WO2022257635A1 - 自动拉铆设备及其自动拉铆方法 - Google Patents

自动拉铆设备及其自动拉铆方法 Download PDF

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Publication number
WO2022257635A1
WO2022257635A1 PCT/CN2022/089430 CN2022089430W WO2022257635A1 WO 2022257635 A1 WO2022257635 A1 WO 2022257635A1 CN 2022089430 W CN2022089430 W CN 2022089430W WO 2022257635 A1 WO2022257635 A1 WO 2022257635A1
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WIPO (PCT)
Prior art keywords
rivet
nail
block
riveting
cylinder
Prior art date
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Ceased
Application number
PCT/CN2022/089430
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English (en)
French (fr)
Inventor
唐文献
郭胜
李小宝
徐根元
庄宏
苏世杰
钱超
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ZHANGJIAGANG TONGDA ELEVATOR DECORATION CO Ltd
Zhenjiang Yucheng Intelligent Equipment Technology Co Ltd
Jiangsu University of Science and Technology
Original Assignee
ZHANGJIAGANG TONGDA ELEVATOR DECORATION CO Ltd
Zhenjiang Yucheng Intelligent Equipment Technology Co Ltd
Jiangsu University of Science and Technology
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Publication of WO2022257635A1 publication Critical patent/WO2022257635A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/30—Particular elements, e.g. supports; Suspension equipment specially adapted for portable riveters
    • B21J15/32—Devices for inserting or holding rivets in position with or without feeding arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/16—Drives for riveting machines; Transmission means therefor
    • B21J15/26—Drives for riveting machines; Transmission means therefor operated by rotary drive, e.g. by electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/28—Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/38—Accessories for use in connection with riveting, e.g. pliers for upsetting; Hand tools for riveting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/38—Accessories for use in connection with riveting, e.g. pliers for upsetting; Hand tools for riveting
    • B21J15/386—Pliers for riveting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/38—Accessories for use in connection with riveting, e.g. pliers for upsetting; Hand tools for riveting
    • B21J15/44—Rivet hole positioners

Definitions

  • Blind rivets are a kind of rivets for single-sided riveting, which are widely used in automobiles, ships and other fields.
  • the rivet mandrel is pulled by the riveting gun to expand the riveting body and play the role of riveting.
  • the riveting method of blind rivets is mostly performed by hand-held riveting guns, which is time-consuming and laborious and has low precision; in order to improve production efficiency, many automatic riveting equipment have been developed, which are mainly divided into automatic nail feeding and riveting.
  • the two parts of automatic riveting basically adopts the rivet vibrating plate to feed the material, the main problem is that the stability of the feeding process needs to be improved, and the rivet can not be reliably guaranteed to enter the next process in a timely and orderly manner; and
  • the automatic riveting part generally adopts an automatic riveting gun. Due to the different power sources of the riveting, the different mechanisms for receiving the rivets conveyed by the vibrating plate, the different principles of clamping the rivets, and the different ways of discharging the tail nails, there is a lot of room for improvement.
  • the fully automatic rivet pulling equipment disclosed in the invention patent with the application number 201520484147.2 the rivets conveyed by the vibrating plate are picked up by the clamping knife and enter the next process, the structure is complex and the stability is poor; for example, an automatic rivet puller disclosed in the invention patent with the application number 201110087121.0 Riveting device, there are straight holes and inclined holes in the shell of the riveting chamber, and the outer end of the inclined holes is connected with the external riveting tube. The rivets are pushed into the through holes by the high-pressure riveting gas.
  • the automatic feeding device of the riveting gun disclosed in the invention patent with the application number of 201621247523.7 adopts a pneumatic method for riveting.
  • Nails also require high-pressure gas, which can easily lead to insufficient air pressure. For this reason, it is necessary to further improve the existing automatic riveting equipment.
  • the object of the present invention is to provide an automatic riveting device capable of stably feeding nails and efficiently riveting.
  • An automatic riveting device comprising a frame, a three-axis displacement device is provided on the frame, a riveting device is provided on the three-axis displacement device, a nail feeding device is provided on the frame, and the nail feeding device includes a Vibrating feeding tray, the frame is provided with a support at the outlet of the vibrating feeding tray, the frame is equipped with a splitting cylinder, and the end of the piston rod of the splitting cylinder is provided with the outermost part of the outlet of the vibrating feeding tray.
  • a split nail block separated from a rivet with a fixed seat on the frame, a nail transfer cylinder on the fixed seat, a nail transfer block at the end of the piston rod of the nail transfer cylinder, and a nail transfer block on the fixed seat.
  • Blocks are provided between the blocks to block the rivets separated from the split nail block, a rivet groove for accommodating the separated rivets is provided on the nail removal block, and a first device for detecting whether there is a rivet in the rivet groove is provided on the fixing seat.
  • Photoelectric switch the upper part of the baffle is provided with a top plate, the top plate is provided with a nail hole, the fixed seat is provided with an air supply hole, and the air supply hole orifice is provided with a ventilating pipe leading to high-pressure gas, and the top plate is provided with a nail outlet hole.
  • the nail feeding tube is connected with the riveting device;
  • the riveting device includes a mounting plate connected to the three-axis displacement device.
  • the mounting plate is connected with the upper clamping nozzle through the upper parallelogram linkage mechanism.
  • the mounting plate is connected with the lower clamping nozzle and the upper clamping nozzle through the lower parallelogram linkage mechanism.
  • the guide rod and the guide rod drive mechanism, the riveting gun head device includes a hollow outer holster with one end embedded in the shell, the end of the outer holster away from the shell is provided with a front tube for the rivet head to enter, and the movable device in the outer holster
  • the mandrel part is connected with the mandrel, the mandrel is provided with an axial through hole to avoid the rivet core, the mandrel is covered with a spring, the end of the spring is provided with a claw top seat, and the claw top seat is provided with a nail core.
  • Matching core through hole; the end of the top seat of the claw is tapered, and three claws are movable between the top seat of the claw and the cone-shaped end of the inner sleeve.
  • the support is provided with a first photoelectric switch for detecting whether there is material at the output of the vibrating feeding tray.
  • the upper clamping nozzle is provided with a pulley
  • the lower clamping nozzle is provided with a pulley
  • the sliding mounting plate is provided with a guide block
  • the side of the guide block away from the cylinder of the slide table is provided with two upper and lower
  • the upper guide slope and the lower guide slope are matched with the two pulleys respectively.
  • the guide rod drive mechanism includes a lead screw driven by a motor and a shaft coupling arranged in the housing, a support block is threaded on the lead screw, and a guide rod fixing seat is provided on the upper part of the support block.
  • the guide rod is provided on the guide rod fixing seat.
  • a guide rail is provided in the housing, and the lower part of the support block is connected with a slider provided on the guide rail.
  • the beneficial effect of the device is that the device integrates the functions of automatic nail feeding and automatic riveting, and can be integrated into an automatic assembly line, so that the efficiency of riveting is improved and labor costs are saved.
  • the feeding device vibrates and feeds the material through the vibrating plate. After the rivets are arranged in a row, the separating device separates the rivets individually.
  • the nail moving device transports the separated rivets to the nail blowing port, and uses high-pressure riveting gas to send the rivets to the next process.
  • the nail feeding process Stable and reliable and compact and simple structure.
  • the clamping device is fixedly connected to the front end of the outer holster of the riveting gun head device through the lock plate. It includes the upper clamping nozzle and the lower clamping nozzle, which are hinged with the connecting rod respectively to form a parallelogram linkage mechanism. Driven by the cylinder of the slide table , The upper and lower clamps move in translation along the guide block through the tail pulley, and the movement track is stable, which makes the clamping of the rivets conveyed by the vibrating plate more accurate and reliable.
  • the vacuum self-priming device includes a vacuum generator, which generates negative pressure to suck the rivet clamped by the clamping nozzle device into the nozzle of the riveting gun head device. It has a simple structure, takes up little space, and is very convenient.
  • the riveting gun head device includes a three-jaw card, which is closely attached to the conical surface of the inner sleeve under the action of the spring and the top seat of the jaws.
  • the left and right movement of the mandrel makes the jaws loose and clamped, and can accept various specifications.
  • the rivets have high versatility.
  • the riveting device is installed on the three-axis numerical control device. Under the control of the control system, the riveting gun device can be quickly and accurately positioned to the position of the rivet hole for riveting.
  • Another object of the present invention is to provide a riveting method for the above-mentioned automatic riveting device.
  • an automatic riveting method for automatic riveting equipment the steps of which are:
  • Step 1 The vibrating plate performs torsional vibration under the drive of the energized electromagnetic base, so that the rivets are aligned along the spiral track; at the same time, the three-axis numerical control device drives the riveting device to move to the top of the rivet hole;
  • Step 2 The completed rivets slide down along the track and are blocked by the front bump of the separation block.
  • the second photoelectric switch detects the existence of the rivets, and the control system drives the separation cylinder to move forward, which drives the separation block to move forward.
  • the bump moves forward, and the blocked rivet is separated and released to enter the next process.
  • the rear bump also moves forward to block the rivet behind, and the separation cylinder retracts, driving the separation block to return to the initial position, ready for the next round of rivet separation ;
  • Step 3 The separated rivet slides into the nail groove of the nail removal block, the first photoelectric switch detects the existence of the rivet, and the control system drives the nail removal cylinder to move forward, driving the nail removal block to move along the inner side of the baffle, When the rivet reaches the blowing hole of the baffle and stops moving, the air supply system supplies high-pressure riveting gas to transport the rivet to the riveting device along the nail feeding pipe;
  • Step 4 The rivet is transported from the nail feeding pipe to the connecting pipe of the automatic riveting device.
  • the tail pulleys of the upper clamp and the lower clamp are located on the plane part of the guide block outline, and the clamp is in an open state; the rivet passes through
  • the control system starts the sliding table cylinder, which pushes the upper clamp and the lower clamp to move forward in a straight line, but at the same time the clamp The tail pulley slides along the outline of the guide block.
  • the control system activates the vacuum self-priming device, the gas enters from the air inlet of the vacuum generator, is discharged from the muffler, and a negative pressure is generated at the vacuum interface, and the rivets are sucked into the riveting gun head device through the air guide tube.
  • the muzzle of the outer holster On the muzzle of the outer holster;
  • Step 5 The three-axis numerical control device drives the riveting device to move down, and sends the rivet to the rivet hole; when the rivet is sucked on the gun mouth of the outer holster, the control system controls the sliding table cylinder to retract the cylinder rod, and the upper and lower clamps
  • the nozzle returns to the open state, the motor of the driving device starts to start, and the torque is transmitted to the lead screw through the coupling, so that the slider slides backward along the guide rail, the guide rod is connected to the mandrel by thread, and the mandrel is connected to the inner cylinder by thread Put it on, move backward together under the drive of the slider, the spring releases the elastic force, and the outer tapered surface of the claw is pressed against the inner tapered surface of the inner sleeve by the top seat of the claw, so that the aperture of the claw is reduced, and the rivet is clamped.
  • the riveting force reaches a certain level, the nail core is broken and the riveting is completed;
  • Step 6 After the nail core is broken, the motor reverses, the mandrel drives the inner sleeve to move forward, the spring is compressed, the top seat of the claw moves upward along the tapered surface of the inner sleeve against the claw, the claw is released, and the nail The core is released and the riveting cycle ends.
  • Fig. 1 overall structure schematic diagram of the present invention
  • Fig. 2 schematic diagram of the nail feeding device of the present invention
  • Fig. 3 schematic diagram of the riveting device of the present invention
  • Fig. 4 schematic diagram of the clamping device of the present invention
  • Fig. 5 schematic diagram of vacuum self-priming device of the present invention
  • FIG. 6 Schematic diagram of the riveting gun head device of the present invention.
  • Fig. 7 schematic diagram of the driving device of the present invention.
  • Fig. 8(a) Schematic diagram of vibrating plate feeding riveting
  • Fig. 8(b) Schematic diagram of separation device separating rivets
  • Fig. 8(c) Schematic diagram of nail removal device
  • Fig. 8(d) Fig. 8(e): Clip Schematic diagram of clamping and riveting of nozzle device
  • Fig. 8(f) Fig. 8(g): Schematic diagram of riveting riveting gun head device
  • Fig. (h) Schematic diagram of rowing nails;
  • Riveting device 501. Outer holster, 502. Inner sleeve, 503. Claw, 504. Claw top seat, 505. Spring, 506. Mandrel;
  • Vacuum generator 402. Muffler;
  • the automatic riveting equipment includes a frame 1, a three-axis numerical control device 3, a riveting device 4, a nail feeding tube 5, and a nail feeding device 6.
  • a three-axis numerical control device 3 is provided on the top beam of the frame 1, a nail feeding device 6 is provided on the bottom platform, a riveting device 4 is installed on the mounting plate of the three-axis numerical control device, and the nail feeding pipe 5 and the clamping device in the riveting device 4
  • the connecting pipe 303 of 201 is connected, and is connected with the nail feeding hole of the baffle plate 109 in the nail feeding device 6 at the same time, that is to say, the riveting device 4 is connected with the nail feeding device 6 .
  • Nail sending device 6 comprises vibrating plate 101, and it is installed on the electromagnetic base 102, and vibrating plate 101 is provided with the helical track of whole column rivet, is provided with the second photoelectric switch supporting seat 104 on the right side of the second section track, and is provided with on the left side.
  • the split nail cylinder 105 is connected and fixed with the mounting hole of the vibrating plate platform.
  • the split nail cylinder 105 is equipped with a separation block 106.
  • the right half of the separation block 106 is provided with a cavity, and two protrusions protrude from the bottom of the cavity.
  • the spacing distance is slightly greater than the diameter of the rivet nail body, so that when a rivet reaches the front bump, the rear bump can be in the gap between adjacent rivets, and the second photoelectric switch 103 is fixedly installed on the second photoelectric switch support seat 104.
  • the end of the second section of the track is provided with a nail-moving block 110, the center line of the nail groove of the nail-moving block 110 coincides with the center line of the track, the nail-moving block 110 is connected with the side plate of the nail-moving cylinder 108, and is driven by the nail-moving cylinder 108 Down, it can slide along the inner side of the baffle 109, the first photoelectric switch 111 is installed on the side mounting hole of the nail moving block 110, and the nail moving block 110 and the baffle 109 are all provided with a blower that is coaxial with the nail feeding tube 5. stomata.
  • the clip device 201 is connected to the front end of the outer holster 501 of the riveting gun head device 202 by the lock plate 310, and it includes an upper clip 301 and a lower clip 308 hingedly connected with the connecting rod 302.
  • the connecting pipe 303 connected with the nail feeding pipe and the through hole on the same axis as the connecting pipe 301, the diameter of the through hole is larger than the maximum diameter of the rivet 2, which is convenient for the rivet 2 to pass through the upper clamp nozzle 301, and the connecting rod 302 passes through the hinge and the slide table
  • the heads of the cylinder 305 are connected to form a parallelogram linkage.
  • the slide cylinder 305 is fixedly installed on the shell 203 through the slide mounting plate 307 connected thereto.
  • Plate 307 front end connects guide block 309, and guides open block 309 and lock plate 310 is connected, and upper clip is chewed 307 and lower clip is chewed 308 afterbody and is hingedly connected with pulley 304, and pulley 304 can slide along guides open block 309.
  • the vacuum self-priming device 205 includes a vacuum generator 401 , and the vacuum generator 401 is provided with a muffler 402 , and the vacuum self-priming device 205 is fixedly installed on the casing 203 .
  • the riveting gun head device 202 includes an outer holster 501 fixedly installed on the shell 203, the inner sleeve 502 is connected with the inner cylindrical surface of the outer holster 501, and the outer tapered surface of the three jaws 503 is connected with the inner cone of the inner sleeve 502.
  • jaw top seat 504 is connected with spring 505, the conical surface of its head is connected with the tail plane of jaw 503 tangentially, spring 505 is connected with mandrel 506 coaxially, and mandrel 506 is connected at the drive device 204 on the guide rod 602.
  • the driving device 204 includes a guide rail fixing base 611, on which a guide rail 609, a motor support base 607 and a bearing support base 601 are arranged, the motor 608 is fixedly mounted on the motor support base 607, and one end of the lead screw 605 is connected with the motor 608 through a shaft coupling 606 , the other end is connected with the bearing support seat 601 through a bearing, the screw 605 is provided with a slider 610, the slider 610 can slide along the guide rail 609, the slider 610 is provided with a guide rod support block 604, and the guide rod support block 604 is provided with There is a guide rod fixing seat 603 , one end of the guide rod 602 is connected with the guide rod fixing seat 503 , and the other end is connected with the mandrel 506 of the riveting gun head device 202 .
  • Step 1 As shown in FIG. 8( a ), the vibrating plate 101 performs torsional vibration under the drive of the energized electromagnetic base 102 , so that the rivets 2 are aligned along the spiral track. Simultaneously, the three-axis numerical control device 3 drives the riveting device 4 to move to the top of the rivet hole.
  • Step 2 As shown in Figure 8(b), the completed rivets 2 slide down along the track and are blocked by the front bump of the separation block 106.
  • the second photoelectric switch 103 detects the existence of the rivets 2, and the control system drives the separation cylinder 105 moves forward, that is, it drives the separating block 106 to move forward, the front bump moves forward, and the blocked rivet 2 is separated and released to enter the next process, while the rear bump also moves forward to block the rear rivet 2, separating the cylinder 105 It is retracted to drive the separation block 106 back to the initial position, ready for the next round of separation of the rivets 2 .
  • Step 3 As shown in Figure 8(c), the separated rivet 2 slides into the nail slot of the nail moving block 110, the first photoelectric switch 111 detects the presence of the rivet 2, and the control system drives the nail moving cylinder 108 to The front movement drives the rivet moving block 110 to move along the inner side of the baffle 109.
  • the air supply system supplies high-pressure riveting gas to transport the rivet 2 along the rivet feeding pipe 5 to the In the riveting device 4.
  • Step 4 As shown in Figure 8 (d), (e), the rivet 2 is transported to the connecting pipe 303 of the automatic riveting device by the nail feeding pipe 5, and at this time, the tail pulley 304 of the upper clamp nozzle 301 and the lower clamp nozzle 308 Located on the plane part of the outline of the guide block 309, the clamping nozzle is in an open state.
  • the rivet 2 passes through the through hole of the upper clamp nozzle 301, and the sensor senses that the rivet is pushed into the connecting pipe 303 by the high-pressure riveting gas, and the control system starts the sliding table cylinder 305, and the sliding table cylinder 305 pushes the upper clamp nozzle 301 and the lower clamp nozzle 308 Make a linear motion forward, but at the same time the tail pulley 304 of the clamp slides along the outline of the guide block 309, and under the action of the parallelogram linkage mechanism, the upper clamp 301 and the lower clamp 308 move in translation along the slope of the guide block 309 Movement, from the open state to the closed state, clamp the rivet 2 passing through the upper clamp nozzle 301, the control system starts the vacuum self-priming device 205, the gas enters from the air inlet of the vacuum generator 401, and is discharged from the 402 muffler, Negative pressure is generated at the vacuum interface, and the rivet 2 is sucked onto the nozzle of the outer holster 501 of the riveting gun head
  • Step 5 The three-axis numerical control device 3 drives the riveting device 4 to move down, and sends the rivet 2 to the rivet hole.
  • the control system controls the slide cylinder 305 to retract the cylinder rod, and the upper clamp nozzle 301 and the lower clamp nozzle 308 recover
  • the motor 608 of the driving device 204 starts to start, and the torque is transmitted to the screw 605 through the coupling 606, so that the slider 610 slides backward along the guide rail 609, and the guide rod 602 is screwed on the mandrel 506, and the mandrel 506 is threadedly connected to the inner sleeve 502, and moves backward together under the drive of the slider 610.
  • the spring 505 releases the elastic force, and the outer tapered surface of the jaw 503 is pressed against the inner sleeve 502 by the claw top seat 504.
  • the tapered surface reduces the aperture of the claw 503 and clamps the rivet 2.
  • Step 6 As shown in Figure 8(e), after the nail core 7 is pulled off, the motor 608 reverses, the mandrel 506 drives the inner sleeve 502 to move forward, the spring 505 is compressed, and the claw top seat 504 bears against the claw 503 moves upward along the tapered surface of the inner sleeve, the jaws 503 are released, the mandrel is released, and the riveting cycle ends.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Insertion Pins And Rivets (AREA)

Abstract

本发明公开了一种自动拉铆设备，包括机架，机架上设有三轴位移装置，三轴位移装置上设有拉铆装置，机架上设有送钉装置，送钉装置包括设置在机架上的振动送料盘，机架上在振动送料盘的出料处设有支座，机架上设有分钉气缸，分钉气缸的活塞杆端部设有分钉块，机架上设有固定座，固定座上设有移钉气缸，移钉气缸的活塞杆端部设有移钉块，固定座上在分钉块与移钉块之间设有挡住分钉块分离出的铆钉的挡块，移钉块上设有容置分离出的铆钉的卡钉槽，固定座上设有第一光电开关；挡板上部设有顶板，顶板上设有出钉孔，固定座上设有送气孔，送气孔孔口设有通气管，顶板上在出钉孔孔口设有送钉管，送钉管与拉铆装置相连接。本发明还公开了该设备的拉铆方法。

Description

自动拉铆设备及其自动拉铆方法 背景技术：
抽芯铆钉，是一类单面铆接用的铆钉，广泛用于汽车、船舶等领域。铆接时，铆钉钉芯由铆枪拉动，使铆体膨胀，起到铆接作用。
在传统工艺中，抽芯铆钉拉铆方式多采用人工手持拉铆枪进行拉铆，耗时费力且精度不高；为了提高生产效率，开发了许多自动铆接设备，其主要分为自动送钉和自动拉铆两大部分，自动送钉方法基本上均采用铆钉振动盘供料，主要存在问题是送钉过程稳定性有待提高，使铆钉准时有序地进入下一道工序不能得到可靠地保障；而自动拉铆部分一般采用自动拉铆枪，由于拉铆的动力源不同、接收由振动盘输送的铆钉的机构不同、夹持铆钉的原理不同、排放尾钉的方式不同等因素改进空间较大。
如申请号为201520484147.2的发明专利公开的全自动拉钉设备，振动盘输送的铆钉通过夹刀夹取进入下一道工序，结构复杂且稳定性差；如申请号为201110087121.0的发明专利公开的一种自动拉铆装置，在拉铆腔壳体内开有直通孔和斜孔，斜孔外端安装有接头与外部送铆管相连，铆钉是由于受高压送铆气体推动进入直通孔，采用这种方式接收由振动盘输送的铆钉容易产生铆钉卡在壳体内的现象，导致无法进行后续拉铆工作；如申请号为201621247523.7的发明专利公开的拉铆枪自动送料装置，采用气动方式进行拉铆，由于送钉也需要高压气体，容易导致气压不足。为此有必要对现有的自动拉铆设备做进一步的改进。
发明内容：
鉴于以上所述现有技术的缺点，本发明的目的在于提供一种能够稳定送钉、高效拉铆的自动拉铆装置。
为实现上述目的，本发明所采用的技术方案为：
一种自动拉铆设备，包括机架，机架上设有三轴位移装置，三轴位移装置上设有拉铆装置，机架上设有送钉装置，送钉装置包括设置在机架上的振动送料盘，机架上在振动送料盘的出料处设有支座，机架上设有分钉气缸，分钉气缸的活塞杆端部设有将振动送料盘的出料处最外侧的一个铆钉分离出来的分钉块，机架上设有固定座，固定座上设有移钉气缸，移钉气缸的活塞杆端部设有移钉块，固定座上在分钉块与移钉块之间设有挡住分钉块分离出的铆钉的挡块，移钉块上设有容置分离出的铆钉的卡钉槽，固定座上设有检测卡钉槽内是否有铆钉的第一光电开关；挡板上部设有顶板，顶板上设有出钉孔，固定座上设有送气孔，送气孔孔口设有通入高压气体的通气管，顶板上在出钉孔孔口设有送钉管，送钉管与拉铆装置相连接；
拉铆装置包括连接在三轴位移装置上的安装板，安装板上通过上平行四边形连杆机构连接有上夹咀，安装板上通过下平行四边形连杆机构连接有下夹咀，上夹咀上设有与送钉管相连的连接管，上夹咀中设有夹持铆钉前端的上夹紧槽，下夹咀中设有与上夹咀配合以夹持铆钉前端的下夹紧槽，安装板上设有滑台气缸，滑台气缸的活塞杆端部设有推动上、下平行四边形连杆机构转动以使上夹咀和下夹咀合拢的推动块，送钉管下段侧壁上设 有供铆钉落下的落料口；安装板上还设有外壳，外壳上设有铆接枪头装置，外壳中设有真空自吸装置，壳体中活动设有沿铆接枪头装置长度方向运动的导杆以及导杆驱动机构，铆接枪头装置包括一端嵌设置在外壳上的中空的外枪套，外枪套远离外壳的一端设有供铆钉头进入的前管，外枪套中活动设有内套筒，内套筒端部设有与前管内径相配合的推钉套，内套筒内腔靠近前管的端部呈锥口状，导杆上设有心轴，内套筒端部与心轴相连接，心轴中设有避让铆钉钉芯的轴向通孔，心轴上套设有弹簧，弹簧端部设有卡爪顶座，卡爪顶座上设有与钉芯相配合的容芯通孔；卡爪顶座端部呈锥状，卡爪顶座与内套筒锥口状的端部之间活动设有三个卡爪。
作为一种优选的方案，所述支座上设有检测振动送料盘的出料处是否有物料的第一光电开光。
作为一种优选的方案，所述上夹咀上设有滑轮，下夹咀上设有滑轮，滑动安装板上设有导开块，导开块远离滑台气缸的一侧设有与上下两个滑轮分别配合的上导向斜面和下导向斜面。
作为一种优选的方案，所述导杆驱动机构包括壳体中设置的由电机、连轴器驱动的丝杠，丝杠上通过螺纹连接有支撑块，支撑块上部设有导杆固定座，导杆固定座上设有所述导杆。
作为一种优选的方案，所述壳体中设有导轨，所述支撑块下部与设置在导轨上的滑块相连接。
本设备的有益效果是：本设备集成了自动送钉、自动拉铆功能，能够集成到自动化装配线中，使得拉铆效率提高，节省劳动力成本。
送料装置通过振动盘振动送料，把铆钉整列完成后分离装置对铆钉进行单独分离，移钉装置将分离的铆钉输送到吹钉口，用高压送铆气体将铆钉送到下一道工序，送钉过程稳定可靠且结构紧密简单。
夹咀装置通过锁板固定连接在铆接枪头装置的外枪套前端，其包括上夹咀和下夹咀，分别与连接杆铰链连接，构成平行四边形连杆机构，在滑台气缸的驱动下，上、下夹咀通过尾部滑轮沿导开块做平移运动，运动轨迹平稳，使得夹持由振动盘输送的铆钉更加精准，可靠性高。
真空自吸装置包括真空发生器，产生负压将夹咀装置夹持到的铆钉吸入到铆接枪头装置的枪嘴里，结构简单，占用空间小，十分方便。
铆接枪头装置包括三爪卡片，其在弹簧和卡爪顶座的作用下与内筒套圆锥面紧密贴合，心轴的左右移动，使得卡爪松开与夹紧，可接收多种规格的铆钉，具有较高的通用性。
拉铆装置安装在三轴数控装置上，在控制系统的控制下，使得拉铆枪装置可以快速，精确的定位到铆钉孔位置进行拉铆。
本发明的另一个目的在于提供一种上述自动拉铆装置的拉铆方法。
为实现上述目的，本发明所采用的技术方案为：一种自动拉铆设备的自动拉铆方法，其步骤为：
步骤一：振动盘在通电的电磁底座的带动下做扭摆振动，使铆钉沿着螺旋轨道完成整列；同时三轴数控装置带动拉铆装置移动到铆钉孔上方；
步骤二：整列完成的铆钉沿着轨道下滑，被分离块的前凸块挡住，第二光电开关检 测到铆钉的存在，由控制系统驱动分离气缸向前运动，即带动分离块向前运动，前凸块前移，被挡住的铆钉被分离释放进入下一道工序，同时后凸块同样前移，挡住后面的铆钉，分离气缸收回，带动分离块恢复到初始位置，准备进行下一轮的铆钉分离；
步骤三：被分离的铆钉滑到移钉块的卡钉槽内，第一光电开关检测到铆钉的存在，由控制系统驱动移钉气缸向前运动，带动移钉块沿挡板内侧面运动，当铆钉到达挡板的吹气孔上停止运动，供气系统供给高压送铆气体，将铆钉沿着送钉管输送到拉铆装置中；
步骤四：铆钉由送钉管输送到自动拉铆装置的连接管中，此时上夹咀和下夹咀的尾部滑轮位于导开块轮廓的平面部分，夹咀处于张开状态；铆钉穿过上夹咀的通孔，传感器感触到铆钉受高压送铆气体推动进入连接管后，控制系统启动滑台气缸，滑台气缸推动上夹咀和下夹咀向前做直线运动，但同时夹咀尾部滑轮沿导开块轮廓滑动，在平行四边形连杆机构的作用下，上夹咀和下夹咀沿导开块轮廓的斜面做平移运动，由张开状态到闭合状态，夹住穿过上夹咀的铆钉，控制系统启动真空自吸装置，气体从真空发生器的空气进气口进入，从消音器排出，在真空接口处产生负压，通过导气管将铆钉吸入到铆接枪头装置的外枪套的枪嘴上；
步骤五：三轴数控装置带动拉铆装置下移，将铆钉送至铆钉孔中；当铆钉吸在外枪套的枪嘴上后，控制系统控制滑台气缸收回气缸杆，上夹咀和下夹咀恢复到打开状态，驱动装置的电机开始启动，转矩通过联轴器传递给丝杠，让滑块沿导轨向后滑动，导杆通过螺纹连接在心轴上，心轴通过螺纹连接在内筒套上，在滑块的带动下一起向后运动，弹簧释放弹力，通过卡爪顶座顶着卡爪的外锥面紧贴内筒套内锥面，使得卡爪孔径缩小，夹住铆钉，当拉铆力达到一定程度时，钉芯被拉断，拉铆完成；
步骤六：钉芯被拉断后，电机反转，心轴带动内筒套向前运动，弹簧被压缩，卡爪顶座顶着卡爪沿内筒套锥面向上运动，卡爪松开，钉芯被释放，铆接周期结束。
附图说明：
图1：本发明的整体结构示意图；
图2：本发明的送钉装置示意图；
图3：本发明的拉铆装置示意图；
图4：本发明的夹咀装置示意图；
图5：本发明的真空自吸装置示意图；
图6：本发明的铆接枪头装置示意图；
图7：本发明的驱动装置示意图；
图8(a)：振动盘送铆示意图；图8(b)：分离装置分离铆钉示意图；图8(c)：移钉装置移钉示意图；图8(d)、图8(e)：夹咀装置夹铆示意图；图8(f)、图8(g)：铆接枪头装置拉铆示意图；图(h)：排钉示意图；
图中：1.机架；2.铆钉；3.三轴数控装置；
4.拉铆装置，501.外枪套，502.内套筒，503.卡爪，504.卡爪顶座，505.弹簧，506.心轴；
201.夹咀装置，202.铆接枪头装置，203.外壳；204.驱动装置，205.真空自吸装置，
601.轴承支撑座，602.导杆，603.导杆固定座，604.导杆支撑块，605.丝杠，606. 联轴器，607.电机支撑座，608.电机，609.导轨，610.滑块，611.导轨固定座；
401.真空发生器，402.消音器；
5.送钉管；6.送钉装置，7.钉芯；
101.振动盘，102.电磁底座，103.第二光电开关，104.光电开关支撑座，105.分钉气缸，106.分离块，107.气缸固定座，108.移钉气缸，109.挡板，110.移钉块，111.第一光电开关；
301.上夹咀，302.连接杆，303.连接管，304.滑轮，305.滑台气缸，306.调速阀，307.气缸安装板，308.下夹咀，309.导开块，310.锁板；
具体实施方式：
下面结合附图，详细描述本发明的具体实施方案。
如图1-7所示，自动拉铆设备包括机架1、三轴数控装置3、拉铆装置4、送钉管5、送钉装置6。
机架1顶部横梁上设有三轴数控装置3，底部平台设有送钉装置6，拉铆装置4安装在三轴数控装置的安装板上，送钉管5与拉铆装置4中夹咀装置201的连接管303相连，同时与送钉装置6中挡板109的送钉孔相连，即将拉铆装置4与送钉装置6联系起来。
送钉装置6包括振动盘101，其安装在电磁底座102上，振动盘101上设有整列铆钉的螺旋轨道，在第二段轨道右侧设有第二光电开关支撑座104，左侧设有分钉气缸105，均与振动盘平台的安装孔连接固定，分钉气缸105上安装有分离块106，分离块106右半部分设有空腔，空腔底部伸出两处凸块，凸块间隔距离略大于铆钉钉体直径，使一个铆钉抵到前凸块时，后凸块能处于相邻的铆钉间隔空隙内，第二光电开关103固定安装在第二光电开关支撑座104上，在第二段轨道终点设有移钉块110，移钉块110卡钉槽的中心线与轨道的中心线重合，移钉块110与移钉气缸108的侧板连接，在移钉气缸108的推动下，可沿挡板109的内侧面滑动，第一光电开关111安装在移钉块110侧面安装孔上，且移钉块110与挡板109均设有与送钉管5同轴线的吹气孔。
夹咀装置201通过锁板310连接在铆接枪头装置202的外枪套501前端，其包括与连接杆302铰链连接的上夹咀301和下夹咀308，上夹咀301上设有与振动盘输钉管对接的连接管303和与连接管301在同一轴线上的通孔，通孔直径比铆钉2最大直径大，便于铆钉2穿过上夹咀301，连接杆302通过铰链与滑台气缸305头部连接，构成平行四边形连杆机构，滑台气缸305通过与其连接的滑块安装板307固定安装在外壳203上，设有调节滑台气缸305速度的调速阀306，滑块安装板307前端连接导开块309，导开块309与锁板310连接，上夹咀307和下夹咀308尾部与滑轮304铰链连接，滑轮304可以沿导开块309滑动。
真空自吸装置205包括真空发生器401，真空发生器401上设有消音器402，真空自吸装置205固定安装在外壳203上。
铆接枪头装置202包括固定安装在外壳203上的外枪套501，内筒套502与外枪套501内圆柱面贴合连接，三片卡爪503的外锥面与内筒套502内锥面贴合连接，卡爪顶座504与弹簧505连接，其头部圆锥面与卡爪503尾部平面相切连接，弹簧505与心轴506同轴心连接，心轴506连接在驱动装置204的导杆602上。
驱动装置204包括导轨固定座611，其上设有导轨609、电机支撑座607和轴承支承 座601，电机608固定安装在电机支撑座607上，丝杠605一端通过联轴器606与电机608连接，另一端与轴承支承座601通过轴承连接，丝杠605上设有滑块610，滑块610可沿导轨609滑动，滑块610上设有导杆支撑块604，导杆支撑块604上设有导杆固定座603，导杆602一端与导杆固定座503连接，另一端与铆接枪头装置202的心轴506连接。
下面描述本发明的工作流程，以一个铆钉2的铆接周期为例，自动拉铆装置的步骤为：
步骤一：如图8(a)所示，振动盘101在通电的电磁底座102的带动下做扭摆振动，使铆钉2沿着螺旋轨道完成整列。同时三轴数控装置3带动拉铆装置4移动到铆钉孔上方。
步骤二：如图8(b)所示，整列完成的铆钉2沿着轨道下滑，被分离块106的前凸块挡住，第二光电开关103检测到铆钉2的存在，由控制系统驱动分离气缸105向前运动，即带动分离块106向前运动，前凸块前移，被挡住的铆钉2被分离释放进入下一道工序，同时后凸块同样前移，挡住后面的铆钉2，分离气缸105收回，带动分离块106恢复到初始位置，准备进行下一轮的铆钉2分离。
步骤三：如图8(c)所示，被分离的铆钉2滑到移钉块110的卡钉槽内，第一光电开关111检测到铆钉2的存在，由控制系统驱动移钉气缸108向前运动，带动移钉块110沿挡板109内侧面运动，当铆钉2到达挡板109的吹气孔上停止运动，供气系统供给高压送铆气体，将铆钉2沿着送钉管5输送到拉铆装置4中。
步骤四：如图8(d)，(e)所示，铆钉2由送钉管5输送到自动拉铆装置的连接管303中，此时上夹咀301和下夹咀308的尾部滑轮304位于导开块309轮廓的平面部分，夹咀处于张开状态。铆钉2穿过上夹咀301的通孔，传感器感触到铆钉受高压送铆气体推动进入连接管303后，控制系统启动滑台气缸305，滑台气缸305推动上夹咀301和下夹咀308向前做直线运动，但同时夹咀尾部滑轮304沿导开块309轮廓滑动，在平行四边形连杆机构的作用下，上夹咀301和下夹咀308沿导开块309轮廓的斜面做平移运动，由张开状态到闭合状态，夹住穿过上夹咀301的铆钉2，控制系统启动真空自吸装置205，气体从真空发生器401的空气进气口进入，从402消音器排出，在真空接口处产生负压，通过导气管将铆钉2吸入到铆接枪头装置202的外枪套501的枪嘴上。
步骤五：三轴数控装置3带动拉铆装置4下移，将铆钉2送至铆钉孔中。如图8(f)和图8(g)所示，当铆钉2吸在外枪套501的枪嘴上后，控制系统控制滑台气缸305收回气缸杆，上夹咀301和下夹咀308恢复到打开状态，驱动装置204的电机608开始启动，转矩通过联轴器606传递给丝杠605，让滑块610沿导轨609向后滑动，导杆602通过螺纹连接在心轴506上，心轴506通过螺纹连接在内筒套502上，在滑块610的带动下一起向后运动，弹簧505释放弹力，通过卡爪顶座504顶着卡爪503的外锥面紧贴内筒套502内锥面，使得卡爪503孔径缩小，夹住铆钉2，当拉铆力达到一定程度时，钉芯7被拉断，拉铆完成。
步骤六：如图8(e)所示，钉芯7被拉断后，电机608反转，心轴506带动内筒套502向前运动，弹簧505被压缩，卡爪顶座504顶着卡爪503沿内筒套锥面向上运动，卡爪503松开，钉芯被释放，铆接周期结束。
上述的实施例仅例示性说明本发明创造的原理及其功效，以及部分运用的实施例，而非用于限制本发明；应当指出，对于本领域的普通技术人员来说，在不脱离本发明创造构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。

Claims (6)

  1. 一种自动拉铆设备，包括机架，机架上设有三轴位移装置，三轴位移装置上设有拉铆装置，机架上设有送钉装置，送钉装置包括设置在机架上的振动送料盘，其特征在于：所述机架上在振动送料盘的出料处设有支座，机架上设有分钉气缸，分钉气缸的活塞杆端部设有将振动送料盘的出料处最外侧的一个铆钉分离出来的分钉块，机架上设有固定座，固定座上设有移钉气缸，移钉气缸的活塞杆端部设有移钉块，固定座上在分钉块与移钉块之间设有挡住分钉块分离出的铆钉的挡块，移钉块上设有容置分离出的铆钉的卡钉槽，固定座上设有检测卡钉槽内是否有铆钉的第一光电开关；挡板上部设有顶板，顶板上设有出钉孔，固定座上设有送气孔，送气孔孔口设有通入高压气体的通气管，顶板上在出钉孔孔口设有送钉管，送钉管与拉铆装置相连接；
    拉铆装置包括连接在三轴位移装置上的安装板，安装板上通过上平行四边形连杆机构连接有上夹咀，安装板上通过下平行四边形连杆机构连接有下夹咀，上夹咀上设有与送钉管相连的连接管，上夹咀中设有夹持铆钉前端的上夹紧槽，下夹咀中设有与上夹咀配合以夹持铆钉前端的下夹紧槽，安装板上设有滑台气缸，滑台气缸的活塞杆端部设有推动上、下平行四边形连杆机构转动以使上夹咀和下夹咀合拢的推动块，送钉管下段侧壁上设有供铆钉落下的落料口；安装板上还设有外壳，外壳上设有铆接枪头装置，外壳中设有真空自吸装置，壳体中活动设有沿铆接枪头装置长度方向运动的导杆以及导杆驱动机构，铆接枪头装置包括一端嵌设置在外壳上的中空的外枪套，外枪套远离外壳的一端设有供铆钉头进入的前管，外枪套中活动设有内套筒，内套筒端部设有与前管内径相配合的推钉套，内套筒内腔靠近前管的端部呈锥口状，导杆上设有心轴，内套筒端部与心轴相连接，心轴中设有避让铆钉钉芯的轴向通孔，心轴上套设有弹簧，弹簧端部设有卡爪顶座，卡爪顶座上设有与钉芯相配合的容芯通孔；卡爪顶座端部呈锥状，卡爪顶座与内套筒锥口状的端部之间活动设有三个卡爪。
  2. 如权利要求1所述一种自动拉铆设备，其特征在于：所述支座上设有检测振动送料盘的出料处是否有物料的第一光电开光。
  3. 如权利要求2所述一种自动拉铆设备，其特征在于：所述上夹咀上设有滑轮，下夹咀上设有滑轮，滑动安装板上设有导开块，导开块远离滑台气缸的一侧设有与上下两个滑轮分别配合的上导向斜面和下导向斜面。
  4. 如权利要求3所述一种自动拉铆设备，其特征在于：所述导杆驱动机构包括壳体中设置的由电机、连轴器驱动的丝杠，丝杠上通过螺纹连接有支撑块，支撑块上部设有导杆固定座，导杆固定座上设有所述导杆。
  5. 如权利要求1-4中任一项所述一种自动拉铆设备，其特征在于：所述壳体中设有导轨，所述支撑块下部与设置在导轨上的滑块相连接。
  6. 如权利要求5所述一种自动拉铆设备的自动拉铆方法，其步骤为：
    步骤一：振动盘在通电的电磁底座的带动下做扭摆振动，使铆钉沿着螺旋轨道完成整列；同时三轴数控装置带动拉铆装置移动到铆钉孔上方；
    步骤二：整列完成的铆钉沿着轨道下滑，被分离块的前凸块挡住，第二光电开关检测到铆钉的存在，由控制系统驱动分离气缸向前运动，即带动分离块向前运动，前凸块前移，被挡住的铆钉被分离释放进入下一道工序，同时后凸块同样前移，挡住后面的铆钉，分离气缸收回，带动分离块恢复到初始位置，准备进行下一轮的铆钉分离；
    步骤三：被分离的铆钉滑到移钉块的卡钉槽内，第一光电开关检测到铆钉的存在，由控制系统驱动移钉气缸向前运动，带动移钉块沿挡板内侧面运动，当铆钉到达挡板的吹气孔上停止运动，供气系统供给高压送铆气体，将铆钉沿着送钉管输送到拉铆装置中；
    步骤四：铆钉由送钉管输送到自动拉铆装置的连接管中，此时上夹咀和下夹咀的尾部滑轮位于导开块轮廓的平面部分，夹咀处于张开状态；铆钉穿过上夹咀的通孔，传感器感触到铆钉受高压送铆气体推动进入连接管后，控制系统启动滑台气缸，滑台气缸推动上夹咀和下夹咀向前做直线运动，但同时夹咀尾部滑轮沿导开块轮廓滑动，在平行四边形连杆机构的作用下，上夹咀和下夹咀沿导开块轮廓的斜面做平移运动，由张开状态到闭合状态，夹住穿过上夹咀的铆钉，控制系统启动真空自吸装置，气体从真空发生器的空气进气口进入，从消音器排出，在真空接口处产生负压，通过导气管将铆钉吸入到铆接枪头装置的外枪套的枪嘴上；
    步骤五：三轴数控装置带动拉铆装置下移，将铆钉送至铆钉孔中；当铆钉吸在外枪套的枪嘴上后，控制系统控制滑台气缸收回气缸杆，上夹咀和下夹咀恢复到打开状态，驱动装置的电机开始启动，转矩通过联轴器传递给丝杠，让滑块沿导轨向后滑动，导杆通过螺纹连接在心轴上，心轴通过螺纹连接在内筒套上，在滑块的带动下一起向后运动，弹簧释放弹力，通过卡爪顶座顶着卡爪的外锥面紧贴内筒套内锥面，使得卡爪孔径缩小，夹住铆钉，当拉铆力达到一定程度时，钉芯被拉断，拉铆完成；
    步骤六：钉芯被拉断后，电机反转，心轴带动内筒套向前运动，弹簧被压缩，卡爪顶座顶着卡爪沿内筒套锥面向上运动，卡爪松开，钉芯被释放，铆接周期结束。
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