CN114505442A - Riveting mechanism of robot drilling and riveting work station and control method - Google Patents
Riveting mechanism of robot drilling and riveting work station and control method Download PDFInfo
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- CN114505442A CN114505442A CN202210263270.6A CN202210263270A CN114505442A CN 114505442 A CN114505442 A CN 114505442A CN 202210263270 A CN202210263270 A CN 202210263270A CN 114505442 A CN114505442 A CN 114505442A
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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
- B21J15/10—Riveting machines
- B21J15/16—Drives for riveting machines; Transmission means therefor
- B21J15/18—Drives for riveting machines; Transmission means therefor operated by air pressure or other gas pressure, e.g. explosion pressure
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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
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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
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/04—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
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- Optics & Photonics (AREA)
- Insertion Pins And Rivets (AREA)
Abstract
The invention relates to a robot drilling and riveting workstation butt riveting mechanism and a control method thereof, wherein the robot drilling and riveting workstation butt riveting mechanism comprises a large rivet end side actuating mechanism and a small rivet end side actuating mechanism, and a butt riveting area is arranged between the large rivet end side actuating mechanism and the small rivet end side actuating mechanism; the large rivet end side actuating mechanism is provided with a rivet inserting mechanism and a large rivet end side riveting mechanism, and the small rivet end side actuating mechanism is provided with a detection mechanism and a small rivet end side riveting mechanism. The invention has simple structure and small occupied space; automatic nail inserting and riveting are realized; the riveting quality can be automatically checked and confirmed.
Description
Technical Field
The invention belongs to the technical field of riveting, and relates to a riveting mechanism and a control method of a robot drilling and riveting work station.
Background
With the continuous development of the aviation industry, the requirement on the machining precision of aviation parts is higher and higher. In the manufacture of parts, butt riveting is a common connection method. The production usually adopts the manual riveting mode. In actual production, the riveting is performed by cooperation of two persons. The labor intensity is high, the working environment is poor, the riveting quality fluctuation is large, and the riveting device is easily influenced by operators. Therefore, a control method capable of realizing automatic riveting is needed to improve the labor environment and improve the processing quality.
Disclosure of Invention
The invention aims to provide a riveting mechanism of a robot drilling and riveting workstation, which can solve the problems of high labor intensity and poor working environment in manual riveting, effectively reduce the riveting quality fluctuation in manual riveting and improve the stability of the riveting quality.
According to the technical scheme provided by the invention: the robot drilling and riveting work station rivet aligning mechanism comprises a rivet large end side actuating mechanism and a rivet small end side actuating mechanism, and a rivet aligning area is formed between the rivet large end side actuating mechanism and the rivet small end side actuating mechanism; the large rivet end side actuating mechanism is provided with a rivet inserting mechanism and a large rivet end side riveting mechanism, and the small rivet end side actuating mechanism is provided with a detection mechanism and a small rivet end side riveting mechanism.
As a further improvement of the invention, the rivet large end side actuating mechanism comprises a rivet large end side actuating fixing bottom plate, a rivet large end side actuating guide rail is arranged on the rivet large end side actuating fixing bottom plate, a rivet large end side actuating sliding plate is arranged on the rivet large end side actuating guide rail in a sliding mode, a rivet inserting mechanism and a rivet large end side riveting mechanism are arranged on the rivet large end side actuating sliding plate in parallel, and the rivet large end side actuating sliding plate is driven by a rivet large end side actuating driving mechanism.
As a further improvement of the invention, the nail inserting mechanism comprises a bottom plate, a guide rail and a shifting cylinder are arranged on the bottom plate, the shifting cylinder is positioned on one side of the guide rail, a sliding plate is arranged on the guide rail in a sliding mode, one side face of the sliding plate is connected with the piston end of the shifting cylinder, a mandril cylinder and a finger cylinder are arranged on the sliding plate, the piston end of the mandril cylinder faces the finger cylinder, and the finger cylinder is vertically arranged.
The large-end side riveting mechanism comprises a large-end mounting plate, a large-end riveter telescopic cylinder and a large-end guide rail are mounted on the large-end mounting plate, the large-end riveter telescopic cylinder is located on one side of the large-end guide rail, a large-end top riveting device is slidably mounted on the large-end guide rail, the piston end of the large-end riveter telescopic cylinder is connected with the fixed end of the large-end top riveting device, the moving end of the large-end top riveting device is connected with a large-end riveter head, and the large-end riveter head faces towards a riveting region.
As a further improvement of the invention, the small rivet end side actuating mechanism comprises a small rivet end side actuating fixing bottom plate, a small rivet end side actuating guide rail is arranged on the small rivet end side actuating fixing bottom plate, a small rivet end side actuating sliding plate is arranged on the small rivet end side actuating guide rail in a sliding mode, a detection mechanism and a small rivet end side riveting mechanism are arranged on the small rivet end side actuating sliding plate in parallel, and the small rivet end side actuating sliding plate is driven by a small rivet end side actuating driving mechanism.
The small end side riveting mechanism comprises a small end mounting plate, a small end riveting gun telescopic cylinder and a small end guide rail are mounted on the small end mounting plate, the small end riveting gun telescopic cylinder is located on one side of the small end guide rail, a small end top riveting device is slidably mounted on the small end guide rail, the piston end of the small end riveting gun telescopic cylinder is connected with the fixed end of the small end top riveting device, the moving end of the small end top riveting device is connected with a small end riveting gun head, and the small end riveting gun head faces towards a riveting area.
As a further improvement of the invention, the detection mechanism comprises a detection mounting plate, a detection support is fixedly mounted on a sliding plate of the small end side actuating mechanism of the rivet, a detection hole is horizontally formed in the middle of the detection support, a camera light source is mounted at the front end of the detection hole, a protective cover cylinder is mounted above the rear part of the detection support, the piston end of the protective cover cylinder faces towards the riveting region and is connected with one end of the protective cover, the middle part of the protective cover is hinged with one end of a hinge plate, the other end of the hinge plate is hinged with the detection support, and an industrial camera is mounted at the rear end of the detection hole; the industrial camera is connected with the control device.
The method for controlling the riveting mechanism of the drilling and riveting station of the robot adopts the riveting mechanism of the drilling and riveting station of any one robot, and comprises the following steps:
s101, inserting a nail; the finger cylinder of the nail inserting mechanism on the large end side actuating mechanism of the rivet retracts to drive the finger to retract so as to clamp the rivet, and the piston rod of the ejector rod cylinder of the nail inserting mechanism extends to drive the ejector rod to extend outwards so as to prop against the large end face of the rivet; then, a piston rod of a shifting cylinder of the nail inserting mechanism extends out, and the rivet is sent into the processed hole; inserting the small end portion of the rivet into the hole; then, a mandril cylinder of the nail inserting mechanism releases pressure in a rodless cavity, the mandril keeps the original position, a finger cylinder of the nail inserting mechanism is opened, and a finger is driven to loosen the rivet; the mandril cylinder of the nail inserting mechanism acts again to push the rivet into the hole completely;
s102, upsetting; after the nail inserting process is finished, stations of a large end side actuating mechanism of the rivet are switched, the large end side actuating driving mechanism of the rivet drives a large end side actuating sliding plate of the rivet to move, the large end side riveting mechanism of the rivet moves to the position of the nail inserting mechanism, a large end side riveting gun telescopic cylinder of the large end riveting mechanism of the rivet extends out, a large end top riveting device and a large end riveting gun head are driven to move forwards until the large end riveting gun head props against the large end face of the rivet; the small end side of the rivet extends out of a small end riveting gun telescopic cylinder on the riveting mechanism to drive the small end top riveting device and the small end riveting gun head to move forwards until the top iron props against the small end face of the rivet; the pressure applied to the rivet by the large-end riveter telescopic cylinder is greater than the pressure applied to the rivet by the small-end riveter telescopic cylinder, and the rivet is kept in place; triggering the small-end riveting gun head and the large-end riveting gun head, and upsetting the small end of the rivet;
s103, checking; the small end side of the rivet on the small end side actuating mechanism moves relative to the riveting mechanism, the small end side actuating driving mechanism of the rivet drives the small end side actuating sliding plate of the rivet to move, the detection mechanism moves to the position of the small end side relative to the riveting mechanism of the rivet, the detection mechanism is in place, the diameter of the small end of the rivet after upsetting is detected and is compared with a theoretical value; if the upset diameter is insufficient, starting a supplementary riveting program, and repeating the steps from S to S until the upset diameter of the small end of the rivet meets the requirement; and adjusting power parameters of the large-end top riveting device and the small-end top riveting device, and applying the new power parameters to the butt riveting of the next rivet with the same specification.
As a further improvement of the invention, the nail inserting process adopts a step-by-step nail inserting mode; the small end part of the rivet is inserted into the hole, and then the rodless cavity of the mandril cylinder of the nail inserting mechanism is decompressed, so that the mandril is kept in the original position, and the rivet is prevented from displacing and overturning; then, a finger cylinder of the nail inserting mechanism is loosened to drive fingers to open outwards so as to avoid interference with the movement of the rivet when moving forwards, finally, a rodless cavity of a mandril cylinder of the nail inserting mechanism supplies air again, a piston rod of the mandril cylinder drives a mandril to extend out, and the rivet is completely pushed into a processed hole; in the upsetting procedure, the rivet is subjected to butt riveting and upsetting in a mode that a rivet large end side butt riveting mechanism and a rivet small end side butt riveting mechanism are cooperated; the thrust of the large-end riveter telescopic cylinder on the large end side of the rivet is greater than that of the small-end riveter telescopic cylinder on the small end side of the rivet; after the upsetting procedure, detecting and feeding back the riveting quality by using an industrial camera; if the diameter of the upset head of the rivet is insufficient, starting a supplementary riveting procedure, and riveting the rivet again to reach the specified diameter of the upset head; and adjusting power parameters of the large-end top riveting device and the small-end top riveting device, calling the parameters in the next cycle, and performing a supplementary upsetting procedure on the rivets of the same type.
The invention is further improved by setting a critical value p of the allowable continuous supplementary riveting times in the control device, recording the times m of the supplementary upsetting process by the control device, triggering a system to alarm if the m is more than or equal to the p, setting a critical value K of the allowable continuous primary riveting insufficient times in the control device, continuously generating the times n of the continuous primary riveting insufficient times, and triggering the system to alarm if the n is more than or equal to the K.
The positive progress effect of this application lies in:
1. the invention has simple structure and small occupied space; automatic nail inserting and riveting are realized.
2. The invention can automatically check and confirm the riveting quality.
Drawings
Fig. 1 is a schematic diagram of a control method of a robot drilling and riveting work station for a riveting mechanism.
Fig. 2 is a detailed diagram of the control method of the robot drilling and riveting work station for the riveting mechanism.
Fig. 3 is a schematic diagram of an actuator at the big end side of a rivet of the riveting mechanism of the robot drilling and riveting workstation.
Fig. 4 is a schematic diagram of an actuator on the small end side of a rivet of the rivet aligning mechanism of the robot drilling and riveting workstation.
Fig. 5 is a schematic view of a nail inserting mechanism of a riveting mechanism of a robot drilling and riveting work station.
Fig. 6 is a schematic diagram of a riveting functional component of the riveting mechanism of the robot drilling and riveting work station.
Fig. 7 is a schematic view of a detection mechanism of the riveting mechanism in the robot drilling and riveting station.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the invention herein. Furthermore, "including" and "having," and like terms, mean that "including" and "having," in addition to those already recited in "including" and "having," other content not already recited in the list; for example, a process, method, system, article, or apparatus that may comprise a list of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such process, method, article, or apparatus.
In fig. 1-7, the device comprises a nail inserting mechanism 1, a bottom plate 1.1, a finger 1.2, a mandril 1.3, a mandril cylinder 1.4, a shift cylinder 1.5, a shift cylinder base 1.6, a sliding plate 1.7, a finger cylinder 1.8, a guide rail 1.9, an adjusting screw 1.10, a stop block 1.11, a detection mechanism 3, a detection mounting plate 3.1, a camera light source 3.2, a protective cover 3.3, a hinge plate 3.4, a detection bracket 3.5, a protective cover cylinder 3.6, an industrial camera 3.7, a small end rivet mechanism 4, a small end mounting plate 4.1, a small end rivet gun telescopic cylinder 4.2, a cylinder mounting base 4.3, a small end guide rail 4.4, a small end top rivet mechanism 4.5, a small end rivet gun head 4.6, a large end side actuating mechanism 5, a large end side actuating fixing bottom plate 5.1, a large end side actuating mechanism 5.2, a large end side actuating mechanism 5.3, a large end side sliding plate actuating mechanism 5.6, a small end side actuating mechanism 5.6, a small end actuating mechanism 1.2, a small end side actuating mechanism, a large end side actuating mechanism, a small end actuating mechanism, a rivet, a large end side actuating slide plate actuating mechanism, a rivet actuating mechanism, a small end actuating mechanism, a rivet actuating mechanism, a rivet actuating mechanism, a rivet actuating mechanism, a small actuating mechanism, a rivet actuating mechanism, a rivet actuating mechanism, a rivet actuating mechanism, a small actuating mechanism, a rivet actuating mechanism, a moving, A rivet small end side actuating driving mechanism 6.2, a rivet small end side actuating sliding plate 6.3, a rivet small end side actuating guide rail 6.4, a rivet 7 and the like.
The invention relates to a butt riveting mechanism of a robot drilling and riveting working station, which comprises a large rivet end side actuating mechanism 5 and a small rivet end side actuating mechanism 6, wherein a butt riveting area is arranged between the large rivet end side actuating mechanism 5 and the small rivet end side actuating mechanism 6. The large rivet end side actuating mechanism 5 is provided with a nail inserting mechanism 1 and a large rivet end side riveting mechanism 2, and the small rivet end side actuating mechanism 6 is provided with a detection mechanism 3 and a small rivet end side riveting mechanism 4.
In fig. 3, the large end side rivet actuator 5 is composed of a large end side rivet actuator fixing base plate 5.1, a large end side rivet actuator driving mechanism 5.2, a large end side rivet actuator slide plate 5.3, a large end side rivet actuator guide rail 5.4, a rivet inserting mechanism 1 and a large end side rivet aligning mechanism 2 which are arranged on the large end side rivet actuator slide plate 5.3, and the like.
The rivet large end side actuating mechanism 5 comprises a rivet large end side actuating fixing bottom plate 5.1, a rivet large end side actuating guide rail 5.4 is arranged on the rivet large end side actuating fixing bottom plate 5.1, a rivet large end side actuating sliding plate 5.3 is slidably arranged on the rivet large end side actuating guide rail 5.4, and the rivet inserting mechanism 1 and the rivet large end side riveting mechanism 2 are arranged on the rivet large end side actuating sliding plate 5.3 in parallel.
In the present embodiment, the rivet large end side actuating drive mechanism 5.2 is composed of a drive motor base, a drive motor, a coupling, a screw rod and the like. The driving motor base of the rivet big end side actuating driving mechanism 5.2 is installed on the rivet big end side actuating fixing bottom plate 5.1 through screws. The rivet big end side execution guide rail 5.4 is installed on the rivet big end side execution fixing bottom plate 5.1 through screws. The upper slide block of the rivet big end side execution guide rail 5.4 is connected with the rivet big end side execution slide plate 5.3 through a screw. The rivet big end side actuating driving mechanism 5.2 drives the rivet big end side actuating sliding plate 5.3 to slide along the guide rail 5.4 through parts such as a driving motor, a shaft coupling and a lead screw. The rivet inserting mechanism 1 and the rivet large end side opposite riveting mechanism 2 are arranged on the rivet large end side execution sliding plate 5.3. The rivet inserting mechanism 1 and the rivet large end side riveting mechanism 2 move together with the rivet large end side execution sliding plate 5.3.
In other embodiments, the rivet large end side actuating drive mechanism 5.2 is a rivet large end side actuating cylinder, a rivet large end side actuating cylinder body is fixedly arranged on the rivet large end side actuating fixing bottom plate 5.1, and a piston rod of the rivet large end side actuating drive mechanism 5.2 is parallel to the rivet large end side actuating guide rail 5.4 and is connected with the rivet large end side actuating sliding plate 5.3.
As shown in fig. 5, the nail inserting mechanism 1 is composed of a bottom plate 1.1, a finger 1.2, an ejector rod 1.3, an ejector rod cylinder 1.4, a shifting cylinder 1.5, a shifting cylinder block 1.6, a sliding plate 1.7, a finger cylinder 1.8, a guide rail 1.9, an adjusting screw 1.10, a stop block 1.11 and other parts.
The nail inserting mechanism 1 comprises a bottom plate 1.1, a finger 1.2, an ejector rod 1.3, an ejector rod cylinder 1.4, a shifting cylinder 1.5, a shifting cylinder seat 1.6, a sliding plate 1.7, a finger cylinder 1.8, a guide rail 1.9, an adjusting screw 1.10, a stop block 1.11 and other parts.
The bottom plate 1.1 is fixedly installed on a rivet big end side execution sliding plate 5.3 of the rivet big end side execution mechanism 5, a guide rail 1.9 and a shift cylinder 1.5 are installed on the bottom plate 1.1, the shift cylinder 1.5 is located on one side of the guide rail 1.9, a sliding plate 1.7 is arranged on the guide rail 1.9 in a sliding mode, one side face of the sliding plate 1.7 is connected with a piston end of the shift cylinder 1.5, a mandril cylinder 1.4 and a finger cylinder 1.8 are installed on the sliding plate 1.7, the piston end of the mandril cylinder 1.4 faces the finger cylinder 1.8, and the finger cylinder 1.8 is vertically arranged.
The shifting cylinder 1.5 cylinder body is arranged on the bottom plate 1.1 through a shifting cylinder seat 1.6.
The piston end of the displacement cylinder 1.5 is connected with the sliding plate 1.7 through threads.
The finger cylinder 1.8 is close to the butt riveting area.
The fingers 1.2 on the finger cylinders 1.8 do stretching and tightening movements.
In order to adjust the extreme position of the slide plate 1.7 and its upper parts when it is extended forward. The side of the guide rail 1.9 close to the butt riveting region is provided with a stop block 1.11, the stop block 1.11 is fixed on the bottom plate 1.1, and an adjusting screw 1.10 is in threaded connection with the stop block 1.11 and faces the finger cylinder 1.8, so that the front and back adjustment can be realized.
The piston end of the shifting cylinder 1.5 drives the sliding plate 1.7 to move along the guide rail of the guide rail 1.9. The piston end of the mandril cylinder 1.4 drives the mandril 1.3 to move together.
In an initial state, the piston end of the mandril cylinder 1.4 is in a retraction state; the piston end of the shifting cylinder seat 1.6 is in a retraction state; the slide block of the finger cylinder 1.8 is in an open state.
As shown in fig. 6, the rivet large end side butt riveting mechanism 2 is composed of a large end mounting plate 2.1, a large end rivet gun telescopic cylinder 2.2, a cylinder mounting seat 2.3, a large end guide rail 2.4, a large end top riveting device 2.5, a large end rivet gun head 2.6 and other parts.
The rivet large end side butt riveting mechanism 2 comprises a large end mounting plate 2.1, the large end mounting plate 2.1 is fixedly mounted on a rivet large end side execution sliding plate 5.3 of the rivet large end side execution mechanism 5, a large end riveter telescopic cylinder 2.2 and a large end guide rail 2.4 are mounted on the large end mounting plate 2.1, the large end riveter telescopic cylinder 2.2 is located on one side of the large end guide rail 2.4, a large end top riveting device 2.5 is slidably mounted on the large end guide rail 2.4, a piston end of the large end riveter telescopic cylinder 2.2 is connected with a large end top riveting device 2.5 fixed end, a moving end of the large end top riveting device 2.5 is connected with a large end riveting head 2.6, and the large end riveting head 2.6 faces to a riveting interval.
The large-end riveter telescopic cylinder 2.2 cylinder body is arranged on the large-end mounting plate 2.1 through the large-end cylinder mounting seat 2.3.
In the present embodiment, the large-end top riveting device 2.5 is an HH54 electromagnetic riveting device manufactured by ElectroImpact corporation of usa.
In other embodiments, the large end top riveting device 2.5 is a top riveting cylinder or an impact air hammer.
In the initial state, the piston end of the large-end riveter telescopic cylinder 2.2 is in a retraction state.
As shown in fig. 4, the rivet small end side actuator 6 is composed of a fixed base plate 6.1, a driving mechanism 6.2, a sliding plate 6.3, a guide rail 6.4, a detection mechanism 3 mounted on the sliding plate 6.3, a rivet small end side riveting mechanism 4 and other parts.
The small rivet end side actuating mechanism 6 comprises a small rivet end side actuating and fixing bottom plate 6.1, a small rivet end side actuating guide rail 6.4 is arranged on the small rivet end side actuating and fixing bottom plate 6.1, a small rivet end side actuating sliding plate 6.3 is slidably arranged on the small rivet end side actuating guide rail 6.4, and the small rivet end side actuating sliding plate 6.3 is parallelly provided with a detection mechanism 3 and a small rivet end side riveting mechanism 4.
In the present embodiment, the rivet small end side actuating drive mechanism 6.2 is composed of a drive motor base, a drive motor, a coupling, a lead screw and the like. The driving motor base of the rivet small end side actuating driving mechanism 6.2 is installed on the rivet small end side actuating fixing bottom plate 6.1 through screws. The rivet small end side execution guide rail 6.4 is installed on the rivet small end side execution fixing bottom plate 6.1 through screws. The upper slide block of the rivet small end side execution guide rail 6.4 is connected with the rivet small end side execution slide plate 6.3 through a screw. The small rivet end side actuating driving mechanism 6.2 drives the small rivet end side actuating sliding plate 6.3 to slide along the guide rail 6.4 through parts such as a driving motor, a coupler and a lead screw. The inserting mechanism 1 and the rivet small end side opposite riveting mechanism 2 are arranged on the rivet small end side execution sliding plate 6.3. The detection mechanism 3 and the rivet small end side riveting mechanism 4 move together with the rivet small end side execution sliding plate 6.3.
In other embodiments, the rivet small end actuating driving mechanism 6.2 is a rivet small end actuating cylinder, the rivet small end actuating cylinder is fixedly arranged on the rivet small end actuating fixing bottom plate 6.1, and the piston rod of the rivet small end actuating driving mechanism 6.2 is parallel to the rivet small end actuating guide rail 6.4 and is connected with the rivet small end actuating sliding plate 6.3.
As shown in fig. 6, the rivet small end side riveting mechanism 4 is composed of a small end mounting plate 4.1, a small end rivet gun telescopic cylinder 4.2, a cylinder mounting seat 4.3, a small end guide rail 4.4, a small end top riveting device 4.5, a small end rivet gun head 4.6 and other parts.
The rivet small end side butt riveting mechanism 4 comprises a small end mounting plate 4.1, the small end mounting plate 6.1 is fixedly mounted on a sliding plate 6.3 of the rivet small end side actuating mechanism 6, a small end rivet gun telescopic cylinder 4.2 and a small end guide rail 4.4 are mounted on the small end mounting plate 4.1, the small end rivet gun telescopic cylinder 4.2 is located on one side of the small end guide rail 4.4, a small end top riveting device 4.5 is slidably mounted on the small end guide rail 4.4, the piston end of the small end rivet gun telescopic cylinder 4.2 is connected with the fixed end of the small end top riveting device 4.5, the movable end of the small end top riveting device 4.5 is connected with a small end rivet head 4.6, and the small end rivet head 4.6 faces the butt riveting region. The small end mounting plate 4.1 is fixedly mounted on a sliding plate 6.3 of the rivet small end side actuating mechanism 6.
The telescopic cylinder 4.2 of the small-end riveter is arranged on the small-end mounting plate 4.1 through the small-end cylinder mounting seat 4.3.
In the present embodiment, the small-end top riveting device 4.5 is an HH54 electromagnetic riveting device manufactured by ElectroImpact corporation of usa.
In other embodiments, the small end top riveting device 4.5 is a top riveting cylinder or an impact air hammer.
In the initial state, the piston end of the telescopic cylinder 4.2 of the small-end riveter is in a retraction state.
As shown in fig. 7, the detection mechanism 3 is composed of a detection mounting plate 3.1, a camera light source 3.2, a protective cover 3.3, a hinge plate 3.4, a detection support 3.5, a protective cover cylinder 3.6, an industrial camera 3.7 and other parts.
The detection mounting plate 3.1 is fixedly mounted on a sliding plate 6.3 of the rivet small end side actuating mechanism 6, the detection support 3.5 is fixedly mounted on the sliding plate 6.3 of the rivet small end side actuating mechanism 6, a detection hole is horizontally formed in the middle of the detection support 3.5, and a camera light source 3.2 is mounted at the front end of the detection hole and used for providing sufficient illumination for a camera. A protective cover cylinder 3.6 is arranged above the rear portion of the detection support 3.5, the piston end of the protective cover cylinder 3.6 faces towards the butt riveting region and is connected with one end of a protective cover 3.3, the middle portion of the protective cover 3.3 is hinged to one end of a hinge plate 3.4, the other end of the hinge plate 3.4 is hinged to the detection support 3.5, and an industrial camera 3.7 is arranged at the rear end of the detection hole.
Under the combined action of the piston end of the protective cover cylinder 3.6 and the hinge plate 3.4, the protective cover 3.3 can do rotary motion. When the piston end of the protective cover cylinder 3.6 extends out, the protective cover 3.3 is driven to rotate anticlockwise, the front end of the protective cover 3.3 is pressed on the light source 3.2, foreign matters are prevented from entering a space between the camera light source 3.2 and the industrial camera 3.7, and the camera light source 3.2 and the industrial camera 3.7 are protected from being damaged by the foreign matters. When the industrial camera 3.7 works, the piston end of the protective cover cylinder 3.6 retracts, and the protective cover 3.3 rotates clockwise to avoid the detection area of the industrial camera 3.7.
The industrial camera is 3.7 with the brand of Kangnai vision and the model of In-Sight 8405. The lens was made of MORTEX, Japan, model ML-M3520 UR. The camera light source 3.2 adopts the Orptt Automation technology, and the model is OPT-RI 5030-W. The industrial camera 3.7 is connected to a control device such as a PLC. The control device is connected with the alarm device.
The method for controlling the riveting mechanism of the robot drilling and riveting workstation comprises the following steps:
and in the initial state, after the drilling mechanism on the robot drilling and riveting workstation finishes drilling on the workpiece, the rivet feeding mechanism prepares rivets with proper specifications and moves the rivets in place to wait for the hand of the inserting and ejecting mechanism 1 to grab the rivets.
S101, inserting a nail; and the finger cylinder 1.8 of the nail inserting mechanism 1 on the large end side actuating mechanism 5 of the rivet retracts to drive the finger 1.2 to retract, so that the rivet 7 is clamped. The nail feeding mechanism returns to the original position. The piston rod of the ejector rod cylinder 1.4 of the nail inserting mechanism 1 extends out to drive the ejector rod 1.3 to extend out to prop against the large-end face of the rivet 7. Thereafter, the piston rod of the displacement cylinder 1.5 of the insertion mechanism 1 is extended, and the rivet 7 is fed into the finished hole. The small end portion of the rivet 7 is inserted into the hole. And then, a mandril cylinder 1.4 of the nail inserting mechanism 1 is decompressed without a rod cavity, the mandril 1.3 keeps the original position, and a finger cylinder 1.8 of the nail inserting mechanism 1 is opened to drive a finger 1.2 to loosen a rivet 7. The ram cylinder 1.4 of the insertion mechanism 1 is actuated again to push the rivet 7 completely into the hole.
S102, upsetting; after the nail inserting process is finished, the stations of the large end side rivet actuating mechanism 5 are switched, the large end side rivet actuating driving mechanism 5.2 drives the large end side rivet actuating sliding plate 5.3 to move, the large end side rivet aligning mechanism 2 moves to the position of the nail inserting mechanism 1, the large end side rivet aligning mechanism 2 extends out of a large end rivet gun telescopic cylinder 2.2, the large end top riveting device 2.5 and the large end rivet head 2.6 are driven to move forwards, and the large end rivet head 2.6 abuts against the large end face of the rivet 7; the small end side of the rivet extends out of a small end riveter telescopic cylinder 4.2 on the rivet mechanism 4 to drive a small end top riveting device 4.5 and a small end riveter head 4.6 to move forwards until a top iron 2.7 props against the small end face of the rivet 7.
The pressure applied to the rivet 7 by the large-end riveter telescopic cylinder 2.2 is greater than the pressure applied to the rivet 7 by the small-end riveter telescopic cylinder 4.2, and the rivet 7 keeps in place. The small end riveting gun head 4.6 and the large end riveting gun head 2.6 are triggered, and the small end of the rivet 7 is upset.
S103, checking; the rivet small end side on the rivet small end side actuating mechanism 6 moves relative to the riveting mechanism 4, the rivet small end side actuating driving mechanism 6.2 drives the rivet small end side actuating sliding plate 5.3 to move, the detection mechanism 3 moves to the position of the rivet small end side relative to the riveting mechanism 4, the detection mechanism 3 is located, the diameter of the rivet 7 after the small end is upset is detected, and the diameter is compared with a theoretical value. And if the diameter after upsetting is insufficient, starting a supplementary riveting program, and repeating the steps from S102 to S103 until the diameter of the upset small end of the rivet 7 meets the requirement. And adjusting the power parameters (adjusting the air pressure of a top riveting cylinder or an impact air hammer) of the large-end top riveting device 2.5 and the small-end top riveting device 4.5, and applying the new power parameters to the butt riveting of the next rivet 7 with the same specification.
As a further improvement of the invention, the step-by-step nail inserting mode is adopted in the nail inserting process. The small end part of the rivet 7 is inserted into the hole, and then the rodless cavity of the mandril cylinder 1.4 of the nail inserting mechanism 1 is decompressed, so that the mandril 1.3 is kept in the original position, and the rivet 7 is prevented from displacing and overturning. And then the finger cylinder 1.8 of the nail inserting mechanism is loosened to drive the fingers 1.2 to open outwards so as to avoid the interference with the movement of the rivet 7 when moving forwards, finally, the rodless cavity of the ejector rod cylinder 1.4 of the nail inserting mechanism 1 supplies air again, and the piston rod of the ejector rod cylinder 1.4 drives the ejector rod 1.3 to extend out so as to completely push the rivet 7 into the processed hole.
As a further improvement of the present invention, in the upsetting step, the rivet 7 is upset by butt riveting in a manner that the rivet large end side butt riveting mechanism 2 and the rivet small end side butt riveting mechanism 4 cooperate with each other. The thrust of the large end riveter telescopic cylinder 2.2 on the large end side of the rivet 7 is greater than the thrust of the small end riveter telescopic cylinder 4.2 on the small end side of the rivet 7, so that the rivet 7 is ensured to be positioned at the correct position in the machined hole, and the subsequent riveting quality is ensured.
As a further improvement of the invention, an industrial camera 3.7 is adopted to detect and feed back the riveting quality after the upsetting process. If the upset diameter of the rivet 7 is insufficient, a supplementary riveting procedure is started, and the rivet 7 is riveted again to reach the specified upset diameter. And adjusting power parameters of the large-end top riveting device 2.5 and the small-end top riveting device 4.5, calling the parameters in the next cycle, and performing a supplementary upsetting procedure on the rivets 7 of the same type.
As a further improvement of the invention, a critical value p of the allowable continuous supplementary riveting times is set in the control device, the control device records the times m of the supplementary upsetting process, and if m is more than or equal to p, the control device triggers a system to alarm.
As a further improvement of the invention, a critical value K of the allowable continuous insufficient times of primary riveting formation is set in the control device, the continuous insufficient times n of primary riveting formation occur, and if n is more than or equal to K, the control device triggers a system to alarm.
The working process of the invention is as follows:
after the drilling mechanism on the robot drilling and riveting workstation drills holes on the workpiece, the rivet feeding mechanism prepares rivets with proper specifications and moves the rivets to the positions of the fingers 1.2 of the inserting and ejecting mechanism 1 to wait for the hand of the inserting and ejecting mechanism 1 to grab and grab. The sliding block of the finger cylinder 1.8 of the inserting and ejecting mechanism 1 retracts, and the finger 1.2 clamps the rivet 7; the piston end of the ejector rod cylinder 1.4 extends out to drive the ejector rod 1.3 to tightly push the large end face of the rivet 7; the nail feeding mechanism returns to the original position.
And (3) switching stations of the rivet large end side actuating mechanism 5, and moving the rivet inserting mechanism 1 to a position coaxial with the machined hole under the driving of a rivet large end side actuating sliding plate 5.3 of the rivet large end side actuating mechanism 5. The piston end of the shifting cylinder 1.5 extends out to drive the sliding plate 1.7 and the parts thereon to move forwards together until the sliding plate 1.7 contacts the adjusting screw 1.10 and is blocked by the adjusting screw 1.10. The adjusting screw 1.10 is used for adjusting the limit position of the sliding plate 1.7 and the parts on the sliding plate to move forward, ensuring that the tail part of the rivet 7 is inserted into a processed hole on a processed workpiece, simultaneously ensuring that the end surface of the finger 1.2 is not contacted with the processed workpiece, and preventing the finger 1.2 from scratching the surface of the processed workpiece when the finger is opened. And then, the rodless cavity of the ejector rod cylinder 1.4 is decompressed, and the piston end of the ejector rod cylinder 1.4 is still maintained at the previous position and continuously contacts the large-end face of the rivet 7. The rivet 7 is prevented from falling out of the processed hole of the processed workpiece when the slider of the finger cylinder 1.8 is opened. The sliding block of the finger cylinder 1.8 is opened to drive the finger 1.2 to be opened. After the sliding block of the finger cylinder 1.8 is opened in place, the rodless cavity of the ejector rod cylinder 1.4 supplies pressure, the piston end of the ejector rod cylinder 1.4 extends out, and the rivet 7 is completely ejected into a processed hole on a processed workpiece. After the rivet 7 completely enters the hole, the piston end of the mandril cylinder 1.4 retracts. The piston end of the shifting cylinder 1.5 retracts, and the piston end of the shifting cylinder 1.5 drives the sliding plate 1.7 and parts on the sliding plate to retract together. And finishing the nail inserting process.
And the stations of the large rivet end side actuating mechanism 5 are switched again, so that the large rivet end side pair riveting mechanism 2 on the large rivet end side actuating mechanism 5 is coaxial with the rivet 7 on the processed workpiece, and the piston end of the large end riveting gun telescopic cylinder 2.2 extends out to drive the large end top riveting device 2.5 and the large end riveting gun head 2.6 to move forwards until the large end riveting gun head 2.6 props against the large end surface of the rivet 7. Meanwhile, the rivet small end side aligning and riveting mechanism 4 on the rivet small end side actuating mechanism 6 is shifted, so that the center of a small end top riveting device 4.5 of the rivet small end side aligning and riveting mechanism 4 is coaxial with a rivet 7 on a processed workpiece, and the piston end of a telescopic cylinder 4.2 of the small end riveting gun extends out to drive the small end top riveting device 4.5 and the small end riveting gun head 4.6 to move forwards until the small end riveting gun head 4.6 abuts against the small end face of the rivet 7. The pressure of the 2.2 piston end of the large-end riveter telescopic cylinder is greater than the pressure of the 4.2 piston end of the small-end riveter telescopic cylinder, so that the rivet 7 is kept at the correct position in the machined hole, and preparation is made for next riveting and upsetting. Then, the large end top riveting device 2.5 and the small end top riveting device 4.5 are triggered to upset the rivet 7.
Thereafter, the rivet small end side butt riveting mechanism 4 of the rivet small end side actuator 6 is displaced again so that the detection mechanism 3 is coaxial with the rivet 7 of the workpiece. The piston end of the protective cover cylinder 3.6 on the detection mechanism 3 retracts, the protective cover 3.3 is opened under the combined action of the piston end of the protective cover cylinder 3.6 and the hinge plate 3.4, and the industrial camera 3.7 detects the diameter d of the small end of the rivet 7 after the rivet 7 is upset. And compares the detected value with a set value. If the diameter d of the upset rivet 7 reaches the standard, the piston end of the protective cover cylinder 3.6 of the detection mechanism 3 retracts to drive the protective cover 3.3 to close. And after riveting is finished, the robot drilling and riveting workstation starts the next cycle. And if the diameter d of the upset rivet 7 does not reach the standard, calling a supplementary riveting program by the control system, and riveting again. The detection mechanism 3 on the small end side actuating mechanism 6 of the rivet moves, the small end side of the rivet on the small end side actuating mechanism 6 of the rivet is in place of the riveting mechanism 4, the piston end of the telescopic cylinder 4.2 of the small end riveting gun extends out to drive the small end top riveting device 4.5 and the small end riveting gun head 4.6 to move forwards until the small end riveting gun head 4.6 props against the small end face of the rivet 7. The large end top riveting device 2.5 and the small end top riveting device 4.5 are triggered to upset the rivet 7. Then, the rivet small end side on the rivet small end side actuator 6 is displaced with respect to the rivet mechanism 4, the detection mechanism 3 on the rivet small end side actuator 6 is in position, and the diameter d of the upset small end of the rivet 7 is detected again and compared with the set value. If not, the supplementary riveting program is started again, and the control device records the number m of the supplementary riveting times of the same rivet 7 which are continuously started. p is a critical value of the allowed number of continuous supplementary riveting times determined according to the actual riveting condition. If the number m of the supplementary riveting times of the continuous starting of the same rivet 7 is less than p, the supplementary processing program is allowed to be continuously called until the diameter d of the small end of the rivet 7 after upsetting meets the set value. If the number of the supplementary riveting times m = p of the continuous starting of the same rivet 7, the control device triggers a system to alarm, and the abnormality is prompted, so that manual intervention and inspection are required.
If the number of times m of the supplementary riveting of the same rivet 7 which is continuously started is less than p, and m is more than or equal to 1, the condition that the supplementary riveting is insufficient in molding is caused by that the position of the rivet 7 is not good during riveting, or the large-end riveting gun head 2.6 and the small-end riveting gun head 4.6 are slightly worn, so that the riveting impact force is partially lost in the transmission process in the riveting process, but the large-end riveting gun head 2.6 and the small-end riveting gun head 4.6 are not failed. If the continuously started supplementary riveting times m = p, the system gives an alarm, which indicates that the riveting impact force is seriously lost in the transmission process in the riveting process, and the riveting system has a stable failure condition and needs manual intervention. At the moment, the connection condition of the large-end riveting gun head 2.6 and the large-end top riveting device 2.5, the connection condition of the small-end riveting gun head 4.6 and the small-end top riveting device 4.5 and the abrasion condition of the large-end riveting gun head 2.6 and the small-end riveting gun head 4.6 are manually checked, the loose connection condition of the large-end riveting gun head 2.6 or the small-end riveting gun head 4.6 caused by riveting impact force is fastened again, and the large-end riveting gun head 2.6 and the small-end riveting gun head 4.6 which are worn and failed by riveting impact force are replaced, so that the good and stable working state of the system is ensured.
Meanwhile, the control device records the continuous times of the occurrence of the condition of insufficient primary riveting formation. k is a critical value of the allowable insufficient number of times of continuous primary caulking forming according to the actual caulking condition. If the number n of times of the continuous primary riveting forming insufficiency does not reach the set value k, the condition of the riveting forming insufficiency is that the position of the rivet 7 is not good during riveting, or the large-end riveting gun head 2.6 and the small-end riveting gun head 4.6 are slightly worn, so that part of riveting impact force is lost in the transmission process in the riveting process, but the large-end riveting gun head 2.6 and the small-end riveting gun head 4.6 are not failed.
If the times of the continuous insufficient primary riveting molding reaches a set value k, the system gives an alarm to indicate that the riveting impact force is seriously lost in the transmission process in the riveting process, and the riveting system has a stable failure condition and needs manual intervention. At the moment, the connection condition of the large-end riveting gun head 2.6 and the large-end top riveting device 2.5, the connection condition of the small-end riveting gun head 4.6 and the small-end top riveting device 4.5 and the abrasion condition of the large-end riveting gun head 2.6 and the small-end riveting gun head 4.6 are manually checked, the loose connection condition of the large-end riveting gun head 2.6 or the small-end riveting gun head 4.6 caused by riveting impact force is fastened again, and the large-end riveting gun head 2.6 or the small-end riveting gun head 4.6 which is worn and failed by riveting impact force is replaced, so that the good and stable working state of the system is ensured.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (10)
1. The robot drilling and riveting work station rivet aligning mechanism is characterized by comprising a large rivet end side actuating mechanism (5) and a small rivet end side actuating mechanism (6), wherein a rivet aligning area is formed between the large rivet end side actuating mechanism (5) and the small rivet end side actuating mechanism (6); the large rivet end side actuating mechanism (5) is provided with a nail inserting mechanism (1) and a large rivet end side riveting mechanism (2), and the small rivet end side actuating mechanism (6) is provided with a detection mechanism (3) and a small rivet end side riveting mechanism (4).
2. The robot drilling and riveting work station rivet aligning mechanism of claim 1, characterized in that the rivet large end side actuator (5) comprises a rivet large end side actuator fixing base plate (5.1), a rivet large end side actuator guide rail (5.4) is arranged on the rivet large end side actuator fixing base plate (5.1), a rivet large end side actuator slide plate (5.3) is slidably arranged on the rivet large end side actuator guide rail (5.4), the rivet inserting mechanism (1) and the rivet large end side rivet aligning mechanism (2) are parallelly arranged on the rivet large end side actuator slide plate (5.3), and the rivet large end side actuator slide plate (5.3) is driven by the rivet large end side actuator driving mechanism (5.2).
3. The pair riveting mechanism of the robot drilling and riveting station according to claim 1, wherein the nail inserting mechanism (1) comprises a bottom plate (1.1), a guide rail (1.9) and a shifting cylinder (1.5) are installed on the bottom plate (1.1), the shifting cylinder (1.5) is located on one side of the guide rail (1.9), a sliding plate (1.7) is arranged on the guide rail (1.9) in a sliding mode, one side face of the sliding plate (1.7) is connected with a piston end of the shifting cylinder (1.5), a mandril cylinder (1.4) and a finger cylinder (1.8) are installed on the sliding plate (1.7), the piston end of the mandril cylinder (1.4) faces the finger cylinder (1.8), and the finger cylinder (1.8) is vertically arranged.
4. The robot drilling and riveting station butt riveting mechanism according to claim 1, wherein the rivet big end side butt riveting mechanism (2) comprises a big end mounting plate (2.1), a big end riveter telescopic cylinder (2.2) and a big end guide rail (2.4) are mounted on the big end mounting plate (2.1), the big end riveter telescopic cylinder (2.2) is located on one side of the big end guide rail (2.4), a big end top riveting device (2.5) is slidably mounted on the big end guide rail (2.4), the piston end of the big end riveter telescopic cylinder (2.2) is connected with the fixed end of the big end top riveting device (2.5), the movable end of the big end top riveting device (2.5) is connected with a big end riveter head (2.6), and the big end riveter head (2.6) faces a butt riveting interval.
5. The robot drilling and riveting station rivet aligning mechanism of claim 1, wherein the rivet small end side actuator (6) comprises a rivet small end side actuator fixing base plate (6.1), a rivet small end side actuator guide rail (6.4) is arranged on the rivet small end side actuator fixing base plate (6.1), a rivet small end side actuator slide plate (6.3) is arranged on the rivet small end side actuator guide rail (6.4) in a sliding manner, a detection mechanism (3) and a rivet small end side rivet aligning mechanism (4) are arranged on the rivet small end side actuator slide plate (6.3) in parallel, and the rivet small end side actuator slide plate (6.3) is driven by the rivet small end side actuator driving mechanism (6.2).
6. The robot drilling and riveting station butt riveting mechanism according to claim 1, wherein the rivet small end side butt riveting mechanism (4) comprises a small end mounting plate (4.1), a small end riveter telescopic cylinder (4.2) and a small end guide rail (4.4) are mounted on the small end mounting plate (4.1), the small end riveter telescopic cylinder (4.2) is located on one side of the small end guide rail (4.4), a small end top riveting device (4.5) is slidably mounted on the small end guide rail (4.4), a piston end of the small end riveter telescopic cylinder (4.2) is connected with a fixed end of the small end top riveting device (4.5), a movable end of the small end top riveting device (4.5) is connected with a small end riveting gun head (4.6), and the small end riveting gun head (4.6) faces a butt riveting interval.
7. The robot drilling and riveting work station rivet aligning mechanism according to claim 1, wherein the detection mechanism (3) comprises a detection mounting plate (3.1), a detection bracket (3.5) is fixedly mounted on a sliding plate (6.3) of the rivet small end side actuator (6), a detection hole is horizontally formed in the middle of the detection bracket (3.5), a camera light source (3.2) is mounted at the front end of the detection hole, a protective cover cylinder (3.6) is mounted above the rear part of the detection bracket (3.5), the piston end of the protective cover cylinder (3.6) faces the rivet aligning section and is connected with one end of a protective cover (3.3), the middle part of the protective cover (3.3) is hinged to one end of a hinge plate (3.4), the other end of the hinge plate (3.4) is hinged to the detection bracket (3.5), and an industrial camera (3.7) is mounted at the rear end of the detection hole; the industrial camera (3.7) is connected with the control device.
8. The method for controlling the riveting mechanism of the robot drilling and riveting workstation is characterized in that the riveting mechanism of the robot drilling and riveting workstation according to any one of claims 1 to 7 is adopted, and the method comprises the following steps:
s101, inserting a nail; a finger cylinder (1.8) of a nail inserting mechanism (1) on the large end side actuating mechanism (5) of the rivet retracts to drive a finger (1.2) to retract, the rivet (7) is clamped, a piston rod of a mandril cylinder (1.4) of the nail inserting mechanism (1) extends out to drive a mandril (1.3) to extend out and push against the large end face of the rivet (7); then, a piston rod of a shifting cylinder (1.5) of the nail inserting mechanism (1) extends out, and a rivet (7) is sent into a processed hole; inserting the small end portion of the rivet (7) into the hole; then, a mandril cylinder (1.4) of the nail inserting mechanism (1) releases pressure without a rod cavity, the mandril (1.3) keeps the original position, a finger cylinder (1.8) of the nail inserting mechanism (1) is opened, and a finger (1.2) is driven to loosen a rivet (7); the mandril cylinder (1.4) of the nail inserting mechanism (1) acts again to push the rivet (7) into the hole completely;
s102, upsetting; after the nail inserting process is finished, the stations of the large rivet end side actuating mechanism (5) are switched, the large rivet end side actuating driving mechanism (5.2) drives the large rivet end side actuating sliding plate (5.3) to move, the large rivet end side riveting mechanism (2) moves to the position of the nail inserting mechanism (1), the large rivet end side riveting gun telescopic cylinder (2.2) of the riveting mechanism (2) extends out, and the large end top riveting device (2.5) and the large end riveting gun head (2.6) are driven to move forwards until the large end riveting gun head (2.6) props against the large end face of the rivet (7); a small end riveter telescopic cylinder (4.2) on the rivet small end side butt riveting mechanism (4) extends out to drive a small end top riveting device (4.5) and a small end riveter head (4.6) to move forwards until a top iron (2.7) props against the small end face of the rivet (7); the pressure applied to the rivet (7) by the large-end riveter telescopic cylinder (2.2) is greater than the pressure applied to the rivet (7) by the small-end riveter telescopic cylinder (4.2), and the rivet (7) keeps in situ; triggering the small-end riveting gun head (4.6) and the large-end riveting gun head (2.6), and upsetting the small end of the rivet (7);
s103, checking; the rivet small end side butt riveting mechanism (4) on the rivet small end side actuating mechanism (6) is shifted, the rivet small end side actuating driving mechanism (6.2) drives the rivet small end side actuating sliding plate (5.3) to move, the detection mechanism (3) moves to the position of the rivet small end side butt riveting mechanism (4), the detection mechanism (3) is in place, the diameter of the rivet (7) after upsetting is detected, and the diameter is compared with a theoretical value; if the diameter after upsetting is insufficient, starting a supplementary riveting program, and repeating the steps from S102 to S103 until the diameter of the small end of the rivet (7) after upsetting meets the requirement; and adjusting the power parameters of the large-end top riveting device (2.5) and the small-end top riveting device (4.5), and applying the new power parameters to the butt riveting of the next rivet (7) with the same specification.
9. The method for controlling the riveting mechanism of the robot drilling and riveting workstation according to the claim (8), wherein the nail inserting process adopts a step-by-step nail inserting mode; the small end part of the rivet (7) is inserted into the hole, and then the rodless cavity of the mandril cylinder (1.4) of the nail inserting mechanism (1) is decompressed, so that the mandril (1.3) is kept in place, and the rivet (7) is prevented from shifting and overturning; then, a finger cylinder (1.8) of the nail inserting mechanism is loosened to drive the fingers (1.2) to open outwards so as to avoid the interference with the movement of the rivets (7) when moving forwards, finally, a rodless cavity of a mandril cylinder (1.4) of the nail inserting mechanism (1) supplies air again, a piston rod of the mandril cylinder (1.4) drives the mandril (1.3) to extend out, and the rivets (7) are completely pushed into the processed holes; in the upsetting procedure, the rivet (7) is subjected to butt riveting and upsetting in a mode that a rivet large end side butt riveting mechanism (2) and a rivet small end side butt riveting mechanism (4) are cooperated; the thrust of a large-end riveter telescopic cylinder (2.2) on the large end side of the rivet (7) is greater than the thrust of a small-end riveter telescopic cylinder (4.2) on the small end side of the rivet (7); after the upsetting procedure, an industrial camera (3.7) is adopted to detect and feed back the riveting quality; if the diameter of the upset head of the rivet (7) is insufficient, starting a supplementary riveting procedure, and riveting the rivet (7) again to reach the specified diameter of the upset head; and adjusting power parameters of the large-end top riveting device (2.5) and the small-end top riveting device (4.5), calling the parameters in the next cycle, and performing a supplementary upsetting process on the rivets (7) of the same type.
10. The method for controlling the riveting mechanism by the robot drilling and riveting workstation according to claim 9, wherein a critical value p of the allowed continuous supplementary riveting times is set in the control device, the control device records the times m of the supplementary upsetting procedures, if m is larger than or equal to p, the control device triggers a system to alarm, a critical value K of the allowed continuous insufficient times of the continuous primary riveting formation is set in the control device, the continuously occurring insufficient times of the primary riveting formation are n, and if n is larger than or equal to K, the control device triggers the system to alarm.
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| EP4344802A1 (en) * | 2022-09-29 | 2024-04-03 | The Boeing Company | Fastening end effector |
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