CN107626877B - Rivet suction mechanical claw and rivet suction device - Google Patents
Rivet suction mechanical claw and rivet suction device Download PDFInfo
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- CN107626877B CN107626877B CN201710905801.6A CN201710905801A CN107626877B CN 107626877 B CN107626877 B CN 107626877B CN 201710905801 A CN201710905801 A CN 201710905801A CN 107626877 B CN107626877 B CN 107626877B
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- rivet
- push rod
- vacuum
- driving device
- suction
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- 210000000078 claw Anatomy 0.000 title claims description 9
- 238000000034 method Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 9
- 238000007789 sealing Methods 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 description 9
- 230000006872 improvement Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000005389 magnetism Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
A rivet suction mechanical gripper, comprising: the body, the body includes upper portion shell and lower part shell that make up together, install the push rod along vertically movable in upper portion shell and the lower part shell inside, install the head end cover behind the top of push rod wearing out upper portion shell, the spring is held in order to make the bottom of push rod acceptd in the inside of lower part shell between head end cover and the upper portion shell, the bottom of lower part shell has the suction nozzle that is used for emboliaing the rivet, the bottom of push rod aligns with the suction nozzle, install pneumatic connector on the body, pneumatic connector connects to the vacuum generating source, when emboliaing the rivet in the suction nozzle, form a vacuum region between lower portion shell, push rod, the rivet, still include first drive arrangement and second drive arrangement, first drive arrangement drive casing moves in vertical direction, the second drive arrangement drives the push rod and removes in the casing in order to promote the rivet in the vacuum region and break away from the suction nozzle.
Description
Technical Field
The present technology relates to a novel claw suitable for rivet gripping.
Background
On modern industrial assembly lines, how to accurately clamp and position rivets with smaller volumes to preset positions is a technical problem to be solved.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide the rivet sucking mechanical claw which is simple in structure and quick in clamping and releasing processes.
In order to achieve the above object, the present invention provides a rivet sucking gripper, comprising a body, wherein the body comprises an upper housing and a lower housing which are combined together, a push rod is movably installed in the upper housing and the lower housing along the longitudinal direction, a head end cover is installed after the top of the push rod passes through the upper housing, a spring is elastically supported between the head end cover and the upper housing so that the bottom end of the push rod is accommodated in the lower housing, a pair of second flanges are arranged at the lower part of the push rod, a sealing ring for sealing a lower vacuum area is arranged between the pair of second flanges, a suction nozzle for sleeving a rivet is arranged at the bottom of the lower housing, the bottom end of the push rod is aligned with the suction nozzle, a pneumatic connector is installed on the body, the pneumatic connector is connected to a vacuum generating source, a vacuum area is formed among the lower housing, the push rod and the rivet when the suction nozzle is sleeved with the rivet, a first driving device, a second driving device and a third driving device are arranged at the lower part of the push rod, the first driving device is separated from the driving device in the horizontal direction of the driving device, and the driving device is driven by the rivet in the horizontal direction; wherein,
in the initial state, the push rod is in the original position, and the body is moved to the upper part of the workpiece through the third driving device;
in the descending state, the body is driven by the first driving device to move downwards, and the rivet is sleeved in the suction nozzle;
in the carrying state, a vacuum generating source at the pneumatic joint starts to generate vacuum, vacuum negative pressure is generated in a vacuum area, the rivet is sucked by the suction nozzle through the vacuum, and then the body is carried through a third driving device and moves integrally with the rivet;
in the preliminary release state, when the body reaches the expected position, the push rod starts pushing out, the head of the push rod initially contacts the rivet, the vacuum generation source at the pneumatic joint stops working and releases pressure, and the rivet is pushed out by the push rod head;
in the release state after the rivet is in place, the pushing process of the push rod is half, the head of the push rod pushes the rivet half, the body is driven by the first driving device to be matched with the push rod to retract, so that the rivet is separated from the suction nozzle, and the push rod always contacts the rivet in the process;
in the fully released state after being in place, the body is retracted except for the push rod, the push rod is pushed out to the limit position, the rivet is completely separated from the suction nozzle, and the rivet is placed in a preset position.
As a further improvement, the upper part of the push rod is provided with a first flange, and an end gasket for adjusting the initial position of the push rod is arranged between the first flange and the upper shell.
As a further improvement, a sliding bushing is arranged in the middle of the push rod.
As a further improvement, the sliding bush comprises a self-lubricating bearing.
Further improvement comprises a rivet detection unit, wherein the rivet detection unit comprises a flow sensing unit arranged at a vacuum generating source.
According to another aspect of the present invention, there is provided a rivet suction device comprising a plurality of rivet suction grippers as described.
As a further improvement, a plurality of rivet sucking grippers are included in a circular arrangement.
As a further improvement, the rivet detecting unit comprises a flow sensing unit arranged at a vacuum generating source which is communicated with the vacuum area of each rivet sucking mechanical claw.
The beneficial effects of the invention are as follows: the rivet is sucked by vacuum generated by the vacuum generating source, and meanwhile, the rivet is discharged by matching with the mechanically driven demoulding device, so that the adhesion of the rivet during discharging caused by magnetism, burrs and the like can be effectively prevented. The whole set of mechanism is driven by an external cylinder, and the push rod can be not directly connected with a driving source through the head spring and the end cover, so that a plurality of suction heads can be integrally and quickly replaced.
Drawings
FIG. 1 is an exploded view of a rivet extracting gripper according to the present invention;
FIG. 2 is a perspective view of the rivet suction gripper of the present invention;
FIG. 3 is a perspective view of the ejector pins of the rivet extracting gripper of the present invention;
FIG. 4 is a cross-sectional view of the rivet suction gripper of the present invention;
FIG. 5 is a diagram illustrating the principle process of the rivet suction gripper according to the invention;
fig. 6 is a perspective view of the rivet extracting mechanism of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making clear and defining the scope of the present invention.
Referring to fig. 1 to 4, a rivet suction gripper includes an upper case 1 and a lower case 2 combined together, the upper case 1 being fixedly connected to the lower case 2 in a longitudinal direction by a second screw 12. The upper shell 1 and the lower shell 2 are internally and movably provided with a push rod 3 along the longitudinal direction, the top of the push rod 3 penetrates out of the upper shell 1 and is provided with a head end cover 6, the head end cover 6 is fixedly connected along the longitudinal direction through a first screw 11, a spring 8 is elastically supported between the head end cover 6 and the upper shell 1 so that the bottom end of the push rod 3 is accommodated in the lower shell 2, the bottom of the lower shell 2 is provided with a suction nozzle 13 for sleeving a rivet 10, the bottom end of the push rod 3 is aligned with the suction nozzle 13, the body is provided with a pneumatic connector 9, the pneumatic connector 9 is connected to a vacuum generating source S, and when the suction nozzle 13 is sleeved with the rivet 10, a vacuum area A is formed among the lower shell 2, the push rod 3 and the rivet 10.
The rivet driving device further comprises a first driving device, a second driving device and a third driving device, wherein the first driving device drives the shell to move in the vertical direction, the second driving device drives the push rod 3 to move 1 in the shell so as to push rivets in a vacuum area to be separated from the suction nozzle 13, and the third driving device drives the shell to move in the horizontal direction.
As shown in fig. 3, the upper part of the push rod 3 is provided with a first flange 14, and an end gasket 7 for adjusting the initial position of the push rod 3 is arranged between the first flange 14 and the upper shell 2; the lower part of the push rod 3 is provided with a pair of second flanges 15, and a sealing ring 5 for sealing the lower vacuum area is arranged between the pair of second flanges 15; the middle part of the push rod 3 is provided with a sliding bush 4 (self-lubricating bearing) for ensuring guiding property and reducing friction force when the push rod 3 moves up and down.
It should be noted that the object to be sucked in the invention is not limited to iron, but can be made of aluminum, plastic or other materials, and is suitable for the occasion that magnetic force cannot be used for grabbing or nails are not allowed to be magnetized in the grabbing process.
In addition, the invention adopts the vacuum suction rivet, can detect the air pressure in the whole suction air path through the flow sensing unit arranged at the position of the vacuum generating source, so that the presence or absence of the current nail can be judged without adding an additional sensor. This is of great advantage for certain applications where the integration requirements are high or the available space is small. This advantage is particularly evident when multiple nozzles are operating simultaneously, since only one flow detection can be used to monitor the entire set of nozzles to ensure that nails are present without requiring a single nozzle to be provided with a sensor.
Referring to fig. 5, the operation principle process of the rivet suction gripper according to the present invention is described.
In the initial state, as indicated by a, the push rod 3 is in the original position, the vacuum generating source at the left pneumatic joint 9 has not generated vacuum yet, and the mechanism is moved to the upper side of the workpiece by the third driving device, and the rivet 10 is located right below the suction nozzle 13.
In the lowered state, the push rod 3 is in the original position, the vacuum generating source at the left pneumatic joint 9 does not generate vacuum, the whole mechanism is driven by the first driving device to sink, and the rivet 10 is sleeved in the suction nozzle 13.
In the transport state, as shown in c, the push rod 3 is in place, the vacuum generation source at the left pneumatic joint 9 starts to generate vacuum, vacuum negative pressure is generated in the vacuum area shown in the figure, the rivet 10 is sucked by the suction nozzle 13 through the vacuum, and then the whole mechanism is transported by the third driving device, and the rivet 13 is integrally moved. Accordingly, vacuum negative pressure is also applied to the upper push rod 3, and this force generated in the push rod 3 is offset by the upper spring 8.
In the initial release state, when the whole device reaches the expected position, the push rod 3 starts pushing out, the head of the push rod 3 initially contacts the rivet 10, the vacuum generating source at the left pneumatic joint 9 stops working and releases pressure, and the rivet 10 is pushed out by the push rod head. At this time, the upper pusher 3 needs to cancel the urging force of the spring 8.
In the released state after the in-place state, the push rod 3 is pushed out halfway, and the head of the push rod 3 has pushed out the rivet 10 halfway or so, as shown in e. At this time, the upper integral mechanism is driven by the first driving device to perform retraction movement in cooperation with the push rod 3, so as to ensure that the rivet 10 is separated from the suction port, and the push rod 3 always contacts the rivet in the process.
In the fully released state after the in-place situation, as shown by f, the complete set is now substantially retracted except for the push rod 3, the push rod 3 is pushed out to the extreme position, the rivet 10 has been completely detached from the suction nozzle 13, and the rivet 10 has been placed into the predetermined position. At this time, the upper pusher spring force reaches the maximum, and at this time the entire mechanism is in the fully retracted state, the push rod 3 is retracted, and the next cycle of action is ready to be performed.
Referring to fig. 6, in order to provide a perspective view of the rivet sucking mechanical device according to the present invention, the rivet sucking mechanical device according to the present embodiment includes a plurality of rivet sucking mechanical claws having the above structure, and the rivet sucking mechanical claws are arranged in a circle on the whole, and the central controller controls the coordinated operation of the units to form an efficient integral mechanism. The rivet is sucked by vacuum generated by the vacuum generating source, and meanwhile, the rivet is discharged by matching with the mechanically driven demoulding device, so that the adhesion of the rivet during discharging caused by magnetism, burrs and the like can be effectively prevented. The whole set of mechanism is driven by an external cylinder, and the push rod can be not directly connected with a driving source through the head spring and the end cover, so that a plurality of suction heads can be integrally and quickly replaced.
The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and to implement the same, but are not intended to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of the present invention.
Claims (8)
1. A rivet suction gripper, comprising: the rivet driving device comprises a body, wherein the body comprises an upper shell and a lower shell which are combined together, a push rod is movably arranged in the upper shell and the lower shell along the longitudinal direction, a head end cover is arranged after the top of the push rod penetrates out of the upper shell, a spring is elastically supported between the head end cover and the upper shell so that the bottom end of the push rod is contained in the lower shell, a pair of second flanges are arranged at the lower part of the push rod, a sealing ring for sealing a lower vacuum area is arranged between the pair of second flanges, a suction nozzle for sleeving a rivet is arranged at the bottom of the lower shell, the bottom end of the push rod is aligned with the suction nozzle, a pneumatic connector is arranged on the body, when the rivet is sleeved in the suction nozzle, a vacuum area is formed among the lower shell, the push rod and the rivet, the first driving device drives the body to move in the vertical direction, the second driving device moves in the vacuum area, and the third driving device moves away from the driving device in the horizontal direction of the body; wherein,
in the initial state, the push rod is in the original position, and the body is moved to the upper part of the workpiece through the third driving device;
in the descending state, the body is driven by the first driving device to move downwards, and the rivet is sleeved in the suction nozzle;
in the carrying state, a vacuum generating source at the pneumatic joint starts to generate vacuum, vacuum negative pressure is generated in a vacuum area, the rivet is sucked by the suction nozzle through the vacuum, and then the body is carried through a third driving device and moves integrally with the rivet;
in the preliminary release state, when the body reaches the expected position, the push rod starts pushing out, the head of the push rod initially contacts the rivet, the vacuum generation source at the pneumatic joint stops working and releases pressure, and the rivet is pushed out by the push rod head;
in the release state after the rivet is in place, the pushing process of the push rod is half, the head of the push rod pushes the rivet half, the body is driven by the first driving device to be matched with the push rod to retract, so that the rivet is separated from the suction nozzle, and the push rod always contacts the rivet in the process;
in the fully released state after being in place, the body is retracted except for the push rod, the push rod is pushed out to the limit position, the rivet is completely separated from the suction nozzle, and the rivet is placed in a preset position.
2. The rivet suction gripper of claim 1, characterized in that: the upper part of the push rod is provided with a first flange, and an end gasket for adjusting the initial position of the push rod is arranged between the first flange and the upper shell.
3. The rivet suction gripper of claim 1, characterized in that: the middle part of push rod be provided with the slip bush.
4. A rivet suction gripper as set forth in claim 3, characterized in that: the sliding bush comprises a self-lubricating bearing.
5. The rivet suction gripper of claim 1, characterized in that: the rivet detecting unit comprises a flow sensing unit arranged at the vacuum generating source.
6. A rivet suction device, characterized in that: a rivet suction gripper comprising a plurality of rivet suction grippers as claimed in any one of the preceding claims.
7. The rivet suction device of claim 6, characterized in that: comprises a plurality of rivet sucking mechanical claws which are arranged in a circle.
8. The rivet suction device of claim 6, characterized in that: the rivet detecting unit comprises a flow sensing unit arranged at a vacuum generating source, and the vacuum generating source is communicated with the vacuum area of each rivet sucking mechanical claw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710905801.6A CN107626877B (en) | 2017-09-29 | 2017-09-29 | Rivet suction mechanical claw and rivet suction device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710905801.6A CN107626877B (en) | 2017-09-29 | 2017-09-29 | Rivet suction mechanical claw and rivet suction device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107626877A CN107626877A (en) | 2018-01-26 |
| CN107626877B true CN107626877B (en) | 2024-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710905801.6A Active CN107626877B (en) | 2017-09-29 | 2017-09-29 | Rivet suction mechanical claw and rivet suction device |
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| Country | Link |
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| CN (1) | CN107626877B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110142070B (en) * | 2019-05-14 | 2024-07-23 | 上海长海医院 | Pipette tip filling device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101877296A (en) * | 2010-07-06 | 2010-11-03 | 浙江深度光电科技有限公司 | Automatic riveting device of energy-saving light |
| CN102950566A (en) * | 2011-08-20 | 2013-03-06 | 苏州宝时得电动工具有限公司 | Screw support device and screw tool assembled with screw support device |
| CN103861988A (en) * | 2012-12-10 | 2014-06-18 | 上海航天精密机械研究所 | Automatic rivet conveying device for full-automatic riveting machine |
| CN105215931A (en) * | 2015-11-09 | 2016-01-06 | 中山联合光电科技股份有限公司 | The automatic press-in device of a kind of pin |
| CN105414441A (en) * | 2016-01-13 | 2016-03-23 | 刘志豪 | Mechanism for automatically assembling connecting part |
| CN207941919U (en) * | 2017-09-29 | 2018-10-09 | 苏州托克斯冲压设备有限公司 | Rivet draws gripper and rivet suction means |
-
2017
- 2017-09-29 CN CN201710905801.6A patent/CN107626877B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101877296A (en) * | 2010-07-06 | 2010-11-03 | 浙江深度光电科技有限公司 | Automatic riveting device of energy-saving light |
| CN102950566A (en) * | 2011-08-20 | 2013-03-06 | 苏州宝时得电动工具有限公司 | Screw support device and screw tool assembled with screw support device |
| CN103861988A (en) * | 2012-12-10 | 2014-06-18 | 上海航天精密机械研究所 | Automatic rivet conveying device for full-automatic riveting machine |
| CN105215931A (en) * | 2015-11-09 | 2016-01-06 | 中山联合光电科技股份有限公司 | The automatic press-in device of a kind of pin |
| CN105414441A (en) * | 2016-01-13 | 2016-03-23 | 刘志豪 | Mechanism for automatically assembling connecting part |
| CN207941919U (en) * | 2017-09-29 | 2018-10-09 | 苏州托克斯冲压设备有限公司 | Rivet draws gripper and rivet suction means |
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| Publication number | Publication date |
|---|---|
| CN107626877A (en) | 2018-01-26 |
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