Workpiece blind rivet type automatic clamping mechanism and automatic feeding and discharging device

Abstract

The utility model discloses a workpiece blind rivet type automatic clamping mechanism and an automatic feeding and discharging device, which comprise a clamp body with a pull rod cavity, a chuck seat is fixedly arranged at the front end of the pull rod cavity, and a rotary fixing seat for mounting a workpiece is arranged at the front end of the chuck seat; a chuck sleeve is arranged in the pull rod cavity in an axially sliding and penetrating mode, the front end of the chuck sleeve penetrates into the chuck base, an elastic piece is arranged between the rear end of the chuck sleeve and the inner wall of the pull rod cavity, a chuck and a pull rod connected to the rear end of the chuck are arranged in the chuck sleeve in an axially sliding and penetrating mode, and the pull rod is further connected with an axial driving mechanism. A multi-petal type elastic clamping jaw for clamping a blind rivet is formed at the front end of the chuck and is in conical surface fit with the chuck sleeve; and the blind rivet penetrates through the workpiece and the rotary fixing seat and is clamped by an elastic clamping jaw of the chuck. The structure is stable in clamping and high in automation degree and has an automatic compensation function.

Description

Technical Field

[0001] This utility model relates to the field of machining fixture technology, specifically a workpiece pull stud automatic clamping mechanism with automatic compensation function, which is suitable for precision machining scenarios where positioning through holes is required to achieve post-tensioning. It also relates to an automatic workpiece loading and unloading device. Background Technology

[0002] In the machining field, early locking technology employed a mandrel structure with a pre-drilled threaded hole at the front end. Workpiece positioning was achieved by pre-installing it on a dedicated fixture base, requiring operators to manually insert the locking screw to secure the workpiece. This traditional process has significant operational limitations: the entire workpiece loading and unloading process relies on manual intervention, leading to bottlenecks in process efficiency; furthermore, the lack of rapid positioning and automatic locking mechanisms makes effective integration with industrial robots and intelligent control systems difficult, revealing significant process compatibility issues in modern intelligent manufacturing scenarios, particularly in hindering production line cycle time, increasing labor costs, and compatibility with digital production systems. Utility Model Content

[0003] The technical problem to be solved by this utility model is to overcome the above-mentioned problems and provide a workpiece pull stud automatic clamping mechanism and an automatic loading and unloading device, which has stable clamping, high degree of automation, and automatic compensation function.

[0004] The technical solution of this utility model is:

[0005] This utility model discloses a workpiece pull-nail type automatic clamping mechanism, including a clamp body with a pull rod cavity, a chuck seat fixedly provided at the front end of the pull rod cavity, and a rotating fixing seat for installing the workpiece provided at the front end of the chuck seat;

[0006] A chuck sleeve is axially slidably inserted into the drawbar cavity. The front end of the chuck sleeve extends into the chuck seat, and an elastic element is provided between the rear end and the inner wall of the drawbar cavity. A chuck and a drawbar connected to the rear end of the chuck are axially slidably inserted into the chuck sleeve. The drawbar is also connected to an axial drive mechanism. The front end of the chuck forms a multi-lobed elastic claw for clamping the pull stud and forms a conical surface fit with the chuck sleeve. The pull stud passes through the workpiece, rotates and is fixed, and is clamped by the elastic claw of the chuck.

[0007] With the above structure, this utility model can realize automatic tensioning and locking of workpieces. The clamping and release of the rivet is automatically completed by controlling the movement of the tie rod through the axial drive mechanism, without human intervention. The clamping efficiency is high. Furthermore, automatic dynamic compensation is achieved through the elastic deformation of the elastic element, allowing the chuck sleeve to move backward within a small range, compensating for manufacturing and installation tolerances, maintaining a constant and reliable tension force, and the elastic adjustment during the tensioning process avoids impact and plays a certain buffering role.

[0008] Furthermore, in the workpiece pull-nail type automatic clamping mechanism described in this utility model, the axial drive mechanism adopts a main cylinder, and the main cylinder is provided with a clamping air inlet and a releasing air inlet.

[0009] Furthermore, in the workpiece pull stud automatic clamping mechanism described in this utility model, the elastic element is a butterfly spring, which has good nonlinear stiffness characteristics. It can easily deform in the initial compensation stage to achieve dynamic compensation and avoid rigid impact. In the final locking stage, it forms a high-rigidity support to ensure stable clamping force.

[0010] Furthermore, in the workpiece pull-nail type automatic clamping mechanism described in this utility model, the clamp body includes a DD motor, the pull rod cavity is formed inside the output shaft of the DD motor, and the chuck seat and axial drive mechanism are connected to the output shaft of the DD motor, thereby rotating synchronously with the output shaft. The use of a DD motor direct drive structure enables the chuck seat to rotate synchronously with the output shaft, eliminating traditional transmission backlash, and directly integrating the pull rod and other structures within the hollow output shaft of the DD motor, resulting in a compact and small structure.

[0011] Furthermore, in the workpiece pull-nail type automatic clamping mechanism of this utility model, the front end of the chuck has a first conical section that expands in diameter towards the front end and a second conical section that contracts in diameter towards the front end. The first conical section can form a conical fit with the chuck sleeve, and the second conical section can form a conical fit with the chuck seat.

[0012] This utility model also discloses an automatic workpiece loading and unloading device, including a frame, a robotic arm for gripping workpieces, a rivet insertion and removal mechanism for inserting and removing rivets, and the aforementioned workpiece rivet-type automatic clamping mechanism. The rivet insertion and removal mechanism includes a translation component, a lifting component, and an end clamping component connected in sequence.

[0013] Furthermore, in the automatic workpiece loading and unloading device described in this utility model, the translation component includes a translation slide cylinder and a three-axis cylinder, the lifting component uses a lifting slide cylinder, and the end clamping component uses a finger cylinder. The translation slide cylinder is fixed on the frame and its output end is connected to the three-axis cylinder. The output end of the three-axis cylinder is connected to the lifting slide cylinder, and the output end of the lifting slide cylinder is connected to the finger cylinder. Through the coordinated work of the robotic arm and each cylinder, the entire working process is smooth and continuous, achieving automatic loading and unloading of workpieces with a high level of automation and high positioning accuracy.

[0014] The beneficial effects of this utility model are:

[0015] 1. This utility model achieves automatic clamping and loosening of the rivet by using a main cylinder to drive the tie rod and a conical surface mating structure. It meets the needs of positioning workpiece holes and tensioning limits. The clamping process does not require manual intervention, is highly efficient and has good consistency. It also has an automatic compensation function, which can dynamically compensate and flexibly buffer during the tensioning process by relying on the elastic deformation of the elastic element. It allows the chuck sleeve to move back slightly, effectively making up for manufacturing and installation tolerances and providing a relatively constant and reliable tensioning force.

[0016] 2. This utility model integrates a robotic arm, a rivet insertion and removal mechanism, and an automatic clamping mechanism, resulting in a compact structure and collaborative operation. This achieves full automation of the workpiece loading and unloading process, significantly improving production efficiency. The use of a precision drive combination of a slide cylinder and a three-axis cylinder, combined with the precise clamping of a finger cylinder, ensures extremely high repeatability in rivet insertion and removal and workpiece positioning. It is suitable for precision machining scenarios requiring high precision and flexible production. The overall design takes into account multiple requirements such as automation level, positioning accuracy, and system reliability. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of Example 1.

[0018] Figure 2 This is a schematic diagram of the structure of Example 2. Detailed Implementation

[0019] The present invention will now be further described with reference to the accompanying drawings: Example 1

[0020] Reference Figure 1 As shown in this embodiment, a workpiece pull-nail type automatic clamping mechanism includes a DD motor 1. A pull rod cavity 2 is formed within the output shaft of the DD motor 1. A chuck seat 3 is fixedly mounted at the front end of the pull rod cavity 2. A rotating fixing seat 4 for mounting a workpiece 5 is provided at the front end of the chuck seat 3. A chuck sleeve 6 is axially slidably inserted within the pull rod cavity 2. The front end of the chuck sleeve 6 extends into the chuck seat 3, and a butterfly spring 9 is provided between the rear end of the chuck sleeve 6 and the inner wall of the pull rod cavity 2. A limiting seat can be provided within the pull rod cavity 2 to form a stepped surface for abutting the butterfly spring 9. A chuck 7 and a pull rod 8 connected to the rear end of the chuck 7 are axially slidably inserted within the chuck sleeve 6. The pull rod 8 is also connected to a main cylinder 11. The main cylinder 11 has a clamping air port 12 and a releasing air port 13. The chuck seat 3 and the main cylinder 11 are connected to the output shaft of the DD motor 1, thus rotating synchronously with the output shaft.

[0021] The front end of the chuck 7 forms a multi-lobed elastic jaw for clamping the pull stud 10. The front end of the chuck 7 has a first conical section that expands in diameter towards the front end and a second conical section that narrows in diameter towards the front end. The first conical section can form a conical fit with the chuck sleeve 6, and the second conical section can form a conical fit with the chuck seat 3. The pull stud 10 passes through the workpiece 5 and the rotating fixing seat 4 and is clamped by the elastic jaw of the chuck 7.

[0022] The working principle of this embodiment is explained as follows. (1) Initial state: The chuck 7 and the chuck sleeve 6 maintain a clearance fit on the conical surface. The pull pin 10 passes through the workpiece 5, rotates the fixed seat 4, and is inserted into the front end of the chuck 7. (2) Clamping stage: After the clamping air inlet 12 of the main cylinder 11 is vented, the piston rod of the main cylinder 11 drives the pull rod 8 to move backward, forcing the chuck 7 to contract along the conical surface to form a radial clamping force on the pull pin 10. (3) Compensation stage: When the tension reaches the preset value, the butterfly spring 9 produces elastic deformation, and the chuck sleeve 6 moves backward as a whole to achieve dynamic compensation. (4) Locking stage: After the butterfly spring 9 is fully compressed, it forms a rigid support and establishes a stable tension force system. The pull pin 10 is locked and limited to abut against the workpiece 5. Example 2

[0023] Reference Figure 2 As shown, this embodiment discloses an automatic workpiece loading and unloading device, including a frame 14, a robotic arm 19 for gripping workpiece 5, a rivet insertion and extraction mechanism for inserting and removing rivets 10, and the aforementioned automatic workpiece rivet clamping mechanism. The rivet insertion and extraction mechanism includes a translation component, a lifting component, and an end clamping component connected in sequence. The translation component includes a translation slide cylinder 15 and a three-axis cylinder 16. The lifting component uses a lifting slide cylinder 17, and the end clamping component uses a finger cylinder 18. The translation slide cylinder 15 is fixed on the frame 14 and its output end is connected to the three-axis cylinder 16. The output end of the three-axis cylinder 16 is connected to the lifting slide cylinder 17, and the output end of the lifting slide cylinder 17 is connected to the finger cylinder 18.

[0024] The working process of this embodiment is described as follows. (1) Initial state: The finger cylinder 18 is vertically installed on the lifting slide cylinder 17, and the three-axis cylinder 16 is arranged in parallel with the translation slide cylinder 15. All components are in the reset position. (2) Execution process: The translation slide cylinder 15 drives the three-axis cylinder 16 to slide to the preset positioning position of the rivet 10; the robot arm 19 performs the clamping action to firmly grasp the workpiece 5; the lifting slide cylinder 17 drives the finger cylinder 18 to lift, and the finger of the finger cylinder 18 unfolds and accurately clamps the rivet 10; the main cylinder 11 releases air inlet 13, and the workpiece rivet automatic clamping mechanism starts to operate. Drive the chuck 7 to release the pull stud 10; the three-axis cylinder 16 extends forward to complete the pull stud 10 pulling action; the robot arm 19 performs loading and unloading operations, places the new workpiece 5 on the rotating fixed seat 4 and then resets; (3) Reset stage: the three-axis cylinder 16 retracts to the preset pull stud 10 positioning position, so that the pull stud 10 re-penetrates the workpiece 5 and enters the chuck 7; the finger cylinder 18 releases the pull stud 10, and the clamping air port 12 of the main cylinder 11 takes in air to lock the pull stud 10 in the chuck 7; the lifting slide cylinder 17 drives the finger cylinder 18 to return to the original point, and the translation slide cylinder 15 drives the three-axis cylinder 16 to fully reset.

[0025] The specific embodiments described herein are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model are still covered by the claims of this utility model.

Claims

1. A workpiece pull stud automatic clamping mechanism, characterized by: The clamp body comprises a pull rod cavity, a chuck seat is fixedly arranged at the front end of the pull rod cavity, and a rotary fixing seat for mounting a workpiece is arranged at the front end of the chuck seat; A chuck sleeve is axially slidably arranged in the pull rod cavity, the front end of the chuck sleeve penetrates into the chuck seat, and an elastic element is arranged between the rear end of the chuck sleeve and the inner wall of the pull rod cavity; a chuck and a pull rod connected to the rear end of the chuck are axially slidably arranged in the chuck sleeve; the pull rod is further connected to an axial driving mechanism; the front end of the chuck forms a multi-petal elastic clamping jaw for clamping a pull pin and forms a taper surface cooperation with the chuck sleeve; the pull pin penetrates the workpiece and the rotary fixing seat and is clamped by the elastic clamping jaw of the chuck.

2. The workpiece pull-stud automatic chucking mechanism according to claim 1, characterized in that: The axial driving mechanism adopts a main cylinder, and the main cylinder is provided with a clamping gas port and a loosening gas port.

3. The workpiece pull-stud automatic chucking mechanism according to claim 1, characterized in that: The elastic element is a butterfly spring.

4. The workpiece pull-stud automatic chucking mechanism according to claim 1, characterized in that: The clamp body comprises a DD motor, the pull rod cavity is formed in the output shaft of the DD motor, and the chuck seat and the axial driving mechanism are connected to the output shaft of the DD motor so as to rotate synchronously with the output shaft.

5. The workpiece pull-stud automatic chucking mechanism according to claim 1, characterized in that: The front end of the chuck has a first taper surface section which expands in the direction of the front end and a second taper surface section which shrinks in the direction of the front end, the first taper surface section forms a taper surface cooperation with the chuck sleeve, and the second taper surface section forms a taper surface cooperation with the chuck seat.

6. An automatic workpiece loading and unloading device, characterized by: The device comprises a rack, a mechanical hand for grabbing a workpiece, a pull pin inserting and pulling mechanism for inserting and pulling a pull pin, and the workpiece pull pin type automatic clamping mechanism according to any one of claims 1-5, the pull pin inserting and pulling mechanism comprises a translation assembly, a lifting assembly and a terminal clamping assembly which are connected in sequence.

7. The workpiece automatic loading and unloading device of claim 6, wherein: The translation assembly comprises a translation sliding table cylinder and a three-axis cylinder, the lifting assembly adopts a lifting sliding table cylinder, and the terminal clamping assembly adopts a finger cylinder; the translation sliding table cylinder is fixed on the rack and connected to the three-axis cylinder at the output end, the output end of the three-axis cylinder is connected to the lifting sliding table cylinder, and the output end of the lifting sliding table cylinder is connected to the finger cylinder.

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