CN113857365A - Robot automatic rivet pulling workstation and implementation method thereof - Google Patents
Robot automatic rivet pulling workstation and implementation method thereof Download PDFInfo
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- CN113857365A CN113857365A CN202111172566.9A CN202111172566A CN113857365A CN 113857365 A CN113857365 A CN 113857365A CN 202111172566 A CN202111172566 A CN 202111172566A CN 113857365 A CN113857365 A CN 113857365A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000003825 pressing Methods 0.000 claims abstract description 37
- 238000005452 bending Methods 0.000 claims abstract description 22
- 238000005096 rolling process Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 5
- 230000006835 compression Effects 0.000 claims 1
- 238000007906 compression Methods 0.000 claims 1
- 238000007599 discharging Methods 0.000 description 5
- 230000007547 defect Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000017525 heat dissipation Effects 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D39/00—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/003—Positioning devices
Abstract
The invention discloses a robot automatic rivet pulling work station and an implementation method thereof, the robot automatic rivet pulling work station comprises a tool clamp, an industrial robot, a control box and a rivet pulling assembly, the rivet pulling assembly is arranged at the top end of the industrial robot, the tool clamp comprises a roller, a base bottom plate, a support column, a bed plate, a buckling block and a hydraulic cylinder, the buckling block comprises an ear seat, an extending arm, a bending base arm, a pressing arm and a contact block, wherein the well-allocated tool clamp is positioned in a processing area which can be covered by the industrial robot, the rivet pulling assembly at the top end of the industrial robot can carry out rivet pulling processing on a workpiece on the tool clamp, the position of the tool clamp can be adaptively adjusted according to requirements, the extending arm can rotate along the central line of a short circular shaft of the ear seat under the pushing of the hydraulic cylinder, so that the contact block at one end of the pressing arm can buckle the workpiece to be processed, and the position of the pressing arm can be adaptively adjusted according to requirements, the pull riveting assembly has the advantages of being good in practicability, simple in assembly and convenient to overhaul, and the pull riveting assembly can be freely assembled at one end of an industrial robot.
Description
Technical Field
The invention relates to a rivet pulling robot, in particular to a robot automatic rivet pulling workstation and an implementation method thereof.
Background
The rivet nut is widely used for assembling electromechanical and light industrial products such as automobiles, aviation, instruments, furniture, decoration and the like. The rivet nut is developed for overcoming the defects that a welding nut of a metal sheet and a thin pipe is easy to melt, an internal thread is easy to slip, and the like, does not need to be tapped, does not need to be welded, and is firm in riveting, high in efficiency and convenient to use. Can carry out manual work and machine when carrying out the rivet operation to the rivet nut, wherein the robot rivet has become the mainstream, but there is the part dismouting difficulty in the operation of current robot rivet equipment, is unfavorable for overhauing the defect of maintaining and can't carrying out the adaptation adjustment according to the demand.
Publication No. CN106825363B discloses a rivet pulling machine, which comprises a rivet pulling nut filling device, a filling clamping device, a rotary loading device, a rivet pulling device, an unloading clamping device and an unloading device; the rivet nut filling device comprises a guide rail, a feeder and a material ejecting cylinder, wherein one end of the guide rail is fixed with the feeder, the material ejecting cylinder is positioned below the other end of the guide rail, and correspondingly, the guide rail is provided with a through hole; the rotary loading device comprises a fixed seat, a carrying platform and a carrying platform driver; the carrying platform comprises a mounting station, a filling station, a riveting station and an unloading station; the filling clamping device comprises a clamping jaw and a moving mechanism; the rivet pulling device comprises a rivet pulling gun and a rivet pulling pressure plate mechanism; the rivet pressing plate mechanism comprises a pressing plate for pressing the upper end surface of the workpiece and a driver for driving the pressing plate to stretch; the discharging clamping device comprises a discharging clamping jaw and a discharging moving mechanism; the discharging device comprises a discharging hopper and a finished product detection module. Above patent has that production efficiency is high, degree of automation is high and the high characteristics of accuracy, but it still has the part dismouting difficulty, is unfavorable for the defect that overhauls to maintain and can't adapt to the adjustment according to the demand.
Disclosure of Invention
The invention aims to provide a robot automatic rivet pulling workstation and an implementation method thereof, and the robot automatic rivet pulling workstation has the advantages of being simple in disassembly and assembly, and capable of being adaptively adjusted according to requirements to meet clamping and machining requirements of different workpieces, so that the problems in the background art are solved.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides an automatic rivet pulling workstation of robot, includes frock clamp, industrial robot, control box and rivet pulling subassembly, the subassembly is riveted to industrial robot's top installation rivet pulling, industrial robot side wall mounting control box, and industrial robot is connected through the wire to the control box, and industrial robot installs the one side at frock clamp.
Further, frock clamp includes gyro wheel, soleplate, support column, bed board, detains piece and pneumatic cylinder, the gyro wheel is installed in soleplate's bottom surface edge, and soleplate's last edge welded fastening has the support column, and the bed board is installed on the top of support column, and evenly distributed's the piece of detaining is arranged in the outside of bed board, detains the bottom of piece and connects the pneumatic cylinder, detains the piece and is located the pneumatic cylinder directly over, and the pneumatic cylinder is installed on soleplate.
Further, the buckle block comprises an ear seat, a protruding arm, a bending base arm, a pressing arm and a contact block, the ear seat is fixed on the outer side wall of the bed plate, the ear seat is movably connected with one end of the protruding arm through a short circular shaft, the bottom surface of the protruding arm is connected with the output end of the hydraulic cylinder, the other end of the protruding arm is connected with the bending base arm, the inner wall of the bending base arm is movably connected with the pressing arm, and the contact block is installed at one end of the pressing arm and movably connected with the pressing arm.
Furthermore, the foundation arm of bending is the cavity spare, and the foundation arm of bending is circular-arc simultaneously, and the outer wall of foundation arm of bending is installed locking bolt, and locking bolt's bottom and hold-down arm contact.
Furthermore, the compressing arm is arc-shaped, one end of the compressing arm is connected with the contact block through a short round shaft, the contact block comprises a shaft shoulder section and a round cake section, the shaft shoulder section is located at the center of the top surface of the round cake section, the shaft shoulder section of the contact block is connected with the compressing arm through the short round shaft, and a rubber pad is paved on the bottom surface of the round cake section of the contact block.
Furthermore, the output end of the hydraulic cylinder is in a spherical shape, and the bottom surface of the extending arm is provided with an inward concave arc matched with the spherical output end of the hydraulic cylinder.
Further, the rivet pulling assembly comprises a relay valve block, a motor, a main shaft, a cake block and a thread section, wherein the inner edge of the relay valve block is provided with threads, the relay valve block is movably connected with the industrial robot in a thread fit mode, the motor, the main shaft and the cake block are installed in the inner cavity of the relay valve block, the cross section of the output end of the motor is provided with the main shaft with a rectangular shape, the main shaft extends into a rectangular groove reserved in the center of the side wall of the cake block and is connected with the rectangular groove in a contact mode, the cake block is connected with one end of the thread section, and the thread section penetrates through the relay valve block.
Furthermore, the outer wall of the relay valve block is provided with radiating fins which are uniformly distributed, the edges of the radiating fins are arc-shaped, rolling balls are further installed on the inner side of the relay valve block, and the relay valve block is connected with the side wall of the cake block through the rolling balls.
Another technical problem to be solved by the present invention is to provide an implementation method of a robot automatic rivet pulling workstation, comprising the following steps:
s1: firstly, assembling a tool fixture, wherein the tool fixture is installed in a wide area of a processing area, the upper end and the lower end of a support column are respectively connected with a bed plate and a foundation bottom plate, an auxiliary support workpiece is installed at the center of the top of the foundation bottom plate, the top end of the auxiliary support workpiece is in contact with the bed plate, then a hydraulic cylinder and a buckling block are arranged at a preset position, the buckling block is positioned right above the hydraulic cylinder, and then the height of the hydraulic cylinder is adjusted to enable the top end of the hydraulic cylinder to be in contact with the buckling block;
s2: then powering on a hydraulic cylinder, detecting whether the hydraulic cylinder drives the buckling block to move smoothly, lifting the whole tool clamp after the hydraulic cylinder can perfectly drive the buckling block to move, and installing a roller with a brake on the edge of the bottom end;
s3: then, mounting a rivet component, wherein whether a motor, a main shaft and a cake block are mounted on the inner side of the relay valve block is detected, the motor is electrified to detect whether the cake block and the thread section can be driven to rotate, and then the relay valve block is mounted on the top output end of the industrial robot in a thread matching mode;
s4: then, the assembled tool clamp is pushed to a processing area which can be covered by the industrial robot, and the roller is braked and locked;
s5: and finally, performing rivet pulling debugging, wherein a workpiece to be processed is placed on the tool fixture, a fastening block in the tool fixture fastens the edge of the workpiece to be processed, then the industrial robot drives the rivet pulling assembly to move along a preset rivet pulling processing path, and the rivet pulling operation is performed while the rivet pulling assembly moves.
Compared with the prior art, the invention has the beneficial effects that: the robot automatic rivet pulling workstation and the implementation method thereof provided by the invention have the advantages that the prepared tool clamp is positioned in a processing area which can be covered by the industrial robot, the rivet pulling assembly at the top end of the industrial robot can rivet a workpiece on the tool clamp, the position of the tool clamp can be adjusted according to the requirement adaptability, the extending arm can rotate along the central line of the short circular shaft of the lug seat under the pushing of the hydraulic cylinder, so that the workpiece to be processed can be buckled by the contact block at one end of the pressing arm, the position of the pressing arm can be adjusted according to the requirement adaptability, the practicability is good, the rivet pulling assembly can be freely assembled at one end of the industrial robot, the assembly is simple, and the overhaul is convenient.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a side view of the tooling fixture of the present invention;
FIG. 3 is a partially enlarged view of the structure of the tooling fixture of the present invention;
FIG. 4 is a schematic view of the structure of the buckle block of the present invention;
FIG. 5 is a schematic view of a contact block structure according to the present invention;
FIG. 6 is a schematic cross-sectional view of a rivet assembly according to the present invention;
FIG. 7 is a schematic view of a structural forward direction of the blind rivet assembly of the present invention;
FIG. 8 is a schematic view of the cake structure of the present invention.
In the figure: 1. a tooling fixture; 11. a roller; 12. a foundation slab; 13. a support pillar; 14. a bed board; 15. buckling blocks; 151. an ear mount; 152. a reach arm; 153. bending the base arm; 154. a pressing arm; 155. a contact block; 156. locking the bolt; 16. a hydraulic cylinder; 2. an industrial robot; 3. a control box; 4. a rivet assembly; 41. a relay valve block; 42. a motor; 43. a main shaft; 44. cake blocks; 45. a threaded segment; 46. a heat dissipating fin; 47. a ball.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Please refer to fig. 1, an automatic rivet pulling workstation of robot, including frock clamp 1, industrial robot 2, control box 3 and rivet pulling subassembly 4, rivet pulling subassembly 4 is installed on the top of industrial robot 2, install control box 3 on the side wall of industrial robot 2, control box 3 passes through wire and connects industrial robot 2, industrial robot 2 installs in one side of frock clamp 1, wherein, the frock clamp 1 that has allocated is located the machining area that industrial robot 2 can cover, rivet pulling subassembly 4 on industrial robot 2 top can carry out rivet pulling processing to the work piece on frock clamp 1, industrial robot 2 is controlled by control box 3 simultaneously.
Referring to fig. 2-3, the tooling fixture 1 includes a roller 11, a base plate 12, a support column 13, a bed plate 14, a fastening block 15 and a hydraulic cylinder 16, the roller 11 is installed at a bottom corner of the base plate 12, the support column 13 is welded and fixed at an upper corner of the base plate 12, the bed plate 14 is installed at a top end of the support column 13, the fastening blocks 15 are evenly distributed on an outer side of the bed plate 14, a hydraulic cylinder 16 is connected to a bottom end of the fastening block 15, the fastening block 15 is located right above the hydraulic cylinder 16, and the hydraulic cylinder 16 is installed on the base plate 12, wherein the roller 11 is designed to facilitate the movement of the entire tooling fixture 1, so that the entire tooling fixture 1 can be manufactured and assembled in a large-space installation area, the entire tooling fixture 1 is moved to an automatic rivet-pulling position by the roller 11, that is, the position of the tooling fixture 1 can be adaptively adjusted according to requirements, the support column 13 is used for supporting the bed plate 14, the surface of the bed plate 14 is flat, the bed plate 14 is used for supporting a workpiece to be processed, the buckling blocks 15 which are uniformly distributed on the outer side of the bed plate 14 are used for buckling and supporting the workpiece to be processed, and the hydraulic cylinder 16 controls the buckling blocks 15 to be buckled or not, so that the automatic rivet pulling construction of the industrial robot 2 is facilitated.
Referring to fig. 2-5, the fastening block 15 includes an ear seat 151, a protruding arm 152, a bending base arm 153, a pressing arm 154 and a contact block 155, the ear seat 151 is fixed on the outer side wall of the bed plate 14, the ear seat 151 is movably connected to one end of the protruding arm 152 through a short circular shaft, the bottom surface of the protruding arm 152 is connected to the output end of the hydraulic cylinder 16, the other end of the protruding arm 152 is connected to the bending base arm 153, the inner wall of the bending base arm 153 is movably connected to the pressing arm 154, and one end of the pressing arm 154 is provided with the contact block 155 movably connected thereto, wherein, under the pushing of the hydraulic cylinder 16, the protruding arm 152 can rotate along the central line of the short circular shaft of the ear seat 151, so that the bending base arm 153 and the pressing arm 154 above the protruding arm 152 can further move, and the contact block 155 at one end of the pressing arm 154 can fasten the workpiece to be processed; the bending base arm 153 is a hollow part, the bending base arm 153 is arc-shaped, the overall weight of the bending base arm 153 is light, the strength is high, a moving space is reserved for the pressing arm 154 in the bending base arm 153, a locking bolt 156 is mounted on the outer wall of the bending base arm 153, the bottom end of the locking bolt 156 is in contact with the pressing arm 154, the position of the pressing arm 154 can be adaptively adjusted according to requirements, the practicability is good, and the locking bolt 156 is used for locking the position of the pressing arm 154; the pressing arm 154 is circular-arc, the one end of pressing arm 154 is connected with the contact block 155 through the short round shaft, the contact block 155 includes shaft shoulder section and cake section, the shaft shoulder section is located the top surface center department of cake section, the shaft shoulder section of contact block 155 is through short round shaft connection pressing arm 154, the rubber pad has been laid to the cake section bottom surface of contact block 155, the output of pneumatic cylinder 16 is the ball form, the bottom surface of extension arm 152 is seted up with 16 ball form output matched with indent circular arcs of pneumatic cylinder, whole contact block 155 will be vertical state like this, the rubber pad of contact block 155 bottom can with the work piece contact of treating the processing.
Referring to fig. 6-8, the rivet pulling assembly 4 includes a relay valve block 41, a motor 42, a spindle 43, a cake block 44 and a threaded section 45, the inner edge of the relay valve block 41 is provided with threads, the relay valve block 41 is movably connected with the industrial robot 2 in a thread fit manner, the motor 42, the spindle 43 and the cake block 44 are installed in an inner cavity of the relay valve block 41, the spindle 43 with a rectangular cross section is installed at an output end of the motor 42, the spindle 43 extends into a rectangular groove reserved in the center of the side wall of the cake block 44 and is connected with the same in a contact manner, the cake block 44 is connected with one end of the threaded section 45, the threaded section 45 penetrates through the relay valve block 41, wherein the rivet pulling assembly 4 can be freely assembled at one end of the industrial robot 2, the motor 42 drives the cake block 44 to rotate through the spindle 43, the cake block 44 rotates to drive the threaded section 45 to rotate, the rotated threaded section 45 can automatically rivet a workpiece, the outer wall of the relay valve block 41 is provided with heat dissipation fins 46 which are uniformly distributed, the edge of the radiating fin 46 is arc-shaped, the radiating fin 46 radiates heat for the relay valve block 41 and the motor 42, the rolling ball 47 is further mounted on the inner side of the relay valve block 41, the relay valve block 41 is connected with the side wall of the cake block 44 through the rolling ball 47, and the rolling ball 47 is arranged to ensure the movement of the cake block 44.
An implementation method of a robot automatic rivet pulling workstation comprises the following steps:
the first step is as follows: firstly, assembling a tool clamp 1, wherein the tool clamp is installed in a wide area of a processing area, the upper end and the lower end of a supporting column 13 are respectively connected with a bed plate 14 and a foundation bottom plate 12, an auxiliary supporting workpiece is installed at the center of the top of the foundation bottom plate 12, the top end of the auxiliary supporting workpiece is in contact with the bed plate 14, then a hydraulic cylinder 16 and a buckling block 15 are arranged at preset positions, the buckling block 15 is positioned right above the hydraulic cylinder 16, and then the height of the hydraulic cylinder 16 is adjusted to enable the top end of the hydraulic cylinder 16 to be in contact with the buckling block 15;
the second step is that: then powering on the hydraulic cylinder 16, detecting whether the hydraulic cylinder 16 drives the buckling block 15 to move smoothly, lifting the whole tool clamp 1 after the hydraulic cylinder 16 can perfectly drive the buckling block 15 to move, and installing the roller 11 with a brake at the edge of the bottom end;
the third step: then, mounting the rivet component 4, wherein whether the motor 42, the main shaft 43 and the cake 44 are mounted on the inner side of the relay valve block 41 or not is detected, the motor 42 is electrified to detect whether the cake 44 and the thread section 45 can be driven to rotate or not, and then the relay valve block 41 is mounted on the top output end of the industrial robot 2 in a thread matching mode;
the fourth step: then, the assembled tool clamp 1 is pushed to a processing area which can be covered by the industrial robot 2, and the roller 11 is braked and locked;
the fifth step: and finally, performing rivet pulling debugging, wherein a workpiece to be processed is placed on the tool clamp 1, the buckling block 15 in the tool clamp 1 buckles the edge of the workpiece to be processed, then the industrial robot 2 drives the rivet pulling assembly 4 to move along a preset rivet pulling processing path, and the rivet pulling operation is performed while the rivet pulling assembly 4 moves.
The robot automatic rivet pulling workstation comprises a tool clamp 1, an industrial robot 2, a control box 3 and a rivet pulling assembly 4, wherein the rivet pulling assembly 4 is installed at the top end of the industrial robot 2, the control box 3 is installed on the side wall of the industrial robot 2, the control box 3 is connected with the industrial robot 2 through a lead, the industrial robot 2 is installed on one side of the tool clamp 1, the prepared tool clamp 1 is located in a processing area which can be covered by the industrial robot 2, the rivet pulling assembly 4 at the top end of the industrial robot 2 can carry out rivet pulling on a workpiece on the tool clamp 1, and meanwhile, the industrial robot 2 is controlled by the control box 3; the tooling fixture 1 comprises a roller 11, a base plate 12, a support column 13, a bed plate 14, a buckling block 15 and a hydraulic cylinder 16, wherein the roller 11 is designed to facilitate the movement of the whole tooling fixture 1, so that the whole tooling fixture 1 can be manufactured and assembled in a large-space installation area, the whole tooling fixture 1 is moved to an automatic rivet-pulling processing position through the roller 11, namely the position of the tooling fixture 1 can be adaptively adjusted according to requirements, the support column 13 is used for supporting the bed plate 14, the surface of the bed plate 14 is smooth, the bed plate 14 is used for supporting a workpiece to be processed, the buckling blocks 15 uniformly distributed on the outer side of the bed plate 14 are used for buckling and supporting the workpiece to be processed, and the hydraulic cylinder 16 controls whether the buckling blocks 15 are buckled or not, so that the automatic rivet-pulling construction of the industrial robot 2 is facilitated; the buckling block 15 comprises an ear seat 151, a protruding arm 152, a bending base arm 153, a pressing arm 154 and a contact block 155, wherein under the pushing of the hydraulic cylinder 16, the protruding arm 152 can rotate along the central line of a short circular shaft of the ear seat 151, the bending base arm 153 above the protruding arm 152 and the pressing arm 154 can further move, a workpiece to be machined can be buckled by the contact block 155 at one end of the pressing arm 154, the position of the pressing arm 154 can be adjusted according to the requirement adaptability, the practicability is good, the locking bolt 156 is used for locking the position of the pressing arm 154, the whole contact block 155 can be in a vertical state, and a rubber pad at the bottom end of the contact block 155 can be in contact with the workpiece to be machined. Rivet subassembly 4 includes relay valve piece 41, motor 42, main shaft 43, cake 44 and screw thread section 45, wherein the assembly that rivet subassembly 4 can be free is in industrial robot 2's one end, the assembly is simple, easy access, motor 42 drives cake 44 through main shaft 43 and rotates, cake 44 rotates and drives screw thread section 45 and rotate, pivoted screw thread section 45 can carry out automatic rivet to the work piece, evenly distributed's radiating fin 46 is seted up to relay valve piece 41's outer wall, radiating fin 46's edge becomes circular-arcly, radiating fin 46 gives relay valve piece 41 and motor 42 heat dissipation, ball 47 is still installed to relay valve piece 41's inboard, ball 47's the activity of guaranteeing cake 44 is set up.
In summary, the robot automatic riveting workstation and the implementation method thereof provided by the present invention are provided, wherein the prepared tooling fixture 1 is located in a processing area that can be covered by the industrial robot 2, the riveting component 4 at the top end of the industrial robot 2 can rivet a workpiece on the tooling fixture 1, the position of the tooling fixture 1 can be adaptively adjusted according to requirements, the extending arm 152 can rotate along the short circular axis center line of the ear seat 151 under the pushing of the hydraulic cylinder 16, so that the contact block 155 at one end of the pressing arm 154 can clamp the workpiece to be processed, the position of the pressing arm 154 can be adaptively adjusted according to requirements, the practicability is good, the riveting component 4 can be freely assembled at one end of the industrial robot 2, the assembly is simple, and the maintenance is convenient.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (9)
1. The utility model provides an automatic rivet pulling workstation of robot, includes frock clamp (1), industrial robot (2), control box (3) and rivet pulling subassembly (4), its characterized in that: the rivet pulling assembly (4) is installed at the top end of the industrial robot (2), the control box (3) is installed on the side wall of the industrial robot (2), the control box (3) is connected with the industrial robot (2) through a wire, and the industrial robot (2) is installed on one side of the tool clamp (1).
2. The robotic automatic blind rivet work station of claim 1, wherein: frock clamp (1) is including gyro wheel (11), soleplate (12), support column (13), bed board (14), knot piece (15) and pneumatic cylinder (16), install the bottom surface edge department at soleplate (12) gyro wheel (11), the last edge weld of soleplate (12) is fixed with support column (13), bed board (14) are installed on the top of support column (13), evenly distributed's knot piece (15) have been arranged in the outside of bed board (14), detain the bottom of piece (15) and connect pneumatic cylinder (16), detain piece (15) and be located pneumatic cylinder (16) directly over, pneumatic cylinder (16) are installed on soleplate (12).
3. The robotic automatic blind rivet work station of claim 2, wherein: detain piece (15) including ear seat (151), cantilever arm (152), bend basic arm (153), compress tightly arm (154) and contact piece (155), ear seat (151) are fixed on the lateral wall of bed board (14), ear seat (151) are through the one end of short circle axle swing joint cantilever arm (152), the bottom surface and the output of pneumatic cylinder (16) of cantilever arm (152) are connected, the other end of cantilever arm (152) is connected and is bent basic arm (153), the inner wall and the compression arm (154) swing joint of basic arm (153) bend, compress tightly the one end installation of arm (154) and its swing joint's contact piece (155).
4. The robotic automatic blind rivet work station of claim 3, wherein: the bending base arm (153) is a hollow piece, the bending base arm (153) is arc-shaped, a locking bolt (156) is installed on the outer wall of the bending base arm (153), and the bottom end of the locking bolt (156) is in contact with the pressing arm (154).
5. The robotic automatic blind rivet work station of claim 3, wherein: the pressing arm (154) is arc-shaped, one end of the pressing arm (154) is connected with the contact block (155) through a short round shaft, the contact block (155) comprises a shaft shoulder section and a round cake section, the shaft shoulder section is located at the center of the top surface of the round cake section, the shaft shoulder section of the contact block (155) is connected with the pressing arm (154) through the short round shaft, and a rubber pad is paved on the bottom surface of the round cake section of the contact block (155).
6. The robotic automatic blind rivet work station of claim 2, wherein: the output end of the hydraulic cylinder (16) is spherical, and the bottom surface of the extending arm (152) is provided with an inward concave arc matched with the spherical output end of the hydraulic cylinder (16).
7. The robotic automatic blind rivet work station of claim 1, wherein: rivet subassembly (4) including relay valve piece (41), motor (42), main shaft (43), cake piece (44) and screw thread section (45), the screw thread has been seted up to the inward flange of relay valve piece (41), relay valve piece (41) are through screw-thread fit's mode and industrial robot (2) swing joint, install motor (42) in the inner chamber of relay valve piece (41), main shaft (43) and cake piece (44), main shaft (43) of transversal personally submitting rectangle of output installation of motor (42), main shaft (43) stretch into cake piece (44) the rectangular channel of reserving in the lateral wall center and are connected rather than the contact, cake piece (44) are connected the one end of screw thread section (45), screw thread section (45) run through relay valve piece (41).
8. The robotic automatic blind rivet work station of claim 7, wherein: the relay valve block is characterized in that radiating fins (46) which are uniformly distributed are arranged on the outer wall of the relay valve block (41), the edges of the radiating fins (46) are arc-shaped, rolling balls (47) are further mounted on the inner side of the relay valve block (41), and the relay valve block (41) is connected with the side wall of the cake block (44) through the rolling balls (47).
9. A method for implementing a robotic automatic rivet station according to any one of claims 1 to 8, characterized in that it comprises the following steps:
s1: firstly, assembling a tooling clamp (1), wherein the tooling clamp is installed in a wide area of a processing area, the upper end and the lower end of a supporting column (13) are respectively connected with a bed plate (14) and a base bottom plate (12), an auxiliary supporting workpiece is installed at the center of the top of the base bottom plate (12), the top end of the auxiliary supporting workpiece is contacted with the bed plate (14), then a hydraulic cylinder (16) and a buckling block (15) are arranged at a preset position, wherein the buckling block (15) is positioned right above the hydraulic cylinder (16), and then the height of the hydraulic cylinder (16) is adjusted to ensure that the top end of the hydraulic cylinder is contacted with the buckling block (15);
s2: then powering on the hydraulic cylinder (16), detecting whether the hydraulic cylinder (16) is in smooth motion to drive the buckling block (15), lifting the whole tool clamp (1) after the hydraulic cylinder (16) can perfectly drive the buckling block (15) to move, and installing a roller (11) with a brake on the edge of the bottom end;
s3: then, mounting a rivet component (4), wherein whether a motor (42), a spindle (43) and a cake block (44) are mounted on the inner side of the relay valve block (41) or not is detected, the motor (42) is electrified to detect whether the cake block (44) and a thread section (45) can be driven to rotate or not, and then the relay valve block (41) is mounted on the top output end of the industrial robot (2) in a thread matching mode;
s4: then, the assembled tool clamp (1) is pushed to a processing area which can be covered by the industrial robot (2), and the roller (11) is braked and locked;
s5: and finally, rivet pulling debugging is carried out, wherein a workpiece to be processed is placed on the tool clamp (1), the edge of the workpiece to be processed is fastened by the fastening block (15) in the tool clamp (1), then the industrial robot (2) drives the rivet pulling assembly (4) to move along a preset rivet pulling processing path, and rivet pulling operation is carried out while the rivet pulling assembly (4) moves.
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| WO2008074778A1 (en) * | 2006-12-19 | 2008-06-26 | Gm Global Technology Operations, Inc. | Flanging bed, flanging device, and method for flanging workpieces |
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