CN112935172A - Multi-degree-of-freedom reverse force/position hybrid control squeeze riveter - Google Patents
Multi-degree-of-freedom reverse force/position hybrid control squeeze riveter Download PDFInfo
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- CN112935172A CN112935172A CN202110105462.XA CN202110105462A CN112935172A CN 112935172 A CN112935172 A CN 112935172A CN 202110105462 A CN202110105462 A CN 202110105462A CN 112935172 A CN112935172 A CN 112935172A
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- squeeze riveter
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
- B21J15/28—Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups
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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
- B21J15/38—Accessories for use in connection with riveting, e.g. pliers for upsetting; Hand tools for riveting
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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
- B21J15/38—Accessories for use in connection with riveting, e.g. pliers for upsetting; Hand tools for riveting
- B21J15/42—Special clamping devices for workpieces to be riveted together, e.g. operating through the rivet holes
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- Transmission Devices (AREA)
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Abstract
The invention relates to the technical field of airplane assembly, and provides a multi-degree-of-freedom reverse force/position hybrid control riveting press, which comprises: the riveting machine comprises a riveting machine body, a riveting power device, a top locking mechanism and a multi-degree-of-freedom lifting mobile platform; the squeeze riveter body adopts a fixed design, so that the defect of insufficient rigidity of a movable squeeze riveter is overcome; the riveting power device adopts an inverted structure design to solve the problem of the initial clearance between the rivet manufacturing head and the connecting plate; the top locking mechanism is designed to be movable up and down, is matched with a multi-degree-of-freedom lifting moving platform to be used, greatly improves the riveting efficiency, and is suitable for the requirement of a multi-nail connection task; the riveting power device adopts the design that a servo motor drives a planetary roller screw, and provides two modes of displacement control and force control, so that the stability of riveting quality is improved; the riveting press has strong universality and flexible and simple use, and can meet the riveting task requirements of different thicknesses and different types of materials.
Description
Technical Field
The invention belongs to the technical field of aircraft assembly in the aviation manufacturing industry, and provides a multi-degree-of-freedom reverse force/position hybrid control riveting press aiming at the technical defects of the existing equipment.
Background
The aircraft assembly is a complex system project and is also the most important ring in the aircraft manufacturing link; in terms of labor capacity, assembly accounts for 40% -50% of the total workload of aircraft manufacturing, wherein riveting accounts for 30%; therefore, the assembly of the aircraft determines the product quality, the manufacturing cost and the delivery cycle to a great extent, and is a key and core technology of the whole aircraft manufacturing process. Common connection methods in assembly include riveting, screwing, welding, gluing and the like, wherein the defects of high manufacturing cost, unstable gluing quality and undetachable welding of screwing processing enable riveting to be the most main connection mode.
The drilling and riveting equipment can be divided into hammer riveting, press riveting and electromagnetic riveting according to the driving mode. The pneumatic hammer riveting has small riveting force, large noise, large vibration and unstable riveting quality; the electromagnetic riveting is suitable for riveting large-diameter materials which are difficult to form, but the manufacturing cost is high; however, the pressure riveting work piece has small deformation and high riveting efficiency, and is not easy to generate riveting defects, and the pressure riveting work piece is still the mainstream riveting mode.
The patent No. 200820126358.9 discloses a movable squeeze riveter, which is characterized in that the squeeze riveter comprises a squeeze riveter body, an upper riveter head, a lower riveter head and a power cylinder body, wherein the power cylinder body is fixed on the upper part of the squeeze riveter body, the lower riveter head is fixed at the lower jaw of the squeeze riveter body, and the upper riveter head is driven by a pressure piston to carry out riveting; the squeeze riveter is suitable for a single small-diameter rivet, and is easy to generate heading cracks for a large-diameter rivet; due to the movable design, the integral rigidity of the squeeze riveter is poor, and the riveting quality problems of upset head deflection, upset head size reduction and the like are easily caused; in addition, the riveting power source is located squeeze riveter body top, and the top iron is located squeeze riveter body below, can't guarantee that rivet before the riveting makes head and connecting plate just contact.
The patent publication 201921372917.9 discloses an automatic squeeze riveter, which is characterized in that the squeeze riveter comprises a driving piece and a pressure rod, the driving piece is fixedly connected with the pressure rod, the tail end of the pressure rod is provided with an elastic pressing piece for clamping a nut, a bearing platform is positioned on the motion track of the pressure rod, a workpiece is placed on the bearing platform, the nut is slowly pressed into the workpiece by the driving pressure rod, and the pressure rod is reset when the nut is pressed to a preset position; the squeeze riveter can only complete a squeeze riveting task once at every time, the platform freedom degree is single, multiple riveting of clamping can not be completed once, and a displacement control mode is adopted.
In a word, the member clamping platform in the existing embodiment has less freedom, cannot meet the requirement of a multi-nail connection task, and influences the final riveting efficiency; in the prior embodiment, a displacement control mode is mostly adopted by a squeeze riveter, and the mode is often influenced by the rigidity of equipment and is difficult to reach an expected position, so that the final riveting quality is influenced; in the existing embodiment, the riveting power source is arranged in an upper mode and the air source is used as power, so that the fact that a rivet manufacturing head just contacts with a connecting piece before riveting cannot be guaranteed, a gap is easily generated, the riveting method is only suitable for riveting tasks of small-diameter rivets, and the riveting quality is unstable.
Therefore, how to design a reasonable structure and select a riveting control method according to task requirements becomes a key for improving the riveting quality and the riveting efficiency.
Disclosure of Invention
The invention aims to provide a multi-degree-of-freedom reverse force/position hybrid control squeeze riveter, which aims to overcome the defects of the existing squeeze riveter scheme, ensure the riveting quality and improve the riveting efficiency.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a multi-degree-of-freedom reverse force/position hybrid control squeeze riveter comprises a squeeze riveter body, a riveting power device I, a top locking mechanism and a multi-degree-of-freedom lifting moving platform.
The squeeze riveter body is C type design, and squeeze riveter body bottom both sides respectively have ten bolt holes and a pinhole, and bolt and pin pass screw hole and pinhole respectively and fix with base I, and base I is opened there are inside screw hole and pinhole, and squeeze riveter body bottom upper surface has sixteen screw holes and four pinholes, is used for connecting base II and base VII respectively, and squeeze riveter body top has eight screw holes and two pinholes to be used for connecting base III.
The riveting power device I comprises a servo motor I, a servo motor reducer I connected with the servo motor I is used for improving torque, the servo motor reducer I is installed on a base II through four screws, the base II is installed on the upper surface of the bottom of a body through eight screws and two pins, a gear I in a cavity of the base II is directly connected with a speed reducer through a guide key I, a key groove is formed in the shaft body of the speed reducer, the gear II is meshed with the gear I, the inner diameter of the gear II is installed at the end part in an interference fit mode with a planetary ball screw, a tapered roller bearing I is installed on the screw and used for bearing radial and axial loads, a spacer sleeve I in contact with the inner ring of the tapered roller bearing I is arranged on the screw, the other end of the spacer sleeve I is in contact with the inner ring of a deep groove ball bearing, the other end of the deep groove ball bearing is in contact with the shaft, the inner surface of a nut sleeve matched with the guide key is provided with a key groove, the outer surface of the nut sleeve is provided with two key grooves, the guide key III and the guide key IV are matched with the key grooves, a cylinder body matched with the guide key III and the guide key IV is provided with two key grooves, the bottom end of the cylinder body is provided with four screw holes and two pin holes, screws and pins respectively pass through the screw holes and the pin holes to be connected with a base II, a sleeve separation blade is provided with six screw holes, the screws pass through the screw holes to be connected with the nut sleeve, one end of the nut sleeve is provided with six internal threaded holes, the other end of the nut sleeve is provided with six internal threaded holes, the bottom end of a push rod is connected with the other end of the nut sleeve through the six screws, the outer surface of the top end of the push rod is sleeved with a bearing spacer II, the bolt and the pin respectively pass through a cylinder body cover head I with a screw hole and a pin hole to be connected with a cylinder body, a round cavity is arranged inside the push rod, the flange I is in surface-to-surface contact with the cavity of the push rod, the round cavity is arranged inside the flange I, the riveting die I is in surface-to-surface contact with the cavity of the flange I, four internal screw holes are formed in the bottom end of the base II, and the screw penetrates through the sealing plate to be connected with the base II.
The top locking mechanism comprises a locknut, the locknut is fixed at one end of a trapezoidal screw, a guide key V is arranged on the shaft part of the trapezoidal screw, a hand wheel with a key groove is matched with the guide key V, one end of the hand wheel is contacted with a spacer sleeve III, the other end of the spacer sleeve III is contacted with a contact cylinder body cover head II, a screw hole is arranged on the cylinder body cover head II, a screw passes through the screw hole to be connected with a base III, a tapered cavity is arranged inside the cylinder body cover head II and is contacted with the outer surface of a tapered roller bearing II, a key groove is arranged on the outer side of a nut component II matched with the trapezoidal screw for use, the key groove is matched with a guide key VI, the guide key VI is matched with the inner surface of the base III, a key groove is arranged on the inner surface of the base III to prevent the nut component II from reversing and provide vertical direction, eight internal threaded, the bottom end of the sealing body is provided with eight internal threaded hole screws which penetrate through a flange II with a screw hole and are connected with the sealing body, the bottom end of the flange II is provided with eight screw holes, the screws penetrate through a pressure sensor with screw holes and are connected with a flange II, the pressure sensor is provided with internal threaded holes, a riveting die II with threads is connected with the pressure sensor, the outer surface of a nut component II is provided with an arc-shaped groove, a locking block I matched with the arc-shaped groove is provided with an internal threaded hole, a through hole is formed in the locking block II matched with the locking block II, one end of a screw penetrates through the through hole of the locking block II and is connected with the locking block I, the two ends of the screw are both in thread design, the middle of the screw is a polished rod design, the other end of the screw is connected with a rocking column, one.
The multi-degree-of-freedom lifting moving platform comprises a Z-direction up-and-down motion mechanism, an X-direction back-and-forth motion mechanism and a Y-direction hand wheel right motion mechanism; the multi-degree-of-freedom lifting mobile platform comprises a power device II, the power device II is designed in the same manner as a riveting power device I, except for a riveting die I and a flange I, the power device drives the flange to lift in the Z direction, the flange II is designed as a disc, eight internal threaded holes and two pin holes are formed in the top of the flange II, and a screw penetrates through a base IV with a screw hole and a pin hole to be connected with the flange II.
The sliding rail I and the sliding rail II are arranged on two sides of a base IV, the sliding rail I and the sliding rail II are fixed on the base IV through screws, a sliding block I and a sliding block II are wrapped on the sliding rail I and are respectively fixed on a base V through screws, a servo motor II is connected with a coupling I, the coupling I is connected with a ball screw I, two sides of the ball screw I are respectively provided with a sliding bearing, the ball screw I drives the sliding block V and the sliding block VI which contain internal threads to move linearly, the sliding block V and the sliding block VI are respectively arranged on a bottom plate I and a bottom plate II, and the bottom plate I and the bottom plate II are fixedly connected with the base V through screws; there are slide rail III and slide rail IV in base V both sides, slide rail III and slide rail IV pass through the fix with screw at base V, slider VII and slider VIII cladding are in slide rail III and respectively through the fix with screw in base VI, slider IX and slider X cladding are in slide rail IV and respectively through the fix with screw in base VI, servo motor III links to each other with shaft coupling II, shaft coupling II is connected in ball II, the ball both sides respectively have a slide bearing, ball II drive contain internal screw thread slider XI and slider XII linear motion, slider XI and slider XII install respectively in bottom plate III and bottom plate IV, bottom plate III and bottom plate IV link firmly with base VI through the screw.
Furthermore, notches with different sizes and shapes are formed in the base IV, the base V and the base VI respectively, and the shape and the size of each notch are determined according to the size of the test piece. Further, the riveting die I and the riveting die II are coaxially mounted.
Furthermore, the central axis of the nut component II is perpendicular to the central axes of the locking block I and the locking block II
Furthermore, the riveting die I and the riveting die II can be flat-head riveting dies or female dies, and the shape and the size of the female dies are determined by the top angle and the depth of the riveting die nest.
Further, the top locking mechanism is located on the upper portion of the squeeze riveter body, and the riveting power device I is located on the lower portion of the squeeze riveter body.
Further, the riveting power device I can adopt a displacement control mode and a force control mode, and can accurately control the riveting speed.
The invention also provides a use method of the multi-degree-of-freedom reverse force/position hybrid control squeeze riveter, which comprises the following steps:
s1, clamping a sample and placing a rivet;
s2, adjusting the X-direction, Y-direction and Z-direction positions of the multi-degree-of-freedom lifting moving platform to enable the first riveting position of the test piece to be located at the central axis of the riveting die I;
s3, shaking the hand-operated wheel to control the top locking mechanism to move towards Z-direction, ensuring that the rivet manufacturing head is located in a groove of a riveting die II, reading a pressure value of a pressure sensor through an industrial personal computer to ensure that the riveting die II is just contacted with the rivet manufacturing head, determining the position of a first riveting hole, moving a rocker to lock a nut component II, and recording the position of the current riveting hole;
s4, adjusting the X-direction, Y-direction and Z-direction positions of the multi-degree-of-freedom lifting moving platform to enable the second riveting position of the test piece to be located at the central axis of the riveting die I;
s5, repeating S4, and respectively determining the positions of the third riveting hole and the fourth riveting hole, wherein the teaching of the positions of the four riveting holes is finished;
s6, calculating hole site coordinates of all rivets under current clamping according to the teaching hole sites and the rivet intervals;
s7, selecting a displacement control mode or a force control mode on an industrial personal computer interface, and inputting riveting information such as riveting speed, riveting displacement/riveting force, riveting sequence and the like;
s8, executing a riveting task, and controlling the X-direction, Y-direction and Z-direction movement of the multi-degree-of-freedom lifting mobile platform to reach a first riveting hole site;
s9, the riveting power device I works, the riveting die I moves to Z + to extrude the rivet rod, after the preset riveting force or the riveting displacement is reached, the riveting die I moves to Z-, and after the first rivet is riveted, the information of the riveting process is automatically recorded;
s10, repeatedly executing S8-S9 to complete the riveting tasks of other rivets;
and S11, after riveting is completed, returning the multi-degree-of-freedom lifting moving platform to the zero position in each direction, returning the riveting die I to the zero position, manually opening the top locking mechanism, and shaking the hand-operated wheel to return the riveting die II to the zero position.
Has the advantages that:
the multi-freedom-degree reverse force/position hybrid control squeeze riveter provided by the invention has the beneficial effects that:
(1) according to the invention, the squeeze riveter body adopts a fixed design, so that the problem of poor riveting consistency caused by poor rigidity of the movable squeeze riveter is solved.
(2) The top locking mechanism of the riveting power device is arranged above the riveting power device, and the riveting power is arranged below the riveting power device.
(3) The squeeze riveter can adopt two modes of displacement control and force control, can be suitable for riveting work with different requirements, and has stronger selectivity.
(4) The top locking mechanism adopts an up-down movable design and a manual locking mode, is matched with a multi-degree-of-freedom lifting mobile platform for use, greatly improves the riveting efficiency, and is suitable for the requirement of a multi-nail connection task;
(5) the riveting power device adopts the design that the servo motor drives the planetary ball screw, has good linear output, can be suitable for the riveting task of the large-diameter rivet, and ensures that the riveting quality is more stable.
(6) According to the invention, the multi-degree-of-freedom lifting moving platform is driven by the servo motor in each direction, so that the moving position is more accurate, and the riveting quality is ensured.
(7) The multi-degree-of-freedom reverse force/position hybrid control squeeze riveter provided by the invention has strong universality and flexible and simple use, and can meet the squeeze riveting task requirements of materials with different thicknesses and different types.
Drawings
Fig. 1 is an assembly view of the overall structure of the present invention.
Fig. 2 is an exploded view of the riveting power device I of the invention.
Fig. 3 is an exploded view of the top locking mechanism structure of the present invention.
Fig. 4 is an exploded view of the X-direction structure of the multi-degree-of-freedom lifting moving platform of the invention.
Fig. 5 is an exploded view of the Y-direction structure of the multiple-degree-of-freedom elevating mobile platform of the present invention.
Fig. 6 is a view of the construction of the manual locking assembly of the present invention in cooperation with a nut.
Fig. 7 is a structure view of the cylinder head I of the present invention in cooperation with a flange I and a flange ii.
FIG. 8 is the structure diagram of the base IV, V and VI of the multi-degree-of-freedom lifting mobile platform of the invention.
FIG. 9 is a schematic view of a laminated sample well site of the present invention.
FIG. 10 is a block diagram of a multi-degree of freedom elevating platform rail assembly and a feeding assembly.
FIG. 11 is a view of the top locking mechanism manual locking assembly.
FIG. 12 is a top locking mechanism trapezoidal lead screw nut assembly configuration view.
The reference numbers are as follows: squeeze riveter body (1), riveting power device I (2), top locking mechanism (3), multi freedom lift moving platform (4), power device II (5), first guide rail sliding block set spare (6), second guide rail sliding block set spare (7), first feeding subassembly (8), third guide rail sliding block set spare (9), fourth guide rail sliding block set spare (10), second feeding subassembly (11), manual locking subassembly (12), trapezoidal lead screw nut subassembly (13), industrial computer (14), base I (101), base II (201), servo motor I (202), servo motor reduction gear I (203), gear I (204), guide key I (205), gear II (206), planetary ball screw (207), tapered roller bearing I (208), spacer sleeve I (209), deep groove (210), sealing washer (211), nut part I (212) ball bearing, A guide key II (213), a nut sleeve (214), a guide key III (215), a guide key IV (216), a cylinder body I (217), a sleeve baffle plate (218), a push rod (219), a spacer bush II (220), a sliding bearing (221), a cylinder body cover head I (222), a flange I (223), a riveting die I (224), a sealing plate (225), a base III (301), a locknut (302), a trapezoidal screw rod (303), a guide key V (304), a hand wheel (305), a spacer bush III (306), a cylinder body cover head II (307), a tapered roller bearing II (308), a nut component II (309), a guide key VI (310), a sealing body (311), a flange II (312), a pressure sensor (313), a riveting die II (314), a locking block I (315), a locking block II (316), a screw (317), a rocking column (318), a spacer bush IV (319), a rocking bar (320), a nut (321), Base IV (401), flange III (402), slide rail I (403), slide rail II (404), slider I (405), slider II (406), base V (407), slider III (408), slider IV (409), servo motor II (410), shaft coupling I (411), ball screw I (412), slider V (413), slider VI (414), bottom plate I (415), bottom plate II (416), slide rail III (417), slide rail IV (418), slider 419 (419), slider VIII (420), base VI (421), slider IX (422), slider X (423), ball screw II (424), slider XI (425), slider XII (426), bottom plate III (427), bottom plate IV (428), shaft coupling II (429), servo motor III (430), cylinder II (431).
Detailed Description
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it should be obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
The invention provides a multi-degree-of-freedom reverse force/position hybrid control squeeze riveter, which comprises a squeeze riveter body 1, a riveting power device I2, a top locking mechanism 3 and a multi-degree-of-freedom lifting moving platform 4 as shown in figures 1-12.
The riveting power device I2 comprises a servo motor I202, a servo motor reducer I203 connected with the servo motor I202 is used for improving torque, the servo motor reducer I203 is installed on a base II 201 through four screws, the base II 201 is installed on the upper surface of the bottom of the riveting machine body 1 through eight screws and two pins, a gear I204 in a cavity of the base II 201 is directly connected with the reducer 203 through a guide key I205, a key groove is formed in the shaft body of the reducer 203, a gear II 206 is meshed with the gear I204, the inner diameter 206 of the gear II is in interference fit with a planetary ball screw 207 and installed at the end part, a conical roller bearing I208 is installed on the planetary ball screw 207 and used for bearing radial and axial loads, a spacer sleeve I209 is in contact with the inner ring of the conical roller bearing I208, the other end of the spacer sleeve I209 is in contact with the inner ring of a deep groove ball bearing, a sealing ring 211 is sleeved on a shaft shoulder, the sealing ring 211 is fixed with a base II 201 through six screws, a guide key II 213 is arranged on the outer surface of a nut component I212 of the planetary ball screw 207, a key groove is formed in the inner surface of a nut sleeve 214 matched with the guide key 214, two key grooves are formed in the outer surface of the nut sleeve 214, a guide key III 215 and a guide key IV 216 are matched with the key grooves, a cylinder body I217 matched with the guide key III 215 and the guide key IV 216 is formed in the inner surface of the cylinder body I217, four screw holes and two pin holes are formed in the bottom end of the cylinder body I217, the screws and the pins respectively penetrate through the screw holes and the pin holes to be connected with the base II 201, six screw holes are formed in a sleeve baffle plate 218, the screws penetrate through the screw holes to be connected with the nut sleeve 214, six internal threaded holes are formed in one end of the nut sleeve 214, the outer surface cover in push rod 219 top has bearing spacer II 220, bearing spacer II 220 one end and the contact of I217 top of cylinder body, the other end and the contact of slide bearing 221 outer lane, cylinder body I217 top surface is opened has four inside screw holes and two pinholes, bolt and pin pass respectively and have screw hole and pinhole cylinder body capping I222 be connected with cylinder body I217, the inside circular cavity that is of push rod 219, flange I223 and push rod 219 cavity face-to-face contact, the inside circular cavity that is of flange I223 together, rivet mould I224 and flange I223 cavity face-to-face contact, there are four inside screw holes in II 201 bottom of base, the screw passes closing plate 225 and is connected with II 201 of base.
The top locking mechanism 3 comprises a trapezoidal lead screw nut component 13 and a manual locking component 12, the trapezoidal lead screw nut component 13 comprises a locknut 302, the locknut 302 is fixed at one end of a trapezoidal lead screw 303, the shaft part of the trapezoidal lead screw 303 is provided with a guide key V304, a hand-operated wheel 305 provided with a key groove is matched with the guide key V304, one end of the hand-operated wheel 305 is contacted with a spacer sleeve III 306, the other end of the spacer sleeve III 306 is contacted with a cylinder body cover head II 307, the cylinder body cover head II 307 is provided with a screw hole, a screw passes through the screw hole to be connected with a base III 301, the inside of the cylinder body cover head II 307 is provided with a tapered cavity, the tapered cavity is contacted with the outer surface of a conical roller bearing II 308, the outer side of a nut component II 309 used in cooperation with the trapezoidal lead screw 303 is provided with a key groove, the key groove is matched with a guide key VI 310, the guide key VI 310 is matched with, the bottom end of the nut component II 309 is provided with eight internal threaded holes, screws penetrate through a sealing body 311 with screw holes to be connected with the nut component II 309, the bottom end of the sealing body 311 is provided with eight internal threaded holes, the screws penetrate through a flange II 312 with screw holes to be connected with the sealing body 311, the bottom end of the flange II 312 is provided with eight screw holes, the screws penetrate through a pressure sensor 313 with screw holes to be connected with the flange II 312, the pressure sensor 313 is provided with internal threaded holes, a riveting die II 314 with threads is connected with the pressure sensor 313, the nut component II 309 is locked through a manual locking component 12, and the outer surface of the nut component II 309 is provided; the manual locking assembly 12 comprises a locking block I315 matched with the circular arc-shaped groove, an internal threaded hole is formed in the manual locking assembly, a locking block II 316 matched with the circular arc-shaped groove is formed in the manual locking assembly, a through hole is formed in the manual locking assembly, one end of a screw 317 penetrates through the through hole of the locking block II 316 to be connected with the locking block I315, both ends of the screw 317 are in threaded design, the middle of the screw is in polished rod design, the other end of the screw 317 is connected with a rocking column 318, one end of the rocking column 318 is in contact with a spacer sleeve IV 319, the interior of the rocking column 318 is in threaded design, one side of the.
The multi-degree-of-freedom lifting moving platform 4 comprises up-and-down movement in the Z direction, front-and-back movement in the X direction and left-and-right movement in the Y direction; the Z-direction up-down movement of the multi-degree-of-freedom lifting mobile platform 4 comprises a power device II 5, the power device II 5 and a riveting power device I2 are designed in the same way, except for a riveting die I224 and a flange I223, the power device drives a flange III 402 to realize Z-direction lifting, the flange III 402 is designed as a disc, eight internal threaded holes and two pin holes are formed in the top of the flange III 402, and screws penetrate through a base IV 401 with the screw holes and the pin holes to be connected with the flange III 402; the multi-degree-of-freedom lifting moving platform 4 moves forwards and backwards in the X direction and comprises a base V407, a first guide rail sliding block assembly 6, a second guide rail sliding block assembly 7 and a first feeding assembly 8; the first guide rail sliding block assembly 6 and the second guide rail sliding block assembly 7 are a sliding rail I403 and a sliding rail II 404 on two sides of a base IV 401, the sliding rail I403 and the sliding rail II 404 are fixed on the base IV 401 through screws, a sliding block I405 and a sliding block II 406 are wrapped on the sliding rail I403 and are respectively fixed on a base V407 through screws, and a sliding block III 408 and a sliding block IV 409 are wrapped on the sliding rail II 404 and are respectively fixed on the base V through screws; the first feeding assembly 8 is characterized in that a servo motor II 410 is connected with a coupler I411, the coupler I411 is connected with a ball screw I412, two sides of the ball screw I412 are respectively provided with a sliding bearing, the ball screw I412 drives a sliding block V413 and a sliding block VI 414 which contain internal threads to move linearly, the sliding block V413 and the sliding block VI 414 are respectively arranged on a base plate I415 and a base plate II 416, and the base plate I415 and the base plate II 416 are fixedly connected with a base V407 through screws; the multi-degree-of-freedom lifting moving platform 4 moves forwards and backwards in the Y direction and comprises a base VI 421, a third guide rail sliding block assembly 9, a fourth guide rail sliding block assembly 10 and a second feeding assembly 11; the third guide rail slide assembly 9 and the fourth guide rail slide assembly 10 are respectively a slide rail III 417 and a slide rail IV 418 on two sides of a base V407, the slide rail III 417 and the slide rail IV 418 are fixed on the base V407 through screws, a slide block VII 419 and a slide block VIII 420 are covered on the slide rail III 417 and are respectively fixed on the base VI 421 through screws, a slide block IX 422 and a slide block X423 are covered on the slide rail IV 418 and are respectively fixed on the base VI 421 through screws, the second feeding assembly 11 is characterized in that a servo motor III 430 is connected with a coupling II 429, the coupling II 429 is connected with a ball screw II 424, two sides of the ball screw II 424 are respectively provided with a sliding bearing, the ball screw II 424 drives the slide block XI 425 and the slide block XII 426 containing internal threads to linearly move, the slide block XI 425 and the slide block XII 426 are respectively installed on a bottom plate III 427 and the bottom plate IV 428, and the bottom plate III 427 and the bottom plate.
The invention also provides a use method of the multi-degree-of-freedom reverse force/position hybrid control squeeze riveter, which comprises the following steps:
s1, placing a riveting test piece in the middle of a base VI 421 of the multi-degree-of-freedom lifting moving platform 4 to ensure that the test piece is horizontal in the X direction and the Y direction, clamping the test piece by adopting a special clamp or a quick clamp, and placing a rivet in a pre-riveting hole position, wherein a rivet manufacturing head is positioned on the upper surface of the test piece;
s2, controlling the Z-direction movement of the multi-degree-of-freedom lifting mobile platform 4 through the industrial personal computer 14 to enable the test piece to reach a preset position in the Z direction, and recording the Z-direction position of the current platform by the industrial personal computer 14;
s3, controlling the X-direction and Y-direction movement of the multi-degree-of-freedom lifting mobile platform 4 through the industrial personal computer 14, and enabling the first riveting position of the test piece to be located at the central axis of the riveting die I224;
s4, shaking the hand-operated wheel 305 to control the top locking mechanism 3 to move towards Z-direction, ensuring that the rivet manufacturing head is located in a groove of the riveting die II 314, reading a pressure value of a pressure sensor 313 through an industrial personal computer 14 to ensure that the riveting die II 314 is just contacted with the rivet manufacturing head, determining the position of a first riveting hole, moving a rocker 320 to lock a nut component II 309, and recording the position of the current riveting hole;
s5, controlling the Z-motion of the multi-degree-of-freedom lifting mobile platform 4 through the industrial personal computer 14;
s6, controlling the X-direction and Y-direction movement of the multi-degree-of-freedom lifting mobile platform 4 through the industrial personal computer 14, and enabling the second riveting position of the test piece to be located at the central axis of the riveting die I224;
s7, controlling the Z + motion of the multi-degree-of-freedom lifting mobile platform 4 through the industrial personal computer 14, and enabling the rivet manufacturing head to be located in the groove of the riveting die II 314;
s8, repeating S5-S7, and respectively determining the positions of the third riveting hole and the fourth riveting hole, wherein the teaching of the positions of the four riveting holes is finished;
s9, calculating hole site coordinates of all rivets under current clamping according to the teaching hole sites and the rivet intervals;
s10, selecting a displacement control mode or a force control mode on the interface of the industrial personal computer 14, and inputting riveting information such as riveting speed, riveting displacement/riveting force, riveting sequence and the like;
s11, executing a riveting task, and controlling the X-direction, Y-direction and Z-direction movement of the multi-degree-of-freedom lifting mobile platform 4 to reach a first riveting hole position;
s12, the riveting power device I works, the riveting die I224 moves towards Z + to extrude the rivet rod, after the preset riveting force or the riveting displacement is reached, the riveting die I224 moves towards Z-, and after the first rivet is riveted, the information of the riveting process is automatically recorded;
s13, repeatedly executing S11-S12 to complete the riveting tasks of other rivets;
and S14, after riveting is completed, returning the multi-degree-of-freedom lifting moving platform 4 to the zero position in each direction, returning the riveting die I224 to the zero position, manually opening the top locking mechanism 3, and shaking the hand wheel to enable the riveting die II 314 to return to the zero position.
It should be noted that the terms "i", "ii", "iii", "up", "down", "left", "right", "front", "back", "middle", "first", "second", "X", "Y", "Z", etc. used in the present invention are for clarity of description only, and are not intended to limit the scope of the present invention, and the relative relationship changes or adjustments may be made without substantial technical changes.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (10)
1. The utility model provides a multi freedom is anti-formula power of putting/position hybrid control squeeze riveter which characterized in that: the riveting device comprises a squeeze riveter body (1), a riveting power device I (2), a top locking mechanism (3) and a multi-degree-of-freedom lifting moving platform (4);
the squeeze riveter body (1) is integrally C-shaped, the bottom of the squeeze riveter body (1) is fixed with the base I (101) through a connecting piece, the upper surface of the bottom of the squeeze riveter body (1) is fixed with the base II (201) and the base VII (401) through connecting pieces respectively, and the top of the squeeze riveter body (1) is fixed with the base III (301) through a connecting piece;
the riveting power device I (2) comprises a servo motor I (202) and a servo motor reducer I (203) connected with the servo motor I (202), the servo motor reducer I (203) is installed on a base II (201), and the base II (201) is installed on the upper surface of the bottom of the squeeze riveter body (1); a gear I (204) is arranged in a cavity of the base II (201), the gear I (204) is connected with a servo motor reducer I (203) through a guide key I (205), the gear I (204) is meshed with a gear II (206), and the gear II (206) is arranged at the end part of a planetary ball screw (207) in an interference manner; the planetary ball screw (207) is provided with a tapered roller bearing I (208) for bearing radial and axial loads, the tapered roller bearing I (208) is separated from a deep groove ball bearing (210) through a spacer bush I (209), the outer surface of a nut component I (212) of the planetary ball screw (207) is provided with a guide key II (213), a nut sleeve (214) is sleeved on the outer surface of the nut component I (212), and a cylinder body I (217) is sleeved on the outer surface of the nut sleeve (214); the nut sleeve (214) is connected with a push rod (219), a bearing spacer bush II (220) is sleeved on the outer surface of the top end of the push rod (219), one end of the bearing spacer bush II (220) is in contact with the top end of the cylinder body I (217), and the other end of the bearing spacer bush II is in contact with the outer ring of a sliding bearing (221); the cylinder body I (217) is connected with a cylinder body cover head I (222), the cavity surface of the push rod (219) is in surface contact with the outer surface of a flange I (223), and the cavity surface of the flange I (223) is in surface contact with the outer surface of a riveting die I (224);
the top locking mechanism (3) comprises a locknut (302) and a trapezoidal lead screw (303) for fixing the locknut (302), the shaft part of the trapezoidal lead screw (303) is provided with a guide key V (304), a hand-operated wheel (305) provided with a key groove is matched with the guide key V (304), one end of the hand-operated wheel (305) is contacted with a spacer sleeve III (306), and the other end of the spacer sleeve III (306) is contacted with a cylinder body cover head II (307); the cylinder body cover head II (307) is provided with a screw hole, a screw penetrates through the screw hole to be connected with the base III (301), a conical cavity is formed inside the cylinder body cover head II (307), and the conical cavity is in contact with the outer surface of the conical roller bearing II (308); the trapezoidal lead screw (303) is matched with the nut component II (309) for use, the sealing body (311) is used for sealing the nut component II (309), the sealing body is connected with the flange II (312), the bottom end of the flange II (312) is connected with the pressure sensor (313), the riveting die II (314) with the threads is connected with the pressure sensor (313), and the nut component II (309) is locked through the manual locking assembly (12);
the multi-degree-of-freedom lifting moving platform (4) comprises a power device II (5) and a flange III (402) connected with the power device, the flange III (402) is disc-shaped, the top of the flange III (402) is connected with a base IV (401), two sides of the base IV (401) are respectively provided with a first guide rail sliding block assembly (6) and a second guide rail sliding block assembly (7), one side of the second guide rail sliding block assembly (7) is provided with a first feeding assembly (8), two sides of the base V (407) are respectively provided with a third guide rail sliding block assembly (9) and a fourth guide rail sliding block assembly (10), and one side of the fourth guide rail sliding block assembly (10) is provided with a second feeding assembly (11).
2. The multi-degree-of-freedom inverted force/position hybrid control squeeze riveter according to claim 1, characterized in that: the other end of the deep groove ball bearing (210) is in contact with a shaft shoulder of the planetary ball screw (207), a sealing ring (211) is sleeved on the shaft shoulder, and the sealing ring (211) is fixed with the base II (201) through six screws.
3. The multi-degree-of-freedom inverted force/position hybrid control squeeze riveter according to claim 1, characterized in that: a key groove is formed in the outer side of the nut component II (309), the key groove is matched with a guide key VI (310), and the guide key VI (310) is matched with the inner surface of the matching base III (301); the inner surface of the base III (301) is provided with a key groove for preventing the nut member II (309) from being reversed and providing vertical guiding.
4. The multi-degree-of-freedom inverted force/position hybrid control squeeze riveter according to claim 1, characterized in that: six threaded holes are respectively formed in the two ends of the nut sleeve (214), a sleeve blocking piece (218) is connected with one end of the nut sleeve (214) through a screw, and the push rod (219) is connected with the other end of the nut sleeve (214) through a screw; the cylinder cover head I (222) is of a double-cavity structure and is respectively matched with a cylinder body II (431) of the power device II (5) and a cylinder body I (217) of the riveting power device I (2).
5. The multi-degree-of-freedom inverted force/position hybrid control squeeze riveter according to claim 1, characterized in that: the outer surface of the nut component II (309) is provided with an arc-shaped groove, the locking block I (315) matched with the arc-shaped groove is provided with an internal threaded hole, the locking block II (316) matched with the arc-shaped groove is provided with a through hole, and the central axis of the nut component II (309) is perpendicular to the central axes of the locking block I (315) and the locking block II (316).
6. The multi-degree-of-freedom inverted force/position hybrid control squeeze riveter according to claim 1, characterized in that: the manual locking assembly (12) comprises a locking block I (315) and a locking block II (316), one end of a screw (317) penetrates through a through hole of the locking block II (316) and is connected with the locking block I (315), two ends of the screw (317) are both in threaded structures, and the middle of the screw is in a polished rod structure; the other end of the screw rod (317) is connected with the rocking column (318), one end of the rocking column (318) is in contact with the spacer sleeve IV (319), the interior of the rocking column (318) is of a threaded structure, a through hole is formed in one side of the rocking column (318), and the rocking rod (320) penetrates through the through hole to be matched with the nut (321); and the power device II (5) and the riveting power device I (2) are arranged on the base II (201) back to back.
7. The multi-degree-of-freedom inverted force/position hybrid control squeeze riveter according to claim 1, characterized in that: the first guide rail sliding block assembly (6) and the second guide rail sliding block assembly (7) are arranged on the base IV (401) and play a supporting role; the first feeding assembly (8) is arranged on a base V (407) and used for feeding; the third guide rail sliding block assembly (9) and the fourth guide rail sliding block assembly (10) are arranged on a base V (407) and play a supporting role; the second feeding assembly (11) is arranged on the base VI (421) and plays a role in feeding.
8. The multi-degree-of-freedom inverted force/position hybrid control squeeze riveter according to claim 1, characterized in that: notches are formed in the base IV (401), the base V (407) and the base VI (421), and the shape and the size of each notch are determined according to the size of a test piece; the riveting die I (224) and the riveting die II (314) are coaxially arranged; and the riveting die I (224) and the riveting die II (314) are flat-head riveting dies or female dies, and the shape and the size of the female dies are determined by the top angle and the depth of a riveting die nest.
9. The multi-degree-of-freedom inverted force/position hybrid control squeeze riveter according to claim 1, characterized in that: the multi-degree-of-freedom lifting moving platform (4) can move up and down along the Z direction, back and forth along the X direction and left and right along the Y direction; the top locking mechanism (3) is positioned at the upper part of the squeeze riveter body (1), and the riveting power device I (2) is positioned at the lower part of the squeeze riveter body (1); the riveting power device I (2) adopts a displacement control mode or a force control mode and accurately controls the riveting speed.
10. The method of using the multiple degree of freedom inverted force/position hybrid control squeeze riveter of any one of claims 1-9, comprising the steps of:
s1, clamping a sample and placing a rivet;
s2, adjusting the X-direction, Y-direction and Z-direction positions of the multi-degree-of-freedom lifting moving platform (4) to enable the first riveting position of the test piece to be located at the central axis of the riveting die I (224);
s3, the top locking mechanism (3) is controlled to move towards Z-by shaking the hand-operated wheel (305), the rivet manufacturing head is ensured to be positioned in a groove of the riveting die II (314), the pressure value of the pressure sensor (313) is read by the industrial personal computer (14) to ensure that the riveting die II (314) is just contacted with the rivet manufacturing head, the position of the first riveting hole is determined at the moment, the nut component II (309) is locked by the moving rocker (320), and the position of the current riveting hole is recorded;
s4, adjusting the X-direction, Y-direction and Z-direction positions of the multi-degree-of-freedom lifting moving platform (4) to enable the second riveting position of the test piece to be located at the central axis of the riveting die I (224);
s5, repeating S4, and respectively determining the positions of the third riveting hole and the fourth riveting hole, wherein the teaching of the positions of the four riveting holes is finished;
s6, calculating hole site coordinates of all rivets under current clamping according to the teaching hole sites and the rivet intervals;
s7, selecting a displacement control mode or a force control mode on the interface of an industrial personal computer (14), and inputting riveting information such as riveting speed, riveting displacement/riveting force, riveting sequence and the like;
s8, executing a riveting task, and controlling the X-direction, Y-direction and Z-direction movement of the multi-degree-of-freedom lifting moving platform (4) to reach a first riveting hole position;
s9, the riveting power device I (2) works, the riveting die I (224) moves to Z + to extrude the rivet rod, after the preset riveting force or the riveting displacement is reached, the riveting die I (224) moves to Z-, and after the first rivet is riveted, the riveting process information is automatically recorded;
s10, repeatedly executing S8-S9 to complete the riveting tasks of other rivets;
and S11, after riveting is completed, the multi-degree-of-freedom lifting moving platform (4) returns to the zero position in each direction, the riveting die I (224) returns to the zero position, the top locking mechanism (3) is manually opened, and the hand-operated wheel (305) is shaken to enable the riveting die II (314) to return to the zero position.
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| CN202110105462.XA CN112935172B (en) | 2021-01-26 | 2021-01-26 | Multi-degree-of-freedom reverse force/position hybrid control squeeze riveter |
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| CN202110105462.XA CN112935172B (en) | 2021-01-26 | 2021-01-26 | Multi-degree-of-freedom reverse force/position hybrid control squeeze riveter |
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