CN113560480A - Automatic rivet pulling equipment and automatic rivet pulling method thereof - Google Patents

Abstract

The invention discloses automatic rivet pulling equipment which comprises a rack, wherein a three-shaft displacement device is arranged on the rack, a rivet pulling device is arranged on the three-shaft displacement device, a rivet feeding device is arranged on the rack, the rivet feeding device comprises a vibration feeding disc arranged on the rack, a support is arranged at the discharging position of the vibration feeding disc on the rack, a rivet separating cylinder is arranged on the rack, a rivet separating block is arranged at the end part of a piston rod of the rivet separating cylinder, a fixed seat is arranged on the rack, a rivet moving cylinder is arranged on the fixed seat, a rivet moving block is arranged at the end part of the piston rod of the rivet moving cylinder, a stop block for stopping rivets separated from the rivet separating block is arranged between the rivet separating block and the rivet moving block on the fixed seat, a rivet clamping groove for containing the separated rivets is arranged on the rivet moving block, and a first photoelectric switch is arranged on the fixed seat; the upper part of the baffle is provided with a top plate, the top plate is provided with a nail outlet hole, the fixing seat is provided with an air supply hole, the orifice of the air supply hole is provided with a vent pipe, the orifice of the nail outlet hole is provided with a nail feeding pipe on the top plate, and the nail feeding pipe is connected with the rivet pulling device. The invention also discloses a rivet pulling method of the device.

Description

Automatic rivet pulling equipment and automatic rivet pulling method thereof

Background art:

the self-plugging rivet is a rivet for single-side riveting and is widely used in the fields of automobiles, ships and the like. When riveting, the rivet core is pulled by the riveter to expand the rivet body, so as to realize the riveting effect.

In the traditional process, the blind rivet is pulled and riveted by manually holding a pulling and riveting gun, so that the time and labor are consumed, and the precision is not high; in order to improve the production efficiency, a plurality of automatic riveting devices are developed and mainly divided into two parts of automatic rivet feeding and automatic rivet pulling, the automatic rivet feeding method basically adopts a rivet vibrating disk for feeding, and the main problem is that the stability of the rivet feeding process needs to be improved, so that the rivets can not be reliably ensured to enter the next process in a timely and orderly manner; the automatic rivet pulling part generally adopts an automatic rivet pulling gun, and the improvement space is larger due to different rivet pulling power sources, different mechanisms for receiving the rivets conveyed by the vibrating disk, different rivet clamping principles, different tail nail discharge modes and other factors.

According to the full-automatic rivet pulling equipment disclosed by the invention patent with the application number of 201520484147.2, rivets conveyed by a vibration disc are clamped by a clamping knife to enter the next process, so that the structure is complex and the stability is poor; according to the automatic rivet pulling device disclosed by the invention patent with the application number of 201110087121.0, a through hole and an inclined hole are formed in a rivet pulling cavity shell, a connector is mounted at the outer end of the inclined hole and connected with an external rivet feeding pipe, and rivets are pushed to enter the through hole by high-pressure rivet feeding gas, so that the phenomenon that the rivets are clamped in the shell is easily generated when the rivets conveyed by a vibrating disc are received by adopting the mode, and the subsequent rivet pulling work cannot be performed; for example, the automatic feeding device of the riveter disclosed in the invention patent with the application number of 201621247523.7 adopts a pneumatic mode for riveting, and the nail feeding needs high-pressure gas, so that the air pressure is easy to be insufficient. Therefore, further improvement on the existing automatic riveting equipment is needed.

The invention content is as follows:

in view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide an automatic blind rivet device capable of stably feeding nails and efficiently blind riveting.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

an automatic rivet pulling device comprises a rack, wherein a three-axis displacement device is arranged on the rack, a rivet pulling device is arranged on the three-axis displacement device, a rivet feeding device is arranged on the rack and comprises a vibration feeding disc arranged on the rack, a support is arranged at the discharging position of the vibration feeding disc on the rack, a rivet separating cylinder is arranged on the rack, a rivet separating block for separating a rivet at the outermost side of the discharging position of the vibration feeding disc is arranged at the end part of a piston rod of the rivet separating cylinder, a fixed seat is arranged on the rack, a rivet moving cylinder is arranged on the fixed seat, a rivet moving block is arranged at the end part of the piston rod of the rivet moving cylinder, a stop block for blocking the rivet separated from the rivet separating block is arranged between the rivet separating block and the rivet moving block on the fixed seat, a rivet clamping groove for accommodating the separated rivet is arranged on the rivet moving block, and a first photoelectric switch for detecting whether the rivet is arranged in the rivet clamping groove is arranged on the fixed seat; the upper part of the baffle is provided with a top plate, the top plate is provided with a nail outlet hole, the fixed seat is provided with an air supply hole, the orifice of the air supply hole is provided with a vent pipe for introducing high-pressure gas, the orifice of the nail outlet hole on the top plate is provided with a nail feeding pipe, and the nail feeding pipe is connected with the rivet pulling device;

the rivet pulling device comprises a mounting plate connected to the three-axis displacement device, an upper clamping nozzle is connected to the mounting plate through an upper parallelogram link mechanism, a lower clamping nozzle is connected to the mounting plate through a lower parallelogram link mechanism, a connecting pipe connected with a rivet feeding pipe is arranged on the upper clamping nozzle, an upper clamping groove for clamping the front end of a rivet is arranged in the upper clamping nozzle, a lower clamping groove matched with the upper clamping nozzle to clamp the front end of the rivet is arranged in the lower clamping nozzle, a sliding table cylinder is arranged on the mounting plate, a pushing block for pushing the upper parallelogram link mechanism and the lower parallelogram link mechanism to rotate so as to enable the upper clamping nozzle and the lower clamping nozzle to be folded is arranged at the end part of a piston rod of the sliding table cylinder, and a blanking port for the rivet to fall is arranged on the side wall of the lower section of the rivet feeding pipe; the riveting gun head device comprises a hollow outer gun sleeve, one end of the outer gun sleeve is embedded in the shell, a front pipe for a rivet head to enter is arranged at one end of the outer gun sleeve, an inner sleeve is movably arranged in the outer gun sleeve, a nail pushing sleeve matched with the inner diameter of the front pipe is arranged at the end part of the inner sleeve, close to the front pipe, is in a conical shape, a mandrel is arranged on the guide rod, the end part of the inner sleeve is connected with the mandrel, an axial through hole for avoiding a rivet core is arranged in the mandrel, a spring is sleeved on the mandrel, a clamping jaw top seat is arranged at the end part of the spring, and a core accommodating through hole matched with the rivet core is arranged on the clamping jaw top seat; the end part of the claw top seat is in a cone shape, and three claws are movably arranged between the claw top seat and the cone-shaped end part of the inner sleeve.

As a preferred scheme, a first photoelectric switch for detecting whether materials exist at the discharging position of the vibration feeding plate is arranged on the support.

As a preferred scheme, the upper clamp mouth is provided with a pulley, the lower clamp mouth is provided with a pulley, the sliding mounting plate is provided with a guide opening block, and one side of the guide opening block, which is far away from the sliding table cylinder, is provided with an upper guide inclined plane and a lower guide inclined plane which are respectively matched with the upper pulley and the lower pulley.

As a preferred scheme, the guide rod driving mechanism comprises a lead screw which is arranged in a shell and driven by a motor and a coupling, a supporting block is connected to the lead screw through threads, a guide rod fixing seat is arranged at the upper part of the supporting block, and the guide rod is arranged on the guide rod fixing seat.

Preferably, the housing is provided with a guide rail, and the lower part of the support block is connected with a slide block arranged on the guide rail.

The beneficial effect of this equipment is: the automatic rivet feeding and automatic rivet pulling device integrates automatic rivet feeding and automatic rivet pulling functions, and can be integrated into an automatic assembly line, so that the rivet pulling efficiency is improved, and the labor cost is saved.

The feeding device carries out vibration feeding through the vibration disc, the separating device is used for separating rivets independently after the rivet arrangement is completed, the rivet moving device is used for conveying the separated rivets to the rivet blowing opening, high-pressure rivet conveying gas is used for conveying the rivets to the next procedure, and the rivet conveying process is stable and reliable and the structure is compact and simple.

The clamping nozzle device is fixedly connected to the front end of an outer gun sleeve of the riveting gun head device through the lock plate, the clamping nozzle device comprises an upper clamping nozzle and a lower clamping nozzle which are respectively connected with the connecting rod hinges to form a parallelogram link mechanism, the upper clamping nozzle and the lower clamping nozzle are in translational motion along the guide block through the tail pulley under the driving of the sliding table cylinder, the motion track is stable, and the rivet conveyed by the vibrating disc is more accurate in clamping and high in reliability.

The vacuum self-suction device comprises a vacuum generator, generates negative pressure to suck the rivet clamped by the clamping nozzle device into a gun nozzle of the riveting gun head device, and has the advantages of simple structure, small occupied space and convenience.

The riveting gun head device comprises a three-jaw clamping piece which is tightly attached to the conical surface of the inner cylinder sleeve under the action of a spring and a clamping jaw jacking seat, and the mandrel moves left and right to enable the clamping jaw to be loosened and clamped, so that rivets of various specifications can be received, and the riveting gun head device has high universality.

The rivet pulling device is installed on the three-axis numerical control device, and under the control of the control system, the rivet pulling gun device can be quickly and accurately positioned to the rivet hole position for rivet pulling.

The invention also aims to provide a riveting method of the automatic riveting device.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows: an automatic rivet pulling method of automatic rivet pulling equipment comprises the following steps:

the method comprises the following steps: the vibrating disc is driven by the electrified electromagnetic base to do torsional vibration, so that the rivets are aligned along the spiral track; meanwhile, the three-axis numerical control device drives the rivet pulling device to move above the rivet hole;

step two: the rivets which are arranged in a row slide downwards along the track and are blocked by the front convex block of the separating block, the second photoelectric switch detects the existence of the rivets, the control system drives the separating cylinder to move forwards, namely the separating block is driven to move forwards, the front convex block moves forwards, the blocked rivets are separated and released to enter the next procedure, meanwhile, the rear convex block also moves forwards to block the rear rivets, the separating cylinder is retracted to drive the separating block to return to the initial position, and the rivets of the next round are prepared to be separated;

step three: the separated rivet slides into a staple bolt groove of a rivet moving block, a first photoelectric switch detects the existence of the rivet, a control system drives a rivet moving cylinder to move forwards to drive the rivet moving block to move along the inner side face of a baffle plate, when the rivet reaches a blow hole of the baffle plate, the rivet stops moving, a gas supply system supplies high-pressure rivet conveying gas, and the rivet is conveyed into a rivet pulling device along a rivet conveying pipe;

step four: the rivet is conveyed into a connecting pipe of the automatic rivet pulling device by a rivet conveying pipe, and at the moment, tail pulleys of an upper clamping nozzle and a lower clamping nozzle are positioned on the plane part of the profile of the opening guide block, and the clamping nozzles are in an opening state; the rivet passes through the through hole of the upper clamping nozzle, the sensor senses that the rivet is pushed by high-pressure rivet conveying gas to enter the connecting pipe, the control system starts the sliding table cylinder, the sliding table cylinder pushes the upper clamping nozzle and the lower clamping nozzle to move linearly forwards, but meanwhile, the pulley at the tail part of the clamping nozzle slides along the profile of the opening block, under the action of the parallelogram link mechanism, the upper clamping nozzle and the lower clamping nozzle do translational motion along the inclined plane of the profile of the opening block, the rivet passing through the upper clamping nozzle is clamped from an opening state to a closing state, the control system starts the vacuum self-suction device, gas enters from the air inlet of the vacuum generator and is discharged from the silencer, negative pressure is generated at a vacuum interface, and the rivet is sucked onto the gun nozzle of the outer gun sleeve of the riveting gun head device through the air guide tube;

step five: the three-axis numerical control device drives the rivet pulling device to move downwards, and rivets are sent to rivet holes; when a rivet is sucked on a gun nozzle of an outer gun sleeve, a control system controls a sliding table air cylinder to withdraw an air cylinder rod, an upper clamping nozzle and a lower clamping nozzle are restored to be in an open state, a motor of a driving device starts to start, torque is transmitted to a lead screw through a coupler, a sliding block slides backwards along a guide rail, a guide rod is connected to a mandrel through threads, the mandrel is connected to an inner cylinder sleeve through threads, the mandrel moves backwards together under the driving of the sliding block, a spring releases elasticity, the outer conical surface of a clamping jaw is propped against the inner conical surface of the inner cylinder sleeve through a clamping jaw jacking seat, the aperture of the clamping jaw is reduced, the rivet is clamped, and when the rivet pulling force reaches a certain degree, a rivet core is broken, and the rivet pulling is completed;

step six: after the nail core is pulled off, the motor rotates reversely, the mandrel drives the inner cylinder sleeve to move forward, the spring is compressed, the claw jacking seat pushes the claw to move upwards along the conical surface of the inner cylinder sleeve, the claw is loosened, the nail core is released, and the riveting cycle is finished.

Description of the drawings:

FIG. 1: the invention has the overall structure schematic diagram;

FIG. 2: schematic view of the nail feeding device of the invention;

FIG. 3: the invention is a schematic diagram of a rivet pulling device;

FIG. 4: schematic view of the nip apparatus of the present invention;

FIG. 5: the invention is a schematic diagram of a vacuum self-suction device;

FIG. 6: the invention discloses a schematic diagram of a riveting gun head device;

FIG. 7: the driving device of the invention is a schematic diagram;

fig. 8 (a): a vibrating disc rivet feeding schematic diagram; fig. 8 (b): the separation device separates the rivet; fig. 8 (c): a nail moving schematic diagram of a nail moving device; fig. 8(d) and 8 (e): schematic clamping and riveting of the clamping nozzle device; fig. 8(f) and 8 (g): a schematic drawing of rivet pulling of a riveting gun head device; FIG (h): a row of nails schematic diagram;

in the figure: 1. a frame; 2. riveting; 3. a three-axis numerical control device;

4. rivet pulling device, 501 outer gun sleeve, 502 inner sleeve, 503 jaw, 504 jaw top seat, 505 spring, 506 mandrel;

201. 202, riveting a gun head device, 203, a shell; 204. a drive means, 205, a vacuum self-priming means,

601. bearing support seat, 602 guide rod, 603 guide rod fixing seat, 604 guide rod support block, 605 guide rod, 606 coupler, 607 motor support seat, 608 motor, 609 guide rail, 610 slide block, 611 guide rail fixing seat;

401. vacuum generator, 402 muffler;

5. a nail feeding pipe; 6. a nail feeding device, 7. a nail core;

101. the device comprises a vibration disc, 102, an electromagnetic base, 103, a second photoelectric switch, 104, a photoelectric switch supporting seat, 105, a nail separating cylinder, 106, a separating block, 107, a cylinder fixing seat, 108, a nail moving cylinder, 109, a baffle, 110, a nail moving block and 111, a first photoelectric switch;

301. the device comprises an upper clamping nozzle, 302 connecting rods, 303 connecting pipes, 304 pulleys, 305 sliding table cylinders, 306 speed regulating valves, 307 cylinder mounting plates, 308 lower clamping nozzles, 309 guide opening blocks, 310 locking plates;

the specific implementation mode is as follows:

specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

As shown in fig. 1-7, the automatic rivet pulling equipment comprises a frame 1, a three-axis numerical control device 3, a rivet pulling device 4, a rivet feeding pipe 5 and a rivet feeding device 6.

The top cross beam of the frame 1 is provided with a three-axis numerical control device 3, the bottom platform is provided with a rivet feeding device 6, the rivet pulling device 4 is installed on an installation plate of the three-axis numerical control device, a rivet feeding pipe 5 is connected with a connecting pipe 303 of a clamping nozzle device 201 in the rivet pulling device 4 and is simultaneously connected with a rivet feeding hole of a baffle 109 in the rivet feeding device 6, and the rivet pulling device 4 is connected with the rivet feeding device 6.

The nail feeding device 6 comprises a vibrating disk 101 which is arranged on an electromagnetic base 102, a spiral track of an array of rivets is arranged on the vibrating disk 101, a second photoelectric switch supporting seat 104 is arranged on the right side of a second section of track, a nail separating cylinder 105 is arranged on the left side and is fixedly connected with a mounting hole of a vibrating disk platform, a separating block 106 is arranged on the nail separating cylinder 105, a cavity is arranged on the right part of the separating block 106, two convex blocks extend out of the bottom of the cavity, the interval distance between the convex blocks is slightly larger than the diameter of a rivet body, when one rivet is abutted to a front convex block, a rear convex block can be positioned in an adjacent rivet interval gap, a second photoelectric switch 103 is fixedly arranged on the second photoelectric switch supporting seat 104, a nail moving block 110 is arranged at the end point of the second section of track, the central line of a nail clamping groove of the nail moving block 110 is coincident with the central line of the track, the nail moving block 110 is connected with a side plate of the nail moving cylinder 108, under the push of the nail moving cylinder 108, the nail feeding device can slide along the inner side surface of the baffle plate 109, the first photoelectric switch 111 is installed on a mounting hole in the side surface of the nail moving block 110, and the nail moving block 110 and the baffle plate 109 are both provided with air blowing holes which are coaxial with the nail feeding pipe 5.

The clamping nozzle device 201 is connected to the front end of an outer gun sleeve 501 of the riveting gun head device 202 through a locking plate 310 and comprises an upper clamping nozzle 301 and a lower clamping nozzle 308 which are hinged with a connecting rod 302, a connecting pipe 303 which is in butt joint with a vibration disc nail conveying pipe and a through hole which is on the same axis with the connecting pipe 301 are arranged on the upper clamping nozzle 301, the diameter of the through hole is larger than the maximum diameter of a rivet 2, the rivet 2 can conveniently penetrate through the upper clamping nozzle 301, the connecting rod 302 is connected with the head of a sliding table cylinder 305 through a hinge to form a parallelogram link mechanism, the sliding table cylinder 305 is fixedly arranged on a shell 203 through a sliding block mounting plate 307 connected with the sliding table cylinder, a speed regulating valve 306 for regulating the speed of the sliding table cylinder 305 is arranged, the front end of the sliding block mounting plate 307 is connected with a guide-out block 309, the guide-out block 309 is connected with the locking plate 310, the tail parts of the upper clamping nozzle 307 and the lower clamping nozzle 308 are hinged with a pulley 304, and the pulley 304 can slide along the guide-out block 309.

The vacuum self-priming device 205 comprises a vacuum generator 401, a silencer 402 is arranged on the vacuum generator 401, and the vacuum self-priming device 205 is fixedly arranged on the shell 203.

The riveting gun head device 202 comprises an outer gun sleeve 501 fixedly arranged on a shell 203, an inner cylinder surface of the outer gun sleeve 501 is connected with an inner cylinder surface of the inner gun sleeve 502 in an attaching mode, outer conical surfaces of three clamping jaws 503 are connected with an inner conical surface of the inner cylinder sleeve 502 in an attaching mode, a clamping jaw top seat 504 is connected with a spring 505, a head conical surface of the clamping jaw top seat is connected with a tail plane of the clamping jaw 503 in a tangent mode, the spring 505 is connected with a mandrel 506 in a coaxial mode, and the mandrel 506 is connected to a guide rod 602 of a driving device 204.

The driving device 204 comprises a guide rail fixing seat 611, a guide rail 609, a motor supporting seat 607 and a bearing supporting seat 601 are arranged on the guide rail fixing seat 611, the motor 608 is fixedly installed on the motor supporting seat 607, one end of a lead screw 605 is connected with the motor 608 through a coupler 606, the other end of the lead screw is connected with the bearing supporting seat 601 through a bearing, a sliding block 610 is arranged on the lead screw 605, the sliding block 610 can slide along the guide rail 609, a guide rod supporting block 604 is arranged on the sliding block 610, a guide rod fixing seat 603 is arranged on the guide rod supporting block 604, one end of the guide rod 602 is connected with the guide rod fixing seat 503, and the other end of the guide rod 602 is connected with a mandrel 506 of the riveting gun head device 202.

The working flow of the invention is described below, taking the riveting cycle of one rivet 2 as an example, the steps of the automatic rivet pulling device are as follows:

the method comprises the following steps: as shown in fig. 8(a), the vibrating plate 101 is driven by the energized electromagnetic base 102 to perform torsional vibration, so that the rivets 2 are aligned along the spiral track. Meanwhile, the three-axis numerical control device 3 drives the rivet pulling device 4 to move above the rivet hole.

Step two: as shown in fig. 8(b), the aligned rivets 2 slide down along the track and are blocked by the front protrusion of the separation block 106, the second photoelectric switch 103 detects the existence of the rivet 2, the separation cylinder 105 is driven by the control system to move forward, i.e. the separation block 106 is driven to move forward, the front protrusion moves forward, the blocked rivet 2 is separated and released to enter the next process, meanwhile, the rear protrusion also moves forward to block the rear rivet 2, the separation cylinder 105 retracts, the separation block 106 is driven to return to the initial position, and the next round of rivet 2 separation is prepared.

Step three: as shown in fig. 8(c), the separated rivet 2 slides into the rivet clamping groove of the rivet moving block 110, the first photoelectric switch 111 detects the existence of the rivet 2, the control system drives the rivet moving cylinder 108 to move forward, the rivet moving block 110 is driven to move along the inner side surface of the baffle 109, when the rivet 2 reaches the blow hole of the baffle 109 and stops moving, the gas supply system supplies high-pressure rivet conveying gas, and the rivet 2 is conveyed to the rivet pulling device 4 along the rivet conveying pipe 5.

Step four: as shown in fig. 8(d), (e), the rivet 2 is fed from the rivet feeding pipe 5 to the connecting pipe 303 of the automatic rivet pulling device, and the tail pulleys 304 of the upper and lower jaws 301 and 308 are located on the plane portion of the profile of the spreading block 309, and the jaws are in an opened state. The rivet 2 penetrates through the through hole of the upper clamping nozzle 301, the sensor senses that the rivet is pushed by high-pressure rivet conveying gas to enter the connecting pipe 303, the control system starts the sliding table cylinder 305, the sliding table cylinder 305 pushes the upper clamping nozzle 301 and the lower clamping nozzle 308 to move forwards linearly, but meanwhile, the clamping nozzle tail pulley 304 slides along the profile of the opening guide block 309, under the action of the parallelogram link mechanism, the upper clamping nozzle 301 and the lower clamping nozzle 308 do translational motion along the inclined plane of the profile of the opening guide block 309, the rivet 2 penetrating through the upper clamping nozzle 301 is clamped from the opening state to the closing state, the control system starts the vacuum self-suction device 205, gas enters from the air inlet of the vacuum generator 401 and is discharged from the silencer 402, negative pressure is generated at the vacuum interface, and the rivet 2 is sucked onto the gun mouth of the outer gun sleeve 501 of the riveting gun head device 202 through the air guide pipe.

Step five: the three-axis numerical control device 3 drives the rivet pulling device 4 to move downwards, and the rivet 2 is sent to a rivet hole. As shown in fig. 8(f) and 8(g), after the rivet 2 is sucked on the nozzle of the outer gun holster 501, the control system controls the sliding table cylinder 305 to retract the cylinder rod, the upper grip 301 and the lower grip 308 return to the open state, the motor 608 of the driving device 204 starts to start, the torque is transmitted to the lead screw 605 through the coupling 606, the slider 610 slides backwards along the guide rail 609, the guide rod 602 is connected to the mandrel 506 through the screw thread, the mandrel 506 is connected to the inner barrel holster 502 through the screw thread, and moves backwards together under the driving of the slider 610, the spring 505 releases the elastic force, the outer conical surface of the claw 503 is pressed against the inner barrel holster 502 through the claw top seat 504, so that the aperture of the claw 503 is reduced, the rivet 2 is gripped, and when the rivet pulling force reaches a certain degree, the rivet core 7 is broken, and the rivet pulling is completed.

Step six: as shown in fig. 8(e), after the mandrel 7 is pulled off, the motor 608 rotates reversely, the mandrel 506 drives the inner sleeve 502 to move forward, the spring 505 is compressed, the claw top seat 504 pushes the claw 503 to move upwards along the conical surface of the inner sleeve, the claw 503 is released, the mandrel is released, and the riveting cycle is finished.

The above-mentioned embodiments are merely illustrative of the principles and effects of the present invention, and some embodiments may be used, not restrictive; it should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the inventive concept of the present invention, and these changes and modifications belong to the protection scope of the present invention.

Claims (6)

1. The utility model provides an automatic rivet pulling equipment, includes the frame, is equipped with triaxial displacement device in the frame, is equipped with the rivet pulling device on the triaxial displacement device, is equipped with in the frame and send the nail device, send the nail device including setting up the vibration feed table in the frame, its characterized in that: the automatic rivet removing machine is characterized in that a support is arranged at the discharging position of the vibration feeding disc on the rack, a nail separating cylinder is arranged on the rack, a nail separating block for separating one rivet on the outermost side of the discharging position of the vibration feeding disc is arranged at the end part of a piston rod of the nail separating cylinder, a fixed seat is arranged on the rack, a nail moving cylinder is arranged on the fixed seat, a nail moving block is arranged at the end part of the piston rod of the nail moving cylinder, a stop block for blocking the rivet separated from the nail separating block is arranged between the nail separating block and the nail moving block on the fixed seat, a nail clamping groove for containing the separated rivet is arranged on the nail moving block, and a first photoelectric switch for detecting whether the rivet is in the nail clamping groove is arranged on the fixed seat; the upper part of the baffle is provided with a top plate, the top plate is provided with a nail outlet hole, the fixed seat is provided with an air supply hole, the orifice of the air supply hole is provided with a vent pipe for introducing high-pressure gas, the orifice of the nail outlet hole on the top plate is provided with a nail feeding pipe, and the nail feeding pipe is connected with the rivet pulling device;

the rivet pulling device comprises a mounting plate connected to the three-axis displacement device, an upper clamping nozzle is connected to the mounting plate through an upper parallelogram link mechanism, a lower clamping nozzle is connected to the mounting plate through a lower parallelogram link mechanism, a connecting pipe connected with a rivet feeding pipe is arranged on the upper clamping nozzle, an upper clamping groove for clamping the front end of a rivet is arranged in the upper clamping nozzle, a lower clamping groove matched with the upper clamping nozzle to clamp the front end of the rivet is arranged in the lower clamping nozzle, a sliding table cylinder is arranged on the mounting plate, a pushing block for pushing the upper parallelogram link mechanism and the lower parallelogram link mechanism to rotate so as to enable the upper clamping nozzle and the lower clamping nozzle to be folded is arranged at the end part of a piston rod of the sliding table cylinder, and a blanking port for the rivet to fall is arranged on the side wall of the lower section of the rivet feeding pipe; the riveting gun head device comprises a hollow outer gun sleeve, one end of the outer gun sleeve is embedded in the shell, a front pipe for a rivet head to enter is arranged at one end of the outer gun sleeve, an inner sleeve is movably arranged in the outer gun sleeve, a nail pushing sleeve matched with the inner diameter of the front pipe is arranged at the end part of the inner sleeve, close to the front pipe, is in a conical shape, a mandrel is arranged on the guide rod, the end part of the inner sleeve is connected with the mandrel, an axial through hole for avoiding a rivet core is arranged in the mandrel, a spring is sleeved on the mandrel, a clamping jaw top seat is arranged at the end part of the spring, and a core accommodating through hole matched with the rivet core is arranged on the clamping jaw top seat; the end part of the claw top seat is in a cone shape, and three claws are movably arranged between the claw top seat and the cone-shaped end part of the inner sleeve.

2. An automatic rivet pulling apparatus according to claim 1, characterized in that: the support is provided with a first photoelectric switch for detecting whether a material exists at the discharging position of the vibration feeding plate.

3. An automatic rivet pulling apparatus according to claim 2, wherein: the upper clamp mouth is provided with a pulley, the lower clamp mouth is provided with a pulley, the sliding mounting plate is provided with a guide opening block, and one side of the guide opening block, which is far away from the sliding table cylinder, is provided with an upper guide inclined plane and a lower guide inclined plane which are respectively matched with the upper pulley and the lower pulley.

4. An automatic rivet pulling apparatus according to claim 3, wherein: the guide rod driving mechanism comprises a lead screw which is arranged in the shell and driven by a motor and a coupling, a supporting block is connected onto the lead screw through threads, a guide rod fixing seat is arranged at the upper part of the supporting block, and the guide rod is arranged on the guide rod fixing seat.

5. An automatic blind rivet apparatus according to any one of claims 1 to 4, characterized in that: the shell is internally provided with a guide rail, and the lower part of the supporting block is connected with a sliding block arranged on the guide rail.

6. The automatic rivet pulling method of the automatic rivet pulling equipment according to claim 5, comprising the steps of:

the method comprises the following steps: the vibrating disc is driven by the electrified electromagnetic base to do torsional vibration, so that the rivets are aligned along the spiral track; meanwhile, the three-axis numerical control device drives the rivet pulling device to move above the rivet hole;

step two: the rivets which are arranged in a row slide downwards along the track and are blocked by the front convex block of the separating block, the second photoelectric switch detects the existence of the rivets, the control system drives the separating cylinder to move forwards, namely the separating block is driven to move forwards, the front convex block moves forwards, the blocked rivets are separated and released to enter the next procedure, meanwhile, the rear convex block also moves forwards to block the rear rivets, the separating cylinder is retracted to drive the separating block to return to the initial position, and the rivets of the next round are prepared to be separated;

step three: the separated rivet slides into a staple bolt groove of a rivet moving block, a first photoelectric switch detects the existence of the rivet, a control system drives a rivet moving cylinder to move forwards to drive the rivet moving block to move along the inner side face of a baffle plate, when the rivet reaches a blow hole of the baffle plate, the rivet stops moving, a gas supply system supplies high-pressure rivet conveying gas, and the rivet is conveyed into a rivet pulling device along a rivet conveying pipe;

step four: the rivet is conveyed into a connecting pipe of the automatic rivet pulling device by a rivet conveying pipe, and at the moment, tail pulleys of an upper clamping nozzle and a lower clamping nozzle are positioned on the plane part of the profile of the opening guide block, and the clamping nozzles are in an opening state; the rivet passes through the through hole of the upper clamping nozzle, the sensor senses that the rivet is pushed by high-pressure rivet conveying gas to enter the connecting pipe, the control system starts the sliding table cylinder, the sliding table cylinder pushes the upper clamping nozzle and the lower clamping nozzle to move linearly forwards, but meanwhile, the pulley at the tail part of the clamping nozzle slides along the profile of the opening block, under the action of the parallelogram link mechanism, the upper clamping nozzle and the lower clamping nozzle do translational motion along the inclined plane of the profile of the opening block, the rivet passing through the upper clamping nozzle is clamped from an opening state to a closing state, the control system starts the vacuum self-suction device, gas enters from the air inlet of the vacuum generator and is discharged from the silencer, negative pressure is generated at a vacuum interface, and the rivet is sucked onto the gun nozzle of the outer gun sleeve of the riveting gun head device through the air guide tube;

step five: the three-axis numerical control device drives the rivet pulling device to move downwards, and rivets are sent to rivet holes; when a rivet is sucked on a gun nozzle of an outer gun sleeve, a control system controls a sliding table air cylinder to withdraw an air cylinder rod, an upper clamping nozzle and a lower clamping nozzle are restored to be in an open state, a motor of a driving device starts to start, torque is transmitted to a lead screw through a coupler, a sliding block slides backwards along a guide rail, a guide rod is connected to a mandrel through threads, the mandrel is connected to an inner cylinder sleeve through threads, the mandrel moves backwards together under the driving of the sliding block, a spring releases elasticity, the outer conical surface of a clamping jaw is propped against the inner conical surface of the inner cylinder sleeve through a clamping jaw jacking seat, the aperture of the clamping jaw is reduced, the rivet is clamped, and when the rivet pulling force reaches a certain degree, a rivet core is broken, and the rivet pulling is completed;

step six: after the nail core is pulled off, the motor rotates reversely, the mandrel drives the inner cylinder sleeve to move forward, the spring is compressed, the claw jacking seat pushes the claw to move upwards along the conical surface of the inner cylinder sleeve, the claw is loosened, the nail core is released, and the riveting cycle is finished.

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