CN110549116B

CN110549116B - Automatic drilling and riveting actuating mechanism and method suitable for riveting rocket cabin

Info

Publication number: CN110549116B
Application number: CN201910792466.2A
Authority: CN
Inventors: 袁桢棣; 周愿愿; 梁莹; 张维轩; 杨学勤; 成群林; 徐爱杰
Original assignee: Shanghai Space Precision Machinery Research Institute
Current assignee: Shanghai Space Precision Machinery Research Institute
Priority date: 2019-08-26
Filing date: 2019-08-26
Publication date: 2023-03-14
Anticipated expiration: 2039-08-26
Also published as: WO2021036588A1; CN110549116A

Abstract

The invention provides an automatic drilling and riveting actuating mechanism and method suitable for riveting a rocket cabin body, which comprises a nail shooting module, a nail inserting and riveting module, a drilling and reaming module, a switching module and a pressing and distance measuring module, wherein the nail inserting and riveting module is used for inserting a nail and riveting a nail; compress tightly the ranging module and compress tightly the rocket cabin body, bore ream module and accomplish drilling or ream in cabin body surface, penetrate the nail module simultaneously and pour into the plug pin with the rivet and press and rivet the module end, the switching module realizes boring ream module and plug pin and press and rivet module position exchange, and the plug pin is pressed and is riveted the module and insert the rivet in the hole site that the system was good and accomplish the riveting. The invention can realize the automatic nailing and nailing processes of rivets of various types, and detect each process, thereby avoiding the situations of no nail and oblique nail and forming effective protection for the rocket cabin body; the position of the cabin body is measured through the compression ranging module, and the feeding amount of hole making and spot facing is corrected in a feedback mode, so that the roundness error of the cabin body is adapted. The invention replaces manual drilling and riveting operation, greatly reduces labor intensity and can obviously improve efficiency.

Description

Automatic drilling and riveting actuating mechanism and method suitable for riveting rocket cabin

Technical Field

The invention relates to equipment for automatic assembly, in particular to an automatic drilling and riveting actuating mechanism and method suitable for riveting a rocket cabin.

Background

Riveting is an important process of a rocket cabin body in the manufacturing process, and in the past, parts such as an end frame, a shell section, a skin, a stringer and the like to be riveted are preassembled on a fixture, and are manually drilled and reamed, then manually inserted and riveted. Due to the fact that tens of thousands of rivets exist on the rocket cabin body, serious noise exists in the drilling and riveting process, labor intensity of manual riveting is high, damage to bodies is easy to happen, and production efficiency is low. Based on the urgent need of the automatic drilling and riveting technology, aerospace manufacturing enterprises have gradually started to introduce automatic drilling and riveting equipment in recent years, and strive to replace manual riveting and improve rocket production efficiency. However, in the use process of the existing automatic drilling and riveting equipment, firstly, the problems of staple clamping, askew rivet, incapability of inserting rivets and the like often occur, so that the machine halt is caused, the drilling and riveting efficiency is influenced, and the riveting action is continued after the problems occur, so that the product is scrapped, and serious economic loss is caused; secondly, the drilling and riveting actuating mechanism has low integration level, large volume and heavy weight, so that the starting and stopping time is long, the running speed is slow, and the riveting efficiency is influenced; thirdly, the processing roundness error of the rocket cabin part is large, the feeding distance cannot be corrected under the condition of lacking the error compensation function, drilling and riveting are carried out in a mode of forcibly deforming the part, and the rocket cabin part cannot adapt to the part (such as a shell section) which is large in thickness and difficult to deform.

Chinese patent publication No. CN101417348a discloses a drilling end effector for an industrial robot, which includes a main shaft unit, a feeding unit, and a supporting unit. The main shaft unit comprises a precision main shaft head, a main shaft motor and a driver, an ER chuck handle and a cutter, a synchronous belt and a belt wheel; the feeding unit comprises a linear ball guide sleeve, a special shaft, a screw nut pair, a feeding motor, a driving motor, a synchronous belt and a belt wheel; the supporting unit comprises a base, a shaft seat, a precise spindle head support, a cylinder support, a pressure head tube shell, a pressure foot, a front plate, a rear plate, an electromagnetic valve connecting plate, a spindle motor connecting plate and a limit switch connecting plate. The main shaft unit realizes the adjustment of the cutting speed of the drill bit, the feeding unit realizes the adjustment of the feeding speed and the feeding stroke of the drill bit, and the supporting unit ensures the integral rigidity of the end effector. The drilling end effector provided by the invention has the advantages that the flexible drilling system is formed by combining the robot, so that the drilling efficiency and precision can be improved, and the repeated labor of workers can be reduced; the defects that only the continuous drilling function can be realized, the riveting function cannot be realized, the integration degree is low, and the functions are incomplete.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide an automatic drilling and riveting actuating mechanism and method suitable for riveting a rocket cabin.

According to one aspect of the invention, an automatic drilling and riveting actuating mechanism suitable for riveting a rocket cabin body is provided, and comprises a nail shooting module, a nail inserting and pressing and riveting module, a drilling and reaming module, a switching module and a pressing and distance measuring module; the compression ranging module compresses the rocket cabin body; the drilling and reaming module completes drilling or reaming on the surface of the cabin; the switching module realizes the position exchange of the drilling and reaming module and the insert nail press riveting module; the rivet injection module injects the rivet into the tail end of the insert rivet pressing and riveting module, and the insert rivet pressing and riveting module inserts the rivet into the prepared hole site and completes riveting;

the rivet inserting and pressing module comprises a rivet head, a detection unit and a servo electric cylinder, and the servo electric cylinder is sequentially connected with the detection unit and the rivet head;

the detection unit comprises a shell, a sliding core and a displacement sensor, the shell is connected with the servo electric cylinder, the sliding core is slidably mounted in the shell, one end of the sliding core is connected with the rivet head, the shell is provided with the displacement sensor, and the displacement sensor can measure the relative displacement between the sliding core and the shell.

Preferably, the detection unit further includes a bushing, a third coil spring, and a target plate; the bushing is arranged in the shell, and the sliding core can slide in the bushing;

the third spiral spring is arranged between the other end of the sliding core and the shell along the sliding direction of the sliding core, a gap is formed between the other end of the sliding core and the shell, and the width of the gap can be changed under the action of external force;

the target plate is arranged in the circumferential direction of the sliding core and is opposite to the displacement sensor, a slideway is arranged at the position, corresponding to the target plate, of the shell, the slideway is parallel to the sliding direction of the sliding core, and the target plate can slide in the slideway under the driving of the sliding core; the displacement sensor is capable of detecting the current distance from itself to the target board.

Preferably, the insert pin press-riveting module further comprises a mounting plate, and the insert pin press-riveting module is connected with the switching module through the mounting plate;

the rivet head comprises a rivet nozzle, an annular spring, a second rotating shaft, a pushing pin, a rivet nozzle seat, a limiting pin, a second spiral spring, a riveting die, a pressing plate and a positioning pin;

one end of the riveting die is a conical surface, one end of the sliding core, which is connected with the riveting die, is provided with a conical hole, the riveting die and the sliding core are connected with the conical hole in a matching manner through the conical surface, the pressing plate fixes the riveting die on the sliding core, and the riveting die is limited to rotate through a positioning pin;

the second spiral spring and the nail tip seat are sequentially sleeved into the riveting die, the nail tip seat can slide along the riveting die, and the nail tip is arranged on the nail tip seat through a second rotating shaft;

a first limiting groove is formed in the nail nozzle seat along the length direction of the riveting film, a limiting pin is arranged on the riveting film, and the limiting pin can slide in the first limiting groove to limit rotation between the nail nozzle seat and the riveting film; a second limiting groove is formed in the nail nozzle seat, a push pin is arranged on the riveting film, and the push pin is attached to the second limiting groove under the thrust action of a second spiral spring;

the two petals of the nail mouth are tightly pressed and connected through the annular spring, and the two petals of the nail mouth are squeezed open when the nail shooting module pushes the rivet to the nail mouth, so that the rivet is clamped by the nail mouth.

Preferably, the nail shooting module comprises a first bracket, a first linear module, a first servo motor, a pipeline mounting plate, a nail shooting unit, a nail feeding pipe, a drag chain and a drag chain bracket;

the first support is connected with the switching module, a first linear module is arranged on the first support, one or more nail shooting units are arranged on the first linear module, and the nail shooting units are correspondingly connected with the nail feeding pipes one by one;

the pipeline mounting plate is mounted on the first linear module, the moving end of the drag chain is connected with one end of the pipeline mounting plate, and the fixed end of the drag chain is connected with a drag chain bracket mounted on the first bracket;

the nail feeding pipes penetrate into the drag chain from the moving end of the drag chain through the pipeline mounting plate and are arranged in order in the drag chain, and the nail feeding pipes penetrate out from the fixed end of the drag chain and are connected with an external nail cabinet to realize nail feeding;

the first servo motor is installed at one end of the first linear module and can drive the nail shooting unit, the pipeline installation plate, the nail feeding pipe and the drag chain to move along the first linear module.

Preferably, the nail shooting unit comprises a pipe joint, a nail clamp, a first spiral spring, a first rotating shaft, a nail pusher, a cylinder, a sensor and a bottom plate; the bottom plate is connected with the first linear module, the nail clamp is connected with the bottom plate through a first rotating shaft, two sections of the nail clamp are tightly pressed and connected through a first spiral spring, a rivet placing hole position is formed between the two sections, a pipe joint is arranged on the bottom plate at a position corresponding to the rivet placing hole position, and the pipe joint is connected with a nail conveying pipe; the rivet pushing device comprises a bottom plate, a rivet placing hole, a rivet pushing module and a rivet pressing module, wherein a rivet feeding groove is formed in the bottom plate at a position corresponding to the rivet placing hole, extends to the edge of the bottom plate, is internally provided with a rivet pushing device, is connected with an air cylinder arranged on the bottom plate, and can push rivets placed in the rivet placing hole to the edge of the bottom plate under the driving of the air cylinder and enter the rivet inserting and pressing module;

the nail pushing device is provided with a supporting section and a notch with the same shape as the cross section of the rivet;

the bottom plate is provided with a sensor which can detect whether the rivet enters the insert rivet pressing and riveting module.

Preferably, the drilling and reaming module comprises a second bracket, a second linear module, a drilling spindle and a second servo motor; the second support, the second linear module and the drilling main shaft are sequentially connected, the drilling main shaft is connected with the second servo motor, and the second support is connected with the switching module.

Preferably, the switching module comprises a rack, a sliding seat, a first linear guide rail, a sliding saddle, a ball screw pair, a coupling, a third servo motor, a dust cover and a grating ruler;

a sliding seat is mounted on the rack, a first linear guide rail is arranged on the sliding seat, a grating ruler is arranged on the first linear guide rail, and a saddle is connected with the first linear guide rail through a sliding block of the first linear guide rail; the sliding saddle is connected with the nail shooting module, the inserted nail pressure riveting module and the drilling and reaming module, and dust covers are further arranged at two ends of the sliding saddle; a compaction distance measuring module is connected above the rack;

the third servo motor and the ball screw pair are arranged on the rack, the third servo motor is connected with the ball screw pair through a coupler, and the ball screw pair is connected with the saddle;

the distance from the edge of the tail end of the nail shooting unit of the nail shooting module to the center of the nail mouth of the inserted nail pressure riveting module is equal to the distance from the center of the nail mouth of the inserted nail pressure riveting module to the center of a drilling main shaft of the drilling and reaming module.

Preferably, the compressing and ranging module comprises a presser foot, a pressure rod, a second linear guide rail, a compressing cylinder, a mounting seat and a scrap suction pipe;

the mounting seat is connected with the switching module, a compaction air cylinder and a second linear guide rail are arranged on the mounting seat, the compaction air cylinder has a stroke reading function, the compaction air cylinder is connected with a sliding block of the second linear guide rail, and the sliding block of the second linear guide rail is connected with a pressing rod;

the pressure bar is provided with a scrap suction pipe and a pressure foot with a circular hole position, the scrap suction pipe is communicated with the inside of the circular hole position of the pressure foot, and the pressure foot is made of polyurethane.

Preferably, the system also comprises a numerical control system, wherein the numerical control system is in signal connection with the nail shooting module, the inserted nail press riveting module, the drilling and reaming module, the switching module and the compressing and distance measuring module and can control the operation of the nail shooting module, the inserted nail press riveting module, the drilling and reaming module, the switching module and the compressing and distance measuring module;

the numerical control system can correct the feeding distance of the insert rivet pressing module and the drilling and reaming module according to data fed back by a pressing cylinder of the pressing and ranging module, and automatically compensate the processing roundness error of the rocket cabin body;

the numerical control system can judge whether the rivet is inserted into a hole site manufactured by the drilling and reaming module according to the rule that the current distance fed back by the displacement sensor changes along with time, and when the rivet is not inserted into the hole site, the servo electric cylinder is controlled to stop moving.

According to another aspect of the invention, an automatic drilling and riveting execution method suitable for riveting a rocket cabin is provided, and comprises the following steps:

step 1: the numerical control system controls the automatic drilling and riveting actuating mechanism to move to a riveting position, so that the center line of the presser foot is superposed with the theoretical center line of a riveting hole site, and the center line of the drilling spindle is superposed with the center line of the presser foot;

step 2: a pressing cylinder of the pressing ranging module drives a pressing foot to be in contact with the surface of the rocket cabin body, the stroke of the pressing cylinder is fed back to a numerical control system, and the numerical control system corrects the feeding amount of the drilling and reaming module and the inserting nail press riveting module;

and step 3: a drilling main shaft of the drilling and reaming module is aligned to the presser foot and is driven by a second servo motor to drill and ream the surface of the rocket cabin; while the drilling and reaming module works, the nail ejecting module presses and rivets the plug-in nail to finish nailing;

and 4, step 4: the saddle of the switching module moves under the driving of a third servo motor to switch the positions of the insert nail press-riveting module and the drilling and reaming module, so that a nail nozzle of the insert nail press-riveting module is aligned to a presser foot, a servo electric cylinder drives the nail nozzle to insert a rivet into a prepared hole site, the insert nail process is monitored through a detection unit, once abnormity occurs, a numerical control system alarms and stops insert nail action, and press riveting is completed if the abnormity occurs;

and 5: and (3) moving the automatic drilling and riveting actuating mechanism to the next riveting position, moving a saddle of the switching module under the driving of a third servo motor to switch the positions of the inserting nail pressure riveting module and the drilling and reaming module, aligning a drilling main shaft of the drilling and reaming module to the presser foot, and repeating the steps 1-4 to complete all riveting tasks.

Compared with the prior art, the invention has the following beneficial effects:

1. according to the invention, a plurality of nail shooting units are arranged on the nail shooting module according to the riveting requirements of workpieces, the specification of the rivet can be flexibly adjusted, and the rivet can adapt to the processing of various workpieces; the nail pusher of the nail ejecting unit is provided with the supporting section and the notch, so that the rivet is prevented from overturning and moving, and the rivet is prevented from falling off; the sensor is arranged on the nail shooting unit, so that whether the rivet enters the insert nail pressure riveting module or not can be detected, the condition of nail leakage is prevented, and the machined workpiece is effectively protected.

2. According to the invention, the detection unit is arranged on the inserted rivet pressing and riveting module, so that whether the rivet is correctly inserted into the workpiece or not can be detected, and the problems of shutdown, influence on drilling and riveting efficiency, even product scrappage and the like caused by the problems of staple clamping, inclined rivet, incapability of inserting the rivet and the like are avoided.

3. According to the process requirements, the compressing and ranging module is arranged, and the compressing device of the compressing and ranging module realizes compressing work before drilling and riveting, so that the gap is reduced, the rigidity of the end effector is improved, and the working conditions of drilling and riveting are improved; the compressing cylinder for compressing the distance measuring module has a stroke reading function, can feed back and control the feeding distance of the insert nail pressure riveting module and the drilling and reaming module, and automatically compensates the processing roundness error of the rocket cabin.

4. According to the invention, the compressing and ranging module is provided with the chip suction pipe, so that chips generated in the drilling and spot facing processes can be discharged through the chip suction pipe, and the influence on subsequent operation is avoided.

5. When the invention is used, the drilling and reaming module works, and the nail ejecting module can press and rivet the inserting nail to finish nailing, thereby improving the assembly efficiency of the aerospace component.

6. The riveting link in the assembly of workpieces, particularly aerospace workpieces, is completed through a highly integrated automatic drilling and riveting actuating mechanism, the riveting actuating mechanism comprises functional modules for realizing the whole process of drilling, countersinking, chip removal and riveting, functional modules for detection, positioning, conversion and the like are arranged in process control, the riveting actuating mechanism is integrated with a robot or a numerical control system to realize the application in a rocket cabin digital assembly production line, and the digital management of the whole production process is realized through the integration of a production information management system and an automatic logistics system; the actuating mechanism is highly integrated, comprehensive in function and compact in structure, and the assembly quality and the assembly efficiency of the aerospace component are improved.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

fig. 1 is a schematic perspective view of an automatic drilling and riveting actuating mechanism suitable for riveting a rocket cabin body.

Fig. 2 is a schematic perspective view of a first perspective structure of the nailing module of the present invention.

Fig. 3 is a second perspective view of the nailing module of the present invention.

Fig. 4 is a schematic three-dimensional structure view of a third viewing angle of the nail shooting module of the present invention.

FIG. 5 is a rear view of the nailing unit of the present invention.

Fig. 6 is a first perspective view of the nailing unit according to the present invention.

Fig. 7 is a second perspective view of the nailing unit of the present invention.

FIG. 8 is a schematic view of a first state of the present invention in which the rivet pushing device pushes the rivet from the nailing unit to the insert rivet pressing module.

FIG. 9 is a schematic view of a second state of the present invention in which the rivet pushing device pushes the rivet from the nailing unit to the insert rivet pressing module.

FIG. 10 is a third state diagram illustrating the rivet pushing module pushing the rivet from the nailing unit to the insert pin riveting module according to the present invention.

FIG. 11 is a side view of the nailing unit.

Fig. 12 is a schematic perspective view of the insert pin clinch module according to the present invention.

FIG. 13 is a left side view of the detecting unit and the rivet head of the present invention.

FIG. 14 is a schematic view of the nailing module injecting a rivet into the nailing and clinching module of the present invention.

FIG. 15 is a schematic perspective view of a detecting unit according to the present invention.

FIG. 16 is a cross-sectional view of a detection unit of the present invention.

FIG. 17 is a cross-sectional view of a detecting unit and a rivet head according to the present invention.

FIG. 18 is a graph showing the change of gap width with time when a rivet of the present invention is normally inserted into a hole site.

FIG. 19 is a graph showing the change of gap width with time when the rivet of the present invention is not normally inserted into a hole site.

FIG. 20 is a perspective view of the drilling and reaming module of the present invention.

Fig. 21 is a schematic perspective view of a first switching module according to the present invention.

Fig. 22 is a schematic perspective view of a second switching module according to the present invention.

Fig. 23 is a schematic perspective view of a compression ranging module.

The figures show that:

1-shooting nail module 1511-supporting section 293-sliding core 41-frame

11-first carriage 16-nail feeding tube 294-third helical spring 42-sliding seat

12-first linear module 17-drag chain 295-displacement sensor 43-first linear guide rail

13-first servomotor 18-drag chain support 296-target plate 44-saddle

14-pipeline mounting plate 2-inserting nail pressure riveting module 297-gap 45-ball screw pair

15-nail shooting unit 21-nail mouth 298-current distance 46-coupler

151-pipe joint 22-annular spring 210-pressure plate 47-third servo motor

152-nail clamp 23-second rotating shaft 211-positioning pin 48-dust cover

153-first helical spring 24-push pin 212-servo electric cylinder 49-grating ruler

154-first rotating shaft 25-nail mouth seat 213-mounting plate 5-pressing distance measuring module

155-nail pushing 26-limiting pin 3-drilling and reaming module 51-presser foot

156-cylinder 27-second helical spring 31-second bracket 52-pressure lever

157-sensor 28-riveting die 32-drilling spindle 53-second linear guide rail

158-bottom plate 29-detection unit 33-second linear module 54-pressing cylinder

159-rivet 291-housing 34-second servomotor 55-mounting seat

1510-notch 292-bushing 4-switching module 56-chip suction pipe

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.

According to one aspect of the invention, an automatic drilling and riveting actuating mechanism suitable for riveting a rocket cabin is provided, and comprises a nail shooting module 1, a nail inserting and riveting module 2, a drilling and reaming module 3, a switching module 4 and a pressing and ranging module 5; the compaction distance measuring module 5 compacts the rocket cabin body; the drilling and reaming module 3 completes drilling or reaming on the surface of the cabin; the switching module 4 realizes the position exchange of the drilling and reaming module 3 and the insert nail press riveting module 2; the rivet module 1 injects the rivet 159 into the tail end of the plug pin rivet pressing module 2, and the plug pin rivet pressing module 2 inserts the rivet 159 into the prepared hole site and completes riveting; the insert rivet pressing and riveting module 2 comprises a rivet head, a detection unit 29 and a servo electric cylinder 212, wherein the servo electric cylinder 212 is sequentially connected with the detection unit 29 and the rivet head; the detection unit comprises a shell 291, a sliding core 293 and a displacement sensor 295, wherein the shell 291 is connected with the servo electric cylinder 212, the sliding core 293 is slidably mounted in the shell 291, one end of the sliding core 293 is connected with a rivet, the displacement sensor 295 is arranged on the shell 291, and the displacement sensor 295 can measure the relative displacement between the sliding core 293 and the shell 291.

The detection unit 29 further includes a bushing 292, a third coil spring 294, and a target plate 296; the bushing is arranged in the housing 291, and the sliding core 293 can slide in the bushing 292; the third coil spring 294 is provided between the other end of the slide core 293 and the housing 291 in the sliding direction of the slide core 293, and provides a gap 297 between the other end of the slide core 293 and the housing 291, the width of the gap 297 being changeable by an external force; the target plate 296 is arranged in the circumferential direction of the sliding core 293 and opposite to the displacement sensor 295, a slideway is arranged on the corresponding position of the outer shell 291 and the target plate 296, the slideway is parallel to the sliding direction of the sliding core 293, and the target plate 296 can slide in the slideway under the driving of the sliding core 293; the displacement sensor 295 is capable of detecting its own current distance 298 to the target plate 296. Preferably, the displacement sensor is a laser displacement sensor.

A third helical spring 294 is arranged between the bottom of the sliding core 293 and the bottom of the shell 291, a gap 297 is formed between the bottom of the sliding core 293 and the bottom of the shell 291 due to the tension of the third helical spring 294, a fixed plate is arranged on the top of the shell 291, so that the top of the sliding core 293 cannot slide out of the top of the shell 291, and the sliding core 293 can only slide along the bushing 292 in the shell 291; the width of the gap 297 is changed by an external force, and when the slide core 293 is not applied with the external force or is applied with a force toward the top, the width of the gap 297 is maintained at a maximum value because the fixed plate restricts the slide core 293 from sliding outward, and when the slide core 293 is applied with a force toward the bottom, the width of the gap 297 is gradually reduced. Target plate 296 is provided on the circumference of slide core 293, displacement sensor 295 is provided on housing 291 opposite to target plate 296, and the change in width of gap 297 can be known by measuring current distance 298 from target plate 296 in real time by displacement sensor 295.

The plug pin press riveting module 2 further comprises a mounting plate 213, and the plug pin press riveting module 2 is connected with the switching module 4 through the mounting plate 213; the rivet head comprises a rivet nozzle 21, an annular spring 22, a second rotating shaft 23, a push pin 24, a rivet nozzle seat 25, a limiting pin 26, a second spiral spring 27, a riveting die 28, a pressure plate 210 and a positioning pin 211; one end of the riveting die 28 is a conical surface, one end of the sliding core 293, which is connected with the riveting die 28, is provided with a conical hole, the riveting die 28 and the sliding core 293 are connected in a matching manner through the conical surface and the conical hole, the riveting die 28 is fixed on the sliding core 293 by the pressing plate 210, and the riveting die 28 is limited to rotate through the positioning pin 211; the second spiral spring 27 and the nail tip seat 25 are sequentially sleeved into the riveting die 28, the nail tip seat 25 can slide along the riveting die 28, and the nail tip 21 is arranged on the nail tip seat 25 through the second rotating shaft 23; a first limiting groove is formed in the nail mouth seat 25 along the length direction of the riveting film 28, a limiting pin 26 is arranged on the riveting film 28, and the limiting pin 26 can slide in the first limiting groove to limit rotation between the nail mouth seat 25 and the riveting film 28; a second limit groove is formed in the nail mouth seat 25, a push pin 24 is arranged on the riveting film 28, and the push pin 24 is attached to the second limit groove under the thrust action of a second spiral spring 27; the two petals of the nail mouth 21 are connected in a pressing mode through the annular spring 22, and when the nail shooting module 1 pushes the rivet 159 towards the nail mouth 21, the two petals of the nail mouth 21 are squeezed apart, so that the rivet 159 is clamped by the nail mouth 21. Preferably, the mounting plate 213 is disposed between the detection unit 29 and the servo electric cylinder 212. When the insert rivet pressing module 2 works, the rivet mouth 21 receives the rivet 159 sent from the nail shooting module 1, and the servo electric cylinder drives the detection unit 29 and the rivet head to move so as to complete the insert rivet and riveting processes.

The nail shooting module 1 comprises a first bracket 11, a first linear module 12, a first servo motor 13, a pipeline mounting plate 14, a nail shooting unit 15, a nail feeding pipe 16, a drag chain 17 and a drag chain bracket 18; the first bracket 11 is connected with the switching module 4, a first linear module 12 is installed on the first bracket 11, one or more nail shooting units 15 are arranged on the first linear module 12, and the nail shooting units 15 are correspondingly connected with the nail feeding pipes 16 one by one; the pipeline mounting plate 14 is mounted on the first linear module 12, the moving end of the drag chain 17 is connected with one end of the pipeline mounting plate 14, and the fixed end of the drag chain 17 is connected with a drag chain bracket 18 mounted on the first bracket 11; the nail feeding pipes 16 penetrate into the drag chain 17 from the movable end of the drag chain 17 through the pipeline mounting plate 14 and are arranged in order in the drag chain 17, and the nail feeding pipes penetrate out from the fixed end of the drag chain 17 and are connected with an external nail cabinet to realize nail feeding; the first servo motor 13 is installed at one end of the first linear module 12, and the first servo motor 13 can drive the nail shooting unit 15, the pipeline installation plate 14, the nail feeding pipe 16 and the drag chain 17 to move along the first linear module 12.

The nail ejecting unit 15 comprises a pipe joint 151, a nail clamp 152, a first spiral spring 153, a first rotating shaft 154, a nail pusher 155, an air cylinder 156, a sensor 157 and a bottom plate 158; the bottom plate 158 is connected with the first linear module 12, the nail clamp 152 is connected with the bottom plate 158 through the first rotating shaft 154, two sections of the nail clamp 152 are tightly pressed and connected through the first spiral spring 153, a rivet placing hole position is formed between the two sections, a pipe joint 151 is arranged on the bottom plate 158 at a position corresponding to the rivet placing hole position, and the pipe joint 151 is connected with the nail feeding pipe 16; a nail feeding groove is formed in the position, corresponding to the rivet placing position, of the bottom plate 158, extends to the edge of the bottom plate 158, a nail pushing device 155 is arranged in the nail feeding groove, the nail pushing device 155 is connected with an air cylinder 156 arranged on the bottom plate 158, and the nail pushing device 155 can push the rivet 159 placed at the rivet placing position to the edge of the bottom plate 158 to enter the insert rivet pressing module 2 under the driving of the air cylinder 156; the nail pusher 155 is provided with a supporting section 1511 and a notch 1510 with the same cross section shape as the rivet 159; the bottom plate 158 is provided with a sensor 157, and the sensor 157 can detect whether the rivet 159 enters the plug rivet module 2.

When the nail shooting module 1 works, one or more nail shooting units 15 are arranged on the nail shooting module 1, each nail shooting unit 15 corresponds to one type of rivet 159, and a plurality of nail shooting units 15 correspond to a plurality of types of rivets 159, so that a first servo motor 13 is required to be controlled to drive the nail shooting units 15, the pipeline mounting plate 14, the nail feeding pipe 16 and the drag chain 17 to move along the first linear module 12, so that the nail shooting units 15 corresponding to the rivets 159 with the specified types are opposite to the nail mouths 21 of the insert nail riveting module 2; secondly, the external nail cabinet receives a nail feeding instruction and conveys the rivets 159 with the specified types to the nail shooting unit 15 through the nail feeding pipes 16, and in order to avoid unsmooth passing of the rivets 159 due to the posture change of the nail feeding pipes 16 in the movement process, the nail feeding pipes 16 penetrate through the drag chain 17 and are arranged in order inside the drag chain 17; the rivet 159 enters from the pipe joint 151 of the nail shooting unit 15 and reaches a rivet placing hole position of the nail clamp 152, the nail pusher 155 pushes the rivet 159 from the rivet placing hole position to the edge of the bottom plate 158 under the driving of the air cylinder 156, so that the rivet 159 enters the insert rivet pressing and riveting module 2, and the supporting section 1511 and the notch 1510 arranged on the nail pusher 155 can ensure that the rivet 159 does not overturn and move in the moving process, and the rivet 159 is prevented from falling out; finally, a sensor 157 arranged on the bottom plate 158 judges whether the rivet 159 enters the insert rivet pressure riveting module 2 or not so as to prevent the condition of nail leakage and effectively protect the rocket cabin.

The drilling and reaming module 3 comprises a second bracket 31, a second linear module 33, a drilling spindle 32 and a second servo motor 34; the second support 31, the second linear module 33 and the drilling spindle 32 are sequentially connected, the drilling spindle 32 is connected with the second servo motor 34, and the second support 31 is connected with the switching module 4. When the spot facing module 3 works, the drilling spindle 32 slides along the second linear module 33 under the driving of the second servo motor 34 to realize drilling and spot facing. Preferably, when the workpiece is about to be drilled through, the second servomotor 34 adjusts the feed speed of the drilling spindle 32, controls the axial force of the drill bit to reduce the burr at the rivet outlet, and after the material is drilled through, the drilling spindle 32 continues to feed for countersinking.

The switching module 4 comprises a frame 41, a sliding seat 42, a first linear guide rail 43, a sliding saddle 44, a ball screw pair 45, a coupling 46, a third servo motor 47, a dust cover 48 and a grating ruler 49; a sliding seat 42 is installed on the frame 41, a first linear guide rail 43 is arranged on the sliding seat 42, a grating ruler 49 is arranged on the first linear guide rail 43, and a saddle 44 is connected with the first linear guide rail 43 through a sliding block of the first linear guide rail 43; the sliding saddle 4 is connected with the nail shooting module 1, the insert nail pressure riveting module 2 and the drilling and reaming module 3, and dust covers 48 are further arranged at two ends of the sliding saddle 44; the upper part of the frame 41 is connected with a pressing ranging module 5; the third servo motor 47 and the ball screw pair 45 are arranged on the frame 41, the third servo motor 47 is connected with the ball screw pair 45 through a coupler 46, and the ball screw pair 45 is connected with a saddle 44; the distance from the edge of the tail end of the nail shooting unit 15 of the nail shooting module 1 to the center of the nail mouth 21 of the inserted nail pressure riveting module 2 is equal to the distance from the center of the nail mouth 21 of the inserted nail pressure riveting module 2 to the center of the drilling main shaft 32 of the drilling and reaming module 3. When the switching module works, the third servo motor 47 drives the ball screw pair 45 through the coupler 46, so that the saddle 44 is switched between the riveting station and the hole making station in a linear motion mode, when the saddle 44 moves, the stroke of the saddle 44 is accurately measured by the grating ruler 49 on the first linear guide rail 43, so that the accurate switching between the drilling station and the riveting station is realized, and the phenomenon that the staple bolt appears in the nail inserting process due to positioning error is avoided.

The pressing distance measuring module 5 comprises a presser foot 51, a pressure lever 52, a second linear guide rail 53, a pressing cylinder 54, a mounting seat 55 and a scrap suction pipe 56; the mounting seat 55 is connected with the switching module 4, the mounting seat 55 is provided with a pressing cylinder 54 and a second linear guide rail 53, the pressing cylinder 54 has a stroke reading function, the pressing cylinder 54 is connected with a slide block of the second linear guide rail 53, and the slide block of the second linear guide rail 53 is connected with the pressing rod 52; the pressure lever 52 is provided with a scrap suction pipe 56 and a pressure foot 51 with a circular hole, the scrap suction pipe 56 is communicated with the inside of the circular hole of the pressure foot 51, and the pressure foot 51 is made of polyurethane. When the compaction distance measuring module 5 works, the compaction air cylinder 54 drives the pressing rod 52 to move from the initial position to the contact of the presser foot 51 and the rocket cabin body along the linear guide rail 53, the compaction air cylinder 54 has a stroke reading function and feeds back the stroke to the numerical control system so as to correct the feeding distance of the insert rivet pressing module 2 and the drilling and reaming module 3 and automatically compensate the processing roundness error of the rocket cabin body; the presser foot 51 is provided with a circular hole site, after the presser foot 51 compresses a workpiece, the drilling spindle 32 of the drilling and reaming module 3 completes drilling and reaming through the hole site, debris generated in the drilling and reaming process is timely discharged through the chip suction pipe 56 so as to avoid influencing subsequent operation and keep the working environment clean, and the presser foot 51 is made of polyurethane so as to avoid damaging the surface of a rocket cabin body; after the switching module 4 switches the positions of the insert rivet pressing and riveting module 2 and the drilling and reaming module 3, the insert rivet is also completed through the circular hole position of the presser foot 51 by the rivet nozzle 21 of the insert rivet pressing and riveting module 2. Preferably, the pressing rod 52 is a folded pressing rod, and the folded design can reduce the force application area of the pressing rod 52, so as to further improve the pressing performance.

The numerical control system is in signal connection with the nail shooting module 1, the nail inserting and press riveting module 2, the drilling and reaming module 3, the switching module 4 and the compressing and distance measuring module 5 and can control the operation of the nail shooting module 1, the nail inserting and press riveting module 2, the drilling and reaming module 3, the switching module 4 and the compressing and distance measuring module 5; the numerical control system can correct the feeding distance of the inserting nail pressure riveting module 2 and the drilling and reaming module 3 according to the data fed back by the pressing air cylinder 54 of the pressing and ranging module 5, and automatically compensate the processing roundness error of the rocket cabin body; the numerical control system can judge whether the rivet 159 is inserted into the hole site that the drilling and reaming module 3 made according to the rule that the current distance 298 that the displacement sensor 295 feedbacks changes with time, and when the rivet 159 does not insert the hole site, the servo electric cylinder 212 stop motion of control avoids the shut down that the staple bolt, askew nail and rivet can not insert the scheduling problem and lead to, influences and bores the efficiency of riveting and cause the product even to scrap scheduling problem.

Numerical control system signal connection penetrates nail module 1, insert the nail and presses riveting module 2, bores ream module 3, switches module 4 and compresses tightly ranging module 5 and send the instruction to these modules, and in addition, numerical control system also can signal connection outside nail cabinet and give the nail instruction of sending to outside nail cabinet.

When the automatic drilling and riveting actuating mechanism suitable for riveting the rocket cabin works, firstly, the numerical control system controls the automatic drilling and riveting actuating mechanism suitable for riveting the rocket cabin to move to a riveting position, so that the central line of the presser foot 51 is superposed with the theoretical central line of riveting hole positions, and the central line of the drilling main shaft 32 is superposed with the central line of the presser foot 51.

Secondly, the numerical control system sends a pressing instruction to the pressing distance measuring module 5, the pressing cylinder 54 drives the pressing foot 51 to be in contact with the surface of the rocket cabin body and feeds back the stroke of the pressing foot to the numerical control system, and the numerical control system corrects the feeding amount of the drilling and reaming module 3 and the rivet inserting and pressure riveting module 2 according to data fed back by the pressing cylinder 54.

Thirdly, the numerical control system sends a drilling and spot facing instruction to the spot facing module 3, a drilling main shaft 32 of the spot facing module 3 aligns to a circular hole position of the presser foot 51 and drives the drilling and spot facing on the surface of the rocket cabin body through a second servo motor 34, and chips generated in the drilling and spot facing process are sucked and discharged by a chip suction pipe 56 of the compression distance measuring module 5; when the drilling and reaming module works, the numerical control system gives a nail feeding instruction to the external nail cabinet, the external nail cabinet conveys the rivet 159 of the specified type to the nail shooting unit 15 through the nail feeding pipe 16, the numerical control system sends the instruction to the first servo motor 13, the first servo motor 13 drives the nail shooting unit 15, the pipeline mounting plate 14, the nail feeding pipe 16 and the drag chain 17 to move along the first linear module 12, so that the nail shooting unit 15 corresponding to the rivet 159 of the specified type is opposite to the nail mouth 21 of the inserted nail pressure riveting module 2, and the nail of the nail shooting unit 15 pushes 155 to push the rivet 159 into the nail mouth 21.

Fourthly, the numerical control system issues a switching instruction to the switching module 4, and the saddle 44 of the switching module 4 moves under the driving of the third servo motor 47 to switch the positions of the insert rivet pressing module 2 and the drilling and reaming module 3, so that the nail mouth 21 of the insert rivet pressing module 2 is aligned with the presser foot 51.

Fifthly, as shown in fig. 18, the rivet 159 is fed into the drilled hole of the countersink module 3 by the rivet head, the moment when the end of the rivet 159 clamped by the nail mouth 21 reaches the surface of the workpiece is zero, the rivet 159 is gradually inserted into the hole under the driving force of the servo electric cylinder 212 in the stage from 0 to t1, the slide core 293 is not applied with a force toward the bottom in the process, the width L2 of the gap 297 is kept at the maximum value (i.e., the max value shown in the figure), after the rivet 159 is completely inserted, the rivet head continues to move toward the workpiece, as the rivet 159 is pressed against the surface of the workpiece by the rivet die 28, the slide core 293 is applied with a force toward the bottom, the third coil spring 294 is compressed, and the width of the gap 297 gradually decreases from t1 to t2 to 0. And the numerical control system judges that the state of the insert rivet pressing and riveting module 2 is abnormal at the moment, continuously completes the pressing and riveting, and performs the sixth step.

The numerical control system records the change relationship between the gap 297 and time in the above normal state, and when the gap 297 does not reach a certain value range in a certain time, the numerical control system will judge that the rivet is crooked or the rivet cannot enter the hole site. As shown in fig. 19, when the rivet is crooked or the rivet cannot be inserted into the hole, the time when the end of the rivet 159 held by the nail nose 21 reaches the surface of the workpiece is zero, the rivet head is driven by the servo electric cylinder 212 to continuously apply a forward force to the rivet 159, and the rivet 159 cannot normally enter the hole, so that the rivet head is applied with a force in a direction away from the surface of the workpiece, and under the force, the third coil spring 294 is compressed, the sliding core 293 slides to the bottom, and the width of the gap 297 gradually decreases from 0 to t3 to 0. The numerical control system recognizes that the change relationship between the gap 297 and the time at this time is not in accordance with the preset change relationship, judges that the nail inserting process is abnormal, controls the servo electric cylinder 212 to stop moving, and stops the nail inserting action of the nail inserting and riveting module 2.

Sixthly, the numerical control system controls the automatic drilling and riveting actuating mechanism suitable for riveting the rocket cabin body to move to the next riveting position, and sends a switching instruction to the switching module again, the sliding saddle 44 of the switching module 4 moves under the driving of the third servo motor 47 to switch the positions of the insert nail pressure riveting module 2 and the drilling and reaming module 3, so that the drilling spindle 32 of the drilling and reaming module 3 is aligned to the presser foot 51, and the steps are repeated to complete all riveting tasks.

According to another aspect of the invention, an automatic drilling and riveting execution method suitable for rocket cabin body riveting is provided, in particular to an automatic drilling and riveting execution method suitable for rocket cabin body riveting, which adopts the automatic drilling and riveting execution mechanism suitable for rocket cabin body riveting, and comprises the following steps:

step 1: the numerical control system controls the automatic drilling and riveting actuating mechanism to move to the riveting position, so that the center line of the presser foot 51 is superposed with the theoretical center line of the riveting hole site, and the center line of the drilling spindle 32 is superposed with the center line of the presser foot 51;

step 2: a pressing cylinder 54 of the pressing ranging module 5 drives a pressing foot 51 to be in contact with the surface of the rocket cabin body, the stroke of the pressing cylinder 54 is fed back to a numerical control system, and the numerical control system corrects the feeding amount of the drilling and reaming module 3 and the insert nail press riveting module 2;

and step 3: a drilling main shaft 32 of the drilling and reaming module 3 is aligned to the presser foot 51 and is driven by a second servo motor 34 to drill and ream the surface of the rocket cabin; while the drilling and reaming module 3 works, the nail ejecting module 1 finishes nailing to the insert nail press riveting module 2;

and 4, step 4: the saddle 44 of the switching module 4 moves under the driving of the third servo motor 47 to switch the positions of the insert rivet pressing module 2 and the drilling and reaming module 3, so that the rivet nozzle 21 of the insert rivet pressing module 2 is aligned with the presser foot 51, the servo electric cylinder 212 drives the rivet nozzle 21 to insert the rivet 159 into a manufactured hole site, the insert rivet process is monitored through the detection unit 29, once abnormity occurs, the numerical control system alarms and stops the insert rivet action, and the press riveting is completed if no abnormity occurs;

and 5: and (3) moving the automatic drilling and riveting actuating mechanism to the next riveting position, moving the saddle 44 of the switching module 4 under the driving of the third servo motor 47 to switch the positions of the inserting nail pressure riveting module 2 and the drilling and reaming module 3, so that the drilling spindle 32 of the drilling and reaming module 3 is aligned to the presser foot 51, and repeating the steps 1-4 to complete all riveting tasks.

The preferred embodiment:

the automatic drilling and riveting actuating mechanism suitable for riveting the rocket cabin comprises a nail shooting module 1, a nail inserting and riveting module 2, a drilling and reaming module 3, a switching module 4 and a pressing and distance measuring module 5. The nail shooting module 1 is arranged on the side surface of the sliding seat 42 through the first bracket 11. The plug rivet module 2 and the countersink module 3 are respectively mounted on the saddle 44 in parallel through the mounting plate 211 and the second bracket 31. The pressing ranging module 5 is mounted on the upper plane of the frame 41 through a mounting seat 55.

The nail shooting module 1 comprises a first support 11, a first linear module 12, a first servo motor 13, a pipeline mounting plate 14, a nail shooting unit 15, a nail feeding pipe 16, a drag chain 17 and a drag chain support 18. The first linear module 12 is mounted on the first support 11, and a plurality of nail shooting units 15 can be mounted on the first linear module 12 according to the specification of the rivets 159 required for riveting the rocket cabin, each nail shooting unit 15 is connected with a nail feeding pipe 16, and the rivets 159 conveyed from the nail cabinet are received under the nail feeding instruction of the numerical control system. The pipeline mounting plate 14 is mounted on the first straight line module 12, the movable end of the drag chain 17 is mounted at the lower end of the pipeline mounting plate 14, and the fixed end is connected with the drag chain bracket 18 mounted on the first bracket 11. The nail feeding pipes 16 are arranged regularly on the pipeline mounting plate 14 and are connected with the nail cabinet through the drag chain 17, so that the problem that rivets are unsmooth to pass due to the fact that postures of the nail feeding pipes 16 are changed in the moving process is avoided. The first servo motor 13 drives the nail shooting unit 15, the pipeline mounting plate 14, the nail feeding pipe 16 and the drag chain 17 to move in the X-axis direction according to a nail requiring signal sent by the numerical control system, so that the nail shooting unit 15 where the corresponding type of rivet 159 is located corresponds to the nail mouth 21.

The nail shooting unit 15 comprises a pipe joint 151, a nail clamp 152, a first spiral spring 153, a first rotating shaft 154, a nail pushing device 155, an air cylinder 156, a sensor 157 and a bottom plate 158. The bottom plate 158 is fixed to the first linear module 12, the two halves of the nail clamp 152 are connected to the bottom plate 158 through the first rotating shaft 154, and the two halves of the nail clamp 152 are connected through the first coil spring 153 and kept in a closed state under the action of the first coil spring 153.

The two halves of the clip 152 define an aperture into which a rivet 159 can be inserted through the nipple 151. The nail clamp cylinder 156 drives the nail pusher 155 to squeeze the nail clamp 152 apart, and the rivet 159 moves in the nail clamp 152 along with the nail pusher 155 and enters the insert rivet pressing module 2. The sensor 157 is mounted on the base plate 158, and can determine whether the rivet 159 has entered the insert rivet module 2 by a signal. The nail pusher 155 is provided with a notch 1510 and a supporting section 1511, the cross section of the notch 1510 is the same as that of the rivet 159, and the notch 1510 and the supporting section 1511 can ensure that the rivet 159 does not overturn or jump during the pushing process of the rivet 159.

The plug rivet pressing module 2 comprises a rivet nozzle 21, a ring-shaped spring 22, a second rotating shaft 23, a push pin 24, a rivet nozzle seat 25, a limiting pin 26, a second spiral spring 27, a riveting die 28, a detection unit 29, a pressure plate 210, a positioning pin 211, a servo electric cylinder 212 and a mounting plate 213. The root of the riveting die 28 is a conical surface and can be inserted into a corresponding conical hole of the detection unit 29, the riveting die 28 is fixed on the detection unit 29 through the pressing plate 210, and the rotation of the riveting die 28 is limited through the positioning pin 211. The spiral spring (27) and the nail mouth seat (25) are sequentially sleeved into the riveting die (28), the nail mouth seat (25) can slide along the riveting die (28), and the sliding range is limited by the pushing pin (24) and the limiting pin (26) which are inserted into corresponding holes in the riveting die (28). The two halves of the nail mouth 21 are installed on the nail mouth seat 25 through the second rotating shaft 23, and the rotation between the nail mouth seat 25 and the riveting die 28 is limited through the limiting pin 26 on the riveting die 28 and the first limiting groove on the nail mouth seat 25. The two halves of the nail mouth 21 can be closed and opened, and the annular spring 22 is embedded into the two halves of the nail mouth 21 to enable the nail mouth to be in a closed state.

During the driving of the rivet toward the beak 21 by the nail ejecting unit 15, the two flaps of the beak 21 are squeezed apart, so that the rivet 159 is held by the beak 21. The servo electric cylinder 212 is connected with the detection unit 29 and drives the detection unit to move along the normal direction of the rocket cabin body, and therefore nail insertion and riveting are completed.

The detection unit 29 includes a housing 291, a bushing 292, a slide core 293, a third coil spring 294, a displacement sensor 295, and a target plate 296. The bush 292 is fixed in the housing 291, the sliding core 293 can slide in the bush 292, and a third helical spring 294 is arranged between the bottom of the sliding core 293 and the bottom of the housing 291, so that a certain gap 297 is kept between the bottom of the sliding core 293 and the bottom of the housing 291, and the size of the gap 297 can be changed under the action of external force. A laser sensor 295 is attached to the housing 291, a target plate 296 is attached to the slide core 293, and the current distance 298 to the target plate 296 is detected by the displacement sensor 295, whereby the change of the gap 297 can be detected. Preferably, the displacement sensor 295 is a laser displacement sensor.

The gap 297 does not reach a certain numerical range within a predetermined time, and it is judged that the crooked nail or the rivet 159 cannot enter the hole site, and the numerical control system controls the servo electric cylinder 212 to stop moving. The end of the rivet 159 held by the nosepiece 21 reaches the surface of the product at zero, the size L2 of the gap 297 changes with time, from 0 to t1, where L2 is at a maximum value, and from t1 to t2, where L2 gradually changes from the maximum value to 0. Referring to fig. 18, the end of the rivet 159 held by the nosepiece 21 reaches the product surface at time zero, and the size L2 of the gap 297 changes with time, with L2 gradually changing from a maximum value to 0 from time 0 to time t 3.

The drilling and reaming module 3 comprises a second bracket 31, a drilling spindle 32, a second linear module 33 and a second servo motor 34. The second servo motor 34 drives the second linear module 33 to feed the drilling spindle 32, thereby completing drilling and spot facing.

The switching module 4 comprises a frame 41, a slide 42, a first linear guide rail 43, a saddle 44, a ball screw pair 45, a coupling 46, a third servo motor 47, a dust cover 48 and a grating ruler 49. The frame 41 is connected with the automatic drilling and riveting machine, and the operation of the drilling and riveting actuating mechanism is controlled by a numerical control system. The sliding seat 42 is installed on the frame 41, the sliding seat 42 is provided with a first linear guide rail 43, the saddle 44 is installed on a sliding block of the first linear guide rail 43, and the third servo motor 47 drives the ball screw pair 45 through the coupler 46 to realize the reciprocating linear motion of the saddle 44. Dust guards 48 are provided at either end of the saddle 44 to prevent entry of drill cuttings. The switching module 4 is also provided with a grating ruler 49, so that the precise switching of the drilling and reaming station and the riveting station is realized, and the phenomenon that a nail clamping occurs due to positioning errors in the nail inserting process is avoided.

The pressing and ranging module 5 comprises a pressing foot 51, a pressing rod 52, a second linear guide rail 53, a pressing cylinder 54, a mounting seat 55 and a scrap suction pipe 56. The inner cavity of the mounting seat 55 is provided with a pressing cylinder 54, the upper plane is provided with a second linear guide rail 53, a sliding block of the second linear guide rail 53 is connected with a pressing rod 52, the tail end of the pressing rod 52 is provided with a pressing foot 51, and the pressing foot 51 is made of polyurethane, so that the product is prevented from being damaged. The pressing cylinder 54 has a stroke reading function, the pressing cylinder 54 drives the pressing rod 52 and the pressing foot 51 to move along the second linear guide rail 53 from an initial position to be in contact with the rocket cabin, the stroke of the pressing cylinder 54 is fed back to the numerical control system, the feeding distance of the inserting rivet pressing module 2 and the drilling and reaming module 3 is corrected, and the processing roundness error of the rocket cabin is automatically compensated. A chip suction pipe 56 is mounted on the press rod 52 for collecting chips generated during the drilling and reaming process.

The operation process of the automatic drilling and riveting actuating mechanism suitable for riveting the rocket cabin body is as follows:

step 1: the numerical control system controls the automatic drilling and riveting actuating mechanism to enable the automatic drilling and riveting actuating mechanism to move to a riveting position, at the moment, the center line of the presser foot 51 is superposed with the theoretical center line of a riveting hole position, the center line of the drilling spindle 32 is superposed with the center line of the presser foot 51, and the first rivet 159 is injected into the rivet nozzle 21 by the rivet shooting module 1;

and 2, step: the pressing cylinder 54 drives the pressing foot 51 to be in contact with the surface of the rocket cabin body, the stroke of the pressing cylinder 54 is fed back to the numerical control system, and the numerical control system corrects the feeding amount of the drilling and reaming module 3 and the inserting nail press riveting module 2;

and step 3: the second linear module 33 of the drilling and reaming module 3 drives the drilling main shaft 32 to feed, and drilling and reaming are completed by the drilling and reaming integrated tool at the tail end of the drilling main shaft 32;

and 4, step 4: switching module 4 drive insert rivet pressure module 2 and bore ream module 3 exchange position, servo electronic jar 212 drive nail mouth 21 inserts rivet 159 in the hole site that the last step was made, through detecting element 15 control insert nail process, in case the abnormality appears, numerical control system reports to the police and stops insert the nail action, and the pressure of the unusual completion is riveted.

And 5: and the automatic drilling and riveting actuating mechanism moves to the next riveting position, the switching module 4 drives the insert nail press riveting module 2 and the drilling and reaming module 3 to exchange positions again, and the processes are repeated to complete all riveting tasks.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims

1. An automatic drilling and riveting actuating mechanism suitable for riveting a rocket cabin is characterized by comprising a nail shooting module (1), a nail inserting and riveting module (2), a drilling and reaming module (3), a switching module (4) and a pressing and ranging module (5); the compaction distance measuring module (5) compacts the rocket cabin body; the drilling and reaming module (3) completes drilling or reaming on the surface of the cabin body; the switching module (4) realizes the position exchange of the drilling and reaming module (3) and the insert nail press riveting module (2); the rivet (159) is injected into the tail end of the insert pin riveting module (2) by the rivet shooting module (1), and the rivet (159) is inserted into the prepared hole site by the insert pin riveting module (2) to complete riveting;

the rivet inserting and pressing module (2) comprises a rivet head, a detection unit (29) and a servo electric cylinder (212), wherein the servo electric cylinder (212) is sequentially connected with the detection unit (29) and the rivet head;

the detection unit comprises a shell (291), a sliding core (293) and a displacement sensor (295), wherein the shell (291) is connected with a servo electric cylinder (212), the sliding core (293) is installed in the shell (291) in a sliding mode, one end of the sliding core (293) is connected with a rivet head, the shell (291) is provided with the displacement sensor (295), and the displacement sensor (295) can measure the relative displacement between the sliding core (293) and the shell (291);

the detection unit (29) further includes a bushing (292), a third coil spring (294), and a target plate (296); the bushing is arranged in the shell (291), and the sliding core (293) can slide in the bushing (292);

the third helical spring (294) is arranged between the other end of the sliding core (293) and the shell (291) along the sliding direction of the sliding core (293), and a gap (297) is formed between the other end of the sliding core (293) and the shell (291), and the width of the gap (297) can be changed under the action of external force;

the target plate (296) is arranged on the circumferential direction of the sliding core (293) and is opposite to the displacement sensor (295), a slide way is arranged at the corresponding position of the outer shell (291) and the target plate (296), the slide way is parallel to the sliding direction of the sliding core (293), and the target plate (296) can slide in the slide way under the driving of the sliding core (293); the displacement sensor (295) is capable of detecting its own current distance (298) to the target plate (296).

2. The automatic drilling and riveting actuator suitable for riveting the rocket cabin according to claim 1, wherein the plug pin riveting module (2) further comprises a mounting plate (213), and the plug pin riveting module (2) is connected with the switching module (4) through the mounting plate (213);

the riveting head comprises a rivet nozzle (21), an annular spring (22), a second rotating shaft (23), a push pin (24), a rivet nozzle seat (25), a limiting pin (26), a second spiral spring (27), a riveting die (28), a pressing plate (210) and a positioning pin (211);

one end of the riveting die (28) is a conical surface, one end of the sliding core (293) connected with the riveting die (28) is provided with a conical hole, the riveting die (28) is connected with the sliding core (293) in a matched mode through the conical surface and the conical hole, the riveting die (28) is fixed on the sliding core (293) through the pressing plate (210), and the riveting die (28) is limited to rotate through the positioning pin (211);

the second spiral spring (27) and the nail nozzle seat (25) are sequentially sleeved into the riveting die (28), the nail nozzle seat (25) can slide along the riveting die (28), and the nail nozzle (21) is arranged on the nail nozzle seat (25) through the second rotating shaft (23);

a first limiting groove is formed in the nail mouth seat (25) along the length direction of the riveting die (28), a limiting pin (26) is arranged on the riveting die (28), and the limiting pin (26) can slide in the first limiting groove to limit the rotation between the nail mouth seat (25) and the riveting die (28); a second limiting groove is formed in the nail mouth seat (25), a push pin (24) is arranged on the riveting die (28), and the push pin (24) is attached to the second limiting groove under the thrust action of a second spiral spring (27);

the two petals of the nail mouth (21) are pressed and connected through the annular spring (22), and when the nail shooting module (1) pushes the rivet (159) to the nail mouth (21), the two petals of the nail mouth (21) are squeezed open, so that the rivet (159) is clamped by the nail mouth (21).

3. The automatic drilling and riveting actuating mechanism suitable for riveting the rocket cabin according to claim 1, wherein the shooting nail module (1) comprises a first bracket (11), a first linear module (12), a first servo motor (13), a pipeline mounting plate (14), a shooting nail unit (15), a nail feeding pipe (16), a drag chain (17) and a drag chain bracket (18);

the first support (11) is connected with the switching module (4), a first straight line module (12) is installed on the first support (11), one or more nail shooting units (15) are arranged on the first straight line module (12), and the nail shooting units (15) are connected with the nail feeding pipes (16) in a one-to-one corresponding mode;

the pipeline mounting plate (14) is mounted on the first linear module (12), the moving end of the drag chain (17) is connected with one end of the pipeline mounting plate (14), and the fixed end of the drag chain (17) is connected with a drag chain bracket (18) mounted on the first bracket (11);

the nail feeding pipes (16) penetrate into the drag chain (17) from the moving end of the drag chain (17) through the pipeline mounting plate (14) and are arranged in order in the drag chain (17), and the nail feeding pipes penetrate out from the fixed end of the drag chain (17) and are connected with an external nail cabinet to realize nail feeding;

the first servo motor (13) is installed at one end of the first linear module (12), and the first servo motor (13) can drive the nail shooting unit (15), the pipeline installation plate (14), the nail feeding pipe (16) and the drag chain (17) to move along the first linear module (12).

4. The automatic drilling and riveting actuator suitable for rocket pod riveting according to claim 3, wherein the nail shooting unit (15) comprises a pipe joint (151), a nail clamp (152), a first spiral spring (153), a first rotating shaft (154), a nail pusher (155), a cylinder (156), a sensor (157) and a bottom plate (158); the bottom plate (158) is connected with the first linear module (12), the nail clamp (152) is connected with the bottom plate (158) through a first rotating shaft (154), two sections of the nail clamp (152) are tightly pressed and connected through a first spiral spring (153), a rivet placing hole position is formed between the two sections, a pipe joint (151) is arranged on the bottom plate (158) at a position corresponding to the rivet placing hole position, and the pipe joint (151) is connected with the nail conveying pipe (16); a nail feeding groove is formed in the position, corresponding to the rivet placing hole position, of the bottom plate (158), the nail feeding groove extends to the edge of the bottom plate (158), a nail pushing device (155) is arranged in the nail feeding groove, the nail pushing device (155) is connected with an air cylinder (156) arranged on the bottom plate (158), and the nail pushing device (155) can push the rivet (159) placed in the rivet placing hole position to the edge of the bottom plate (158) to enter the insert rivet pressing and riveting module (2) under the driving of the air cylinder (156);

the nail pusher (155) is provided with a supporting section (1511) and a notch (1510) with the same cross section shape as the rivet (159);

the bottom plate (158) is provided with a sensor (157), and the sensor (157) can detect whether the rivet (159) enters the insert rivet pressing and riveting module (2).

5. The automatic drilling and riveting actuating mechanism suitable for riveting a rocket cabin according to claim 1 is characterized in that the drilling and reaming module (3) comprises a second bracket (31), a second linear module (33), a drilling spindle (32) and a second servo motor (34); the second support (31), the second linear module (33) and the drilling spindle (32) are sequentially connected, the drilling spindle (32) is connected with the second servo motor (34), and the second support (31) is connected with the switching module (4).

6. The automatic drilling and riveting actuator suitable for riveting a rocket cabin according to claim 1, wherein the switching module (4) comprises a frame (41), a sliding seat (42), a first linear guide rail (43), a sliding saddle (44), a ball screw pair (45), a coupling (46), a third servo motor (47), a dust cover (48) and a grating ruler (49);

a sliding seat (42) is installed on the rack (41), a first linear guide rail (43) is arranged on the sliding seat (42), a grating ruler (49) is arranged on the first linear guide rail (43), and a saddle (44) is connected with the first linear guide rail (43) through a sliding block of the first linear guide rail (43); the sliding saddle (44) is connected with the nail shooting module (1), the inserted nail pressure riveting module (2) and the drilling and reaming module (3), and dust covers (48) are further arranged at two ends of the sliding saddle (44); a compaction distance measuring module (5) is connected above the rack (41);

the third servo motor (47) and the ball screw pair (45) are arranged on the rack (41), the third servo motor (47) is connected with the ball screw pair (45) through a coupler (46), and the ball screw pair (45) is connected with a saddle (44);

the distance from the edge of the tail end of a nail shooting unit (15) of the nail shooting module (1) to the center of a nail mouth (21) of the inserted nail pressure riveting module (2) is equal to the distance from the center of the nail mouth (21) of the inserted nail pressure riveting module (2) to the center of a drilling main shaft (32) of the drilling and reaming module (3).

7. The automatic drilling and riveting actuating mechanism suitable for riveting the rocket cabin according to claim 1, wherein the pressing and ranging module (5) comprises a pressing foot (51), a pressing rod (52), a second linear guide rail (53), a pressing cylinder (54), a mounting seat (55) and a scrap suction pipe (56);

the mounting seat (55) is connected with the switching module (4), the pressing cylinder (54) and the second linear guide rail (53) are arranged on the mounting seat (55), the pressing cylinder (54) has a stroke reading function, the pressing cylinder (54) is connected with a sliding block of the second linear guide rail (53), and the sliding block of the second linear guide rail (53) is connected with the pressing rod (52);

the pressure lever (52) is provided with a scrap suction pipe (56) and a pressure foot (51) with a circular hole, the scrap suction pipe (56) is communicated with the inside of the circular hole of the pressure foot (51), and the pressure foot (51) is made of polyurethane.

8. The automatic drilling and riveting actuating mechanism suitable for riveting the rocket cabin according to claim 1, further comprising a numerical control system, wherein the numerical control system is in signal connection with the nail shooting module (1), the nail inserting and riveting module (2), the drilling and reaming module (3), the switching module (4) and the pressing and distance measuring module (5) and can control the operation of the nail shooting module (1), the nail inserting and riveting module (2), the drilling and reaming module (3), the switching module (4) and the pressing and distance measuring module (5);

the numerical control system can correct the feeding distance of the insert rivet pressing module (2) and the drilling and reaming module (3) according to data fed back by a pressing cylinder (54) of the pressing and ranging module (5) and automatically compensate the processing roundness error of the rocket cabin body;

the numerical control system can judge whether the rivet (159) is inserted into a hole site manufactured by the drilling and reaming module (3) or not according to the rule that the current distance (298) fed back by the displacement sensor (295) changes along with time, and when the rivet (159) is not inserted into the hole site, the servo electric cylinder (212) is controlled to stop moving.

9. An automatic drilling and riveting execution method suitable for riveting a rocket cabin is characterized by comprising the following steps:

step 1: the numerical control system controls the automatic drilling and riveting actuating mechanism to move to a riveting position, so that the center line of the presser foot (51) is superposed with the theoretical center line of a riveting hole site, and the center line of the drilling spindle (32) is superposed with the center line of the presser foot (51);

step 2: a pressing cylinder (54) of the pressing ranging module (5) drives a pressing foot (51) to be in contact with the surface of the rocket cabin body, the stroke of the pressing cylinder (54) is fed back to a numerical control system, and the numerical control system corrects the feeding amount of the drilling and reaming module (3) and the insert nail press riveting module (2);

and step 3: a drilling main shaft (32) of the drilling and reaming module (3) is aligned to the presser foot (51) and drives the surface of the rocket cabin to drill and ream holes through a second servo motor (34); when the drilling and reaming module (3) works, the nail ejecting module (1) finishes nailing to the insert nail pressure riveting module (2);

and 4, step 4: the saddle (44) of the switching module (4) moves under the driving of a third servo motor (47) to switch the positions of the insert rivet pressing module (2) and the drilling and reaming module (3), so that a rivet nozzle (21) of the insert rivet pressing module (2) is aligned to a presser foot (51), a servo electric cylinder (212) drives the rivet nozzle (21) to insert a rivet (159) into a manufactured hole site, the insert rivet process is monitored through a detection unit (29), once abnormity occurs, a numerical control system alarms and stops insert rivet movement, and press riveting is completed without abnormity;

and 5: the automatic drilling and riveting actuating mechanism moves to the next riveting position, a sliding saddle (44) of the switching module (4) moves under the driving of a third servo motor (47) to switch the positions of the inserting nail pressure riveting module (2) and the drilling and reaming module (3), so that a drilling main shaft (32) of the drilling and reaming module (3) is aligned to a presser foot (51), and the steps 1-4 are repeated to complete all riveting tasks.