CN104722690B - A kind of robot lock riveting riveting system and its elaborate servo riveter - Google Patents
A kind of robot lock riveting riveting system and its elaborate servo riveter Download PDFInfo
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- CN104722690B CN104722690B CN201510119508.8A CN201510119508A CN104722690B CN 104722690 B CN104722690 B CN 104722690B CN 201510119508 A CN201510119508 A CN 201510119508A CN 104722690 B CN104722690 B CN 104722690B
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Abstract
The invention discloses a kind of robot lock riveting riveting system and its elaborate servo riveter, including caliper, feed mechanism, it is oriented to rotation-preventing mechanism, unit head, pressure/displacement detecting mechanism and control system, the feed mechanism and guiding rotation-preventing mechanism are fixedly arranged on the caliper respectively, the power of the unit head, to realize the accurate transmission of power, and realizes pressure and the closed loop On-line Control of displacement during riveting via the guiding rotation-preventing mechanism output by the pressure/displacement detecting mechanism and control system.Using the robot lock riveting riveting system and elaborate servo riveter of the present invention, accurate riveting pressure and riveting displacement can be obtained, and the closed loop On-line Control of riveting process can be realized.
Description
Technical field
The present invention relates to robot riveting equipment technical field, more particularly to a kind of robot lock riveting riveting system and its
Elaborate servo riveter.
Background technology
Traditional riveting equipment is generally the modes such as air pressure, hydraulic pressure or gas-liquid pressure-boosting, is characterized in：Can only be with constant speed
The pressure spent and set is riveted, and is had the disadvantage accordingly：Press-fit speed can not realize it is stepless jump, pressure transient, no
Possesses the decision-making function of pressure/displacement overall process, product riveting process quality can not be monitored.And the poor compatibility of equipment, change
Production trouble, riveting different products needs to be equipped with different moulds of industrial equipment, increase frock hardware cost and manual debugging cost.This
Outside, air pressure noise is big, and equipment volume is huge, it is impossible to applied to robot production line, and energy consumption is big, seriously polluted.
The disclosure of background above technology contents is only used for inventive concept and the technical scheme that auxiliary understands the present invention, and it is not
The prior art of present patent application is necessarily belonged to, the applying date of the above in present patent application is being shown without tangible proof
In the case of disclosed, above-mentioned background technology should not be taken to evaluate the novelty and creativeness of the application.
The content of the invention
It is an object of the invention to propose a kind of robot lock riveting riveting system and its elaborate servo riveter, with solution
Quality can not be ensured and can not carry out the technical problem of on-line amending in real time by stating the operations such as riveting/riveting of prior art presence.
Therefore, the present invention proposes a kind of elaborate servo riveter, including caliper, feed mechanism, guiding rotation-preventing mechanism, power
Head, pressure/displacement detecting mechanism and control system, the feed mechanism and guiding rotation-preventing mechanism are fixedly arranged on the caliper respectively
On, the power of the unit head is exported to realize the accurate transmission of power via the guiding rotation-preventing mechanism, and passes through the pressure
Power/displacement detecting mechanism and control system realize pressure and the closed loop On-line Control of displacement during riveting.
Preferably, the present invention can also have following technical characteristic：
The unit head includes servomotor and its reducing gear, and the screw body being connected with the reducing gear,
Pressure/the displacement detecting mechanism is the pressure sensor being built in the screw body and is built in the servomotor
Rotary encoder, the pressure sensor is used to detect the power output of the screw body, and the rotary encoder is used for will
The anglec of rotation of row screw body is converted to straight-line displacement.
The reducing gear is made up of the line shaft and timing belt of the servomotor, and the screw body is rolled including planet
Post screw mandrel and its nut, the guiding rotation-preventing mechanism include guide rod and its compression spring；The planetary roller screw mandrel with it is described
Guide rod is coaxially coupled, and the rotary motion of the planetary roller screw mandrel is converted to the linear motion of the guide rod；It is described
Pressure sensor is located at the rear end of planetary roller screw mandrel, and built-in strain resistor, and the rotary encoder is used for the screw mandrel
The anglec of rotation of the nut of mechanism is converted to the straight-line displacement of the guide rod, the pressure sensor and rotary encoder it is defeated
Go out and be terminated at the control system.
The caliper includes upper die and lower die and support lower margin, and the feed mechanism is connected to the upper mould, and the lower mould is set
There is lower mould locating rod.
The upper die and lower die are detachable so that the elaborate servo riveter can realize press-fit, punching press, without riveting, lock
Riveting, the several work such as press.
The unit head also includes proximity transducer.
The guiding rotation-preventing mechanism also includes guide sleeve and Anti-rotary block.
The control system is system control cpu, and input includes DP communication interfaces, I/O communication interfaces, pressure sensor
Interface, proximity transducer interface and start-stop button interface, are respectively used to receive external input signal.
The control system also includes the breaker and/or independent touch-screen type operation button of control device main power source
Box.
The present invention also provides a kind of robot lock riveting riveting system, including robot and riveter, before the riveter is
The elaborate servo riveter described in any one is stated, the elaborate servo riveter is described on the mechanical arm of the robot
Robot is acted according to the instruction of the control system, to coordinate the elaborate servo riveter to complete riveting operation.
The beneficial effect that the present invention is compared with the prior art includes：The power of the unit head is oriented to anti-favourable turn via described
Structure output realizes riveting process to realize the accurate transmission of power by the pressure/displacement detecting mechanism and control system
Middle pressure and the closed loop On-line Control of displacement, can obtain accurate riveting pressure and riveting displacement, and can realize riveting process
Closed loop On-line Control.
Brief description of the drawings
Fig. 1 is the structural representation of the specific embodiment of the invention one；
Fig. 2 is the partial enlargement structural representation of the specific embodiment of the invention one；
Fig. 3 is another partial enlargement structural representation of the specific embodiment of the invention one；
Fig. 4 is the explosive view of main building block in Fig. 2；
Fig. 5 is the explosive view of the screw body and feed mechanism；
Fig. 6 is the control system distribution schematic diagram of one embodiment of the invention；
Fig. 7 is the main circuit connection figure of one embodiment of the invention；
Fig. 8 is the control circuit interconnect pattern of one embodiment of the invention.
Embodiment
With reference to embodiment and compare accompanying drawing the present invention is described in further detail.It is emphasized that
What the description below was merely exemplary, the scope being not intended to be limiting of the invention and its application.
With reference to figure 1 below -8, the embodiment of non-limiting and nonexcludability, wherein identical reference table will be described
Show identical part, unless stated otherwise.
Riveting riveting system is locked by a kind of robot, as shown in figure 1, the essence including robot 80 and on its mechanical arm 801
Close servo riveter.Wherein, the robot 80 can be used is not described in detail in the robot of prior art, the present embodiment.
The elaborate servo riveter, as depicted in figs. 1 and 2, including caliper 10, feed mechanism 20, guiding rotation-preventing mechanism
30th, unit head 40, pressure/displacement detecting mechanism and control system 50, the feed mechanism 20 and guiding rotation-preventing mechanism 30 are distinguished
It is fixedly arranged on the caliper 10, the power of the unit head 40 is exported to realize the standard of power via the guiding rotation-preventing mechanism 30
Really transmission, and pressure and the closed loop of displacement during riveting are realized by the pressure/displacement detecting mechanism and control system 50
On-line Control.P1, P2 in shown in Fig. 2 are two sheet materials to be riveted in the present embodiment.
As shown in figure 3, the unit head 40 include servomotor 409 and its reducing gear, and with the reducing gear
The screw body of connection, the pressure/displacement detecting mechanism is the pressure sensor 407 that is built in the screw body and interior
The rotary encoder being placed in the servomotor 409, the pressure sensor 407 is used for the output for detecting the screw body
Power, the rotary encoder is used to the anglec of rotation of row screw body being converted to straight-line displacement.The unit head also includes connecing
Nearly sensor 408.
As shown in Fig. 3, Fig. 4 and Fig. 5, main shaft synchronizing wheel 405 and synchronization of the reducing gear by the servomotor 409
Band 4031 coordinates motor drum in-phase 4010 and main shaft synchronizing wheel 405 to constitute, the screw body include planetary roller screw mandrel 401 and
Its nut, the guiding rotation-preventing mechanism 30 includes guide rod 3102 and its compression spring 3103；The planetary roller screw mandrel 401 with
The guide rod 3102 is coaxially coupled, and the rotary motion of the planetary roller screw mandrel 401 is converted into the guide rod 3102
Linear motion；The pressure sensor 407 is located at the rear end of planetary roller screw mandrel 401, and built-in strain resistor, the rotation
Encoder is used for the straight-line displacement that the anglec of rotation of the nut of the screw body is converted to the guide rod 3102, the pressure
The output of force snesor 407 and rotary encoder is terminated at the control system 50.
In explosive view shown in Fig. 3 and Fig. 4, it is shown that the unit head core component of an embodiment, including watch
Take motor 409, proximity transducer 408, planetary roller screw mandrel 401, pressure sensor 407, thrust bearing 406, motor drum in-phase
4010th, main shaft synchronizing wheel 405, pedestal 404, angular contact ball bearing 403 and connecting seat 402 etc..Wherein, the pressure sensor
Strain resistor built in 407, and located at the rear end of planetary roller screw mandrel 401, the set-up mode can further improve accuracy of detection, and
Compared to other setting structure design methods, the problem of can solve the problem that cable breakdown in use.
As shown in figure 5, the guiding rotation-preventing mechanism 30 also includes axle sleeve 3104, guide pin bushing 3111 and supporting fixed block 3105
With U-shaped piece 3106 etc., the end of the guide rod 3102 is additionally provided with wear-resistant sleeve 3101.In figure, feed mechanism 20 passes through locking screw
First packing ring 3107 of mother 3110 and its both sides, second packing ring 3109 are connected on the guide sleeve 3104.
The caliper 10 includes upper die and lower die and support lower margin, and the feed mechanism 20 is connected to the upper mould, it is described under
Mould is provided with lower mould locating rod.The upper die and lower die are detachable so that the elaborate servo riveter, which can be realized, to be press-fited, rushes
Pressure, without riveting, lock riveting, the several work such as press.
As shown in fig. 6, the control system 50 is system control cpu, input includes DP communication interfaces, I/O communications and connect
Mouth 5001, pressure sensor interface 5004, proximity transducer interface 5002 and start-stop button interface 5003, are respectively used to receive outer
Portion's input signal.As shown in Figure 1 and Figure 7, the main circuit of the control system 50 may also include the open circuit of control device main power source
Device 503, and independent touch-screen type operating button box 60.The input of the system control cpu terminates the touch-screen type behaviour
Make the output end of box 60, the input of the output termination servomotor 409 of system control cpu.Equipment main power source passes through institute
Breaker (band protection module) is stated, and AC servo driver 502 is directly driven by noise filter 504, meanwhile, by opening
Powered-down source 503 be depressured and DC filter 506 filter after supply electricity to system control cpu.AC servo driver is to servomotor
409 provide driving force, and system control cpu receives external input signal (such as limit sensors, pressure sensor, button, switch
The signal of offer), recognize and handle and exported to servomotor 409, perform action.As shown in Figure 8, it is shown that one is preferable to carry out
The control circuit interconnect pattern of example, it includes the control system power supply switching on/off circuit 801 being connected in parallel and servomotor switching on/off circuit
802, and control system power circuit 803, radiator fan circuit 804 and the PLC power circuits 805 being connected in parallel.
During work, servomotor 409 is rotated by the nut of driving planetary roller screw mandrel 401 after timing belt primary speed-down,
The linear motion that rotation-preventing mechanism 30 is converted to the rotary motion of planetary roller screw mandrel 401 guide rod is oriented to, rotary encoder will
The anglec of rotation of the nut of planetary roller screw mandrel 401 is converted to the straight-line displacement of guide rod, the detection guide rod of pressure sensor 407
Power output, the AC servo driver 502 is sent to by transmitter 70, and by control system 50 according to rotary encoder and
The testing result of pressure sensor 407 carries out suitable control so that riveting power is accurately transmitted, so as to realize elaborate servo riveter
Closed loop On-line Control riveting process.Simultaneously as the elaborate servo riveter uses servo-control system and mechanical transmission mechanism
The structure being combined, therefore dust and greasy dirt will not be produced at work, meet dustless dust proof workshop standard.
It would be recognized by those skilled in the art that it is possible that numerous accommodations are made to above description, so embodiment is only
For describing one or more particular implementations.
The elaborate servo riveter of the present embodiment drives planetary roller by AC servo motor by timing belt primary speed-down
Screw mandrel power output, passes through the cooperation of pressure, displacement detection function and Kong Xi Tong Den, it is possible to achieve the monitoring of riveting overall process,
So as to realize high-precision position and Stress control, effectively control is riveted the quality of product.In addition, the product body of the present embodiment
Product is small, and compatibility is good, can simplify frock, and coordinates the assembling for production line by the DP communication interfaces and robot, real
Existing a tractor serves several purposes, it can be not only used for the connection between plate and plate, can be used for interference fit required pressure assembling, also may be used
Pressure test for laboratory.Compared to traditional riveting press equipment, the riveting function reduction energy consumption of the present embodiment reduces environment dirty
Dye, and noise is small.
Although having been described above and describing the example embodiment for being counted as the present invention, it will be apparent to those skilled in the art that
It can be variously modified and replaced, without departing from the spirit of the present invention.Furthermore it is possible to make many modifications with by spy
Condition of pledging love is fitted to the religious doctrine of the present invention, without departing from invention described herein central concept.So, the present invention is unrestricted
In specific embodiment disclosed here, but the present invention all embodiments that may also include belonging to the scope of the invention and its equivalent
Thing.
Claims (8)
1. a kind of elaborate servo riveter, it is characterised in that：Including caliper, feed mechanism, it is oriented to rotation-preventing mechanism, unit head, pressure
Power/displacement detecting mechanism and control system, the feed mechanism and guiding rotation-preventing mechanism are fixedly arranged on the caliper respectively, described
The power of unit head is exported to realize the accurate transmission of power via the guiding rotation-preventing mechanism, and passes through the pressure/displacement
Testing agency and control system realize pressure and the closed loop On-line Control of displacement during riveting；
The unit head includes servomotor and its reducing gear, the screw body being connected with the reducing gear and thrust
Bearing, the pressure/displacement detecting mechanism is the pressure sensor being built in the screw body and is built in the servo
Rotary encoder in motor, the rotary encoder is used to the anglec of rotation of screw body being converted to straight-line displacement；
The reducing gear is made up of the line shaft and timing belt of the servomotor, and the screw body includes planetary roller silk
Bar and its nut, the guiding rotation-preventing mechanism include guide rod and its compression spring；The planetary roller screw mandrel is oriented to described
Bar is coaxially coupled, and the rotary motion of the planetary roller screw mandrel is converted to the linear motion of the guide rod；The planet
Roller screw mandrel passes through the pressure sensor and thrust bearing, and the pressure sensor is located at the rear end of planetary roller screw mandrel, and
Built-in strain resistor, and the pressure sensor is limited in above thrust bearing；
During work, the pressure sensor detects the power output of the guide rod.
2. elaborate servo riveter as claimed in claim 1, it is characterised in that：The caliper includes upper die and lower die and support
Lower margin, the feed mechanism is connected to the upper mould, and the lower mould is provided with lower mould locating rod.
3. elaborate servo riveter as claimed in claim 2, it is characterised in that：The upper die and lower die are detachable, make
Obtain the elaborate servo riveter can realize press-fit, punching press, without riveting, lock riveting, press several work.
4. elaborate servo riveter as claimed in claim 1, it is characterised in that：The unit head also includes proximity transducer.
5. elaborate servo riveter as claimed in claim 1, it is characterised in that：The guiding rotation-preventing mechanism also includes guide sleeve
And Anti-rotary block.
6. the elaborate servo riveter as described in any one of Claims 1 to 5, it is characterised in that：The control system is controlled for CPU
System processed, input is pressed including DP communication interfaces, I/O communication interfaces, pressure sensor interface, proximity transducer interface and start and stop
Button interface, is respectively used to receive external input signal.
7. elaborate servo riveter as claimed in claim 6, it is characterised in that：The control system also includes control device master
The breaker of power supply and/or independent touch-screen type operating button box.
8. riveting riveting system is locked by a kind of robot, it is characterised in that：Including robot and riveter, the riveter will for right
The elaborate servo riveter any one of 1-7 is sought, the elaborate servo riveter is located on the mechanical arm of the robot,
The robot is acted according to the instruction of the control system, to coordinate the elaborate servo riveter to complete riveting behaviour
Make.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510119508.8A CN104722690B (en) | 2015-03-18 | 2015-03-18 | A kind of robot lock riveting riveting system and its elaborate servo riveter |
| HK15109141.2A HK1208642A1 (en) | 2015-03-18 | 2015-09-17 | A robot lock-rivet riveting system and a precision servo riveting compressor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510119508.8A CN104722690B (en) | 2015-03-18 | 2015-03-18 | A kind of robot lock riveting riveting system and its elaborate servo riveter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104722690A CN104722690A (en) | 2015-06-24 |
| CN104722690B true CN104722690B (en) | 2017-10-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510119508.8A Active CN104722690B (en) | 2015-03-18 | 2015-03-18 | A kind of robot lock riveting riveting system and its elaborate servo riveter |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN104722690B (en) |
| HK (1) | HK1208642A1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106391974A (en) * | 2016-09-08 | 2017-02-15 | 浦莱斯精密技术(深圳)有限公司 | Robot locking and riveting system and precise servo riveting machine thereof |
| CN107322259B (en) * | 2017-08-09 | 2023-12-19 | 广东利元亨智能装备有限公司 | Automatic hinge assembling equipment |
| CN110987425B (en) * | 2019-12-31 | 2022-06-07 | 盛瑞传动股份有限公司 | Method for testing riveting and releasing force of planet wheel shaft of planet row |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8434215B2 (en) * | 2008-08-05 | 2013-05-07 | Newfrey Llc | Self-piercing rivet setting machine |
| CN201632810U (en) * | 2010-03-23 | 2010-11-17 | 一浦莱斯精密技术(深圳)有限公司 | Servo electronic press machine |
| CN202239368U (en) * | 2011-09-07 | 2012-05-30 | 一浦莱斯精密技术(深圳)有限公司 | Punching device with protection function |
| CN102581600A (en) * | 2012-03-27 | 2012-07-18 | 苏州通锦精密工业有限公司 | Precision push-mounting machine with detection function |
| CN102764973A (en) * | 2012-07-19 | 2012-11-07 | 四川望锦机械有限公司 | Steering and suspension spherical hinge assembly assembling and prepressing spin riveting machine |
-
2015
- 2015-03-18 CN CN201510119508.8A patent/CN104722690B/en active Active
- 2015-09-17 HK HK15109141.2A patent/HK1208642A1/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| HK1208642A1 (en) | 2016-03-11 |
| CN104722690A (en) | 2015-06-24 |
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