CN216561034U - Rivet and cylindric part press from both sides and get detection mechanism - Google Patents

Abstract

The utility model relates to a clamping detection mechanism for rivets and cylindrical parts, which relates to the field of automation equipment and comprises a clamping jaw assembly arranged on a moving mechanism, wherein the clamping jaw assembly comprises a detection assembly, a detection assembly mounting block, a clamping mechanism, a first wiring terminal and a second wiring terminal; the clamping mechanism and the detection assembly can be communicated through a part to be clamped. The utility model has the beneficial effects that: whether part snatchs successful detection function at clamping jaw assembly has integrateed, detects when snatching, detects high-efficient stable, and low cost saves operating time.

Description

Rivet and cylindric part press from both sides and get detection mechanism

Technical Field

The utility model relates to the field of automation equipment, in particular to a clamping detection mechanism for rivets and cylindrical parts.

Background

With the development of the pen and electricity industry, the production capacity of the pen and electricity products is high all the time, various bolts are arranged in the pen and electricity products, in order to ensure the stable connection strength of the bolts, most of the pen and electricity products adopt a stamped metal built-in part as a main frame of equipment, various rivets are required to be riveted on the metal built-in part for locking the bolts, the types of the rivets in the same metal built-in part can reach more than 10 at most, and the number of the rivets can reach more than thirty. Although the types of the rivets are various, the difference is very small, the assembly requirement is very high, the number of people required by the traditional manual assembly is large, and the error probability is high. In order to ensure that the metal built-in part and the rivet can bear larger push-pull force and torsion after being riveted, the fit tolerance size of the metal built-in part and the shaft hole of the rivet is smaller, and the assembly precision is further improved.

The work piece is snatched to the mode that adopts magnet to snatch or vacuum suction usually in the present, though the reliability is higher, but uses the limitation great, but the magnet snatchs the mode and only can snatch the work piece that can the magnetic conduction material, and the vacuum suction only can absorb solid work piece, and to the porose work piece in centre, then difficult realization snatchs.

In the automatic assembly of the rivet, whether the rivet is successfully clamped or not is very difficult to detect, the minimum rivet height is only 1.5mm due to the small size of the rivet, in addition, in order to distinguish the rivet types, the rivet is more in color, and the detection success rate of the traditional optical fiber additional lens is not high; the correlation type optical fiber has high detection success rate, but has complex debugging, large occupied space and high cost; the success rate of visual detection is high, but the cost is high, and the production efficiency is greatly influenced. In addition, in the conventional equipment, the workpiece is firstly grabbed and then moved to the detection equipment to detect whether the grabbing is successful or not. The steps are complex and the time consumption is high.

Therefore, the problems to be solved by those skilled in the art are: how to improve the efficiency of grabbing the work piece and detecting.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem of how to improve the efficiency of grabbing workpieces and detecting.

The technical scheme for solving the technical problems is as follows: a clamping detection mechanism for rivets and cylindrical parts comprises a moving mechanism and a clamping jaw assembly, wherein the clamping jaw assembly comprises a detection assembly, a detection assembly mounting block, a clamping mechanism, a first wiring terminal and a second wiring terminal, the detection assembly and the clamping mechanism are both fixedly connected with the detection assembly mounting block, the detection assembly mounting block is insulated from the detection assembly and/or the clamping mechanism, the first wiring terminal is electrically connected with the clamping mechanism, and the second wiring terminal is electrically connected with the detection assembly; the clamping mechanism is used for clamping a part to be grabbed and is communicated with the detection assembly circuit through the part to be grabbed, and the detection assembly mounting block is mounted on the moving mechanism.

The utility model has the beneficial effects that: the clamping detection mechanism is suitable for any conductive part to be grabbed. Under the drive of the moving mechanism, the clamping jaw component moves downwards after moving to the position above the part to be grabbed until the part to be grabbed is abutted against the detection component. And then the gripping mechanism grips. If the part is successfully grabbed, the conductive part to be grabbed is simultaneously contacted with the clamping mechanism and the detection assembly, so that the circuits where the first wiring terminal and the second wiring terminal are located are conducted, the circuit communication can be known according to parameters such as current or voltage of the circuits, and the part grabbing success is known. And if the grabbing fails, the circuits where the first connecting terminal and the second connecting terminal are not communicated. The utility model integrates the function of detecting whether the part is successfully grabbed in the clamping jaw assembly, and the part is grabbed and simultaneously detected, so that the detection is efficient and stable, the cost is low, and the working time is saved.

On the basis of the technical scheme, the utility model can be further improved as follows.

Further, the determine module includes gag lever post, determine module casing and elastic component, the gag lever post can be from top to bottom gliding set up in the determine module casing, its lower extreme stretches out the determine module casing, and be used for press from both sides get the mechanism clamp get when waiting to snatch the part with wait to snatch the part butt, the both ends of elastic component respectively with the top surface of gag lever post with the top surface butt of determine module casing, and right the elastic force that makes its downstream is applyed to the gag lever post, second binding post with the determine module casing electricity is connected, just the determine module casing with the gag lever post is electrically conductive material and circuit intercommunication each other.

The beneficial effect of adopting the further scheme is that: the gag lever post pushes down under the effect of elastic component to the messenger waits to snatch the part and is snatched the back, the gag lever post can with wait to snatch the stable butt of part, and, can make and wait to snatch the part and press from both sides the relative position who gets the mechanism fixed, prescribes a limit to wait to snatch the Z axle degree of freedom of part, avoids waiting to snatch the part and gets the mechanism internal rock of clamp, has also ensured follow-up accuracy when placing the part of waiting to snatch.

Further, the detecting component still includes closing cap and jump ring, the gag lever post is including from top to bottom fixed connection's spacing section and contact segment in proper order, the diameter of spacing section is greater than the diameter of contact segment, the spacing boss of casing has in the detecting component casing, the spacing boss of casing be used for with the bottom surface butt of spacing section is spacing, the jump ring with the detecting component casing joint is fixed, the jump ring go up the closing cap the elastic component with spacing section from top to bottom butt in proper order.

The beneficial effect of adopting the further scheme is that: the clamp spring limits the upper end of the upper sealing cover, the upper sealing cover limits the farthest position of the limiting rod moving upwards, and the shell limiting boss limits the farthest position of the limiting rod moving downwards. The detection assembly is convenient to disassemble and assemble. By replacing the stop rods with different lengths, the device can adapt to parts to be grabbed or grabbing positions with different shapes.

Furthermore, the bottom surface of going up the closing cap has first arch, the top surface of gag lever post has the second arch, first arch with the second arch corresponds the setting for it is spacing to butt.

The beneficial effect of adopting the further scheme is that: after the elastic piece is compressed, the first bulge is abutted with the second bulge, so that the limit position of the limiting rod moving upwards is limited.

Further, press from both sides and get mechanism and close the piece including pressing from both sides the drive piece and the clamping jaw, press from both sides get the drive piece with detection component installation piece fixed connection, and with first binding post electricity is connected, press from both sides get the drive piece with the clamping jaw closes the piece transmission and connects, and makes the clamping jaw closes the piece and opens or close, detection component is located the clamping jaw closes the inboard top of piece.

The beneficial effect of adopting the further scheme is that: the detection assembly is positioned above the inner side of the clamping jaw assembly, so that the whole structure is compact, and the detection efficiency is high.

Further, the clamping jaw closes the piece and includes the claw body that two symmetries set up, the one end of the claw body with press from both sides the transmission of getting the driving piece and be connected, the other end has the semicircular breach of snatching, detecting component is located two top between the claw body.

The beneficial effect of adopting the further scheme is that: the semicircular grabbing notches on the two claw bodies are folded to be circular when grabbing, so that the degree of freedom of an X axis and a Y axis of a part to be grabbed is limited, the problem of precision of clamping the rivet can be effectively solved, and the stability of rivet assembly is ensured.

Further, moving mechanism includes clamping jaw Z axle subassembly and clamping jaw subassembly circuit board, clamping jaw subassembly is at least two, clamping jaw Z axle subassembly be at least two, and with clamping jaw subassembly the detection component installation piece one-to-one sets up and fixed connection, all clamping jaw Z axle subassembly all with clamping jaw subassembly circuit board fixed connection.

The beneficial effect of adopting the further scheme is that: the clamping jaw assembly can reciprocate along the Z axis under the driving of the clamping jaw Z axis assembly. At least two clamping jaw assemblies can realize the grabbing of a plurality of parts simultaneously.

Further, every clamping jaw Z axle subassembly includes clamping jaw Z axle guide rail, clamping jaw Z axle slider and clamping jaw Z axle driving piece, clamping jaw Z axle driving piece with clamping jaw Z axle slider all with clamping jaw subassembly circuit board fixed connection, clamping jaw Z axle guide rail's one end with clamping jaw Z axle driving piece transmission is connected, its middle part with clamping jaw Z axle slider sliding connection, clamping jaw Z axle guide rail's the other end with correspond detection module installation piece is insulating and fixed connection.

The beneficial effect of adopting the further scheme is that: the clamping jaw Z-axis driving piece drives the clamping jaw Z-axis guide rail to vertically move, so that the clamping jaw assembly is driven to vertically move. Wherein the Z-axis slide block of the clamping jaw provides a guiding function.

Further, the moving mechanism further comprises an X-axis moving assembly, a Y-axis moving assembly and a Z-axis moving assembly, the Y-axis moving assembly is fixed on an X-axis moving block of the X-axis moving assembly, the Z-axis moving assembly is fixed on a Y-axis moving block of the Y-axis moving assembly, and the clamping jaw assembly integrated board is fixed on a Z-axis moving block of the Z-axis moving assembly.

The beneficial effect of adopting the further scheme is that: the X-axis moving assembly, the Y-axis moving assembly and the Z-axis moving assembly are used for achieving three-degree-of-freedom movement of the clamping jaw assembly, the Z-axis moving assembly is used for enabling the clamping jaw assembly to move in a large range on the Z axis, and the clamping jaw Z-axis assembly is used for enabling the clamping jaw assembly to move accurately on the Z axis.

Further, the detection component mounting block is made of an insulating material, or the clamping jaw component further comprises an insulating plate, and the insulating plate is fixed between the detection component mounting block and the detection component, and/or between the detection component mounting block and the clamping mechanism.

The beneficial effect of adopting the further scheme is that: if the detection component mounting block is made of an insulating material, an insulating plate is not needed. However, if the strength of the insulating material cannot meet the requirements of the use scene, the detection assembly mounting block needs to be made of a high-strength material, and the detection assembly mounting block is insulated from other parts by arranging the insulating plate.

Further, still include the feed subassembly, the feed subassembly is located the gripper assembly below, and is used for carrying the part of waiting to snatch.

Drawings

FIG. 1 is a three-dimensional view of a clamping and inspecting mechanism for rivets and cylindrical parts according to the present invention;

FIG. 2 is an assembly view of the jaw Z-axis assembly and jaw assembly of the present invention;

FIG. 3 is a cross-sectional view of the jaw assembly of the present invention;

FIG. 4 is a schematic view of the mounting structure of the inspection assembly of the present invention, in which the inspection assembly mounting block and the gripping drive member are sectioned;

FIG. 5 is an enlarged view A of a portion of the clamping jaw assembly of FIG. 4;

FIG. 6 is a cross-sectional view of a detection assembly of the present invention.

In the drawings, the components represented by the respective reference numerals are listed below:

1. a jaw assembly;

11. a detection component; 111. a limiting rod; 112. a detection assembly housing; 113. an elastic member; 114. an upper sealing cover; 115. a clamp spring;

12. an insulating plate; 13. a detection component mounting block; 14. positioning pins; 15. a gripping drive; 16. a first connection terminal; 17. a clamping jaw assembly; 18. a second connection terminal;

2. an X-axis moving assembly;

3. a Y-axis moving assembly;

4. a Z-axis moving assembly;

5. a supply assembly;

6. a clamping jaw Z shaft assembly; 61. a jaw assembly mounting block; 62. a jaw Z-axis guide rail; 63. a clamping jaw Z-axis sliding block; 64. a jaw Z-axis floating joint; 65. a clamping jaw Z-axis cylinder mounting plate; 66. a jaw Z-axis drive; 67. a clamping jaw assembly integration plate;

7. the part to be grabbed.

Detailed Description

The principles and features of this invention are described below in conjunction with examples which are set forth to illustrate, but are not to be construed to limit the scope of the utility model.

As shown in fig. 1 to 6, the present embodiment provides a clamping detection mechanism for rivets and cylindrical parts, which includes a moving mechanism and a clamping jaw assembly 1, where the clamping jaw assembly 1 includes a detection assembly 11, a detection assembly mounting block 13, a clamping mechanism, a first connection terminal 16 and a second connection terminal 18, the detection assembly 11 and the clamping mechanism are both fixedly connected to the detection assembly mounting block 13, the detection assembly mounting block 13 is insulated from the detection assembly 11 and/or the clamping mechanism, the first connection terminal 16 is electrically connected to the clamping mechanism, and the second connection terminal 18 is electrically connected to the detection assembly 11; the clamping mechanism is used for clamping a part 7 to be grabbed and is in circuit communication with the detection assembly 11 through the part 7 to be grabbed, and the detection assembly mounting block 13 is mounted on the moving mechanism.

The clamping detection mechanism is suitable for any conductive part 7 to be grabbed. Under the drive of the moving mechanism, the clamping jaw assembly 1 moves to the position above the part 7 to be grabbed and then moves downwards until the part 7 to be grabbed is abutted against the detection assembly 11. And then the gripping mechanism grips. If the part 7 to be grabbed is successfully grabbed, the conductive part is simultaneously contacted with the clamping mechanism and the detection assembly 11, so that the circuits where the first connecting terminal 16 and the second connecting terminal 18 are located are conducted, the circuit connection can be known according to parameters such as current or voltage of the circuits, and the part grabbing success can be known. If the grabbing fails, the circuits of the first connection terminal 16 and the second connection terminal 18 are not connected. The utility model integrates the function of detecting whether the part is successfully grabbed in the clamping jaw assembly, and the part is grabbed and simultaneously detected, so that the detection is efficient and stable, the cost is low, and the working time is saved.

The first connecting terminal 16 is connected with the positive pole of a power supply, and the second connecting terminal 18 is connected with the negative pole of the power supply; alternatively, the first connection terminal 16 is connected to the negative pole of the power supply, and the second connection terminal 18 is connected to the positive pole of the power supply.

Preferably, a resistor is connected in series with a wire between the first connection terminal 16 and/or the second connection terminal 18 and the power supply, and the resistor is used for preventing the power supply from having excessive current after the circuit is connected.

Preferably, the power supply is a 24V power supply, and a safe voltage is adopted, so that when equipment is overhauled or disassembled, workers are not in danger due to electric shock.

For the detection of whether the clamping is successful, one embodiment is as follows: on a wire between the first connection terminal 16 or the second connection terminal 18 and the power supply, an ammeter or a sensor for detecting current is provided in series. When the ammeter can detect the current value, the circuit is connected, namely the clamping is successful; when the ammeter can not detect the current, the circuit is not connected, namely the clamping is unsuccessful. The other implementation mode is as follows: the voltmeter or the sensor for detecting the voltage is additionally arranged, and two ends of the voltmeter are respectively connected with the detection component 11 and the clamping mechanism. When the voltage reading of the voltmeter is equal to the power supply voltage, the circuit is not communicated, namely the clamping is unsuccessful; when the voltage reading of the voltmeter is 0 or is far less than the power supply voltage, the circuit is connected, namely the clamping is successful.

On the basis of any one of the above schemes, the detection assembly 11 includes a limiting rod 111, a detection assembly housing 112 and an elastic member 113, the limiting rod 111 is disposed in the detection assembly housing 112 in a vertically slidable manner, and the lower end of the limiting rod extends out of the detection assembly housing 112, and is used for being abutted against the part 7 to be grabbed when the clamping mechanism clamps the part 7 to be grabbed, two ends of the elastic member 113 are respectively abutted against the top surface of the limiting rod 111 and the top surface of the detection assembly housing 112, and apply an elastic force to the limiting rod 111 to move the limiting rod downwards, the second connection terminal 18 is electrically connected with the detection assembly housing 112, and the detection assembly housing 112 and the limiting rod 111 are made of conductive materials and are mutually in circuit communication.

Gag lever post 111 pushes down under elastic component 113's effect, thereby the messenger waits to snatch part 7 and is snatched the back, gag lever post 111 can with wait to snatch the stable butt of part 7, and, along with clamping jaw subassembly 1 downstream, elastic component 113 is compressed gradually, until gag lever post 111's upper end and upper cover 114 bottom surface butt, can make wait to snatch part 7 and press from both sides the relative position who gets the mechanism fixed, the Z axle degree of freedom of waiting to snatch part 7 is injectd, avoid waiting to snatch part 7 and press from both sides and get the mechanism in and rock, the accuracy when later placing and waiting to snatch part 7 has also been ensured.

In addition, the elastic member 113 makes the limiting rod 111 in a natural state, and the elastic member 113 is in an extending state all the time, so that the limiting rod 111 and the part 7 to be grabbed can be guaranteed to be stably abutted as long as the part 7 to be grabbed is clamped, and the detection result is prevented from being unstable.

The elastic member 113 may be a spring, an elastic rubber block, or other elastic components.

On the basis of any one of the above schemes, the detection assembly 11 still includes upper cover 114 and jump ring 115, gag lever post 111 is including from top to bottom fixed connection's spacing section and contact segment in proper order, the diameter of spacing section is greater than the diameter of contact segment, the spacing boss of casing has in the detection assembly casing 112, the spacing boss of casing be used for with the bottom surface butt of spacing section is spacing, jump ring 115 with detection assembly casing 112 joint is fixed, jump ring 115 upper cover 114 the elastic component 113 with spacing section from top to bottom butt in proper order.

Specifically, a sliding through hole is formed in the detection component shell 112, the limiting rod 111 is in sliding fit with the sliding through hole, and a shell limiting boss extending in the axis direction of the sliding through hole is formed in the sliding through hole. The inner wall of the upper end of the sliding through hole is provided with an annular clamping groove, the clamp spring 115 is C-shaped, the limiting rod 111, the elastic part 113 and the upper sealing cover 114 are sequentially arranged in the sliding through hole, and the clamp spring 115 is detachably clamped in the annular clamping groove to realize assembly.

The snap spring 115 limits the upper end of the upper cover 114, the upper cover 114 limits the farthest position of the limiting rod 111 moving upwards, and the shell limiting boss limits the farthest position of the limiting rod 111 moving downwards. The detection assembly 11 is convenient to disassemble and assemble. By replacing the stop lever 111 with different lengths, the parts 7 to be grabbed or the grabbing positions with different shapes can be adapted. For example, when the clamping mechanism needs to be clamped at a position lower than the part 7 to be grabbed, or the length of the part 7 to be grabbed is longer, the length of the part 7 to be grabbed extending out of the clamping mechanism from the upper end is longer, at this time, the limit position of the lower end of the limiting rod 111 needs to be adjusted upwards, that is, the length of the limiting rod 111 can be adjusted in a manner of reducing.

On the basis of any one of the above schemes, the bottom surface of the upper cover 114 has a first protrusion, the top surface of the limiting rod 111 has a second protrusion, and the first protrusion and the second protrusion are correspondingly arranged and used for abutting and limiting.

After the elastic member 113 is compressed, the first protrusion abuts against the second protrusion, thereby limiting the limit position of the stopper rod 111 moving upward. So that the Z-direction positioning of the parts 7 to be grabbed with different lengths can be adapted.

On the basis of any one of the above schemes, the clamping mechanism includes clamping driving piece 15 and clamping jaw closing piece 17, the clamping driving piece 15 with detection component mounting block 13 fixed connection, and with first binding post 16 electricity is connected, the clamping driving piece 15 with the clamping jaw closing piece 17 transmission is connected, and makes the clamping jaw closing piece 17 opens or closes, detection component 11 is located the clamping jaw closes the top of 17 inboards.

The detection component 11 is positioned above the inner side of the clamping jaw assembly 17, so that the whole structure is compact, and the detection efficiency is high.

On the basis of any one of the above schemes, the clamping jaw assembly 17 comprises two symmetrically arranged jaw bodies, one end of each jaw body is in transmission connection with the clamping driving piece 15, the other end of each jaw body is provided with a semicircular grabbing notch, and the detection assembly 11 is positioned above the two jaw bodies.

The semicircular grabbing notches on the two claw bodies are folded to be circular when grabbing, so that the degrees of freedom of an X axis and a Y axis of a part 7 to be grabbed are limited, the problem of precision of clamping the rivet can be effectively solved, and the stability of rivet assembly is ensured.

Specifically, the specific structures of the gripping driving member 15 and the gripping jaw closing member 17 can be realized by the prior art. In one embodiment, the gripping driving member 15 may adopt a linear motor or a common air cylinder, and the linear motion of the gripping driving member 15 is converted into the opening and closing motion of the gripping member 17 by matching with a corresponding transmission structure. Another embodiment is, press from both sides and get driving piece 15 and adopt parallel finger cylinder, and parallel finger cylinder is current spare part, and it has two cylinder outputs, and two cylinder outputs can be in opposite directions or back-to-back motion, two the claw body respectively with press from both sides two cylinder outputs fixed connection who gets driving piece 15, realize the motion of opening and shutting, and then the realization is waited to snatch loosening or snatching of part 7.

On the basis of any one of the above schemes, the moving mechanism includes clamping jaw Z axle subassembly 6 and clamping jaw subassembly integrated board 67, clamping jaw subassembly 1 is at least two, clamping jaw Z axle subassembly 6 is at least two, and with clamping jaw subassembly 1 the detection component installation piece 13 one-to-one sets up and fixed connection, all clamping jaw Z axle subassembly 6 all with clamping jaw subassembly integrated board 67 fixed connection.

The clamping jaw assembly 1 can reciprocate along the Z axis under the driving of the clamping jaw Z axis assembly 6. At least two clamping jaw assemblies 1 can realize the grabbing of a plurality of parts simultaneously.

As shown in fig. 1 and 2, preferably, at least two jaw Z-axis assemblies 6 are uniformly distributed on the jaw assembly integration plate 67, and may be arranged in a rectangular array or a circular array.

On the basis of any one of the above schemes, each clamping jaw Z shaft assembly 6 comprises a clamping jaw Z shaft guide rail 62, a clamping jaw Z shaft sliding block 63 and a clamping jaw Z shaft driving piece 66, the clamping jaw Z shaft driving piece 66 and the clamping jaw Z shaft sliding block 63 are fixedly connected with a clamping jaw assembly integrated board 67, one end of the clamping jaw Z shaft guide rail 62 is in transmission connection with the clamping jaw Z shaft driving piece 66, the middle part of the clamping jaw Z shaft driving piece is in sliding connection with the clamping jaw Z shaft sliding block 63, and the other end of the clamping jaw Z shaft guide rail 62 is insulated from and fixedly connected with the corresponding detection assembly mounting block 13.

The jaw Z-axis drive 66 drives the jaw Z-axis guide 62 to move vertically, thereby moving the jaw assembly 1 vertically. Wherein the jaw Z-axis slide 63 provides a guiding function.

Specifically, the clamping jaw assembly integrated board 67 level sets up, and the vertical clamping jaw assembly integrated board 67 downside that is fixed in of clamping jaw Z axle cylinder mounting panel 65, clamping jaw Z axle driving piece 66 fixed mounting are on clamping jaw assembly integrated board 67 or clamping jaw Z axle cylinder mounting panel 65, and clamping jaw Z axle slider 63 is fixed in on clamping jaw Z axle cylinder mounting panel 65. The upper end of the clamping jaw Z-axis guide rail 62 is fixedly connected with the output end of the clamping jaw Z-axis driving piece 66 through a clamping jaw Z-axis floating joint 64, and the lower end of the clamping jaw Z-axis guide rail is fixedly connected with the detection component mounting block 13 through a clamping jaw component mounting block 61.

Preferably, as shown in fig. 2, the clamping jaw assembly integration plate 67 is a C-shaped plate, so that the clamping jaw assembly integration plate 67 can be used for fixing the clamping jaw Z-axis cylinder mounting plate 65 and arranging the clamping jaw Z-axis driving piece 66 at the side edge of the clamping jaw Z-axis cylinder mounting plate, and the structure is more compact.

Preferably, the jaw Z-axis drive 66 is a pneumatic cylinder.

On the basis of any one of the above schemes, the moving mechanism further includes an X-axis moving assembly 2, a Y-axis moving assembly 3, and a Z-axis moving assembly 4, the Y-axis moving assembly 3 is fixed on an X-axis moving block of the X-axis moving assembly 2, the Z-axis moving assembly 4 is fixed on a Y-axis moving block of the Y-axis moving assembly 3, and the clamping jaw assembly integrated board 67 is fixed on a Z-axis moving block of the Z-axis moving assembly 4.

The X-axis moving assembly 2, the Y-axis moving assembly 3 and the Z-axis moving assembly 4 are used for realizing three-degree-of-freedom movement of the clamping jaw assembly 1, wherein the Z-axis moving assembly 4 is used for enabling the clamping jaw assembly 1 to move in a large range on the Z axis, and the clamping jaw Z-axis assembly 6 is used for enabling the clamping jaw assembly 1 to move accurately on the Z axis. When a part 7 to be grabbed is clamped and taken, the clamping jaw assembly 1 is moved to the position above the part 7 to be grabbed by the X-axis moving assembly 2, the Y-axis moving assembly 3 and the Z-axis moving assembly 4, the position of the clamping jaw assembly 1 on the Z axis is accurately adjusted by the clamping jaw Z-axis assembly 6, so that two jaw bodies of the clamping jaw assembly 17 are located on two sides of the part 7 to be grabbed respectively, and the lower end face of the limiting rod 111 abuts against the part 7 to be grabbed. The gripping driving member 15 drives the two claw bodies to close, and performs the gripping operation. And then the clamping jaw Z-axis assembly 6 controls the clamping jaw assembly 1 to move upwards, and the X-axis moving assembly 2, the Y-axis moving assembly 3 and the Z-axis moving assembly 4 move the clamping jaw assembly 1 to a specified position where a part 7 to be grabbed needs to be placed.

Specifically, the X-axis moving assembly 2, the Y-axis moving assembly 3 and the Z-axis moving assembly 4 can be realized by adopting the existing linear moving assemblies and specifically comprise a motor, a lead screw, a polished rod and a moving block, wherein the polished rod penetrates through the moving block in a sliding manner, the polished rod is fixed in position, the motor is fixed in position, the output end of the motor is fixedly connected with one end of the lead screw, and the other end of the lead screw is in threaded transmission with the moving block. The motor drives the lead screw to rotate, and the moving block realizes linear movement under the guidance of the polished rod.

On the basis of any scheme, the detection component mounting block 13 is made of an insulating material, or the clamping jaw assembly 1 further comprises an insulating plate 12, and the insulating plate 12 is fixed between the detection component mounting block 13 and the detection component 11, and/or between the detection component mounting block 13 and the clamping mechanism.

If the detection member installation block 13 is made of an insulating material, the insulating plate 12 may not be required. However, if the strength of the insulating material cannot meet the requirements of the use scenario, the detection component mounting block 13 needs to be made of a high-strength material, and the insulation plate 12 is provided to insulate the detection component mounting block 13 from other components.

In one specific embodiment, as shown in fig. 3 and 4, the detecting component mounting block 13 is an L-shaped block, and is specifically formed by sequentially connecting a vertical mounting block and a horizontal mounting block, the horizontal mounting block has a mounting through hole, the detecting component 11 is mounted in the mounting through hole, and the second connecting terminal 18 is fixed on the side wall of the horizontal mounting block, extends into the mounting through hole, and is in contact with the detecting component 11 for conducting electricity. When debugging, the part that is used for fixed determine module 11 can be loosened, and the vertical position of determine module 11 in the mounting hole is adjusted to adjust and wait to snatch the relative difference in height on part 7 top, make and wait to snatch part 7Z axle spacing height controllable.

Two sides of the upper end of the vertical mounting block are respectively provided with an insulating plate 12, the insulating plates 12 and the vertical mounting block are positioned by a positioning pin 14, and the length of the positioning pin 14 is smaller than the total thickness of the two insulating plates 12 and the vertical mounting block, namely, the end part of the positioning pin 14 does not extend out of the insulating plates 12 and is not in contact with the clamping driving piece 15.

The clamping driving part 15 is contacted and fixed with the insulating plate 12, and the two claw bodies are respectively positioned at two sides of the horizontal installation block and are not contacted with the horizontal installation block. Specifically, the vertical mounting block has a bolt through hole, and the diameter of the bolt through hole is larger than that of the standard bolt through hole, and the bolt sequentially passes through the clamping driving member 15, the insulating plate 12, the bolt through hole of the vertical mounting block and the other insulating plate 12, and is fixedly connected with the nut. Thus, the bolt is not in direct contact with the detection assembly mounting block 13, and the electrical signal in the detection assembly 11 and the clamping driving member 15 can be ensured to be not conducted without clamping the parts.

On the basis of any one of the above schemes, the device further comprises a feeding assembly 5, wherein the feeding assembly 5 is positioned below the clamping jaw assembly 1 and is used for conveying a part 7 to be grabbed.

In one specific embodiment, the use process of the clamping and detecting mechanism for the rivet and the cylindrical part is as follows: when a part 7 to be grabbed needs to be clamped, the clamping jaw assembly 1 is controlled by the X-axis moving assembly 2, the Y-axis moving assembly 3 and the Z-axis moving assembly 4 to move in the X-axis direction, the Y-axis direction and the Z-axis direction, the clamping jaw assembly 1 is moved to the position above the part 7 to be grabbed, and the position is close to the part 7 to be grabbed. Wait to snatch part 7 and be rivet or small circle stud or small circle cylinder part, recycle clamping jaw Z axle subassembly 6 accurate regulation clamping jaw subassembly 1 in the position of Z axle to make two claw bodies of clamping jaw closes 17 be located respectively and wait to snatch part 7 both sides, and gag lever post 111 lower extreme face with wait to snatch part 7 butt, elastic component 113 is compressed, gag lever post 111's upper end and upper seal cover 114 bottom surface butt, thereby gag lever post 111 restriction waits to snatch the Z direction degree of freedom of part 7. The gripping driving member 15 drives the two claw bodies to close, and performs the gripping operation.

The claw body of the clamping jaw assembly 17 is provided with a grabbing notch, and the two claw bodies form a circular notch after being folded, so that the automatic centering function is realized, and the freedom degrees of the part 7 to be grabbed in the X direction and the Y direction are limited. The clamping jaw closing part 17 and the limiting rod 111 act together to prevent the part 7 to be grabbed from being inclined.

And then the clamping jaw Z-axis assembly 6 controls the clamping jaw assembly 1 to move upwards, and the X-axis moving assembly 2, the Y-axis moving assembly 3 and the Z-axis moving assembly 4 move the clamping jaw assembly 1 to a specified position where a part 7 to be grabbed needs to be placed.

In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the second feature or the first and second features may be indirectly contacting each other through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (10)

1. The clamping detection mechanism for the rivet and the cylindrical part comprises a moving mechanism and a clamping jaw assembly (1), and is characterized in that the clamping jaw assembly (1) comprises a detection assembly (11), a detection assembly mounting block (13), a clamping mechanism, a first connecting terminal (16) and a second connecting terminal (18), wherein the detection assembly (11) and the clamping mechanism are fixedly connected with the detection assembly mounting block (13), the detection assembly mounting block (13) is insulated from the detection assembly (11) and/or the clamping mechanism, the first connecting terminal (16) is electrically connected with the clamping mechanism, and the second connecting terminal (18) is electrically connected with the detection assembly (11); the clamping mechanism is used for clamping a part (7) to be grabbed and is in circuit communication with the detection assembly (11) through the part (7) to be grabbed, and the detection assembly mounting block (13) is mounted on the moving mechanism.

2. The rivet and cylindrical part clamping and detecting mechanism as claimed in claim 1, the detection component (11) comprises a limiting rod (111), a detection component shell (112) and an elastic piece (113), the limiting rod (111) can be arranged in the detection component shell (112) in a vertically sliding manner, the lower end of the clamping mechanism extends out of the detection component shell (112) and is used for abutting against the part (7) to be grabbed when the clamping mechanism clamps the part (7) to be grabbed, two ends of the elastic piece (113) are respectively abutted with the top surface of the limiting rod (111) and the top surface of the detection component shell (112), and applies an elastic force to the limiting rod (111) to make the limiting rod move downwards, the second connecting terminal (18) is electrically connected with the detection component shell (112), and the detection component shell (112) and the limiting rod (111) are made of conductive materials and are mutually communicated in a circuit.

3. The clamping detection mechanism for the rivets and the cylindrical parts is characterized in that the detection assembly (11) further comprises an upper sealing cover (114) and a clamp spring (115), the limiting rod (111) comprises a limiting section and a contact section which are sequentially and fixedly connected from top to bottom, the diameter of the limiting section is larger than that of the contact section, a shell limiting boss is arranged in the detection assembly shell (112), the shell limiting boss is used for being abutted against the bottom surface of the limiting section in a limiting mode, the clamp spring (115) is clamped and fixed with the detection assembly shell (112), and the clamp spring (115), the upper sealing cover (114), the elastic piece (113) and the limiting section are sequentially abutted from top to bottom.

4. The rivet and cylindrical part clamping detection mechanism as claimed in claim 3, wherein the bottom surface of the upper cover (114) has a first protrusion, the top surface of the limiting rod (111) has a second protrusion, and the first protrusion and the second protrusion are correspondingly arranged and used for abutting and limiting.

5. The clamping detection mechanism for rivets and cylindrical parts according to claim 1, wherein the clamping detection mechanism comprises a clamping driving member (15) and a clamping jaw assembly (17), the clamping driving member (15) is fixedly connected with the detection component mounting block (13) and electrically connected with the first connecting terminal (16), the clamping driving member (15) is in transmission connection with the clamping jaw assembly (17) and enables the clamping jaw assembly (17) to be opened or closed, and the detection component (11) is located above the inner side of the clamping jaw assembly (17).

6. The rivet and cylindrical part clamping detection mechanism as claimed in claim 5, characterized in that the clamping jaw assembly (17) comprises two symmetrically arranged jaw bodies, one end of each jaw body is in transmission connection with the clamping driving member (15), the other end of each jaw body is provided with a semicircular clamping gap, and the detection assembly (11) is positioned above the space between the two jaw bodies.

7. The clamping detection mechanism for the rivets and the cylindrical parts is characterized in that the moving mechanism comprises at least two clamping jaw Z shaft assemblies (6) and a clamping jaw assembly integrated plate (67), the number of the clamping jaw assemblies (1) is at least two, the number of the clamping jaw Z shaft assemblies (6) is at least two, the clamping jaw Z shaft assemblies and the detection assembly mounting blocks (13) of the clamping jaw assemblies (1) are arranged in a one-to-one correspondence and fixedly connected, and all the clamping jaw Z shaft assemblies (6) are fixedly connected with the clamping jaw assembly integrated plate (67).

8. The rivet and cylindrical part clamping detection mechanism as claimed in claim 7, wherein each clamping jaw Z shaft assembly (6) comprises a clamping jaw Z shaft guide rail (62), a clamping jaw Z shaft slider (63) and a clamping jaw Z shaft driving part (66), the clamping jaw Z shaft driving part (66) and the clamping jaw Z shaft slider (63) are both fixedly connected with the clamping jaw assembly integration plate (67), one end of the clamping jaw Z shaft guide rail (62) is in transmission connection with the clamping jaw Z shaft driving part (66), the middle part of the clamping jaw Z shaft guide rail is in sliding connection with the clamping jaw Z shaft slider (63), and the other end of the clamping jaw Z shaft guide rail (62) is insulated from and fixedly connected with the corresponding detection assembly mounting block (13).

9. The rivet and cylindrical part clamping detection mechanism according to claim 7, wherein the moving mechanism further comprises an X-axis moving assembly (2), a Y-axis moving assembly (3) and a Z-axis moving assembly (4), the Y-axis moving assembly (3) is fixed on an X-axis moving block of the X-axis moving assembly (2), the Z-axis moving assembly (4) is fixed on a Y-axis moving block of the Y-axis moving assembly (3), and the clamping jaw assembly integrated board (67) is fixed on a Z-axis moving block of the Z-axis moving assembly (4).

10. The rivet and cylindrical part clamping detection mechanism as claimed in any one of claims 1-9, wherein the detection assembly mounting block (13) is made of an insulating material, or the clamping jaw assembly (1) further comprises an insulating plate (12), and the insulating plate (12) is fixed between the detection assembly mounting block (13) and the detection assembly (11) and/or between the detection assembly mounting block (13) and the clamping mechanism.

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