CN111791498A - An automatic riveting equipment - Google Patents

An automatic riveting equipment Download PDF

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Publication number
CN111791498A
CN111791498A CN202010789968.2A CN202010789968A CN111791498A CN 111791498 A CN111791498 A CN 111791498A CN 202010789968 A CN202010789968 A CN 202010789968A CN 111791498 A CN111791498 A CN 111791498A
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China
Prior art keywords
riveting
belt mechanism
fixedly connected
conveyor belt
film
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CN202010789968.2A
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Chinese (zh)
Inventor
刘占飞
占华雄
刘坚辉
谭文章
李聪
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Dongguan Guanjia Electronic Equipment Co Ltd
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Dongguan Guanjia Electronic Equipment Co Ltd
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Priority to CN202010789968.2A priority Critical patent/CN111791498A/en
Publication of CN111791498A publication Critical patent/CN111791498A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C65/00Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
    • B29C65/02Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor by heating, with or without pressure
    • B29C65/08Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor by heating, with or without pressure using ultrasonic vibrations
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C65/00Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
    • B29C65/78Means for handling the parts to be joined, e.g. for making containers or hollow articles, e.g. means for handling sheets, plates, web-like materials, tubular articles, hollow articles or elements to be joined therewith; Means for discharging the joined articles from the joining apparatus
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C65/00Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
    • B29C65/78Means for handling the parts to be joined, e.g. for making containers or hollow articles, e.g. means for handling sheets, plates, web-like materials, tubular articles, hollow articles or elements to be joined therewith; Means for discharging the joined articles from the joining apparatus
    • B29C65/7858Means for handling the parts to be joined, e.g. for making containers or hollow articles, e.g. means for handling sheets, plates, web-like materials, tubular articles, hollow articles or elements to be joined therewith; Means for discharging the joined articles from the joining apparatus characterised by the feeding movement of the parts to be joined
    • B29C65/7861In-line machines, i.e. feeding, joining and discharging are in one production line
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00General aspects of processes or apparatus for joining preformed parts
    • B29C66/005Detaching the article from the joining tool
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29LINDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
    • B29L2031/00Other particular articles
    • B29L2031/34Electrical apparatus, e.g. sparking plugs or parts thereof

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Press Drives And Press Lines (AREA)

Abstract

The invention discloses automatic riveting equipment which comprises a base, wherein a conveying mechanism for loading and unloading products is arranged on the base, the conveying mechanism comprises an upper machine conveying belt mechanism and a lower machine conveying belt mechanism which are symmetrically arranged, and the upper machine conveying belt mechanism and the lower machine conveying belt mechanism are respectively arranged at two opposite ends of the base; an ultrasonic riveting press is arranged between the upper machine conveying belt mechanism and the lower machine conveying belt mechanism, and a riveting jig is arranged right below the ultrasonic riveting press; a movable manipulator is arranged below the riveting jig and moves among the upper machine conveying belt mechanism, the riveting jig and the lower machine conveying belt mechanism; the horizontal moving direction of the moving manipulator and the conveying direction of the conveying mechanism are on the same straight line. The moving directions of the conveying mechanism and the moving manipulator are arranged on the same straight line, so that the structure of the automatic riveting equipment is simplified, and the riveting efficiency is improved.

Description

一种自动铆合设备An automatic riveting equipment

技术领域technical field

本发明涉及充电器生产技术领域,尤其涉及一种自动铆合设备。The invention relates to the technical field of charger production, in particular to an automatic riveting device.

背景技术Background technique

在充电器生产技术领域,特别是电源充电器的生产过程中,一般包括对充电器进行材料的吸取及铆合,传统的自动铆合设备结构复杂,吸取和铆合的过程涉及到了X-Y轴方向的移动,占地空间大,需要的设备结构复杂,铆合效率低。In the field of charger production technology, especially in the production process of power chargers, it generally includes the suction and riveting of materials for the charger. The traditional automatic riveting equipment has a complex structure, and the process of suction and riveting involves the X-Y axis direction. It takes up a lot of space, requires a complex structure of equipment, and has low riveting efficiency.

随着自动铆合技术的发展,急需一种结构更加简化的,利于提高铆合效率的设备。With the development of automatic riveting technology, there is an urgent need for a device with a more simplified structure that is conducive to improving riveting efficiency.

发明内容SUMMARY OF THE INVENTION

本发明的目的在于提供一种自动铆合设备,区别现有涉及X-Y轴方向的移动,简化自动铆合设备的结构,提高铆合效率。The purpose of the present invention is to provide an automatic riveting device, which distinguishes the existing movement involving the X-Y axis direction, simplifies the structure of the automatic riveting device, and improves the riveting efficiency.

为达此目的,本发明采用以下技术方案:一种自动铆合设备,包括基座、所述基座上设有用于对产品进行上下料的传送机构,所述传送机构包括对称设置的上机输送带机构和下机输送带机构,所述上机输送带机构和下机输送带机构分别安装于所述基座的相对两端;所述上机输送带机构和所述下机输送带机构的中间设有超声波压铆机,所述超声波压铆机的正下方设有铆合治具;所述铆合治具的下方设有移动机械手,所述移动机械手在所述上机输送带机构、所述铆合治具和所述下机输送带机构之间移动;所述移动机械手的水平移动方向和所述的传送机构的传送方向在一条直线上。In order to achieve this purpose, the present invention adopts the following technical scheme: an automatic riveting equipment, comprising a base, and a conveying mechanism for loading and unloading products is arranged on the base, and the conveying mechanism includes a symmetrically arranged upper machine A conveyor belt mechanism and a lower machine conveyor belt mechanism, the upper machine conveyor belt mechanism and the lower machine conveyor belt mechanism are respectively installed at opposite ends of the base; the upper machine conveyor belt mechanism and the lower machine conveyor belt mechanism There is an ultrasonic riveting machine in the middle of the riveting machine, and a riveting jig is arranged directly under the ultrasonic riveting machine; a mobile manipulator is arranged below the riveting jig, and the mobile manipulator is installed on the conveyor belt mechanism of the upper machine. , Move between the riveting fixture and the lower conveyor belt mechanism; the horizontal movement direction of the mobile manipulator and the transmission direction of the transmission mechanism are in a straight line.

可选的,所述移动机械手包括支撑台、所述支撑台的上端面设有用于夹取产品的夹爪气缸、所述夹爪气缸和电动夹爪固定连接;所述夹爪气缸为3个,3个所述夹爪气缸在移动过程中分别和所述上机输送带机构、所述铆合治具和所述下机输送带机构对位;所述支撑台的下方设有支撑架、所述支撑架上设有驱动所述支撑台往竖直方向移动的竖直驱动件和驱动所述支撑台水平移动的水平驱动件。Optionally, the mobile manipulator includes a support table, the upper end surface of the support table is provided with a gripper cylinder for gripping products, the gripper cylinder and the electric gripper are fixedly connected; the number of gripper cylinders is 3. , the three clamping jaw cylinders are respectively aligned with the upper conveyor belt mechanism, the riveting jig and the lower conveyor belt mechanism during the movement process; there are support frames, The support frame is provided with a vertical drive member that drives the support table to move in a vertical direction and a horizontal drive member that drives the support table to move horizontally.

可选的,所述支撑架从上往下包括第一支撑板、第二支撑板和第三支撑板,所述第一支撑板、所述第二支撑板和所述第三支撑板沿其长度方向的两端部分别和两块竖板固定连接;Optionally, the support frame includes a first support plate, a second support plate and a third support plate from top to bottom, the first support plate, the second support plate and the third support plate are The two ends in the length direction are respectively fixedly connected with the two vertical plates;

所述竖直驱动件包括第二驱动电机、所述第二驱动电机固定安装在所述第二支撑板上;所述第二驱动电机的输出端和第一齿轮连接,所述第一齿轮的一侧设有第二齿轮,所述第一齿轮和所述第二齿轮间套设有皮带,所述第二齿轮和竖直推杆固定连接;所述竖直推杆远离所述第二齿轮的一端竖直贯穿所述第一支撑板和所述支撑台固定连接;所述第二驱动电机的两侧分别各设有一导柱、所述导柱的一端和所述第二支撑板固定连接,所述导柱的另一端和所述第一支撑板固定连接;所述导柱设于导套中,所述导套的底部和所述第二支撑板固定连接;所述第二驱动电机推动所述支撑台沿竖直方向移动。The vertical drive member includes a second drive motor, which is fixedly mounted on the second support plate; the output end of the second drive motor is connected to the first gear, and the first gear has an output end. A second gear is arranged on one side, a belt is sleeved between the first gear and the second gear, and the second gear is fixedly connected with the vertical push rod; the vertical push rod is far away from the second gear One end of the motor vertically penetrates the first support plate and is fixedly connected to the support table; two sides of the second drive motor are respectively provided with a guide column, and one end of the guide column is fixedly connected to the second support plate , the other end of the guide post is fixedly connected to the first support plate; the guide post is set in a guide sleeve, and the bottom of the guide sleeve is fixedly connected to the second support plate; the second drive motor The support table is pushed to move in the vertical direction.

可选的,所述水平驱动件包括第三驱动电机、所述第三驱动电机的输出端和丝杆连接;所述丝杆和活动块固定连接;所述活动块和所述第三支撑板的侧面固定连接;所述第三支撑板的底部设有滑块、所述滑块和滑轨滑动连接,所述滑轨设于底板上,所述第三驱动电机推动所述第三支撑板沿水平方向移动。Optionally, the horizontal drive member includes a third drive motor, the output end of the third drive motor is connected with a screw rod; the screw rod is fixedly connected with the movable block; the movable block and the third support plate The side of the third support plate is fixedly connected; the bottom of the third support plate is provided with a slider, the slider and the slide rail are slidably connected, the slide rail is arranged on the bottom plate, and the third drive motor pushes the third support plate Move horizontally.

可选的,所述上机输送带机构包括设于所述基座上的两个平行的第一支架,所述第一支架的两端分别设有第一皮带轮,两所述第一皮带轮上套设有第一传送带、两所述第一支架远离所述超声波压铆机的一端分别和第一转轴转动连接;所述第一转轴和第一驱动电机的输出端固定连接;两所述第一传送带上固定设有用于放置产品的放置治具。Optionally, the upper conveyor belt mechanism includes two parallel first brackets arranged on the base, two ends of the first bracket are respectively provided with first pulleys, and the two first pulleys are arranged on the two first pulleys. A first conveyor belt is sleeved, and one end of the two first brackets away from the ultrasonic riveting machine is respectively rotatably connected with the first rotating shaft; the first rotating shaft and the output end of the first driving motor are fixedly connected; A placing jig for placing products is fixed on a conveyor belt.

可选的,所述下机输送带机构包括设于所述基座上的两个平行的第二支架,所述第二支架的两端分别设有第二皮带轮,两所述第二皮带轮上套设有第二传送带、两所述第二皮带轮远离所述超声波压铆机的一端用第二转轴转动连接;所述第二转轴和第二驱动电机的输出端固定连接。Optionally, the lower conveyor belt mechanism includes two parallel second brackets disposed on the base, and second pulleys are respectively provided at both ends of the second brackets, and the two second pulleys are arranged on the second pulleys. A second conveyor belt is sleeved, and one end of the two second pulleys away from the ultrasonic riveting machine is rotatably connected with a second rotating shaft; the second rotating shaft is fixedly connected with the output end of the second driving motor.

可选的,所述铆合治具靠近所述上机输送带机构的一侧设有定位治具,所述铆合治具包括设于所述基座上的两个相对设置的支撑脚、两所述支撑脚的上端面设有放置产品的定位座;所述定位治具的结构和所述铆合治具的结构一致。Optionally, a positioning jig is provided on the side of the riveting jig close to the upper machine conveyor belt mechanism, and the riveting jig includes two oppositely arranged support feet on the base, The upper end surfaces of the two supporting feet are provided with positioning seats for placing products; the structure of the positioning fixture is the same as that of the riveting fixture.

可选的,所述超声波压铆机的输出端和超声波焊头固定连接;所述超声波焊头用于按压产品,使产品铆合。Optionally, the output end of the ultrasonic riveting machine is fixedly connected to the ultrasonic welding head; the ultrasonic welding head is used to press the product to rive the product.

可选的,所述超声波压铆机的两侧还设有卷膜机构,所述卷膜机构包括设于所述基座上的卷膜支撑架、所述卷膜支撑架上设有卷膜滑轨、所述卷膜滑轨上滑动连接有卷膜滑块、所述卷膜滑块远离所述卷膜滑轨的一面和卷膜支撑板固定连接,所述卷膜支撑板上安装有两个卷膜,两个所述卷膜分别设于所述超声波焊头的两侧,一所述卷膜和卷膜驱动电机连接;所述卷膜驱动电机用于控制两所述卷膜收放卷;另一所述卷膜和卷膜气缸连接,所述卷膜气缸用于控制两所述卷膜上下移动。Optionally, both sides of the ultrasonic riveting machine are also provided with a film rolling mechanism, and the film rolling mechanism includes a film roll support frame arranged on the base, and a roll film support frame is provided on the roll film support frame. The slide rail and the film roll slide rail are slidably connected with a film roll slider, and the side of the film roll slider away from the roll film slide rail is fixedly connected with the roll film support plate, and the roll film support plate is installed with a film roll support plate. Two roll films, the two roll films are respectively arranged on both sides of the ultrasonic welding head, and the roll film is connected with the roll film drive motor; the roll film drive motor is used to control the winding of the two roll films. Unwinding; the other film roll is connected with a film roll cylinder, and the film roll cylinder is used to control the up and down movement of the two roll films.

可选的,所述卷膜机构还包括底模,所述底模上设有底模孔,所述底模孔供所述夹爪穿过。Optionally, the film rolling mechanism further includes a bottom mold, and a bottom mold hole is provided on the bottom mold, and the bottom mold hole allows the clamping jaws to pass through.

本发明的有益效果:本发明实施例提供的一种自动铆合设备,包括基座、所述基座上设有用于对产品进行上下料的传送机构,所述传送机构包括对称设置的上机输送带机构和下机输送带机构,所述上机输送带机构和下机输送带机构分别安装于所述基座的相对两端;所述上机输送带机构和所述下机输送带机构的中间设有超声波压铆机,所述超声波压铆机的正下方设有铆合治具;所述铆合治具的下方设有移动机械手,所述移动机械手在所述上机输送带机构、所述铆合治具和所述下机输送带机构之间移动;所述移动机械手的水平移动方向和所述的传送机构的传送方向在一条直线上。通过将传送机构和移动机械手的移动方向设置在一条直线上,使得超声波压铆机在一条直线上就能完成压铆,区别现有的X-Y轴方向的移动铆合,简化自动铆合设备的结构,提高铆合效率。Beneficial effects of the present invention: An automatic riveting device provided by an embodiment of the present invention includes a base, and a conveying mechanism for loading and unloading products is arranged on the base, and the conveying mechanism includes a symmetrically arranged upper machine. A conveyor belt mechanism and a lower machine conveyor belt mechanism, the upper machine conveyor belt mechanism and the lower machine conveyor belt mechanism are respectively installed at opposite ends of the base; the upper machine conveyor belt mechanism and the lower machine conveyor belt mechanism There is an ultrasonic riveting machine in the middle of the riveting machine, and a riveting jig is arranged directly under the ultrasonic riveting machine; a mobile manipulator is arranged below the riveting jig, and the mobile manipulator is installed on the conveyor belt mechanism of the upper machine. , Move between the riveting fixture and the lower conveyor belt mechanism; the horizontal movement direction of the mobile manipulator and the transmission direction of the transmission mechanism are in a straight line. By setting the moving direction of the transmission mechanism and the mobile manipulator on a straight line, the ultrasonic riveting machine can complete the pressing riveting on a straight line, which is different from the existing moving riveting in the X-Y axis direction and simplifies the structure of the automatic riveting equipment. , improve the riveting efficiency.

附图说明Description of drawings

为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动性的前提下,还可以根据这些附图获得其它的附图。In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

图1为本发明实施例提供的一种自动铆合设备的整体结构示意图;1 is a schematic diagram of the overall structure of an automatic riveting device provided by an embodiment of the present invention;

图2为本发明实施例提供的一种自动铆合设备的移动机械手的整体结构示意图;2 is a schematic diagram of the overall structure of a mobile manipulator of an automatic riveting device according to an embodiment of the present invention;

图3为本发明实施例提供的一种自动铆合设备的上机输送带机构的整体结构示意图;3 is a schematic diagram of the overall structure of an upper conveyor belt mechanism of an automatic riveting device provided by an embodiment of the present invention;

图4为本发明实施例提供的一种自动铆合设备的下机输送带机构的整体结构示意图;4 is a schematic diagram of the overall structure of a lower conveyor belt mechanism of an automatic riveting device provided by an embodiment of the present invention;

图5为本发明实施例提供的一种自动铆合设备的铆合治具的整体结构示意图;5 is a schematic diagram of the overall structure of a riveting fixture of an automatic riveting device provided by an embodiment of the present invention;

图6为本发明实施例提供的一种自动铆合设备的卷膜机构的整体结构示意图。FIG. 6 is a schematic diagram of the overall structure of a film winding mechanism of an automatic riveting device according to an embodiment of the present invention.

图中:In the picture:

1、基座;2、传送机构;21、上机输送带机构;211、第一支架;212、第一皮带轮;213、第一传送带;214、第一转轴;215、第一驱动电机;216、放置治具;22、下机输送带机构;221、第二支架;222、第二皮带轮;223、第二传送带;224、第二转轴;225、第二驱动电机;1. Base; 2. Transmission mechanism; 21. Upper machine conveyor belt mechanism; 211, First bracket; 212, First pulley; 213, First conveyor belt; 214, First shaft; 215, First drive motor; 216 22, the lower conveyor belt mechanism; 221, the second bracket; 222, the second pulley; 223, the second conveyor belt; 224, the second shaft; 225, the second drive motor;

3、移动机械手;30、支撑台;31、夹爪气缸;311、电动夹爪;32、支撑架;321、第一支撑板;322、第二支撑板;323、第三支撑板;324、竖板;33、竖直驱动件;331、第二驱动电机;332、第一齿轮;333、第二齿轮;334、皮带;335、竖直推杆;336、导柱;337、导套;34、水平驱动件;341、第三驱动电机;342、丝杆;343、活动块;344、滑块;345、滑轨;346、底板;4、超声波压铆机;5、铆合治具;51、支撑脚;52、定位座;6、定位治具;7、超声波焊接头;8、卷膜机构;81、卷膜支撑架;82、卷膜滑轨;83、卷膜滑块;84、卷膜支撑板;85、卷膜;86、卷膜驱动电机;87、卷膜气缸;88、底模。3. Mobile manipulator; 30, support table; 31, gripper cylinder; 311, electric gripper; 32, support frame; 321, first support plate; 322, second support plate; 323, third support plate; 324, vertical plate; 33, vertical drive member; 331, second drive motor; 332, first gear; 333, second gear; 334, belt; 335, vertical push rod; 336, guide post; 337, guide sleeve; 34. Horizontal driving part; 341. The third driving motor; 342. Screw rod; 343, movable block; 344, slider; 345, slide rail; 346, bottom plate; 4. Ultrasonic riveting machine; ; 51, supporting feet; 52, positioning seat; 6, positioning fixture; 7, ultrasonic welding head; 8, film rolling mechanism; 81, film roll support frame; 82, film roll slide rail; 83, film roll slider; 84, film roll support plate; 85, roll film; 86, film roll drive motor; 87, film roll cylinder; 88, bottom mold.

具体实施方式Detailed ways

本发明实施例提供了一种自动铆合设备,区别于现有涉及X-Y轴方向的移动,简化自动铆合设备的结构,提高铆合效率。The embodiment of the present invention provides an automatic riveting device, which is different from the existing movement involving the X-Y axis direction, simplifies the structure of the automatic riveting device, and improves the riveting efficiency.

为使得本发明的发明目的、特征、优点能够更加的明显和易懂,下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,下面所描述的实施例仅仅是本发明一部分实施例,而非全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例,都属于本发明保护的范围。In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the following The described embodiments are only some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

下面结合附图并通过具体实施方式来进一步说明本发明的技术方案。The technical solutions of the present invention are further described below with reference to the accompanying drawings and through specific embodiments.

在本发明的描述中,需要理解的是,术语“上”、“下”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本发明和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本发明的限制。In the description of the present invention, it should be understood that the orientations or positional relationships indicated by the terms "upper", "lower", "top", "bottom", "inner", "outer", etc. are based on those shown in the accompanying drawings The orientation or positional relationship is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

下面结合附图并通过具体实施方式来进一步说明本发明的技术方案。The technical solutions of the present invention are further described below with reference to the accompanying drawings and through specific embodiments.

如图1所示,本发明提供一种自动铆合设备,包括基座1、所述基座1上设有用于对产品进行上下料的传送机构2,所述传送机构2包括对称设置的上机输送带机构21和下机输送带机构22,所述上机输送带机构21和下机输送带机构22分别安装于所述基座1的相对两端;所述上机输送带机构21和所述下机输送带机构22的中间设有超声波压铆机4,所述超声波压铆机4的正下方设有铆合治具5;所述铆合治具5的下方设有移动机械手3,所述移动机械手3在所述上机输送带机构21、所述铆合治具5和所述下机输送带机构22之间移动;所述移动机械手3的水平移动方向和所述的传送机构2的传送方向在一条直线上。As shown in FIG. 1 , the present invention provides an automatic riveting equipment, including a base 1, and a conveying mechanism 2 for loading and unloading products is arranged on the base 1, and the conveying mechanism 2 includes a symmetrically arranged upper The upper conveyor belt mechanism 21 and the lower machine conveyor belt mechanism 22 are respectively installed on opposite ends of the base 1; the upper machine conveyor belt mechanism 21 and An ultrasonic riveting machine 4 is arranged in the middle of the lower conveyor belt mechanism 22 , a riveting jig 5 is arranged directly below the ultrasonic riveting machine 4 , and a mobile manipulator 3 is arranged below the riveting jig 5 , the mobile manipulator 3 moves between the upper conveyor belt mechanism 21, the riveting fixture 5 and the lower conveyor belt mechanism 22; the horizontal movement direction of the mobile manipulator 3 and the transmission The conveying direction of the mechanism 2 is on a straight line.

在一个具体的实施例中,待铆合产品首先被放入上机输送带机构21上,往超声波压铆机4的方向传送,在上机输送带机构21的末端停下,移动机械手3水平移动,夹住待铆合产品,移动机械手3将产品放入铆合治具5,铆合治具5的位置上设有有光电检测,检测产品有无,如果有检测到有产品,待移动机械手3下降后,超声波压铆机4的焊头下降,铆合完成,超声波压铆机4的焊头上升,移动机械手3上升,夹取产品,移动机械手3再上升,再向右移动,再下降,将完成铆合的产品放入下机输送带机构22上,下机输送带机构将铆合好的产品进行下料。In a specific embodiment, the product to be riveted is first placed on the upper machine conveyor belt mechanism 21, conveyed in the direction of the ultrasonic riveting machine 4, stopped at the end of the upper machine conveyor belt mechanism 21, and moved the manipulator 3 horizontally Move, clamp the product to be riveted, and move the manipulator 3 to put the product into the riveting fixture 5. There is a photoelectric detection on the position of the riveting fixture 5 to detect whether there is a product. If there is a product detected, it will be moved. After the manipulator 3 descends, the welding head of the ultrasonic riveting machine 4 descends, the riveting is completed, the welding head of the ultrasonic riveting machine 4 rises, the mobile manipulator 3 rises, picks up the product, the mobile manipulator 3 rises again, then moves to the right, and then Down, put the riveted product on the lower conveyor belt mechanism 22, and the lower conveyor belt mechanism will unload the riveted product.

进一步的,如图2所示,所述移动机械手3包括支撑台30、所述支撑台30的上端面设有用于夹取产品的夹爪气缸31,所述夹爪气缸31的输出端和电动夹爪311固定连接;所述夹爪气缸31为3个,3个所述夹爪气缸31在移动过程中分别对应所述上机输送带机构21、所述铆合治具5和所述下机输送带机构22;所述支撑台30的下方设有支撑架32、所述支撑架32上设有驱动所述支撑台30往竖直方向移动的竖直驱动件33和驱动所述支撑台30水平移动的水平驱动件34。Further, as shown in FIG. 2 , the mobile manipulator 3 includes a support table 30 . The upper end surface of the support table 30 is provided with a gripper cylinder 31 for gripping products. The output end of the gripper cylinder 31 is connected to an electric The clamping jaws 311 are fixedly connected; the clamping jaw cylinders 31 are three, and the three clamping jaw cylinders 31 correspond to the upper conveyor belt mechanism 21, the riveting fixture 5 and the lower conveyor belt mechanism 21 respectively during the movement process. The conveyor belt mechanism 22; a support frame 32 is arranged below the support table 30, and a vertical drive member 33 that drives the support table 30 to move in the vertical direction is provided on the support frame 32 and drives the support table. 30 Horizontal drive member 34 that moves horizontally.

在又一个具体的实施例中,移动机械手3的支撑台30上的三个夹爪气缸31间距设置,当要夹取上机输送带机构21上的待铆合产品时,水平驱动件34驱动所述支撑台30水平往上机输送带机构21的方向移动,夹爪气缸31对准待铆合产品后,竖直驱动件33驱动支撑台30往上移动,支撑台30上的夹爪气缸31往上移动,电动夹爪311夹取待铆合产品,将产品放入铆合治具5,铆合治具5的位置上设有有光电检测,检测产品有无,如果有检测到有产品,待移动机械手3下降后,超声波压铆机4的焊头下降,铆合完成,超声波压铆机4的焊头上升,移动机械手3上升,夹取产品,移动机械手3再上升,再向右移动,再下降,将完成铆合的产品放入下机输送带机构22上,下机输送带机构将铆合好的产品进行下料,3个夹爪气缸31的设置使得夹取产品、第一次定位、铆合定位、铆合、传送能够连续进行,提高铆合效率。In yet another specific embodiment, the three clamping jaw cylinders 31 on the support table 30 of the mobile manipulator 3 are arranged at intervals, and when the product to be riveted on the upper conveyor belt mechanism 21 is to be clamped, the horizontal driving member 34 drives the The support table 30 moves horizontally in the direction of the upper conveyor belt mechanism 21. After the clamping jaw cylinder 31 is aligned with the product to be riveted, the vertical driving member 33 drives the supporting table 30 to move upward, and the clamping jaw cylinder on the supporting table 30 moves upward. 31 moves up, the electric gripper 311 clamps the product to be riveted, and puts the product into the riveting fixture 5. There is a photoelectric detection on the position of the riveting fixture 5 to detect whether the product is present or not. product, after the mobile manipulator 3 descends, the welding head of the ultrasonic riveting machine 4 descends, the riveting is completed, the welding head of the ultrasonic riveting machine 4 rises, the mobile manipulator 3 rises, and the product is clamped. Move to the right, and then descend, put the riveted product into the lower conveyor belt mechanism 22, and the lower conveyor belt mechanism will unload the riveted product. The first positioning, riveting positioning, riveting and transmission can be carried out continuously, which improves the riveting efficiency.

进一步的,所述支撑架32从上往下包括第一支撑板321、第二支撑板322和第三支撑板323,所述第一支撑板321、所述第二支撑板322和所述第三支撑板323沿其长度方向的两端部分别和两块竖板324固定连接;Further, the support frame 32 includes a first support plate 321 , a second support plate 322 and a third support plate 323 from top to bottom. The first support plate 321 , the second support plate 322 and the first support plate 321 The two ends of the three support plates 323 along the length direction thereof are respectively fixedly connected to the two vertical plates 324;

所述竖直驱动件33包括第二驱动电机331、所述第二驱动电机331固定安装在所述第二支撑板322上;所述第二驱动电机331的输出端和第一齿轮332连接,所述第一齿轮332的一侧设有第二齿轮333,所述第一齿轮332和所述第二齿轮333间套设有皮带334,所述第二齿轮333和竖直推杆335固定连接;所述竖直推杆335远离所述第二齿轮333的一端竖直贯穿所述第一支撑板321和所述支撑台30固定连接;所述第二驱动电机331的两侧分别各设有一导柱336、所述导柱336的一端和所述第二支撑板322固定连接,所述导柱336的另一端和所述第一支撑板321固定连接;所述导柱336设于导套337中,所述导套337的底部和所述第二支撑板322固定连接;所述第二驱动电机331推动所述支撑台30沿竖直方向移动。The vertical driving member 33 includes a second driving motor 331, and the second driving motor 331 is fixedly mounted on the second supporting plate 322; the output end of the second driving motor 331 is connected with the first gear 332, One side of the first gear 332 is provided with a second gear 333 , a belt 334 is sleeved between the first gear 332 and the second gear 333 , and the second gear 333 is fixedly connected to the vertical push rod 335 The end of the vertical push rod 335 away from the second gear 333 vertically penetrates the first support plate 321 and is fixedly connected to the support table 30; the two sides of the second drive motor 331 are respectively provided with a The guide post 336, one end of the guide post 336 is fixedly connected to the second support plate 322, and the other end of the guide post 336 is fixedly connected to the first support plate 321; the guide post 336 is provided on the guide sleeve In 337, the bottom of the guide sleeve 337 is fixedly connected with the second support plate 322; the second drive motor 331 pushes the support table 30 to move in the vertical direction.

具体的,如图2所示,启动第二驱动电机331,第二驱动电机331驱动竖直推杆335沿竖直方向移动,推动支撑台30上下移动,导柱336的设置有助于稳定支撑台30在竖直方向上的移动,导套337用于固定导柱336在水平方向上的移动。Specifically, as shown in FIG. 2 , the second drive motor 331 is activated, the second drive motor 331 drives the vertical push rod 335 to move in the vertical direction, and pushes the support table 30 to move up and down, and the arrangement of the guide post 336 helps to stabilize the support When the stage 30 moves in the vertical direction, the guide sleeve 337 is used to fix the movement of the guide post 336 in the horizontal direction.

进一步的,所述水平驱动件34包括第三驱动电机341、所述第三驱动电机341的输出端和丝杆342连接;所述丝杆342和活动块343固定连接;所述活动块343和所述第三支撑板323的侧面固定连接;所述第三支撑板323的底部设有滑块344、所述滑块344和滑轨345滑动连接,所述滑轨345设于底板346上,所述第三驱动电机341推动所述第三支撑板323沿水平方向移动。Further, the horizontal driving member 34 includes a third driving motor 341, and the output end of the third driving motor 341 is connected with the screw rod 342; the screw rod 342 is fixedly connected with the movable block 343; the movable block 343 and The side surface of the third support plate 323 is fixedly connected; the bottom of the third support plate 323 is provided with a slider 344, the slider 344 and the slide rail 345 are slidably connected, and the slide rail 345 is arranged on the bottom plate 346, The third drive motor 341 pushes the third support plate 323 to move in the horizontal direction.

如图2所示,通过第三驱动电机341和丝杆342驱动第三支撑板323水平滑动,从而带动支撑架32水平滑动,进而带动支撑台30水平移动,控制支撑台30上的夹爪气缸31水平方向上的移动。As shown in FIG. 2 , the third support plate 323 is driven to slide horizontally by the third drive motor 341 and the screw rod 342 , thereby driving the support frame 32 to slide horizontally, thereby driving the support table 30 to move horizontally, and controlling the clamping jaw cylinder on the support table 30 31 Movement in the horizontal direction.

进一步的,如图3所示,所述上机输送带机构21包括设于所述基座1上的两个平行的第一支架211,所述第一支架211的两端分别设有第一皮带轮212,两所述第一皮带轮212上套设有第一传送带213、两所述第一支架211远离所述超声波压铆机4的一端分别和第一转轴214转动连接;所述第一转轴214和第一驱动电机215的输出端固定连接;两所述第一传送带213上固定设有用于放置产品的放置治具216。Further, as shown in FIG. 3 , the upper conveyor belt mechanism 21 includes two parallel first brackets 211 arranged on the base 1 , and two ends of the first brackets 211 are respectively provided with first brackets 211 . The pulley 212, the first conveyor belt 213 is sleeved on the two first pulleys 212, and the ends of the two first brackets 211 away from the ultrasonic riveting machine 4 are respectively rotatably connected with the first rotating shaft 214; the first rotating shaft 214 and the output end of the first drive motor 215 are fixedly connected; a placing fixture 216 for placing products is fixed on the two first conveyor belts 213 .

具体的,如图3所示,上机输送带机构21的两个第一支架211是平行设置在基座1上的,两个平行的第一支架211之间是空的,所述移动机械手3可以在两个第一支架211之间运动;第一支架211的两端上设有第一皮带轮212和第一传送带213,两个第一皮带轮212在第一驱动电机215的驱动下转动,从而带动第一传送带213移动,固定在第一传送带213上的放置治具7随着第一传送带213的移动而移动,带着待铆合的产品往超声波压铆机4的方向运送。在上机输送带机构21上设有位置传感器或者光电检测器,用于检测放置治具216上是否有产品,同时也进行到位检测。Specifically, as shown in FIG. 3 , the two first brackets 211 of the upper conveyor belt mechanism 21 are arranged on the base 1 in parallel, and the space between the two parallel first brackets 211 is empty. 3 can move between two first brackets 211; both ends of the first bracket 211 are provided with a first pulley 212 and a first conveyor belt 213, and the two first pulleys 212 are driven by the first drive motor 215. As a result, the first conveyor belt 213 is driven to move, and the placement jig 7 fixed on the first conveyor belt 213 moves with the movement of the first conveyor belt 213 , and carries the product to be riveted to the direction of the ultrasonic riveting machine 4 . The upper conveyor belt mechanism 21 is provided with a position sensor or a photoelectric detector, which is used to detect whether there is a product on the placing fixture 216, and also performs in-position detection.

进一步的,如图4所示,所述下机输送带机构22包括设于所述基座1上的两个平行的第二支架221,所述第二支架221的两端分别设有第二皮带轮222,两所述第二皮带轮222上套设有第二传送带223、两所述第二皮带轮222远离所述超声波压铆机4的一端用第二转轴224转动连接;所述第二转轴224和第二驱动电机225的输出端固定连接。Further, as shown in FIG. 4 , the lower conveyor belt mechanism 22 includes two parallel second brackets 221 arranged on the base 1 , and two ends of the second brackets 221 are respectively provided with second brackets 221 . Pulley 222, a second conveyor belt 223 is sleeved on the two second pulleys 222, and one end of the two second pulleys 222 away from the ultrasonic riveting machine 4 is rotated and connected by a second rotating shaft 224; the second rotating shaft 224 It is fixedly connected with the output end of the second driving motor 225 .

具体的,如图4所示,下机输送带机构22包括两个平行设置的第二支架221,两所述平行第二支架221之间是空的,所述移动机械手3可以在两个第二支架221之间运动;第二支架221的两端上设有第二皮带轮222和第二传送带223,两个第二皮带轮222在第二驱动电机225的驱动下转动,从而带动第二传送带223移动,移动机械手3将铆合好的产品夹住放到第二传送带223上,第二传送带将铆合好的产品运送走,下料,完成产品铆合;在下机输送带机构22上也设有位置传感器或者光电检测器,用于检测第二传送带223上是否有产品,同时也进行到位检测。Specifically, as shown in FIG. 4 , the lower conveyor belt mechanism 22 includes two second brackets 221 arranged in parallel, and the space between the two parallel second brackets 221 is empty. The two brackets 221 move between the two brackets 221; both ends of the second bracket 221 are provided with a second pulley 222 and a second conveyor belt 223, and the two second pulleys 222 are driven by the second drive motor 225 to rotate, thereby driving the second conveyor belt 223 Move, move the manipulator 3 to clamp the riveted product and place it on the second conveyor belt 223, the second conveyor belt will transport the riveted product away, unload the material, and complete the product riveting; There are position sensors or photoelectric detectors for detecting whether there is a product on the second conveyor belt 223, and also for in-position detection.

进一步的,如图图1和图5所示,所述铆合治具5靠近所述上机输送带机构21的一侧设有定位治具6,所述铆合治具5包括设于所述基座1上的两个相对设置的支撑脚51、两所述支撑脚51的上端面分别设有放置产品的定位座52;所述定位治具6的结构和所述铆合治具5的结构一致。Further, as shown in FIGS. 1 and 5 , a positioning jig 6 is provided on the side of the riveting jig 5 close to the upper conveyor belt mechanism 21 , and the riveting jig 5 includes a The two oppositely arranged support feet 51 on the base 1 and the upper end surfaces of the two support feet 51 are respectively provided with positioning seats 52 for placing products; the structure of the positioning fixture 6 and the riveting fixture 5 structure is consistent.

具体的,如图5所示,铆合治具5的两个支撑脚51分别设于基座1上,两个支撑脚51相对设置,两支撑脚51的上端面分别设有放置产品的定位座52;两支撑脚51中间可供夹爪气缸31移动。Specifically, as shown in FIG. 5 , the two supporting feet 51 of the riveting fixture 5 are respectively arranged on the base 1 , the two supporting feet 51 are arranged oppositely, and the upper end surfaces of the two supporting feet 51 are respectively provided with positioning positions for placing products The seat 52; the middle of the two supporting feet 51 can be used for the jaw cylinder 31 to move.

进一步的,如图6所示,所述超声波压铆机4的输出端和超声波焊头7固定连接;所述超声波焊头8用于按压产品,使产品铆合。Further, as shown in FIG. 6 , the output end of the ultrasonic riveting machine 4 is fixedly connected with the ultrasonic welding head 7 ; the ultrasonic welding head 8 is used to press the product to rive the product.

具体的,如图6所示,超声波压铆机4驱动超声波焊头7上升或者下降按压产品,使产品铆合。Specifically, as shown in FIG. 6 , the ultrasonic riveting machine 4 drives the ultrasonic welding head 7 to ascend or descend to press the product, so that the product is riveted.

进一步的,如图6所示,所述超声波压铆机4的两侧还设有卷膜机构8,所述卷膜机构8包括设于所述基座1上的卷膜支撑架81、所述卷膜支撑架81上设有卷膜滑轨82、所述卷膜滑轨82上滑动连接有卷膜滑块83、所述卷膜滑块83远离所述卷膜滑轨82的一面和卷膜支撑板84固定连接,所述卷膜支撑板84上安装有两个卷膜85,两个所述卷膜85分别设于所述超声波焊头7的两侧,一所述卷膜85和卷膜驱动电机86连接;所述卷膜驱动电机86用于控制两所述卷膜85收放卷;另一所述卷膜85和卷膜气缸87连接,所述卷膜气缸87用于控制两所述卷膜85上下移动。Further, as shown in FIG. 6 , the two sides of the ultrasonic riveting machine 4 are also provided with a film rolling mechanism 8 , and the film rolling mechanism 8 includes a film rolling support frame 81 arranged on the base 1 , the The film roll support frame 81 is provided with a roll film slide rail 82, a roll film slide rail 82 is slidably connected with a roll film slide block 83, and the side of the roll film slide block 83 away from the roll film slide rail 82 and The roll film support plate 84 is fixedly connected, and two roll films 85 are installed on the roll film support plate 84. The two roll films 85 are respectively arranged on both sides of the ultrasonic welding head 7. One roll film 85 It is connected with the film roll drive motor 86; the film roll drive motor 86 is used to control the winding and unwinding of the two film rolls 85; the other film roll 85 is connected to the film roll cylinder 87, and the film roll cylinder 87 is used for The two rolls 85 are controlled to move up and down.

具体的,如图6所示,超声波压铆机4的两侧还设有卷膜机构8,卷膜机构8通过卷膜驱动电机86控制卷膜对底模88的收放卷,卷膜机构8通过卷膜气缸87控制两卷膜85上下移动,卷膜85是保护产品外壳,防止超声波焊头压伤产品,超声波焊头就是上模底模88是保证超声波的铆合效果。Specifically, as shown in FIG. 6 , the two sides of the ultrasonic riveting machine 4 are also provided with a film rolling mechanism 8. The film rolling mechanism 8 controls the winding and unwinding of the film to the bottom mold 88 through the film rolling drive motor 86. The film rolling mechanism 8. The two rolls of film 85 are controlled to move up and down by the film roll cylinder 87. The roll film 85 is to protect the product shell and prevent the ultrasonic welding head from crushing the product. The ultrasonic welding head is the upper mold and the bottom mold 88 to ensure the ultrasonic riveting effect.

进一步的,所述卷膜机构8还包括底模88,所述底模88上设有底模孔(图中未示出),所述底模孔供所述夹爪311穿过。Further, the film rolling mechanism 8 further includes a bottom mold 88, and the bottom mold 88 is provided with a bottom mold hole (not shown in the figure), and the bottom mold hole allows the clamping jaws 311 to pass through.

在一个具体的实施例中,待铆合产品首先被放入上机输送带机构21上,往超声波压铆机4的方向传送,在上机输送带机构21的末端停下,移动机械手3水平移动,夹住待铆合产品,移动机械手3将产品放入铆合治具5,铆合治具5的位置上设有有光电检测,检测产品有无,如果有检测到有产品,待移动机械手3下降后卷膜机构8下降,超声波焊头7下降,铆合完成,超声波焊头7上升,卷膜机构8上升,移动机械手3上升,夹取产品,移动机械手3再上升,再向右移动,再下降,将完成铆合的产品放入下机输送带机构22上,下机输送带机构将铆合好的产品进行下料。In a specific embodiment, the product to be riveted is first placed on the upper machine conveyor belt mechanism 21, conveyed in the direction of the ultrasonic riveting machine 4, stopped at the end of the upper machine conveyor belt mechanism 21, and moved the manipulator 3 horizontally Move, clamp the product to be riveted, and move the manipulator 3 to put the product into the riveting fixture 5. There is a photoelectric detection on the position of the riveting fixture 5 to detect whether there is a product. If there is a product detected, it will be moved. After the manipulator 3 descends, the film rolling mechanism 8 descends, the ultrasonic welding head 7 descends, the riveting is completed, the ultrasonic welding head 7 rises, the film rolling mechanism 8 rises, the mobile manipulator 3 rises, and the product is clamped, and the mobile manipulator 3 rises again, and then to the right Move, and then descend, put the riveted product into the lower conveyor belt mechanism 22, and the lower conveyor belt mechanism will unload the riveted product.

综上所述,本发明实施例提供的一种自动铆合设备,包括基座、所述基座上设有用于对产品进行上下料的传送机构,所述传送机构包括对称设置的上机输送带机构和下机输送带机构,所述上机输送带机构和下机输送带机构分别安装于所述基座的相对两端;所述上机输送带机构和所述下机输送带机构的中间设有超声波压铆机,所述超声波压铆机的正下方设有铆合治具;所述铆合治具的下方设有移动机械手,所述移动机械手在所述上机输送带机构、所述铆合治具和所述下机输送带机构之间移动;所述移动机械手的水平移动方向和所述的传送机构的传送方向在一条直线上。通过将传送机构和移动机械手的移动方向设置在一条直线上,使得超声波压铆机在一条直线上就能完成压铆,区别现有的X-Y轴方向的移动铆合,简化自动铆合设备的结构,提高铆合效率。To sum up, an automatic riveting device provided by an embodiment of the present invention includes a base, and a conveying mechanism for loading and unloading products is arranged on the base, and the conveying mechanism includes a symmetrically arranged upper-machine conveying mechanism. Belt mechanism and lower machine conveyor belt mechanism, the upper machine conveyor belt mechanism and the lower machine conveyor belt mechanism are respectively installed at opposite ends of the base; the upper machine conveyor belt mechanism and the lower machine conveyor belt mechanism There is an ultrasonic riveting machine in the middle, and a riveting jig is arranged directly below the ultrasonic riveting machine; a mobile manipulator is arranged below the riveting jig, and the mobile manipulator is connected to the upper conveyor belt mechanism, The riveting fixture and the lower conveyor belt mechanism move between; the horizontal moving direction of the mobile manipulator and the conveying direction of the conveying mechanism are in a straight line. By setting the moving direction of the transmission mechanism and the mobile manipulator on a straight line, the ultrasonic riveting machine can complete the pressing riveting on a straight line, which is different from the existing moving riveting in the X-Y axis direction and simplifies the structure of the automatic riveting equipment. , improve the riveting efficiency.

以上所述,以上实施例仅用以说明本发明的技术方案,而非对其限制;尽管参照前述实施例对本发明进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。As mentioned above, the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: The technical solutions described in the embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. The automatic riveting equipment is characterized by comprising a base (1), wherein a conveying mechanism (2) for feeding and discharging a product is arranged on the base (1), the conveying mechanism (2) comprises an upper machine conveying belt mechanism (21) and a lower machine conveying belt mechanism (22) which are symmetrically arranged, and the upper machine conveying belt mechanism (21) and the lower machine conveying belt mechanism (22) are respectively arranged at two opposite ends of the base (1); an ultrasonic riveting press (4) is arranged between the upper machine conveying belt mechanism (21) and the lower machine conveying belt mechanism (22), and a riveting jig (5) is arranged right below the ultrasonic riveting press (4); a movable manipulator (3) is arranged below the riveting jig (5), and the movable manipulator (3) moves among the upper machine conveying belt mechanism (21), the riveting jig (5) and the lower machine conveying belt mechanism (22); the horizontal moving direction of the moving manipulator (3) and the conveying direction of the conveying mechanism (2) are on the same straight line.
2. The automatic riveting equipment according to claim 1, wherein the mobile manipulator (3) comprises a support table (30), a clamping jaw cylinder (31) for clamping a product is arranged on the upper end surface of the support table (30), and the clamping jaw cylinder (31) is fixedly connected with an electric clamping jaw (311); the number of the clamping jaw cylinders (31) is 3, and the 3 clamping jaw cylinders (31) are respectively aligned with the upper machine conveying belt mechanism (21), the riveting jig (5) and the lower machine conveying belt mechanism (22) in the moving process; a support frame (32) is arranged below the support table (30), and a vertical driving piece (33) for driving the support table (30) to move in the vertical direction and a horizontal driving piece (34) for driving the support table (30) to move horizontally are arranged on the support frame (32).
3. The automatic riveting apparatus according to claim 2, wherein the support frame (32) comprises a first support plate (321), a second support plate (322) and a third support plate (323) from top to bottom, and the two ends of the first support plate (321), the second support plate (322) and the third support plate (323) along the length direction are respectively fixedly connected with two risers (324);
the vertical driving piece (33) comprises a second driving motor (331), and the second driving motor (331) is fixedly arranged on the second supporting plate (322); the output end of the second driving motor (331) is connected with a first gear (332), one side of the first gear (332) is provided with a second gear (333), a belt (334) is sleeved between the first gear (332) and the second gear (333), and the second gear (333) is fixedly connected with a vertical push rod (335); one end of the vertical push rod (335), which is far away from the second gear (333), vertically penetrates through the first support plate (321) and the support table (30) to be fixedly connected; two sides of the second driving motor (331) are respectively provided with a guide post (336), one end of the guide post (336) is fixedly connected with the second supporting plate (322), and the other end of the guide post (336) is fixedly connected with the first supporting plate (321); the guide pillar (336) is arranged in the guide sleeve (337), and the bottom of the guide sleeve (337) is fixedly connected with the second support plate (322); the second driving motor (331) pushes the support table (30) to move in the vertical direction.
4. The automatic riveting apparatus according to claim 3, characterized in that the horizontal drive (34) comprises a third drive motor (341), the output of the third drive motor (341) being connected to a screw (342); the screw rod (342) is fixedly connected with the movable block (343); the movable block (343) is fixedly connected with the side surface of the third supporting plate (323); the bottom of the third supporting plate (323) is provided with a sliding block (344), the sliding block (344) is in sliding connection with a sliding rail (345), the sliding rail (345) is arranged on a bottom plate (346), and the third driving motor (341) pushes the third supporting plate (323) to move along the horizontal direction.
5. The automatic riveting equipment according to claim 1, wherein the upper machine conveyor belt mechanism (21) comprises two parallel first brackets (211) arranged on the base (1), two ends of each first bracket (211) are respectively provided with a first belt pulley (212), a first conveyor belt (213) is sleeved on each first belt pulley (212), and one ends of the two first brackets (211) far away from the ultrasonic riveting press (4) are respectively and rotatably connected with a first rotating shaft (214); the first rotating shaft (214) is fixedly connected with the output end of the first driving motor (215); and a placing jig (216) for placing products is fixedly arranged on the two first conveyor belts (213).
6. The automatic riveting equipment according to claim 1, wherein the lower conveyor belt mechanism (22) comprises two parallel second supports (221) arranged on the base (1), two ends of each second support (221) are respectively provided with a second belt pulley (222), a second conveyor belt (223) is sleeved on each second belt pulley (222), and one ends of the second belt pulleys (222) far away from the ultrasonic squeeze riveter (4) are rotatably connected through a second rotating shaft (224); the second rotating shaft (224) is fixedly connected with the output end of the second driving motor (225).
7. The automatic riveting equipment according to claim 1, wherein a positioning fixture (6) is arranged on one side of the riveting fixture (5) close to the upper machine conveyor belt mechanism (21), the riveting fixture (5) comprises two supporting legs (51) which are oppositely arranged on the base (1), and a positioning seat (52) for placing a product is arranged on the upper end surface of each supporting leg (51); the structure of the positioning jig (6) is consistent with that of the riveting jig (5).
8. The automatic riveting apparatus according to claim 1, characterized in that the output end of the ultrasonic squeeze riveter (4) is fixedly connected with the ultrasonic horn (7); the ultrasonic welding head (7) is used for pressing the product to rivet the product.
9. The automatic riveting equipment according to claim 1, wherein two sides of the ultrasonic squeeze riveter (4) are further provided with a film rolling mechanism (8), the film rolling mechanism (8) comprises a film rolling support frame (81) arranged on the base (1), a film rolling slide rail (82) is arranged on the film rolling support frame (81), a film rolling slide block (83) is connected on the film rolling slide rail (82) in a sliding manner, one surface, far away from the film rolling slide rail (82), of the film rolling slide block (83) is fixedly connected with a film rolling support plate (84), two film rolling plates (85) are arranged on the film rolling support plate (84), the two film rolling plates (85) are respectively arranged on two sides of the ultrasonic welding head (7), and one film rolling plate (85) is connected with a film rolling drive motor (86); the film winding driving motor (86) is used for controlling winding and unwinding of the two winding films (85); the other film winding cylinder (87) is connected with the film winding film (85), and the film winding cylinder (87) is used for controlling the two film winding cylinders (85) to move up and down.
10. The automatic riveting apparatus according to claim 9, wherein the film winding mechanism (8) further comprises a bottom die (88), and bottom die holes are formed in the bottom die (88) and are used for the clamping jaws (311) to pass through.
CN202010789968.2A 2020-08-07 2020-08-07 An automatic riveting equipment Pending CN111791498A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113426904A (en) * 2021-06-11 2021-09-24 包头江馨微电机科技有限公司 Double-rail VCM carrier hot riveting automatic machine

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EP2998733A1 (en) * 2014-09-18 2016-03-23 Airbus Operations GmbH Identification of faulty rivet connections by means of ultrasound
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CN206796585U (en) * 2017-03-27 2017-12-26 东莞市冠佳电子设备有限公司 Auto-ultrasonic lock seaming machine
CN208068908U (en) * 2018-03-14 2018-11-09 东莞市冠佳电子设备有限公司 A kind of device for ultrasonic welding
CN212737126U (en) * 2020-08-07 2021-03-19 东莞市冠佳电子设备有限公司 Automatic riveting equipment

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Publication number Priority date Publication date Assignee Title
CN104227422A (en) * 2014-09-10 2014-12-24 东莞市冠佳电子设备有限公司 Automatic testing, riveting and laser carving production line for wired charger
EP2998733A1 (en) * 2014-09-18 2016-03-23 Airbus Operations GmbH Identification of faulty rivet connections by means of ultrasound
CN105575730A (en) * 2015-12-26 2016-05-11 惠州金源精密自动化设备有限公司 Relay yoke riveting machine
CN206796585U (en) * 2017-03-27 2017-12-26 东莞市冠佳电子设备有限公司 Auto-ultrasonic lock seaming machine
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Publication number Priority date Publication date Assignee Title
CN113426904A (en) * 2021-06-11 2021-09-24 包头江馨微电机科技有限公司 Double-rail VCM carrier hot riveting automatic machine

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