CN112974719A - Nail inserting device for automatic drilling and riveting robot and using method thereof - Google Patents
Nail inserting device for automatic drilling and riveting robot and using method thereof Download PDFInfo
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- CN112974719A CN112974719A CN202110301118.8A CN202110301118A CN112974719A CN 112974719 A CN112974719 A CN 112974719A CN 202110301118 A CN202110301118 A CN 202110301118A CN 112974719 A CN112974719 A CN 112974719A
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- rivet
- push
- nail
- claw
- air cylinder
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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
- B21J15/30—Particular elements, e.g. supports; Suspension equipment specially adapted for portable riveters
- B21J15/32—Devices for inserting or holding rivets in position with or without feeding arrangements
Abstract
The invention discloses a nail inserting device for an automatic drilling and riveting robot and a using method thereof, and belongs to the field of automatic drilling and riveting of airplane digital assembly. The problem that whether the nail is correctly positioned or falls off or not in the nail inserting process can not be judged in the prior art, and the problem that the efficiency of inserting the rivet into the riveting hole is low can be solved. The nail inserting mechanism comprises an integral pushing cylinder, a nail inserting mechanism, a guide rail and a stop block, wherein the integral pushing cylinder is connected with the nail inserting mechanism, the nail inserting mechanism is arranged on the guide rail, the stop block is arranged at the foremost position of the guide rail, and the integral pushing cylinder controls the integral pushing and retracting actions of the nail inserting mechanism along the guide rail.
Description
Technical Field
The invention relates to the technical field of aviation manufacturing in intelligent manufacturing, in particular to a nail inserting device for an automatic drilling and riveting robot and a using method thereof.
Background
With the development and development of a new generation of aerospace products, aerospace manufacturing has higher requirements on assembly efficiency and assembly quality, and an automatic drilling and riveting technology is an important means for improving the assembly efficiency and the assembly quality. The automatic drilling and riveting technology can obviously improve the assembly efficiency, save the installation cost, improve the labor condition, ensure the installation quality, greatly reduce the defects caused by human factors and prolong the fatigue life of the machine body. The automatic drilling and riveting technology gets more and more extensive attention and attention. The drilling and riveting end effector is used as a core component of automatic drilling and riveting equipment, and in the automatic drilling and riveting operation of an airplane, due to the fact that the types of rivets are numerous and the quantity is large, the automatic drilling and riveting equipment is used for conveying aviation rivets in real time, and the rivet inserting device is an indispensable part in the process of conveying the rivets to products in the automatic drilling and riveting equipment.
The traditional vibration disk nail feeding mode has the defects of large volume, large noise, violent vibration and the like, and can not meet the use requirement. At present, some novel automatic nail feeding systems have appeared for conveying rivets of various types for automatic drilling and riveting equipment. However, in the existing scheme, the vibration disc is adopted to arrange and convey the rivets, the vibration disc is large in size and high in vibration noise, the problem that the hole making precision of the drilling and riveting equipment is seriously affected is solved, the number of the rivets capable of being automatically screened is limited, and the requirement cannot be met for automatic drilling and riveting operation of an airplane needing to convey dozens of rivets in one process flow. The design of the nail inserting device provides great improvement space for a nail feeding system in the automatic drilling and riveting equipment.
The existing nail inserting device needs further optimization and upgrading to really meet the actual production requirement. For example: in the invention of CN106984966A, the nail inserting device detects whether a nail passes through the air tube by a laser sensor installed in the nail blowing air tube, and this method cannot determine whether a nail is in front of the ejector rod during nail inserting. It is also impossible to determine whether the nail is correctly positioned or dropped during the nail insertion process. The device can not well detect whether the rivet is correctly sent in place, can lead to the unable normal clear of subsequent riveting operation, has seriously influenced the security performance of riveting equipment, to the high efficiency and the high stability requirement of present automatic drilling and riveting equipment, this scheme can't satisfy the needs. In the existing riveting system using electromagnetic force as power, a horizontal nail shooting device and a U-shaped nail shooting device are used for sending the rivet into a hole to be riveted, so that the nail inserting action is completed. The nail feeding device quickly passes the fastener through the nail conveying pipeline to reach the nail shooting device, and the nail shooting device reduces the moving speed of the fastener and even changes the fastener into a static state. Then the nail shooting device pushes the fastener to the nail clamping device, the nail clamping device clamps the fastener, and then the rivet is inserted into the hole to be riveted. The nail inserting operation of the device is often not very stable, the position of the inserted nail is not very accurate, the stability of the automatic drilling and riveting equipment is affected, and the requirement cannot be met.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art and provides a nail inserting device for an automatic drilling and riveting robot and a using method thereof.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
a plug pin device for an automatic drill riveting robot, wherein: the automatic rivet drilling and riveting device comprises a push-out air cylinder support, an integral push-out air cylinder, a push-rod air cylinder, a guide rail, a push-rod air cylinder support, a push rod, an air claw support and a rivet inserting air claw, wherein the push-out air cylinder support is used for being connected with an automatic rivet drilling and riveting robot driving device, the integral push-out air cylinder and the guide rail are both arranged on the push-out air cylinder support, the push-rod air cylinder support is arranged on the guide rail, the integral push-out air cylinder can push the push-rod air cylinder support to slide back and forth on the guide rail, the push-rod air cylinder is arranged on the push-rod air cylinder support, an air cylinder shaft of the push-rod air cylinder is connected with the rear end of the push rod and can push the push rod to move back and forth, an optical fiber probe is arranged at the front end of the push rod, the air claw support is fixedly connected with the push-rod, at the moment, the rivet is just in front of the optical fiber probe, the optical fiber probe can detect the distance between the rivet and the optical fiber probe, and the distance information is sent to the control structure of the automatic drilling and riveting robot.
In order to optimize the technical scheme, the specific measures adopted further comprise:
the nail inserting gas claw comprises a left claw arm and a right claw arm, the rear end of each claw arm is in hinged fit with the gas claw support, the front end of each claw arm is a free end and is provided with a clamping groove used for grabbing a rivet, and the ejector rod is located between the two claw arms.
The integral push-out cylinder is positioned at the rear end of the guide rail, the front end of the guide rail is provided with a stop block, and the stop block is used for limiting the stroke of the ejector rod cylinder support.
The ejector rod cylinder, the ejector rod and the nail inserting pneumatic claw are all arranged below the guide rail.
The optical fiber probe is arranged in the front end of the ejector rod.
The optical fiber probe is a small laser displacement sensor with the measuring range of 1-105 mm, the model is FUE200D2Y00, the threshold value of the sensor is set to be 600, the output of the switching value exceeding 600 is 1, and the output of the switching value lower than 600 is 0.
The use method of the nail inserting device for the automatic drilling and riveting robot comprises the following steps:
s1, setting the opening and closing distance of the nail inserting gas claw, setting the size of the rivet with the largest diameter as the opening and closing distance, opening the nail inserting gas claw, closing the claw to grab the rivet when the rivet to be grabbed moves to the front of the nail inserting gas claw, and detecting whether the rivet is grabbed by an optical fiber probe in the ejector rod; if the rivet is grabbed, performing step S2, otherwise, repeating the grabbing action until the rivet is grabbed;
s2, the rivet inserting device moves to the position of the riveting hole under the control of the automatic drilling and riveting robot, the integral push-out cylinder pushes the ejector rod cylinder support forwards along the guide rail, so that the ejector rod cylinder, the ejector rod and the rivet inserting gas claw all move forwards, and rivets clamped on the rivet inserting gas claw are pushed into the hole to be riveted;
s3, loosening the nail inserting pneumatic claw, and immediately pushing the ejector rod by the ejector rod cylinder to push the rivet in place;
s4, detecting the rivet state, wherein the optical fiber probe can detect the existence of the rivet, and meanwhile, the magnetic switch of the ejector rod cylinder displays that the cylinder extends out in place, so that the rivet normally enters the hole, and riveting can be completed;
and S5, after the detection result shows that the rivet normally enters the hole, the ejector rod cylinder drives the ejector rod to retreat, and the nail inserting process is finished.
The invention has the beneficial effects that: the rivet inserting device can efficiently insert the rivet to be riveted into the riveting hole, can timely detect whether the rivet is clamped by the rivet inserting device and whether the rivet is correctly fed in place by the device, and well ensures the stability and safety of drilling and riveting operation.
Drawings
FIG. 1 is a schematic structural diagram of a nail feeding device for an automatic drilling and riveting robot according to the present invention;
FIG. 2 is a schematic structural view of the carrier rod and the nail inserting pneumatic claw of the present invention;
FIG. 3 is a state diagram of the present invention in use;
FIGS. 4-7 are schematic diagrams showing the relationship between the nail inserting success rate and the clamping pressure of the nail inserting pneumatic claw for the rivets with the diameters of 3mm, 4mm, 5mm and 6mm under different clamping forces.
Wherein the reference numerals are: the device comprises an integral push-out cylinder 1, a push-rod cylinder 2, a nail inserting air claw 3, a claw arm 3a, a push rod 4, a guide rail 5, a stop block 6, a rivet 7, an optical fiber probe 8, a push-out cylinder support 9, a push-rod cylinder support 10 and an air claw support 11.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
As shown in fig. 1, the nail feeding device for the automatic drilling and riveting robot comprises an integral push-out cylinder 1, a mandril cylinder 2, a nail inserting pneumatic claw 3, a mandril 4, a guide rail 5 and a stop block 6. The front end of the mandril 4 is internally provided with an optical fiber sensor. The stop block 6 is arranged at the foremost position of the guide rail 5 and plays the roles of limiting and controlling the stroke. The integral push-out cylinder 1 is connected with the whole nail inserting mechanism, and the control device integrally pushes out and retracts along the guide rail 5. The nail inserting pneumatic claw 3 is arranged on the outer side of the ejector rod. The inserting nail device moves to the position of receiving a rivet, the inserting nail gas claw 3 is opened to the gas claw and then clamps the rivet, the opening and closing distance of the gas claw is set according to the size of the rivet with the largest diameter, and the inserting nail gas claw 3 can clamp the rivet with any type. The ejector rod cylinder 1 controls the ejector rod cylinder 1 to control the ejector rod 4 to push out and retract, and the ejector rod cylinder 1, the ejector rod 4 and the nail inserting air claw 3 are arranged below the guide rail 5. The ejector rod cylinder 1 is connected with the ejector rod 4 into a whole through the fastener and the nail inserting pneumatic claw 3, the whole formed by the guide rail 5 and the stop block 6 is connected with the nail inserting pneumatic claw 3 through the fastener, the ejector rod 4 and the cylinder to form the whole nail inserting mechanism. The optical fiber probe 8 is arranged in the front end of the ejector rod 4; selecting a small laser displacement sensor FUE200D2Y00 with the measuring range of 1-105 mm according to the distance between the rivet and the ejector rod 4, setting the threshold value of the sensor to be 600, the output of the switching value which exceeds 600 to be 1, and the output of the switching value which is lower than 600 to be 0; when the nail inserting gas claw 3 grabs the rivet, the switching value is displayed as 1, and the rivet 7 is grabbed. And judging whether the rivet 7 is normally inserted into the hole or not according to the sensor value of the optical fiber probe 8 and the extension-in-place signal of the ejector rod cylinder 1.
The use method of the nail inserting device for the automatic drilling and riveting robot comprises the following steps:
s1, sending a signal in the PLC to control the nail inserting air claw 3 to be opened, and when the rivet 7 moves to the front of the air claw, controlling the air claw to be closed by the PLC to grab the rivet. Whether the rivet is grabbed or not is judged through data displayed by the optical fiber probe 8 arranged in the ejector rod 4. The threshold value of the optical fiber sensor data is set to 600, if the threshold value exceeds 600, the switching value output in the PLC is 1, and if the threshold value is lower than 600, the switching value output is 0; if the switching value in the PLC is 1, the rivet is grabbed, otherwise, the rivet is not grabbed correctly by the gas claw;
s2, the plug pin device moves to the position of the riveting hole, and after the device is in place, the whole push-out cylinder 1 pushes out the whole plug pin module, and the rivet 7 clamped on the plug pin gas claw 3 is pushed into the hole to be riveted;
s3, loosening the nail inserting pneumatic claw 3, and immediately pushing the ejector rod by the ejector rod cylinder 2 to push the rivet in place;
and S4, detecting the rivet state. The optical fiber probe 8 can detect the existence of the rivet in the normal hole-entering state, meanwhile, the magnetic switch of the ejector rod cylinder 2 displays that the cylinder extends out in place, and riveting can be performed after the rivet 7 is normally inserted into the hole. If the magnetic switch of the mandril cylinder 2 shows that the cylinder extends out of place, but the optical fiber probe 8 detects that no rivet exists in the front, the state is that the inserting of the rivet fails and the rivet falls off. The nail feeding and inserting operations need to be carried out again. If the optical fiber probe 8 can detect that the rivet exists, but the magnetic switch of the ejector rod cylinder 2 displays that the cylinder does not extend in place, the system needs to be stopped immediately under the condition that the rivet is blocked to cause the failure of inserting the rivet, an operator manually takes out the blocked rivet and checks whether the rivet hole is damaged or not, and the drilling and riveting operation is started again after the fault is eliminated;
and S5, after the detection result shows that the rivet 7 is normally inserted into the hole, the ejector rod cylinder 2 drives the ejector rod to retreat, and the nail inserting process is finished.
In the step S4, in the detection of whether the rivet is correctly inserted, the condition that the rivet is blocked is mostly caused by the reason that the rivet rod and the rivet hole are not coaxial, and at present, no technology is found to solve the problem. Through research discovery, the nail pole leads to the rivet to press from both sides tightly too owing to insert the too big rivet that leads to of the clamp force of nail clamping jaw, just can't insert along the rivet hole advantage of the trend when the rivet enters the hole and lead to the rivet jam, but, the clamp force too little also can lead to the rivet to be held with wrong slope gesture. Therefore, the clamping pressure of the plug pin clamping jaw is adjusted, and plug pin experiments are carried out on rivets of different types under different pressures. And thus the best jaw clamping force. In the invention, 3mm, 4mm, 5mm and 6mm rivets are respectively selected for experiments, and the pressure variation range is 0-180N. Each rivet was subjected to 100 separate nailing experiments at different pressures. The results of the experiments are shown in FIGS. 4-7.
It can be seen from the experimental data that the stable nail inserting can not be well ensured when the clamping force of the nail inserting pneumatic claw is too large or too small. The best nail inserting effect can be achieved by adjusting the clamping force to about 90N. In the experimental result, the success rate of inserting the rivet with 4 kinds of different diameters reaches one hundred percent under the clamping force of 90N. Therefore, the nail inserting clamping jaw has certain flexibility by selecting proper clamping force. The condition that the rivet is blocked in the process of inserting the rivet is greatly improved.
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 (7)
1. The utility model provides an insert nail device for automatic bore riveting robot which characterized by: the automatic rivet drilling and riveting robot comprises a push-out air cylinder support (9), an integral push-out air cylinder (1), a push-rod air cylinder (2), a guide rail (5), a push-rod air cylinder support (10), a push rod (4), an air claw support (11) and a rivet inserting air claw (3), wherein the push-out air cylinder support (9) is used for being connected with an automatic rivet drilling and riveting robot driving device, the integral push-out air cylinder (1) and the guide rail (5) are both installed on the push-out air cylinder support (9), the push-rod air cylinder support (10) is installed on the guide rail (5), the integral push-out air cylinder (1) can push the push-rod air cylinder support (10) to slide back and forth on the guide rail (5), the push-rod air cylinder (2) is installed on the push-rod air cylinder support (10), an air cylinder shaft of the push rod air cylinder (2) is connected with the rear end of the push rod (4) and can, gas claw support (11) and ejector pin cylinder support (10) fixed connection, install on gas claw support (11) and insert nail gas claw (3), insert nail gas claw (3) and be connected with external air supply to open and shut by the control structure control of external automatic brill riveter people, insert nail gas claw (3) can snatch rivet (7) at the front end of inserting nail gas claw (3), at this moment, rivet (7) just in time be located the place ahead of fiber probe (8), fiber probe (8) can detect the distance between rivet (7) and fiber probe (8) to with this distance information transmission to automatic brill riveter people's control structure.
2. The rivet inserting device for the automatic drilling and riveting robot as claimed in claim 1, which is characterized in that: insert nail gas claw (3) including controlling two claw arms (3a), claw arm (3a) rear end and articulated cooperation of gas claw support (11), the front end is the free end, has the draw-in groove that is used for snatching rivet (7), ejector pin (4) be located between two claw arms (3 a).
3. The rivet inserting device for the automatic drilling and riveting robot as claimed in claim 1, which is characterized in that: the integral push-out air cylinder (1) is located at the rear end of the guide rail (5), a stop block (6) is installed at the front end of the guide rail (5), and the stop block (6) is used for limiting the stroke of the ejector rod air cylinder support (10).
4. The rivet inserting device for the automatic drilling and riveting robot as claimed in claim 1, which is characterized in that: the ejector rod cylinder (2), the ejector rod (4) and the nail inserting pneumatic claw (3) are all installed below the guide rail (5).
5. The rivet inserting device for the automatic drilling and riveting robot as claimed in claim 1, which is characterized in that: the optical fiber probe (8) is arranged in the front end of the ejector rod (4).
6. The rivet inserting device for the automatic drilling and riveting robot as claimed in claim 1, which is characterized in that: the optical fiber probe (8) is a small laser displacement sensor with the measuring range of 1-105 mm, the type is FUE200D2Y00, the threshold value of the sensor is set to be 600, the output of the switching value exceeding 600 is 1, and the output of the switching value lower than 600 is 0.
7. The use method of the nail inserting device for the automatic drilling and riveting robot as claimed in any one of claims 1 to 6 is characterized in that: the method comprises the following steps:
s1, setting the opening and closing distance of the nail inserting gas claw (3), setting the size of the rivet with the largest diameter as the opening and closing distance, opening the nail inserting gas claw (3), closing the nail inserting gas claw to grab the rivet (7) when the rivet (7) to be grabbed moves to the front of the nail inserting gas claw (3), and detecting whether the rivet is grabbed by an optical fiber probe (8) in the ejector rod (4); if the rivet is grabbed, performing step S2, otherwise, repeating the grabbing action until the rivet is grabbed;
s2, the rivet inserting device moves to the position of a riveting hole under the control of the automatic drilling and riveting robot, the integral push-out cylinder (1) pushes the ejector rod cylinder support (10) forwards along the guide rail (5), so that the ejector rod cylinder (2), the ejector rod (4) and the rivet inserting gas claw (3) all move forwards, and a rivet (7) clamped on the rivet inserting gas claw (3) is pushed into the hole to be riveted;
s3, loosening the nail inserting pneumatic claw (3), and immediately pushing the ejector rod (4) out by the ejector rod cylinder (2) to push the rivet (7) in place;
s4, detecting the state of the rivet (7), detecting the existence of the rivet (7) by the optical fiber probe (8), and displaying that the cylinder is stretched out to the right position by the magnetic switch of the ejector rod cylinder (2), so that the rivet is normally inserted into the hole, and riveting can be completed;
and S5, after the detection result shows that the rivet normally enters the hole, the ejector rod cylinder (2) drives the ejector rod (4) to retreat, and the nail inserting process is finished.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110301118.8A CN112974719B (en) | 2021-03-19 | 2021-03-19 | Nail inserting device for automatic drilling and riveting robot and using method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110301118.8A CN112974719B (en) | 2021-03-19 | 2021-03-19 | Nail inserting device for automatic drilling and riveting robot and using method thereof |
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| Publication Number | Publication Date |
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| CN112974719A true CN112974719A (en) | 2021-06-18 |
| CN112974719B CN112974719B (en) | 2021-12-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110301118.8A Active CN112974719B (en) | 2021-03-19 | 2021-03-19 | Nail inserting device for automatic drilling and riveting robot and using method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114505442A (en) * | 2022-03-17 | 2022-05-17 | 无锡贝斯特精机股份有限公司 | Riveting mechanism of robot drilling and riveting work station and control method |
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