CN112091155A

CN112091155A - Flange riveting equipment

Info

Publication number: CN112091155A
Application number: CN202010881053.4A
Authority: CN
Inventors: 黄瑞苗; 王传师; 赵华森; 李云峰
Original assignee: Guangdong Shunde Yunyang Intelligent Technology Co ltd
Current assignee: Guangdong Shunde Yunyang Intelligent Technology Co ltd
Priority date: 2020-08-27
Filing date: 2020-08-27
Publication date: 2020-12-18

Abstract

The invention discloses flange riveting equipment which comprises a flange conveying device, a rivet conveying device, a tool platform, a flange detection mechanism, a valve plate conveying device, a valve plate limiting plate conveying device, an accessory detection mechanism, a riveting mechanism, a discharge conveying device, a first robot hand, a second robot hand and a third robot hand. Overall structure reasonable in design realizes flange, valve block and valve block limiting plate equipment, riveting, detection full automatization, very big improvement production efficiency, and the flange all detects calibration precision positioning through multiple with its accessory, has improved the yield of product, and valve block limiting plate machinery precision positioning reduce equipment to the reliance of electron detecting element, have promoted the operational reliability of equipment, are convenient for maintain.

Description

Flange riveting equipment

Technical Field

The invention relates to a flange riveting device for a compressor.

Background

The existing flange special for the compressor needs to rivet the valve block and the valve block limiting plate onto the flange through the rivet, the valve block and the valve block limiting plate are assembled on the flange through manual work, riveting is conducted through riveting equipment, the production efficiency of the flange is severely limited by the installation procedure of flange accessories, and in addition, the accuracy and the stability of the installation procedure of the flange accessories easily influence the riveting qualification rate of the riveting equipment.

Disclosure of Invention

The invention aims to provide flange riveting equipment with high production efficiency.

The purpose of the invention is realized as follows:

the utility model provides a flange riveting equipment which characterized in that: the tool platform comprises: the flange positioning tool is provided with a rivet fixing hole and a flange positioning pin; rivet conveyor: the rivet is directionally conveyed and placed in the rivet fixing hole through a first robot hand; a flange conveying device: the flange is conveyed in a directional mode and moved to a flange positioning tool through the first robot hand, the rivet is inserted into a first rivet hole of the flange, and the flange positioning pin is inserted into a pin hole of the flange: positioning positions of a first rivet hole and a pin hole on a flange, and placing the flange on a tooling platform in a preset posture through the first robot hand; valve plate conveyor: the valve plate is conveyed in an oriented mode, the valve plate is moved to a flange positioning tool through a second robot, the valve plate is placed on the flange, and the rivet is inserted into a second rivet hole in the valve plate; valve block limiting plate conveyor: the valve plate limiting plate is conveyed directionally and moved to the flange positioning tool through a second robot, the valve plate limiting plate is placed on the valve plate, and the rivet is inserted into a third rivet hole in the valve plate limiting plate; accessory detection mechanism: the positions of a second rivet hole in the valve plate and a third rivet hole in the valve plate limiting plate are positioned, and the valve plate is placed on a flange of the flange positioning tool in a preset posture through the second robot hand; riveting mechanism: and a riveting station is arranged, the flange, the rivet, the valve block and the valve block limiting plate on the flange positioning tool are moved to the riveting station together through a third robot, and the rivet is riveted to fix the valve block and the valve block limiting plate on the flange.

The aim of the invention can also be solved by the following technical measures:

further, flange detection mechanism includes first visual detection device, second visual detection device and well carousel, and first visual detection device sets up flange conveyor top, and second visual detection device sets up on well carousel, and first visual detection device detects the flange position, and first robot hand snatchs the flange and places on well carousel, and second visual detection device detects the first rivet hole of flange and the phase place of pinhole, and first robot hand snatchs the flange once more and places on flange location frock.

Furthermore, the center of the middle rotating disc is provided with a through hole, the through hole and the top surface of the middle rotating disc are in inclined surface transition, the flange is placed on the inclined surface of the middle rotating disc, and the second visual detection device detects the phase position of the first rivet hole and the pin hole of the flange through the through hole from the lower part of the middle rotating disc.

Further, the accessory detection mechanism comprises a third visual detection device and a mechanical positioning tool, the mechanical positioning tool is provided with a valve sheet positioning groove and a valve sheet limiting plate positioning groove, one side of the valve sheet positioning groove is provided with a valve sheet positioning column, one side of the valve sheet limiting plate positioning groove is provided with a valve sheet limiting plate positioning column, the third visual detection device detects the front and back surfaces of the valve sheet, a second robot grips the valve sheet to the mechanical positioning tool, the valve sheet is placed into the valve sheet positioning groove, the valve sheet positioning column is inserted into a second rivet hole, the second robot grips the valve sheet to a flange of the tool platform again, the second robot grips the valve sheet limiting plate to the mechanical positioning tool, the rivet passes through the second rivet hole, the valve sheet limiting plate is placed into the valve sheet limiting plate positioning groove, the valve sheet limiting plate positioning column is inserted into the third rivet hole, and the, the rivet passes through the third rivet hole.

Further, rivet conveyor is first vibration dish, and rivet is carried to first vibration dish orientation, and the ejection of compact portion of first vibration dish is equipped with first detection sensor, and valve block limiting plate conveyor is the second vibration dish, and the directional valve block limiting plate of carrying of second vibration dish, and the ejection of compact portion of first vibration dish is equipped with the second and detects the sensor.

Further, valve block conveyor is valve block jacking device, and valve block jacking device's top is equipped with the height detection sensor.

Further, the third robot hand includes that the flange presss from both sides and gets claw and rivet absorption portion, and the flange presss from both sides and gets the flange, and rivet absorption portion fixes the rivet.

Further, the riveting mechanism also comprises a four-station rotating disc and a motor, the four-station rotating disc is sequentially provided with a feeding and discharging station, a height measuring station, a riveting station and a pneumatic leakage measuring station along the circumferential direction, the riveting mechanism is provided with a height measuring device corresponding to the height measuring station, the riveting mechanism is provided with a riveting device corresponding to the riveting station, the riveting mechanism is provided with an air tightness detecting device corresponding to the pneumatic leakage measuring station, the air tightness detecting device comprises a sealing part positioned above the four-station rotating disc and a gas flow control detecting part positioned above the four-station rotating disc, the third robot clamps the flange to be riveted from a flange positioning tool to the feeding and discharging station, the motor drives the four-station rotating disc to rotate, the flange moves to the height measuring device, the height measuring device detects the height of the top surface of a valve block limiting plate on the flange, the flange moves to the riveting device, and the riveting device rivets the qualified flange, the flange moves to airtight detection device department, and airtight detection device detects riveted flange, and the flange is rotatory a week back along with the quadruplex position rotary disk, and the third robot presss from both sides the flange and takes away.

And further, the device comprises a discharge conveying device, the discharge conveying device comprises an upper-layer product conveying belt and a lower-layer finished product conveying belt, the third robot hand places the flanges which are qualified in detection through the height measuring device, riveted and qualified in airtight detection on the lower-layer finished product conveying belt, and the rest of the flanges are placed on the upper-layer defective product conveying belt.

Further, the flange conveying device is a conveying belt, a baffle is arranged at the tail end of the conveying belt, and a third detection sensor is arranged in front of the baffle on the conveying belt.

The flange and the accessories of the flange are precisely positioned through multiple detection and calibration, the yield of products is improved, the accessories are mechanically precisely positioned, the dependence of equipment on an electronic detection element is reduced, the operation reliability of the equipment is improved, and the maintenance is convenient.

Drawings

Fig. 1 is a schematic structural view of a flange riveting apparatus.

Fig. 2 is an enlarged view at a in fig. 1.

Fig. 3 is a schematic view (another perspective) of the structure of the flange-riveting apparatus.

Fig. 4 is a schematic structural diagram of the middle rotating disk.

Fig. 5 is a schematic structural view of the flange conveyance device.

Fig. 6 is a schematic structural view of the rivet conveying apparatus.

Fig. 7 is a schematic structural view of the valve sheet limiting plate conveying device.

Fig. 8 is a schematic structural view of the valve sheet conveying device.

Fig. 9 is a schematic structural view of the mechanical positioning tool.

Fig. 10 is a schematic view of the structure of a four-station rotary disk.

Fig. 11 is a schematic structural diagram of the first robot hand.

Fig. 12 is an enlarged view at B in fig. 11.

Fig. 13 is a schematic structural view of the second robot hand.

Fig. 14 is an enlarged view at C in fig. 13.

Fig. 15 is a schematic structural view of the height measuring device.

Fig. 16 is a schematic structural view of a sealing portion of the air-tightness detecting device.

Fig. 17 is a schematic configuration diagram of a gas flow rate control detecting unit of the airtightness detecting apparatus.

FIG. 18 is a schematic structural view of an outfeed conveyor.

Detailed Description

The invention is further illustrated by the following figures and examples.

In a first embodiment, as shown in fig. 1 to 18, a flange riveting device includes a flange conveying device 1, a rivet conveying device 2, a tooling platform 3, a flange detection mechanism 4, a valve sheet conveying device 5, a valve sheet limiting plate conveying device 6, an accessory detection mechanism 7, a riveting mechanism 8, a discharge conveying device 9, a first robot hand 101, a second robot hand 102, and a third robot hand 103.

Referring to fig. 1-6, the flange conveying device 1 is a conveyor belt 11, a baffle 12 is arranged at the tail end of the conveyor belt 11, and a third detection sensor 13 is arranged in front of the baffle 12 on the conveyor belt 11. The tool platform 3 is provided with a plurality of flange positioning tools 30, and each flange positioning tool 30 is provided with a rivet fixing hole and a flange positioning pin 301. The rivet conveying device 2 is a first vibration disc which directionally conveys rivets 20, and a first detection sensor 21 is arranged at a discharge part of the first vibration disc. The flange detection mechanism 4 comprises a first visual detection device 41, a second visual detection device 42 and a middle rotary table 43, wherein the first visual detection device 41 is arranged above the flange conveying device 1, a through hole 44 is formed in the center of the middle rotary table 43, the through hole 44 and the top surface of the middle rotary table 43 are in inclined surface transition, the second visual detection device 42 is arranged at the bottom of the middle rotary table 43, and the second visual detection device 42 detects the phase position of a first rivet hole and a pin hole 110 of the flange 10 through the through hole 44 from the lower part of the middle rotary table 43.

The flange conveying device 1 conveys a plurality of flanges 10 to the tail end of a conveyor belt 11, a baffle plate 12 prevents the flanges 10 from falling off the conveyor belt 11, and when a third detection sensor 13 detects that the flanges 10 are arranged at the tail end of the conveyor belt 11, the conveyor belt 11 stops running. The rivet 20 is conveyed by the first vibration disc in an oriented mode, the sharp end of the rivet faces upwards, the first detection sensor 21 detects that the rivet 20 is arranged at the discharging portion of the first vibration disc, the first robot hand 101 grabs the rivet 20 and places the rivet 20 on the rivet fixing hole of the flange positioning tool 30, the first visual detection device 41 preliminarily detects the position of the flange 10 on the conveying belt 11, the first robot hand 101 grabs the flange 10 and places the flange 10 on the inclined plane of the middle rotating disc 43 (or the first robot hand 101 grabs the flange 10 and moves right above the middle rotating disc 43), the second visual detection device 42 detects the phase positions of the first rivet hole and the pin hole 110 of the flange 10, the first robot hand 101 grabs the flange 10 again and places the flange 10 on the flange positioning tool 30, and the pin hole 110 of the flange 10 is aligned with the flange positioning pin 301 and the rivet fixing hole and is aligned with the rivet 20 on the flange positioning tool 30.

Referring to fig. 1-2, 7-9 and 13-14, the valve sheet limiting plate conveying device 6 is a second vibrating disk, the second vibrating disk directionally conveys the valve sheet limiting plate 60, and a second detection sensor 61 is arranged at a discharge part of the first vibrating disk. The valve plate conveying device 5 is a valve plate jacking device, and a height detection sensor 51 is arranged at the top of the valve plate jacking device. The accessory detection mechanism 7 comprises a third visual detection device 70 and a mechanical positioning tool 71, wherein a valve plate positioning groove 72 and a valve plate limiting plate positioning groove 74 are formed in the mechanical positioning tool 71, a valve plate positioning column 73 is arranged on one side of the valve plate positioning groove 72, and a valve plate limiting plate positioning column 75 is arranged on one side of the valve plate limiting plate positioning groove 74.

A plurality of valve plates 50 are stacked and placed in the valve plate jacking device, the valve plate jacking device sequentially jacks the valve plates 50 to the top of the valve plates, the second robot hand 102 grabs the valve plates 50 and moves to the position above the third visual detection device 70, the third visual detection device 70 judges the front and back of the valve plates 50 by detecting the position of a notch at one end of each valve plate 50, the valve plates 50 qualified through detection of the third visual detection device 70 are placed above the valve plate positioning grooves 72, the valve plate positioning columns 73 are aligned and penetrate through the second rivet holes 500 in the valve plates 50, the valve plates 50 are skillfully clamped into the valve plate positioning grooves 72 to achieve mechanical precision positioning of the valve plates 50, the second robot hand 102 grabs the valve plates 50 from the valve plate positioning grooves 72 again, the valve plates 50 are placed on the flange 10 on the flange positioning tool 30, and the rivets 20.

Second vibration dish directional delivery valve block limiting plate 60, make valve block limiting plate 60 perk one end up, second robot 102 snatchs valve block limiting plate 60 and removes to valve block limiting plate constant head tank 74 top, valve block limiting plate reference column 75 aligns and passes third rivet hole 600 on the valve block limiting plate 60, valve block limiting plate 60 happens to be good to be blocked in the valve block limiting plate constant head tank 74, in order to realize the mechanical precision positioning of valve block limiting plate 60, second robot 102 snatchs valve block limiting plate 60 from valve block limiting plate constant head tank 74 once more, and place valve block limiting plate 60 on the valve block 50 of flange 10 on flange location frock 30, rivet 20 passes third rivet hole 600.

Referring to fig. 1-2, 10-12, and 15-18, the riveting mechanism 8 further includes a four-station rotating disk 81 and a motor 82, the four-station rotating disk 81 is sequentially provided with a feeding and discharging station 83, a height measuring station 84, a riveting station 85, and a pneumatic leakage measuring station 86 along a circumferential direction, the riveting mechanism 8 is provided with a height measuring device 87 corresponding to the height measuring station 84, the riveting mechanism 8 is provided with a riveting device 88 corresponding to the riveting station 85, the riveting mechanism 8 is provided with an air tightness detecting device 89 corresponding to the pneumatic leakage measuring station 86, and the air tightness detecting device 89 includes a sealing part 891 located above the four-station rotating disk 81 and a gas flow control detecting part 892 located above the four-station rotating disk 81. The third robot hand 103 includes a flange gripping claw 104 and a rivet suction portion 105. The discharging and conveying device 9 comprises an upper layer product conveying belt 91 and a lower layer product conveying belt 92.

The third robot 103 moves to the upper part of the flange positioning tool 30, clamps the flange 10 through the flange clamping claw 104, fixes the rivet 20 through the rivet adsorption part 105, so as to move the assembled flange 10 from the flange positioning tool 30 to the four-station rotating disc 81 corresponding to the feeding and discharging station 83, the motor 82 drives the four-station rotating disc 81 to rotate clockwise, the flange 10 moves to the height measuring device 87, the height of the assembled flange 10, the valve plate 50 and the valve plate limiting plate 60 is determined on the finished flange 10, the height measuring device 87 detects the height of the top surface of the valve plate limiting plate 60 on the flange 10 through the detecting part 870 moving up and down, if the actual height is higher or lower than the preset height, the quantity of the valve plate 50 and the valve plate limiting plate 60 on the flange 10 is wrong, the flange 10 is defective, and when the flange 10 rotates to the riveting station 85 and the pneumatic leakage detecting station 86 on the four-station rotating disc 81, the riveting device 88 and the air-tightness detecting device 89 do not act on the flange 10 until the flange 10 returns to the loading and unloading station 83, and the third robot hand 103 places the flange 10 on the upper-layer product conveying belt 91.

The height measuring device 87 detects qualified flanges 10, when the height measuring device rotates to the riveting station 85, the riveting device 88 vertically presses down the rivet 20 and selects the rivet at a high speed, the rivet 20 deforms in a yielding manner, and therefore the valve plate 50 and the valve plate limiting plate 60 are riveted on the flanges 10. The riveted flange 10 continuously rotates to the pneumatic leakage detection station 86, a detection hole is formed in the valve, corresponding to the flange, of the four-station rotating disc 81, a sealing portion 891 of the air tightness detection device 89 seals the flange 10 on the four-station rotating disc 81 through a sealing cover 890, a gas flow control detection portion 892 of the air tightness detection device 89 is communicated with the valve of the flange 10 through the detection hole, so that the air tightness detection device 89 forms a closed system, the flange 10 detects whether air leakage exists in the closed system, the air leakage flange 10 is placed on the upper-layer product conveying belt 91 through the flange clamping claw 104 of the third robot 103, and the qualified riveted flange 10 is placed on the lower-layer product conveying belt 92 through the flange clamping claw 104 of the third robot 103.

The riveting apparatus is further provided with a housing (not shown) having a viewing window, and a first visual inspection device 41 is fixed to the housing. First robot hand 101, second robot hand 102 and third robot hand 103 are the multiaxis robot and constitute, and overall structure reasonable in design, flange 10, valve block 50 and valve block limiting plate 60 equipment, riveting, detection full automatization, very big improvement production efficiency, through to valve block 50 and valve block limiting plate 60 mechanical precision positioning, ensure to assemble into the high yield moreover.

Claims

1. The utility model provides a flange riveting equipment which characterized in that: the tool platform comprises: the flange positioning tool is provided with a rivet fixing hole and a flange positioning pin; rivet conveyor: the rivet is directionally conveyed and placed in the rivet fixing hole through a first robot hand; a flange conveying device: the flange is conveyed in a directional mode and moved to a flange positioning tool through the first robot hand, the rivet is inserted into a first rivet hole of the flange, and the flange positioning pin is inserted into a pin hole of the flange: positioning positions of a first rivet hole and a pin hole on a flange, and placing the flange on a tooling platform in a preset posture through the first robot hand; valve plate conveyor: the valve plate is conveyed in an oriented mode, the valve plate is moved to a flange positioning tool through a second robot, the valve plate is placed on the flange, and the rivet is inserted into a second rivet hole in the valve plate; valve block limiting plate conveyor: the valve plate limiting plate is conveyed directionally and moved to the flange positioning tool through a second robot, the valve plate limiting plate is placed on the valve plate, and the rivet is inserted into a third rivet hole in the valve plate limiting plate; accessory detection mechanism: the positions of a second rivet hole in the valve plate and a third rivet hole in the valve plate limiting plate are positioned, and the valve plate is placed on a flange of the flange positioning tool in a preset posture through the second robot hand; riveting mechanism: and a riveting station is arranged, the flange, the rivet, the valve block and the valve block limiting plate on the flange positioning tool are moved to the riveting station together through a third robot, and the rivet is riveted to fix the valve block and the valve block limiting plate on the flange.

2. The flange riveting apparatus according to claim 1, wherein: the flange detection mechanism comprises a first visual detection device, a second visual detection device and a middle rotary table, the first visual detection device is arranged above the flange conveying device, the second visual detection device is arranged on the middle rotary table, the first visual detection device detects the position of a flange, a first robot hand grabs the flange and places the flange on the middle rotary table, the second visual detection device detects the phase positions of a first rivet hole and a pin hole of the flange, and the first robot hand grabs the flange again and places the flange on the flange positioning tool.

3. The flange riveting apparatus according to claim 2, wherein: the center of the middle rotary table is provided with a through hole, the through hole and the top surface of the middle rotary table are in inclined surface transition, the flange is placed on the inclined surface of the middle rotary table, and the second visual detection device detects the phase position of the first rivet hole and the pin hole of the flange through the through hole from the lower part of the middle rotary table.

4. The flange riveting apparatus according to claim 1, wherein: the fitting detection mechanism comprises a third visual detection device and a mechanical positioning tool, a valve block positioning groove and a valve block limiting plate positioning groove are formed in the mechanical positioning tool, a valve block positioning column is arranged on one side of the valve block positioning groove, a valve block limiting plate positioning column is arranged on one side of the valve block limiting plate positioning groove, the third visual detection device detects the front side and the back side of the valve block, a second robot hand grabs the valve block to the mechanical positioning tool, the valve block is placed into the valve block positioning groove, the valve block positioning column is inserted into a second rivet hole, the second robot hand grabs the valve block to a flange of a tool platform again, the second robot hand grabs the valve block limiting plate to the mechanical positioning tool, the rivet penetrates through the second rivet hole, the valve block limiting plate is placed into the valve block limiting plate positioning groove, the valve block limiting plate positioning column is inserted into a third rivet hole.

5. The flange riveting apparatus according to claim 1, wherein: rivet conveyor is first vibration dish, and rivet is carried to first vibration dish orientation, and the ejection of compact portion of first vibration dish is equipped with first detection sensor, and valve block limiting plate conveyor is the second vibration dish, and the directional valve block limiting plate of carrying of second vibration dish, and the ejection of compact portion of first vibration dish is equipped with the second and detects the sensor.

6. The flange riveting apparatus according to claim 1, wherein: the valve plate conveying device is a valve plate jacking device, and a height detection sensor is arranged at the top of the valve plate jacking device.

7. The flange riveting apparatus according to claim 1, wherein: the third robot hand comprises a flange clamping claw and a rivet adsorption part, wherein the flange clamping claw clamps a flange, and the rivet adsorption part fixes a rivet.

8. The flange riveting apparatus according to claim 1, wherein: the riveting mechanism further comprises a four-station rotating disc and a motor, the four-station rotating disc is sequentially provided with a feeding and discharging station, a height measuring station, a riveting station and a pneumatic leakage measuring station along the circumferential direction, the riveting mechanism is provided with a height measuring device corresponding to the height measuring station, the riveting mechanism is provided with a riveting device corresponding to the riveting station, the riveting mechanism is provided with an air tightness detecting device corresponding to the pneumatic leakage measuring station, the air tightness detecting device comprises a sealing part positioned above the four-station rotating disc and a gas flow control detecting part positioned above the four-station rotating disc, the third robot clamps a flange to be riveted onto the feeding and discharging station from a flange positioning tool, the motor drives the four-station rotating disc to rotate, the flange moves to the height measuring device, the height of the top surface of a valve block limiting plate on the flange is detected by the height measuring device, the flange moves to the riveting device, and the riveting device, the flange moves to airtight detection device department, and airtight detection device detects riveted flange, and the flange is rotatory a week back along with the quadruplex position rotary disk, and the third robot presss from both sides the flange and takes away.

9. The flange riveting apparatus of claim 8, wherein: including ejection of compact conveyor, ejection of compact conveyor includes upper level article conveyer belt and lower floor's finished product conveyer belt, and the third robot hand will be through height measuring device detection qualified, riveting back and airtight detection qualified flange place on lower floor's finished product conveyer belt, and all the other flanges place on upper substandard product conveyer belt.

10. The flange riveting apparatus according to claim 1, wherein: the flange conveying device is a conveying belt, a baffle is arranged at the tail end of the conveying belt, and a third detection sensor is arranged in front of the baffle on the conveying belt.