CN207642606U - Pneumatic manipulator automatic transferring and chucking device for nut automatic press-riveting equipment - Google Patents

Abstract

The utility model discloses a kind of Pneumatic manipulator automatic transferring and chucking device for nut automatic press-riveting equipment, the Pneumatic manipulator automatic transferring and chucking device include clamping cylinder, oscillating cylinder, lifting cylinder and the clamping jaw arm for location nut position；The upper end of the oscillating cylinder is connected with lifting cylinder, and lower end is connected with clamping cylinder；The clamping jaw arm is connected with clamping cylinder.The Pneumatic manipulator automatic transferring and chucking device for nut automatic press-riveting equipment that the utility model is proposed may be implemented nut automatic press-riveting equipment to the efficient automatic transferring of nut and be loaded.

Description

Pneumatic manipulator automatic transferring and chucking device for nut automatic press-riveting equipment

Technical field

The utility model is related to a kind of nut automatic press-riveting equipment more particularly to a kind of for nut automatic press-riveting equipment Pneumatic manipulator automatic transferring and chucking device.

Background technology

Realize that Vehicle mass reduction is the effective ways for improving vehicle economy, the key of this method is in vehicle body Light metal and nonmetallic is largely used in manufacture, and the best approach for connecting these metals is to use riveting technology.No rivet connects Connection technology is a kind of backward Joining Technology of gradually substitution tradition（Conventional rivet connection, welding）Novel connecting method.

Traditional connection method there is economic and technical deficiency, illustrates：Original riveting process will It asks and pre-punched hole is carried out to riveting material, be then attached again with rivet, such riveting process complexity, poor appearance, efficiency are low And it is not easy to realize automation.Original welding procedure, by taking spot welding as an example, the equipment needed for it is expensive, and connection charge is high, it is difficult to even Multilayer plates and coated plate or aluminium, copper and stainless steel plate are connect, and to spray painting plate, unlike material plate, thickness The excessive plate of difference and intermediate plate with dissection can not then connect.Meanwhile spot welding continuous damage plate surface coating, meeting Thermal deformation is generated, and undamaged automatic detection can not be carried out to all unreliable factors in connection process.In addition, Using traditional connection method, single-piece link cost is excessively high, and such as in riveting or threaded connection method, preparation is plus corresponding Conveying and spare and accessory parts cost, will result in very high expense.In addition, traditional mechanically and hydraulically device there are the problem of Have：Be pressed deformation, defective work piece overlay coating, noise greatly, high energy consumption the deficiencies of.

Utility model content

The purpose of this utility model is that the deficiency in for the above-mentioned prior art, provides a kind of for nut automatic press-riveting The Pneumatic manipulator automatic transferring and chucking device of equipment, to realize efficient automatic transferring of the nut automatic press-riveting equipment to nut Be loaded.

In order to solve the above technical problems, the utility model adopts the following technical solution：

A kind of Pneumatic manipulator automatic transferring and chucking device for nut automatic press-riveting equipment, the Pneumatic manipulator is certainly Dynamic transfer and chucking device include clamping cylinder, oscillating cylinder, lifting cylinder and the clamping jaw arm for location nut position；Institute The upper end for stating oscillating cylinder is connected with lifting cylinder, and lower end is connected with clamping cylinder；The clamping jaw arm and clamping cylinder phase Even.

Further, the clamping jaw arm is " V " type structure.

The Pneumatic manipulator automatic transferring and chucking device for nut automatic press-riveting equipment that the utility model is proposed, Nut automatic press-riveting equipment may be implemented to the efficient automatic transferring of nut and be loaded.

Description of the drawings

Fig. 1 is the general assembly schematic diagram of nut automatic press-riveting equipment.

Fig. 2 is the structural schematic diagram of screw nut automatic feeding system.

Fig. 3 is the structural schematic diagram of the utility model Pneumatic manipulator automatic transferring and chucking device.

Fig. 4 is the structural schematic diagram of clamping jaw arm.

Fig. 5 is the structural schematic diagram of press control system.

Fig. 6 is the structural schematic diagram of press-loading device.

Fig. 7 is the structural schematic diagram of precompressed mechanism.

Fig. 8 is the sectional view of compensating squeeze head.

Fig. 9 is the structural schematic diagram of pressure heads mechanism.

Figure 10 is the structural schematic diagram that turntable rotates positioning system automatically.

Figure 11 is the structural schematic diagram of fan-shaped turntable.

Figure 12 is the cross-sectional view of spring catch.

Figure 13 is the structural schematic diagram of supporting mechanism.

In figure：

1 screw nut automatic feeding system

1-1 nut batch bins

1-2 rotations, which are shaken, orients sieve

1-3 sequence straight line feeders

1-4 frequency modulation vibration feeding controllers

1-5 nut material splitting cylinders

1-6 Pneumatic manipulators automatic transferring and chucking device

1-6-1 lifting cylinders

1-6-2 oscillating cylinders

1-6-3 clamping cylinders

1-6-4 clamping jaw arms

1-7 first material detection sensors

1-8 second material detection sensors

1-9 third material detection sensors

1-10 4 materials detection sensors

2 press control systems

2-1 press-loading devices

2-1-1 gas-liquid power-increasing cylinders

2-1-2 mounting plates

2-1-3 first straight line movement guide mechanisms

2-1-4 second straight line movement guide mechanisms

2-1-5 displacement sensors

2-1-6 pressure sensors

The first pressure heads of 2-1-7

2-1-8 the first guide rod connecting plates

2-1-9 the second guide rod connecting plates

The first guide rods of 2-1-10

The second guide rods of 2-1-11

2-1-12 vertical columns

2-1-13 approach switch sensors

2-2 precompressed mechanism

2-2-1 pre- air cylinders

2-2-2 third linear movement guides mechanism

2-2-3 connecting rods

2-2-4 third guide rod connecting plates

2-2-5 compensating squeeze heads

2-2-5-1 connecting shafts

2-2-5-2 thrust bearings

2-2-5-3 fixed sleeves

2-2-5-4 hard rubber

Whether there is or not detection sensors for the first nuts of 2-2-6

2-2-7 range sensors

2-2-8 third guide rods

2-3 pressure heads mechanisms

2-3-1 mounting brackets

The 4th guide rods of 2-3-2

2-3-3 connecting rods

2-3-4 approach switch sensors

2-3-5 ram movement cylinders

2-3-6 the linear guides

2-3-7 guide rail splices

2-3-8 buffer dampings

2-3-9 guide rod connecting plates

3 turntables rotate positioning system automatically

3-1 motor

Tri- station index dials of 3-2

3-3 branch sleeves

3-4 sector turntables

3-4-1 mistake proofing pins

3-4-2 spring catch

3-4-2-1 bullet pins

3-4-2-2 springs

3-4-2-3 firm bankings

3-4-2-4 turn table body planks

3-4-2-5 nuts

3-4-3 turn table bodies

3-5 supporting mechanisms

3-5-1 cylinders

Wedge block under 3-5-2

The upper wedge blocks of 3-5-3

The upper supports loadboards of 3-5-4

3-5-5 link blocks

3-5-6 pedestals

3-5-7 deflector aprons

3-6 approach switch sensors

Whether there is or not detection sensors for the second nuts of 3-7

3-8 automatic material returning cylinders

3-9 material returned connecting rods

3-10 plungers

4 PLC

5 workbench

6 discard counting units

7 beacons.

Specific implementation mode

The preferred embodiment that according to the present invention will be described in detail below with reference to the accompanying drawings.

The utility model discloses a kind of Pneumatic manipulator automatic transferring for nut automatic press-riveting equipment and it is loaded It sets, referring to Fig. 3, the Pneumatic manipulator automatic transferring and chucking device 1-6 and nut material splitting cylinder 1-5 are correspondingly arranged, it should Pneumatic manipulator automatic transferring and chucking device 1-6 include clamping cylinder 1-6-3, oscillating cylinder 1-6-2, lifting cylinder 1-6-1 With the clamping jaw arm 1-6-4 for location nut position；The upper end of the oscillating cylinder 1-6-2 is connected with lifting cylinder 1-6-1, Its lower end is connected with clamping cylinder 1-6-3；The clamping jaw arm 1-6-4 is connected with clamping cylinder 1-6-3.

Preferably, as shown in figure 4, the clamping jaw arm 1-6-4 is " V " type structure.

The utility model can be applied particularly in following nut automatic press-riveting equipment：

Referring to Fig. 1, the nut automatic press-riveting equipment includes workbench 5 and PLC4, the workbench 5 is equipped with and PLC4 Connected screw nut automatic feeding system 4, press control system 2 and turntable rotates positioning system 3 automatically；

Referring to Fig. 2, the screw nut automatic feeding system 1 is by nut automatic sorting and collator and pneumatic machinery Hand automatic transferring and chucking device are constituted；

The nut automatic sorting and collator include frequency modulation vibration feeding controller 1-4, nut batch bin 1-1, rotation Orientation of shaking sieve 1-2, sequence straight line feeder 1-3, nut material splitting cylinder 1-5, first material detection sensor 1-7, second material Detection sensor 1-8, third material detection sensor 1-9 and 4 materials detection sensor 1-10；The nut batch bin 1- 1, the orientation sieve 1-2 and sequence straight line feeder 1-3 that shakes is revolved to be connected with frequency modulation vibration feeding controller 1-4, it is described to revolve orientation of shaking The lower section that 1-2 is set to nut batch bin 1-1 discharge ports is sieved, the input terminal of the sequence straight line feeder 1-3 shakes with rotation orients sieve The discharge port of 1-2 is connected, and the output end of sequence straight line feeder 1-3 is connected with nut material splitting cylinder 1-5；The first material Detection sensor 1-7 is set to the discharge port of nut batch bin 1-1, and the second material detection sensor 1-8, which is set to, revolves orientation of shaking The disk edge placement before 1-2 sub-materials is sieved, before the third material detection sensor 1-9 is set to sequence straight line feeder 1-3 End, the 4 materials detection sensor 1-10 are set to the nut rest side of nut material splitting cylinder 1-5.

Referring to Fig. 5, the press control system 2 is by press-loading device 2-1, precompressed mechanism 2-2 and pressure heads mechanism 2-3 groups At；

Referring to Fig. 6, the press-loading device 2-1 includes the first pressure head 2-1-7, gas-liquid power-increasing cylinder 2-1-1, mounting plate 2- 1-2, first straight line movement guide mechanism 2-1-3, second straight line movement guide mechanism 2-1-4, pressure sensor 2-1-6, and The more vertical columns 2-1-12 for being fixed on the mounting plate on workbench 5；The first straight line movement guide mechanism 2-1-3 is made of the first guide rod connecting plate 2-1-8 and two first guide rod 2-1-10, described two first guide rod 2- 1-10 is symmetrically set in the both ends of the first guide rod connecting plate 2-1-8 and upward sliding passes through mounting plate 2-1-2, and wherein one piece the One guide rod is equipped with displacement sensor 2-1-5；The gas-liquid power-increasing cylinder 2-1-1 is inverted and is fixed on the upper of mounting plate 2-1-2 The front end in face, piston rod is passed down through mounting plate 2-1-2 and is fixedly connected with the first guide rod connecting plate 2-1-8；Described Two linear movement guide mechanism 2-1-4 are made of the second guide rod connecting plate 2-1-9 and two second guide rod 2-1-11, described Two second guide rod 2-1-11 be symmetrically set in the both ends of the second guide rod connecting plate 2-1-9 and upward sliding is led across first It is furnished with stop nut to bar connecting plate 2-1-8, and in the upper end of two second guide rod 2-1-11；The first pressure head 2-1- 7 pass through and are fixed on the centre position of the second guide rod connecting plate 2-1-9, and are in the piston rod of gas-liquid power-increasing cylinder 2-1-1 On the same vertical line；The pressure sensor 2-1-6 be mounted on the first guide rod connecting plate 2-1-8 lower surface, and with gas The piston rod of liquid power cylinder 2-1-1 is on the same vertical line；The approach switch sensor 2-1-13 is led set on first To the side of bar connecting plate 2-2-8.

Referring to Fig. 7, the precompressed mechanism 2-2 includes pre- air cylinder 2-2-1, third linear movement guide mechanism 2-2- 2, connecting rod 2-2-3, third guide rod connecting plate 2-2-4, the compensating squeeze head 2-2-5 that can be rotated horizontally, whether there is or not inspections for the first nut The range sensor 2-2-7 for surveying sensor 2-2-6 and whether being laid flat for detecting part；Third linear movement guide mechanism 2-2-2 is made of third guide rod connecting plate 2-2-4 and two third guide rod 2-2-8, described two third guide rod 2- 2-8 is symmetrically set in the both ends of third guide rod connecting plate 2-2-4 and upward sliding passes through mounting plate 2-1-2；The pre- air cylinder 2-2-1 the upper surface of is inverted and is fixed on mounting plate 2-1-2, and piston rod passes through mounting plate 2-1-2 and fixed with connecting rod 2-2-3 Connection；The connecting rod 2-2-3 is passed down through third guide rod connecting plate 2-2-4 and is fixedly connected with compensating squeeze head 2-2-5； The compensating squeeze head 2-2-5 is fixed below third guide rod connecting plate 2-2-4；Whether there is or not detections to pass for first nut Sensor 2-2-6 and range sensor 2-2-7 is installed in the lower surface of mounting plate 2-1-2.

Referring to Fig. 9, the pressure heads mechanism 2-3 includes ram movement cylinder 2-3-5, the 4th guiding mechanism, approaches and open Close sensor 2-3-4, the mounting bracket 2-3-1 being fixed on workbench 5, guide rail splice 2-3-7 and two groups of inverted straight lines Guide rail 2-3-6；The mounting bracket 2-3-1 has two columns for being connected with workbench 5, and the two root posts are located at Close to one end of press-loading device 2-1；Two groups of the linear guide 2-3-6 are symmetrically fixed on the left and right at the top of mounting bracket 2-3-1 Both sides, and be fixedly connected with guide rail splice 2-3-7；The front end of the guide rail splice 2-3-7 and tail end are equipped with buffering resistance Buddhist nun 2-3-8；4th guiding mechanism carries bullet by the 4th guide rod 2-3-2, the 4th guide rod connecting plate 2-3-9 and two The connecting rod 2-3-3 compositions of spring, the 4th guide rod 2-3-2 are fixed below the 4th guide rod connecting plate 2-3-9, and downwards Across guide rail splice 2-3-7, the lower end of the 4th guide rod 2-3-2 is equipped with the second pressure head；Two 2-3-3 pairs of connecting rods Claim set on the both ends of the 4th guide rod connecting plate 2-3-9, and slide downward is then passed through track connecting plate 2-3-7 after spring, And it is furnished with stop nut in the lower end of two connecting rod 2-3-3；The approach switch sensor 2-3-4 is connected set on the 4th guide rod The side of plate 2-3-9, for detecting whether the 4th guide rod 2-3-2 returns to original position.

Please refer to Fig.1 0 to 13, the turntable rotates positioning system 3 by self-turning mechanism, supporting mechanism and automatic automatically Unloading mechanism forms；

The self-turning mechanism includes motor 3-1, three station index dial 3-2, branch sleeve 3-3 and fan-shaped turntable 3- 4；The output axis connection of the front end and motor 3-1 of the three stations index dial 3-2, rear end is fixed by branch sleeve 3-3；Institute The center line for stating branch sleeve 3-3 is overlapped with the center line of fan-shaped turntable 3-4, and branch sleeve 3-3 is upward through workbench 5, And it is connect with fan-shaped turntable 3-4；The sector turntable 3-4 includes turn table body 3-4-3, which is equipped with mistake proofing pin 3- 4-1 and spring catch 3-4-2.In use, placing flexible disc on turn table body 3-4-3；The mistake proofing pin 3-4-1 passes through flexible disc On circular hole, to flexible disc play the role of position and prevent direction from misplacing, the top of spring catch 3-4-2 passes through and protrudes flexibility Nut mounting hole on disk；The spring catch 3-4-2 is by bullet pin 3-4-2-1, spring 3-4-2-2 and firm banking 3-4-2-3 structures At；The top of the bullet pin 3-4-2-1 at reverse V-shaped, and with nut clearance fit, slide into its middle and upper part to spigot nut Position；It is hollow structure in the middle part of bullet pin 3-4-2-1, lower part is equipped with a circle positive stop lug boss；The top of the bullet pin 3-4-2-1 to On slide through the turn table body plank 3-4-2-4 of turn table body 3-4-3, and limited by the positive stop lug boss of its underpart； The spring 3-4-2-2 is in the hollow structure of bullet pin 3-4-2-1, lower end and the firm banking 3-4- of spring 3-4-2-2 2-3 connections；The firm banking 3-4-2-3 is fixedly connected with the turn table body plank 3-4-2-4 of turn table body 3-4-3.

The supporting mechanism 3-5 is set to the press fitting position of fan-shaped turntable 3-4 in the following, and positioned at gas-liquid power-increasing cylinder 2-1-1's The following position directly of piston rod, supporting mechanism 3-5 include cylinder 3-5-1, upper supports loadboard 3-5-4, lower supports loadboard, connection Block 3-5-5, pedestal 3-5-6 and two pieces are symmetrically fixed on the deflector apron 3-5-7 of lower supports loadboard left and right ends；Under described Supports loadboard is set on pedestal 3-5-6, and pedestal 3-5-6 is fixedly connected with workbench 5, which is equipped with phase interworking The lower wedge block 3-5-2 and upper wedge block 3-5-3 closed；The cylinder 3-5-1 is fastened transversely to one of deflector apron 3-5-7 Outside, piston rod passes through and deflector apron 3-5-7 and is fixedly connected with lower wedge block 3-5-2；The upper supports loadboard 3- 5-4 is set to the lower section of turn table body 3-4-3, by link block 3-5-5 and set on lower wedge shape below supports loadboard 3-5-4 on this Upper wedge block 3-5-3 above block 3-5-2 is connected and fixed.

The automatic retreating materials mechanism is by automatic material returning cylinder 3-8, material returned connecting rod 3-9, plunger 3-10, sensor for countering Whether there is or not detection sensor 3-7 compositions for 3-6 and the second nut；The automatic material returning cylinder (3-8) is fixed on company with sleeve 3-3 It connects, piston rod is located at the underface at the sector centers turntable 3-4；The upper end of the material returned connecting rod 3-9 is floating with plunger 3-10 Dynamic connection, lower end is fixedly connected with the piston rod of automatic material returning cylinder 3-8；The plunger 3-10 slidings are embedded at fan-shaped turn In the central cavity of platform 3-4；Second nut whether there is or not the press fitting position side that detection sensor 3-7 is located at fan-shaped turntable 3-4, And it is fixedly connected with workbench 5；The sensor for countering 3-6 is located at below the press fitting position of fan-shaped turntable 3-4, and is fixed on work Make on platform 5.

The center line of the piston rod of the gas-liquid power-increasing cylinder 2-1-1 is overlapped with the center line of spring catch 3-4-2；The precompressed The center line of the piston rod of cylinder 2-2-1 is overlapped with the center line of fan-shaped turntable 3-4.

There is 1 millimeter of spacing between the pressure sensor 2-1-6 and the upper surface of the first pressure head 2-1-7.

Referring to Fig. 8, the compensating squeeze head 2-2-5 is by connecting shaft 2-2-5-1, thrust bearing 2-2-5-2, fixed sleeves 2- 2-5-3 and hard rubber 2-2-5-4 are constituted；The upper end of the connecting shaft 2-2-5-1 is fixed with third guide rod connecting plate 2-2-4 to be connected It connects, lower end and the inner ring of thrust bearing 2-2-5-2 are coordinated by being cold-pressed, the outer ring of thrust bearing 2-2-5-2 and fixed sleeves 2-2-5-3 is fixedly connected；The hard rubber 2-2-5-4 is fixedly connected with the lower end of fixed sleeves 2-2-5-3.

The 4th guide rod 2-3-2 is integrally formed or is threadedly coupled with the second pressure head；Second pressure head is in working position When, center line is overlapped with the center line of spring catch 3-4-2.

Two groups of the linear guide 2-3-6 by being symmetrically fixed on two sliding blocks on the both sides at the top of mounting bracket 2-3-1, with And two guide rails being individually fixed in below guide rail splice 2-3-7 the right and lefts are constituted；.On in the bullet pin 3-4-2-1 It is set between portion and middle part there are one horizontal ledge, the horizontal ledge is ensureing that the nut being sleeved on bullet pin 3-4-2-1 is in water Level state.

The inclined-plane of the lower wedge block 3-5-2 does Nickel Plating Treatment with the inclined-plane of upper wedge block 3-5-3, to increase its surface Hardness；

The top of the deflector apron 3-5-7 is equipped with U-type groove, and the end of the upper supports loadboard 3-5-4 is equipped with and the U The guide ledges of type groove clearance fit.

The operation logic of the nut automatic press-riveting equipment is as follows：

Flexible disc is placed on fan-shaped turntable 3-4-3 first, mistake proofing pin 3-4-1 passes through the circular hole in flexible disc, to scratching Property folds the effect for positioning and preventing direction from misplacing；The top of spring catch 3-4-2 passes through and protrudes the peace of the nut in flexible disc Hole is filled, the spring of spring catch 3-4-2 is in the raw at this time.

Equipment automatic running starting switch is stirred, equipment enters automatic running process；Starting switch is poke-rod type, in driving lever Meta position has one section of spring structure；Relative to conventional push-button switch, this simpler speed of poke-rod type switching manipulation faster, only needs Finger streaks driving lever can starting switch.

Range sensor 2-2-7 on mounting plate 2-1-2 carries out the distance in vertical direction to flexible disc and detects, PLC program carries out judging whether flexible disc is positioned horizontally in place according to preset distance range, if distance is in setting value model In enclosing, then pre- air cylinder 2-2-1 starts automatic pushing process, and the mechanism 2-2-2 guarantees of third linear movement guide can rotate horizontally Compensating squeeze head 2-2-5 do one-dimensional linear motion, compensating squeeze head 2-2-5 pressures, which touch flexible disc, makes it be adjacent to turn table body 3-4-3；Bullet Property the pressure head 2-2-5 and flexible disc contact surface hard rubber 2-2-5-4 that uses can avoid weighing part wounded；The thrust bearing 2-2-5- 2 can play the role of bearing axially more energetically, while can ensure when fan-shaped turntable 3-4 is rotated horizontally, direct with flexible disc The hard rubber 2-2-5-4 of contact will not generate friction with part synchronous rotary with flexible panel surface, and cylinder axis still maintains phase To stationary state, and give flexible disc sustained pressure always.

At the same time, the first nut on mounting plate 2-1-2 is loaded position whether there is or not detection sensor 2-2-6 detection nut Whether there is or not nuts, if without nut, after the completion of pre-compaction process, single nut is pushed into feeding position, pneumatic motor by nut material splitting cylinder 1-5 The lifting cylinder 1-6-1 of tool hand automatic transferring and chucking device 1-6 are released, and clamping cylinder 1-6-3 is sent to feeding position, gas is clamped Cylinder 1-6-3 is released, and the V-type clamping jaw of clamping jaw arm 1-6-4 is driven to clamp simultaneously location nut, after picking up nut, lifting cylinder 1- 6-1 is withdrawn, and oscillating cylinder 1-6-2, which is rotated to nut, to be loaded position, and lifting cylinder 1-6-1 is released, and nut is sleeved on fan-shaped turntable 3-4 Spring catch 3-4-2 top, clamping cylinder 1-6-3 withdraws, and clamping jaw arm 1-6-4 is driven to unclamp nut, lifting cylinder 1-6-1 It withdraws, oscillating cylinder 1-6-2, which is rotated to nut, picks up position, and waiting for nut first, whether there is or not detection sensor 2-2-6 detection nut dresses Whether there is or not the signals of nut for screens；While picking up nut and lifting cylinder 1-6-1 is withdrawn, nut material splitting cylinder 1-5 is retracted It is in situ, be set to later on the 4 materials sensor 1-10 detection rests of the nut rest side of nut material splitting cylinder 1-5 whether there is or not Nut, if without nut, frequency modulation vibration feeding controller 1-4 sends out signal, and sequence straight line feeder 1-3 starts to vibrate, by spiral shell Mother stops vibration after being sent into rest, and waiting for the first nut to be loaded whether there is or not detection sensor 2-2-6 detection nuts, whether there is or not nuts for position Signal recycles nut automatic transferring can be completed three times and the process that is loaded successively.

The first nut on mounting plate 2-1-2 is loaded position whether there is or not nut whether there is or not detection sensor 2-2-6 detection nuts, If there is nut, while being loaded nut and lifting cylinder 1-6-1 withdrawals, fan-shaped turntable 3-4 rotates clockwise 120 degree of angles, The segment angle for the spring catch 3-4-2 for being cased with nut is loaded bit transition to nut press mounting position from nut.Set on mounting plate 2- The first nut on 1-2 is loaded whether there is or not detection sensor 2-2-6 detection nuts, and whether there is or not nuts for position, start nut automatic transferring and dress Card motion.

At the same time, whether there is or not spiral shells whether there is or not detection sensor 3-7 detection nut press mountings position for the second nut on workbench 5 Mother, if without nut, the movement of program stopped executing agency and alarm；If there is nut in detection press fitting position, it is set on workbench 5 The cylinder 3-5-1 of supporting mechanism 3-5 push lower wedge block 3-5-2, on inclined-plane, component and deflector apron 3-5-7 carry support Under the guiding role of plate 3-5-4, upper wedge block 3-5-3 and upper supports loadboard 3-5-4 do upward vertical movement, until being adjacent to sector The bottom of turntable 3-4, supporting mechanism 3-5 can bear support force enough to fan-shaped turntable 3-4 when nut press mounting, two wedge shapes Stock material is 45 steel, and two lozenges do Nickel Plating Treatment, increases the wear-resisting property of rubbing surface, reduces friction coefficient；Although friction Coefficient reduces, but is influenced by wedge angle, and during press fitting, the pressure that supporting mechanism 3-5 is born is in theory It is the stiction between two lozenges to provide support, and cylinder 3-5-1 is not subject to any thrust, which solves winks Between unstable state of press fitting impact force when bearing thrust to cylinder cause fan-shaped turntable local pressure and certain shape occur Variable, directly contributes the damage of fan-shaped turntable, while will also result in nut pressure and leading to the problem of inventory disposal partially.

At the same time, whether there is or not spiral shells whether there is or not detection sensor 3-7 detection nut press mountings position for the second nut on workbench 5 Mother, if there is nut in detection press fitting position, while supporting mechanism 3-5 supports fan-shaped turntable, the ram movement gas of pressure heads mechanism 2-3 Cylinder 2-3-5 will be released positioned at the second pressure head of the 4th lower ends guide rod 2-3-2 to working position, and gas-liquid power-increasing cylinder 2-1-1 is waited for hold Row press fitting acts；The linear guide 2-3-6 of pressure heads mechanism 2-3 defines degree of freedom of second pressure head on 2 directions, ensures the Two pressure heads do the precision of motion in one dimension；It can ensure second in the hard limit that the tail end both sides of guide rail splice 2-3-7 are arranged Pressure head accurately halt, it is ensured that the center line of the second pressure head and spring catch 3-4-2 on fan-shaped turntable 3-4 after movement in place every time Center line overlap；The buffer damping 2-3-8 being arranged simultaneously in the tail end both sides of guide rail splice 2-3-7 is buffering hard limit Direct shock, play the role of protection and limit firmly, and avoid rebounding in place.

After supporting mechanism 3-5 and pressure head 2-3-2 move to working position, gas-liquid power-increasing cylinder 2-1-1 executes press fitting action, First straight line movement guide mechanism 2-1-3 and second straight line movement guide mechanism 2-1-4 can ensure that the first pressure head 2-1-7 does one The dynamic precision of maintenance and operation；First pressure head 2-1-7 moves downward the 4th guiding that pressure touches the 4th guiding mechanism of pressure heads mechanism 2-3 Bar 2-3-2, the 4th guide rod 2-3-2 stress drive the second pressure head to move downward pressure and touch the tops bullet pin 3-4-2-1 for being cased with nut End, bullet pin stress moves downward and nut is driven to move together, when nut touches flexible disc, the superstructure pair of bullet pin The horizontality positioning action of nut is still effective, and bullet pin continues to move downward until nut is completely forced into the nut peace of flexible disc It fills in hole；The tops bullet pin 3-4-2-1 avoid pressure head 2-3-2 that nut when touching nut is directly pressed to beat higher than plane on nut Phenomenon avoids nut from generating oblique indentation.During press fitting, displacement sensor 2-1-5 and pressure sensor 2-1-6 remember respectively Record press fitting displacement and pressure value, and pressure and displacement curve are formed in PLC program, according to selected time interval and setting value Actual pressure and shift value are compared, if exceeding range of set value, equipment is automatically stopped press fitting and alarm press fitting lacks It falls into, i.e., the equipment is equipped with Jidoka（Automation）Function.Pressure sensor 2-1-6 is set to second straight line movement guide mechanism 2- Between 1-4 connecting plates and first straight line movement guide mechanism 2-1-3 connecting plates, it is therefore an objective to the accuracy for improving pressure detecting, because Power to act on nut includes the pressure and second straight line movement guide mechanism 2-1-4 itself of gas-liquid power-increasing cylinder 2-1-1 Gravity, so theoretically requiring the smaller then pressure detection value of device its own gravity being located at below pressure sensor closer to practical Pressure value counteracts pressure heads mechanism 2- in view of the upward elastic force for the spring being arranged on connecting rod 2-3-3 in pressure heads mechanism 2-3 in this case The sum of both 4th guiding mechanism and second straight line movement guide mechanism 2-1-4 gravity in 3；In addition heading machine during press fitting The mounting bracket 2-3-1 of structure 2-3 is born with spring stress equivalence to down spring, so the two root posts of mounting bracket 2-3-1 are set to Close to press fitting position one end.The pressure assembling force of single nut is 60 tons, the stability for guarantee press fitting process and enough intensity requirements, The mounting plate 2-1-2 and workbench 5 of press-loading device 2-1 preferably use 45 steel, 10 centimetres of plate thickness, connection plate 2-1-2 and 4 vertical columns 2-1-12 of workbench 5 preferably use 45 steel, 8 centimetres of diameter, each connection position to use three layers of nut check, It can loosening problem caused by vibration proof.

After completing first nut press mounting, gas-liquid power-increasing cylinder 2-1-1 retracts original position, approach switch sensor 2-1-13 inspections Measure signal；The 4th guide rod 2-3-2 of the 4th guiding mechanism of pressure heads mechanism 2-3 is automatic under the elastic force effect of spring simultaneously Return to original position；After approach switch sensor 2-1-13 detects that gas-liquid power-increasing cylinder 2-1-1 returns to signal in situ, support The cylinder 3-5-1 of mechanism 3-5 is retracted, and fan-shaped turntable 3-4 releases support locking；Equipment completes first nut press mounting process.According to After secondary cycle completes the press fitting process of second nut and third nut, fan-shaped turntable 3-4 is returned to initial position.Set on work Make the approach switch sensor 3-6 on platform 5 and detect signal, starts one：The ram movement cylinder 2-3-5 of pressure heads mechanism 2-3 is moved back Original position is returned to, while the direct shock limited firmly is buffered in the buffer damping 2-3-8 of the front end of guide rail splice 2-3-7 setting； Approach switch sensor 2-3-4 detects that ram movement cylinder 2-3-5 returns to signal in situ；Start two：Precompressed mechanism 2-2 Pre- air cylinder 2-2-1 return to original position, flexible disc releases precompressed.After pre- air cylinder 2-2-1 returns to original position, automatic material returning Cylinder 3-8 jackings will be pressed finished goods ejection by plunger 3-10, and be allowed to be detached from mistake proofing pin 3-4-1；Beacon 7 it is green Color indicator light lights, and takes out press fitting finished goods at this time；Spring 3-4-2-2 in impaction state is restored to reset condition, by bullet Selling 3-4-2-1, working position is arrived in ejection upwards, and so far, nut presses completion.

If the finished goods that presses quality inspection is unqualified, defective work will be placed into discard counting unit 6, and equipment is automatic Record defective work quantity；After all piling waste material for four layers, equipment has the full waste material prompt of alarm, but this prompt can't Influence the automatic running of equipment.

During nut press mounting, the nut automatic sorting and collator of screw nut automatic feeding system 1 are constantly in work Make state.Nut batch bin 1-1 is used for nut dispensing, and rotation, which is shaken, orients the direction that sieve 1-2 is used to screen nut, ensures its discharge port Nut press end all in lower section；The 1-8 detection rotations of second material sensor shake orient in sieve 1-2 whether need feed supplement, if inspection When measuring no nut, frequency modulation vibration feeding controller 1-4 starts nut batch bin 1-1 and is directly shaken, and nut will be from nut dispensing Storehouse 1-1, which slides into, revolves the orientation sieve 1-2 that shakes；The 1-7 detections of first material sensor are placed in nut batch bin 1-1 and rotation shakes and orients sieve 1-2 Between slideway on whether have nut, if without nut slide into, equipment alarm prompt need feed supplement, the alarm only prompt make With not influencing normal press fitting process.The straight line feeder 1-3 that sorts is used to nut in the right direction carrying out straight line sequence, the Whether 3 material sensor 1-9 detection sequences straight line feeder 1-3 needs feed supplement, if detect no nut, frequency modulation vibration Feeding controller 1-4, which starts the rotation orientation sieve 1-2 that shakes, to carry out circle and shakes, and feed supplement is carried out to sequence straight line feeder 1-3.

It is above illustrative to the description of the utility model and application, is not wishing to the scope of the utility model being limited in In above-described embodiment.Do not depart from the scope of the utility model and spirit in the case of, can to embodiments disclosed herein into The other deformations of row and change.

Claims (2)

1. a kind of Pneumatic manipulator automatic transferring and chucking device for nut automatic press-riveting equipment, which is characterized in that

The nut automatic press-riveting equipment includes workbench（5）And PLC（4）, the workbench（5）It is equipped with and PLC（4）Connected Screw nut automatic feeding system, press control system（2）And turntable rotates positioning system automatically（3）；Further include that a nut is sent automatically Material system（1）, the screw nut automatic feeding system（1）It is moved automatically by nut automatic sorting and collator and Pneumatic manipulator It carries and chucking device is constituted；

The Pneumatic manipulator automatic transferring and chucking device (1-6) include clamping cylinder (1-6-3), oscillating cylinder (1-6-2), rise Sending down abnormally ascending cylinder (1-6-1) and clamping jaw arm (1-6-4) for location nut position；The upper end of the oscillating cylinder (1-6-2) with Lifting cylinder (1-6-1) is connected, and lower end is connected with clamping cylinder (1-6-3)；The clamping jaw arm (1-6-4) and clamping cylinder (1-6-3) is connected；

After the completion of pre-compaction process, the lifting cylinder (1-6-1) of Pneumatic manipulator automatic transferring and chucking device (1-6) is released, Clamping cylinder (1-6-3) is sent to feeding position, clamping cylinder (1-6-3) is released, and the clamping jaw of clamping jaw arm (1-6-4) is driven to clamp And location nut, after picking up nut, lifting cylinder (1-6-1) is withdrawn, and oscillating cylinder (1-6-2) rotation to nut is loaded position, Lifting cylinder (1-6-1) is released, and nut is sleeved on turntable and rotates positioning system automatically（3）Fan-shaped turntable spring catch top End, clamping cylinder (1-6-3) are withdrawn, and clamping jaw arm (1-6-4) is driven to unclamp nut, and lifting cylinder (1-6-1) is withdrawn, and swings gas Cylinder (1-6-2) rotation to nut picks up position, waits for press control system（2）The first nut whether there is or not detection sensor detect nut Being loaded, whether there is or not the signals of nut for position；In pickup nut and lifting cylinder (1-6-1) withdrawal.

2. the Pneumatic manipulator automatic transferring and chucking device according to claim 1 for nut automatic press-riveting equipment, It is characterized in that：The clamping jaw arm (1-6-4) is V-structure.