CN219466167U

CN219466167U - Parallel manipulator of series-parallel hot-melting self-tapping riveting system

Info

Publication number: CN219466167U
Application number: CN202320090686.2U
Authority: CN
Inventors: 王勇; 洪涛; 王晓撰; 唐立峰
Original assignee: Tianjin 707 Hi Tech Co Ltd
Current assignee: Tianjin 707 Hi Tech Co Ltd
Priority date: 2023-01-31
Filing date: 2023-01-31
Publication date: 2023-08-04
Anticipated expiration: 2033-01-31

Abstract

The utility model discloses a parallel manipulator of a series-parallel hot-melting self-tapping riveting system, wherein a power input end of the parallel manipulator is fixedly connected to an adjusting arm of a gantry type frame, a power output end of the parallel manipulator is fixedly connected with an FDS riveting system, and the parallel manipulator comprises a top plate, a bottom plate and a plurality of telescopic rods hinged between the top plate and the bottom plate; the top plate and the bottom plate are of regular triangle structures, and corners of the top plate and the bottom plate are arranged in a staggered manner; the top of the telescopic rod is tangentially hinged on the bottom surface of the corner of the top plate, and the bottom of the telescopic rod is tangentially hinged on the top surface of the corner of the bottom plate. The parallel manipulator has the characteristics of high rigidity, high load capacity, high micro-motion precision and the like, can overcome the influence of huge reaction force on a system in the FDS technical operation process, ensures the technical quality stability, and is particularly suitable for riveting small parts of automobile bodies.

Description

Parallel manipulator of series-parallel hot-melting self-tapping riveting system

Technical Field

The utility model relates to the technical field of automatic machine tools, in particular to a parallel manipulator of a series-parallel hot-melting self-tapping riveting system.

Background

The hot-melt self-tapping riveting process (FDS) is a cold forming process for tapping and riveting after thermally deforming a plate material by high-speed rotation, and is an important connecting process for nonferrous metal parts such as aluminum alloy or dissimilar metal parts. The FDS technology is mainly applied to automobile body manufacturing since the birth of 1990, and along with the rapid development of new energy automobiles, especially the large-scale application of lightweight automobile body technology, the FDS technology demand is rapidly increased.

The FDS technology softens the plates to be connected through high-speed rotation of the screw, extrudes and screws the plates to be connected under the action of huge axial pressure, finally, threaded connection is formed between the plates and the screw, and the base material from the central hole is extruded and forms an annular sleeve at the bottom of the lower layer plate.

Conventional automatic hot melt self-tapping riveting systems generally consist of three parts: FDS system, six industrial robot systems, product frock clamp. Wherein the FDS system realizes automatic nail feeding, screw rotation, axial pressure and the like. The industrial robot is responsible for moving the FDS system to a working position and providing support. The product fixture is used for positioning and fixing the single product parts.

The industrial robot used in the conventional automatic hot-melting automatic riveting system is a six-axis serial mechanical arm, and when the FDS process is operated, the axial force applied by the system often exceeds 200kgF, and the reaction force of the system greatly affects the robot. Firstly, the serial robots are poor in rigidity, the robots tend to move reversely due to huge reaction force, and the axial force, torque and displacement applied to the workpieces by the screws deviate from set values, so that the process quality is reduced. Second, errors in the joints of the tandem robot can accumulate in the end tool, resulting in low jog accuracy. Furthermore, the long-term repeatedly applied reaction force greatly reduces the service life of the transmission mechanism such as the robot gearbox. Therefore, the current common automatic hot melting self-tapping riveting system mostly adopts a large-load robot model with the load of more than 300 kg, and the equipment cost is high.

Disclosure of Invention

The utility model aims to overcome the defects of the prior art and provides a parallel manipulator of a series-parallel hot-melting self-tapping riveting system, which is particularly suitable for riveting small parts of an automobile body.

The utility model aims at realizing the following technical scheme:

the parallel manipulator of the parallel manipulator is characterized in that a power input end of the parallel manipulator is fixedly connected to an adjusting arm of a gantry type frame, a power output end of the parallel manipulator is fixedly connected with an FDS riveting system, and the parallel manipulator comprises a top plate, a bottom plate and a plurality of telescopic rods hinged between the top plate and the bottom plate; the top plate and the bottom plate are of regular triangle structures, and corners of the top plate and the bottom plate are arranged in a staggered manner; the top of the telescopic rod is tangentially hinged on the bottom surface of the corner of the top plate, and the bottom of the telescopic rod is tangentially hinged on the top surface of the corner of the bottom plate.

Preferably, the top plate is disposed above the bottom plate, and the side of the regular triangle of the top plate is below the acute angle corresponding to the regular triangle of the bottom plate.

Preferably, the top surface of the top plate is fixedly connected with the adjusting arm of the gantry frame.

Preferably, the bottom surface of the bottom plate is fixedly connected with an FDS riveting system.

Preferably, the telescopic rod is an electric telescopic rod.

Preferably, the telescopic rod is a hydraulic telescopic rod.

The utility model has the advantages and technical effects that:

the parallel manipulator of the series-parallel hot-melting self-tapping riveting system has the characteristics of high rigidity, high load capacity, high micro-motion precision and the like, can overcome the influence of huge reaction force on the system in the FDS technical operation process, ensures the stability of the technical quality, and has certain advantages in manufacturing cost and service life.

Drawings

FIG. 1 is a schematic diagram of a series-parallel hot-melt self-tapping riveting system;

FIG. 2 is a schematic diagram of a parallel manipulator according to the present utility model;

FIG. 3 is a schematic diagram of an FDS riveting system according to the present utility model;

in the figure: 1. a gantry type frame; 2. a parallel manipulator; 201-top plate; 202-a telescopic rod; 203-a bottom plate; 3.FDS riveting system; 4. a workpiece; 5. a flexible platform of the tool clamp; 6. a servo slipway.

Detailed Description

For a further understanding of the nature, features, and efficacy of the present utility model, the following examples are set forth to illustrate, but are not limited to, the utility model. The present embodiments are to be considered as illustrative and not restrictive, and the scope of the utility model is not to be limited thereto.

The power input end of the parallel manipulator 2 is fixedly connected to an adjusting arm of the gantry type frame 1, the power output end of the parallel manipulator is fixedly connected with the FDS riveting system 3, and the parallel manipulator comprises a top plate 201, a bottom plate 203 and a plurality of telescopic rods 202 hinged between the top plate and the bottom plate; the top plate and the bottom plate are of regular triangle structures, and corners of the top plate and the bottom plate are arranged in a staggered manner; the top of the telescopic rod is tangentially hinged on the bottom surface of the corner of the top plate, and the bottom of the telescopic rod is tangentially hinged on the top surface of the corner of the bottom plate.

Preferably, the telescopic rod is an electric telescopic rod.

Preferably, the telescopic rod is a hydraulic telescopic rod.

In order to more clearly describe the specific embodiments of the present utility model, an example is provided below:

the series-parallel hot melting self-tapping riveting system comprises a servo sliding table 6, wherein the upper part of the servo sliding table slides and spans a gantry type frame, a flexible platform 5 of a fixture clamp is supported on the top surface of the servo sliding table in a sliding manner, and a workpiece 4 is clamped and fixed by the flexible platform of the fixture clamp. The self-tapping riveting system is required to be executed when a workpiece is processed, and the self-tapping riveting system comprises the following steps:

1. the worker installs the single workpiece part on the product fixture;

2. the tool clamp moves to a working position along with the servo sliding table;

3. and the parallel robot moves the FDS system to a preset position at the working position, and the FDS system rivets a screw on the workpiece.

4. The parallel robot moves the FDS system to the next preset position, and the work of 3 is repeated. Until all riveting work is completed.

5. The workpiece returns to the manual operation position along with the servo sliding table, and the workpiece is manually taken away to finish the workpiece.

The series-parallel hot-melting self-tapping riveting system can realize multi-degree-of-freedom adjustment on the basis of guaranteeing the riveting supporting rigidity through the parallel manipulator, can realize continuous production of a production line, is particularly suitable for a battery shell riveting production line of an electric automobile, has a compact structure, and can realize flexible switching production of various products.

As shown in fig. 1, the series-parallel hot-melting self-tapping riveting system comprises a set of parallel manipulators 2, and the mechanism adopts a Stewart platform structure and is driven by six shafts and can move in 6 degrees of freedom. The parallel manipulator 2 is arranged on the gantry type frame 1 in an inverted hanging installation mode. The tool end flange connection of the parallel manipulator 2 is provided with an FDS riveting system 3. The FDS riveting system 3 includes a cartridge clip and feed system, an electric spindle, an axial pressurization system, and the like. The workpiece 4 is arranged on the flexible platform 5 of the fixture, and the flexible platform 5 of the fixture is arranged on the servo sliding table 6. The servo sliding table 6 is driven by a gear rack and a single-shaft servo motor. The parallel manipulator 2 and the servo slipway 6 together form the series-parallel mechanism system of the utility model.

When the system works, the flexible platform 5 of the fixture is firstly positioned at the manual operation position of the servo sliding table 6, and single parts of workpieces are manually installed on the flexible platform 5 of the fixture. After the installation, the flexible platform 5 of the tool clamp moves to an automatic working position along with the servo sliding table 6. And then the parallel manipulator 2 drives the FDS riveting system 3 to move to a program preset riveting position, a screw is ejected from a screw feeding system of the FDS riveting system 3, and the system rotates and presses the screw into a workpiece to form a connecting point. And the parallel manipulator 2 and the servo sliding table 6 move cooperatively, so that the FDS riveting system 3 and the workpiece 4 are sequentially moved to a program preset position, and the FDS riveting process of all connection points is completed. After all the operations are completed, the servo slipway 6 moves the flexible platform 5 of the fixture to a manual operation position, and the workpiece is manually taken away. The flexible platform 5 is designed with a T-shaped slot and a porous structure, and the work piece production can be switched by the quick change clamp unit.

In addition, the parallel manipulator 2 is not limited to a Stewart platform structure, is not limited to 6-axis driving, can be expanded to other parallel motion mechanism forms, and has the degree of freedom of 3-6;

the servo slipway 6 is not limited to a single-shaft servo drive, and can be expanded to X, Y bidirectional or X, Y, Z three-way motion drive.

The structure of the FDS riveting system 3 is not limited to an integrated cartridge clip and feed system, an electric spindle, an axial pressurization system, and the like. Visual guidance or detection systems may also be integrated. The axial pressurizing system can be removed, and the function of the axial pressurizing system is realized by the parallel manipulator 2.

The gantry type frame 1 is not limited to a gantry type structure, and can be changed into a floor type mounting base, an L-shaped frame and the like according to actual application requirements and the conditions of the parallel manipulator 2 and the workpiece 4.

Finally, the utility model preferably uses the mature products and the mature technical means in the prior art as the inexhaustible points of the utility model.

It will be understood that modifications and variations will be apparent to those skilled in the art from the foregoing description, and it is intended that all such modifications and variations be included within the scope of the following claims.

Claims

1. The utility model provides a parallel manipulator of series-parallel hot melt self-tapping riveting system, this parallel manipulator's power input rigid coupling is on the regulating arm of planer-type frame, and parallel manipulator's power output rigid coupling FDS riveting system, its characterized in that: the parallel manipulator comprises a top plate, a bottom plate and a plurality of telescopic rods hinged between the top plate and the bottom plate; the top plate and the bottom plate are of regular triangle structures, and corners of the top plate and the bottom plate are arranged in a staggered manner; the top of the telescopic rod is tangentially hinged to the bottom surface of the corner of the top plate, and the bottom of the telescopic rod is tangentially hinged to the top surface of the corner of the bottom plate.

2. The parallel manipulator of a series-parallel hot-melt self-tapping riveting system as claimed in claim 1, wherein: the top plate is arranged above the bottom plate, and the lower part of the side of the regular triangle of the top plate corresponds to the acute angle of the regular triangle of the bottom plate.

3. The parallel manipulator of a series-parallel hot-melt self-tapping riveting system as claimed in claim 1, wherein: the top surface of roof and the regulating arm fixed connection of planer-type frame.

4. The parallel manipulator of a series-parallel hot-melt self-tapping riveting system as claimed in claim 1, wherein: and the bottom surface of the bottom plate is fixedly connected with an FDS riveting system.

5. The parallel manipulator of a series-parallel hot-melt self-tapping riveting system as claimed in claim 1, wherein: the telescopic rod is an electric telescopic rod.

6. The parallel manipulator of a series-parallel hot-melt self-tapping riveting system as claimed in claim 1, wherein: the telescopic rod is a hydraulic telescopic rod.