CN217707859U - Overturning assembly and rotary riveting device - Google Patents

Abstract

The embodiment of the utility model discloses upset subassembly and rivet device soon, the upset subassembly includes base, first manipulator and second manipulator, first manipulator is established on the base, first manipulator can be followed first direction and upper and lower direction for the base and removed, first manipulator can rotate between primary importance and second place for the base around the second direction, at the primary importance, first manipulator sets up down in order to be used for snatching the work piece in upper and lower ascending one end, at the second place, first manipulator sets up, the second manipulator is established on the base and can be followed the first manipulator that is located the second place and snatch the other end of work piece in upper and lower ascending, the second manipulator can be followed upper and lower direction and removed in order to carry the work piece to waiting to process the position. The utility model discloses the upset subassembly is compared and needs the artifical mode of overturning the work piece to have the advantage that can overturn the work piece automatically and save the manpower in the correlation technique.

Description

Overturning assembly and rotary riveting device

Technical Field

The utility model relates to a work piece turning device technical field, concretely relates to upset subassembly and rivet device soon.

Background

The spin riveting machine utilizes punching machine equipment and a special connecting die to form a stress-free concentrated internal mosaic round point with certain tensile strength and shear strength through an instant strong high-pressure processing process according to the cold extrusion deformation of the material of a workpiece, and then two or more layers of workpieces with different materials and different thicknesses can be connected.

Spin riveting machine among the correlation technique can only process an terminal surface of work piece, when two terminal surfaces of work piece all need spin riveting man-hour, need adopt the manual work to overturn the work piece after the terminal surface processing of work piece, then process another terminal surface of work piece to lead to the problem of low and consumption manpower of production efficiency.

SUMMERY OF THE UTILITY MODEL

The present invention aims at solving at least one of the technical problems in the related art to a certain extent.

Therefore, the embodiment of the utility model provides a turnover assembly, compare in the mode that needs the manual work to overturn the work piece among the correlation technique, this turnover assembly has the advantage that can overturn the work piece automatically and save the manpower.

The embodiment of the utility model provides a rivet device soon is still provided, should rivet the device soon and have can be automatically to two terminal surfaces of work piece rivet processing soon and advantage that production efficiency is high.

The utility model discloses upset subassembly includes: a base;

a first manipulator disposed on the base, the first manipulator being movable relative to the base in a first direction orthogonal to the up-down direction and in a vertical direction, the first manipulator being rotatable relative to the base about a second direction orthogonal to the first direction and the up-down direction between a first position in which the first manipulator is disposed downward for grasping an end of a workpiece in the up-down direction and a second position in which the first manipulator is disposed upward;

the second manipulator is arranged on the base and can grab the other end of the workpiece in the vertical direction from the first manipulator located at the second position, and the second manipulator can move in the vertical direction to convey the workpiece to a position to be machined.

The utility model discloses upset subassembly is when using, first manipulator snatchs the work piece ascending one end in upper and lower side that is located to wait to process the position in first position, then first manipulator is for base rebound and rotatory to the second position, the second manipulator snatchs the work piece ascending other end in upper and lower side from being located the first manipulator of second position, then the second manipulator moves down for the base in order to carry the work piece to waiting to process the position, realize the upset to the work piece, at the in-process of second manipulator downstream, first manipulator removes in order to avoid the second manipulator along first direction. Therefore, the utility model discloses a cooperation that upset subassembly passes through first manipulator and second manipulator can be with the work piece upset, uses manpower sparingly.

In some embodiments, the flipping module further includes a first guide part extending in the first direction and provided on the base, and a first driving part connected to the first driving part to guide the first driving part to move in the first direction, and connected to the first manipulator to drive the first manipulator to move in an up-and-down direction.

In some embodiments, the flipping module further comprises a rotating shaft extending along the second direction, the rotating shaft is connected to the first driving member to drive the first driving member to rotate around the second direction, and the rotating shaft is disposed on the first guiding member.

In some embodiments, the flipping assembly further comprises a second driving unit, the second driving unit is connected to the base, and the second driving unit is connected to the second robot to drive the second robot to move in the up-down direction.

In some embodiments, the flipping module further comprises a second guide member extending along the first direction and disposed on the base, the second guide member being connected to the second driving member to guide the second driving member to move along the first direction.

In some embodiments, one of the first and second manipulators is a suction cup manipulator and the other of the first and second manipulators is a jaw manipulator.

The utility model discloses rivet device soon includes: the overturning assembly is any one of the overturning assemblies;

the spin riveting machine comprises a machine body and a spin riveting head, wherein the spin riveting head is arranged on the machine body and can move between a processing position and a standby position along the up-down direction relative to the machine body;

a bearing seat;

the third guide part extends along the second direction and is arranged on the base, and the third guide part is connected with the bearing seat to drive the bearing seat to move between the to-be-processed position and the processing position along the second direction.

In some embodiments, the spin riveting apparatus further comprises an outfeed assembly located below the first guide member of the inversion assembly, the first robot being movable in the up-down direction toward or away from the outfeed assembly; alternatively, the first and second electrodes may be,

the discharging assembly is located below a second guide part of the overturning assembly, and the second manipulator can move towards or away from the discharging assembly along the up-down direction.

In some embodiments, the discharging assembly includes a detector, a qualified product discharging member and a defective product discharging member, which are sequentially arranged along the first direction, the detector may send out a qualified product signal to the second robot and the second guiding member, so that the second guiding member drives the second robot to move above the qualified product discharging member, and the second robot moves towards the qualified product discharging member along the up-down direction and releases the workpiece, and the detector may also send out a defective product signal to the second robot and the second guiding member, so that the second guiding member drives the second robot to move above the defective product discharging member, and the second robot moves towards the defective product discharging member along the up-down direction and releases the workpiece.

In some embodiments, the workpiece comprises a planetary gear train comprising planets and a planet carrier;

the detector comprises a servo motor, a detection wheel and a detection base, wherein the detection wheel is arranged on the detection base, a planetary gear train is borne on the detection base, the detection wheel is meshed with the planetary gear, the servo motor is connected with the detection wheel to drive the detection wheel to rotate around the central axis of the detection wheel, the servo motor rotates under preset torque and sends out qualified product signals, and the servo motor is static under preset torque and sends out unqualified product signals.

Drawings

Fig. 1 is a first schematic structural diagram of a spin riveting device according to an embodiment of the present invention;

fig. 2 is a second schematic structural view of the spin riveting device according to the embodiment of the present invention;

FIG. 3 is a first schematic view of a portion of the inversion assembly of the spin riveting apparatus of FIG. 1;

FIG. 4 is a second schematic view of a portion of the turning assembly of the spin riveting apparatus of FIG. 1;

fig. 5 is a schematic structural diagram of a planetary gear train in an embodiment of the present invention.

Reference numerals are as follows:

1. a base; 2. a first manipulator; 3. a second manipulator; 31. a base; 32. a third telescoping member; 33. a clamping member; 4. a first guide member; 41. a screw rod; 42. a slide rail; 43. a movable base; 44. a first bracket; 5. a first drive member; 51. a first telescoping member; 52. a mounting seat; 6. a rotating shaft; 7. a second drive member; 71. a second telescoping member; 72. a mounting frame; 73. a guide rod; 8. a second guide member; 81. a transfer wheel; 82. a conveyor belt; 83. a second bracket; 9. a planetary gear train; 91. a planet wheel; 92. a planet carrier; 100. a turnover assembly; 200. a spin riveting machine; 2001. a body; 2002. screwing the riveting head; 300. a bearing seat; 400. a third guide member; 500. a discharging assembly; 5001. a detector; 50011. a servo motor; 50012. detecting a base; 5002. discharging qualified products; 5003. defective product discharging parts.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the drawings are exemplary intended for explaining the present invention, and should not be construed as limiting the present invention.

Turning assemblies and spin riveting apparatuses in accordance with embodiments of the present invention are described below with reference to fig. 1-5.

As shown in fig. 1-5, the turnover assembly of the embodiment of the present invention includes a base 1, a first manipulator 2 and a second manipulator 3, the first manipulator 2 is disposed on the base 1, the first manipulator 2 can move along a first direction (left and right directions shown in fig. 1) and up and down directions relative to the base 1, the first direction is orthogonal to the up and down directions, the first manipulator 2 can rotate between a first position and a second position around a second direction (front and back directions shown in fig. 1) relative to the base 1, and the second direction is orthogonal to the first direction and the up and down directions.

Wherein at the first position, first manipulator 2 sets up downwards in order to be used for snatching the ascending one end in upper and lower direction of work piece, and at the second position, first manipulator 2 sets up upwards, and second manipulator 3 establishes on base 1 and can follow the first manipulator 2 that is located the second position and snatch the other end of work piece in upper and lower direction, and second manipulator 3 can be followed and moved in upper and lower direction in order to carry the work piece to waiting to process the position.

The utility model discloses upset subassembly is when using, first manipulator snatchs the work piece ascending one end in upper and lower side that is located to wait to process the position in first position, then first manipulator is for base rebound and rotatory to the second position, the second manipulator snatchs the work piece ascending other end in upper and lower side from being located the first manipulator of second position, then the second manipulator moves down for the base in order to carry the work piece to waiting to process the position, realize the upset to the work piece, at the in-process of second manipulator downstream, first manipulator moves in order to avoid the second manipulator along first direction. Therefore, the utility model discloses a cooperation that upset subassembly was passed through first manipulator and second manipulator can be with the work piece upset, uses manpower sparingly.

In some embodiments, the turnover assembly of the present invention further includes a first guide member 4 and a first driving member 5, the first guide member 4 extends along the first direction and is disposed on the base 1, the first guide member 4 is connected to the first driving member 5 to guide the first driving member 5 to move along the first direction, and the first driving member 5 is connected to the first manipulator 2 to drive the first manipulator 2 to move along the up-down direction.

In some specific embodiments, as shown in fig. 1 to 3, the first guide member 4 includes a screw 41, a slide rail 42, a moving base 43, a first rotating motor, and a first support 44, the first support 44 includes a first mounting portion and a plurality of first support portions, the first support portions are disposed on the base 1 and extend in the up-down direction, the plurality of first support portions are arranged at intervals in the left-right direction, the first mounting portion extends in the left-right direction and is disposed on the plurality of first support portions, the screw 41 and the slide rail 42 are both disposed on the first mounting portion and extend in the left-right direction, the moving base 43 is disposed on the screw 41 and the slide rail 42, the moving base 43 is in threaded connection with the screw 41, the screw 41 is rotatable around a central axis of the screw 41 to drive the moving base 43 to move in the extending direction of the screw 41, the slide rail 42 serves to guide and stabilize the moving base 43, and the first rotating motor is disposed on the first mounting portion and is connected to one end of the screw 41 to drive the screw 41 to rotate.

In other embodiments, the first guiding component is a conveyor belt mechanism, the conveyor belt mechanism comprises at least two pulleys and a conveyor belt rotating around the at least two pulleys, and the first driving component is connected with the conveyor belt.

In some specific embodiments, as shown in fig. 1 to 3, the first driving part 5 includes a first telescopic member 51 and a mounting base 52, the first telescopic member 51 is a telescopic cylinder, the first telescopic member 51 is disposed on the mounting base 52, the first manipulator 2 is disposed on the first telescopic member 51, and the first telescopic member 51 is telescopic in an up-down direction to drive the first manipulator 2 to move in the up-down direction.

Wherein the first drive member is not limited in structure to include the first telescoping member and the mount, and in other embodiments the first drive member does not have a mount.

In some embodiments, the turning assembly of the present invention further includes a rotation shaft 6, the rotation shaft 6 extends along the second direction, the rotation shaft 6 is connected to the first driving member 5 to drive the first driving member 5 to rotate around the second direction, and the rotation shaft 6 is disposed on the first guiding member 4.

In some specific embodiments, as shown in fig. 3, the moving base 43 has a second rotating motor therein, the rotating shaft 6 extends in the front-rear direction, the rotating shaft 6 is rotatably disposed on the moving base 43 around the central axis of the rotating shaft 6 and connected to the second rotating motor so that the second rotating motor drives the rotating shaft 6 to rotate, and the rear end of the rotating shaft 6 is connected to the mounting seat 52 to drive the first driving part 5 and the first robot 2 to rotate around the central axis of the rotating shaft 6.

It is to be understood that in other embodiments, the output shaft of the second rotating electrical machine serves as the rotating shaft.

In some embodiments, the turnover assembly of the present invention further includes a second driving part 7, the second driving part 7 is connected to the base 1, and the second driving part 7 is connected to the second robot 3 to drive the second robot 3 to move in the up-and-down direction.

In some specific embodiments, as shown in fig. 1, 2 and 4, the second driving part 7 includes a second telescopic member 71, the second telescopic member 71 is a telescopic cylinder, the second robot 3 is disposed at the bottom of the second telescopic member 71, and the second telescopic member 71 is telescopic in the up-down direction to drive the second robot 3 to move in the up-down direction.

In other embodiments, the second driving part includes a linear module extending in an up-and-down direction, and the linear module is connected to the second manipulator to drive the second manipulator to move in the up-and-down direction.

In some embodiments, the turnover assembly of the present invention further includes a second guiding member 8, the second guiding member 8 extends along the first direction and is disposed on the base 1, and the second guiding member 8 is connected to the second driving member 7 to guide the second driving member 7 to move along the first direction.

In some specific embodiments, as shown in fig. 1, 2 and 4, the second guiding member 8 includes at least two transmission wheels 81, a transmission belt 82, a third rotating motor and a second bracket 83, the second bracket 83 includes a second mounting portion and a plurality of second supporting portions, the second supporting portions are disposed on the base 1 and extend in the up-down direction, the plurality of second supporting portions are arranged at intervals in the left-right direction, the second mounting portion extends in the left-right direction and is disposed on the plurality of second supporting portions, the third rotating motor and the transmission wheel 81 are disposed on the second mounting portion, and the at least two transmission wheels 81 are arranged in the left-right direction, the transmission belt 82 is sleeved on the at least two transmission wheels 81, and the third rotating motor is connected to one transmission wheel 81 to drive the transmission wheel 81 to rotate, thereby driving the transmission belt 82 to rotate around the at least two transmission wheels 81.

As shown in fig. 1, 2 and 4, the second driving part 7 further includes a mounting frame 72 and a guide rod 73, the mounting frame 72 is disposed on the conveyor belt 82, the second expansion element 71 is disposed on the mounting frame 72 to drive the second manipulator 3 to move away from or toward the mounting frame 72 in the up-and-down direction, the guide rod 73 extends in the up-and-down direction and is connected to the second manipulator 3, and the guide rod 73 is disposed on the mounting frame 72 and is slidable in the up-and-down direction with respect to the mounting frame 72, so that the second manipulator is stabilized by the guide rod during the up-and-down movement.

The second guide part is arranged to guide the second driving part and the second mechanical arm to move in the left-right direction, so that the second mechanical arm can grab the part after turnover and machining to discharge.

It will be appreciated that in other embodiments, the provision of a second guide member may also be used to enable the second robot to perform the loading.

The structure of the second guiding component is not limited to include at least two conveying wheels, a conveying belt, a third rotating motor and a second bracket, in other embodiments, the second guiding component adopts the same structure as the first guiding component, in this case, the second driving component may not have a mounting frame and a guide rod, and the second telescopic component is arranged on the moving base of the second driving component; or the second guide member employs a conveying chain mechanism.

In some embodiments, one of the first 2 and second 3 robots is a suction cup robot and the other of the first 2 and second 3 robots is a gripper robot.

As shown in fig. 5, the workpiece is a planetary gear train 9, the planetary gear train 9 includes a carrier 92, one end of the carrier 92 in the vertical direction is a plane, and the other end of the carrier 92 in the vertical direction is provided with a protruding shaft. As shown in fig. 1 to 4, the first robot 2 is a suction cup type robot, such as a vacuum chuck, for grabbing the plane of the planet carrier 92, and the second robot 3 is a claw type robot for grabbing the protruding shaft of the planet carrier 92.

It is understood that the structure of the workpiece is not limited to the planetary gear train, and in other embodiments, both ends of the workpiece are flat surfaces, and the first manipulator and the second manipulator are suction cup type manipulators; or both ends of the workpiece are provided with protruding structures, and the first mechanical arm and the second mechanical arm are both claw type mechanical arms.

As shown in fig. 4, the second manipulator 3 is a gripper type manipulator, the second manipulator 3 includes a base 31, three telescopic members 32 and two clamping members 33, the base 31 is connected to the second telescopic member 71 and located at the bottom of the second telescopic member 71, the number of the third telescopic members 32 is two, the two third telescopic members 32 are oppositely disposed at two ends of the base 31 along the front-back direction, the number of the clamping members 33 is two, the two third telescopic members 32 are connected to the two clamping members 33 in a one-to-one correspondence manner to drive the two clamping members 33 to move in the front-back direction to approach or away from each other, so as to realize clamping and releasing.

The structure of the gripper robot is not limited to include the base, the third telescopic member, and the clamping member, and in other embodiments, the gripper robot may adopt a three-jaw robot, a five-jaw robot, and the like in the related art.

As shown in fig. 1 and fig. 2, the spin riveting device of the embodiment of the present invention includes an overturning assembly, a spin riveting machine 200, a bearing seat 300 and a third guiding member 400, the overturning assembly is the overturning assembly 100 of the embodiment of the present invention, the spin riveting machine 200 includes a machine body 2001 and a spin riveting head 2002, the spin riveting head 2002 is disposed on the machine body 2001 and can move between a processing position and a standby position along the up-down direction relative to the machine body 2001, the third guiding member 400 extends along the second direction and is disposed on the base 1, and the third guiding member 400 is connected to the bearing seat 300 to drive the bearing seat 300 to move between the processing position and the processing position along the second direction.

The utility model discloses rivet device soon is owing to have the utility model discloses the upset subassembly of embodiment can overturn the work piece through the upset subassembly consequently to remove the work piece to processing position through bearing seat and third guide part, then rivet soon respectively to two terminal surfaces of work piece through spin riveting machine, thereby use manpower sparingly and improve production efficiency.

As shown in fig. 1 and fig. 2, the third guide member 400 includes a guide rail and a slider, the guide rail is disposed on the base 1 and extends in a front-back direction, the slider is disposed on the guide rail and can slide along a length direction of the guide rail, the carrier 300 is disposed on the slider for carrying and moving a workpiece, the carrier 300 is a position to be processed at a front end of the third guide member 400, the carrier 300 is a processing position at a rear end of the third guide member 400, and the spin riveting head 2002 of the spin riveting machine 200 is located above the processing position and can move toward or away from the processing position in an up-down direction, so as to spin rivet the workpiece on the carrier 300 located at the processing position.

The first guide part 4 extends leftwards from the upper part of the position to be processed, when the first driving part 5 moves to the right end of the first guide part 4, the first mechanical hand 2 is positioned above the position to be processed, at this time, the first mechanical hand 2 can move towards the bearing seat 300 positioned at the position to be processed under the driving of the first driving part 5 to grab the workpiece, and move away from the bearing seat 300 positioned at the position to be processed under the driving of the first driving part 5 to make the grabbed workpiece separate from the bearing seat 300, and then the workpiece is rotated through the rotating shaft 6; when the first driving part 5 moves to the left end of the first guide part 4, the first robot 2 may be used to grasp an unprocessed workpiece and move the unprocessed workpiece to above the station to be processed under the guidance of the first guide part 4, and then place the unprocessed workpiece on the carrier 300 located at the station to be processed under the driving of the first driving part 5.

The second guide part 8 extends rightwards from the upper part of the position to be processed, when the second driving part 7 moves to the left end of the second guide part 8, the second manipulator 3 can grab the workpiece on the first manipulator 2 and place the workpiece on the bearing seat 300 of the position to be processed under the driving of the second driving part 7, and when the processing of the workpiece is finished, the second driving part 7 grabs the workpiece on the bearing seat 300 of the position to be processed under the driving of the second driving part 7, then moves rightwards under the guiding of the second guide part 8 and discharges the workpiece.

In some embodiments, the spin riveting apparatus of the present invention further includes an discharging assembly 500, the discharging assembly 500 is located below the first guiding component 4 of the turning assembly 100, and the first robot 2 can move toward or away from the discharging assembly 500 along the up-down direction; alternatively, the discharging assembly 500 is positioned below the second guide member 8 of the inverting assembly 100, and the second robot 3 may move in an up-and-down direction toward or away from the discharging assembly 500.

As shown in fig. 1 and 2, the discharging assembly 500 is located below the right end of the second guiding component 8, the second guiding component 8 can drive the second robot 3 to move to the upper part of the discharging assembly 500, then the second robot 3 is driven by the second driving component 7 to move towards the discharging assembly 500, and the processed workpiece is released and placed on the discharging assembly 500 for discharging.

It will be appreciated that in other embodiments, the second robot is used for loading and the first robot is used for unloading, with the unloading assembly being located below the left end of the first guide member.

In some embodiments, the discharging assembly 500 includes a detector 5001, a qualified product discharging member 5002 and a defective product discharging member 5003 sequentially arranged along a first direction, the detector 5001 can send out a qualified product signal to the second robot 3 and the second guiding member 8, so that the second guiding member 8 drives the second robot 3 to move above the qualified product discharging member 5002, and the second robot 3 moves towards the qualified product discharging member 5002 along an up-down direction and releases the workpiece, and the detector 5001 can also send out a defective product signal to the second robot 3 and the second guiding member 8, so that the second guiding member 8 drives the second robot 3 to move above the defective product discharging member 5003, and the second robot 3 moves towards the defective product discharging member 5003 along the up-down direction and releases the workpiece.

As shown in fig. 2, the base 1 is sequentially provided with the detector 5001, the qualified product discharging member 5002 and the defective product discharging member 5003 at intervals from left to right, the qualified product discharging member 5002 is provided with a first discharging groove, the bottom surface of the first discharging groove extends forwards and is inclined downwards after the first discharging groove, the defective product discharging member 5003 is provided with a second discharging groove, and the bottom surface of the second discharging groove extends forwards and is inclined downwards after the second discharging groove extends leftwards and rightwards. The second manipulator 3 can place the processed workpiece on the detector 5001 to determine whether the workpiece is qualified, when the workpiece is qualified, the detector 5001 sends a qualified product signal to the second manipulator 3 and the second guide component 8, at this time, the second manipulator 3 places the workpiece in the first discharge chute under the driving of the second driving component 7 and the second guide component 8 to perform discharging, when the workpiece is unqualified, the detector 5001 sends a defective product signal to the second manipulator 3 and the second guide component 8, and the second manipulator 3 places the workpiece in the second discharge chute under the driving of the second driving component 7 and the second guide component 8 to perform discharging.

It is to be understood that the configuration of the discharge assembly is not limited to the inclusion of a detector, a good discharge member and a bad discharge member, and in other embodiments, the discharge assembly includes a good discharge member without a detector and a bad discharge member, and the processed workpiece is grasped by the second robot and placed in the first discharge chute.

In some embodiments, the workpiece comprises a planetary gear set 9, the planetary gear set 9 comprising planet gears 91 and a planet carrier 92; the detector 5001 includes a servo motor 50011, a detection wheel and a detection base 50012, the detection wheel is arranged on the detection base 50012, the planetary gear train 9 is borne on the detection base 50012, the detection wheel is engaged with the planetary gear 91, the servo motor 50011 is connected with the detection wheel to drive the detection wheel to rotate around the central axis of the detection wheel, the servo motor 50011 rotates under a preset torque and sends a qualified product signal, and the servo motor 50011 is stationary under the preset torque and sends a defective product signal.

As shown in fig. 5, three planetary wheels 91 are provided in the planetary carrier 92, and portions of the outer peripheries of the planetary wheels 91 extend from the planetary wheels 91. As shown in fig. 2, the detecting base 50012 is disposed on the base 1 for carrying the planetary gear train 9, the detecting base 50012 is provided with a detecting wheel, the detecting wheel is an internal gear surrounding the planetary gear train 9, and the detecting wheel is engaged with the three planetary gears 91 at the same time, and the servo motor 50011 is disposed on the base 1 and connected with the detecting wheel for driving the detecting wheel to rotate. The servo motor 50011 inputs a preset torque in a torque mode, if the servo motor 50011 can rotate under the preset torque, the spin riveting process is qualified, at this time, the servo motor 50011 sends a qualified product signal, if the servo motor 50011 is stationary under the preset torque, at least one planetary wheel 91 in the three planetary wheels 91 cannot rotate, the spin riveting process is unqualified, and at this time, the servo motor 50011 sends a defective product signal.

It will be appreciated that the workpiece is not limited to a planetary gear train and the detector is not limited to a configuration including a servo motor, a detection wheel and a detection base, and in other embodiments, the detector may be a sensor or an image capture device such as a camera that photographs the surface of the workpiece and compares the photographed image with an acceptable image to determine whether the workpiece is acceptable for processing.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being 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 merely to distinguish one element from another, and are not to be construed as indicating or implying any relative importance or to implicitly indicate 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 otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. 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 present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like 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 present disclosure. 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.

Although the above embodiments have been shown and described, it should be understood that they are exemplary and should not be construed as limiting the present invention, and that many changes, modifications, substitutions and alterations to the above embodiments by those of ordinary skill in the art are intended to be within the scope of the present invention.

Claims (10)

1. A flip assembly, comprising:

a base (1);

a first manipulator (2), the first manipulator (2) being provided on the base (1), the first manipulator (2) being movable relative to the base (1) in a first direction orthogonal to the up-down direction and in the up-down direction, the first manipulator (2) being rotatable relative to the base (1) about a second direction orthogonal to the first direction and the up-down direction between a first position in which the first manipulator (2) is disposed downward for grasping an end of a workpiece in the up-down direction and a second position in which the first manipulator (2) is disposed upward;

the second mechanical hand (3), establish on base (1) and can follow and be located the second position snatch on first mechanical hand (2) the work piece is the ascending other end in upper and lower direction, second mechanical hand (3) can be followed upper and lower direction and removed in order to with the work piece is carried to waiting to process the position.

2. A flipper assembly according to claim 1, further comprising a first guide member (4) and a first driving member (5), the first guide member (4) extending in the first direction and being provided on the base (1), the first guide member (4) being connected to the first driving member (5) for guiding the first driving member (5) to move in the first direction, the first driving member (5) being connected to the first manipulator (2) for driving the first manipulator (2) to move in the up-down direction.

3. A tipping assembly according to claim 2, characterized in that it further comprises a rotation shaft (6), the rotation shaft (6) extending in a second direction, the rotation shaft (6) being connected to the first drive part (5) for driving the first drive part (5) to rotate about the second direction, the rotation shaft (6) being provided on the first guide part (4).

4. A tipping assembly according to any one of claims 1-3, characterized by a second driving member (7), the second driving member (7) being connected to the base (1), the second driving member (7) being connected to the second robot (3) for driving the second robot (3) to move in the up-down direction.

5. A tipping assembly according to claim 4, characterized in that it further comprises a second guide member (8), the second guide member (8) extending in the first direction and being provided on the base (1), the second guide member (8) being connected to the second drive member (7) for guiding the second drive member (7) in the first direction.

6. A tipping assembly according to claim 1, characterized in that one of the first (2) and second (3) manipulators is a suction-cup manipulator and the other of the first (2) and second (3) manipulators is a gripper manipulator.

7. A spin riveting apparatus, comprising:

a flipping assembly, the flipping assembly (100) of any one of claims 1-6;

a spin-riveting machine (200), the spin-riveting machine (200) comprising a machine body (2001) and a spin-riveting head (2002), the spin-riveting head (2002) being provided on the machine body (2001) and being movable in the up-down direction between a processing position and a standby position with respect to the machine body (2001);

a bearing seat (300);

the third guide part (400) extends along the second direction and is arranged on the base (1), and the third guide part (400) is connected with the bearing seat (300) to drive the bearing seat (300) to move between the to-be-processed position and the processing position along the second direction.

8. Spin riveting apparatus according to claim 7, further comprising an outfeed assembly (500), the outfeed assembly (500) being located below the first guide member (4) of the upender assembly (100), the first robot (2) being movable in the up-down direction towards or away from the outfeed assembly (500); alternatively, the first and second electrodes may be,

the discharging assembly (500) is positioned below a second guide part (8) of the overturning assembly (100), and the second manipulator (3) can move towards or away from the discharging assembly (500) along the up-down direction.

9. The spin riveting apparatus according to claim 8, wherein the discharging assembly (500) comprises a detector (5001), a qualified product discharging member (5002) and a defective product discharging member (5003) which are sequentially arranged along the first direction, the detector (5001) can send out a qualified product signal to the second robot (3) and the second guiding member (8) so that the second guiding member (8) drives the second robot (3) to move above the qualified product discharging member (5002), and the second robot (3) moves towards the qualified product discharging member (5002) and releases the workpiece along the up-down direction, the detector (5001) can also send out a defective product signal to the second robot (3) and the second guiding member (8) so that the second guiding member (8) drives the second robot (3) to move above the defective product discharging member (5003), and the second robot (3) moves towards the defective product discharging member (5003) and releases the workpiece along the up-down direction.

10. Spin riveting apparatus according to claim 9, characterized in that the workpiece comprises a planetary gear train (9), the planetary gear train (9) comprising planet gears (91) and a planet carrier (92);

the detector (5001) comprises a servo motor (50011), a detection wheel and a detection base (50012), wherein the detection wheel is arranged on the detection base (50012), the planetary gear train (9) is borne on the detection base (50012), the detection wheel is meshed with the planetary gear (91), the servo motor (50011) is connected with the detection wheel to drive the detection wheel to rotate around the central axis of the detection wheel, the servo motor (50011) rotates under preset torque and sends out qualified product signals, and the servo motor (50011) is static under preset torque and sends out defective product signals.

Images