CN107639199B - Rotary friction riveting process actuator and multi-shaft friction riveting robot - Google Patents
Rotary friction riveting process actuator and multi-shaft friction riveting robot Download PDFInfo
- Publication number
- CN107639199B CN107639199B CN201710904476.1A CN201710904476A CN107639199B CN 107639199 B CN107639199 B CN 107639199B CN 201710904476 A CN201710904476 A CN 201710904476A CN 107639199 B CN107639199 B CN 107639199B
- Authority
- CN
- China
- Prior art keywords
- drive
- double
- rotary
- friction
- friction riveting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
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
- B21J15/02—Riveting procedures
- B21J15/027—Setting rivets by friction heating
-
- 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
- B21J15/14—Riveting machines specially adapted for riveting specific articles, e.g. brake lining machines
- B21J15/142—Aerospace structures
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Insertion Pins And Rivets (AREA)
Abstract
The invention provides a rotary friction riveting process actuator and a multi-shaft friction riveting robot, wherein the rotary friction riveting process actuator comprises the processes of loose core friction riveting, implanted friction riveting, friction rivet welding, friction stir spot welding and the like, has double driving and double feeding, can realize force and displacement feedback control through proper design, adopts electric driving and servo for the whole machine, and has the characteristics of high efficiency and automation, stable and controllable quality and good mechanical property. The invention has the self-adaptive characteristic of coaxial double-rotation double-feed in function, modularized function and openness of control, and can realize various advanced connection process functions by reconstructing the function to a certain extent on the basis of software.
Description
Technical Field
The invention relates to a rotary friction riveting process actuator and a multi-shaft friction riveting robot.
Background
In general assembly of large-scale products such as aerospace, automobile and the like, the connection conditions of the structures in areas with narrow space, closed or semi-closed and complex structures and the connection requirements of high strength and small deformation are met frequently, and some advanced connection processes such as loose core friction riveting, implanted friction riveting, friction rivet welding, friction stir spot welding and the like are produced respectively. However, at present, there is no device capable of realizing connection of multiple technologies such as implanted friction riveting, loose core friction riveting, friction rivet welding, friction stir spot welding and the like.
Disclosure of Invention
The invention aims to provide a rotary friction riveting process actuator which can realize advanced connection of processes such as implanted friction riveting, core-pulling friction riveting, friction stir welding, friction stir spot welding and the like.
In order to solve the above problems, the present invention provides an actuator for a spin friction riveting process, comprising:
the device comprises an external rotation driving module 1, an internal rotation driving module 2, a double-feeding module 3, a tool beating supercharger 4, a rivet clamping and driving tool 5, a rivet 6, a locking ring 7, a sliding bearing 8 and a fastener.
Further, in the above-described rotary friction riveting process actuator, the outer rotary drive module 1 includes: the gear type clutch comprises, by weight, 1-1 parts of a motor, 1-2 parts of a driving gear, 1-3 parts of a transition gear assembly, 1-4 parts of an outer sleeve transmission gear shaft, 1-5 parts of an outer rotary driving shell, 1-6 parts of an outer bearing group, 1-7 parts of a bearing outer ring locking nut, 1-8 parts of a bearing inner ring locking nut and 1-10 parts of a key and a screw.
Further, in the actuator for the rotary friction riveting process, the motor 1-1 adopts a servo drive motor, the rated rotating speed is 3000 rpm-6000 rpm, and the rated torque is more than 15 Nm; the upper part of the outer sleeve transmission gear shaft 1-4 is provided with a gear for transmitting the torque and the rotating speed transmitted by the motor, and the lower part is provided with a locking thread for connecting a rivet clamping and driving tool; the outer bearing sets 1-6 are calculated and assembled to ensure that the axial upsetting force is not lower than 15 KN.
Further, in the above-mentioned rotary friction riveting process actuator, the internal rotation driving module 2 includes: the device comprises an electric spindle 2-1, an inner drive shell 2-2, a coupler 2-3, a hollow unclamping cylinder 2-4, a blank pressing drive spline 2-5, a unclamping rod 2-6a, a disc spring 2-6b, a dynamic seal ring 2-6c, an inner sleeve transmission shaft 2-7, an inner bearing group 2-8, a bearing outer ring locking nut 2-9 and a bearing inner ring locking nut 2-10.
Further, in the actuator for the rotary friction riveting process, the electric spindle 2-1 has the parameters of rated rotation speed of 10000rpm and rated torque of 22.7 Nm; based on light weight, the front bearing seat and the rear bearing seat are made of steel; the stator shell is made of high-strength aluminum alloy, is oxidized in natural color, and is matched with a steel wire thread sleeve in a threaded manner; the mandrel is made of titanium alloy.
Further, in the rotary friction riveting process actuator, a blank pressing driving spline 2-5 is connected through the coupler 2-3 to drive an inner sleeve transmission shaft 2-7; a cutter beating element is arranged in the driving inner sleeve transmission shaft 2-7 and comprises a cutter beating rod 2-6a, a disc spring 2-6b and a movable sealing ring 2-6c, and a hollow cutter beating cylinder 2-4 is driven through the oil pressure of a cutter beating supercharger 4, so that the rivet is guaranteed to be assembled and disassembled, and when the hollow cutter beating cylinder 2-4 does not apply axial force of a cutter, the hollow cutter beating cylinder is acted by the tensile force of the disc spring, so that the rivet is tensioned to clamp a spring clamp of the driving tool 5, and the rivet 6 is clamped; the inner bearing group 2-8 outside the drive inner sleeve transmission shaft 2-7 must be calculated and assembled to ensure that the axial upsetting force is not lower than 15 KN.
Further, in the above-described rotary friction riveting process actuator, the double feed module 3 includes: the device comprises an external drive electric cylinder 3-1, a rack group 3-2a, a rack group 3-2b, a rack group 3-2c, a first drive rack 3-3, a first coaxial double gear 3-4, an external drive bracket 3-5, an external drive bracket 3-6, a rolling linear module 3-7, a spindle system 3-8, an internal drive electric cylinder 3-9, a second drive rack 3-10, a second coaxial double gear 3-11, an internal drive bracket 3-12 and an internal drive bracket 3-13.
Further, in the above actuator for the rotary friction riveting process, the electric cylinder of the dual-feeding module 3 is a Lim-Tec servo electric cylinder, and a 4.3Kg weight of the electric cylinder can apply a push/pull force of about 5620KN to the outside, and the movement stroke is 150mm, and the maximum speed is 127 mm/s.
Further, in the above-mentioned rotary friction riveting process actuator, the double-feed module 3 drives the large gears of the first coaxial double gear 3-4 and the second coaxial double gear 3-11 by using the first driving rack 3-3 and the second driving rack 3-10, and drives the outer transmission bracket 3-5 and the inner transmission bracket 3-12 by using the coaxial double gear pinion, and the radius ratio R/R =3 of the two gears can realize linear motion force conversion and motion conversion; the external transmission brackets 3-5 and the internal transmission brackets 3-12 output force and movement to the external rotation driving module 1 and the internal rotation driving module 2.
Further, in the above-mentioned rotary friction riveting process actuator, the frame assemblies 3-2a, 3-2b, 3-2c are made of high-strength aluminum alloy in an assembling and assembling manner, and the double feed drives are respectively distributed at an included angle of 90 degrees, and the central plane of the external rotation drive module 1 and the central plane of the tool-making supercharger are superposed and respectively arranged in front of and behind the electric spindle.
The invention provides another technical scheme that the multi-axis friction riveting robot comprises the rotary friction riveting process actuator and a multi-joint robot, wherein the rotary friction riveting process actuator is arranged on the multi-joint robot.
Compared with the prior art, the invention discloses a coaxial double-rotation double-feed self-adaptive multifunctional rotary friction riveting process actuator, which can realize a friction stir welding process and a metal friction riveting process by adopting the combination of the functions of externally-driven rotation and externally-driven feed; the implanted friction riveting process can be realized by adopting the combination of the internal drive rotation and the internal drive feeding functions; and the coaxial double-rotation double-feed self-adaptive combination is adopted, so that the core-pulling friction riveting and double-action ring friction stir spot welding processes can be realized. The coaxial double-rotation double-feed self-adaptive multifunctional rotary friction riveting process actuator has the functions of electrically-driven rotary drilling, electrically-driven rotary withdrawal, high-speed rotary feeding, sudden stop and the like, and can meet the process requirements of implanted friction riveting, core-pulling friction riveting, friction rivet welding and the like. The invention can solve the high-strength riveting problem of metal/nonmetal multi-material connection which can not be pre-drilled in space complex areas such as aerospace and the like by matching with a numerical control machine tool system or a robot system, and has the characteristics of high efficiency and automation, good mechanical property and no redundancy. According to the coaxial double-rotation double-feed self-adaptive multifunctional rotary friction riveting process actuator, all process execution actions are controlled by adopting an accurate electric servo, the riveting process is reliable, the rivet is clamped by adopting the combined driving and control of a gas-liquid pressure cylinder and a unclamping cylinder, and travel limit switches are distributed on the flange surface of the unclamping cylinder to ensure that the rivet is clamped in place; meanwhile, force and displacement data of the electric cylinder are added into process closed loop feedback, safety of a rivet riveting process is guaranteed, and adverse conditions of function interference and rivet flying are avoided.
Drawings
FIG. 1 is a general block diagram of a rotary friction riveting process actuator according to one embodiment of the invention;
FIG. 2 is a cross-sectional view taken along line A-A of FIG. 1;
FIG. 3 is a cross-sectional view of FIG. 1;
FIG. 4 is a cross-sectional view taken along line B-B of FIG. 3;
FIG. 5 is a cross-sectional view taken along line C-C of FIG. 3;
FIG. 6 is a cross-sectional view taken along line D-D of FIG. 3;
FIG. 7 is a schematic view of an external rotation driving module according to an embodiment of the present invention;
FIG. 8 is a view in the direction A of FIG. 7;
FIG. 9 is a cross-sectional view of FIG. 7;
FIG. 10 is a cross-sectional view in one direction of FIG. 8;
FIG. 11 is a cross-sectional view in the other direction of FIG. 8;
FIG. 12 is a schematic view of an exemplary embodiment of an internal rotation driving module;
FIG. 13 is a cross-sectional view taken along line A-A of FIG. 12;
FIG. 14 is a schematic view of a dual feed module of an embodiment of the present invention;
FIG. 15 is a cross-sectional view of FIG. 14;
FIG. 16 is a cross-sectional view in one direction of FIG. 14;
FIG. 17 is a cross-sectional view in the other direction of FIG. 14;
FIG. 18 is a cross-sectional view taken along line B-B of FIG. 16;
FIG. 19 is a cross-sectional view of FIG. 14 in one direction;
FIG. 20 is a cross-sectional view taken along line C-C of FIG. 16;
FIG. 21 is a cross-sectional view taken along line D-D of FIG. 16;
fig. 22 is a schematic structural view of a multi-axis friction riveting robot according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1 to 6, the present invention provides a rotary friction riveting process actuator, comprising:
the device comprises an external rotation driving module 1, an internal rotation driving module 2, a double-feeding module 3, a tool beating supercharger 4, a rivet clamping and driving tool 5, a rivet 6, a locking ring 7, a sliding bearing 8 and a fastener. The invention discloses a coaxial double-rotation double-feed self-adaptive multifunctional rotary friction riveting process actuator, which can realize a friction stir welding process and a metal friction riveting welding process by adopting the combination of an external drive rotation function and an external drive feed function; the implanted friction riveting process can be realized by adopting the combination of the internal drive rotation and the internal drive feeding functions; and the coaxial double-rotation double-feed self-adaptive combination is adopted, so that the core-pulling friction riveting and double-action ring friction stir spot welding processes can be realized. The coaxial double-rotation double-feed self-adaptive multifunctional rotary friction riveting process actuator has the functions of electrically-driven rotary drilling, electrically-driven rotary withdrawal, high-speed rotary feeding, sudden stop and the like, and can meet the process requirements of implanted friction riveting, core-pulling friction riveting, friction rivet welding and the like. The invention can solve the high-strength riveting problem of metal/nonmetal multi-material connection which can not be pre-drilled in space complex areas such as aerospace and the like by matching with a numerical control machine tool system or a robot system, and has the characteristics of high efficiency and automation, good mechanical property and no redundancy. According to the coaxial double-rotation double-feed self-adaptive multifunctional rotary friction riveting process actuator, all process execution actions are controlled by adopting an accurate electric servo, the riveting process is reliable, the rivet is clamped by adopting the combined driving and control of a gas-liquid pressure cylinder and a unclamping cylinder, and travel limit switches are distributed on the flange surface of the unclamping cylinder to ensure that the rivet is clamped in place; meanwhile, force and displacement data of the electric cylinder are added into process closed loop feedback, safety of a rivet riveting process is guaranteed, and adverse conditions of function interference and rivet flying are avoided.
In an embodiment of the present invention, as shown in fig. 7 to 11, the outer rotation driving module 1 includes: the gear type motor comprises, by weight, 1-1 parts of a motor, 1-2 parts of a driving gear, 1-3 parts of a transition gear assembly, 1-4 parts of an outer sleeve transmission gear shaft, 1-5 parts of an outer rotary driving shell, 1-6 parts of an outer bearing group, 1-7 parts of a bearing outer ring locking nut, 1-8 parts of a bearing inner ring locking nut, 1-9 parts of a key and 1-10 parts of a screw.
In an embodiment of the present invention, as shown in fig. 12 to 13, the internal rotation driving module 2 includes: the device comprises an electric spindle 2-1, an inner drive shell 2-2, a coupler 2-3, a hollow unclamping cylinder 2-4, a blank pressing drive spline 2-5, a unclamping rod 2-6a, a disc spring 2-6b, a dynamic seal ring 2-6c, an inner sleeve transmission shaft 2-7, an inner bearing group 2-8, a bearing outer ring locking nut 2-9 and a bearing inner ring locking nut 2-10.
In an embodiment of the present invention, as shown in fig. 14 to 21, the dual feeding module 3 includes: the device comprises an external drive electric cylinder 3-1, a rack group 3-2a-c, a first drive rack 3-3, a first coaxial double gear 3-4, an external drive bracket 3-5, an external drive bracket 3-6, a rolling linear module 3-7, a mandrel system 3-8, an internal drive electric cylinder 3-9, a second drive rack 3-10, a second coaxial double gear 3-11, an internal drive bracket 3-12 and an internal drive bracket 3-13.
In one embodiment of the invention, the motor 1-1 adopts a servo drive motor, has a rated rotating speed of 3000rpm (highest 6000 rpm) and a rated torque of more than 15Nm, and meets the feed drive of a rivet body of a rivet; the upper part of the outer sleeve transmission gear shaft 1-4 is provided with a gear for transmitting the torque and the rotating speed transmitted by the motor, and the lower part is provided with a locking thread for connecting a rivet clamping and driving tool; the outer bearing sets 1-6 are calculated and assembled to ensure that the axial upsetting force is not lower than 15 KN; the ability not lower than the above key elements is used as the input for other element calculation or type selection.
In one embodiment of the invention, the electric spindle 2-1 is designed and manufactured by adopting a special electric spindle, namely an electric spindle device of a rotary friction connection device, and selectable parameters are 10000rpm of rated rotating speed and 22.7Nm of rated torque; based on the consideration of light weight, the front and rear bearing seats are made of steel (blackened), so that the strength is ensured; the stator shell is made of high-strength aluminum alloy, is oxidized in natural color, and is matched with a steel wire thread sleeve in a threaded manner; the mandrel is made of titanium alloy, so that the overall weight reduction and overall low-inertia design are achieved, and the riveting emergency stop is facilitated.
In one embodiment of the invention, the blank pressing driving spline 2-5 is connected through the coupler 2-3 to drive the inner sleeve transmission shaft 2-7; a cutter beating element is arranged in the driving inner sleeve transmission shaft 2-7 and comprises a cutter beating rod 2-6a, a disc spring 2-6b and a movable sealing ring 2-6c, and a hollow cutter beating cylinder 2-4 is driven through the oil pressure of a cutter beating supercharger 4, so that the rivet is guaranteed to be assembled and disassembled, and when the hollow cutter beating cylinder 2-4 does not apply axial force of a cutter, the hollow cutter beating cylinder is acted by the tensile force of the disc spring, so that the rivet is tensioned to clamp a spring clamp of the driving tool 5, and the rivet 6 is clamped; the inner bearing group 2-8 outside the drive inner sleeve transmission shaft 2-7 must be calculated and assembled to ensure that the axial upsetting force is not lower than 15 KN.
In an embodiment of the invention, the electric cylinder of the dual-feeding module 3 is a Lim-Tec servo electric cylinder, and a 4.3Kg weight of the electric cylinder can apply a push/pull force of about 5620KN to the outside, a movement stroke is 150mm, and a maximum speed is 127 mm/s.
In one embodiment of the invention, the double-feeding module 3 adopts a first driving rack 3-3 and a second driving rack 3-10 to drive a first coaxial double gear 3-4 and a second coaxial double gear 3-11 to form a big gear, then drives an outer transmission bracket 3-5 and an inner transmission bracket 3-12 through a coaxial double gear pinion, can realize linear motion force conversion and motion conversion through the radius ratio (R/R = 3) of the two gears, realizes triple force multiplication (16860N), reduces the feeding speed and the motion stroke to one third (stroke 50mm, speed 42 mm/s), and also meets the requirements of rivet riveting process methods; and then force and movement are output to the external rotation driving module 1 and the internal rotation driving module 2 through the external transmission brackets 3-5 and the internal transmission brackets 3-12, so that the feeding and drawing action requirements of a rivet body and a rivet mandrel in the rivet riveting process are met.
In one embodiment of the invention, the rack groups 3-2a, 3-2b and 3-2c serving as the coaxial double-rotation double-feed self-adaptive multifunctional rotary friction riveting connection process actuator can be manufactured by adopting a high-strength aluminum alloy in an assembling and assembling mode, double feed drives are respectively distributed in 90-degree included angles, the central plane (determined by the axis of a motor and the axis of an outer sleeve transmission gear shaft 1-4) of the outer rotation drive module 1 is superposed with the central plane of a cutter beating supercharger and respectively arranged in front of and behind an electric main shaft, and the arrangement mode is favorable for enabling the center of gravity of the actuator to be located near the axis of a rivet, so that the force and motion precision control of the riveting process on a multi-joint robot is realized, and the fast and high-precision riveting point locating of the riveting process is realized.
In one embodiment of the invention, all process execution actions adopt accurate electric servo control, the riveting process is reliable, the rivet is clamped and driven and controlled by the combination of a gas-liquid pressure cylinder and a unclamping cylinder, and travel limit switches are distributed on the flange surface of the unclamping cylinder to ensure the rivet to be clamped in place; meanwhile, force and displacement data of the electric cylinder are added into process closed loop feedback, safety of a rivet riveting process is guaranteed, and adverse conditions of function interference and rivet flying are avoided.
In one embodiment of the invention, the friction stir welding process and the metal friction rivet welding process can be realized by combining the functions of externally driven rotation and externally driven feeding; the implanted friction riveting process can be realized by combining the functions of internal drive rotation and internal drive feeding; by the coaxial double-rotation double-feed self-adaptive combination, the core-pulling friction riveting and double-moving-ring friction stir spot welding process can be realized.
The invention provides a portable multifunctional connecting process actuator which can realize advanced implanted friction riveting, core-pulling friction riveting, friction stir welding, friction stir spot welding and other processes. The present invention has attempted to design this solution with success. The scheme of the invention has creativity, has the characteristics of coaxial double-rotation double-feed self-adaption on the function, has the function modularization and the control openness, and can realize various advanced connection process functions by reconstructing the functions to a certain extent on the software.
In a word, the coaxial double-rotation double-feed self-adaptive multifunctional rotary friction riveting process actuator disclosed by the invention has the functions of electrically-driven rotary drilling, electrically-driven rotary drawing back, high-speed rotary feeding, sudden stop and the like, can meet the process requirements of implanted friction riveting, core-pulling friction riveting, friction rivet welding and the like, is matched with a numerical control machine system or a robot system, can rivet the combination of mixed materials such as steel/aluminum alloy/magnesium alloy/metal-based composite material/non-metal material and the like in the application of the current mixed material combined structure, solves the problems of space complex areas such as aerospace and incapability of pre-drilling multi-material connection, has the characteristics of high efficiency and automation, good mechanical property, no redundancy and very wide prospect.
The coaxial double-rotation double-feed self-adaptive multifunctional rotary friction riveting process actuator has the coaxial double-rotation double-feed self-adaptive characteristic in function, is modularized in function and has control openness, and various advanced connection process functions can be realized by reconstructing the functions to a certain extent on the basis of software.
The coaxial double-rotation double-feed self-adaptive multifunctional rotary friction riveting process actuator has double drives and double feeds, can realize force and displacement feedback control through proper design, adopts electric drive and servo for the whole machine, and has the characteristics of high efficiency and automation, stable and controllable quality and good mechanical property.
The coaxial double-rotation double-feed adaptive multifunctional rotary friction riveting connection process actuator of the invention is further described in detail with reference to fig. 1-22.
In order to solve the connection requirements of narrow space, closed or semi-closed structure connection working conditions and high strength and small deformation in general assembly of large-scale products such as aerospace aviation, automobiles and the like, the invention provides a portable multifunctional rotary friction riveting connection process actuator which is used for realizing advanced rotary friction type connection processes, including processes such as loose core friction riveting, implanted friction riveting, friction stir welding, friction stir spot welding and the like. The scheme of the invention has creativity, has the characteristics of coaxial double-rotation double-feed self-adaption on the function, has the function modularization and the control openness, and can realize various advanced connection process functions by reconstructing the functions to a certain extent on the software.
The coaxial double-rotation double-feed adaptive multifunctional rotary friction riveting connection process actuator of the invention will be described in detail by a preferred embodiment.
FIGS. 1-6 are general diagrams of a coaxial double-rotation double-feed self-adaptive multifunctional rotary friction riveting connection process actuator. As shown in fig. 1, the multifunctional rotating friction riveting connection process actuator is composed of an external rotation driving module 1, an internal rotation driving module 2, a double-feeding module 3, a knife forging gas-liquid supercharger 4, a rivet clamping and driving tool 5, a rivet 6, a locking ring 7, a sliding bearing 8 and a fastener. The frame groups 3-2a, 3-2b and 3-2c serving as the coaxial double-rotation double-feed self-adaptive multifunctional rotary friction riveting connection process actuator can be manufactured by adopting a high-strength aluminum alloy in an assembling and assembling mode, double feed drives are respectively distributed at 90-degree included angles, and the central plane (determined by the axis of a motor and the axis of an outer sleeve transmission gear shaft 1-4) of the outer rotation driving module 1 is superposed with the central plane of a knife forging gas-liquid supercharger and is respectively arranged in front of and behind an electric main shaft. The double-feeding module 3 outputs force and movement to the external rotation driving module 1 and the internal rotation driving module 2 through the external transmission brackets 3-5 and the internal transmission brackets 3-12, so that the feeding and drawing action requirements of a rivet body and a rivet mandrel in the rivet riveting process are met. The rivet is connected to a coaxial double-rotation double-feed self-adaptive multifunctional rotary friction riveting connection process actuator through a rivet clamping and driving tool 5, and reliable guarantee of riveting force and movement is guaranteed.
FIGS. 7 to 11 are schematic views of the outward rotation driving module. The external rotation driving module is composed of a motor 1-1, a driving gear 1-2, a transition gear assembly 1-3, an outer sleeve transmission gear shaft 1-4, an external rotation driving shell 1-5, an outer bearing group 1-6, a bearing outer ring locking nut 11-7, a bearing inner ring locking nut 11-8, a key 1-9 and a screw 1-10. The motor 1-1 can adopt a servo drive motor, has the rated rotating speed of 3000rpm (the highest 6000 rpm) and the rated torque of more than 15Nm, and meets the feeding drive of a rivet body of the rivet. The upper part of the outer sleeve transmission gear shaft 1-4 is provided with a gear for transmitting the torque and the rotating speed transmitted by the motor, and the lower part is provided with a locking thread for connecting a rivet clamping and driving tool; the outer bearing sets 1-6 must be calculated and assembled to ensure that the axial upsetting force is not lower than 15 KN; the ability not lower than the above key elements is used as the input for other element calculation or type selection.
Fig. 12 ~ 13 is a schematic diagram of an internal rotation driving module, which is composed of an electric main shaft 2-1, an internal driving shell 2-2, a coupler 2-3, a hollow cutter beating cylinder 2-4, a blank pressing driving spline 2-5, a cutter beating rod 2-6a, a disc spring 2-6b, a dynamic seal ring 2-6c, an internal sleeve transmission shaft 2-7, an internal bearing set 2-8, a bearing outer ring locking nut 2-9 and a bearing inner ring locking nut 2-10. the electric main shaft 2-1 can be designed and manufactured by adopting a special electric main shaft, the selectable parameters are 10000rpm at a rated speed and 22.7Nm at a rated torque, based on light weight, a front bearing seat and a rear bearing seat are made of steel (blackening) to ensure strength, a stator shell is made of high-strength aluminum alloy and oxidized in natural color, a steel wire thread is matched with a screw sleeve, a mandrel is made of titanium alloy to achieve an integral low inertia design, a riveting scram is facilitated, the electric main shaft 2-1 is connected with the blank pressing driving spline 2-5 through the coupler 2-3 to drive the inner ring 2-7, an internal beating transmission shaft is provided with a titanium alloy to obtain an integral low inertia design, a rivet is convenient to rivet, the rivet is riveted, the hollow cutter beating spring is connected with the blank pressing driving spline to drive the hollow cutter beating cylinder 2-6, the hollow cutter beating cylinder, the rivet is not lower than the inner sleeve, the rivet is not lower than the rivet, the.
Fig. 14 ~ 21 is a schematic diagram of a double feed module, which is composed of an external drive electric cylinder 3-1, a frame set 3-2a ~ c, a first drive rack 3-3, a first coaxial double gear 3-4, an external drive carrier 3-5, an external drive carrier 3-6, a rolling linear module 3-7, a mandrel system 3-8, an internal drive electric cylinder 3-9, a second drive rack 3-10, a second coaxial double gear 3-11, an internal drive carrier 3-12, and an internal drive carrier 3-13, the electric cylinder may be a Lim-Tec servo electric cylinder, the electric cylinder 4.3Kg weight may apply a push/pull force of about 5620KN to the outside, the movement stroke is 150mm, the maximum speed is 127mm/s, the double feed module may drive the first coaxial double gear 3-4 and the second coaxial double gear 3-11 gear by the first drive rack 3-3 and the second drive rack 3-10, the double feed module may drive the first coaxial double gear 3-4 and the second coaxial double gear 3-11 double gear by the external drive rack 3-5 and the internal drive rack 3-12, the double feed module may drive the external drive rack 3-5 double gear 3-5, the double gear may drive module may drive the rivet by three times the driving stroke (three times the driving stroke and the driving the rivet driving process of the rivet and the rivet driving process of the rivet (three times the rivet driving process of the rivet driving process and the rivet driving.
Fig. 22 is a schematic structural view of a multi-axis friction riveting robot according to a preferred embodiment of the invention. The multi-axis friction riveting robot comprises a rotary friction riveting process actuator 4-1, a nail feeding module 4-2, a multi-joint robot 4-3, a carrying device 4-4, a servo platform (containing a tool) 4-6 and a riveted product 4-5. The nail feeding module adopts a pneumatic blowing mode or rivet belt conveying; the multi-joint robot 4-4 can integrate multiple sensing modes such as robot vision, force sense and the like to improve the riveting quality and the riveting efficiency; the servo platforms (including the tools) 4-6 can be controlled by adopting a linkage control or PLC control combined pneumatic/hydraulic mode; the handling device 4-4 is used for handling the riveted products 4-5.
The multi-joint robot 4-4 adopts a high-precision multi-axis robot with high load capacity as an equipment base body, and forms a robot system through the fusion of machine vision and robot motion high-precision control technology. During the operation of the equipment, based on the robot vision and force sense technology, a position deviation value is obtained according to a target position and a feedback position, the deviation value is compared with a set judgment standard, an output result is converted into a motion control instruction, the motion control instruction is written into a robot control input module through a PCI bus, and a robot execution terminal is driven to adjust the position and the angle and position and rivet angle of a rivet point. In the working process of the equipment, due to the constraints of the working space force, the motion and the like of the robot and the process requirement that the normal of the rivet welding main shaft is consistent with the normal of the complex space profile, a better pose needs to be obtained through the trajectory planning and solution decoupling of the robot.
And the nail feeding module 4-2 is used for automatically sorting the vibration discs based on multiple sensing functions, conveying the vibration discs through a pneumatic pipeline and feeding nails by an automatic mechanism at high precision. A self-priming rotary splint automatic loading and assembly mechanism may be employed. During riveting, enough rivets are placed in the vibration disc rotating and orienting material selecting device, after a rivet friction riveting process is completed, the rotating clamping plate of the mechanism rotates 90 degrees, the rivets are positioned under the rotating friction riveting process actuator 4-1, and the rivet clamping process is realized through the double-feeding module 3, the unclamping gas-liquid supercharger 4 and the rivet clamping and driving tool 5. After completion, the mechanism rotates the clamp plate back into position quickly. At the moment, the self-sucking pipe conveyed by the pneumatic pipeline sucks and conveys the directional rivet to the mechanism rotating clamping plate, and the mechanism rotating clamping plate tightens the rivet to wait for next filling.
The conveying device 4-4 realizes the conveying of the riveted products 4-5 on a servo platform (comprising a tool) 4-6, and realizes the quick transportation of the products to be riveted, riveted and riveted. The servo platform (including a tool) 4-6 realizes the clamping of the riveted product 4-5, and the flexible self-adaptive support can be realized through an automatic assembly technology to meet the support rigidity requirement of the product; the rapid and accurate riveting point locating of the rotary friction riveting process actuator 4-1 on the riveted product 4-5 is realized through a servo feeding system.
The coaxial double-rotation double-feed self-adaptive multifunctional rotary friction riveting connection process actuator has double drives and double feeds, can realize force and displacement feedback control through proper design, adopts electric drive and servo for the whole machine, and has the characteristics of high efficiency, automation, stable and controllable quality and the like.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
It will be apparent to those skilled in the art that various changes and modifications may be made in the invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A rotary friction riveting process actuator, comprising:
the automatic rivet clamping and driving device comprises an external rotation driving module (1), an internal rotation driving module (2), a double-feeding module (3), a cutter beating supercharger (4), a rivet clamping and driving tool (5), a rivet (6), a locking ring (7), a sliding bearing (8) and a fastener;
the internal rotation driving module (2) comprises: the device comprises an electric spindle (2-1), an inner drive shell (2-2), a coupler (2-3), a hollow unclamping cylinder (2-4), a blank pressing drive spline (2-5), a unclamping rod (2-6 a), a disc spring (2-6 b), a dynamic seal ring (2-6 c), an inner sleeve transmission shaft (2-7), an inner bearing group (2-8), a bearing outer ring locking nut (2-9) and a bearing inner ring locking nut (2-10);
the friction stir welding process and the metal friction rivet welding process can be realized by adopting the combination of the external drive rotation and the external drive feeding functions; the implanted friction riveting process can be realized by adopting the combination of the internal drive rotation and the internal drive feeding functions; the coaxial double-rotation double-feed self-adaptive combination is adopted, the core-pulling friction riveting and the double-movable-ring friction stir spot welding process can be realized, the coaxial double-rotation double-feed self-adaptive multifunctional rotary friction riveting process actuator has the functions of electrically-driven rotary drilling, electrically-driven rotary back-pumping, high-speed rotary feeding and emergency stop, and can meet the process requirements of implanted friction riveting, core-pulling friction riveting and friction riveting.
2. The rotary friction riveting process actuator according to claim 1, wherein the external rotation drive module (1) comprises: the device comprises a motor (1-1), a driving gear (1-2), a transition gear assembly (1-3), an outer sleeve transmission gear shaft (1-4), an outer rotary driving shell (1-5), an outer bearing group (1-6), a bearing outer ring locking nut (1-7), a bearing inner ring locking nut (1-8), keys and screws (1-10).
3. The rotary friction riveting process actuator according to claim 2, wherein the motor (1-1) adopts a servo drive motor, the rated rotation speed is 3000 rpm-6000 rpm, and the rated torque is more than 15 Nm; the upper part of the outer sleeve transmission gear shaft (1-4) is provided with a gear for transmitting the torque and the rotating speed transmitted by the motor, and the lower part of the outer sleeve transmission gear shaft is provided with a locking thread for connecting a rivet clamping and driving tool; the outer bearing sets (1-6) are calculated and assembled to ensure that the axial upsetting force is not lower than 15 KN.
4. The rotary friction riveting process actuator according to claim 1, characterized in that the electric spindle (2-1) is selected with parameters of 10000rpm for rated speed, 22.7Nm for rated torque; based on light weight, the front bearing seat and the rear bearing seat are made of steel; the stator shell is made of high-strength aluminum alloy, is oxidized in natural color, and is matched with a steel wire thread sleeve in a threaded manner; the mandrel is made of titanium alloy.
5. The rotary friction riveting process actuator according to claim 1, characterized in that the blank-holder driving splines (2-5) are connected through the coupling (2-3) to drive the inner sleeve transmission shaft (2-7); a cutter beating element is arranged in the driving inner sleeve transmission shaft (2-7) and comprises a cutter beating rod (2-6 a), a disc spring (2-6 b) and a movable sealing ring (2-6 c), and the hollow cutter beating cylinder (2-4) is driven by oil pressure of a cutter beating supercharger (4), so that the rivet is guaranteed to be assembled and disassembled, and the hollow cutter beating cylinder (2-4) is acted by the tensile force of the disc spring when not applying axial force of the cutter beating, so that a spring clamp of the rivet clamping and driving tool (5) is tensioned, and the rivet (6) is clamped; the inner bearing group (2-8) outside the drive inner sleeve transmission shaft (2-7) must be calculated and assembled to ensure that the axial upsetting force is not lower than 15 KN.
6. The rotary friction riveting process actuator according to claim 1, characterized in that the double feed module (3) comprises: the device comprises an external drive electric cylinder (3-1), a frame set (3-2 a, 3-2b, 3-2 c), a first drive rack (3-3), a first coaxial double gear (3-4), an external drive bracket (3-5), an external drive bracket (3-6), a rolling linear module (3-7), a central shaft system (3-8), an internal drive electric cylinder (3-9), a second drive rack (3-10), a second coaxial double gear (3-11), an internal drive bracket (3-12) and an internal drive bracket (3-13).
7. The rotary friction riveting process actuator according to claim 6, characterized in that the electric cylinder of the double feed module (3) adopts a Lim-Tec servo electric cylinder, and the electric cylinder has a weight of 4.3Kg and can externally apply a push/pull force of about 5620KN, a movement stroke of 150mm and a maximum speed of 127 mm/s.
8. The rotary friction riveting process actuator according to claim 6, wherein the double-feed module (3) adopts the first and second driving racks (3-3, 3-10) to drive the large gears of the first and second coaxial double gears (3-4, 3-11), and then drives the outer transmission bracket (3-5) and the inner transmission bracket (3-12) through the coaxial double gears, and the radius ratio of the two gears R/R =3, so that linear motion force conversion and motion conversion can be realized; and the outer transmission bracket (3-5) and the inner transmission bracket (3-12) output force and motion to the outer rotary driving module (1) and the inner rotary driving module (2).
9. The rotary friction riveting process actuator according to claim 6, wherein the frame sets (3-2 a), (3-2 b) and (3-2 c) are made of high-strength aluminum alloy in an assembling and assembling mode, double feed drives are respectively distributed at an included angle of 90 degrees, and the central plane of the external rotation drive module (1) is overlapped with the central plane of the tool beating supercharger and is respectively arranged in front of and behind the electric spindle.
10. The multi-axis friction riveting robot, characterized by comprising the rotary friction riveting process executor according to any one of claims 1 to 9 and an articulated robot on which the rotary friction riveting process executor is mounted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710904476.1A CN107639199B (en) | 2017-09-29 | 2017-09-29 | Rotary friction riveting process actuator and multi-shaft friction riveting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710904476.1A CN107639199B (en) | 2017-09-29 | 2017-09-29 | Rotary friction riveting process actuator and multi-shaft friction riveting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107639199A CN107639199A (en) | 2018-01-30 |
| CN107639199B true CN107639199B (en) | 2020-01-07 |
Family
ID=61111501
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710904476.1A Active CN107639199B (en) | 2017-09-29 | 2017-09-29 | Rotary friction riveting process actuator and multi-shaft friction riveting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107639199B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109434271B (en) * | 2018-07-15 | 2021-01-12 | 倪平涛 | Static four-shoulder friction stir welding stirring head with auxiliary rope pulling device and method for welding hollow profile butt weld joint by using stirring head |
| CN110090913A (en) * | 2019-05-30 | 2019-08-06 | 上海交通大学 | A kind of autoplugger, which is riveted, to be set and automatic riveting method |
| CN113458584B (en) * | 2020-06-24 | 2022-06-03 | 西安交通大学 | Four-motor direct-drive type alternating-current servo punching and riveting device for multilayer plate friction stir rivet welding and punching and riveting machine |
| CN113477872B (en) * | 2021-08-12 | 2022-07-08 | 宁波捷豹集团股份有限公司 | Spin riveting machine |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102615508A (en) * | 2012-03-26 | 2012-08-01 | 郑州大学 | Metal plate rotating friction riveting method |
| JP5858887B2 (en) * | 2012-09-14 | 2016-02-10 | 株式会社エフテック | Processing equipment |
| DE202012012292U1 (en) * | 2012-12-28 | 2014-04-04 | Kmt Produktions + Montagetechnik Gmbh | Wobble or radial point riveting machine |
| DE102013105703B4 (en) * | 2013-06-04 | 2015-05-21 | VVG-Befestigungstechnik GmbH & Co. KG | riveter |
| CN105269142B (en) * | 2014-07-23 | 2018-09-21 | 上海航天设备制造总厂 | A kind of spindle head device of double electro spindle formula agitating friction welderings |
| CN106735843B (en) * | 2015-11-20 | 2019-04-02 | 上海航天设备制造总厂 | The difunctional friction welding device of hand-held and welding method |
| CN205614006U (en) * | 2016-04-16 | 2016-10-05 | 嵊泗县东升水产冷冻厂 | Work piece riveting compression fittings |
-
2017
- 2017-09-29 CN CN201710904476.1A patent/CN107639199B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107639199A (en) | 2018-01-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107639199B (en) | Rotary friction riveting process actuator and multi-shaft friction riveting robot | |
| EP2877302B1 (en) | Blind riveting apparatus and method | |
| Osakada et al. | Mechanical servo press technology for metal forming | |
| CN107414788B (en) | Robot, flexible gear, gear device, and method for manufacturing flexible gear | |
| CN105364298B (en) | A kind of backfill formula stirring friction spot welding device | |
| CN108857044B (en) | Lightweight backfill type friction stir spot welding device | |
| CN106426175A (en) | Automatic screwing robot for high-locking-force bolt and end effecter of automatic screwing robot | |
| CN108817641B (en) | Formula friction stir spot welding device is backfilled to diaxon | |
| CN109760858B (en) | Two-degree-of-freedom decoupling space adhering claw transmission device | |
| US8959978B2 (en) | Forging press and method of controlling same | |
| CN205166172U (en) | Backfill formula friction stir spot welding device | |
| CN201618915U (en) | Welding equipment of automobile transmission shaft | |
| CN201586973U (en) | Punch feeding and blanking robot | |
| JP7176800B2 (en) | Screw tightening system and screw tightening device | |
| CN113894776A (en) | High-rigidity mechanical arm and machining process | |
| CN202242797U (en) | Automobile half axle | |
| CN106246679A (en) | High shearing resistance tension self-plugging rivet and the manufacture method of nail set thereof | |
| CN206129824U (en) | High tensile self -plugging rivet that shears | |
| CN110193657A (en) | A kind of two-freedom friction welding (FW) mainshaft mechanism suitable for industrial robot | |
| CN219466167U (en) | Parallel manipulator of series-parallel hot-melting self-tapping riveting system | |
| US8640322B1 (en) | Adapter for increasing the stroke length of a fastener installation tool | |
| CN113680951B (en) | Point connection method combining bidirectional mechanical interlocking and solid phase connection | |
| CN107214360A (en) | Quick-action type drilling equipment | |
| CN220218516U (en) | Seven-degree-of-freedom mechanical arm | |
| JP5323370B2 (en) | Chuck axial force operation device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |