

[0054] like Figure 2Several workstations are evenly spaced along the circumference of the turntable 1, namely workstation 1, workstation 2, workstation 3, workstation 4, workstation 5, workstation 6, workstation 7, workstation 8, workstation 9, workstation 10, workstation 11, and workstation 12. Workstation 12 is an empty workstation, used as a waiting workstation. Each workstation is equipped with a set of assembly fixtures 11 and a set of finished fixtures 12. Assembly fixtures 11 are used to assemble the lower balance block 1001, crankshaft 1002, upper balance block 1003, and rivets 1004 in sequence. Finished fixtures 12 are used to place the riveted finished crankshaft assembly parts.

[0055] like Figure 14 Two locating pins 13 are provided on the assembly fixture 11. These two locating pins 13 are used to locate the rivet holes of each workpiece during assembly. When the workpiece is loaded, the rivet holes of the lower balance block 1001, crankshaft 1002, and upper balance block 1003 are inserted into the locating pins 13. A lifting drive component 14 is provided below the turntable 1. The locating pins 13 pass through the assembly fixture 11 and the turntable 1 and are connected to the lifting drive component 14. A machine control valve is provided below the turntable 1. The lifting drive component 14 is a cylinder. The machine control valve controls the cylinder to lift the locating pins 13 out of the assembly fixture 11 for rivet hole positioning. When the rivet 1004 is loaded, the machine control valve controls the cylinder to disconnect the lifting of the locating pins 13. The locating pins 13 retract downward into the assembly fixture 11 under the pressure of the rivet 1004, realizing the insertion of the rivet 1004 into the rivet hole.

[0056] like Figure 14 Assembly fixture 11 and finished fixture 12 are arranged adjacent to each other. Assembly fixture 11 and finished fixture 12 are detachably mounted on turntable 1 by screws. Finished fixture 12 is provided with limit groove 15 and limit hole 16. Limit groove 15 is used to place lower balance block 1001, and limit hole 16 is used to limit and cooperate with crankshaft 1002. Different numbers of lower balance blocks 1001 are assembled according to different crankshafts 1002, and assembly fixtures 11 with different limit groove depths are configured. Different assembly fixtures 11 can be replaced through the detachable structure to meet the riveting of crankshafts 1002 of different specifications.

[0057] Both the lower balance block feeding device 2 and the upper balance block feeding device 5 include two sets of feeding devices set at adjacent workstations. The feeding devices are set at workstations 1, 2, 6 and 7 of the turntable 1. The feeding devices at workstations 1 and 2 feed the lower balance block 1001, and the feeding devices at workstations 6 and 7 feed the upper balance block 1003.

[0058] like Figure 3 The feeding device includes a balance block vibrating plate 21, a straight vibrating material channel 22 and a first robotic arm module 23. The straight vibrating material channel 22 is connected to the balance block vibrating plate 21, receives the balance block unloaded from the balance block vibrating plate 21, and transports it to the first robotic arm module 23 for material retrieval.

[0059] A lifting and distributing assembly is provided at the end of the material channel. This assembly includes a lifting cylinder 24 and a material receiving port 25. The lifting cylinder 24 drives the material receiving port 25 to move up and down. The material receiving port 25 connects to the vibrating material channel 22 and is used to retrieve the balance blocks transported by the vibrating material channel 22. The space in the material receiving port 25 is sufficient for one balance block. When multiple balance blocks need to be placed, after retrieving one balance block from the material receiving port 25, the lifting cylinder 24 drives the material receiving port 25 downwards, allowing the second balance block to be stacked on top of the first balance block. This enables the first robotic arm module 23 to simultaneously retrieve two balance blocks at the material receiving port 25. The two sets of feeding devices, the lower balance block feeding device 2 and the upper balance block feeding device 5, are also used to assemble multiple balance blocks.

[0060] like Figure 4 The first robotic arm module 23 includes a gripper 231 and a drive module. The drive module includes a lifting module 232, a linear module 233, and a rotating module 234. The lifting module 232 drives the gripper 231 to move up and down to grasp and place the balance block. The linear module 233 drives the gripper 231 to transport the balance block from the feeding port 25 to the assembly fixture 11. The rotating module 234 rotates the gripper 231 to adjust the direction of the balance block for easier placement. The gripper 231 includes three claws 2311 and a pressing element 2312. The three claws 2311 are distributed along a triangle, and the pressing element 2312 is located in the middle of the triangle. When the gripper 231 is picking up the balance block, the three claws 2311 grasp the edge of the balance block, and the pressing element 2312 presses on the end face of the balance block to achieve stable gripping of the balance block, which can better align with the positioning pin 13 for placement. To facilitate the acquisition by the three grippers 2311, three first clearance structures 251 are correspondingly provided at the material handling port 25. Each first clearance structure 251 is a through hole, providing space for the grippers 2311 to move and grasp the balance block. Figure 5 .

[0061] like Figure 6 Balance block detection devices 6 are installed at workstations 3 and 8 of turntable 1. Workstation 3 has a lower balance block detection device 61, and workstation 8 has an upper balance block detection device 62. Both the upper and lower balance block detection devices 61 include a clamping cylinder 63, a first detection seat 64, and a first photoelectric sensor 65. The clamping cylinder 63 drives the first detection seat 64 to move up and down. The first photoelectric sensor 65 is mounted on the first detection seat 64 and is used to detect whether a balance block exists on the assembly fixture 11 at the corresponding workstation. A pressure block 66 is installed on the first detection seat 64. When the first detection seat 64 moves downward, the pressure block 66 abuts against the edge of the balance block and presses it down to ensure the balance block is in place.

[0062] Crankshaft loading platforms 3 are set up at four workstations for manual loading of crankshafts 1002. Crankshaft inspection devices 4 are also installed at five workstations. Figure 7 The crankshaft inspection device 4 includes a second inspection seat 41 and front and rear slide cylinders 42. The front and rear slide cylinders 42 drive the second inspection seat 41 to move back and forth. The second inspection seat 41 includes an inspection fixture 43, which includes a through groove 44. Through-beam photoelectric sensors 45 are arranged on both sides of the through groove 44. The through-beam photoelectric sensors 45 are used to detect whether the crankshaft 1002 is placed on the assembly fixture 11. The through groove 44 is used to allow space for the assembly fixture 11, so that the through-beam photoelectric sensors 45 can be transported to both sides of the assembly fixture 11 for inspection of the crankshaft 1002.

[0063] A rivet feeding device 7 is installed at workstation nine. The rivet feeding device 7 includes a feeding robot 71, a rivet vibrating plate 72, a rivet receiving assembly 73, and a rivet sorting assembly 74. The rivet sorting assembly 74 is connected to the rivet vibrating plate 72 and the rivet receiving assembly 73 respectively. The feeding robot 71 is used to grab the rivets 1004 at the rivet receiving assembly 73 for feeding.

[0064] like Figure 13 The rivet distribution assembly 74 includes a distribution seat 741 and a distribution component 742. The distribution seat 741 includes a storage channel 745 and an inlet 743 and an outlet 746 disposed at the upper and lower ends of the storage channel 745. The rivet vibratory feeder 72 is connected to the inlet 743 to feed rivets 1004 one by one, stacking them one by one in the storage channel 745. The rivet receiving assembly 73 includes a receiving seat 734 with a receiving port 731 on top, which connects to the outlet 746. The distribution component 742 is disposed in the storage channel 745 and is used to open and close the outlet 746, thus distributing rivets 1004 one by one to the receiving port 731. The material distribution component 742 uses a material distribution clamping cylinder 744, which controls the lowering operation of the rivet 1004 in the material storage channel 745.

[0065] like Figure 8 The rivet receiving assembly 73 also includes a receiving drive 732 and a feeding drive 733. The receiving drive 732 drives the receiving seat 734 to rise and fall, and the feeding drive 733 drives the receiving seat 734 to move back and forth to a first position or a second position. The receiving drive 732 is a lifting cylinder, and the feeding drive 733 is a push cylinder.

[0066] First position (e.g.) Figure 8The feeding drive 733 drives the receiving seat 734 to move backward and position it below the distributing seat 741. The discharge port 746 corresponds to the receiving port 731. The receiving drive 732 drives the receiving seat 734 to rise and connect the receiving port 731 with the discharge port 746. The distributing component 742 controls the rivets 1004 in the storage channel 745 to be lowered into the receiving port 731. Second position (e.g.) Figure 9 The feeding drive 733 drives the receiving seat 734 to move forward and away from the distributing seat 741, and the receiving port 731 is exposed. At this time, the loading robot 71 can move to obtain the rivet 1004 from the receiving port 731.

[0067] The crankshaft 1002 is riveted, and two rivets 1004 are required for the two positioning pins 13. Therefore, the inlet 743, outlet 746 and receiving port 731 are all set to two. The loading robot 71 picks up two rivets 1004 at a time. The loading robot 71 is driven by the drive module assembly, which includes an upper and lower gripping module 711 and a front and rear push cylinder 712. The upper and lower gripping module 711 is used to control the loading robot 71 to pick up or place the rivets 1004, and the front and rear push cylinder 712 is used to move the loading robot 71 back and forth to transport the rivets 1004.

[0068] When the rivet 1004 is being fed into the rivet hole, the lifting drive 14 first disconnects the lifting of the positioning pin 13, and the loading robot 71 aligns with the position of the positioning pin 13 to unload the rivet 1004. The rivet 1004 abuts against the positioning pin 13 and moves downward. The positioning pin 13 retracts into the assembly fixture 11 under the pressure of the rivet 1004, and the rivet 1004 is inserted into the rivet hole as it is pressed down.

[0069] like Figure 10 A pin detection device 8 is set at workstation 10. The pin detection device includes a third detection seat 81 and an upper and lower cylinder 82. A second photoelectric sensor 83 is installed on the third detection seat 81. The second photoelectric sensor is used to detect whether the rivet 1004 is installed in the rivet hole. The upper and lower cylinder 82 is used to drive the third detection seat 81 to move up and down.

[0070] like Figure 11 A crankshaft positioning rotary table 10 is installed at workstation eleven, which is used to transport the workpieces from the mounting and riveting device 9. Two sets of transport fixtures 101 are detachably installed on the crankshaft positioning rotary table 10. These transport fixtures 101 are identical to the finished product fixture 12 and also have limit grooves 15 and limit holes 16. A second robotic arm module 102 is installed between the turntable 1 and the crankshaft positioning rotary table 10 to transport the processed workpieces from the assembly fixture 11 to the transport fixtures 101, or from the transport fixtures 101 to the finished product fixture 12. The two sets of transport fixtures 101 alternately transport the processed workpieces and the finished workpieces.

[0071] The second robotic arm module 102 is similar to the first robotic arm module, also including a gripper 231 and a drive module. The difference lies in the drive module; the second robotic arm module 102's drive module includes X-axis, Y-axis, and Z-axis drives, used to enable the gripper 231 to vertically pick up or place workpieces, transport workpieces forward and backward, and select between the assembly fixture 11 for material handling or the finished product fixture 12 for material unloading. The gripper 231 also includes three claws 2311 distributed along a triangle and a clamping element 2312 located in the middle of the triangle. The assembly fixture 11, finished product fixture 12, and transport fixture 101 are equipped with second clearance structures 17 corresponding to the three claws 2311, such as... Figure 2 or Figure 12 .

[0072] like Figure 12 The crankshaft positioning rotary table 10 includes a placement plate 103 and a rotary swing cylinder 104. Two sets of transport fixtures 101 are respectively installed at both ends of the placement plate 103. The rotary swing cylinder 104 drives the placement plate 103 to rotate, and the two sets of transport fixtures 101 alternately transport the workpiece between the turntable 1 and the riveting device 9. It should be noted that the crankshaft positioning rotary table 10 can also use the turntable 1 for transport or other mechanisms that can perform alternating transport.

[0073] like Figure 11 A set of transport fixtures 101 is located on the side of the turntable 1. The second robotic arm module 102 is used to load or unload workpieces from the assembly fixtures 11 or transport fixtures 101. A set of transport fixtures 101 is located at the riveting device 9, which performs riveting on the transport fixtures 101. When a riveted workpiece is transported to the side of the turntable, the second robotic arm module 102 first transports the riveted workpiece to the finished product fixture 12, and then transports the workpiece to be riveted to the transport fixtures 101.

[0074] Since the riveting device 9 performs riveting directly on the transport fixture 101, a lifting and clamping component (such as...) is provided on one side of the placement plate 103 to prevent damage to the rotating cylinder 104 due to excessive pressure during riveting. Figure 12 The lifting and pressing component is located below the placement plate 103. The lifting and pressing component includes a lifting drive component 105 and a pressing block 106. The lifting drive component 105 drives the pressing block 106 to rise and fall. The pressing block 106 rises and abuts against the bottom of the placement plate 103 to support the placement plate 103 and protect the rotating swing cylinder 104.

[0075] The working process of the crankshaft 1002 riveting device 9 is as follows: As the turntable 1 rotates, the operations at each station are as follows:

[0076] At workstation 1, the lower balance block feeding device 2 feeds the lower balance block 1001, and the balance block vibrating plate 21 vibrates the lower balance block 1001 into place. The first robotic arm module 23 picks up the lower balance block 1001 at the material pick-up port 25 and feeds the assembly tool 11 at workstation 1 (workstation 1 does not move when there is no lower balance block 1001).

[0077] At station two, the same as at station one, the lower balance block 1001 is loaded (station two does not operate when there is no lower balance block 1001 or only one lower balance block 1001); when there are more than two lower balance blocks 1001, multiple lower balance blocks 1001 can be obtained and loaded at station one or station two.

[0078] At the three workstations, the lower balance block detection device 61 detects the lower balance block 1001 (it does not operate when there is no lower balance block 1001), the pressing cylinder 63 presses down, and the first photoelectric sensor 65 determines whether there is a lower balance block 1001.

[0079] At each of the four workstations, workers load crankshaft 1002 onto crankshaft loading platform 3 (if there are already riveted workpieces on finished tooling 12, the riveted workpieces are unloaded at the same time).

[0080] At workstation 5, crankshaft detection device 4 detects crankshaft 1002. Front and rear slide cylinders 42 slide, and the presence or absence of crankshaft 1002 is determined by photoelectric sensor 45.

[0081] At workstation six, the upper balance block feeding device 5 feeds the upper balance block 1003, and the steps are the same as those of the lower balance block feeding device 2.

[0082] Workstation 7 is the same as workstation 6, where the upper balance block 1003 is loaded (workstation 7 does not operate when one upper balance block 1003 is needed).

[0083] At workstation 8, the upper balance block detection device 62 detects the upper and lower balance blocks 1003, and at this workstation, the machine control valve controls the cylinder to disconnect the lifting of the positioning pin 13, so as to facilitate the subsequent feeding of the rivet 1004.

[0084] At workstation nine, the rivet feeding device 7 feeds rivets 1004. The rivet vibrating plate 72 vibrates the rivets 1004 into the material distribution seat 741. The receiving seat 734 rises under the drive of the receiving drive 732 to receive the rivets 1004, and then falls and is pushed out of the material distribution seat 741 by the feeding drive 733. The feeding robot 71 picks up the rivets from the receiving seat 734 and transports them to workstation nine. The feeding robot 71 presses the rivets 1004 into the riveting hole and presses the positioning pin 13 in the riveting hole into the assembly fixture 11, thus realizing the feeding of rivets 1004.

[0085] At ten workstations, the pin detection device 8 detects rivets 1004. The upper and lower cylinders 82 move downwards, and the second photoelectric sensor 83 determines whether there are rivets 1004.

[0086] At workstation eleven, the riveting device 9 performs riveting. The second robotic arm module 102 picks up the assembled workpiece from the assembly station and transports it to a set of transport fixtures 101 on the crankshaft positioning rotary table 10. The crankshaft positioning rotary table 10 rotates 180°, and the transport fixtures 101 are rotated to the riveting device 9. The riveting device 9 rivets the workpiece, and after riveting, it rotates 180° again. The second robotic arm module 102 picks up the riveted workpiece and transports it to the finished product fixture 12. The two sets of transport fixtures 101 on the crankshaft positioning rotary table 10 alternately transport the processed workpiece and the finished workpiece.

[0087] Workstation twelve is an empty workstation with no movement. The riveted finished workpieces are manually unloaded at each of the four workstations as the turntable rotates.

[0088] The above description is only a preferred embodiment of the present utility model, but the design concept of the present utility model is not limited thereto. Any non-substantial modifications made to the present utility model by those skilled in the art within the scope of the technology disclosed in the present utility model using this concept shall be deemed as an infringement of the protection scope of the present utility model.

Claims

1. A crankshaft riveting device characterized by: The device comprises a rotating disc driven by a divider, a lower balance block feeding device, an upper balance block feeding device, a rivet feeding device, a crankshaft positioning rotary table, a riveting device and workpiece detection sensing devices corresponding to each device distributed on the outer side of the rotating disc in the circumferential direction. A plurality of workstations are distributed on the rotating disc in the circumferential direction at equal intervals, and a set of assembly tooling and a set of finished product tooling are detachably installed on the workstations; the crankshaft positioning rotary table is connected to the rotating disc and the riveting device, and two sets of transportation tooling are detachably installed on the crankshaft positioning rotary table. The finished product tooling and the transportation tooling each comprise a limiting groove and a limiting hole, the limiting groove is used for placing a lower balance block, and the limiting hole is used for limiting the crankshaft. The assembly tooling comprises two positioning pins, a jacking driving member is arranged below the rotating disc, the positioning pins penetrate through the assembly tooling and the rotating disc and are connected to the jacking driving member; the rivet feeding device comprises a feeding mechanical arm, and the feeding mechanical arm is used for grabbing a rivet for feeding. The jacking driving member jacks up the positioning pins to extend upwardly out of the assembly tooling, and the rivet holes of the lower balance block, the crankshaft and the upper balance block are inserted on the positioning pins during feeding of the workpiece; during feeding of the rivet, the jacking driving member is disconnected from the positioning pins, the feeding mechanical arm is fed, the rivet is pressed against the positioning pins and downwardly, the positioning pins are retracted into the assembly tooling, and the rivet is inserted into the rivet hole.

2. A crank riveting device according to claim 1, wherein: The lower balance block feeding device and the upper balance block feeding device each comprise two sets of feeding devices arranged at adjacent workstations. The feeding device comprises a balance block vibrating disc, a straight-vibration material channel and a first mechanical arm module; the straight-vibration material channel is connected to the balance block vibrating disc, and a jacking and distributing assembly is arranged at the end of the straight-vibration material channel, the jacking and distributing assembly comprises a jacking cylinder and a material taking port; The jacking cylinder drives the material taking port to move up and down, and the first mechanical arm module obtains the balance block in the material taking port.

3. A crank riveter as claimed in claim 2, wherein: A second mechanical arm module is arranged between the rotating disc and the crankshaft positioning rotary table, and the first mechanical arm module and the second mechanical arm module each comprise a material taking claw and a driving module; The material taking claw of the second mechanical arm module is used for obtaining a processed workpiece on the assembly tooling to the transportation tooling or obtaining a finished product on the transportation tooling to the finished product tooling.

4. A crank riveter as claimed in claim 3, wherein: The material taking claw comprises a three-claw hand and a pressing piece, the three-claw hand is distributed in a triangular shape, and the pressing piece is located at the middle position of the triangle; The material taking port is provided with three first accommodating structures corresponding to the three-claw hand; the assembly tooling, the finished product tooling and the transportation tooling are each provided with three second accommodating structures corresponding to the three-claw hand.

5. The crank riveter of claim 1 wherein: A crankshaft feeding table is arranged on the side of the rotating disc, and the workpiece detection sensing device comprises an upper balance block detection device, a lower balance block detection device, a crankshaft detection device and a pin detection device; The lower balance block feeding device, the lower balance block detection device, the crankshaft feeding table, the crankshaft detection device, the upper balance block feeding device, the upper balance block detection device, the rivet feeding device, the pin detection device and the riveting device are sequentially arranged along the rotation of the rotating disc; and the finished product tooling is used for feeding the finished product on the crankshaft feeding table.

6. The crank riveter of claim 1 wherein: The rivet feeding device comprises a rivet vibrating disc, a rivet receiving assembly and a rivet distributing assembly. The rivet distributing assembly is connected to the rivet vibrating disc and the rivet receiving assembly respectively, and the feeding manipulator obtains the rivets at the rivet receiving assembly.

7. A crank riveter as claimed in claim 6, wherein: The rivet distributing assembly comprises a distributing seat and a distributing piece, and the distributing seat comprises a storage channel and an inlet and an outlet arranged at the upper and lower ends of the storage channel. The rivet receiving assembly comprises a receiving seat, and the receiving seat is provided with a receiving port above the receiving seat, and the receiving port is connected to the outlet. The rivet vibrating disc is connected to the inlet to feed the rivets, the distributing piece is arranged in the storage channel, and the storage channel stores the rivets; the distributing piece is used to open and close the outlet and to distribute the rivets to the receiving port.

8. A crank riveter as claimed in claim 7, wherein: The rivet receiving assembly comprises a receiving driving piece and a feeding driving piece, the receiving driving piece drives the receiving seat to move up and down, and the feeding driving piece drives the receiving seat to move forward and backward to a first position or a second position. In the first position, the receiving driving piece drives the receiving seat to move up, the receiving port is connected to the outlet, and the distributing piece controls the rivets in the storage channel to be fed to the receiving port. In the second position, the receiving seat moves forward and away from the distributing seat, and the feeding manipulator obtains the rivets in the receiving port.

9. The crank riveter of claim 1 wherein: The crankshaft positioning rotary table comprises a placing plate and a rotary swing cylinder, and the two sets of transportation tools are respectively arranged at the two ends of the placing plate; the rotary swing cylinder drives the placing plate to rotate, and the two sets of transportation tools are alternately transported between the rotary table and the riveting device.

10. The crank riveter of claim 9 wherein: One side of the placing plate is provided with a jacking and pressing piece, the jacking and pressing piece is arranged below the placing plate, the jacking and pressing piece comprises a jacking driving piece and a pressing block, the jacking driving piece drives the pressing block to move up and down, and the pressing block is arranged below the placing plate.

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