CN108202125B - Riveting control method of automatic drilling and riveting machine - Google Patents
Riveting control method of automatic drilling and riveting machine Download PDFInfo
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- CN108202125B CN108202125B CN201611180634.5A CN201611180634A CN108202125B CN 108202125 B CN108202125 B CN 108202125B CN 201611180634 A CN201611180634 A CN 201611180634A CN 108202125 B CN108202125 B CN 108202125B
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- 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
Abstract
The invention discloses a riveting control method of an automatic drilling and riveting machine, which comprises the following steps: acquiring input parameters related to a riveted structure and related to materials and structures of a rivet and a wallboard; judging whether the expected relative interference amount is larger than the elastic limit interference amount or not; calculating the pressure riveting stress; calculating a press riveting force recommended value; calculating a recommended value of the height of the rivet head corresponding to the recommended value of the riveting force by adopting a numerical approximation algorithm, and then further calculating to obtain the diameter of the pier head after the rivet is formed; and controlling the automatic drilling and riveting machine to implement the riveting process according to the calculated recommended value of the riveting force and the recommended value of the height of the rivet head. The invention can realize the cooperative control of two key process parameters of the riveting force and the upset head height, and can simultaneously give the control parameters of the riveting force and the upset head height under the working state, thereby ensuring that the riveting interference amount and the upset head height both accord with the preset control range, better avoiding the problem of the out-of-tolerance of the process parameters and being easy to realize the real-time control.
Description
Technical Field
The invention relates to the field of automatic drilling and riveting machines, in particular to a riveting control method of an automatic drilling and riveting machine.
Background
In modern manufacturing industry, a great deal of automated assembly technology is used, one of which is automatic drilling and riveting technology that has been widely used in many fields.
For example, the main connection method adopted by the aircraft structure is mechanical connection, so that about 150 to 200 ten thousand rivets and bolts are arranged on a large aircraft, and in order to meet the requirement of the modern aircraft on long service life, the safety and reliability of the mechanical connection must be ensured. In recent years, in order to ensure the assembly quality of an airplane, prolong the fatigue life of an airplane body and realize low cost and high efficiency in mass production, an automatic drilling and riveting machine is called as the main equipment for automatic assembly of the current airplane wallboard.
The automatic drilling and riveting machine has the capabilities of high-precision hole making and rivet size screening, in order to ensure the quality of assembly and connection, key indexes such as riveting interference and the like must be ensured, and riveting pressure, upset head height, upset head diameter and the like are key process parameters for ensuring the interference. Currently, mainstream automatic drilling and riveting machines, such as G2000 type automatic drilling and riveting machine of cammed corporation, germany baozie automation corporation, and the like, all adopt a control strategy with single process parameter as a main part, that is, adopt a control method with riveting force or riveting stroke (for controlling the height of an upset head) as a main part. This control method has the advantage of being easy to implement, but also has the problem that some process indexes are easy to be out of tolerance.
In order to further improve the machining precision and controllability of the automatic drilling and riveting machine and avoid the problem that part of technological indexes are out of tolerance, a control method for cooperatively controlling the technological parameters of riveting force and heading height is urgently needed.
Disclosure of Invention
The invention aims to overcome the defects that a control method of an automatic drilling and riveting machine in the prior art cannot avoid the out-of-tolerance of partial technological indexes, particularly the out-of-tolerance of riveting force parameters or riveting formation is easy to realize, and provides a riveting control method of the automatic drilling and riveting machine.
The invention solves the technical problems through the following technical scheme:
the invention provides a riveting control method of an automatic drilling and riveting machine, which is characterized by comprising the following steps of:
the method comprises the following steps of firstly, acquiring the following input parameters related to a riveted structure and related to materials and structures of a rivet and a wall plate:
yield strength sigma of rivets1(ii) a Strength limit sigma of rivetb1(ii) a Of rivetsModulus of elasticity E1(ii) a Poisson ratio mu of rivet1(ii) a The strength coefficient K of the rivet; the index coefficient n of the rivet; the initial nail length L of the rivet; the shank diameter d of the rivet; yield strength sigma of wallboards2(ii) a Strength limit σ of wall panelb2(ii) a Modulus of elasticity E of wallboard2(ii) a Poisson ratio mu of wall plate2(ii) a Coefficient of deformation lambda of the wall panel2(ii) a Interlayer thickness B of the wallboard; the aperture D and the desired relative interference Δ of the riveted structure;
step two, calculating the elastic limit interference quantity delta m according to the following formula (1), wherein p is an intensity theoretical coefficient and p is 2/√ 3, d1Is the aperture after interference, and judges whether the expected relative interference quantity is larger than the elastic limit interference quantity,
step three, if the expected relative interference amount is larger than the elastic limit interference amount, calculating the clinching stress sigma according to the following formula (2)Z，
σz＝-(σi+q) (2)，
Wherein σi＝λ2σs2+E1(1-λ2)εi(3)，
εi＝Δ+(D-d)/d (4)，
And wherein q satisfies the following formula (5)
If the desired relative interference amount is less than the elastic limit interference amount, clinch stress is calculated as the following equation (6),
step four, calculating the recommended value of the riveting force according to the following formula (7),
Fsq＝σzπDh 2/4 (7)，
wherein the content of the first and second substances,
H1＝L1-B＝d2L/D2-B (9)，
in the above formulas (7), (8), (9), FsqRecommended value for clinching force, L1、H1Respectively the rivet length and the rivet extension when the riveting interference contacts, and the index coefficient n is Dh、DHCoefficient of proportionality of Dh、DHRespectively the diameter of the upset head after the rivet is formed and the diameter of the contact part of the upset head and the riveting die;
step five, calculating a recommended value of the height of the rivet head corresponding to the recommended value of the riveting force by adopting a numerical approximation algorithm according to the following formula (10), then calculating the diameter of the contact part of the rivet head and the riveting die according to the following formula (11),
h is a recommended value of the height of the upset head of the rivet after the rivet is formed, and the diameter D of the contact part of the upset head and the riveting die is calculatedHFurther calculating by an index coefficient n to obtain the diameter D of the pier head after the rivet is formedh；
And step six, controlling an automatic drilling and riveting machine to carry out a riveting process according to the recommended riveting force value obtained by calculation in the step four and the recommended rivet head height value after the formed rivet obtained by calculation in the step five.
Preferably, the automatic drilling and riveting machine is controlled to carry out the riveting process in the sixth step, and the riveting process is terminated when the monitored riveting force reaches the recommended riveting force value or the height of the upset head reaches the recommended height of the upset head.
Preferably, in the third step, if the expected relative interference amount is less than the elastic limit interference amount, an alarm is sent out to prompt the input parameters to be modified, and the step one is returned.
Preferably, when the riveting process is terminated, whether the error of the monitored riveting force compared with the recommended value of the riveting force exceeds a preset first error threshold value or not and whether the error of the monitored height of the upset head of the rivet compared with the recommended value of the height of the upset head of the rivet exceeds a preset second error threshold value or not are judged, and if any judgment result is yes, an alarm is given.
Preferably, the value ranges of the first error threshold and the second error threshold are 5% -20%.
On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows:
the riveting control method of the automatic drilling and riveting machine can realize the cooperative control of two key process parameters of the riveting force and the upset head height, and can simultaneously give the control parameters of the riveting force and the upset head height under the working state, thereby ensuring that the riveting interference amount and the upset head height both accord with the preset control range, better avoiding the problem of the out-of-tolerance of the process parameters, and having the advantages of simple calculation and easy realization of real-time control.
Drawings
Fig. 1 is a flowchart of a riveting control method of an automatic drilling and riveting machine according to a preferred embodiment of the invention.
Fig. 2A is a schematic diagram of a preparation stage of a riveting process of an automatic drilling and riveting machine according to a preferred embodiment of the invention.
Fig. 2B is a schematic diagram of an interference contact stage in the riveting process of the automatic drilling and riveting machine according to a preferred embodiment of the invention.
Fig. 2C is a schematic diagram of the stage of interfering with the stroke of the pier head in the riveting process of the automatic drilling and riveting machine according to a preferred embodiment of the invention.
Fig. 2D is a schematic diagram of a riveting forming stage in the riveting process of the automatic drilling and riveting machine according to a preferred embodiment of the invention.
Detailed Description
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, is intended to be illustrative, and not restrictive, and it is intended that all such modifications and equivalents be included within the scope of the present invention.
In the following detailed description, directional terms, such as "left", "right", "upper", "lower", "front", "rear", and the like, are used with reference to the orientation as illustrated in the drawings. Components of embodiments of the present invention can be positioned in a number of different orientations and the directional terminology is used for purposes of illustration and is in no way limiting.
Referring to fig. 1, a riveting control method of an automatic drilling and riveting machine according to a preferred embodiment of the invention includes the following steps:
the method comprises the following steps of firstly, acquiring the following input parameters related to a riveted structure and related to materials and structures of a rivet and a wall plate:
yield strength sigma of rivets1(ii) a Strength limit sigma of rivetb1(ii) a Modulus of elasticity E of rivet1(ii) a Poisson ratio mu of rivet1(ii) a The strength coefficient K of the rivet; the index coefficient n of the rivet; the initial nail length L of the rivet; the shank diameter d of the rivet; yield strength sigma of wallboards2(ii) a Strength limit σ of wall panelb2(ii) a Modulus of elasticity E of wallboard2(ii) a Poisson ratio mu of wall plate2(ii) a Coefficient of deformation lambda of the wall panel2(ii) a Interlayer thickness B of the wallboard; the aperture D and the desired relative interference Δ of the riveted structure;
step two, calculating the elastic limit interference quantity delta m according to the following formula (1), wherein p is an intensity theoretical coefficient and p is 2/√ 3, d1Is the aperture after interference, and judges whether the expected relative interference quantity is larger than the elastic limit interference quantity,
step three, if the expected relative interference amount is larger than the elastic limit interference amount, calculating the clinching stress sigma according to the following formula (2)Z，
σz＝-(σi+q) (2)，
Wherein σi＝λ2σs2+E1(1-λ2)εi(3)，
εi＝Δ+(D-d)/d (4)，
And wherein q satisfies the following formula (5)
If the desired relative interference amount is less than the elastic limit interference amount, clinch stress is calculated as the following equation (6),
sending an alarm to prompt the input parameters to be modified, and returning to the first step;
step four, calculating the recommended value of the riveting force according to the following formula (7),
Fsq＝σzπDh 2/4 (7)，
wherein the content of the first and second substances,
H1＝L1-B＝d2L/D2-B (9)，
in the above formulas (7), (8), (9), FsqRecommended value for clinching force, L1、H1Respectively the rivet length and the rivet extension when the riveting interference contacts, and the index coefficient n is Dh、DHCoefficient of proportionality of Dh、DHRespectively upset heads after rivet formingThe diameter and the diameter of the contact part of the upset head and the riveting die;
step five, calculating a recommended value of the height of the rivet head corresponding to the recommended value of the riveting force by adopting a numerical approximation algorithm according to the following formula (10), then calculating the diameter of the contact part of the rivet head and the riveting die according to the following formula (11),
h is a recommended value of the height of the upset head of the rivet after the rivet is formed, and the diameter D of the contact part of the upset head and the riveting die is calculatedHFurther calculating by an index coefficient n to obtain the diameter D of the pier head after the rivet is formedh；
And step six, controlling the automatic drilling and riveting machine to carry out the riveting process according to the recommended riveting force value obtained by calculation in the step four and the recommended rivet head height value obtained after the rivet is formed by calculation in the step five, monitoring the riveting force and the rivet head height all the time in the process, and terminating the riveting process when the monitored riveting force reaches the recommended riveting force value or the rivet head height reaches the recommended rivet head height value.
And step six, when the riveting process is terminated, judging whether the deviation of the measured riveting force compared with the recommended value of the riveting force exceeds a preset percentage, such as 5% or 20%, and if so, giving an alarm to prompt a user to check and confirm. Similarly, when the riveting process is terminated, whether the deviation of the height of the upset rivet measured at the time compared with the recommended value of the height of the upset rivet exceeds a preset percentage, such as 5% or 20%, and if the deviation exceeds the recommended value, an alarm is given to prompt a user to check and confirm. And if the measured riveting force and the deviation of the height of the rivet pier head from the recommended value do not exceed the preset percentage, the next riveting of the automatic drilling and riveting machine can be executed. Typically, the method can control the whole riveting process by a motion control system of the automatic drilling and riveting machine.
The riveting process carried out using the above method can be controlled as shown in fig. 2A-2D. Fig. 2A shows the preparation phase of the riveting process, in which the shank of the rivet 1 protrudes into the hole in the wall plate 2, and fig. 2A shows the thickness B of the sandwich of the wall plate 2, the hole diameter D of the riveted structure (i.e. the hole diameter of the hole in the wall plate 2), the initial nail length L of the rivet 1 and the shank diameter D of the rivet 1. The interference contact stage of the riveting process is shown in FIG. 2B, which shows the rivet length L at which the rivet interferes with contact1Respectively equal to the rivet projection H1. As shown in fig. 2C, the interference pier head stroke stage of the riveting process is performed, and after the interference pier head stroke stage, the riveting process is performed, and finally the riveting forming stage of the riveting process shown in fig. 2D is achieved. FIG. 2D shows the height H of the upset head 11 after the clinch forming, the sum H of the height of the upset head 11 and the thickness of the panel, and the diameter D of the upset head 11hDiameter D of contact part of upset head 11 and riveting dieHAnd a post-interference aperture d1. The arrows in fig. 2A-2D schematically illustrate the stresses during the riveting process.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (5)
1. A riveting control method of an automatic drilling and riveting machine is characterized by comprising the following steps:
the method comprises the following steps of firstly, acquiring the following input parameters related to a riveted structure and related to materials and structures of a rivet and a wall plate:
yield strength sigma of rivets1(ii) a Strength limit sigma of rivetb1(ii) a Modulus of elasticity E of rivet1(ii) a Poisson ratio mu of rivet1(ii) a The strength coefficient K of the rivet; the index coefficient n of the rivet; the initial nail length L of the rivet; the shank diameter d of the rivet; yield strength of wallboardσs2(ii) a Strength limit σ of wall panelb2(ii) a Modulus of elasticity E of wallboard2(ii) a Poisson ratio mu of wall plate2(ii) a Coefficient of deformation lambda of the wall panel2(ii) a Interlayer thickness B of the wallboard; the aperture D and the desired relative interference Δ of the riveted structure;
step two, calculating the elastic limit interference quantity delta m according to the following formula (1), wherein p is an intensity theoretical coefficient and p is 2/√ 3, d1Is the aperture after interference, and judges whether the expected relative interference quantity is larger than the elastic limit interference quantity,
step three, if the expected relative interference amount is larger than the elastic limit interference amount, calculating the clinching stress sigma according to the following formula (2)Z，
σz＝-(σi+q) (2)，
Wherein σi＝λ2σs2+E1(1-λ2)εi (3)，
εi＝Δ+(D-d)/d (4)，
And wherein q satisfies the following formula (5)
If the desired relative interference amount is less than the elastic limit interference amount, clinch stress is calculated as the following equation (6),
step four, calculating the recommended value of the riveting force according to the following formula (7),
Fsq＝σzπDh 2/4 (7)，
wherein the content of the first and second substances,
H1＝L1-B＝d2L/D2-B (9)，
in the above formulas (7), (8) and (9), Fsq is the recommended clinching force value, L1、H1Respectively the rivet length and the rivet extension when the riveting interference contacts, and the index coefficient n is Dh、DHCoefficient of proportionality of Dh、DHRespectively the diameter of the upset head after the rivet is formed and the diameter of the contact part of the upset head and the riveting die;
step five, calculating a recommended value of the height of the rivet head corresponding to the recommended value of the riveting force by adopting a numerical approximation algorithm according to the following formula (10), then calculating the diameter of the contact part of the rivet head and the riveting die according to the following formula (11),
h is a recommended value of the height of the upset head of the rivet after the rivet is formed, and the diameter D of the contact part of the upset head and the riveting die is calculatedHFurther calculating by an index coefficient n to obtain the diameter D of the pier head after the rivet is formedh；
And step six, controlling an automatic drilling and riveting machine to carry out a riveting process according to the recommended riveting force value obtained by calculation in the step four and the recommended rivet head height value after the formed rivet obtained by calculation in the step five.
2. The riveting control method according to claim 1, wherein in step six, the automatic drilling and riveting machine is controlled to carry out the riveting process, and the riveting process is terminated when the monitored riveting force reaches the recommended value of riveting force or the height of the upset head reaches the recommended value of the height of the upset head.
3. A riveting control method according to claim 1, wherein in step three, if the expected relative interference amount is less than the elastic limit interference amount, an alarm is issued to prompt modification of the input parameters, and the method returns to step one.
4. The riveting control method according to claim 2, wherein in step six, when the riveting process is terminated, whether the error of the monitored riveting force compared with the recommended value of the riveting force exceeds a preset first error threshold value and whether the error of the monitored height of the upset rivet compared with the recommended value of the height of the upset rivet exceeds a preset second error threshold value are judged, and if any judgment result is yes, an alarm is given.
5. The riveting control method of claim 4, wherein the first error threshold and the second error threshold each range from 5% to 20%.
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| CN112364482B (en) * | 2020-10-14 | 2024-04-16 | 中车工业研究院有限公司 | Trapezoidal riveting die structure optimization method and system |
| CN113074676B (en) * | 2021-02-25 | 2022-03-25 | 上海航天精密机械研究所 | Semi-circular head rivet interference amount detection system and method based on automatic drilling and riveting |
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| US5231747A (en) * | 1990-12-21 | 1993-08-03 | The Boeing Company | Drill/rivet device |
| CN102679923B (en) * | 2012-05-09 | 2014-05-07 | 南京航空航天大学 | Non-destructive inspection method for interference quantity of aerolite wallboard riveting structure |
| CN102756067B (en) * | 2012-06-26 | 2015-11-25 | 上海飞机制造有限公司 | Based on interference clinching method and the device thereof of ultrasonic wave added |
| CN102728767A (en) * | 2012-07-11 | 2012-10-17 | 上海飞机制造有限公司 | Method for realizing ideal interference fit riveting process |
| CN106216588B (en) * | 2016-07-28 | 2018-07-03 | 苏州高登威科技股份有限公司 | A kind of processing control method for revolving riveting equipment |
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