CN207174859U - A kind of automatic nut riveting device - Google Patents

Abstract

The utility model discloses a kind of automatic nut riveting device, it is characterised in that including：First frame, the second frame, work-piece auto-feeding device, work-piece auto-feeding device include side surface of workpiece guide-localization mechanism, workpiece gear stop mechanism, horizontal transferring device, vertical lift device and positioning and clamping device；Riveting nut automatic charging device, riveting nut automatic charging device include vibrating device and feeding device, and vibrating device includes vibrating disk and straight shake device；Feeding device corresponds to vibrating device and is arranged in the first frame；Feeding device includes deflector chute, expeller, the 5th linear motion vice mechanism, the 6th detection sensor and material guide device；Automatic riveting assembling device, automatic riveting assembling device are symmetrically arranged with two sets, and automatic riveting assembling device includes material fetching mechanism, transverse moving mechanism, upper slide rest vertical fixing plate, longitudinal moving mechanism, vertical movement mechanism, automatic riveting gun device and CCD camera.The automatic nut riveting device, operating efficiency is improved, improve product quality, production is safer.

Description

A kind of automatic nut riveting device

Technical field

It the utility model is related to metal plate and produce automatic nut riveting device, more particularly in hoistway door automatic production line Automatic nut riveting device.

Background technology

In present actual production, the operating type of riveting nut connection use, one kind is to use man-hour manually hand-held Nut riveter riveting Nut, this riveting nut operating type, low production efficiency, cost is high, and homogeneity of product is poor, and labor intensity is big, and security is poor, more Hardly possible adapts to the higher automatic production line of nowadays demand；Another kind is to manipulate Nut riveter using mobile device and control system Riveting nut, but existing automatic nut riveting device, production flexibility is poor, narrow application range, and operating efficiency and product quality are also not It is preferable.

Such as：China Patent Publication No. be the U of CN 204868005 device, a kind of entitled automatic riveting nut of utility model Device, this application case disclose a kind of automatic nut riveting device of workpiece tube wall circular hole, it include pneumatic nut riveting rifle and its up and down Movable tumbler, push the cylinder of device switch plate, the automatic vibration disk device for supplying riveting nut, workpiece support and Workpiece shelves frock, and existing this automatic riveting nut mode can be used for straight workpiece and have the workpiece of crooked radian, automatically Change degree is higher, and product riveting nut quality is good；Its shortcoming finds hole position difficulty accurately when being riveting nut big, workpieces processing size range Small, efficiency is high not enough, complicated, and manufacture difficulty is big, and production cost is high.

Utility model content

The purpose of this utility model is low in order to solve existing riveting nut efficiency, and quality is unstable, and potential safety hazard is big, labor The problems such as operational difficulties of the big artificial riveting nut riveting of fatigue resistance, while in order to solve existing automatic riveting nut workpieces processing chi Very little smaller, the problem of production flexibility difference, and automatic riveting nut can efficiently, stably be realized by providing one kind, and safe, The high automatic nut riveting device of product quality.

Technical scheme is used by the utility model realizes its technical purpose：A kind of automatic nut riveting device, its feature It is to include：

First frame, the first described frame include workpiece delivery end and workpiece riveting dress end；

Second frame, it is arranged on the inside of the first frame, the platen for being implanted with PVC hair posts is provided with the second described frame；

Work-piece auto-feeding device, described work-piece auto-feeding device include side surface of workpiece guide-localization mechanism, workpiece Keep off stop mechanism, horizontal transferring device, vertical lift device and positioning and clamping device；

Described side surface of workpiece guide-localization mechanism is arranged in the first frame, including curb girder, supporting plate, curb girder prismatic pair And guiding mechanism；

Described workpiece gear stop mechanism is arranged on the riveting dress end of the first frame, and described workpiece gear stop mechanism includes the second gas Cylinder, lifting linking member, blocking arm, workpiece supporting plate fixed plate and the second detection sensor；

Described horizontal transferring device includes reducing motor, horizontal transport agency and transfer gantry；

Described vertical lift device is symmetricly set on the both ends of the second frame, and described vertical lift device includes lifting Bearing, the first cylinder, first straight line guide rail vice mechanism, lifting planker support and support fixed plate；

Riveting nut automatic charging device, described riveting nut automatic charging device include vibrating device and feeding device, institute The vibrating device stated is symmetricly set on the both sides of the first frame, and described vibrating device includes vibrating disk and straight shake device；Described Feeding device corresponds to vibrating device and is arranged in the first frame；Described feeding device includes deflector chute, expeller, the 5th straight line Move vice mechanism, the 6th detection sensor and material guide device；

Automatic riveting assembling device, described automatic riveting assembling device are symmetrically arranged with two sets, and described automatic riveting assembling device passes through First portal frame be arranged on the first frame riveting dress end, described automatic riveting assembling device include material fetching mechanism, transverse moving mechanism, Upper slide rest vertical fixing plate, longitudinal moving mechanism, vertical movement mechanism, automatic riveting gun device and CCD camera.

The automatic nut riveting device, by side surface of workpiece guide-localization mechanism, workpiece keep off stop mechanism, horizontal transferring device, Vertical lift device and positioning and clamping device are to needing the workpiece that riveting fills to be automatically positioned, automatic transport and lifting positioning gear Stop mechanism, the real-time and precise positioning to workpiece is realized, meanwhile, riveting nut automatic charging device is set, realizes and riveting nut is carried out Orderly feeding, then the automatic riveting of riveting nut is attached on workpiece by automatic riveting assembling device, automatic back pieces are then realized, in whole work Operating personnel need not be separately provided in sequence, riveting nut beat is every hole 22 seconds, and the successive operation of energy, good product consistency, Product quality is stable, and production efficiency is high, and production capacity is stable.Concrete operations are as follows：Vertical lift device rises in place, passes through workpiece side Face guide-localization mechanism carries out centering guiding to workpiece, is fed forward workpiece by horizontal transferring device, workpiece is transported to Workpiece gear stop mechanism, which stretches out, during position positions workpiece, is about to Work-sheet pressing under positioning and clamping device, completes workpiece positioning and clamping；It is logical Cross vibrating device and feeding device riveting nut is delivered to and is assembled on automatic riveting assembling device according to regulation direction, complete riveting nut Automatic charging；Automatic riveting assembling device vertically and horizontally moves, and makes riveting nut and workpiece assembling centerline hole one on automatic riveting assembling device Cause, automatic riveting assembling device vertical direction action is simultaneously descending, the descending automatic riveting nut of rear automatic riveting assembling device in place, completes nut riveting Dress, after the completion of riveting fills, automatic riveting assembling device returns to original position；Positioning and clamping device is up to keep in the center, vertical lift device Workpiece is held up and is fed forward again with horizontal transferring device, workpiece is exported into the present apparatus, completes the automatic riveting dress of riveting nut.Should Device is particularly suitable for use in the on-line automatic riveting nut apparatus for work of large-scale sheet metal component hall door automatic assembly line, has filled up large-scale sheet metal component The domestic blank of the online riveting nut apparatus for work of automatic assembly line, is designed by gantry double, substantially increases operating efficiency, The automatic job of more large-size workpiece is adapted to, while also increases the stability and adjustable extent of automatic riveting gun operation, more Flexibility with suitable wide dimensions product, solves that conventional efficiency is low, and quality is unstable, and potential safety hazard is big, labor intensity The operational difficulties of big artificial riveting nut riveting, while it is smaller flexible with work also to solve automatic riveting nut workpieces processing size in the past The problem of poor, the high efficiency of automatic riveting nut, the difficulty of the high-quality stability of riveting nut workpiece.Labour cost is reduced, improves work Make efficiency, improve product quality, production is safer.

Preferably, described curb girder prismatic pair is symmetrical arranged the both ends of the first frame, described supporting plate is arranged on side On beam prismatic pair, described curb girder is set on the supporting plate, and described guiding mechanism is arranged on curb girder；Described curb girder movement Pair includes the 3rd cylinder, second straight line guide rail vice mechanism and hydraulic bjuffer, described second straight line guide rail vice mechanism and the 3rd Cylinder is connected, and described hydraulic bjuffer is arranged in the first frame by a mounting blocks；Described guiding mechanism includes setting Directive wheel mounting plate in curb girder, the directive wheel being distributed in directive wheel fixed plate and it is arranged on directive wheel mounting plate Guide plate in the plate face of the first frame workpiece delivery end.Side surface of workpiece guide-localization mechanism be arranged to said structure be for Positioning and guiding of the convenience to workpiece both sides, it disclosure satisfy that the workpiece of different in width is applicable, versatility is good, is advised by workpiece size Lattice requirement, recalls the workpiece size specification program for pre-setting storage, the 3rd cylinder operation, by leading connector, pinboard, branch Fagging, curb girder, directive wheel fixed plate, which drive directive wheel to be moved to workpiece size specification, needs size positions fixed guide, completes work Part both sides guide-localization.

Preferably, described lifting linking member includes connecting plate and connecting shaft, the second described cylinder is arranged on workpiece support The lower section of plate fixed plate, described connecting shaft are connected with the second cylinder, and described connecting plate is with being connected axis connection, described blocking arm Respectively with connecting plate and being connected axis connection, the second described detection sensor is arranged on the lower face of workpiece supporting plate fixed plate, Workpiece supporting plate is provided with the upper face of described workpiece supporting plate fixed plate.The said structure of workpiece gear stop mechanism passes through the second gas Cylinder working, drive blocking arm to move by connecting shaft and connecting plate, blocking arm is vertically stopped state in gear, meanwhile, workpiece supporting plate and The platen for being implanted with PVC hair posts is realized to the support during riveting nut riveting dress to workpiece.

Preferably, described horizontal transport agency is flat belt conveying mechanism；Described horizontal transport agency is arranged on Driven on transfer gantry and by reducing motor.The said structure of horizontal transferring device is for convenience to the horizontal defeated of workpiece Send.Reducing motor fast turn-around start, by horizontal transport agency drive workpiece quickly move forward, when workpiece in place when, subtract Speed motor microrunning starts, and workpiece is continued to convey at a slow speed forward by horizontal transport agency, the work when end in contact blocking arm before workpiece Part, which is kept off, to stop, and completes the positioning of workpiece front end.

Preferably, described support fixed plate is arranged on the upper end of lifting planker, described first straight line guide rail slave Structure is arranged on lifting support, and described lifting planker support is flexibly connected with first straight line guide rail vice mechanism and by the first gas Cylinder, which drives, to move up and down；Described positioning and clamping device includes the second portal frame, the 7th cylinder and briquetting, the 7th described cylinder It is arranged on the second portal frame, described briquetting is connected with the 7th cylinder；The second described portal frame is horizontally installed on the first machine The riveting dress end of frame.Vertical lift device and positioning and clamping device and said structure is arranged to, is that workpiece bottom is determined for convenience Position and clamping；First cylinder operation, drive horizontal transferring device vertically to decline by first straight line guide rail vice mechanism, workpiece is put down It is placed on workpiece supporting plate and is implanted with PVC hair pylon plates, completes the positioning of workpiece bottom；Completely after positioning, the 7th cylinder operation, briquetting Under be about to Work-sheet pressing, so far complete workpiece positioning and clamping.

Preferably, the outlet of one end of described deflector chute and face vibrating device is set, described deflector chute it is another One end is arranged in the 5th linear motion vice mechanism and docked with expeller activity, and it is straight that described material guide device is arranged on the 5th Docking is connected below line motion vice mechanism and with expeller, the 6th described detection sensor is arranged on the charging of material guide device End, described feeding device are arranged in the first frame corresponding to feeding device；Described material guide device includes passage, stage clip With hollow chuck, described passage includes soft passage and steel passage, described soft passage by guide pipe flange with 5th linear motion vice mechanism connection, described steel passage are connected with soft passage and hollow chuck respectively, described stage clip It is arranged between steel passage and hollow chuck, six described detection sensors are arranged on guide pipe flange.Vibrating device and Feeding device is arranged to said structure, is the automatic charging of riveting nut for convenience, is directly shaken and led by vibrating disk and linear feeding Groove delivers to riveting nut in expeller " U " hole of guide groove end according to regulation direction, then riveting nut is pressed into initial side by expeller To push-in material guide device, the automatic charging of riveting nut is realized, automaticity is good.

Preferably, it is horizontally arranged with platen along gantry on the first described portal frame；Described upper slide rest is vertically fixed Plate is provided with longitudinal moving mechanism；Described material fetching mechanism corresponds to riveting nut automatic charging device and is arranged on upper slide rest vertically admittedly The outside of fixed board, described automatic riveting gun device are arranged in vertical movement mechanism, and described CCD camera passes through a fixed seat The lower end of upper slide rest vertical fixing plate is arranged on parallel to automatic riveting gun device.Automatic riveting assembling device docks realization with feeding device The automatic charging feeding of riveting nut is simultaneously assembled on automatic riveting gun device, completes riveting nut automatic charging.

Preferably, described transverse moving mechanism includes：Servomotor line style module, second straight line slide rail pair, drag greatly Plate, pusher dog clamping groove plate and pusher dog, are provided with sensing screw on described saddle, described platen close to the first portal frame one Side is symmetrically arranged with line style module fixed plate, and described servomotor line style module is lateral symmetry to be arranged on line style module fixed plate On, described pusher dog is arranged on the side of line style module, be provided with the downside of line style module detection sensor sensing chip and 4th detection sensor；Described longitudinal moving mechanism includes electric cylinders and the 3rd line slideway auxiliary, and the electric cylinders pass through electric cylinders branch Seat is arranged on saddle, and described electric cylinders front end sets electric cylinders connector, and electric cylinders company is provided with described electric cylinders connector Joint chair；Described upper slide rest vertical fixing plate is arranged on the 3rd line slideway auxiliary；Described vertical movement mechanism is arranged on small On planker vertical fixing plate, described vertical movement mechanism includes the 4th cylinder, the 4th line slideway auxiliary, planker, baffle plate, stage clip Nut and stage clip, the 4th described cylinder are vertically set on upper slide rest vertical fixing plate by upper bracket and undersetting；It is described Spring pressing nut by one flexible connection head be connected with the 4th cylinder, be additionally provided with contiguous block on described flexible connection head, institute The stage clip stated is arranged between contiguous block and spring pressing nut, and described contiguous block is fixedly connected with supporting plate, described supporting plate and The up and down connection of four line slideway auxiliaries, described baffle plate setting is in the side of planker.Transverse moving mechanism, longitudinal moving mechanism Said structure with vertical movement mechanism be in order to realize to automatic riveting gun device vertically and horizontally and vertical direction movement, pass through CCD detections positioning and servo-drive, automatic riveting gun device is vertically and horizontally moved, makes the riveting nut and workpiece on automatic riveting gun device It is consistent to assemble centerline hole, last vertical direction cylinder operation, promotes automatic riveting gun device descending, descending automatic riveting gun rear in place The automatic riveting nut of device, nut riveting dress is completed, after the completion of riveting fills, automatic riveting gun device returns to original position；Workpiece pressuring clamping device Up to keep in the center, workpiece is held up and is fed forward again by elevating transport apparatus, exports workpiece by conveying transition apparatus The present apparatus, complete the automatic riveting dress of workpiece riveting nut.

Preferably, described material fetching mechanism is arranged on upper slide rest vertical fixing plate, described material fetching mechanism includes the Three detection sensors, rotary cylinder, the 5th cylinder and jaw, the 3rd described detection sensor are arranged on upper slide rest and vertically fixed On plate, riveting nut automatic charging device is provided with Duct fixing clamp, described rotation on described upper slide rest vertical fixing plate Rotaring cylinder is arranged on upper slide rest vertical fixing plate by a hold-down support, and the 5th described cylinder is arranged on the upper of rotary cylinder Face, described jaw are arranged on below rotary cylinder by a connector, and mechanical finger is provided with described jaw.Feeding The said structure of mechanism, the riveting nut for expecting end of conduit is removed and is assembled on automatic riveting gun device by the material fetching mechanism, It is easy to operate.

Preferably, described automatic riveting gun device is arranged on supporting plate, described automatic riveting gun device includes automatic riveting Rifle, switch pneumatic controller, oil buffer bearing and oil buffer, the automatic riveting gun is arranged on planker, described Switch pneumatic controller is arranged on automatic riveting gun, and the upper slide rest that described oil buffer bearing is arranged on below baffle plate is vertical In fixed plate, described oil buffer is arranged on oil buffer bearing and face baffle plate setting.

The beneficial effects of the utility model are：The automatic nut riveting device, labour cost is reduced, improves operating efficiency, Product quality is improved, production is safer；The country for having filled up the online riveting nut apparatus for work of large-scale sheet metal component automatic assembly line is empty In vain, designed by gantry double, substantially increase operating efficiency, adapt to the automatic job of more large-size workpiece, while The stability and adjustable extent of automatic riveting gun operation are added, with more the flexibility of suitable wide dimensions product, passes through CCD Camera focusing precise positioning and High-precision servo motor are driven with electric cylinders and precise linear guide is oriented to, and have preferably been ensured certainly The uniformity of dynamic riveting nut product；Solve that conventional efficiency is low, and quality is unstable, potential safety hazard is big, big artificial of labor intensity The operational difficulties of riveting nut riveting, while also solve in the past that automatic riveting nut workpieces processing size is smaller, and work is flexible poor, asks Topic, the high efficiency of automatic riveting nut, the difficulty of the high-quality stability of riveting nut workpiece.

Brief description of the drawings

Fig. 1 is a kind of structural representation of the automatic nut riveting device of the utility model

Fig. 2 is a kind of structural representation of work-piece auto-feeding device in the utility model

Fig. 3 is a kind of structural representation of horizontal transferring device in the utility model

Fig. 4 is a kind of structural representation of vertical lift device in the utility model

Fig. 5 is a kind of structural representation of guiding mechanism in the utility model；

Fig. 6 is a kind of structural representation of the utility model workpiece gear stop mechanism；

Fig. 7 is a kind of structural representation of universal wheel mechanism in the utility model；

Fig. 8 is a kind of structural representation of curb girder prismatic pair in the utility model；

Fig. 9 is a kind of structural representation of feeding device in the utility model；

Figure 10 is the structural representation of the 5th linear motion vice mechanism and material guide device in the utility model；

Figure 11 is a kind of structural representation of vertical movement mechanism and material fetching mechanism in the utility model；

Figure 12 is another angled arrangement schematic diagram of vertical movement mechanism and material fetching mechanism in Figure 10；

Figure 13 is a kind of structural representation of riveting nut automatic charging device in the utility model；

Figure 14 is a kind of structural representation of positioning and clamping device in the utility model；

Figure 15 is a kind of structural representation of workpiece in the utility model；

Figure 16 A are a kind of structural representations before workpiece riveting nut in the utility model；

Figure 16 B are a kind of structural representations after workpiece riveting nut in the utility model；

In figure：First frame 1, the second frame 2, PVC hair pylons plate 6 is implanted with, conveys flat belt 7, the first detection sensor 8, lifting support 9, protective cover 10, driven shaft 11, bearing block 12, transfer gantry 13, belt planker 14, fixed plate 15, driving shaft 16, driven synchronous pulley 17, transition wheel 18, active synchronization belt wheel 19, timing belt 20, reducing motor 21, the first cylinder 22, first Cylinder active joint 23, first straight line guideway 25, the first cylinder connector 26, lifting planker support 27, fixed plate 28 is supported, Workpiece stock guide 30, the 3rd cylinder contiguous block 31, curb girder 32, directive wheel fixed plate 33, directive wheel 34, workpiece supporting plate 35, buphthalmos Universal wheel fixed plate 36, workpiece supporting plate fixed plate 37, the second cylinder 38, connecting shaft 39, connecting plate 40, blocking arm 41, the second detection Sensor 41C, transition conveyor mat 42, plate 43, guide shaft support 44, lead 45, buphthalmos universal wheel 46, the 3rd cylinder 47, the 3rd cylinder mounting block 48, the 3rd cylinder connector 49, pinboard 50, supporting plate 51, second straight line guide rail 52, mounting blocks 53, hydraulic bjuffer 54, block 55, second support 56, the anticollison block 60 of second straight line guideway 59, saddle 61, the 3rd straight line Guideway 62, upper slide rest vertical fixing plate 4, the 3rd detection sensor 63, electric cylinders connecting seat 64, electric cylinders connector 65, electric cylinders branch Seat 66, electric cylinders 67, servomotor line style module 68, pusher dog clamping groove plate 69, pusher dog 70, light barrier 71, the 4th detection sensor 72, Line style module fixed plate 73, platen 74, the first portal frame 75, automatic riveting gun 76, CCD camera 83, fixed seat 84, oleo cushion Device bearing 85, oil buffer 86, baffle plate 87, the 4th line slideway auxiliary 88, planker 89, spring pressing nut 90, stage clip 91, activity is even Joint 92, contiguous block 93, upper bracket 94, the 5th cylinder 95, rotary cylinder 96, hold-down support 97, connector 98, jaw 99, machine Tool finger 100, undersetting 101, the 4th cylinder 102, first support 103, vibrating disk and straight shake device 5, deflector chute 57, big fixed plate 105, overhead gage 106, U-typed expeller 107, rear fixed seat 108, the 6th cylinder 109, preceding fixed seat 110, the connection of the 6th cylinder Block 111, the 6th cylinder connector 112, the 5th line slideway auxiliary 114, the 5th detection sensor 115, the 6th detection sensor 116, small fixed plate 117, guide pipe flange 118, soft passage 77, steel passage 78, fixing clip 79, stage clip 80, "O"-ring 81, hollow chuck 82；Second portal frame 3, the 7th cylinder 119, briquetting 120, workpiece 121, riveting nut 104A before staking, after staking Riveting nut 104B.

Embodiment

The technical solution of the utility model is described in further detail below by specific embodiment and with reference to accompanying drawing.

Embodiment 1：

In the embodiment described in Fig. 1, Fig. 2, Figure 13, a kind of automatic nut riveting device, it is characterised in that including：

First frame 1, the first frame 1 include workpiece delivery end and workpiece riveting dress end；

Second frame 2, it is arranged on the inside of the first frame, the platen 6 for being implanted with PVC hair posts is provided with the second frame 2；

Work-piece auto-feeding device, for realizing the automatic charging of workpiece and carrying out compression positioning to workpiece；Workpiece is certainly Dynamic feeding device is arranged in the first frame 1；Work-piece auto-feeding device includes side surface of workpiece guide-localization mechanism, workpiece gear stops Mechanism, horizontal transferring device, vertical lift device and positioning and clamping device；Side surface of workpiece guide-localization mechanism is used to realize to work The guiding of the side position of part two simultaneously realizes positioning；Workpiece gear stop mechanism is used to realize to stop positioning to the gear of workpiece conveying end；It is horizontal Conveying device, which is used to realize, to be carried out horizontal feed by workpiece and exits；Vertical lift device is used for the raising and lowering for realizing workpiece And then realize the setting of the transfer position and riveting holding position of workpiece；Positioning and clamping device is used to realize the clamping and positioning to workpiece；

Riveting nut automatic charging device, for realizing the automatic charging to riveting nut；Riveting nut automatic charging device includes Vibrating device and feeding device, vibrating device are symmetricly set on the both sides of the first frame, and feeding device corresponds to vibrating device setting In the first frame；

Automatic riveting assembling device, for the automatic riveting of riveting nut to be attached into workpiece.

Side surface of workpiece guide-localization mechanism is arranged in the first frame 1, including curb girder 32, supporting plate 51, curb girder prismatic pair And guiding mechanism；Curb girder prismatic pair is symmetricly set on the both ends of the first frame 1, and supporting plate 51 is arranged on curb girder prismatic pair, side Beam 32 is arranged in supporting plate 51, and guiding mechanism is arranged on curb girder 32；Curb girder prismatic pair includes the 3rd cylinder 47, second straight line Guide rail vice mechanism and hydraulic bjuffer 54（See Fig. 8）, it is straight that second straight line guide rail vice mechanism includes second straight line guideway 52, second Pinboard 50 is provided with line guideway 52, the cylinder contiguous block 31 of block 55 and the 3rd, the 3rd cylinder are provided with pinboard 50 The 3rd cylinder connector 49 is provided with contiguous block 31, the 3rd cylinder 47 and the 3rd cylinder connector 49 are pacified by one the 3rd cylinder Dress block 48 connects；Hydraulic bjuffer 54 is arranged in the first frame by a mounting blocks 53, and supporting plate 51 is arranged on pinboard.

Guiding mechanism includes being arranged on the directive wheel mounting plate 33 of curb girder, is distributed on leading in directive wheel fixed plate 33 To wheel 34 and guide plate 30 of the directive wheel mounting plate 33 in the plate face of the first frame workpiece delivery end is arranged on, is oriented to Plate 30 is symmetrical arranged in guide channel in bending structure（See Fig. 5）.

Workpiece gear stop mechanism is arranged on the riveting dress end of the first frame, and workpiece gear stop mechanism includes the second cylinder 38, lifting connects Bar, blocking arm 41, workpiece supporting plate fixed plate 37 and the second detection sensor 41C（See Fig. 6）, lifting linking member is including connecting plate 40 and even Spindle 39, the second cylinder 38 are arranged on the lower section of workpiece supporting plate fixed plate 37, and connecting shaft 39 is connected with the second cylinder 38, connecting plate 40 are connected with connecting shaft 39, and blocking arm 41 is connected with connecting plate 40 and connecting shaft 39 respectively, and the second detection sensor 41C is arranged on work On the lower face of part supporting plate fixed plate 37, workpiece supporting plate 35 is provided with the upper face of workpiece supporting plate fixed plate 37.

Horizontal transferring device includes reducing motor 21, horizontal transport agency and transfer gantry 13（See Fig. 3）；Horizontal conveyer Structure is flat belt conveying mechanism；Horizontal transport agency is arranged on transfer gantry 13 and driven by reducing motor 21.

Horizontal transport agency includes active synchronization belt wheel 19, transition synchronous pulley 18, driven synchronous pulley 17, timing belt 20th, driving shaft 16, driven shaft 11 and conveying flat belt 7；Transfer gantry 13 is connected with vertical lift device, and the one of transfer gantry 13 End is provided with the other end of bearing block 12 and is provided with fixed plate 15, and driven shaft 11 is provided with bearing block, is provided with fixed plate 15 Flat belt 7 is set on driving shaft 16, driving shaft and driven shaft, belt planker 14 is set on transfer gantry 13, flat belt level is set Put on belt planker, transition synchronous pulley 18 and reducing motor 21 are arranged in fixed plate 15, and active synchronization belt wheel 19 is with subtracting Speed motor is connected, and driven synchronous pulley 17 is arranged on driven shaft, is provided with active synchronization belt wheel and driven synchronous pulley same Walk band 20.

Vertical lift device is symmetricly set on the both ends of the second frame, and vertical lift device includes lifting support 9, the first gas Cylinder 22, first straight line guide rail vice mechanism, lifting planker support 27 and support fixed plate 28（See Fig. 4）, described support fixed plate The upper end of lifting planker is arranged on, described first straight line guide rail vice mechanism is arranged on lifting support 9, lifting planker support 27 It is flexibly connected with first straight line guide rail vice mechanism and is driven by the first cylinder 22 and is moved up and down.

First straight line guide rail vice mechanism includes first straight line guideway 25, the first cylinder connector 26, the activity of the first cylinder Joint 23；First straight line guideway 25 is arranged on lifting support 9, lifting planker support 27 and the activity of first straight line guideway 25 Connection, the lower end of lifting planker support 27 pass through the first cylinder connector 26 and the first cylinder active joint 23 and the first cylinder 22 Connection.

Positioning and clamping device includes the second portal frame 3, the 7th cylinder 119 and briquetting 120（See Figure 14）, the 7th cylinder 119 It is arranged on the second portal frame 3, briquetting 120 is connected with the 7th cylinder 119；Second portal frame 3 is horizontally installed on the first frame 1 Riveting fills end.

First frame riveting dress end is additionally provided with universal wheel mechanism, and universal wheel mechanism includes transition conveyor mat 42, the axis of guide Bearing 44, lead 45, buphthalmos universal wheel fixed plate 36 and buphthalmos universal wheel 46（See Fig. 7）, guide shaft support 44 was arranged on Cross in conveyor mat 42, buphthalmos universal wheel fixed plate 36 is connected by lead 45 with guide shaft support 44, buphthalmos universal wheel 36 It is arranged in buphthalmos universal wheel fixed plate 36.Universal wheel mechanism plays a part of transition conveying in workpiece course of conveying.

The vibrating device as shown in Fig. 9, Figure 10, Figure 11, Figure 12 includes vibrating disk and straight shake device 5；Vibrating disk and straight shake device 5 are logical Cross the both sides that first support 103 is arranged on the first frame.

Feeding device includes deflector chute 57, the linear motion of expeller the 107, the 5th vice mechanism, the and of the 6th detection sensor 116 Material guide device, the outlet of one end face vibrating device of deflector chute 57 are set, and the other end of deflector chute 57 is arranged on the 5th straight line Dock in motion vice mechanism and with the activity of expeller 107, material guide device be arranged on the 5th linear motion vice mechanism lower section and with The connection docking of expeller 107, the 6th detection sensor 116 are arranged on the feed end of material guide device, and feeding device corresponds to feeding Device is arranged in the first frame 1；Material guide device includes passage, stage clip 80 and hollow chuck 82（See Figure 10）, passage bag Soft passage 77 and steel passage 78 are included, soft passage 77 is connected by guide pipe flange 118 with the 5th linear motion vice mechanism, Steel passage 78 is connected with soft passage 77 and hollow chuck 82 respectively, and stage clip 80 is arranged on steel passage 78 and hollow chuck 82 Between, O-ring 81 is provided with hollow chuck, six detection sensors 116 are arranged on guide pipe flange 118.

5th linear motion vice mechanism includes the 6th cylinder 109, the 5th line slideway auxiliary 114, big fixed plate 105, small solid The detection sensor 115 of fixed board 117 and the 5th, the 6th cylinder 109 are fixed on big solid by preceding mounting seat 108 and rear mounting seat 110 On fixed board, expeller 107 is U-shape structure and passes through the 6th cylinder contiguous block 111 and the 6th cylinder connector with the 6th cylinder 109 112 connections, and expeller coordinates with the activity of the 5th line slideway auxiliary 114 being arranged in big fixed plate 105, and the 5th detection passes Sensor 115 is arranged on expeller, and small fixed plate 117 is oppositely arranged in big fixed plate with expeller.

Automatic riveting assembling device is symmetrically arranged with two sets, and automatic riveting assembling device is arranged on the first frame by the first portal frame 75 1 riveting dress end, is horizontally arranged with platen 74 on first gantry sortie 5, automatic riveting assembling device includes material fetching mechanism, transverse direction along gantry Travel mechanism, upper slide rest vertical fixing plate 4, longitudinal moving mechanism, vertical movement mechanism, automatic riveting gun device and CCD camera 83；Upper slide rest vertical fixing plate 4 is provided with longitudinal moving mechanism；Material fetching mechanism corresponds to riveting nut automatic charging device and is arranged on The outside of upper slide rest vertical fixing plate 4, automatic riveting gun device are arranged in vertical movement mechanism, and CCD camera 83 is solid by one Reservation 84 is arranged on the lower end of upper slide rest vertical fixing plate 4 parallel to automatic riveting gun device.

Transverse moving mechanism includes：Servomotor line style module 68, second straight line slide rail pair 59, saddle 61, pusher dog card Frid 69 and pusher dog 70, length direction of the second straight line slide rail pair 59 along platen 74 are set, saddle 61 be provided with two groups and Second straight line slide rail pair 59 is symmetricly set on, two groups of relative sides of saddle are respectively arranged with anticollison block 60；Leaned on saddle Side on the inside of nearly first frame is provided with pusher dog clamping groove plate 69, and pusher dog 70 is equipped with pusher dog clamping groove plate 69；Saddle Upper that pusher dog clamping groove plate 69 is provided with sensing screw 63B, platen is symmetrical arranged line style mould close to the side of the first portal frame Group fixed plate 73, servomotor line style module 68 is lateral symmetry to be arranged in line style module fixed plate, and pusher dog 70 is arranged on line style The side of module, the detection sensor 72 of detection sensor sensing chip 71 and the 4th is provided with the downside of line style module.

Longitudinal moving mechanism includes the line slideway auxiliary 62 of electric cylinders 67 and the 3rd, and electric cylinders 67 are arranged on greatly by electric cylinders bearing 66 On planker, electric cylinders front end sets electric cylinders connector 64, and electric cylinders connecting seat 65 is provided with electric cylinders connector；Upper slide rest is vertically fixed Plate 4 is arranged on the 3rd line slideway auxiliary 62.

Vertical movement mechanism is arranged on upper slide rest vertical fixing plate 4, and vertical movement mechanism includes the 4th cylinder 102, the Four line slideway auxiliaries 88, planker 89, baffle plate 87, spring pressing nut 90 and stage clip 91, the 4th cylinder pass through upper bracket 94 and undersetting 101 are vertically set on upper slide rest vertical fixing plate；Spring pressing nut 90 is flexibly connected first 92 by one and connected with the 4th cylinder 102 Connect, be flexibly connected head on be additionally provided with contiguous block 93, stage clip 91 is arranged between contiguous block 93 and spring pressing nut 90, contiguous block with Supporting plate is fixedly connected, and 88 up and down connection of supporting plate and the 4th line slideway auxiliary, baffle plate 87 is arranged on the side of planker.

Material fetching mechanism is arranged on upper slide rest vertical fixing plate 4, and material fetching mechanism includes the 3rd detection sensor 63, rotary pneumatic Cylinder 96, the 5th cylinder 95 and jaw 99, the 3rd detection sensor 63 are arranged on upper slide rest vertical fixing plate 4, and upper slide rest is vertical Riveting nut automatic charging device is provided with Duct fixing clamp 79 in fixed plate, rotary cylinder 96 is set by a hold-down support 97 Put on upper slide rest vertical fixing plate, the 5th cylinder 95 is arranged on above rotary cylinder 96, and jaw 99 passes through a connector 98 It is arranged on below rotary cylinder, mechanical finger 100 is provided with jaw.

Automatic riveting gun device is arranged on supporting plate 89, and automatic riveting gun device includes automatic riveting gun 76, switch pneumatic controller Oil buffer bearing 85 and oil buffer 86, automatic riveting gun 76 are arranged on planker, and switch pneumatic controller is arranged on certainly On dynamic riveting gun, oil buffer bearing 85 is arranged on the upper slide rest vertical fixing plate below baffle plate, and oil buffer 86 is set On oil buffer bearing and face baffle plate setting.

The automatic nut riveting device, the first frame both sides are symmetrical arranged vibrating disk and straight shake device 5 each one, vibrating disk discharging End sets deflector chute 57, and deflector chute end sets U-typed expeller 107, and detection sensor 115 is set on U-typed expeller, Cylinder contiguous block 111 is set above U-typed expeller, and line slideway auxiliary 114, line slideway auxiliary is provided below in U-typed expeller Big fixed plate 105 is provided below, small fixed plate 117, preceding mounting seat 108, rear mounting seat 110 and the 6th are set above big fixed plate Passage is provided below in cylinder 109, big fixed plate, and passage upper end sets the guide pipe flange 118 being connected with big fixed plate, led Detection sensor 116 is set on expects pipe flange, and guide pipe flange lower end sets soft passage 77, and steel guide is provided below in soft pipeline Hollow chuck 82 is provided below in pipe 78, steel passage, also sets up stage clip 80 between hollow chuck and steel passage, on hollow chuck Also set up "O"-ring.

First portal frame 75 is set above first frame, platen 74 is set above first portal frame, the is set above platen Two line slide rail pairs 59, saddle 61 each one is symmetrical arranged on line slideway auxiliary, the 3rd line slideway auxiliary is set on saddle 62, upper slide rest vertical fixing plate 4 is set on the 3rd line slideway auxiliary 62, and saddle one end sets anticollison block 60, saddle side Pusher dog clamping groove plate 69 is set, sensing screw 63B, electric cylinders bearing 66 are also set up on saddle, electric cylinders 67, electricity are set on electric cylinders bearing Cylinder front end sets electric cylinders connector 64, sets electric cylinders connecting seat 65 on electric cylinders connector, platen side is symmetrical arranged line style module 73 each two pieces of fixed plate, each one of servomotor line style module 68, line style are accordingly symmetrical arranged in line of symmetry pattern group fixed plate Module one side sets pusher dog 70, and line style module another side sets detection sensor sensing chip 71, detection sensor 72 3.

Detection sensor 63 is set on upper slide rest vertical fixing plate, Duct fixing clamp is also set up on upper slide rest vertical fixing plate 79, hold-down support 97 is also set up on upper slide rest vertical fixing plate, rotary cylinder is set on hold-down support, and rotary cylinder 96 is set above The 5th cylinder 95 is put, rotary cylinder is provided below connector 98, jaw 99 is set on connector, mechanical finger is set in jaw 100, upper bracket 94, undersetting 101 and cylinder 102 are also set up on planker vertical fixing plate, active joint 92 is set on cylinder, it is living Spring pressing nut 90 is set on dynamic connector, is flexibly connected on head and also sets up contiguous block 93, set between contiguous block 93 and spring pressing nut Stage clip 91 is put, line slideway auxiliary 88 is also set up on upper slide rest vertical fixing plate, planker 89 is set on line slideway auxiliary, set on planker Contiguous block 93 is put, baffle plate 87 is also set up on planker, automatic riveting gun 76 is also set up on planker, the pneumatic control of switch is set on automatic riveting gun Device processed, fixed seat 84 is also set up on upper slide rest vertical fixing plate, CCD camera 83 is set in fixed seat, upper slide rest is vertically fixed Oil buffer bearing 85 is also set up on plate, oil buffer 86 is set on oil buffer bearing.

Symmetrical second straight line guideway 52 is set in first frame, pinboard 50, switching are set on second straight line guideway Set on plate and the 3rd cylinder contiguous block 31 is also set up on the pinboard of block 55, set the 3rd cylinder to connect on the 3rd cylinder contiguous block First 49, the 3rd cylinder connector sets the 3rd cylinder 47, and the 3rd cylinder mounting block 48 is set on the 3rd cylinder, is gone back in the first frame Setting is symmetrically installed block 53, and hydraulic bjuffer 54 is set on mounting blocks, supporting plate 51 is also set up on pinboard, is set in supporting plate There is curb girder 32, directive wheel mounting seat 33 is set on curb girder, directive wheel 34 is set in directive wheel mounting seat, guiding is also set up on curb girder Plate 30.

Workpiece supporting plate fixed plate 37 is also set up in first frame, Workpiece fixing plate 35, work are set in workpiece supporting plate fixed plate Second cylinder 38 is set in part supporting plate fixed plate, connecting shaft 39 is set on second cylinder, connecting plate 40, connection are set in connecting shaft Plate also sets up the second detection sensor 41C with setting blocking arm 41 in connecting shaft in workpiece supporting plate fixed plate.

Bottom plate 42 is also set up in first frame, guide shaft support 44 is set on bottom plate, guide shaft support sets buphthalmos universal Fixed plate 36 is taken turns, buphthalmos multi-directional ball 46 is set in buphthalmos universal wheel fixed plate, guide shaft support also sets up lead 45.

The second portal frame 3 is also set up in first frame, the 7th cylinder 119 is set on second portal frame, set on the 7th cylinder Put briquetting 120.

Set in second frame and be implanted with PVC hair column brackets plate 6, also set up lifting support 9 in the second frame, set on lifting support First straight line guideway 25 is put, lifting planker support 27 is set on first straight line guideway, lifts to set on planker support and fixes Connecting plate 28, lift and also set up the first cylinder 22 on planker support, the first cylinder active joint 23, the first gas are set on the first cylinder First cylinder connector 26 is set on cylinder active joint, transfer gantry 13 is set in fixed plate, sets belt to drag on transfer gantry Plate 14, bearing block 12 and fixed plate 15 are also set up on transfer gantry, driven shaft 11 is set on bearing block, on bearing block and fixed plate Driving shaft 16 is set, flat belt 7 is set on driving shaft and driven shaft, transition synchronous pulley 18 and reducing motor are set in fixed plate 21, active synchronization belt wheel 19 is set on reducing motor, also sets up driven synchronous pulley 17 on driven shaft, active synchronization belt wheel and from Timing belt 20 is set on dynamic synchronous pulley.

Concrete operations are as follows：Workpiece automatic charging, startup power supply, by workpiece size specification requirement, recall to pre-set and deposit The workpiece size specification program of storage, the 3rd cylinder 47 work, and pass through the 3rd cylinder connector 49, pinboard 50, supporting plate 51, side Beam 32, directive wheel fixed plate 33, which drive directive wheel 34 to be moved to workpiece size specification, needs size positions fixed guide, completes work Part both sides guide-localization；Second cylinder 38 works, and drives blocking arm 41 to move by connecting shaft 39 and connecting plate 40, blocking arm 41 is hung down Straight to stop state in gear, the fast turn-around of reducing motor 21 starts, and passes through active synchronization belt wheel 19, transition wheel 18, driven timing belt Wheel 17, timing belt 20, driving shaft 16, driven shaft 11, conveying flat belt 7 drive workpiece 121 quick mobile forward, when detection senses When device 8 detects workpiece 121 in place, reducing motor microrunning starts, and conveying flat belt 7 continues workpiece 121 defeated at a slow speed forward Send, when end in contact blocking arm 41 before workpiece 121, workpiece, which is kept off, stops, and the positioning of workpiece front end is completed, when detection sensor 41C is detected During workpiece 121, the first cylinder 22 works, and passes through active joint 23, first straight line guideway 25, the first cylinder connector 26, liter Drop planker support 27, fixed plate 28, transfer gantry 13, bearing block 12, driven shaft 11, fixed plate 15, driving shaft 16 and drive conveying Flat belt 7 vertically declines, by workpiece（See Figure 15）Lie in workpiece supporting plate 35 and be implanted with PVC hair pylons plate 6, complete workpiece bottom Portion positions；Completely after positioning, the 7th cylinder 119 works, and is about to workpiece 121 under briquetting 120 and compresses, and so far completes workpiece positioning dress Folder.After the completion of the assembling of workpiece riveting nut, the commutation work of the 7th cylinder 119, briquetting 120 is up to unclamp workpiece 121, while second The commutation work of cylinder 38, drive blocking arm 41 to move by connecting shaft 39 and connecting plate 40, make blocking arm 41 is horizontal to be in release status, The commutation work of first cylinder 22 simultaneously, pass through active joint 23, first straight line guideway 25, the first cylinder connector 26, lifting Planker support 27, fixed plate 28, transfer gantry 13, bearing block 12, driven shaft 11, fixed plate 15, driving shaft 16 drive conveying flat The vertical ascent of belt 7, workpiece 121 is held up and leaves workpiece supporting plate 35 and is implanted with PVC hair pylons plate 6, reducing motor 21 is quickly transported Turn start, by convey flat belt 7 by riveting nut assemble complete workpiece be quickly fed forward, until workpiece be transported to from When work plate is put in opening, next circulation workpiece automatic charging work is proceeded by, so far completes workpiece automatic charging.

Riveting nut automatic charging, startup power supply, vibrating disk and straight shake device 5 work, and vibrating disk and straight shake device 5 are by vibrating disk Riveting nut be delivered continuously to successively in the U-typed groove of U-typed expeller 107 by specified posture, the 5th detection sensor 115 Riveting nut 104A is detected, riveting nut 104A is pushed into passage, the 6th detection by the 6th cylinder 109 control U-typed expeller 107 Sensor 116 detects that the riveting nut of guide pipe flange 118 has been filled with, and the 5th cylinder 95 works, and passes through rotary cylinder 96, connector 98, the control machinery finger 100 of jaw 99 rises clamps riveting nut 104A afterwards in place, then, the commutation work of the 5th cylinder 95, passes through Rotary cylinder 96, connector 98, the control machinery finger 100 of jaw 99 decline, by riveting nut 104A from the hollow chuck 82 of passage Middle taking-up, while rotary cylinder 96 works, by connector 98, mechanical finger 100 is rotated to the automatic riveting of riveting gun 76 by jaw 99 Nut pull bar just below, the 5th cylinder 95 commutation work again, passes through rotary cylinder 96, connector 98, the control machinery of jaw 99 Finger 100 rises, and Simultaneous Switching pneumatic controller controls and switch is rotated forward on automatic riveting gun 76, the automatic riveting nut pull bar of riveting gun 76 from Dextrorotation in riveting nut, riveting nut 104A is assembled on the automatic riveting nut pull bar of riveting gun 76, riveting nut is in the automatic riveting spiral shell of riveting gun 76 After 104A is assembled in place on female pull bar, riveting nut 104A is unclamped by the control machinery finger 100 of jaw 99, after unclamping in place, 5th cylinder 95 commutation work again, by rotary cylinder 96, connector 98, the control machinery finger 100 of jaw 99 declines, machinery After finger 100 declines in place, the commutation rotation of rotary cylinder 96, by connector 98, jaw 99, mechanical finger 100 is rotated to Original position, prepare next do action, so far complete riveting nut automatic charging（See Figure 16 A, 16B）.

Automatic riveting dress, servo line set pattern group 68 work, by pusher dog clamping groove plate 69, pusher dog 70, second straight line guideway 59, Saddle 61 and upper slide rest vertical fixing plate 4 control the automatic transverse shifting of riveting gun 76, and pass through three the 4th detection sensors 72 Automatic riveting gun 76 is controlled in the whole story and dead-center position of transverse direction with light barrier 71；Electric cylinders 67 work, and pass through electric cylinders connector 65, electricity Cylinder connecting seat 64, upper slide rest vertical fixing plate 4, the control of the 3rd line slideway auxiliary 62 control automatic riveting gun 76 to vertically move, and led to Cross two the 3rd detection sensors 63 and four screws that are in the light control automatic riveting gun 76 in the whole story position of longitudinal direction；4th cylinder 102 work, by the 4th line slideway auxiliary 88, planker 89, spring pressing nut 90, stage clip 91, it is flexibly connected first 92, contiguous block 93 and controls Make the automatic vertical direction of riveting gun 76 and move through two magnetic switch and the automatic riveting of oleo cushion area control on the 4th cylinder 102 Rifle 76 is in the whole story position of vertical direction；Servo line set pattern group 68 and electric cylinders 67 work, vertical with upper slide rest by saddle 61 Fixed plate 4 controls CCD camera 83 vertically and horizontally to move, when CCD camera 83 detects workpiece when the hole center of riveting nut, from Dynamic riveting nut riveting gun is calculated as zero-bit automatically by program, and then servo line set pattern group 68 works on, and by saddle 61 and small drags Plate vertical fixing plate 4 controls the automatic transverse shifting of riveting gun 76, and the mobile center of CCD camera 83 is drawn with the automatic riveting nut of riveting gun 76 Bar center line relative displacement, the 4th cylinder 102 work, and pass through the 4th line slideway auxiliary 88, planker 89, spring pressing nut 90, stage clip 91st, being flexibly connected first 92, contiguous block 93 controls automatic riveting gun 76 to move vertically downward, and assembling is drawn in the automatic riveting nut of riveting gun 76 In riveting nut insertion workpiece pilot hole on bar, when riveting nut inserts in place, by oil buffer 86, baffle plate 87, make certainly Dynamic riveting gun 76 directly moves down stopping, and then, riveting nut is carried out staking by automatic riveting gun 76, and riveting nut is opened by after staking in place Close pneumatic controller and control reversal switch on automatic riveting gun 76, the automatic riveting nut pull bar derotation of riveting gun 76, while the 4th cylinder 102 Reverse operation, automatic riveting gun 76 rise, and the automatic riveting nut pull bar of riveting gun 76 exits from riveting nut, passes through the 4th cylinder 102 Upper magnetic switch, control automatic riveting gun 76 to return to upper limit position stopping, carrying out riveting nut automatic charging again, prepare next riveting Nut works, and so far completes automatic riveting dress.

The automatic nut riveting device, lifting automatic conveying device are risen in place, and conveying line platform both sides adjustable centering is oriented to Device carries out centering guiding to workpiece, and workpiece is fed forward, and stretch out will for automatic positioning equipment blocking arm when workpiece is transported to Workpiece positions, and is about to Work-sheet pressing under pressing device, completes workpiece positioning and clamping；Guide groove is directly shaken by vibrating disk and linear feeding Riveting nut is delivered in material-pulling device " U " hole of guide groove end according to regulation direction, then pressed riveting nut initially by material-pulling device Direction is pushed into passage, and finally the riveting nut for expecting end of conduit is removed and is assembled on automatic riveting gun by manipulator, completes riveting Nut automatic charging；Riveting gun actuation means detect positioning and servo-drive by CCD, and riveting gun is vertically and horizontally moved, makes automatic riveting Riveting nut on rifle is consistent with workpiece assembling centerline hole, last vertical direction cylinder operation, promotes riveting gun descending, it is descending in place The automatic riveting nut of automatic riveting gun afterwards, nut riveting dress is completed, after the completion of riveting fills, riveting gun returns to original position；On workpiece pressuring clamping device Row is kept in the center, and workpiece is held up and be fed forward again by elevating transport apparatus, and workpiece is exported into this by conveying transition apparatus Device, complete the automatic riveting dress of riveting nut.

The automatic nut riveting device, labour cost is reduced, improve operating efficiency, improve product quality, production is safer； The domestic blank of the online riveting nut apparatus for work of large-scale sheet metal component automatic assembly line has been filled up, has been designed by gantry double, greatly Operating efficiency is improved greatly, adapts to the automatic job of more large-size workpiece, while also increases the stabilization of automatic riveting gun operation Property and adjustable extent, with more the flexibility of suitable wide dimensions product, focused precise positioning and high-precision by CCD camera Close servomotor is driven with electric cylinders and precise linear guide is oriented to, and has preferably ensured the uniformity of automatic riveting nut product；Solution Having determined, conventional efficiency is low, and quality is unstable, and potential safety hazard is big, the operational difficulties of the big artificial riveting nut riveting of labor intensity, simultaneously Also it is smaller to solve conventional automatic riveting nut workpieces processing size, and flexible poor, the problem of work, the high efficiency of automatic riveting nut, riveting The difficulty of the high-quality stability of nut workpiece.

Claims (10)

1. A kind of 1. automatic nut riveting device, it is characterised in that including：

   First frame（1）, described the first frame（1）Including workpiece delivery end and workpiece riveting dress end；

   Second frame（2）, it is arranged on the inside of the first frame, the second described frame（2）On be provided with the platen for being implanted with PVC hair posts （6）；

   Work-piece auto-feeding device, described work-piece auto-feeding device includes side surface of workpiece guide-localization mechanism, workpiece gear stops Mechanism, horizontal transferring device, vertical lift device and positioning and clamping device；

   Described side surface of workpiece guide-localization mechanism is arranged in the first frame, including curb girder（32）, supporting plate（51）, curb girder move Dynamic secondary and guiding mechanism；

   Described workpiece gear stop mechanism is arranged on the riveting dress end of the first frame, described workpiece gear stop mechanism include the second cylinder, Lifting linking member, blocking arm, workpiece supporting plate fixed plate and the second detection sensor（41C）；

   Described horizontal transferring device includes reducing motor（21）, horizontal transport agency and transfer gantry（13）；

   Described vertical lift device is symmetricly set on the both ends of the second frame, and described vertical lift device includes lifting branch Seat, the first cylinder（22）, first straight line guide rail vice mechanism, lifting planker support（27）With support fixed plate（28）；

   Riveting nut automatic charging device, described riveting nut automatic charging device includes vibrating device and feeding device, described Vibrating device is symmetricly set on the both sides of the first frame, and described vibrating device includes vibrating disk and straight shake device（5）；Described is upper Material device corresponds to vibrating device and is arranged in the first frame；Described feeding device includes deflector chute（57）, expeller（107）、 5th linear motion vice mechanism, the 6th detection sensor（116）And material guide device；

   Automatic riveting assembling device, described automatic riveting assembling device are symmetrically arranged with two sets, and described automatic riveting assembling device passes through first Portal frame（75）Be arranged on the first frame riveting dress end, described automatic riveting assembling device include material fetching mechanism, transverse moving mechanism, Upper slide rest vertical fixing plate（4）, longitudinal moving mechanism, vertical movement mechanism, automatic riveting gun device and CCD camera（83）.
2. A kind of 2. automatic nut riveting device according to claim 1, it is characterised in that：Described curb girder prismatic pair is symmetrically set The both ends of the first frame are put, described supporting plate is arranged on curb girder prismatic pair, and described curb girder is arranged on supporting plate（51）On, Described guiding mechanism is arranged on curb girder；Described curb girder prismatic pair includes the 3rd cylinder（47）, second straight line guide rail slave Structure and hydraulic bjuffer（54）, described second straight line guide rail vice mechanism is connected with the 3rd cylinder, described hydraulic bjuffer （54）Pass through a mounting blocks（53）It is arranged in the first frame；Described guiding mechanism includes being arranged on the directive wheel installation of curb girder Fixed plate（33）, the directive wheel that is distributed in directive wheel fixed plate（34）Be arranged on directive wheel mounting plate close to the first machine Guide plate in the plate face of frame workpiece delivery end（30）.
3. A kind of 3. automatic nut riveting device according to claim 1, it is characterised in that：Described lifting linking member includes connection Plate and connecting shaft, the second described cylinder are arranged on the lower section of workpiece supporting plate fixed plate, and described connecting shaft connects with the second cylinder Connect, described connecting plate is with being connected axis connection, and described blocking arm is respectively with connecting plate and being connected axis connection, the described second detection Sensor（41C）It is arranged on the lower face of workpiece supporting plate fixed plate, is set on the upper face of described workpiece supporting plate fixed plate There is workpiece supporting plate.
4. A kind of 4. automatic nut riveting device according to claim 1, it is characterised in that：Described horizontal transport agency is flat Belt conveyor；Described horizontal transport agency is arranged on transfer gantry and driven by reducing motor.
5. A kind of 5. automatic nut riveting device according to claim 1, it is characterised in that：Described support fixed plate is arranged on The upper end of planker is lifted, described first straight line guide rail vice mechanism is arranged on lifting support, described lifting planker support （27）It is flexibly connected with first straight line guide rail vice mechanism and is driven by the first cylinder and is moved up and down；Described positioning and clamping device Including the second portal frame（3）, the 7th cylinder and briquetting, the 7th described cylinder（119）It is arranged on the second portal frame, it is described Briquetting（120）It is connected with the 7th cylinder；The second described portal frame is horizontally installed on the riveting dress end of the first frame.
6. A kind of 6. automatic nut riveting device according to claim 1, it is characterised in that：One end face of described deflector chute The outlet of vibrating device is set, and the other end of described deflector chute is arranged in the 5th linear motion vice mechanism and and expeller Activity docking, described material guide device is arranged on below the 5th linear motion vice mechanism and connects docking with expeller, described 6th detection sensor is arranged on the feed end of material guide device, and described feeding device is arranged on the first machine corresponding to feeding device On frame；Described material guide device includes passage, stage clip and hollow chuck, and described passage includes soft passage and steel guide Pipe, described soft passage pass through guide pipe flange（118）It is connected with the 5th linear motion vice mechanism, described steel passage point It is not connected with soft passage and hollow chuck, described stage clip is arranged between steel passage and hollow chuck, six described inspections Survey sensor（116）It is arranged on guide pipe flange.
7. A kind of 7. automatic nut riveting device according to claim 1, it is characterised in that：Along dragon on the first described portal frame Door is horizontally arranged with platen, and described upper slide rest vertical fixing plate is provided with longitudinal moving mechanism；Described material fetching mechanism pair Riveting nut automatic charging device is answered to be arranged on the outside of upper slide rest vertical fixing plate, described automatic riveting gun device is arranged on vertically In travel mechanism, described CCD camera（83）Pass through a fixed seat（84）Upper slide rest is arranged on parallel to automatic riveting gun device The lower end of vertical fixing plate.
8. A kind of 8. automatic nut riveting device according to claim 1, it is characterised in that：Described transverse moving mechanism bag Include：Servomotor line style module（68）, second straight line slide rail pair, saddle, pusher dog clamping groove plate（69）And pusher dog（70）, it is described Sensing screw is provided with saddle（63B）, described platen is symmetrically arranged with line style module close to the side of the first portal frame Fixed plate（73）, described servomotor line style module（68）Lateral symmetry to be arranged in line style module fixed plate, described dials Pawl（70）The side of line style module is arranged on, detection sensor sensing chip is provided with the downside of line style module（71）With the 4th Detection sensor（72）；Described longitudinal moving mechanism includes electric cylinders and the 3rd line slideway auxiliary, the electric cylinders（67）Pass through electricity Cylinder bearing（66）It is arranged on saddle, described electric cylinders front end sets electric cylinders connector（64）, on described electric cylinders connector It is provided with electric cylinders connecting seat（65）；Described upper slide rest vertical fixing plate is arranged on the 3rd line slideway auxiliary；Described is vertical Travel mechanism is arranged on upper slide rest vertical fixing plate, and described vertical movement mechanism includes the 4th cylinder（102）, the 4th straight line Guideway（88）, planker（89）, baffle plate（87）, spring pressing nut（90）And stage clip（91）, the 4th described cylinder passes through upper bracket （94）And undersetting（101）It is vertically set on upper slide rest vertical fixing plate；Described spring pressing nut（90）By an activity even Joint（92）It is connected with the 4th cylinder, contiguous block is additionally provided with described flexible connection head（93）, described stage clip（91）If Put in contiguous block（93）Between spring pressing nut, described contiguous block is fixedly connected with planker, described planker and the 4th straight line Guideway（88）Up and down connection, described baffle plate setting is in the side of planker.
9. A kind of 9. automatic nut riveting device according to claim 1, it is characterised in that：Described material fetching mechanism is arranged on small On planker vertical fixing plate, described material fetching mechanism includes the 3rd detection sensor（63）, rotary cylinder（96）, the 5th cylinder （95）And jaw（99）, described the 3rd detection sensor（63）It is arranged on upper slide rest vertical fixing plate, described upper slide rest Riveting nut automatic charging device is provided with Duct fixing clamp on vertical fixing plate（79）, described rotary cylinder is solid by one Determine bearing（97）It is arranged on upper slide rest vertical fixing plate, the 5th described cylinder（95）It is arranged on rotary cylinder（96）It is upper Face, described jaw（99）Pass through a connector（98）It is arranged on below rotary cylinder, machinery is provided with described jaw Finger（100）.
10. A kind of 10. automatic nut riveting device according to claim 1, it is characterised in that：Described automatic riveting gun device is set Put in planker（89）On, described automatic riveting gun device includes automatic riveting gun（76）, switch pneumatic controller（76B）, oil pressure delays Rush device bearing（85）And oil buffer（86）, the automatic riveting gun（76）It is arranged on planker, described switch pneumatic control Device（76B）It is arranged on automatic riveting gun, described oil buffer bearing（85）The upper slide rest being arranged on below baffle plate is vertically solid On fixed board, described oil buffer（86）It is arranged on oil buffer bearing and face baffle plate setting.