CN110877087A - Flexible automatic top riveting system and top riveting method - Google Patents
Flexible automatic top riveting system and top riveting method Download PDFInfo
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- CN110877087A CN110877087A CN201811031541.5A CN201811031541A CN110877087A CN 110877087 A CN110877087 A CN 110877087A CN 201811031541 A CN201811031541 A CN 201811031541A CN 110877087 A CN110877087 A CN 110877087A
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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
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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
- B21J15/02—Riveting procedures
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Abstract
A flexible automatic top riveting system comprises a support, a flexible movement assembly, a front end actuator, a top iron and a control cabinet; the front end of the flexible motion component is connected with the front end actuator in an actuating cylinder mode to perform telescopic motion and rotary motion; the front end of the front end actuator is provided with a top iron; the rear end of the flexible motion component is connected with the support in an actuating cylinder mode to perform telescopic motion and rotary motion; the flexible motion assembly and the front end actuator are of hollow structures, driving systems are arranged in the flexible motion assembly and the front end actuator, and the driving systems of the flexible motion assembly and the front end actuator are connected with the control cabinet through electric circuits; the flexible motion assembly comprises a first motion rod and a second motion rod. The flexible automatic top riveting system can automatically rivet small airplane fuselage structures and other structures with poor openness, and improves the automation level. The multi-stage hinge and the multi-stage actuator cylinder are used for stretching and rotating, and can stretch into the machine body through a complex curve path and reach a riveting part to carry out top riveting.
Description
Technical Field
The invention relates to the field of automatic riveting in aircraft manufacturing, in particular to a flexible automatic top riveting system and a top riveting method.
Background
Riveting is the most common connection method in aircraft assembly. With the development of the automation technology level, the automatic drilling and riveting technology is widely used in modern aircraft assembly. The automatic drilling and riveting technology is used for automatically completing the processes of positioning, clamping, drilling/dimpling, gluing, nail feeding, riveting/installing and the like of an assembly part in the assembly process. When the automatic drilling and riveting system is used for riveting, operation needs to be carried out on two ends of a rivet, namely top riveting needs to be carried out on two sides of a riveting object, and two sides of the riveting object need larger operation space. In the prior art, the automatic drilling and riveting technology is generally used for assembling wall plate structures with simple structures and assembling fuselages of large-scale airplanes. Compared with large airliners, most unmanned aerial vehicles have smaller fuselages, the automatic drilling and riveting technology for the closed small-sized aircraft fuselage structure is difficult to apply, the automation level is lower, automatic drilling and other work can be generally carried out, and the final riveting work still needs manual operation.
Disclosure of Invention
In order to solve the technical problems, the invention provides a flexible automatic top riveting system and a top riveting method. The flexible automatic top riveting system extends into the small airplane body through openings such as a cover cap on the body and the like, and is matched with an automatic drilling and riveting machine outside the airplane body to apply force to press and rivet rivets.
A flexible automatic top riveting system comprises a support, a flexible movement assembly, a front end actuator, a top iron and a control cabinet; the front end of the flexible motion component is connected with the front end actuator in an actuating cylinder mode to perform telescopic motion and rotary motion; the front end of the front end actuator is provided with a top iron; the rear end of the flexible motion component is connected with the support in an actuating cylinder mode to perform telescopic motion and rotary motion; the flexible motion assembly and the front end actuator are of hollow structures, driving systems are arranged in the flexible motion assembly and the front end actuator, and the driving systems of the flexible motion assembly and the front end actuator are connected with the control cabinet through electric circuits; the flexible motion assembly comprises a first motion rod and a second motion rod, the number of the first motion rod and the number of the second motion rod are not less than 3, the first motion rod and the second motion rod are connected end to end, the first motion rod is arranged at the front end of the flexible motion assembly, the second motion rod is arranged at the rear end of the flexible motion assembly, the rear end of the first motion rod is connected with the front end of the second motion rod in a hinge mode, and the rear end of the second motion rod is connected with the front end of the first motion rod in an actuating cylinder mode.
Furthermore, the number of the first moving rods and the second moving rods of the flexible moving assembly of the flexible automatic top riveting system is 3, and the driving systems of the flexible moving assembly and the front end actuator are hydraulically driven, electromagnetically driven or fully electrically driven.
A flexible automatic top riveting method comprises the following steps: (1) establishing a model: importing or establishing a fuselage structure model and a flexible automatic top riveting system model, and paying attention to the relative position of the flexible automatic top riveting system and the fuselage structure; (2) analyzing a motion path: simulating the motion paths of the flexible automatic top riveting system and the automatic drilling and riveting machine in the riveting process based on the model, wherein the flexible automatic top riveting system extends into an opening of a machine body structure and ensures that the riveting process does not collide with the machine body structure in the riveting process; (3) programming: according to the mutual coordination and cooperation with an automatic drilling and riveting machine, an optimal motion path is analyzed in a combined manner, and a motion program of the flexible automatic top riveting system is compiled; (4) riveting: drilling is completed by an automatic drilling and riveting machine outside the machine body, after a rivet is placed in the hole, the flexible automatic top riveting system starts to align in the machine body, a top iron on the flexible automatic top riveting system is aligned with the rivet, and the flexible automatic top riveting system and the external automatic drilling and riveting machine simultaneously perform press riveting on the rivet; (5) and (3) exiting the machine body: after riveting is completed, the flexible automatic top riveting system exits from the machine body structure according to a preset path; (6) and (3) inspecting the riveting quality: and inspecting the riveting quality of the rivet.
Through the technical means, the riveting device has the beneficial technical effects that automatic riveting work can be carried out on structures with poor openness, such as a small airplane body structure, and the like, and the automation level is improved. The flexible system is a flexible system, can stretch into the flexible system through a complex curve path through an opening of a machine body and reach a riveting part to carry out top riveting by stretching and rotating through the multistage hinge and the multistage actuating cylinders.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
FIG. 2 is a schematic view of the flexible motion assembly of the present invention.
In the figure, 1, a support; 2. a flexible motion assembly; 3. a front end actuator; 4. carrying out iron jacking; 5. a control cabinet; 21. a first motion rod; 22. and a second motion rod.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, the examples of which are set forth to illustrate the invention and are not intended to limit the scope of the invention.
A flexible automatic top riveting system comprises a support 1, a flexible movement assembly 2, a front end actuator 3, a top iron 4 and a control cabinet 5; the flexible motion assembly 2 is formed by connecting a plurality of first motion rods 21 and second motion rods 22 end to end, the first motion rod 21 is arranged at the foremost end of the flexible motion assembly 2, and the second motion rod 22 is arranged at the rearmost end of the flexible motion assembly 2; the joint of the rear end of the first moving rod 21 and the front end of the second moving rod 22 is in hinge connection and can rotate; the joint of the rear end of the second motion rod 22 and the front end of the first motion rod 21 is connected in an actuating cylinder manner, and can perform telescopic motion and rotary motion; the front end of the flexible motion component 2 is connected with the front end actuator 3 in an actuating cylinder mode and can perform telescopic motion and rotary motion; the front end of the front end actuator 3 is provided with a top iron 4; the rear end of the flexible motion component 2 is connected with the support 1 in an actuating cylinder mode and can perform telescopic motion and rotary motion; the flexible automatic top riveting system also comprises a control cabinet 5.
In the flexible motion assembly 2, the number of the first motion rods 21 and the second motion rods 22 is not less than 3; the sexual movement component 2 and the front end actuator 3 are of hollow structures, and a driving system is arranged in the sexual movement component and can select hydraulic driving, electromagnetic force driving, full electric driving and combination thereof. The top iron 4 installed on the front end actuator 3 can be replaced as required.
A flexible automatic top riveting method comprises the following steps:
1) establishing a model: importing or establishing a fuselage structure model and a flexible automatic top riveting system model, and paying attention to the relative position of the flexible automatic top riveting system and the fuselage structure;
2) analyzing a motion path: simulating the motion paths of the flexible automatic top riveting system and the automatic drilling and riveting machine in the riveting process based on the model, wherein the flexible automatic top riveting system extends into an opening of a machine body structure and ensures that the riveting process does not collide with the machine body structure in the riveting process;
3) programming: according to the mutual coordination and cooperation with an automatic drilling and riveting machine, an optimal motion path is analyzed in a combined manner, and a motion program of the flexible automatic top riveting system is compiled;
4) riveting: drilling is completed by an automatic drilling and riveting machine outside the machine body, after the rivet is placed in the hole, the flexible automatic top riveting system starts to align in the machine body, a top iron 4 on the flexible automatic top riveting system is aligned with the rivet, and the rivet and the external automatic drilling and riveting machine simultaneously carry out press riveting on the rivet;
5) and (3) exiting the machine body: after riveting is completed, the flexible automatic top riveting system exits from the machine body structure according to a preset path;
6) and (3) inspecting the riveting quality: and inspecting the riveting quality of the rivet.
The flexible automatic top riveting system should be placed at the most proper position with respect to the riveting object and its lower part fixed to the ground. The top iron 4 on the flexible automatic top riveting system is common top iron in general, and the top iron can be specially manufactured at special positions and manually replaced according to needs. The sensor can be installed on the actuator at the front end of the flexible automatic top riveting system as required and works in cooperation with the sensor on the terminal actuator of the external automatic drilling and riveting machine, so that the relative position and the relative movement precision of the sensor and the terminal actuator of the external automatic drilling and riveting machine are improved, and the aligning precision and the top riveting precision of the flexible automatic top riveting system on the rivet are improved.
The technical solutions described above only represent the preferred technical solutions of the present invention, and some possible changes to some parts of the technical solutions will represent the principle of the present invention, and fall within the scope of the present invention.
Claims (3)
1. The utility model provides a system is riveted on flexible automatic top which characterized in that: the flexible automatic top riveting system comprises a support (1), a flexible movement assembly (2), a front end actuator (3), a top iron (4) and a control cabinet (5); the front end of the flexible motion component (2) is connected with a front end actuator (3) in an actuating cylinder mode to perform telescopic motion and rotary motion; the front end of the front end actuator (3) is provided with a top iron (4); the rear end of the flexible motion component (2) is connected with the support (1) in a cylinder type to perform telescopic motion and rotary motion; the flexible motion assembly (2) and the front end actuator (3) are of hollow structures, driving systems are installed in the flexible motion assembly (2) and the front end actuator (3), and the driving systems of the flexible motion assembly (2) and the front end actuator (3) are connected with the control cabinet (5) through electric circuits; the flexible motion assembly (2) comprises a first motion rod (21) and a second motion rod (22), the number of the first motion rod (21) and the number of the second motion rod (22) are not less than 3, the first motion rod (21) and the second motion rod (22) are connected end to end, the first motion rod (21) is arranged at the front end of the flexible motion assembly (2), the second motion rod (22) is arranged at the rear end of the flexible motion assembly (2), the connection position of the rear end of the first motion rod (21) and the front end of the second motion rod (22) is connected in a hinge mode, and the connection position of the rear end of the second motion rod (22) and the front end of the first motion rod (21) is connected in a cylinder mode.
2. The flexible automatic top riveting system according to claim 1, wherein: the number of the first motion rods (21) and the second motion rods (22) of the flexible motion assembly (2) is 3, and the driving systems of the flexible motion assembly (2) and the front end actuator (3) are hydraulically driven, electromagnetically driven or fully electrically driven.
3. A flexible automatic top riveting method is characterized by comprising the following steps: the method comprises the following steps:
(1) establishing a model: importing or establishing a fuselage structure model and a flexible automatic top riveting system model, and paying attention to the relative position of the flexible automatic top riveting system and the fuselage structure;
(2) analyzing a motion path: simulating the motion paths of the flexible automatic top riveting system and the automatic drilling and riveting machine in the riveting process based on the model, wherein the flexible automatic top riveting system extends into an opening of a machine body structure and ensures that the riveting process does not collide with the machine body structure in the riveting process;
(3) programming: according to the mutual coordination and cooperation with an automatic drilling and riveting machine, an optimal motion path is analyzed in a combined manner, and a motion program of the flexible automatic top riveting system is compiled;
(4) riveting: drilling is completed by an automatic drilling and riveting machine outside the machine body, after a rivet is placed in the hole, the flexible automatic top riveting system starts to align in the machine body, a top iron on the flexible automatic top riveting system is aligned with the rivet, and the flexible automatic top riveting system and the external automatic drilling and riveting machine simultaneously perform press riveting on the rivet;
(5) and (3) exiting the machine body: after riveting is completed, the flexible automatic top riveting system exits from the machine body structure according to a preset path;
(6) and (3) inspecting the riveting quality: and inspecting the riveting quality of the rivet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811031541.5A CN110877087A (en) | 2018-09-05 | 2018-09-05 | Flexible automatic top riveting system and top riveting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811031541.5A CN110877087A (en) | 2018-09-05 | 2018-09-05 | Flexible automatic top riveting system and top riveting method |
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| CN110877087A true CN110877087A (en) | 2020-03-13 |
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| CN201811031541.5A Pending CN110877087A (en) | 2018-09-05 | 2018-09-05 | Flexible automatic top riveting system and top riveting method |
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Citations (10)
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| US6237210B1 (en) * | 1998-07-31 | 2001-05-29 | Daimlerchrysler Aerospace Airbus Gmbh | Method and system for fabricating, equipping and outfitting an aircraft fuselage |
| CN101372079A (en) * | 2008-09-26 | 2009-02-25 | 浙江大学 | Industrial robot cutting and processing system applied to auxiliary assembly of airplane as well as method |
| CN101462595A (en) * | 2009-01-09 | 2009-06-24 | 成都飞机工业（集团）有限责任公司 | Aircraft system member mounting method and apparatus based on industrial robot |
| CN101898301A (en) * | 2009-02-24 | 2010-12-01 | 波音公司 | The robotic assembly system of autonomous operation |
| US20130185925A1 (en) * | 2012-01-17 | 2013-07-25 | The Boeing Company | Robot for clamping onto upright frame members |
| CN103955168A (en) * | 2014-04-22 | 2014-07-30 | 浙江大学 | Robot hole machining off-line programming method based on DELMIA simulation |
| CN105253321A (en) * | 2014-07-09 | 2016-01-20 | 波音公司 | Assembly fixture for supporting a fuselage assembly |
| CN105269555A (en) * | 2014-06-20 | 2016-01-27 | 波音公司 | Robot alignment systems and methods of aligning a robot |
| CN106272415A (en) * | 2016-08-30 | 2017-01-04 | 上海大学 | Omni-mobile transport robot |
| CN107932081A (en) * | 2017-11-16 | 2018-04-20 | 上海航天精密机械研究所 | The adaptive automatic Drilling/Riveting system of morpheme and its application method |
-
2018
- 2018-09-05 CN CN201811031541.5A patent/CN110877087A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6237210B1 (en) * | 1998-07-31 | 2001-05-29 | Daimlerchrysler Aerospace Airbus Gmbh | Method and system for fabricating, equipping and outfitting an aircraft fuselage |
| CN101372079A (en) * | 2008-09-26 | 2009-02-25 | 浙江大学 | Industrial robot cutting and processing system applied to auxiliary assembly of airplane as well as method |
| CN101462595A (en) * | 2009-01-09 | 2009-06-24 | 成都飞机工业（集团）有限责任公司 | Aircraft system member mounting method and apparatus based on industrial robot |
| CN101898301A (en) * | 2009-02-24 | 2010-12-01 | 波音公司 | The robotic assembly system of autonomous operation |
| US20130185925A1 (en) * | 2012-01-17 | 2013-07-25 | The Boeing Company | Robot for clamping onto upright frame members |
| CN103955168A (en) * | 2014-04-22 | 2014-07-30 | 浙江大学 | Robot hole machining off-line programming method based on DELMIA simulation |
| CN105269555A (en) * | 2014-06-20 | 2016-01-27 | 波音公司 | Robot alignment systems and methods of aligning a robot |
| CN105253321A (en) * | 2014-07-09 | 2016-01-20 | 波音公司 | Assembly fixture for supporting a fuselage assembly |
| CN106272415A (en) * | 2016-08-30 | 2017-01-04 | 上海大学 | Omni-mobile transport robot |
| CN107932081A (en) * | 2017-11-16 | 2018-04-20 | 上海航天精密机械研究所 | The adaptive automatic Drilling/Riveting system of morpheme and its application method |
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Application publication date: 20200313 |
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