CN213918310U - Automatic assembly mechanism for wire drawing rivets by using mechanical arm - Google Patents
Automatic assembly mechanism for wire drawing rivets by using mechanical arm Download PDFInfo
- Publication number
- CN213918310U CN213918310U CN202022916229.3U CN202022916229U CN213918310U CN 213918310 U CN213918310 U CN 213918310U CN 202022916229 U CN202022916229 U CN 202022916229U CN 213918310 U CN213918310 U CN 213918310U
- Authority
- CN
- China
- Prior art keywords
- rivet
- mechanical arm
- hole
- wire drawing
- piston
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Insertion Pins And Rivets (AREA)
Abstract
The utility model provides an use wire drawing rivet automatic assembly mechanism of arm belongs to automatic riveting equipment technical field for solve current wire drawing rivet assembly inefficiency, the poor technical problem of riveting quality. The utility model discloses an arm, rivet assembly devices and industrial camera, rivet assembly devices installs at the end of arm, industrial camera fixes on rivet assembly devices, the wire drawing rivet is placed in the rivet dish, rivet assembly devices includes base, protecting sheathing, vertical cylinder and fixture, protecting sheathing and base releasable connection, vertical cylinder passes through bolted connection with protecting sheathing, the lower part of vertical cylinder slides and is provided with the piston, fixture fixes the lower extreme at the piston, the locating hole has been seted up to protecting sheathing's bottom, fixture includes fixed tongs and movable tongs; the automatic assembly mechanism can realize accurate positioning of the wire drawing rivet, can complete a rivet assembly task with high efficiency and high precision, and has high riveting quality.
Description
Technical Field
The utility model belongs to the technical field of automatic riveting equipment, a use wire drawing rivet automatic assembly mechanism of arm is related to.
Background
The wire drawing rivet is also called a cup type self-plugging rivet, and is a structural type self-plugging rivet which is divided into an inner lock and an outer lock. The material is mainly stainless steel wire drawing rivet, aluminum wire drawing rivet and iron wire drawing rivet. The wire drawing rivet has good performance of filling holes, good air tightness and high riveting strength; the wire drawing rivet is suitable for the riveting field with high surface requirement, high riveting strength requirement and high sealing performance requirement.
Drawing rivet assembly techniques are now used in large numbers in a number of manufacturing industries, and therefore drawing rivet assembly mechanisms are increasingly in demand. The existing wire drawing rivet assembling device needs to consume a large amount of manpower and time, is low in assembling efficiency, and the force used in the operation process is determined by an operator according to self experience, so that certain riveting quality cannot be guaranteed, and further, a workpiece can be damaged or even safety accidents can be caused.
SUMMERY OF THE UTILITY MODEL
The utility model aims at having above-mentioned problem to current technique, provided an use wire drawing rivet automatic assembly mechanism of arm, the technical problem that the device will solve is: how to realize the automatic assembly improvement of wire drawing rivet, improve machining efficiency and riveting quality.
The purpose of the utility model can be realized by the following technical proposal:
an automatic assembly mechanism for a wire drawing rivet by using a mechanical arm comprises the mechanical arm, a rivet assembly mechanism, an industrial camera, a workpiece, a rivet disc and the wire drawing rivet, wherein the rivet assembly mechanism is arranged at the tail end of the mechanical arm, the industrial camera is fixed on the rivet assembly mechanism through a bolt, and the wire drawing rivet is placed in the rivet disc; rivet assembly devices includes the base, protecting sheathing, vertical cylinder and fixture, protecting sheathing comprises the two parts of symmetry, protecting sheathing and base releasable connection, vertical cylinder, piston and fixture all set up the inside at protecting sheathing, vertical cylinder passes through bolt fixed connection with protecting sheathing, the lower part of vertical cylinder slides and is provided with the piston, fixture fixes the lower extreme at the piston, the locating hole that is used for the wire drawing rivet to pass is seted up to protecting sheathing's bottom, fixture includes fixed tongs and activity tongs, the lower extreme at the piston is installed to fixed tongs and activity tongs.
The utility model discloses a theory of operation is: the mechanical arm carries out automatic searching and positioning through an industrial camera, the movement of the mechanical arm is controlled, the mechanical arm drives a rivet assembling mechanism arranged at the tail end of the mechanical arm to carry out positioning and riveting work, the visual feedback of the industrial camera controls the movement of the mechanical arm to move a positioning hole above a rivet disc, the positioning hole is aligned with one of the wire drawing rivets, the mechanical arm drives the rivet assembling mechanism to move downwards to enable a rivet core of the wire drawing rivet to penetrate through the positioning hole and enter the rivet assembling mechanism, a clamping mechanism operates, a movable gripper is matched with a fixed gripper to clamp the rivet core, the camera continues to position a workpiece, the mechanical arm drives the rivet assembling mechanism to move above the workpiece, a riveting hole on the workpiece is positioned, the wire drawing rivet enters the riveting hole, then the rivet is pressed by a rivet pressing part, a vertical air cylinder gives air, a piston drives the clamping mechanism to move upwards to drive the rivet core to be pulled out from a riveting shell, and the assembly of the wire drawing rivet is realized.
The mechanical arm is a KUKA six-joint mechanical arm and is controlled by a servo motor, and a controller of the mechanical arm comprises a main power supply, a computer power supply unit, a computer control module, an input and output board, a user connection port, a demonstrator terminal interface, each shaft computer board, a driving unit of each shaft servo motor and the like; the KUKA six-joint mechanical arm is a multi-degree-of-freedom and high-precision industrial mechanical arm, is accurate in positioning and convenient to control, and is widely applied to intelligent high-precision production occasions.
The industrial camera is fixed on the sleeve through a bolt, the industrial camera can shoot a working position of the rivet assembling mechanism and a workpiece to be riveted, the industrial camera collects images, transmits the images to the PC, and sends motion signals to the mechanical arm after the images are processed through the PC, so that the mechanical arm can work independently through visual servo.
The movable gripper comprises a movable clamping jaw, a horizontal cylinder and a horizontal cylinder support, the movable clamping jaw is fixed at the telescopic end of the horizontal cylinder, the horizontal cylinder is installed on the horizontal cylinder support, two symmetrical bolt holes are formed in the lower end of the piston, the horizontal cylinder support and the fixed gripper are connected with the piston through bolts, and a second air hole used for being connected with an air pipe is formed in one side of the horizontal cylinder.
By adopting the structure, the horizontal cylinder is used for air intake to drive the movable clamping jaw to move horizontally, and the movable clamping jaw and the fixed gripper are matched to clamp the core of the wire drawing rivet.
And a second air pipe hole is formed in the protective shell, and the air pipe of the horizontal air cylinder penetrates through the second air pipe hole to be connected with the second air hole.
The base includes flange and fixed sleeve, and insert in the fixed sleeve and through bolt fixed connection the upper end of protecting sheathing, first bolt hole has been seted up to protecting sheathing's upper end, seted up on the sleeve with first bolt hole complex first screw hole, the flange is connected with the arm.
Structure more than adopting, rivet assembly devices and arm are connected through the flange, and protecting sheathing is connected through the bolt with the base, easy dismounting, the maintenance of being convenient for.
The lower end of the protective shell is provided with a rivet pressing part, and the rivet pressing part is located at the lower end of the positioning hole.
By adopting the structure, the rivet pressing part can ensure that the wire drawing rivet is pressed to be not moved randomly when the rivet assembling mechanism works, and if the rivet is not pressed, the rivet can fall off, so that the rivet assembling fails.
The vertical cylinder is provided with a first air hole, the protective shell is provided with a first air pipe hole matched with the first air hole, the air pipe of the vertical cylinder penetrates through the first air pipe hole to be communicated with the first air hole, a vertical sliding groove is formed in the vertical cylinder, the upper end of the piston is arranged in the vertical sliding groove, a second threaded hole is formed in the vertical cylinder, and a second bolt hole matched with the second threaded hole is formed in the protective shell.
By adopting the structure, the piston is driven to move up and down in the vertical direction through the air inlet and outlet of the vertical cylinder, the piston drives the clamping mechanism to move up and down, when the rivet assembling mechanism works, the air outlet of the vertical cylinder enables the piston to drive the clamping mechanism to move up, the clamping mechanism drives the rivet core of the wire drawing rivet to be pulled out of the rivet shell, and the riveting work of the wire drawing rivet on a workpiece is realized.
The workpiece comprises a first riveting piece and a second riveting piece, and rivet holes for inserting the wire drawing rivets are formed in the first riveting piece and the second riveting piece.
When a workpiece is riveted, the first riveting piece and the second riveting piece are manually placed on the workbench, the mechanical arm automatically grabs the wire drawing rivet from the rivet disc, and then the mechanical arm drives the rivet assembling mechanism to perform assembling operation to rivet the first riveting piece and the second riveting piece together.
Compared with the prior art, this wire drawing rivet automatic assembly mechanism who uses arm has following advantage:
1. the visual feedback control mechanical arm through the industrial camera drives the riveting mechanism to automatically complete the assembly work of the wire drawing rivet, the rivet assembly mechanism adopts the vertical cylinder to control the accurate distance, the rivet core can be tightly pushed in place, the product is not pushed to expand, the movable gripper and the fixed gripper are controlled by the horizontal cylinder to cooperate to clamp the wire drawing rivet, and the clamping is stable.
2. The wire drawing rivet assembling machine has the advantages that the accurate positioning of the wire drawing rivet can be realized, the rivet assembling task can be efficiently and accurately completed, the riveting quality is high, manual participation is not needed in the operation process, the problem that the manual rivet assembling work efficiency is low and unsafe is solved, the rivet assembling work is rapidly and efficiently completed, the production efficiency is improved, and the production cost is reduced.
Drawings
Fig. 1 is a schematic structural diagram of the present invention;
FIG. 2 is a schematic three-dimensional structure of the rivet assembling mechanism of the present invention;
FIG. 3 is an exploded view of the rivet assembly mechanism of the present invention;
FIG. 4 is a schematic structural view of the rivet assembling mechanism of the present invention;
FIG. 5 is a schematic structural view of section A in FIG. 4;
FIG. 6 is a schematic view of a riveting structure of a workpiece according to the present invention;
in the figure: 1-mechanical arm, 2-rivet assembling mechanism, 201-base, 202-protective shell, 203-first bolt hole, 204-second bolt hole, 205-flange, 206-fixing sleeve, 207-vertical cylinder, 208-first air hole, 209-piston, 210-positioning hole, 211-fixing hand grip, 212-movable hand grip, 213-movable jaw, 214-first air pipe hole, 215-second air pipe hole, 216-vertical chute, 217-horizontal cylinder bracket, 218-second air hole, 219-horizontal cylinder, 220-second threaded hole, 221-first threaded hole, 222-rivet pressing part, 3-industrial camera, 4-workpiece, 401-first riveting piece, 402-second riveting piece, 403-riveting hole, 5-rivet disc and 6-wire drawing rivet.
Detailed Description
The technical solution of the present patent will be described in further detail with reference to the following embodiments.
Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.
In the description of this patent, it is to be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for the convenience of describing the patent and for the simplicity of description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the patent.
In the description of this patent, it is noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can include, for example, fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meaning of the above terms in this patent may be understood by those of ordinary skill in the art as appropriate.
Referring to fig. 1-6, the embodiment provides an automatic assembly mechanism for a wire drawing rivet by using a mechanical arm, which includes a mechanical arm 1, a rivet assembly mechanism 2, an industrial camera 3, a workpiece 4, a rivet disc 5 and a wire drawing rivet 6, wherein the rivet assembly mechanism 2 is installed at the tail end of the mechanical arm 1, the industrial camera 3 is fixed on the rivet assembly mechanism 2 through a bolt, and the wire drawing rivet 6 is placed in the rivet disc 5; the rivet assembling mechanism 2 comprises a base 201, a protective shell 202, a vertical cylinder 207 and a clamping mechanism, wherein the protective shell 202 consists of two symmetrical parts, the protective shell 202 is detachably connected with the base 201, the vertical cylinder 207, a piston 209 and the clamping mechanism are all arranged inside the protective shell 202, the vertical cylinder 207 is fixedly connected with the protective shell 202 through bolts, the piston 209 is arranged on the lower part of the vertical cylinder 207 in a sliding mode, the clamping mechanism is fixed at the lower end of the piston 209, a positioning hole 210 for the wire drawing rivet 6 to pass through is formed in the bottom of the protective shell 202, the clamping mechanism comprises a fixed hand grip 211 and a movable hand grip 212, and the fixed hand grip 211 and the movable hand grip 212 are arranged at the lower end of the piston 209; the mechanical arm 1 carries out automatic searching and positioning through the industrial camera 3, the movement of the mechanical arm 1 is controlled, the mechanical arm 1 drives the rivet assembling mechanism 2 arranged at the tail end of the mechanical arm 1 to carry out positioning and riveting work, the visual feedback of the industrial camera 3 controls the movement of the mechanical arm 1 to enable the positioning hole 210 to move to the upper side of the rivet disc 5, the positioning hole 210 is aligned with one of the wiredrawing rivets, the mechanical arm 1 drives the rivet assembling mechanism 2 to move downwards to enable a rivet core of the wiredrawing rivet to penetrate through the positioning hole 210 and enter the rivet assembling mechanism 2, the clamping mechanism operates, the movable gripper 212 is matched with the fixed gripper 211 to clamp the rivet core, the camera 3 continues to position the workpiece 4, the mechanical arm 1 drives the rivet assembling mechanism 2 to move to the upper side of the workpiece 4 to position a riveting hole on the workpiece 4 to enable the wiredrawing rivet 6 to enter the riveting hole 403, and then the rivet is tightly pressed by the rivet pressing part 222, and the vertical cylinder 207 is vented to enable the piston 203 to drive the clamping mechanism to move upwards to drive the rivet core to be pulled out of the riveting shell, so that the assembly of the wire drawing rivet is realized.
The mechanical arm 1 is a KUKA six-joint mechanical arm and is controlled by a servo motor, and a controller of the mechanical arm comprises a main power supply, a computer power supply unit, a computer control module, an input and output board, a user connection port, a demonstrator terminal interface, each shaft computer board, a driving unit of each shaft servo motor and the like; the KUKA six-joint mechanical arm is a multi-degree-of-freedom and high-precision industrial mechanical arm, is accurate in positioning and convenient to control, and is widely applied to intelligent high-precision production occasions.
The industrial camera 3 is fixed on the sleeve 206 through the bolt, the working position of the rivet assembling mechanism 2 and the workpiece 4 to be riveted can be shot by the industrial camera 3, the industrial camera 3 collects images, the images are transmitted to the PC, after the images are processed through the PC, the PC sends a motion signal to the mechanical arm 1, and the mechanical arm can work independently through visual servo.
The movable gripper 212 comprises a movable clamping jaw 213, a horizontal cylinder 219 and a horizontal cylinder support 217, the movable clamping jaw 213 is fixed at the telescopic end of the horizontal cylinder 219, the horizontal cylinder 219 is mounted on the horizontal cylinder support 217, the lower end of the piston 209 is provided with two symmetrical bolt holes, the horizontal cylinder support 217 and the fixed gripper 211 are connected with the piston 209 through bolts, and one side of the horizontal cylinder 219 is provided with a second air hole 218 for connecting an air pipe; the horizontal cylinder 219 admits air and drives the movable clamping jaw 213 to move horizontally, and the movable clamping jaw 213 is matched with the fixed gripper 211 to clamp the core of the wire drawing rivet 6.
The protective shell 202 is provided with a second air pipe hole 215, and an air pipe of the horizontal air cylinder 219 passes through the second air pipe hole 215 to be connected with a second air hole 218.
The base 201 comprises a flange 205 and a fixing sleeve 206, the upper end of the protective casing 202 is inserted into the fixing sleeve 206 and fixedly connected through bolts, the upper end of the protective casing 202 is provided with a first bolt hole 203, the sleeve 206 is provided with a first threaded hole 221 matched with the first bolt hole 203, and the flange 205 is connected with the mechanical arm 1; the rivet assembling mechanism is connected with the mechanical arm 1 through a flange 205, and the protective shell 202 is connected with the base 201 through bolts, so that the assembly and disassembly are convenient.
The lower end of the protective shell 202 is provided with a rivet pressing part 222, and the rivet pressing part 222 is positioned at the lower end of the positioning hole 210; the rivet pressing portion 222 can ensure that the drawn rivet 6 is pressed and does not move randomly when the rivet assembling mechanism 2 is in operation, and if the rivet is not pressed, the rivet may fall off, so that the rivet assembling fails.
A first air hole 208 is formed in the vertical air cylinder 207, a first air pipe hole 214 matched with the first air hole 208 is formed in the protective shell 202, the air pipe of the vertical air cylinder 207 penetrates through the first air pipe hole 214 to be communicated with the first air hole 208, a vertical sliding groove 216 is formed in the vertical air cylinder 207, the upper end of the piston 209 is arranged in the vertical sliding groove 216, a second threaded hole 220 is formed in the vertical air cylinder 207, and a second bolt hole 204 matched with the second threaded hole 220 is formed in the protective shell 202; the vertical cylinder 207 is ventilated to drive the piston 209 to move up and down in the vertical direction, the piston 209 drives the clamping mechanism to move up and down, when the rivet assembling mechanism 2 works, the vertical cylinder 207 is ventilated to enable the piston 209 to drive the clamping mechanism to move up, the clamping mechanism drives the rivet core of the wire drawing rivet 6 to be pulled out from the rivet shell, and the riveting work of the wire drawing rivet 6 on the workpiece 4 is realized.
The workpiece 4 comprises a first riveting piece 401 and a second riveting piece 402, and both the first riveting piece 401 and the second riveting piece 402 are provided with rivet holes 403 for inserting the wire drawing rivets 6; when the workpiece 4 is riveted, the first riveting piece 401 and the second riveting piece 402 are manually placed on the workbench, the mechanical arm 1 automatically grabs the wire drawing rivet 6 from the rivet disc 5, then the mechanical arm 1 drives the rivet assembling mechanism 2 to perform assembling operation, and the first riveting piece 401 and the second riveting piece 402 are riveted together.
The utility model discloses a theory of operation:
when riveting a workpiece 4, the workpiece 4 is placed on a workbench, the mechanical arm 1 automatically searches and positions through the industrial camera 3, the mechanical arm 1 is controlled to move, and the mechanical arm 1 drives the rivet assembling mechanism 2 arranged at the tail end of the mechanical arm 1 to perform positioning and riveting work; firstly, the vision feedback of the industrial camera 3 controls the mechanical arm 1 to move, so that the positioning hole 210 moves to the position above the rivet disc 5, the positioning hole 210 is aligned with one wire drawing rivet in the rivet disc 5, the mechanical arm 1 drives the rivet assembling mechanism 2 to move downwards, so that the core of the wire drawing rivet passes through the positioning hole 210 and enters the rivet assembling mechanism 2, the horizontal cylinder 219 enters air to drive the movable clamping jaw 213 to move horizontally, the movable clamping jaw 213 is matched with the fixed gripper 211 to clamp the core of the wire drawing rivet 6, the mechanical arm 1 drives the rivet assembling mechanism 2 to move upwards to draw the wire drawing rivet 6 out of the rivet disc 5, the camera 3 continues to position the workpiece 4, the mechanical arm 1 drives the rivet assembling mechanism 2 to move to the position above the workpiece 4, the riveting hole 403 on the workpiece 4 is positioned, the mechanical arm 1 drives the rivet assembling mechanism 2 to move downwards to insert the wire drawing rivet 6 into the riveting hole 403, and then the wire drawing rivet is pressed by the rivet pressing part 222, the vertical cylinder 207 is vented to enable the piston 203 to drive the clamping mechanism to move upwards, so that the rivet core is driven to be pulled out of the riveting shell, and automatic assembly of the wire drawing rivet is achieved.
To sum up, the utility model automatically completes the assembly work of the wire drawing rivet by driving the riveting mechanism 2 through the visual feedback control mechanical arm 1 of the industrial camera 3, the rivet assembly mechanism 2 adopts the vertical cylinder 207 to control the accurate distance, so that the rivet core can be tightly pushed in place, meanwhile, the product is not pushed to expand the shell, the horizontal cylinder 219 is adopted to control the movable gripper 212 to be matched with the fixed gripper 211 to clamp the wire drawing rivet 6, and the clamping is stable; the utility model discloses can realize the accurate positioning to the wire drawing rivet, can accomplish the rivet assembly task by high-efficient high accuracy again, riveting high quality, the operation in-process need not have artificial participation, avoids the manual work to carry out the low and unsafe problem of rivet operating efficiency to make rivet assembly work high efficiency's completion, improved production efficiency, reduced manufacturing cost.
Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.
Claims (9)
1. The automatic assembly mechanism for the wire drawing rivets by using the mechanical arm comprises the mechanical arm (1), a rivet assembly mechanism (2), an industrial camera (3), a workpiece (4), a rivet disc (5) and the wire drawing rivets (6), and is characterized in that the rivet assembly mechanism (2) is installed at the tail end of the mechanical arm (1), the industrial camera (3) is fixed on the rivet assembly mechanism (2) through a bolt, and the wire drawing rivets (6) are placed in the rivet disc (5); rivet assembly devices (2) are including base (201), protecting sheathing (202), vertical cylinder (207) and fixture, protecting sheathing (202) comprises the two parts of symmetry, protecting sheathing (202) and base (201) releasable connection, vertical cylinder (207), piston (209) and fixture all set up the inside at protecting sheathing (202), vertical cylinder (207) pass through bolt fixed connection with protecting sheathing (202), the lower part slip of vertical cylinder (207) is provided with piston (209), fixture fixes the lower extreme at piston (209), locating hole (210) that are used for wire drawing rivet (6) to pass are seted up to the bottom of protecting sheathing (202), fixture includes fixed tongs (211) and activity tongs (212), the lower extreme at piston (209) is installed in fixed tongs (211) and activity tongs (212).
2. The automatic assembly mechanism for drawing rivets by using the mechanical arm as claimed in claim 1, characterized in that the mechanical arm (1) is a KUKA six-joint mechanical arm controlled by a servo motor, and a controller thereof comprises a main power supply, a computer power supply unit, a computer control module, an input and output board, a user connection port, a demonstrator connection port, each axis computer board, a driving unit of each axis servo motor and the like.
3. An automatic assembly mechanism for drawn rivets using a robotic arm, according to claim 1, characterized in that said industrial camera (3) is fixed on the sleeve (206) by means of bolts.
4. The automatic assembly mechanism for the wire drawing rivets by using the mechanical arm as set forth in claim 1, characterized in that the movable gripper (212) comprises a movable clamping jaw (213), a horizontal cylinder (219) and a horizontal cylinder bracket (217), the movable clamping jaw (213) is fixed at the telescopic end of the horizontal cylinder (219), the horizontal cylinder (219) is installed on the horizontal cylinder bracket (217), two symmetrical bolt holes are formed at the lower end of the piston (209), the horizontal cylinder bracket (217) and the fixed gripper (211) are connected with the piston (209) by bolts, and a second air hole (218) for connecting an air pipe is formed at one side of the horizontal cylinder (219).
5. The automatic assembling mechanism for the drawn rivets by using the mechanical arm as set forth in claim 4, characterized in that the protective shell (202) is provided with a second air pipe hole (215), and an air pipe of the horizontal cylinder (219) passes through the second air pipe hole (215) to be connected with the second air hole (218).
6. The automatic assembling mechanism for the drawn rivets by using the mechanical arm as claimed in claim 1, wherein the base (201) comprises a flange (205) and a fixing sleeve (206), the upper end of the protective casing (202) is inserted into the fixing sleeve (206) and fixedly connected by bolts, the upper end of the protective casing (202) is provided with a first bolt hole (203), the sleeve (206) is provided with a first threaded hole (221) matched with the first bolt hole (203), and the flange (205) is connected with the mechanical arm (1).
7. The automatic assembly mechanism for the wiredrawing rivets by using the mechanical arm as claimed in claim 6, characterized in that the lower end of the protective housing (202) is provided with a rivet pressing portion (222), and the rivet pressing portion (222) is positioned at the lower end of the positioning hole (210).
8. The automatic assembly mechanism for the wire drawing rivet by using the mechanical arm as claimed in claim 1, wherein a first air hole (208) is formed in the vertical air cylinder (207), a first air pipe hole (214) matched with the first air hole (208) is formed in the protective casing (202), an air pipe of the vertical air cylinder (207) penetrates through the first air pipe hole (214) to be communicated with the first air hole (208), a vertical sliding groove (216) is formed in the vertical air cylinder (207), the upper end of the piston (209) is arranged in the vertical sliding groove (216), a second threaded hole (220) is formed in the vertical air cylinder (207), and a second bolt hole (204) matched with the second threaded hole (220) is formed in the protective casing (202).
9. The automatic assembly mechanism for the wiredrawing rivets by using the mechanical arm as claimed in claim 1, wherein the workpiece (4) comprises a first riveting piece (401) and a second riveting piece (402), and a rivet hole (403) for inserting the wiredrawing rivet (6) is formed in each of the first riveting piece (401) and the second riveting piece (402).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022916229.3U CN213918310U (en) | 2020-12-08 | 2020-12-08 | Automatic assembly mechanism for wire drawing rivets by using mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022916229.3U CN213918310U (en) | 2020-12-08 | 2020-12-08 | Automatic assembly mechanism for wire drawing rivets by using mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213918310U true CN213918310U (en) | 2021-08-10 |
Family
ID=77149372
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022916229.3U Active CN213918310U (en) | 2020-12-08 | 2020-12-08 | Automatic assembly mechanism for wire drawing rivets by using mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213918310U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112388656A (en) * | 2020-12-08 | 2021-02-23 | 兰州交通大学 | Automatic assembly mechanism for wire drawing rivets by using mechanical arm |
-
2020
- 2020-12-08 CN CN202022916229.3U patent/CN213918310U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112388656A (en) * | 2020-12-08 | 2021-02-23 | 兰州交通大学 | Automatic assembly mechanism for wire drawing rivets by using mechanical arm |
| CN112388656B (en) * | 2020-12-08 | 2024-06-25 | 兰州交通大学 | Wire drawing rivet automatic assembly mechanism using mechanical arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112388656A (en) | Automatic assembly mechanism for wire drawing rivets by using mechanical arm | |
| CN109158823B (en) | Girder welding jig frock | |
| CN111136452A (en) | Portable bolt pre-tightening manipulator and use method thereof | |
| CN110524299B (en) | Automatic unloading production unit of going up of robot | |
| CN213918310U (en) | Automatic assembly mechanism for wire drawing rivets by using mechanical arm | |
| CN209140440U (en) | The multidirectional adjusting clamping device of drilling machine plane vertical drilling multi-hole position | |
| CN113600702B (en) | Pre-construction system of end effector and control method thereof | |
| CN114799023A (en) | Servo rivet blowing and pressing nut equipment | |
| CN212443068U (en) | Binding device of self-plugging rivet | |
| CN111687367B (en) | Single-sided rivet drawing assembly device and assembly method thereof | |
| CN217315695U (en) | Servo rivet blowing and pressing nut equipment | |
| CN103240631A (en) | Fixture for curved surface cavity workpiece boring | |
| CN213915939U (en) | Automatic riveting mechanism for hollow rivets | |
| CN216178139U (en) | Automatic pin machine | |
| CN216369698U (en) | Aluminum pipe pier head machine | |
| CN213043570U (en) | Stator and rotor assembling and disassembling device | |
| CN109909713B (en) | From pressing cover frock of centering | |
| CN113510732A (en) | Rapid dismounting mechanism and dismounting method for industrial robot clamping paw | |
| CN208437905U (en) | A kind of nest nailing machine | |
| CN112170764B (en) | Automatic riveting mechanism for hollow rivet | |
| CN114669991B (en) | Rotary press riveting unit device | |
| CN214868501U (en) | Quick-operation joint valve sleeve feeding mechanism | |
| CN212976609U (en) | Cable bridge riveting device | |
| CN221246836U (en) | Reverse pressure riveting equipment capable of realizing double-station exchange | |
| CN216370029U (en) | Riveting assembly system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |