CN111054874A

CN111054874A - Keyboard riveting set

Info

Publication number: CN111054874A
Application number: CN202010006193.7A
Authority: CN
Inventors: 章登亮; 郑奎; 郑志伟; 范风兵
Original assignee: Bozhon Precision Industry Technology Co Ltd
Current assignee: Bozhon Precision Industry Technology Co Ltd
Priority date: 2020-01-03
Filing date: 2020-01-03
Publication date: 2020-04-24

Abstract

The invention provides a keyboard riveting device which comprises a riveting head assembly, a carrier body and a jacking assembly, wherein the carrier body is provided with a plurality of supporting rods; the riveting machine head assembly comprises a press riveting assembly, a feeding device body, a feeding cantilever device and a visual detection assembly; the pressure riveting component is vertically arranged above the riveting plane and is used for applying riveting pressure; the visual detection assembly is arranged on one side of the press riveting assembly and used for detecting and acquiring the position of a rivet hole on the keyboard assembly; the position of the visual detection assembly and the position of the press riveting assembly are separated by a plurality of rivet holes; the jacking assembly is vertically arranged below the keyboard assembly and is used for supporting rivets adsorbed on the riveting suction nozzle assembly at the lower end of the pressure riveting assembly; the riveting suction nozzle assembly sucks a rivet, and the rivet is riveted into a rivet hole of the keyboard assembly under the combined action of the pressure riveting assembly and the jacking assembly. The invention has the advantages of ingenious conception and reasonable design, meets the actual requirement of automatic detection of the rivet and is convenient for popularization and application in the field of automation.

Description

Keyboard riveting set

Technical Field

The invention belongs to the field of automation, and particularly relates to a keyboard riveting device.

Background

With the continuous improvement of the industrial automation degree, the manufacturing industry gradually realizes intellectualization and unmanned; in particular, the degree of mechanization of the riveting device for keyboard workpieces determines the overall production efficiency.

At present, the automatic riveting equipment of keyboard class work piece adopts equipment such as squeeze riveter more, and a large amount of rivets need be used to the keyboard riveting in-process, because riveting structure is small and exquisite, a large amount is various, needs the rivet to guarantee the process of riveting perpendicularly with the riveting face for guaranteeing the riveting quality among the automatic riveting process, but quick riveting process often accomplishes in several seconds, to this, the urgent need designs a high-efficient and automatic keyboard riveting set to satisfy the actual production demand.

Disclosure of Invention

In order to overcome the defects of the prior art, the keyboard riveting device provided by the invention adopts the visual detection assembly to capture the position of the rivet hole from one side of the press riveting assembly, so that the automatic detection efficiency and precision of the rivet are improved; the invention has the advantages of ingenious conception and reasonable design, meets the actual requirement of automatic detection of the rivet and is convenient for popularization and application in the field of automation.

The invention provides a keyboard riveting device which comprises a riveting machine body, wherein the riveting machine body comprises a riveting machine head assembly used for rivet loading and riveting, a carrier body used for bearing a keyboard assembly and a jacking assembly; wherein the content of the first and second substances,

the riveting head assembly comprises a press riveting assembly, a feeding device body, a feeding cantilever device and a visual detection assembly;

the pressure riveting component is vertically arranged above the riveting plane and is used for applying riveting pressure;

the feeding device body is used for feeding rivets to the feeding cantilever device in a vibration mode, and the feeding cantilever device picks up the rivets and conveys the rivets to a riveting suction nozzle assembly of the pressure riveting assembly;

the visual detection assembly is arranged on one side of the press riveting assembly and used for detecting and acquiring the position of a rivet hole on the keyboard assembly; the visual detection assembly and the press riveting assembly are separated by a plurality of rivet holes;

the jacking assembly is vertically arranged below the keyboard assembly and is used for supporting rivets adsorbed on the riveting suction nozzle assembly at the lower end of the pressure riveting assembly; the riveting suction nozzle assembly sucks a rivet, and the rivet is riveted into a rivet hole of the keyboard assembly under the combined action of the pressure riveting assembly and the jacking assembly.

Preferably, the riveting suction nozzle component comprises a riveting suction nozzle, a suction nozzle clamping seat, a riveting sliding block, a riveting connecting block, a riveting pressure sensor and a riveting connecting plate; wherein the rivet suction nozzle is used for sucking rivets; the suction nozzle clamping seat is used for clamping and fixing the rivet suction nozzle; the riveting sliding block is fixedly connected with the suction nozzle clamping seat and used for sliding guide; the riveting connecting block is used for elastically connecting the suction nozzle clamping seat with the riveting connecting plate; the riveting pressure sensor is arranged between the riveting connecting block and the suction nozzle clamping seat and used for acquiring and feeding back riveting pressure; the riveting connecting plate is used for transmitting riveting pressure.

Preferably, two industrial cameras are also included; wherein the content of the first and second substances,

the detection light paths of the two industrial cameras are perpendicular to the axis of a rivet adsorbed on the riveting suction nozzle component; the detection light paths of the two industrial cameras are positioned on the same horizontal plane;

the two industrial cameras are at different distances from the axis of the rivet so that the two industrial cameras capture the rivet pose from different sides and different distances of the rivet respectively.

Preferably, the included angle α between the detection light paths of the two industrial cameras is greater than or equal to 60 degrees and less than or equal to 120 degrees, and the ratio of the distance difference between the two industrial cameras and the rivet to be detected to the larger distance between the two industrial cameras and the rivet to be detected is greater than or equal to 10% and less than or equal to 30%.

Preferably, the jacking assembly comprises a jacking driving device, a jacking cam, a supporting needle and a jacking guide structure; wherein the content of the first and second substances,

the jacking driving device is used for driving the jacking cam to rotate;

the jacking guide structure is used for guiding the movement of the support needle;

the jacking cam is abutted with the supporting needle, and the supporting needle is also fixedly connected with a guide moving part of the jacking guide structure; the guide direction of the jacking guide structure is vertical to the riveting working plane;

the jacking driving device drives the jacking cam to rotate, and the jacking cam drives the support needle to move along the guide direction of the jacking guide structure, so that the support needle periodically supports rivets.

Preferably, the jacking cam comprises a jacking concave edge which is of a groove-shaped structure and used for providing the driving force of the support needle; the jacking cam also comprises a hollow part; the jacking concave edge comprises a first slot and a second slot; the first slot is communicated with the second slot; the first open groove is a spiral groove, and the second open groove is an arc groove.

Preferably, the feeding device body comprises a feeding device and a vibrating device; the feeding device comprises a feeding bin and a feeding pipe; the vibrating device comprises a vibrating feeding port and a vibrating discharging port; the feeding cantilever device comprises a feeding arm driven by a driving device; wherein the content of the first and second substances,

the feeding bin is used for containing a plurality of rivets;

one end of the feeding pipe is internally communicated with the feeding bin, and the other end of the feeding pipe is internally communicated with the vibration feeding hole;

an embedded block body is arranged at one end of the feeding arm; the upper surface of the insert block body is provided with a nail groove for placing a rivet, and the side edge of the nail groove is of an open structure, so that the rivet enters the nail groove from the side edge of the insert block body;

one end of the feeding pipe, which is connected with the vibration feeding port, is inclined downwards; the rivet passes through in proper order the feeding storehouse, the conveying pipe extremely the vibration material loading mouth, and the process vibrating device vibration material loading extremely the vibration discharge gate send to in the nail groove of conveying arm, under drive arrangement orders about, the conveying arm is followed the vibration discharge gate department transports to riveting suction nozzle department with the rivet.

Preferably, the insert body is of a block structure, the width of the nail groove is larger than the diameter of the nail rod of the rivet and smaller than the diameter of the nail cap of the rivet, so that when the nail rod of the rivet abuts against the groove wall of the nail groove, the nail cap of the rivet protrudes out of the profile of the side edge of the insert body; the wall of the nail groove is provided with a through hole to communicate with the external environment; a first hole is formed in one side of the embedded block body; the first holes are positioned on opposite sides of the nail groove; the first hole is communicated with the through hole; the upper surface of the embedded block body is also provided with a first bump; the first lug protrudes out of the upper surface of the embedded block body; the first hole is arranged on one side of the first bump.

Preferably, the carrier body comprises a first moving assembly, a second moving assembly, a carrying platform, an end face clamp and a lateral clamp; wherein the content of the first and second substances,

the movement direction of the first movement assembly is perpendicular to that of the second movement assembly so as to form a driving structure for the planar movement of the carrier;

the carrying platform is used for positioning and abutting against two adjacent side edges of the keyboard assembly;

the end surface clamp is used for pressing the end surface of the keyboard assembly, and the lateral clamp is used for pressing two adjacent side edges of the keyboard assembly, so that the end surface clamp and the lateral clamp jointly act to clamp the keyboard assembly on the carrying platform;

the lateral clamp can move along the diagonal direction of the carrier, so that the carrier can clamp keyboard components with different sizes.

Preferably, the lateral clamp comprises a lateral driving device, a chuck connecting plate and a chuck; wherein the content of the first and second substances,

the lateral driving device is used for providing a driving force along the diagonal direction of the carrying platform;

the chuck connecting plate is used for connecting one end of the chuck connecting plate with the lateral driving device and connecting the other end of the chuck connecting plate with the chuck;

the clamping head is used for abutting against two adjacent side edges of the keyboard assembly;

the chuck is two cylindrical convex columns; a through groove along the diagonal direction of the carrying platform is arranged on the carrying platform; the lateral driving device drives the chuck, so that the two columnar convex columns can move in the through groove of the carrying platform along the diagonal direction of the carrying platform, and the keyboard components with different sizes can be clamped.

Compared with the prior art, the invention has the beneficial effects that:

the invention provides a keyboard riveting device which comprises a riveting machine body, wherein the riveting machine body comprises a riveting machine head assembly used for rivet loading and riveting, a carrier body used for bearing a keyboard assembly and a jacking assembly; the riveting machine head assembly comprises a press riveting assembly, a feeding device body, a feeding cantilever device and a visual detection assembly; the pressure riveting component is vertically arranged above the riveting plane and is used for applying riveting pressure; the feeding device body is used for feeding the rivets to the feeding cantilever device in a vibration mode, and the feeding cantilever device picks up the rivets and conveys the rivets to a riveting suction nozzle component of the press riveting component; the visual detection assembly is arranged on one side of the press riveting assembly and used for detecting and acquiring the position of a rivet hole on the keyboard assembly; the position of the visual detection assembly and the position of the press riveting assembly are separated by a plurality of rivet holes; the jacking assembly is vertically arranged below the keyboard assembly and is used for supporting rivets adsorbed on the riveting suction nozzle assembly at the lower end of the pressure riveting assembly; the riveting suction nozzle assembly sucks a rivet, and the rivet is riveted into a rivet hole of the keyboard assembly under the combined action of the pressure riveting assembly and the jacking assembly. The invention has the advantages of ingenious conception and reasonable design, meets the actual requirement of automatic detection of the rivet and is convenient for popularization and application in the field of automation.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

fig. 1 is a schematic view of an overall structure of a riveting machine body according to an embodiment of the invention;

FIG. 2 is a schematic view of a partial structure of a riveting machine body according to an embodiment of the invention;

FIG. 3 is a schematic view of an overall structure of a riveting head assembly according to an embodiment of the invention;

FIG. 4 is a schematic bottom view of a riveting head assembly according to an embodiment of the invention;

FIG. 5 is a schematic view of a partial structure of a riveting head assembly according to an embodiment of the invention 1;

FIG. 6 is a schematic structural view of a riveting head assembly and a jacking assembly according to an embodiment of the present invention;

FIG. 7 is a schematic partial structural view of a riveting head assembly according to an embodiment of the invention 2;

FIG. 8 is a schematic view of a clinch assembly of an embodiment of the invention;

fig. 9 is a schematic structural view of a feeding device body and a feeding cantilever device in an embodiment of the present invention;

fig. 10 is a schematic overall structure view of a loading device body according to an embodiment of the present invention;

FIG. 11 is a schematic structural view of a feeding device in one embodiment of the present invention;

FIG. 12 is a schematic view of a partial structure of a feeding device according to an embodiment of the present invention in FIG. 1;

FIG. 13 is a schematic view of a partial structure of a feeding device according to an embodiment of the present invention;

fig. 14 is a schematic view of the overall structure of a feeding cantilever device according to an embodiment of the present invention 1;

FIG. 15 is a schematic view of the overall structure of a feeding boom assembly according to an embodiment of the present invention, shown in FIG. 2;

FIG. 16 is a schematic view of a portion of a feeder boom assembly according to an embodiment of the present invention;

FIG. 17 is a schematic view of an overall structure of an insert body according to an embodiment of the present invention;

FIG. 18 is a schematic view of a partial structure of a feed arm in one embodiment of the present invention, FIG. 1;

FIG. 19 is a schematic view of a portion of a feed arm of an embodiment of the present invention in FIG. 2;

FIG. 20 is an enlarged, fragmentary view of the body of the insert with a rivet in accordance with one embodiment of the present invention;

FIG. 21 is a schematic view of a visual inspection assembly according to an embodiment of the present invention;

FIG. 22 is a schematic view of a detecting light source module according to an embodiment of the present invention;

FIG. 23 is a schematic view of a riveted joint nozzle assembly in one embodiment of the invention;

FIG. 24 is a top view of a riveting head assembly in one embodiment of the invention;

FIG. 25 is a schematic view of an overall structure of a carrier body according to an embodiment of the present invention;

FIG. 26 is a top view of a carrier body in accordance with an embodiment of the present invention;

fig. 27 is a schematic diagram of a carrier structure according to an embodiment of the invention;

FIG. 28 is a partial block diagram of a keyboard assembly in accordance with an embodiment of the present invention;

FIG. 29 is a schematic view of an end clamp configuration in accordance with an embodiment of the present invention;

FIG. 30 is a schematic view of a lateral clamp configuration in accordance with an embodiment of the present invention;

FIG. 31 is a schematic diagram of an overall structure of a jacking assembly according to an embodiment of the present invention;

FIG. 32 is a side view of a portion of a jacking assembly in an embodiment of the present invention;

FIG. 33 is a partial schematic view of a jacking assembly according to an embodiment of the present invention;

FIG. 34 is a schematic view of a jacking cam according to an embodiment of the present invention;

FIG. 35 is an elevation view of a jacking cam in an embodiment of the present invention;

shown in the figure:

the riveting machine comprises a riveting machine body 1000, a riveting machine head assembly 100, a riveting component 110, a riveting motor 111, a riveting suction nozzle component 113, a rivet suction nozzle 1131, a suction nozzle holder 1132, a riveting slider 1133, a riveting connecting block 1134, a riveting pressure sensor 1135, a riveting connecting plate 1136, a front cover 120, a shading plate 121, an industrial camera 130, a first camera 131, a first adjusting holder 132, a detection light source component 133, a detection light source 1331, a light source fixing seat 1332, a light source fixing column 1333, a feeding device body 140, a feeding device 141, a feeding bin 1411, a feeding execution unit 1412, a feeding cylinder 14121, a feeding push block 14122, a feeding pipe 1413, a feeding rotation adjusting structure 1414, a feeding fixing seat 1415, a feeding mounting plate 6, a first mounting hole 14161, a feeding plate 1417, a vibrating device 142, a vibrating feeding port 1421, a vibrating discharge port 1422, a feeding cantilever device 150, a linear motor 151, a feeding guide structure 152, a feeding fixing plate 153, a feeding, The feeding arm 154, the insert body 1541, the nail groove 15411, the first projection 15412, the insert mounting hole 15413, the first hole 15414, the first abutting surface 15415, the second abutting surface 15416, the spacer 155, the feeding stroke detection device 156, the visual detection assembly 160, the plane detection camera 161, the ring light source 162, the plane camera adjustment seat 163, the point light source 164, the carrier body 200, the first movement assembly 210, the second movement assembly 220, the stage 230, the through groove 231, the end surface clamp 240, the clamp motor 241, the clamp motor mounting seat 242, the shaft fixing seat 243, the pressing plate rotating shaft 244, the pressing plate 245, the lateral clamp 250, the lateral driving device 251, the clamp connecting plate 252, the clamp 253, the stage guide assembly 260, the stage movement detection assembly 270, the clamping detection assembly 280, the carrier table 290, the riveting table 300, the jacking assembly 400, the jacking driving device 410, the driving rotating shaft 420, the jacking cam 430, the jacking-up cam, The lifting device comprises a lifting concave edge 431, a first slot 4311, a second slot 4312, a first hollowed-out part 432, a second hollowed-out part 433, a pressing ring 434, a shaft end nut 435, a bearing 436, a support pin 440, a lifting guide structure 450, a stroke detection assembly 460, a lifting contact member 470, a lifting connection base plate 480, a stroke blocking piece 481, a lifting support base 490, a lifting motor fixing seat 491, a first lifting fixing seat 492, a first shaft seat 493, a rivet 500 and a keyboard assembly 600.

Detailed Description

The foregoing and other objects, features, aspects and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings, which will enable those skilled in the art to practice the present invention with reference to the accompanying specification. In the drawings, the shape and size may be exaggerated for clarity, and the same reference numerals will be used throughout the drawings to designate the same or similar components. In the following description, terms such as center, thickness, height, length, front, back, rear, left, right, top, bottom, upper, lower, and the like are used based on the orientation or positional relationship shown in the drawings. In particular, "height" corresponds to the dimension from top to bottom, "width" corresponds to the dimension from left to right, and "depth" corresponds to the dimension from front to back. These relative terms are for convenience of description and are not generally intended to require a particular orientation. Terms concerning attachments, coupling and the like (e.g., "connected" and "attached") refer to a relationship wherein structures are secured or attached, either directly or indirectly, to one another through intervening structures, as well as both movable or rigid attachments or relationships, unless expressly described otherwise.

The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.

A keyboard riveting device, as shown in fig. 1-6, comprising a riveting machine body 1000, wherein the riveting machine body 1000 comprises a riveting machine head assembly 100 for rivet loading and riveting, a carrier body 200 for bearing a keyboard assembly 600, and a jacking assembly 400; as shown in fig. 1, the riveting head assembly 100 and the carrier body 200 are fixed on the riveting worktable 300, and the jacking assembly 400 is located in the riveting worktable 300.

The riveting machine head assembly 100 comprises a press riveting assembly 110, a feeding device body 140, a feeding cantilever device 150 and a visual detection assembly 160; in one embodiment, as shown in fig. 2-4, the riveting head assembly 100 further comprises a front cover 120, and in particular, a reversible light shielding plate 121 is hinged to the lower portion of the front cover 120.

The pressure riveting component 110 is vertically arranged above a riveting plane and is used for applying riveting pressure;

the feeding device body 140 is used for feeding the rivet 500 to the feeding cantilever device 150 in a vibrating manner, and the feeding cantilever device 150 picks up the rivet 500 and conveys the rivet 500 to the riveting suction nozzle assembly 113 of the pressure riveting assembly 110;

the visual inspection assembly 160 is disposed at one side of the press riveting assembly 110, and is used for detecting and acquiring the position of a rivet hole on the keyboard assembly 600; the visual detection assembly 160 and the press riveting assembly 110 are separated by a plurality of rivet holes;

as shown in fig. 6, the jacking assembly 400 is vertically disposed below the keyboard assembly 600, and is used for supporting the rivet adsorbed on the riveting nozzle assembly 113 at the lower end of the pressure riveting assembly 110; the riveting suction nozzle assembly 113 sucks the rivet 500, and the rivet 500 is riveted into a rivet hole of the keyboard assembly 600 under the combined action of the press riveting assembly 110 and the jacking assembly 400.

In a preferred embodiment, as shown in fig. 6, two visual inspection assemblies 160 are disposed on two sides of the press riveting assembly 110, and the positions of the rivet holes on the riveting planes on the two sides of the press riveting assembly 110 are respectively obtained. For example, as shown in fig. 24, when it is required to perform riveting on the left side of the press riveting assembly 110, the left visual inspection assembly 160 collects the position of the rivet hole on the left side, generally, the position of the visual inspection assembly 160 differs from the position of the press riveting assembly 110 by an integer number of riveting hole locations, and when the visual center of the left visual inspection assembly 160 is aligned with one riveting hole location, the riveting position of the press riveting assembly 110 is the position of the visual inspection assembly 160 aligned with several right hole locations of the riveting hole locations at this moment.

In a preferred embodiment, as shown in fig. 21, the vision inspection assembly 160 includes a plane inspection camera 161, a ring light source 162, a plane camera adjustment seat 163, a point light source 164; wherein the content of the first and second substances,

the plane inspection camera 161 is used to capture the position of the rivet hole on the riveting plane;

the ring light source 162 and the point light source 164 are used for providing ambient light;

the plane camera adjusting base 163 is used for mounting the plane detection camera 161 so as to adjust the position of the plane detection camera 161 relative to the rivet pressing assembly 110.

In a preferred embodiment, as shown in FIG. 23, the riveting nozzle assembly 113 comprises a riveting nozzle 1131, a nozzle holder 1132, a riveting slider 1133, a riveting connection block 1134, a riveting pressure sensor 1135, a riveting connection plate 1136; wherein the rivet nozzle 1131 is used for sucking rivets; the nozzle holder 1132 is used for holding and fixing the rivet nozzle 1131; the riveting slider 1133 is fixedly connected with the nozzle holder 1132 for sliding guiding; the riveting connection block 1134 is used for elastically connecting the suction nozzle holder 1132 with the riveting connection plate 1136; the riveting pressure sensor 1135 is arranged between the riveting connecting block 1134 and the suction nozzle clamping seat 1132, and the riveting pressure sensor 1135 is used for acquiring and feeding back riveting pressure; the riveting connection plate 1136 is used to transmit riveting pressure. In this embodiment, the riveting connection block 1134 is connected to the riveting connection plate 1136 through a disc spring, and the elastic space of the disc spring is small, so as to meet the elastic change of a tiny size in the riveting process; it should be appreciated that the staking pressure sensor 1135 obtains the pressure value during the staking process to ensure the accuracy of the staking process.

As shown in fig. 4 and 7, the riveting machine body 1000 further includes two industrial cameras 130, wherein the detection light paths of the two industrial cameras 130 are perpendicular to the rivet axis absorbed on the riveting suction nozzle assembly 113, the detection light paths of the two industrial cameras 130 are located on the same horizontal plane, the distances between the two industrial cameras 130 and the rivet axis are different, so that the two industrial cameras 130 capture rivet postures from different sides and different distances of a rivet respectively.

As shown in fig. 7, the industrial camera 130 includes a first camera 131, a first adjustment seat 132; wherein the content of the first and second substances,

the first camera 131 is used to capture a rivet pose;

the first adjusting seat 132 is used for installing the first camera 131 so as to adjust the position of the first camera 131 relative to the rivet on the riveting nozzle assembly 113. The first adjustment seat 132 includes at least two adjustment structures in perpendicular directions. In one embodiment, as shown in fig. 2, the first adjusting base 132 is a fine adjustment nut structure along three mutually perpendicular directions, so as to achieve the position adjustment of the first camera 131 in all directions.

In the embodiment, the two industrial cameras 130 respectively capture the rivet from two sides, so as to avoid uncertainty in single-side capture and ensure that the rivet is vertically riveted to the adsorption plane of the suction nozzle assembly 113, thereby ensuring the riveting quality; further, image capture is performed using industrial cameras 130 at different distances from the rivet, resulting in image capture of rivet images at different distances; as shown in fig. 24, the distance difference L between the industrial cameras 130 on both sides in one direction, on one hand, when capturing the rivet gesture, first capturing and judging whether the rivet gesture of the industrial camera 130 closer to the rivet axis is qualified, and if it is judged that the rivet detection does not pass, executing a discarding action; it should be appreciated that the rivet pose can be determined to be unacceptable when the error is outside the acceptable range for near capture, without having to make a further determination on the image captured at a distance, thereby freeing up part of the computational effort. On the other hand, the industrial camera 130 for remote capturing may also be configured as a main detection basis in the lateral direction, that is, when capturing the rivet gesture, first capturing and determining whether the rivet gesture of the industrial camera 130 farther from the rivet axis is qualified, and if determining that the rivet detection does not pass, performing a discarding action; it should be appreciated that the rivet pose can be determined to be unacceptable if the error exceeds the acceptable range for the far capture, without having to make a further determination on the near captured image, thereby freeing up part of the computational effort. It should be noted that the two industrial cameras 130, although having different distances from the rivet, can both capture good visual images; generally, the ratio of the distance difference between the two industrial cameras 130 and the rivet to be detected to the larger distance between the two industrial cameras 130 and the rivet to be detected is greater than or equal to 10% and less than or equal to 30%, image noise increases when the ratio is too large, and discrimination caused by the distance cannot be reflected when the ratio is too small; since the image noise increases with an increase in distance, the near-field captured image detection is more accurate, and it is preferable to determine the rivet image captured near first, thereby reducing the number of image processing and determination.

As shown in fig. 22, the inspection light source assembly 133 is further included, the inspection light source assembly 133 and the industrial camera 130 are respectively located at two sides of the rivet, and the inspection light source assembly 133 is used for providing light source from one side of the rivet. In this embodiment, the detecting light source assembly 133 includes a detecting light source 1331 and a light source holder 1332; the two detection light sources 1331 are respectively fixed on the light source fixing seat 1332, and the two detection light sources 1331 are respectively aligned with one of the industrial cameras 130. As shown in fig. 5, the light source fixing seat 1332 is W-shaped, and the middle of the light source fixing seat is fixed by a light source fixing post 1333. As shown in fig. 24, the two detection light sources 1331 are respectively disposed on the detection light path of the industrial camera 130, and the detection light source 1331 is turned on to achieve the light supplement effect. In a preferred embodiment, as shown in fig. 6, a light shield 121 is further included; the light shielding plate 121 is used for shielding external light to ensure that the rivet image is not affected by the external light.

A visual inspection method of rivets for riveting comprises the following steps:

configuring the two industrial cameras 130 with detection light paths located on the same horizontal plane, at least including adjusting the distance between the industrial camera 130 and the rivet axis on the riveting suction nozzle assembly 113, so that the distances between the two industrial cameras 130 and the rivet axis are different;

the two industrial cameras 130 capture the rivet pose from different sides and distances of the rivet, respectively;

when the rivet postures captured by the two industrial cameras 130 are qualified, judging that the rivet detection is passed, and executing riveting action; otherwise, judging that the rivet detection is not passed, and executing discarding action.

In the embodiment, the two industrial cameras 130 respectively capture the rivet from two sides, so as to avoid uncertainty in single-side capture and ensure that the rivet is vertically riveted to the adsorption plane of the suction nozzle assembly 113, thereby ensuring the riveting quality; furthermore, the industrial camera 130 with different distances from the rivet is used for image capture to obtain image capture of the rivet image at different distances, on one hand, when the rivet gesture is captured, whether the rivet gesture of the industrial camera 130 close to the rivet axis is qualified is captured and judged, and if the rivet detection is judged not to pass, a discarding action is executed; it should be appreciated that the rivet pose can be determined to be unacceptable when the error is outside the acceptable range for near capture, without having to make a further determination on the image captured at a distance, thereby freeing up part of the computational effort. On the other hand, the industrial camera 130 for remote capturing may also be configured as a main detection basis in the lateral direction, that is, when capturing the rivet gesture, first capturing and determining whether the rivet gesture of the industrial camera 130 farther from the rivet axis is qualified, and if determining that the rivet detection does not pass, performing a discarding action; it should be appreciated that the rivet pose can be determined to be unacceptable if the error exceeds the acceptable range for the far capture, without having to make a further determination on the near captured image, thereby freeing up part of the computational effort. It should be noted that the two industrial cameras 130, although having different distances from the rivet, can both capture good visual images; generally, the ratio of the distance difference between the two industrial cameras 130 and the rivet to be detected to the larger distance between the two industrial cameras 130 and the rivet to be detected is greater than or equal to 10% and less than or equal to 30%, image noise increases when the ratio is too large, and discrimination caused by the distance cannot be reflected when the ratio is too small; since the image noise increases with an increase in distance, the near-field captured image detection is more accurate, and it is preferable to determine the rivet image captured near first, thereby reducing the number of image processing and determination.

As shown in fig. 9-20, the automatic rivet feeding and feeding integrated device, as shown in fig. 9 and 10, includes a feeding device body 140 for feeding rivets, and a feeding cantilever device 150 for feeding rivets; the feeding device body 140 comprises a feeding device 141 and a vibrating device 142; the feeding device 141 comprises a feeding bin 1411 and a feeding pipe 1413; the vibrating device 142 comprises a vibrating feeding port 1421 and a vibrating discharging port 1422; the feeding cantilever device 150 comprises a feeding arm 154 driven by a driving device; wherein the content of the first and second substances,

the feeding bin 1411 is used for containing a plurality of rivets;

one end of the feeding pipe 1413 is internally communicated with the feeding bin 1411, and the other end of the feeding pipe is internally communicated with the vibration feeding port 1421;

an insert body 1541 is mounted at one end of the feeding arm 154; the upper surface of the insert block body 1541 is provided with a nail groove 15411 for placing the rivet 500, and the side of the nail groove 15411 is an open structure, so that the rivet 500 enters the nail groove 15411 from the side of the insert block body 1541;

one end of the feeding pipe 1413, which is connected with the vibrating feeding port 1421, is inclined downwards; the rivet 500 sequentially passes through the feeding bin 1411, the feeding pipe 1413 to the vibrating feeding port 1421, and is fed to the vibrating discharging port 1422 through the vibrating device 142 to be fed into the rivet groove 15411 of the feeding arm 154, and the feeding arm 154 conveys the rivet 500 from the vibrating discharging port 1422 to the riveting suction nozzle under the driving of the driving device.

As shown in fig. 9 and 10, the rivet loading device comprises a loading device body 140 for loading rivets; the feeding device body 140 comprises a feeding device 141 and a vibrating device 142; the feeding device 141 comprises a feeding bin 1411 and a feeding pipe 1413; the vibrating device 142 comprises a vibrating feeding port 1421 and a vibrating discharging port 1422; wherein the content of the first and second substances,

the feeding bin 1411 is used for containing a plurality of rivets; as shown in fig. 2 and 3, in a preferred embodiment, the feeding device 141 further includes a material guide plate 1417; the material guide plate 1417 is installed at an opening of the feeding bin 1411 and is used for extending towards the opening of the feeding bin 1411 to form a feeding guide structure of rivets; a large number of batches of rivets enter the feeding bin 1411 along the material guide plate 1417, so that the rivet feeding amount is effectively increased, and the feeding times are reduced. In this embodiment, the feeding device 141 further includes a feeding holder 1415 for supporting the feeding bin 1411 and/or the feeding pipe 1413.

As shown in fig. 11 and 12, the feeding device 141 further includes a feeding mounting plate 1416; the feed mounting plate 1416 is flat; the feeding mounting plate 1416 is provided at an upper end thereof with a first mounting hole 14161 for mounting the feeding pipe 1413 and at a lower end thereof with a mounting portion of the feeding cylinder 14121, so that the feeding push block 14122 reciprocates in the extending direction of the feeding mounting plate 1416.

One end of the feeding pipe 1413 is internally communicated with the feeding bin 1411, and the other end of the feeding pipe is internally communicated with the vibration feeding port 1421; as shown in fig. 10-13, the feeding tube 1413 is used for communicating the feeding device 141 and the vibrating device 142, in this embodiment, the vibrating device 142 is a vibrating plate, and is fixed on a fixed base by flip-chip mounting, and the vibrating feeding port 1421 is located on one side of the lower portion of the whole vibrating device 142, so that the rivet is fed by its own weight, and the feeding efficiency is improved. It should be understood that the vibrating plate is a conventional feeding device of nail-like structure, and the detailed description is omitted, and the technical ambiguity and the incomprehension of the scheme are avoided.

One end of the feeding pipe 1413, which is connected with the vibrating feeding port 1421, is inclined downwards; the rivets sequentially pass through the feeding bin 1411 and the feeding pipe 1413 to the vibrating feeding port 1421, and are fed to the vibrating feeding port 1422 through the vibrating device 142 in a vibrating manner. In a preferred embodiment, as shown in fig. 11-13, the feeding device 141 further comprises a feeding rotation adjusting structure 1414; the feeding bin 1411 and/or the feeding pipe 1413 are connected with the feeding fixing seat 1415 through the feeding rotation adjusting structure 1414, so as to adjust the angle between the feeding bin 1411 and/or the feeding pipe 1413 and the horizontal plane. In this embodiment, the feeding rotation adjusting structure 1414 is a rotation connecting seat and a rotation shaft fixed on the feeding mounting plate 1416, and one end of the rotation shaft is fixed on the feeding fixing seat 1415, so that the feeding bin 1411 and the feeding pipe 1413 can rotate around the rotation shaft, thereby adjusting the opening direction of the feeding bin 1411 and adjusting the inclination angle of the feeding pipe 1413.

In a preferred embodiment, as shown in fig. 11 to 13, the feeding device 141 further includes a feeding execution unit 1412, and the feeding execution unit 1412 is driven by an external force to push the rivets into the feeding pipe 1413. In the present embodiment, the rivet is pushed into the feeding pipe 1413 by the driving action of the feeding execution unit 1412, so that the rivet falls down along the feeding pipe 1413 into the vibration device 142.

As shown in fig. 12, the loading execution unit 1412 comprises a loading cylinder 14121, a loading push block 14122; the feeding push block 14122 is connected with the push rod of the feeding cylinder 14121; the feeding cylinder 14121 drives the feeding push block 14122 to lift the rivet towards the inlet of the feeding pipe 1413. In this embodiment, the contact portion of the loading pusher 14122 for lifting rivets is in a "V" shape, so that the relative number of rivets lifted each time is the same. Preferably, in an embodiment, in order to further control the number of rivets pushed each time and prevent the feeding pipe 1413 from being blocked by too many rivets, the feeding push block 14122 is connected with the push rod of the feeding cylinder 14121 through an elastic structure, for example, a spring is used to connect the feeding push block 14122 with the feeding cylinder 14121, when too many rivets are left, the contact part of the feeding push block 14122 moves downwards due to gravity, so that the cylinder moves for the same stroke, rivets entering the feeding pipe 1413 are reduced, and the feeding continuity is ensured to a certain extent.

As shown in fig. 14, the feeding cantilever device 150 further includes a linear motor 151, a feeding guide structure 152, and a feeding fixing plate 153; wherein the content of the first and second substances,

a rotor of the linear motor 151 is fixedly connected with the feeding fixing plate 153; one end of the feeding fixing plate 153 is fixedly connected with the feeding guide structure 152; one side of the feeding fixing plate 153 is fixedly connected to the feeding arm 154, and the feeding arm 154 reciprocates along the extending direction of the feeding guide structure 152 under the driving of the linear motor 151. In the present embodiment, the driving device is a linear motor 151, and it should be understood that the driving device may also be configured as a linear motion driving device such as an air cylinder, an electric push rod, or a rotating motor, which is matched with a rack transmission, and the like, and should not cause incomprehension or ambiguity of the technical solution of the feeding cantilever device 150. As shown in fig. 7, the feeding guide structure 152 is a guide rail and slider structure in the embodiment, and may further include a guide post and guide sleeve structure or a guide wheel and guide rail structure.

In a preferred embodiment, as shown in fig. 14-16, the feeding cantilever device 150 further comprises a cushion block 155, a feeding stroke detection device 156; in the present embodiment, the feeding stroke detecting device 156 is a photoelectric sensor, and is used for detecting the position of the feeding arm 154 through a blocking piece mounted on the cushion block 155; as shown in fig. 14, the cushion block 155 is used to increase the distance from the feeding arm 154 to the feeding arm 154, and when the rivet 500 is fed out from the vibrating outlet 1422, the cushion block 155 is abutted against the vibrating outlet 1422 to perform positioning and limiting functions.

As shown in fig. 17-20, the insert body 1541 is a block structure, the upper surface of the insert body is provided with a nail groove 15411 for placing the rivet 500, and the side of the nail groove 15411 is an open structure, so that the rivet 500 enters the nail groove 15411 from the side of the insert body 1541; the width of the slot 15411 is greater than the diameter of the shank of the rivet 500 and less than the diameter of the head of the rivet 500, such that when the shank of the rivet 500 abuts the slot 15411 wall, the head of the rivet 500 protrudes beyond the profile of the side of the insert body 1541. In this embodiment, because the nut of the rivet 500 has a portion that does not contact the insert body 1541, on one hand, friction between the nut of the rivet 500 and the insert body 1541 is reduced, and on the other hand, a certain bonding force such as electrostatic suction or surface suction is prevented from being formed when the nut of the rivet 500 is completely attached to the surface of the insert body 1541, so that difficulty in suction pickup of the riveting suction nozzle is effectively reduced; preferably, as shown in fig. 20, the distance H from the farthest end of the head of the rivet 500 to the side of the insert body 1541 is 0.1mm-0.3 mm; in one embodiment, when H is 0.2mm, the rivet 500 is easily adsorbed and the rivet is stably positioned and clamped during feeding; it should be understood that the rivet 500 for keyboard-type riveting complies with the national rivet standards, and should not make the technical solution unclear.

In a preferred embodiment, as shown in fig. 17-19, the insert body 1541 is provided with insert mounting holes 15413, the insert mounting holes 15413 being used to secure the insert body 1541 to the feeding arm 154. As shown in fig. 17, the insert mounting hole 15413 is provided on an upper surface of the insert body 1541. It should be understood that the insert mounting hole 15413 may also be provided at a side of the insert body 1541. By adopting the way of assembling the insert body 1541 and the feeding arm 154, only the insert body 1541 needs to be precisely machined, so that the requirement on the overall machining precision is reduced.

In a preferred embodiment, as shown in fig. 17, the insert body 1541 further includes a first abutting surface 15415, a second abutting surface 15416; the first abutting surface 15415 and the second abutting surface 15416 are respectively used for abutting against two adjacent surfaces of the feeding arm 154 to form a limiting structure of the insert body 1541. As shown in fig. 18, the first abutting surface 15415 and the second abutting surface 15416 are attached to two adjacent surfaces of the feeding arm 154, and are positioned by combining with the insert mounting hole 15413, so as to ensure that the insert body 1541 and the feeding arm 154 form a rigid structure, avoid the pickup position change caused by displacement during the working process, and ensure accurate feeding.

In a preferred embodiment, as shown in fig. 17 and 18, the wall of the nail groove 15411 is provided with a through hole for communicating with the external environment. In this embodiment, because of picking up the in-process at the rivet and adopting vacuum suction nozzle, the negative pressure adsorbs the in-process and easily forms because of the air flow effect and causes the rivet swing, sets up the through-hole after, through-hole intercommunication external environment for the air of external environment passes through the through-hole and acts on rivet one side from nail groove 15411 inner wall, thereby balanced nail groove 15411 outside air current effect, feasible absorption process is steady accurate. As shown in fig. 17, in the present embodiment, a first hole 15414 is formed on one side of the insert body 1541; the first holes 15414 are located on opposite sides of the staple slots 15411; the first hole 15414 communicates with the through hole. Specifically, in order to realize the processing of the first hole 15414 and the through hole, to improve the processing yield and enhance the strength during drilling, the upper surface of the insert body 1541 is further provided with a first bump 15412; the first projection 15412 protrudes from the upper surface of the insert body 1541; the first hole 15414 is disposed at a side of the first protrusion 15412; generally, the first hole 15414 and the through hole may be configured as the same hole, or the first hole 15414 may be formed by machining (in this case, the first hole 15414 is a blind hole), and then drilling a hole at the bottom of the first hole 15414 by using a drill with a diameter smaller than that of the first hole 15414, so as to machine the through hole until the through hole is communicated with the nail groove 15411.

As shown in fig. 25-30, the carrier body 200 includes a first moving assembly 210, a second moving assembly 220, a stage 230, an end surface clamp 240, and a lateral clamp 250; it should be noted that, as shown in fig. 28, the keyboard assembly 600 is a notebook type keyboard in one embodiment, and only a portion of the keyboard assembly 600 is riveted to the notebook keyboard in fig. 28.

The moving direction of the first moving assembly 210 is perpendicular to the moving direction of the second moving assembly 220, so as to form a driving structure for the planar movement of the stage 230; in an embodiment, the first moving assembly 210 and the second moving assembly 220 are linear motor moving assemblies or lead screw moving assemblies, as shown in fig. 25 to 27, the first moving assembly 210 and the second moving assembly 220 are linear motors, and the first moving assembly 210 and the second moving assembly 220 are perpendicular to each other; in the present embodiment, as shown in fig. 25, the second moving component 220 is fixed on the carrier table 290, and the first moving component 210 is fixed on the fixed supporting plate driven by the second moving component 220.

In a preferred embodiment, the carrier body 200 further includes a stage guide assembly 260; the guide assembly 260 is used for guiding the planar motion of the carrier 230; in this embodiment, the guiding elements 260 are two sets of guiding rail sliders respectively disposed on the peripheral sides, so that the bottom of the keyboard assembly 600 placement area can be configured with a riveting supporting mechanism, it should be understood that the riveting supporting mechanism is used for supporting the rivet from the bottom of the keyboard assembly 600, thereby realizing the riveting of the keyboard assembly 600 into a whole.

As shown in fig. 27, the carrier 230 is used for positioning and abutting two adjacent side edges of the keyboard assembly 600; as shown in fig. 26, in a preferred embodiment, the carrier body 200 further includes a stage motion detection assembly 270, and the stage motion detection assembly 270 is configured to detect a position of the planar motion of the stage 230. The carrier 230 is driven by the first moving assembly 210 and the second moving assembly 220 to perform plane movement, the accurate control of the linear motor is combined to realize accurate positioning of the position of each riveting hole, meanwhile, the carrier movement detection assembly 270 can be configured as a photoelectric sensor or a travel switch, the limit movement position of the carrier 230 is detected, movement interference or collision is prevented, and safety guarantee is provided for automatic riveting.

As shown in fig. 29, the end surface clamp 240 is used to press the end surface of the keyboard assembly 600, and the lateral clamps 250 are used to press two adjacent side edges of the keyboard assembly 600, so that the end surface clamp 240 and the lateral clamps 250 cooperate to clamp the keyboard assembly 600 on the carrier 230; in one embodiment, the end clamps 240 are mounted on two opposite sides of the carrier 230 to press against short sides of the keyboard assembly 600. In this embodiment, the end surface clamp 240 includes a clamp motor 241, a clamp motor mounting seat 242, a pressing plate rotating shaft 244, and a pressing plate 245; the clamp motor mounting base 242 is used for fixing the clamp motor 241 to one side of the carrier 230; the pressing plate 245 is fixed on the pressing plate rotating shaft 244; the pressing plate rotating shaft 244 is fixedly connected with the clamp motor 241; the clamp motor 241 rotates to force the pressure plate 245 to press or release the keypad assembly 600. In a preferred embodiment, the end surface fixture 240 further includes a shaft fixing seat 243 for supporting the pressing plate shaft 244; the pressing plate 245 is located between the two rotating shaft fixing seats 243 to form a stable supporting structure of the pressing plate 245.

As shown in fig. 25, the side clamp 250 can move along the diagonal of the carrier 230 so that the carrier 230 can hold keyboard assemblies 600 of different sizes. In one embodiment, as shown in fig. 27 and 30, the lateral clamp 250 includes a lateral driving device 251, a clamp connection plate 252, and a clamp 253; the lateral driving device 251 is used for providing a driving force along the diagonal direction of the carrier 230; the chuck connecting plate 252 is used to connect the lateral driving device 251 with one end and connect the chuck 253 with the other end; the clamp 253 is used to abut against two adjacent sides of the keyboard assembly 600. In one embodiment, for example, when switching from a 13 inch notebook keyboard assembly to a 15 inch notebook keyboard assembly, only the lateral clamp 250 needs to be expanded along the diagonal of the stage 230, thereby enlarging the clamping area of the stage. In the present embodiment, as shown in fig. 30, the lateral driving device 251 is a slide table cylinder.

As shown in fig. 30, the chuck 253 is two cylindrical bosses; a through groove 231 along the diagonal direction of the carrier 230 is arranged on the carrier; the lateral driving device 251 drives the chuck 253 to enable the two cylindrical bosses to move in the through slot 231 of the carrier 230 along the diagonal direction of the carrier 230, so as to clamp the keyboard assembly 600 with different sizes.

As shown in fig. 26 and 27, the carrier body 200 further includes a clamping detection assembly 280 for detecting whether the keyboard assembly 600 is positioned and clamped on the carrier 230. In a preferred embodiment, the clamping detection assembly 280 is a photoelectric sensor, and the emitting end and the receiving end of the photoelectric sensor are arranged on both sides of the carrier 230 in a diagonal direction of the carrier 230.

As shown in fig. 31, the jacking assembly 400 includes a jacking driving device 410, a jacking cam 430, a supporting pin 440, and a jacking guide structure 450; as shown in fig. 31 and 32, the jacking cam 430 abuts against the supporting pin 440, and the supporting pin 440 is further fixedly connected with the guide moving part of the jacking guide structure 450; the guiding direction of the jacking guide structure 450 is vertical to the riveting working plane; the jacking driving device 410 drives the jacking cam 430 to rotate, and the jacking cam 430 drives the supporting pin 440 to move along the guiding direction of the jacking guiding structure 450, so that the supporting pin 440 periodically supports rivets. In one embodiment, the supporting pin 440 is made of Polyetheretherketone (PEEK) resin, and has the advantages of excellent mechanical properties, good self-lubrication, chemical corrosion resistance, flame retardance, peeling resistance and wear resistance compared with other special engineering plastics, and is softer than a riveting carrier, so that the carrier or a workpiece is not easily scratched in the supporting and working processes.

In a preferred embodiment, as shown in fig. 31-33, the jacking assembly 400 further comprises a jacking contact 470, a jacking connection base plate 480; the jacking contact piece 470 is fixed on the jacking connection base plate 480; the jacking contact 470 is to abut the jacking cam 430; the jacking connection substrate 480 is fixedly connected with the support pin 440. In this embodiment, as shown in fig. 34, the jacking contact piece 470 is a screw with a cylindrical nail cap, and the jacking cam 430 is contacted by the smooth nail cap, so that power transmission is realized.

The jacking driving device 410 is used for driving the jacking cam 430 to rotate; in one embodiment, the jacking driving device 410 is a servo motor; preferably, the jacking assembly 400 further comprises a driving rotating shaft 420; the driving rotating shaft 420 is connected with the jacking driving device 410 through a coupler; the jacking cam 430 is fixedly connected with the driving rotating shaft 420; in this embodiment, as shown in fig. 31, the servo motor is fixed on the jacking motor fixing seat 491, and as shown in fig. 32, the output shaft of the servo motor and the driving rotating shaft 420 are fixed together by a coupling, and are supported together by the first jacking fixing seat 492 and the first shaft seat 493; as shown in fig. 31, the jacking motor fixing seat 491, the first jacking fixing seat 492 and the first shaft seat 493 are fixed on the jacking support base 490 through a connecting pad, so as to form an integral support structure.

The jacking guide structure 450 is used for guiding the movement of the support pin 440; the jacking guide structure 450 includes, but is not limited to, a slider guide rail structure, a guide post guide sleeve structure, and a guide wheel guide rail structure, and in one embodiment, as shown in fig. 31 and 33, the jacking guide structure 450 is a slider guide rail structure; in a preferred embodiment, the jacking assembly 400 further comprises a stroke detection assembly 460; the stroke detection element 460 is used to detect the position of the support pin 440, as shown in fig. 33, the stroke detection element 460 is a photo sensor, and the two photo sensors are respectively distributed on two sides of the support pin 440 to detect the limit position of the support pin 440; correspondingly, the two sides of the supporting pin 440 are provided with the stroke stopping pieces 481 for stopping the optical fibers of the photoelectric sensor, the stroke stopping pieces 481 are vertically arranged, the stroke stopping pieces 481 are in a non-riveting working position in the state shown in fig. 33, and after the jacking cam 430 rotates clockwise, the supporting pin 440 vertically moves upwards to a riveting working position.

In a preferred embodiment, as shown in fig. 32 and 34, the jacking assembly 400 further comprises a pressing ring 434, a bearing 436; the jacking cam 430, the pressing ring 434 and the bearing 436 are sequentially sleeved on the driving rotating shaft 420; the pressing ring 434 is used for abutting against the jacking cam 430; the bearing 436 is used to fix the driving shaft 420 on the first shaft seat 493. In this embodiment, the pressing ring 434 eliminates the axial gap of the jacking cam 430, and effectively prevents the jacking cam 430 from moving axially in the rotating process, thereby improving the accuracy of the jacking process; preferably, the pressing ring 434 is made of an elastic material, and the pressing ring 434 sufficiently abuts against the end surface of the lifting cam 430 through a certain elastic deformation to eliminate the axial clearance.

In a preferred embodiment, as shown in fig. 32 and 34, the jacking assembly 400 further comprises a stub nut 435; the shaft end nut 435 is fixed to the end of the driving shaft 420 to press the inner ring of the bearing 436. In this embodiment, the inner ring of the bearing 436 is pressed by the shaft end nut 435, and the pressure is transmitted to the pressing ring 434, so as to press the lifting cam 430, and further prevent the lifting cam 430 from moving axially during the rotation process.

In a preferred embodiment, as shown in fig. 33-35, the lifting cam 430 includes a lifting flange 431, and the lifting flange 431 has a groove-shaped structure to provide an urging force for the supporting pin 440. In this embodiment, the slot width of the jacking flange 431 is the same as the nail head diameter of the jacking contact piece 470, the jacking flange 431 limits the jacking contact piece 470 in a slot-type structure, preferably, the surface of the jacking flange 431 is subjected to wear-resisting treatment, the service life of the jacking cam 430 is prolonged, and the jacking contact piece 470 can be replaced quickly after being worn by screws which are easy to detach and replace.

In a preferred embodiment, the jacking cam 430 further comprises a hollow-out portion. As shown in fig. 34 and 35, the hollow portion includes a first hollow portion 432 and a second hollow portion 433, on one hand, the hollow portion reduces the overall weight of the jacking cam 430, on the other hand, the hollow portion is used for balancing the groove-shaped structure of the jacking concave edge 431, the rotation balance of the jacking cam 430 is damaged after the groove-shaped structure of the jacking concave edge 431 is formed, and the new rotation balance of the jacking cam 430 is achieved by arranging the first hollow portion 432 in an arc groove shape and the second hollow portion 433 in a circular hole shape.

In a preferred embodiment, the lifting flange 431 includes a first slot 4311, a second slot 4312; the first slot 4311 is in communication with the second slot 4312; the first open slot 4311 is a spiral slot, and the second open slot 4312 is an arc slot. In this embodiment, as shown in fig. 35, a radius R1 of the first slot 4311 is smaller than a radius R2, a radius R3 is a position where the first slot 4311 meets the second slot 4312, a radius R2 of the first slot 4311 is smaller than a radius R3, and a radius R3 of the second slot 4312 is equal to a radius R4. When the jacking cam 430 rotates, the jacking contact piece 470 contacts the spiral line groove, so that the supporting pin 440 is lifted stably, when the jacking contact piece 470 contacts the second slot 4312, the supporting pin 440 is not lifted in the vertical direction, at the moment, the supporting pin 440 maintains a time interval, the riveting process is completed, the control requirement of the jacking driving device 410 can be greatly reduced by the design of the second slot 4312, namely, when the jacking contact piece 470 contacts any position of the second slot 4312, the supporting pin 440 keeps the riveting supporting position stationary, on the other hand, the rotation angle of the jacking driving device 410 can be configured by combining the time intervals of all the processes, and the accurate control of the riveting process is achieved.

In the description of the present invention, it should be noted that the terms "inside" and "inside" are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which the product of the present invention is usually placed in when used, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or the element to be referred to must have a specific orientation, be constructed in a specific orientation and operation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance. In the present invention, unless otherwise expressly stated or limited, the first feature may be present on or under the second feature in direct contact with the first and second feature, or may be present in the first and second feature not in direct contact but in contact with another feature between them. Also, the first feature being above, on or above the second feature includes the first feature being directly above and obliquely above the second feature, or merely means that the first feature is at a higher level than the second feature. A first feature that underlies, and underlies a second feature includes a first feature that is directly under and obliquely under a second feature, or simply means that the first feature is at a lesser level than the second feature.

The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner; those skilled in the art can readily practice the invention as shown and described in the drawings and detailed description herein; however, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the scope of the invention as defined by the appended claims; meanwhile, any changes, modifications, and evolutions of the equivalent changes of the above embodiments according to the actual techniques of the present invention are still within the protection scope of the technical solution of the present invention.

Claims

1. The utility model provides a keyboard riveting set, includes riveter body (1000), its characterized in that: the riveting machine body (1000) comprises a riveting machine head assembly (100) used for rivet feeding and riveting, a carrier body (200) used for bearing a keyboard assembly (600), and a jacking assembly (400); wherein the content of the first and second substances,

the riveting machine head assembly (100) comprises a press riveting assembly (110), a feeding device body (140), a feeding cantilever device (150) and a visual detection assembly (160);

the pressure riveting component (110) is vertically arranged above a riveting plane and is used for applying riveting pressure;

the feeding device body (140) is used for feeding rivets (500) to the feeding cantilever device (150) in a vibration mode, and the feeding cantilever device (150) picks up the rivets (500) and conveys the rivets to a riveting suction nozzle assembly (113) of the press riveting assembly (110);

the visual detection assembly (160) is arranged on one side of the press riveting assembly (110) and used for detecting and acquiring the position of a rivet hole on the keyboard assembly (600); the position of the visual detection assembly (160) and the position of the press riveting assembly (110) are separated by a plurality of rivet holes;

the jacking assembly (400) is vertically arranged below the keyboard assembly (600) and is used for supporting rivets adsorbed on the riveting suction nozzle assembly (113) at the lower end of the pressure riveting assembly (110); the riveting suction nozzle assembly (113) sucks a rivet (500), and the rivet (500) is riveted into a rivet hole of the keyboard assembly (600) under the combined action of the pressure riveting assembly (110) and the jacking assembly (400).

2. A keyboard riveting apparatus according to claim 1, wherein: the riveting suction nozzle assembly (113) comprises a riveting suction nozzle (1131), a suction nozzle clamping seat (1132), a riveting sliding block (1133), a riveting connecting block (1134), a riveting pressure sensor (1135) and a riveting connecting plate (1136); wherein the rivet nozzle (1131) is used for adsorbing rivets; the nozzle clamping seat (1132) is used for clamping and fixing the rivet nozzle (1131); the riveting sliding block (1133) is fixedly connected with the suction nozzle clamping seat (1132) and used for guiding in a sliding manner; the riveting connecting block (1134) is used for elastically connecting the suction nozzle clamping seat (1132) with the riveting connecting plate (1136); the riveting pressure sensor (1135) is arranged between the riveting connecting block (1134) and the suction nozzle clamping seat (1132), and the riveting pressure sensor (1135) is used for acquiring and feeding back riveting pressure; the riveting connection plate (1136) is used for transferring riveting pressure.

3. A keyboard riveting apparatus according to claim 1, wherein: further comprising two industrial cameras (130); wherein the content of the first and second substances,

the detection light paths of the two industrial cameras (130) are vertical to the axis of a rivet adsorbed on the riveting suction nozzle component (113); the detection light paths of the two industrial cameras (130) are positioned on the same horizontal plane;

the two industrial cameras (130) are at different distances from the rivet axis such that the two industrial cameras (130) capture rivet poses from different sides and at different distances of the rivet, respectively.

4. The keyboard riveting device according to claim 3, wherein the included angle α between the detection light paths of the two industrial cameras (130) is greater than or equal to 60 degrees and less than or equal to 120 degrees, and the ratio of the distance difference between the two industrial cameras (130) and the rivet to be detected to the larger distance between the two industrial cameras (130) and the rivet to be detected is greater than or equal to 10% and less than or equal to 30%.

5. A keyboard riveting apparatus according to claim 1, wherein: the jacking assembly (400) comprises a jacking driving device (410), a jacking cam (430), a supporting needle (440) and a jacking guide structure (450); wherein the content of the first and second substances,

the jacking driving device (410) is used for driving the jacking cam (430) to rotate;

the jacking guide structure (450) is used for guiding the movement of the support needle (440);

the jacking cam (430) is abutted with the supporting needle (440), and the supporting needle (440) is also fixedly connected with a guide moving part of the jacking guide structure (450); the guiding direction of the jacking guiding structure (450) is vertical to the riveting working plane;

the jacking driving device (410) drives the jacking cam (430) to rotate, and the jacking cam (430) drives the supporting needle (440) to move along the guiding direction of the jacking guiding structure (450), so that the supporting needle (440) periodically supports rivets.

6. A keyboard riveting apparatus according to claim 5, wherein: the jacking cam (430) comprises a jacking concave edge (431), and the jacking concave edge (431) is of a groove-shaped structure and is used for providing the driving force of the supporting needle (440); the jacking cam (430) further comprises a hollow-out part; the jacking flange (431) comprises a first slot (4311) and a second slot (4312); the first slot (4311) is in communication with the second slot (4312); the first open groove (4311) is a spiral groove, and the second open groove (4312) is a circular arc groove.

7. A keyboard riveting apparatus according to claim 1, wherein: the feeding device body (140) comprises a feeding device (141) and a vibrating device (142); the feeding device (141) comprises a feeding bin (1411) and a feeding pipe (1413); the vibrating device (142) comprises a vibrating feeding port (1421) and a vibrating discharging port (1422); the feeding cantilever device (150) comprises a feeding arm (154) driven by a driving device; wherein the content of the first and second substances,

the feeding bin (1411) is used for containing a plurality of rivets;

one end of the feeding pipe (1413) is internally communicated with the feeding bin (1411), and the other end of the feeding pipe is internally communicated with the vibrating feeding port (1421);

an insert body (1541) is arranged at one end of the feeding arm (154); the upper surface of the insert block body (1541) is provided with a nail groove (15411) for placing a rivet (500), and the side edge of the nail groove (15411) is of an open structure, so that the rivet (500) enters the nail groove (15411) from the side edge of the insert block body (1541);

one end of the feeding pipe (1413) connected with the vibrating feeding port (1421) is inclined downwards; the rivets (500) sequentially pass through the feeding bin (1411) and the feeding pipe (1413) to the vibrating feeding port (1421), and are fed to the vibrating discharging port (1422) through the vibrating device (142) in a vibrating manner to be fed into a rivet groove (15411) of the feeding arm (154), and the feeding arm (154) conveys the rivets (500) to a riveting suction nozzle from the vibrating discharging port (1422) under the driving of the driving device.

8. The keyboard riveting apparatus according to claim 7, wherein: the insert body (1541) is of a block structure, the width of the nail groove (15411) is larger than the diameter of the shank of the rivet (500) and smaller than the diameter of the head of the rivet (500), so that when the shank of the rivet (500) abuts against the wall of the nail groove (15411), the head of the rivet (500) protrudes out of the profile of the side edge of the insert body (1541); the wall of the nail groove (15411) is provided with a through hole to communicate with the external environment; a first hole (15414) is formed in one side of the insert body (1541); the first aperture (15414) is located on an opposite side of the staple channel (15411); the first hole (15414) communicates with the through hole; the upper surface of the insert block body (1541) is also provided with a first bump (15412); the first bump (15412) protrudes above the upper surface of the insert body (1541); the first hole (15414) is disposed on a side of the first protrusion (15412).

9. A keyboard riveting apparatus according to claim 1, wherein: the carrier body (200) comprises a first moving assembly (210), a second moving assembly (220), a carrier table (230), an end face clamp (240) and a lateral clamp (250); wherein the content of the first and second substances,

the moving direction of the first moving assembly (210) and the moving direction of the second moving assembly (220) are perpendicular to each other, so that a driving structure for planar movement of the carrier (230) is formed;

the carrier (230) is used for positioning and abutting against two adjacent side edges of the keyboard assembly (600);

the end surface clamp (240) is used for pressing an end surface of the keyboard assembly (600), the lateral clamp (250) is used for pressing two adjacent side edges of the keyboard assembly (600), so that the end surface clamp (240) and the lateral clamp (250) jointly act to clamp the keyboard assembly (600) on the carrier (230);

the lateral clamp (250) can move along the diagonal direction of the carrier (230) so that the carrier (230) can clamp keyboard assemblies (600) with different sizes.

10. A keyboard riveting apparatus according to claim 9, wherein: the lateral clamp (250) comprises a lateral driving device (251), a clamp connecting plate (252) and a clamp (253); wherein the content of the first and second substances,

the lateral driving device (251) is used for providing a driving force along the diagonal direction of the carrying platform (230);

the chuck connecting plate (252) is used for connecting the lateral driving device (251) at one end and connecting the chuck (253) at the other end;

the clamping head (253) is used for abutting against two adjacent sides of the keyboard assembly (600);

the clamping head (253) is two cylindrical convex columns; a through groove (231) is formed in the carrying platform (230) along the diagonal direction of the carrying platform; the lateral driving device (251) drives the chuck (253) to enable the two cylindrical convex columns to move in the through groove (231) of the carrier (230) along the diagonal direction of the carrier (230) so as to clamp the keyboard assemblies (600) with different sizes.