CN212443068U - Binding device of self-plugging rivet - Google Patents
Binding device of self-plugging rivet Download PDFInfo
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- CN212443068U CN212443068U CN202020905249.8U CN202020905249U CN212443068U CN 212443068 U CN212443068 U CN 212443068U CN 202020905249 U CN202020905249 U CN 202020905249U CN 212443068 U CN212443068 U CN 212443068U
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Abstract
The utility model discloses a self-plugging rivet binding device, which comprises a front shell, wherein one end of the front shell is provided with an opening, the other end of the front shell is fixedly connected with a rear shell, the rear shell is communicated with the front shell, and a nail pressing mechanism is arranged in the rear shell; the pressure nail mechanism includes the second grade cylinder, the second grade cylinder rigid coupling is located and keeps away from preceding shell department in the shell of back, the second grade cylinder is connected with the PLC controller, the piston has been set on the second grade cylinder, the rigid coupling has piston sleeve on the piston, the symmetry has set a plurality of two halves device in the preceding shell, the front end of two halves device is equipped with the pressure foot, the one end of pressure foot is located the opening of preceding shell, the other end of two halves device is located piston sleeve, it has into nail mouth to open on the preceding shell, the problem that can't carry out normal direction measurement that exists among the prior art has been solved.
Description
Technical Field
The utility model belongs to the technical field of take out the nail assembly, a binding device of self-plugging rivet is related to.
Background
With the development of economy and society, the mechanical industry has made higher demands on the quality and efficiency of assembly of products. The single-sided drawing nail is a novel fastener capable of realizing single-sided connection, is particularly suitable for occasions with poor space openness and needing to perform assembly connection operation on the single side of a product, and is also suitable for the field of assembly of fiber reinforced composite materials with high requirements on assembly connection quality, and the connection quality directly influences the strength and the fatigue life of the product.
With the increasing maturity of the single-side nail pulling technology, the application of the single-side nail pulling technology in products such as airplanes, rockets, trains, automobiles, ships and the like is more and more extensive. Due to the particularity of the single-sided pop rivet structure and process, the installation thereof must be connected using a special blind rivet gun. However, at present, the assembly of the single-sided pull nails is still mainly carried out by a hand-operated or semi-automatic rivet driver in China, and the power of the hand-operated or semi-automatic rivet driver comprises manual power, electric power, pneumatic power and hydraulic pressure. During connection, a worker manually puts the single-side pulling nail into the connecting hole, then the rivet gun props against the nail cap, and meanwhile, the rivet core is pulled to expand the bush so as to fixedly connect the parts together. Traditional assembly connection technique, artifical alignment hole site and normal direction, artifical or semi-automatic nail of sending, the randomness is high, position and normal direction precision are poor, it is high to workman technical requirement, operating condition is relatively poor, high in labor strength, the assembly efficiency is low, connection quality is unstable, arouse easily that the joint damage influences structural strength and life-span, consequently, traditional assembly connection technological equipment does not adapt to with the intelligent manufacturing trend of modernization, need to solve the automatic assembly technology and the equipment technique that the nail was taken out to the single face urgently.
Patent CN 106903260A discloses a manual continuous riveter, and left and right handles control the position of rivet box and realize the installation of rivet, realize the connection of rivet through the relative motion of movable opening and interior outer tube, and its compact structure, powerful, but it needs workman's manpower to move the handle and aim at the connecting hole, and precision, efficiency are lower. Patent CN 109926537A discloses a pneumatic rivet feeding mechanism of self-plugging rivet for automatic brill of robot device, and feed system sends the rivet into the rivet conveyer pipe that send the pin fin mechanism, and thrustor is under the cylinder effect, along sending the guide rail propelling movement rivet of pin fin mechanism to preset the position. However, the self-plugging rivet feeding device can only complete the rivet feeding operation of the self-plugging rivet and has no rivet breaking function; patent CN 110142371 a provides a hydraulic riveting tool for robot, which uses hydraulic cylinder as power source to realize rivet installation and assembly, hollow piston rod design to buffer axial and radial impact, but its volume and mass are large, which aggravates the burden of robot, and is not suitable for small space assembly, and no hole position and normal direction measuring device, and the precision is limited.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a blind rivet's binding device has solved the unable normal direction measuring problem that carries on that exists among the prior art.
The utility model adopts the technical proposal that the self-plugging rivet binding device comprises a front shell, one end of the front shell is provided with an opening, the other end of the front shell is fixedly connected with a rear shell, the rear shell is communicated with the front shell, and a nail pressing mechanism is arranged in the rear shell; the nail pressing mechanism comprises a second-stage cylinder, the second-stage cylinder is fixedly connected to the rear shell, the second-stage cylinder is located far away from the front shell, the second-stage cylinder is connected with a PLC, a piston is arranged on the second-stage cylinder, a piston sleeve is fixedly connected to the piston, a plurality of two half devices are symmetrically arranged in the front shell, pressure feet are arranged at the front ends of the two half devices, one end of each pressure foot is located in an opening of the front shell, the other ends of the two half devices are located in the piston sleeve, and a nail feeding opening is formed in the front.
The utility model discloses a characteristics still lie in:
the nail inlet is communicated with a nail conveying pipe, the rear shell is fixedly connected with a connecting plate, one side, far away from the rear shell, of the connecting plate is fixedly connected with a moving mechanism, the moving mechanism is fixedly connected with a flange, and the flange can be connected with a robot.
The side walls of the two half devices are provided with slots, the slots penetrate through the two half devices, clamping jaws are arranged in the slots, pull claws are fixedly connected to the piston sleeve and are positioned close to the front shell, the pull claws are matched with the clamping jaws, protrusions are arranged on the clamping jaws, and reset springs are arranged between the protrusions and the two half devices.
And an annular spring is arranged between the two adjacent half devices.
The moving mechanism comprises a moving plate, a bottom surface chute of the moving plate, the chute is movably clamped with a connecting plate, an electric cylinder is arranged on the connecting plate in a matched mode, the electric cylinder is in signal connection with the PLC, a flange fixing plate is fixedly connected to the top surface of the moving plate, and the flange fixing plate is fixedly connected with a flange.
A camera fixing frame is fixedly connected on the front and the rear shells, a vision camera is fixedly connected on the camera fixing frame, the vision camera is connected with an upper computer through signals, the vision camera is connected with a PLC controller through signals, the PLC controller is connected with the upper computer through signals,
set travel switch and sensor on the inner wall of arbitrary two halves device in proper order, travel switch signal connection PLC controller, sensor signal connection PLC controller has set a plurality of normal direction sensor on the preceding shell, and normal direction sensor all is located and is close to the opening part, and the equal signal connection PLC controller of normal direction sensor.
One end of the piston, which is far away from the secondary cylinder, is fixedly connected with a push rod.
The utility model has the advantages that: the utility model relates to a binding device of self-plugging rivet, which solves the problem that the normal measurement can not be carried out in the prior art; the feeding and the connection of the single-side drawing nail can be accurately and quickly completed. Measuring the diameter and the coordinate of a hole site by using a vision camera, and ensuring the correct specification and the installation precision of the single-side nail pulling; the perpendicularity of the single-side nail pulling is ensured through the measurement of a normal sensor; thereby realizing accurate, quick and high-quality connection and assembly of thin-wall and composite material products; the actual position and the aperture size of the hole are measured for many times through the vision camera, so that the position precision of the device is ensured; the three normal sensor sensors ensure the coaxiality of the hole and the nail by measuring the distance from the three sensors to the surface of the workpiece, thereby ensuring the normal precision of the device and avoiding the deformation of the nail or the damage of the surface of the workpiece caused by the misalignment of the nail and the axial center of the hole.
Drawings
FIG. 1 is a schematic structural view of a blind rivet setting device according to the present invention;
FIG. 2 is a sectional view of a blind rivet setting device according to the present invention;
FIG. 3 is a flow chart of the operation of the blind rivet setting device of the present invention;
FIG. 4 is a flowchart illustrating the operation of the vision camera in the binding apparatus of blind rivet according to the present invention.
In the figure, 1, a rear shell, 2, a front shell, 3, a secondary cylinder, 4, two half devices, 5, a pressure foot, 6, a piston sleeve, 7, a piston, 8, a nail conveying pipe, 9, a connecting plate, 10, a flange, 11, a pulling claw, 12, a clamping jaw, 13, a reset spring, 14, an annular spring, 15, a moving plate, 16, a flange fixing plate, 17, a travel switch, 18, a sensor, 19, a normal sensor and 20, a vision camera are arranged.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
The utility model relates to a binding device of self-plugging rivet, as shown in figure 1, comprising a front shell 2, one end of the front shell 2 is provided with an opening, the other end of the front shell 2 is fixedly connected with a rear shell 1, the rear shell 1 is communicated with the front shell 2, and a nail pressing mechanism is arranged in the rear shell 1;
the pressure nail mechanism includes second grade cylinder 3, second grade cylinder 3 rigid coupling is located and keeps away from preceding shell 2 department in back shell 1, second grade cylinder 3 is connected with the PLC controller, piston 7 has been set on second grade cylinder 3, the rigid coupling has piston sleeve 6 on the piston 7, the symmetry has set a plurality of two halves device 4 in the preceding shell 2, the front end of two halves device 4 is equipped with pressure foot 5, the one end of pressure foot 5 is located the opening of preceding shell 2, the other end of two halves device 4 is located piston sleeve 6, it has into the nail mouth to open on the preceding shell 2.
The nail inlet is communicated with a nail conveying pipe 8, the rear shell 1 is fixedly connected with a connecting plate 9, one side, far away from the rear shell 1, of the connecting plate 9 is fixedly connected with a moving mechanism, the moving mechanism is fixedly connected with a flange 10, and the flange 10 can be connected with a robot.
The side walls of the two half devices 4 are provided with grooves, the grooves penetrate through the two half devices 4, clamping jaws 12 are arranged in the grooves, pull claws 11 are fixedly connected to the piston sleeve 6, the pull claws 11 are located at positions close to the front shell 2, the pull claws 11 are matched with the clamping jaws 12, the clamping jaws 12 are provided with protrusions, and return springs 13 are arranged between the protrusions and the two half devices 4.
An annular spring 14 is arranged between two adjacent half devices 4.
The moving mechanism comprises a moving plate 15, a sliding groove on the bottom surface of the moving plate 15, a sliding groove movable clamping connection plate 9, an electric cylinder arranged on the connecting plate 9 and connected with a PLC (programmable logic controller) through signals, a flange fixing plate 16 fixedly connected to the top surface of the moving plate 15, and a flange 10 fixedly connected to the flange fixing plate 16.
A camera fixing frame is fixedly connected on the front and the back shells 1, a vision camera 20 is fixedly connected on the camera fixing frame, the vision camera 20 is in signal connection with an upper computer, the vision camera 20 is in signal connection with a PLC controller, the PLC controller is in signal connection with the upper computer,
the inner walls of any two half devices 4 are sequentially provided with a travel switch 17 and a sensor 18, the travel switch 17 is in signal connection with a PLC (programmable logic controller), the sensor 18 is in signal connection with the PLC, the front shell 2 is provided with a plurality of normal sensors 19, the normal sensors 19 are both positioned close to the opening, and the normal sensors 19 are both in signal connection with the PLC.
One end of the piston 7 far away from the secondary cylinder 3 is fixedly connected with a push rod.
The utility model relates to a in the assembly of nail is taken out to single face, the vision camera is used for measuring actual position and the aperture of hole, transmits information to the PLC controller, and the vision camera can also transmit information to the host computer, through host computer control PLC controller, ensures the position accuracy of device through the removal of robot arm; the normal direction sensor is arranged at the output end of the front shell of the nail feeding device and is matched with the control unit to control the deflection of the robot, so that the normal direction precision of the device is ensured. In order to expand the application range and reduce the area of the detection surface of the device, the normal sensors are respectively arranged on the front shell, and the sidelines are flush with the front end surface of the shell of the broken nail device; the bend angle of the nail conveying pipe is larger, so that the single-side nail can be ensured to smoothly enter the device without obstruction; the annular spring is arranged at the tail parts of the two half devices, and the centering of the single-side drawing nail and the assembly of the single-side drawing nails with various specifications can be realized by utilizing the characteristic that the annular spring can elastically deform; the sensors are symmetrically arranged on the inner surface of the shell and used for detecting whether the single-side nail pulling is in place or not; the travel switch is used for detecting whether the single-side drawn nail can be normally pushed out of the device or not, when the single-side drawn nail is detected to be clamped in the device, the single-side drawn nail is righted through the clamping jaw to ensure the normal operation of the device, and the pressure foot is used for enabling the nail head of the single-side drawn nail to be tightly attached to a workpiece; after the assembly is finished, the moving plate driving device leaves the assembly surface, and the subsequent ending work is continued. The PLC controller controls the size of the thrust and the tension of the device by controlling the air pressure of the secondary cylinder to ensure that the device can normally work on the premise of not damaging the single-side nail pulling.
The utility model relates to an in the single face nail pulling assembly, the optional storehouse card KR 210R 2700 robot of robot, the PLC controller is through the air inlet and the giving vent to anger of control second grade cylinder to the propulsion and the retreating of control second grade cylinder.
The utility model relates to a binding device working process of self-plugging rivet, as shown in FIG. 3, at first PLC control robot drives the single face through flange 10 and takes out binding assembly device motion to the hole site, the aperture size through vision camera 20 detection, carry the single face of corresponding specification and take out the nail, PLC control robot drives the single face through flange 10 and takes out binding assembly device motion to the hole site, use vision camera 20 as the instrument, its axle center is the center, measure hole site and aperture, make vision camera 20 center and hole center error be less than + -0.1 mm, make 2 centers of preceding shell align with the hole site, measure normal direction distance through normal direction sensor 19, deflect through PLC control robot, make normal direction error be less than + -0.5. Then, when the sensor 18 detects that the single-side nail is pulled out, the PLC controller controls the secondary cylinder 3 to enable the piston 7 to push the single-side nail to be pulled out forwards; when the sensor 18 detects that the single-side nail is pulled out, the PLC controller controls the secondary cylinder 3 to enable the piston 7 to push the single-side nail to be pulled out forwards, and when the piston 7 triggers the travel switch 17, the single-side nail is successfully pushed to the two half devices 4, and the nail is continuously pushed to be pulled forwards; when the travel switch 17 cannot detect the piston 7 all the time, the single-side nail pulling can be blocked due to inclination and can not be pushed out of the front shell 2 normally, the PLC controls the secondary cylinder 3 to drive the piston 7 to move, the piston 7 drives the piston sleeve 6 and the pull claw 14 to move backwards, so that the claw 12 contracts radially and the single-side nail pulling is righted, and the PLC controls the secondary cylinder 3 to stop when the sensor 16 detects that the top cap of the nail passes through the two half devices 4 of the front shell 2; after the PLC controller controls the secondary cylinder 6 to stop, the PCL controller controls the electric cylinder to drive the movable plate 13 to move, so that the pressure foot 4 moves towards the workpiece; when the single-sided nail pulling assembly device moves to the surface of a workpiece and presses the workpiece tightly, the PLC controls the secondary cylinder 3 to drive the piston 7 to move backwards, the piston 7 drives the piston sleeve 6 and the pulling claw 11 to move backwards, the pulling claw 11 enables the clamping claw 12 to shrink backwards so as to clamp the single-sided nail pulling, the PLC controls the secondary cylinder 3 to drive the piston 7 to continue moving backwards, the clamping claw 12 clamps the nail to move backwards together so as to break the nail core, the assembly of the nail pulling is completed, the two half devices 4 move to press the workpiece tightly, the PLC controls the secondary cylinder 3 to drive the piston 7 to move backwards, the piston 7 drives the piston sleeve 6 and the pulling claw 11 to move backwards, the pulling claw 11 enables the clamping claw 12 to shrink backwards so as to clamp the single-sided nail pulling, the PLC controls the secondary cylinder 3 to drive the piston 7 to continue moving backwards, the clamping claw 23 clamps the nail to move backwards together so as to break the nail core, and after the nail core is broken, the PLC controls the robot, the PLC controller controls the secondary cylinder 3 to drive the piston 7 to move, and the piston 7 pushes the tail material of the nail core out of the device from the two half devices 4 to finish the assembly of the nail pulling.
The utility model relates to a binding device of self-plugging rivet, which solves the problem that the normal measurement can not be carried out in the prior art; the feeding and the connection of the single-side drawing nail can be accurately and quickly completed. Measuring the diameter and the coordinate of a hole site by using a vision camera, and ensuring the correct specification and the installation precision of the single-side nail pulling; the perpendicularity of the single-side nail pulling is ensured through the measurement of a normal sensor; thereby realizing accurate, quick and high-quality connection and assembly of thin-wall and composite material products; the actual position and the aperture size of the hole are measured for many times through the vision camera, so that the position precision of the device is ensured; the three normal sensor sensors ensure the coaxiality of the hole and the nail by measuring the distance from the three sensors to the surface of the workpiece, thereby ensuring the normal precision of the device and avoiding the deformation of the nail or the damage of the surface of the workpiece caused by the misalignment of the nail and the axial center of the hole.
Claims (8)
1. The self-plugging rivet binding device is characterized by comprising a front shell (2), wherein one end of the front shell (2) is provided with an opening, the other end of the front shell (2) is fixedly connected with a rear shell (1), the rear shell (1) is communicated with the front shell (2), and a rivet pressing mechanism is arranged in the rear shell (1);
the nail pressing mechanism comprises a secondary cylinder (3), the secondary cylinder (3) is fixedly connected with the rear shell (1), the secondary cylinder (3) is located at the position far away from the front shell (2), the secondary cylinder (3) is connected with a PLC (programmable logic controller), a piston (7) is arranged on the secondary cylinder (3), a piston sleeve (6) is fixedly connected with the piston (7), a plurality of two half devices (4) are symmetrically arranged in the front shell (2), the front ends of the two half devices (4) are provided with pressure feet (5), one end of each pressure foot (5) is located in an opening of the front shell (2), the other end of each two half device (4) is located in the piston sleeve (6), and a nail feeding opening is formed in the front shell (2).
2. A blind rivet setting device according to claim 1, characterized in that the nail inlet is connected with a nail conveying pipe (8), the rear housing (1) is fixedly connected with a connecting plate (9), one side of the connecting plate (9) far away from the rear housing (1) is fixedly connected with a moving mechanism, the moving mechanism is fixedly connected with a flange (10), and the flange (10) can be connected with a robot.
3. A blind rivet setting device according to claim 2, characterized in that the two half devices (4) are provided with slots on their side walls, the slots penetrate through the two half devices (4), a jaw (12) is provided in the slots, the piston sleeve (6) is fixedly connected with a pull jaw (11), the pull jaw (11) is located near the front housing (2), the pull jaw (11) is matched with the jaw (12), the jaw (12) is provided with a protrusion, and a return spring (13) is provided between the protrusion and the two half devices (4).
4. Device for clinching blind rivets according to claim 1, characterised in that between two adjacent half-devices (4) annular springs (14) are provided.
5. The blind rivet setting device according to claim 2, characterized in that the moving mechanism includes a moving plate (15), a sliding groove is formed in the bottom surface of the moving plate (15), the sliding groove is movably clamped with the connecting plate (9), an electric cylinder is arranged on the connecting plate (9), the electric cylinder is connected with a PLC (programmable logic controller) through signals, a flange fixing plate (16) is fixedly connected to the top surface of the moving plate (15), and the flange fixing plate (16) is fixedly connected with the flange (10).
6. The blind rivet setting device according to claim 1, characterized in that a camera fixing frame is fixedly connected to the rear housing (1), a vision camera (20) is fixedly connected to the camera fixing frame, the vision camera (20) is in signal connection with an upper computer, the vision camera (20) is in signal connection with a PLC controller, and the PLC controller is in signal connection with the upper computer.
7. A blind rivet setting device according to claim 1, characterized in that a travel switch (17) and a sensor (18) are sequentially arranged on the inner wall of any two half devices (4), the travel switch (17) is in signal connection with a PLC controller, the sensor (18) is in signal connection with the PLC controller, a plurality of normal sensors (19) are arranged on the front housing (2), the normal sensors (19) are both located near the opening, and the normal sensors (19) are both in signal connection with the PLC controller.
8. A blind rivet setting device according to claim 1, characterized in that a push rod is fixedly connected to the end of the piston (7) remote from the secondary cylinder (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020905249.8U CN212443068U (en) | 2020-05-26 | 2020-05-26 | Binding device of self-plugging rivet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020905249.8U CN212443068U (en) | 2020-05-26 | 2020-05-26 | Binding device of self-plugging rivet |
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| Publication Number | Publication Date |
|---|---|
| CN212443068U true CN212443068U (en) | 2021-02-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020905249.8U Active CN212443068U (en) | 2020-05-26 | 2020-05-26 | Binding device of self-plugging rivet |
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| CN (1) | CN212443068U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115122094A (en) * | 2022-08-16 | 2022-09-30 | 航天精工股份有限公司 | A equipment mechanism for screw is taken out nail |
-
2020
- 2020-05-26 CN CN202020905249.8U patent/CN212443068U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115122094A (en) * | 2022-08-16 | 2022-09-30 | 航天精工股份有限公司 | A equipment mechanism for screw is taken out nail |
| CN115122094B (en) * | 2022-08-16 | 2024-01-23 | 航天精工股份有限公司 | Assembling mechanism for screw thread drawing nail |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221214 Address after: 712000 315-1, Building A, Research and Development Office Building, Fengdong New Town Collaborative Innovation Port, Xi'an, Shaanxi Patentee after: Xi'an Hummingbird Equipment Technology Co.,Ltd. Address before: 710048 Shaanxi province Xi'an Beilin District Jinhua Road No. 5 Patentee before: XI'AN University OF TECHNOLOGY |
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| TR01 | Transfer of patent right |