CN107639200B - Fly-nail self-piercing riveting device - Google Patents
Fly-nail self-piercing riveting device Download PDFInfo
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- CN107639200B CN107639200B CN201711005908.1A CN201711005908A CN107639200B CN 107639200 B CN107639200 B CN 107639200B CN 201711005908 A CN201711005908 A CN 201711005908A CN 107639200 B CN107639200 B CN 107639200B
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Abstract
The application discloses a flying nail self-piercing riveting device and a method, wherein the device comprises a controller, at least one nail feeder, at least one airtight nail divider, a compressed air source, a flying nail pipeline, a riveting machine head and a tee joint; the tee joint is provided with a nail inlet and a straight line section, and the straight line section is provided with a nail stopper; the self-punching rivet enters and passes through the airtight nail divider under the driving of the nail feeder, then passes through the flying nail pipeline under the pushing of compressed air, enters the tee joint, then is blocked by the nail stopper, and breaks through the nail stopper under the pushing of the ejector pin in the riveting machine head during riveting, so that riveting is realized. The application can automatically, intelligently, continuously and reliably send the required self-piercing rivet to the working position in the continuous changing process of the space orientation of the self-piercing riveting machine head, and is particularly suitable for complex occasions such as robot riveting of large workpieces.
Description
Technical Field
The application relates to the technical field of riveting based on intellectualization and automation, in particular to a nail feeding device for self-punching rivets.
Background
In order to realize self-piercing riveting of large workpieces, the spatial orientation of the self-piercing riveting machine head needs to be continuously changed by using a manual or robot. In the process of continuously changing the space orientation of the riveting machine head, how to automatically, intelligently and reliably send the required self-piercing rivet to the working position of the riveting machine head is a technical difficulty in the current self-piercing riveting application.
The existing rivet feeding mode of self-punching riveting in the market at present comprises a vibration disc rivet feeding mode, and the self-punching rivet moves under the action of vibration and gravity to realize rivet feeding. However, due to the limitation of the physical principle, the nail feeding mode cannot realize the nail feeding when the spatial orientation of the self-piercing riveting machine head is changed.
The existing self-piercing riveting nail feeding mode in the market also comprises a carrier tape nail feeding mode, wherein the self-piercing rivet is fixed on a plastic carrier tape and moves along with the movement of the carrier tape, so that nail feeding is realized. However, this approach requires a larger reel and has significant drawbacks in the case of space-wise changes.
When the coil tray with the carrier tape for feeding nails is positioned above the self-piercing riveting machine head during working, the carrier tape is stretched and twisted when the spatial orientation of the self-piercing riveting machine head is changed, and faults such as breakage, stapling and the like are very easy to occur. When the coil tray with the carrier tape nail feeding moves together with the self-piercing riveting machine head in operation, the coil tray can spatially interfere with a workpiece to be riveted, and meanwhile, the carrier tape wound on the coil tray can loosen and fall off to cause faults.
The carrier tape nail feeding mode can only convey one self-punching rivet at the same time by one self-punching riveting device. This results in more self-piercing riveting stations being required to complete the same self-piercing riveting assembly process, and corresponding site, equipment, and maintenance costs are multiplied.
The rivet quantity in each coil tray is limited in a carrier tape rivet feeding mode, the rivet must be manually replaced after the rivet is used up, and the rivet cannot be intelligently and controllably replaced in operation. When the self-punching rivet is replaced, the carrier tape nail feeding mode is realized by manually replacing a coil tray and manually reinstalling the carrier tape into the riveting machine head.
The defects cause that the carrier tape nail feeding mode cannot meet the requirement of intelligent production.
In view of the above-mentioned defects in the prior art, the present designer is actively researched and innovated, and designs a novel self-piercing riveting robot for feeding nails by flying nails, which solves the defects in the prior art and is beneficial to the intelligent manufacturing process.
The foregoing background is only for the purpose of understanding the nature and technical aspects of the present application and is not necessarily the prior art to the present application, nor is the prior art to the present application necessarily limited to the details given herein, nor is the prior art to the present application limited to the details given herein.
Disclosure of Invention
Aiming at the defects and shortcomings in the prior art, the application discloses a self-piercing riveting device for feeding nails by flying nails. The application aims at providing the self-punching rivet with different specifications under the intelligent control of the controller, and the self-punching rivet is reliably and uninterruptedly sent into a riveting machine head through a flexible flying rivet pipeline under the driving of compressed air according to different riveting requirements, so that the riveting is finished.
The application discloses a self-piercing riveting device for feeding nails by flying nails, which comprises a controller, a nail feeder, an airtight nail divider, a compressed air source, a flying nail pipeline, a riveting machine head and a tee joint.
The controller disclosed by the application is connected with a nail feeder, an airtight nail divider and a riveting machine head through control signals.
The airtight nail divider is mechanically connected with a nail feeder, a flying nail pipeline and a compressed air source, the flying nail pipeline is also mechanically connected with a tee joint on a riveting machine head, the tee joint is provided with a nail inlet and a straight line section, and the straight line section is provided with a nail blocking device.
The application discloses a flying nail pipeline which is a flexible pipeline.
The application discloses a self-punching rivet flying nail feeding method which is characterized in that a self-punching rivet enters and passes through an airtight nail divider under the driving of a nail feeder, then passes through a flying nail pipeline under the pushing of compressed air, enters a tee joint, is blocked by a nail stopper, and breaks through the nail stopper under the pushing of a thimble during riveting so as to realize riveting.
The application discloses an airtight nail divider which is characterized by being provided with a zigzag nail passing hole, a nail pushing plate, a first isolation plate and a second isolation plate; the self-punching rivet passes through the zigzag nail hole under the pushing and gravity actions of the nail pushing plate; the nail pushing plate, the first isolation plate and the second isolation plate move under the push-pull action of the linear driver; when the first isolation plate allows the rivet to pass, the second isolation plate does not allow the rivet to pass and ensures air tightness; when the second separator allows the rivet to pass, the first separator does not allow the rivet to pass and ensures air tightness.
The application discloses a flying nail self-piercing riveting device, which optionally further comprises a rivet collector, and is characterized in that the rivet collector is connected with at least one airtight nail divider, and the rivet collector is simultaneously connected with a flying nail pipeline.
The controller disclosed by the application can be a general-purpose computer, an industrial control computer, a singlechip or a programmable controller, and is connected with a display screen, and the number of the residual rivets in the rivet feeder is displayed on the display screen.
The tee joint disclosed by the application is characterized in that a nail inlet is connected with a straight line segment, and the thrust of compressed air to a rivet is smaller than the resistance of a nail stopper of the straight line segment to the rivet; the working thrust of the riveting machine head during riveting is larger than the resistance of the rivet blocking device of the straight line section to the rivet.
The application discloses a flying nail pipeline which is characterized in that the rivet inside is allowed to fly under the pushing of compressed air flow when being bent.
The application discloses a self-piercing riveting robot and a riveting robot, which are characterized by comprising the fly rivet self-piercing riveting device disclosed by the application.
The application discloses a device for conveying materials to the tail end of a mechanical arm of a robot, which is characterized in that: comprising a flying nail self-piercing riveting device as claimed in claim.
Drawings
FIG. 1 is a schematic diagram of a fly-nail self-piercing riveter apparatus
FIG. 2 is a schematic structural view of a riveter head and tee
FIG. 3 is a schematic view of a plurality of staple feeders and an airtight staple dispenser
FIG. 4 is a schematic view of an airtight staple dispenser
FIG. 5 is a schematic view of an airtight staple dispenser
FIG. 6 is a schematic view of a rivet collector
Detailed Description
The following describes in further detail the embodiments of the present application with reference to the drawings and examples. The following examples are illustrative of the application and are not intended to limit the scope of the application.
During the actual riveting process, the riveting head 105 may be operated by a manual hand, or a suspension mechanism, or a mechanical booster, or a robotic arm 104 of an intelligent robot. Fig. 1 is an example of an operation with a robotic arm 104 of a smart robot. Common to these operations is that the spatial orientation of the riveter head 105 in operation needs to be constantly changed according to the characteristics of the workpiece. This embodiment will explain how to achieve continuous and reliable feeding of self-piercing rivets with constantly changing spatial orientations of the riveting mechanism.
As shown in fig. 1, the core of this embodiment is the use of a flexible flying nail tube 103 for feeding nails. The flying nail conduit 103 is flexible and thus can follow any change in the spatial orientation of the self-piercing riveting head 105. Compressed air is introduced into the flexible flying nail pipeline 103 of the compressed air source 102, and the self-punching rivet flies in the flying nail pipeline 103 under the pushing of the compressed air.
The design is as follows: the pushing force generated by the compressed air acting on the self-punching rivet is larger than the sum of the self weight of the self-punching rivet and the friction force of the inner wall of the flying nail pipeline 103. Thus, the self-piercing rivet can reliably fly therein whether the flexible flying tack tube 103 is bent horizontally, downwardly, or upwardly.
As shown in fig. 2, a tee 201 is provided in the riveter head 105, the tee 201 having a feed opening 203 and a straight section 204, the straight section 204 having a staple stop 205 thereon. The nail inlet 203 of the tee 201 is connected with the flying nail pipeline 103, and the self-punching rivet enters the nail inlet 203 of the tee 201 from the flying nail pipeline 103 and then enters the straight line section 204 of the tee 201. The straight line section 204 of the tee joint 201 is provided with a rivet blocking device 205, and the resistance of the rivet blocking device 205 to the self-punching rivet is larger than the thrust of compressed air to the rivet, so that the self-punching rivet is blocked by the rivet blocking device 205 and stops moving.
During riveting, the ejector pins 202 in the riveting head 105 move downward and act on the self-piercing rivets. The acting force of the ejector pin 202 on the self-punching rivet is far greater than the resistance of the rivet blocking device 205 on the self-punching rivet, so that the self-punching rivet breaks through the blocking of the rivet blocking device 205, continuously moves downwards, and pierces a workpiece to be riveted under the action of the ejector pin 202, thereby realizing riveting.
As shown in fig. 3, a source of compressed air 102 is provided and functions to provide compressed air that drives the self-piercing rivet into operation. In this embodiment, a source of compressed air 102 is connected to a flying tack conduit 103.
Fig. 4 and 5 disclose an airtight spike separator 301, which is used to feed self-piercing rivets into the spike tube 103 while ensuring the airtight of the spike tube 103 from the outside atmosphere.
The airtight spike separator 301 allows one rivet to pass through the tortuous spike holes while ensuring the airtight property from the state shown in fig. 4 to the state shown in fig. 5 and then back to the state shown in fig. 4.
As shown in fig. 4 and 5, in order to achieve the requirement that the airtight nailer 301 allows the rivet to pass while ensuring the airtight, the airtight nailer 301 is provided with a zigzag tack hole (from the zigzag tack hole inlet 302 to the zigzag tack hole outlet 303), a tack plate 304, a first barrier 305, and a second barrier 306; the self-piercing rivet is forced from above the airtight dispenser 301 into the tortuous tack hole entrance 302 by gravity and stops moving when it reaches the rivet position 502.
Starting from the position shown in fig. 4, as the ejector plate 304 moves from right to left, the rivet will be pushed to the left in the horizontal section of the tortuous tack hole, to rivet position 504, and then fall under gravity over the first spacer plate 305, stopping movement due to the obstruction of the first spacer plate 305.
Starting from the position shown in fig. 5, when the first separator 305 moves from left to right, the self-piercing rivet continues to drop over the second separator 306 to the rivet position 503, stopping movement due to the obstruction of the second separator 306.
Starting from the position shown in fig. 4, as the first separator 305 moves from right to left, the self-piercing rivet continues to drop down through the tortuous tack hole exit 303 to the rivet position 505, randomly entering the tack duct 103.
The nail pushing plate 304, the first separation plate 305 and the second separation plate 306 in fig. 4 and 5 move under the push-pull action of the linear driver 409, and the movements are always simultaneous.
The first separator 305 is provided with a first via hole 307 allowing the self-piercing rivet to pass therethrough, the second separator 306 is provided with a second via hole 308 allowing the self-piercing rivet to pass therethrough, and the design is such that: when the first barrier 305 allows the rivet to pass, the second barrier 306 does not allow the rivet to pass and ensures air tightness; when the second separator 306 allows the rivet to pass, the first separator 305 does not allow the rivet to pass and ensures air tightness. Thus, the airtight nailer 301 has a requirement to allow the rivet to pass while ensuring airtightness.
The airtight spike sheath 301 is connected to the spike sheath 106. The tacker 106 may be a conventional vibratory tray feeder that, when activated, feeds self-piercing rivets into the airtight dispenser 301 at the upper rivet location 501.
The controller 101 disclosed by the application can be a general-purpose computer, an industrial control computer, a single-chip microcomputer or a programmable controller, wherein the controller 101 is connected with the nail feeder 106 through control signals and is also connected with a display screen, and the display screen displays the number of the residual rivets in the nail feeder 106.
When the number of rivets is less than a predetermined value, an alarm is triggered, and the rivets are manually fed into the rivet feeder 106 or a signal is sent, and the rivets are automatically fed into the rivet feeder 106. Therefore, the whole fly rivet self-piercing riveting device can continuously and uninterruptedly rivet, and the productivity is improved.
In many cases, a workpiece to be riveted needs a plurality of different self-piercing rivets to complete riveting, and the traditional material belt rivet feeding scheme can only convey one rivet, so that different riveting equipment and stations are required to be arranged for different rivets, and the riveting device is high in cost, complex in maintenance and low in reliability. The fly rivet self-piercing riveting device disclosed by the application can automatically and intelligently convey rivets with different specifications.
The embodiment is shown in fig. 6, a rivet collector 401 is provided and connected to at least one airtight spike separator 301 and also connected to the spike tube 103. Each airtight spike sheath 301 is connected to a separate spike sheath 106.
Each airtight staple dispenser 301 is connected to the controller 101 by a control signal. Under the intelligent control of the controller 101, the linear driver 409 in any airtight nail divider 301 can be arbitrarily selected to operate, and at this time, the corresponding airtight nail divider 301 will enter a certain rivet inlet 402 of the rivet collector 401 through a rivet, then enter the flying nail pipe 103 through a rivet outlet 404, and then enter the riveting machine head 105 under the driving of compressed air. In this preferred embodiment, the compressed air source 102 is connected to the compressed air inlet 403 of the rivet collector 401. Therefore, by utilizing the fly rivet self-piercing riveting device disclosed by the application, continuous uninterrupted, intelligent and controllable rivet conveying of self-piercing rivets of any multiple specifications can be realized.
The fly-nail self-piercing riveting device and the fly-nail feeding method disclosed by the application can be used for a robot, so that the fly-nail self-piercing riveting robot for feeding nails is formed. Obviously, the riveting robot can be used for other types of riveting, and therefore, the riveting robot for feeding the flying nails is formed.
The flying nail self-piercing riveting device and the flying nail feeding method disclosed by the application can obviously be used for any device for conveying materials to the tail end of the mechanical arm 104 of a robot.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, and it should be noted that it is possible for those skilled in the art to make several improvements and modifications without departing from the technical principle of the present application, and these improvements and modifications should also be regarded as the protection scope of the present application.
Claims (5)
1. The utility model provides a fly-nail self-piercing riveting set which characterized in that: comprises a controller, at least one nail feeder, at least one airtight nail divider, a compressed air source, a flying nail pipeline, a riveting machine head and a tee joint;
the controller is connected with the nail feeder, the airtight nail divider and the riveting machine head through control signals;
the airtight nail divider is mechanically connected with the nail feeder, the flying nail pipeline and the compressed air source, the airtight nail divider comprises a zigzag nail passing hole, a nail pushing plate, a first isolation plate and a second isolation plate, the zigzag nail passing hole comprises a first vertical section, a horizontal section and a second vertical section which are sequentially communicated, the first vertical section is communicated with the right end of the horizontal section and is positioned above the horizontal section, the second vertical section is communicated with the left end of the horizontal section and is positioned below the horizontal section, the nail pushing plate, the first isolation plate and the second isolation plate are sequentially connected with a linear driver at intervals from top to bottom, and the length of the nail pushing plate is smaller than that of the first isolation plate and the second isolation plate;
the linear driver pushes the nail pushing plate to move from right to left, and the self-punching rivet moves from right to left to the tail end of the horizontal section under the action of pushing and gravity of the nail pushing plate and falls onto the first isolation plate in the second vertical section to stop moving; the linear driver pulls the first isolation plate to move from left to right, and the self-punching rivet continuously falls onto the second isolation plate in the second vertical section to stop moving; the linear driver pushes the second isolation plate to move from right to left, and the self-punching rivet continuously falls into the flying nail pipeline in the second vertical section; when the first isolation plate allows the self-punching rivet to pass through, the second isolation plate does not allow the self-punching rivet to pass through and ensures air tightness; when the second isolation plate allows the self-punching rivet to pass through, the first isolation plate does not allow the self-punching rivet to pass through and ensures air tightness;
the flying nail pipeline is also mechanically connected with a tee joint on the riveting machine head, the tee joint is provided with a nail inlet and a straight line section, the straight line section is provided with a nail stopper, the nail inlet is connected with the straight line section, and the thrust of compressed air to the self-punching rivet is smaller than the resistance of the nail stopper of the straight line section to the self-punching rivet; the working thrust of the riveting machine head during riveting is larger than the resistance of the nail stopper of the straight line section to the self-punching rivet; the flying nail pipeline is a flexible pipeline, and when the flying nail pipeline is bent, the self-punching rivet inside the flying nail pipeline is allowed to fly under the pushing of compressed air flow.
2. The flying nail self-piercing riveting apparatus as defined in claim 1, wherein: the rivet collector is connected with at least one airtight rivet divider, and is simultaneously connected with the flying rivet pipeline.
3. The flying nail self-piercing riveting apparatus as defined in claim 1, wherein: the controller is one of a general-purpose computer, an industrial control computer, a single chip microcomputer and a programmable controller, and is connected with a display screen, and the number of the residual self-punching rivets in the rivet feeder is displayed on the display screen.
4. The utility model provides a self-piercing riveting robot which characterized in that: a flying nail self-piercing riveting apparatus comprising any one of claims 1-3, wherein the flying nail conduit is disposed along the robotic arm.
5. A device for conveying materials to the tail end of a mechanical arm of a robot, which is characterized in that: a flying nail self-piercing riveting device comprising any one of claims 1-3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711005908.1A CN107639200B (en) | 2017-10-25 | 2017-10-25 | Fly-nail self-piercing riveting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711005908.1A CN107639200B (en) | 2017-10-25 | 2017-10-25 | Fly-nail self-piercing riveting device |
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| CN107639200A CN107639200A (en) | 2018-01-30 |
| CN107639200B true CN107639200B (en) | 2023-09-26 |
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| CN201711005908.1A Active CN107639200B (en) | 2017-10-25 | 2017-10-25 | Fly-nail self-piercing riveting device |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110271865A (en) * | 2019-07-11 | 2019-09-24 | 苏州斯旺西机电有限公司 | Feed system |
| CN110538961A (en) * | 2019-09-18 | 2019-12-06 | 湖北大冶汉龙汽车有限公司 | Cold-pressing riveting system and cold-pressing riveting process for welding white automobile body |
| CN112658141A (en) * | 2020-12-30 | 2021-04-16 | 重庆文理学院 | Multi-degree-of-freedom rivet-free riveting device |
| CN113145788A (en) * | 2021-04-02 | 2021-07-23 | 杭州艾美依航空制造装备有限公司 | Automatic nail feeding system for cylindrical pins |
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