CN117086644A - Curved surface wallboard bores equipment of riveting - Google Patents

Abstract

The embodiment of the specification provides a curved panel bores equipment of riveting, includes: the device comprises a base, a placing frame and a processing mechanism, wherein the processing mechanism processes the curved wall plate on the placing frame; an X-axis driving mechanism is arranged on the base, an automatic posture adjuster is arranged on the X-axis driving mechanism, a turnover mechanism is arranged between the automatic posture adjuster and the placement frame, the X-axis driving mechanism drives the placement frame to move along the X-axis direction, the automatic posture adjuster drives the placement frame to move along the Y-axis and Z-axis directions, and the turnover mechanism drives the placement frame to rotate around the A-axis; the processing mechanism comprises a frame, a first driving mechanism, a second driving mechanism, a first end effector and a second end effector, wherein the first driving mechanism is used for driving the first end effector to rotate around a W axis, and the second driving mechanism is used for driving the second end effector to rotate around the W axis. The drilling and riveting work of curved surfaces with different included angles of the curved surface wallboard workpiece can be satisfied, and the integral automatic drilling and riveting of the curved surface wallboard workpiece with various sizes is realized.

Description

Curved surface wallboard bores equipment of riveting

Technical Field

The specification relates to the technical field of conical curved wall plate processing, in particular to curved wall plate drilling and riveting equipment.

Background

In the processing process of the conical curved-surface wallboard, drilling and riveting equipment is required to be used for drilling and riveting operations, the conventional drilling and riveting mechanism mainly comprises a C-shaped drilling and riveting structure and a gantry drilling and riveting structure, but the conventional C-shaped drilling and riveting structure and the gantry drilling and riveting structure generally can only singly meet the requirements of small-size different specifications or large-size single-curved-surface conditions when the conical curved-surface wallboard is processed, and the large-size multi-included-angle curved-surface wallboard needs to be spliced according to requirements in the drilling and riveting operations of manual scribing, drilling, nailing, riveting and other processes, so that the production efficiency of the curved-surface wallboard workpiece is low, the period is long, the stability is poor, and the assembly precision and quality requirements of modern aerospace equipment are hardly met.

Disclosure of Invention

In view of this, this description embodiment provides a curved panel bores and rivets equipment, through setting up first actuating mechanism and second actuating mechanism, first actuating mechanism drives first end effector and rotates around the W axle, second actuating mechanism drives second end effector and rotates around the W axle, realize that first end effector and second end effector move with the circular arc orbit mode and carry out and bore the riveting work, can satisfy curved panel work piece different contained angle curved surfaces bore the riveting work, can satisfy curved panel work piece gesture adjustment work of jumbo size specification through X axle actuating mechanism and automatic gesture adjuster simultaneously, the curved panel work piece processing demand of having satisfied multiple size and multiple contained angle curved surface condition.

The embodiment of the specification provides the following technical scheme: a curved panel drilling and riveting apparatus comprising: the device comprises a base, a placing rack and a processing mechanism, wherein the placing rack is used for placing the curved wall plate, and the processing mechanism is used for processing the curved wall plate on the placing rack;

an X-axis driving mechanism is arranged on the base, an automatic gesture adjuster is arranged on the X-axis driving mechanism, a turnover mechanism is arranged between the automatic gesture adjuster and the placement frame, the X-axis driving mechanism drives the placement frame to move along the X-axis direction, the automatic gesture adjuster drives the placement frame to move along the Y-axis and Z-axis directions, and the turnover mechanism drives the placement frame to rotate around the A-axis;

the processing mechanism comprises a frame, a first driving mechanism, a second driving mechanism, a first end effector and a second end effector, wherein the first driving mechanism is used for driving the first end effector to rotate around a W shaft, and the second driving mechanism is used for driving the second end effector to rotate around the W shaft.

Preferably, the first driving mechanism comprises an upper W-axis driving unit, an upper main guide rail group, an upper auxiliary guide rail group and an upper rack, wherein the upper main guide rail group and the upper auxiliary guide rail group are both installed on the frame, the upper rack is installed on the upper main guide rail group, and the upper W-axis driving unit drives the first end effector to move along the upper main guide rail group and the upper auxiliary guide rail group.

Preferably, the upper main guide rail group is an arc guide rail;

the upper auxiliary guide rail group is an arc-shaped guide rail.

Preferably, the first driving mechanism comprises a mounting frame, a lower W shaft drive, a lower guide rail set and a lower rack, wherein the mounting frame is mounted on the base, the lower guide rail set and the lower W shaft drive are mounted on the mounting frame, the lower rack is arranged between the lower W shaft drive and the second end effector, and the lower W shaft drive drives the second end effector to slide along the lower guide rail set through the lower rack.

Preferably, the lower guide rail group is an arc guide rail.

Preferably, the device further comprises a line laser measuring instrument, wherein the line laser measuring instrument is arranged on the first end effector and is used for scanning the outline profile curve of the curved wallboard.

Preferably, the rack comprises a bracket and a plurality of arc-shaped supporting frames with different radiuses, the bracket is installed on the turnover mechanism, the arc-shaped supporting frames are installed on the bracket, and a plurality of workpiece top seats are arranged on the arc-shaped supporting frames.

Preferably, the rack further comprises an arc-shaped mounting plate and a plurality of elbow clamp assemblies, wherein the arc-shaped mounting plate is mounted on the bracket, and the elbow clamp assemblies are mounted on the arc-shaped mounting plate.

Preferably, the X-axis driving mechanism comprises an X-axis driving mechanism, a guide rail base and an X-axis guide rail group, wherein the guide rail base is arranged at the top of the base, the X-axis guide rail group is arranged on the guide rail base, and the X-axis driving mechanism drives the automatic gesture adjuster to move along the X-axis guide rail group.

Preferably, the a-axis direction is the same direction as the Y-axis direction;

the W-axis direction is the same direction as the X-axis.

Compared with the prior art, the beneficial effects that above-mentioned at least one technical scheme that this description embodiment adopted can reach include at least:

through setting up first actuating mechanism and second actuating mechanism, first actuating mechanism drives first end effector and rotates around the W axle, second actuating mechanism drives second end effector and rotates around the W axle, realize that first end effector and second end effector move with circular arc orbit mode and carry out the brill riveting work, can satisfy the brill riveting work of curved surface wallboard work piece different contained angles curved surface, can satisfy the curved surface wallboard work piece gesture adjustment work of jumbo size specification through X axle actuating mechanism and automatic gesture adjuster simultaneously, the curved surface wallboard work piece processing demand of multiple size and multiple contained angle curved surface condition has been satisfied, the whole automation brill of multiple size curved surface wallboard work piece is riveted, labor condition has been improved, labor production efficiency has been improved, make the assembly cycle of product shorten, fatigue resistance performance has been improved simultaneously, satisfy the assembly precision and the requirement of quality of modern aerospace product.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed 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 application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a curved panel drilling and riveting apparatus according to the present application;

FIG. 2 is a schematic structural view of an automatic attitude adjuster of curved panel drilling and riveting equipment provided by the application;

FIG. 3 is a schematic structural view of a processing mechanism of the curved panel drilling and riveting equipment provided by the application;

fig. 4 is a schematic structural view of a processing mechanism of the curved panel drilling and riveting device provided by the application;

fig. 5 is a schematic structural view of a placing frame of the curved panel drilling and riveting device provided by the application;

fig. 6 is a schematic diagram of an installation structure of a line laser measuring instrument of the curved panel drilling and riveting device. In the figure, 1, a curved wallboard; 2. a frame; 3. a mounting frame; 4. a first end effector; 5. a second end effector; 6. an automatic gesture adjuster; 7. x-axis driving; 8. a bracket; 9. a guide rail base; 10. an X guide rail group; 11. a base; 12. an upper sub rail group; 13. an upper main guide rail group; 14. a rack is arranged; 15. driving an upper W shaft; 16. a lower guide rail group; 17. a lower rack; 18. a lower W shaft is driven; 19. an arc-shaped mounting plate; 20. a workpiece top seat; 21. an elbow clamp assembly; 22. a turnover mechanism; 23. a line laser measuring instrument; .

Detailed Description

Embodiments of the present application will be described in detail below with reference to the accompanying drawings.

Other advantages and effects of the present application will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present application with reference to specific examples. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. The application may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present application. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

It is noted that various aspects of the embodiments are described below within the scope of the following claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present disclosure, one skilled in the art will appreciate that one aspect described herein may be implemented independently of any other aspect, and that two or more of these aspects may be combined in various ways. For example, apparatus may be implemented and/or methods practiced using any number and aspects set forth herein. In addition, such apparatus may be implemented and/or such methods practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.

It should also be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present application by way of illustration, and only the components related to the present application are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.

In addition, in the following description, specific details are provided in order to provide a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.

At present, in the processing process of the conical curved-surface wallboard, a common drilling and riveting mechanism mainly comprises a C-shaped drilling and riveting structure and a gantry drilling and riveting structure.

The C-shaped drilling and riveting structure (patent publication number: CN 112025722A) comprises a C-shaped frame, a lower end effector, an industrial robot and an upper end effector. The lower end effector is connected with one free end of the C-shaped frame, and the upper end effector is connected with the other free end of the C-shaped frame; the industrial robot is connected with the workpiece to be processed through the quick-change interface, and the industrial robot adopts the 6-degree-of-freedom serial robot to realize various angle processing of the workpiece, so that the processing requirements of workpieces with various specifications in small sizes are met. However, the method has the defects that the method is limited by the throat depth, the space structure and the load of the C-shaped rivet, cannot process large-size workpieces with various specifications, and is only suitable for the processing requirements of small-size workpieces with various specifications.

The gantry drilling and riveting structure (patent publication number: CN 217452917U) comprises a lower riveter moving platform, a bracket posture adjusting platform and an upper drilling and riveting frame. A lower electromagnetic riveter capable of performing linear displacement on the x axis and the y axis is arranged on the lower riveter moving platform; the bracket posture adjustment platform comprises a bracket assembly arranged on the upper side of the lower electromagnetic riveter assembly and used for clamping the wallboard, and the bracket assembly can lift in a z-axis manner; the drilling and riveting frame comprises a portal frame capable of performing y-axis linear motion; the device is compact in structure, and through controlling the combined motion of the lower riveter moving platform, the bracket attitude adjusting platform and the upper drilling and riveting frame, the adjustment of accurately determining the position and the attitude of the wallboard is realized, and the drilling and riveting station is rapidly and accurately positioned, so that the processing requirement of a large-size workpiece is met. However, the combined motion of the bracket posture adjustment platform and the drilling and riveting frame has lower degree of freedom, so that the combined motion cannot be suitable for processing workpieces with various specifications.

The inventor designs a curved wallboard drilling and riveting device through extensive and deep experiments.

The application solves the technical problems that: how to realize the drilling and riveting work of the curved surface wallboard workpiece, which simultaneously meets the conditions of small-size curved surfaces with different specifications and large-size curved surfaces with various included angles, of the same equipment.

More specifically, the solution adopted by the application comprises the following steps: through setting up first actuating mechanism and second actuating mechanism, first actuating mechanism drives first end effector and rotates around the W axle, second actuating mechanism drives second end effector and rotates around the W axle, realize that first end effector and second end effector move with circular arc orbit mode and carry out the brill riveting work, can satisfy the brill riveting work of curved surface wallboard work piece different contained angles curved surface, can satisfy the curved surface wallboard work piece gesture adjustment work of jumbo size specification through X axle actuating mechanism and automatic gesture adjuster simultaneously, the curved surface wallboard work piece processing demand of multiple size and multiple contained angle curved surface condition has been satisfied, the whole automation brill of multiple size curved surface wallboard work piece is riveted, labor condition has been improved, labor production efficiency has been improved, make the assembly cycle of product shorten, fatigue resistance performance has been improved simultaneously, satisfy the assembly precision and the requirement of quality of modern aerospace product.

The following describes the technical scheme provided by each embodiment of the present application with reference to the accompanying drawings.

As shown in fig. 1-2, a curved panel drilling and riveting apparatus includes: the device comprises a base 11, a placing rack and a processing mechanism, wherein the placing rack is used for placing the curved wall plate 1, and the processing mechanism is used for processing the curved wall plate 1 on the placing rack;

an X-axis driving mechanism is arranged on the base 11, an automatic gesture adjuster 6 is arranged on the X-axis driving mechanism, a turnover mechanism 22 is arranged between the automatic gesture adjuster 6 and the placement frame, the X-axis driving mechanism drives the placement frame to move along the X-axis direction, the automatic gesture adjuster 6 drives the placement frame to move along the Y-axis and Z-axis directions, and the turnover mechanism 22 drives the placement frame to rotate around the A-axis;

the processing mechanism comprises a frame 2, a first driving mechanism, a second driving mechanism, a first end effector 4 and a second end effector 5, wherein the first end effector 4 is an upper end effector, the second end effector 5 is a lower end effector, the first driving mechanism is used for driving the first end effector 4 to rotate around a W axis, and the second driving mechanism is used for driving the second end effector 5 to rotate around the W axis.

The automatic gesture adjuster 6, the turnover mechanism 22 and the placement frame are driven by the X-axis driving mechanism to move along the X-axis direction, so that the curved wallboard 1 moves along the X-axis direction, the X-axis direction is perpendicular to the direction of the processing mechanism, the automatic gesture adjuster 6 can drive the turnover mechanism 22 and the placement frame to move along the Y-axis direction and the Z-axis direction, the curved wallboard 1 moves along the Y-axis direction and the Z-axis direction, the placement frame is driven by the turnover mechanism 22 to rotate around the A-axis, the gesture adjustment work of a curved wallboard 1 workpiece with large size specification can be met, the first driving mechanism drives the first end effector 4 to rotate around the W-axis, the second driving mechanism drives the second end effector 5 to rotate around the W-axis, the drilling and riveting work is carried out by the first end effector 4 and the second end effector 5 in a circular arc track mode, and the drilling and riveting work of curved wallboard 1 workpieces with different included angles can be met.

It should be noted that, the workpiece of the conical curved wall plate 1 has a certain taper angle change, and the workpiece of the conical curved wall plate 1 moves to an angle and a position suitable for drilling and riveting by the combined action of the X axis, the Y axis and the Z axis, so that the first end effector 4 and the second end effector 5 move together along the W axis to complete the drilling and riveting work of the workpiece of the conical curved wall plate 1.

As shown in fig. 1 and fig. 3 to fig. 4, in some embodiments, the first driving mechanism includes an upper W-axis driving unit 15, an upper main guide rail set 13, an upper sub-guide rail set 12, and an upper rack 14, where the upper main guide rail set 13 and the upper sub-guide rail set 12 are both installed on the frame 2, the upper rack 14 is installed on the upper main guide rail set 13, the upper W-axis driving unit 15 drives the first end effector 4 to move along the upper main guide rail set 13 and the upper sub-guide rail set 12, and the upper W-axis driving unit 15 drives the first end effector 4 to move along the upper main guide rail set 13 and the upper sub-guide rail set 12, so that the first end effector 4 can rotate around the W-axis, and drilling and riveting operations of curved surfaces of different included angles of the curved wall plate 1 workpiece can be satisfied.

Further, the upper main guide rail group 13 is an arc guide rail; the upper auxiliary guide rail group 12 is an arc-shaped guide rail, the upper main guide rail group 13 and the upper auxiliary guide rail group 12 are arc-shaped guide rails, and the first end effector 4 moves along the upper main guide rail group 13 and the upper auxiliary guide rail group 12 to realize arc-shaped movement of the first end effector 4.

As shown in fig. 1 and fig. 3-4, in some embodiments, the first driving mechanism includes a mounting frame 3, a lower W-axis driving 18, a lower rail set 16 and a lower rack 17, where the mounting frame 3 is mounted on the base, the lower rail set 16 and the lower W-axis driving 18 are both mounted on the mounting frame 3, the lower rack 17 is disposed between the lower W-axis driving 18 and the second end effector 5, the lower W-axis driving 18 drives the second end effector 5 to slide along the lower rail set 16 through the lower rack 17, and drives the second end effector 5 to slide along the lower rail set 16 through the lower W-axis driving 18, so that the second end effector 5 can rotate around the W-axis, and drilling and riveting operations of curved surfaces of curved wall panels 1 with different included angles can be satisfied.

Further, the lower guide rail group 16 is an arc-shaped guide rail, and the second end effector 5 slides along the lower guide rail group 16 to realize the arc-shaped movement of the second end effector 5.

The upper main guide rail group 13, the upper sub guide rail group 12 and the lower guide rail group 16 are arc guide rails with the same circle center.

As shown in fig. 1 and 6, in some embodiments, the apparatus further includes a line laser measuring instrument 23, where the line laser measuring instrument 23 is disposed on the first end effector 4, and the line laser measuring instrument 23 is configured to scan an outline profile of the curved panel 1, by disposing the line laser measuring instrument 23, the line laser measuring instrument 23 scans the outline profile of the curved panel 1 before the drilling and riveting operation, and then fits the scanned outline profile into a curved surface, where the fitted curved surface is a presentation of the outline profile of the curved panel 1 to achieve normal alignment.

At present, normal alignment of a complex curved surface of a workpiece can be basically realized through various measuring methods, but the accuracy of measurement is still a technical barrier. At present, normal alignment is mainly divided into two modes: contact and non-contact. Typical cases of non-contact alignment are: a robot drilling and riveting normal alignment method and device based on laser scanning (patent number: CN 111664812A), a parallel mechanism normal alignment method (patent number: CN 104385053A), and an automatic drilling and riveting robot normal alignment method (CN 102284956A); typical case of contact alignment: hole making method (patent number: CN 306731260S). Summarizing the alignment of the above patents, both contact and non-contact have certain limitations. In the two modes, a plurality of displacement sensors are additionally arranged at the tail end of the equipment, the sensors measure distance information of positions of points nearby the position of the measured point, the distance information is input into a system, the system fits the coordinates of the measured points into a plane, and the normal direction of the measured point is calculated according to the relative position of the measured point on the plane. The accuracy of the method depends on the relative position change degree of points nearby the measured point, and if the position change degree of the nearby points is great, the error amount of the fitted plane and the actual measured point is accumulated step by step.

In the application, the line laser measuring instrument 23 is added at the tail end of the main shaft on the first end effector 4, the line laser measuring instrument 23 scans the outline profile of the workpiece before the drilling and riveting operation, and then the scanned outline profile is fitted to form a curved surface, and the fitted curved surface is the imaging of the outline profile of the workpiece. And then calculating the spatial normal posture of the measured point according to the spatial coordinates of the measured point on the fitting curved surface, comparing the spatial normal posture with the existing axial direction of the drilling spindle, directly performing drilling and riveting operation if the axial direction is consistent, adjusting the normal posture of the measured point of the workpiece to be consistent with the drilling spindle through the linkage of a plurality of shafts in the mechanical structure if the axial direction is deviated, and performing drilling and riveting operation. The normal alignment mode can realize accurate normal alignment of the measured point position, and is not limited by inaccurate normal position caused by overlarge change of the shape and curvature of a workpiece near the measured point.

As shown in fig. 1 and 5, in some embodiments, the rack includes a bracket 8 and a plurality of arc-shaped supporting frames with different radii, the bracket 8 is mounted on the turnover mechanism 22, the arc-shaped supporting frames are mounted on the bracket 8, the radius of the arc-shaped supporting frames gradually decreases along the direction away from the processing mechanism, a plurality of the arc-shaped supporting frames are provided with a plurality of workpiece top seats 20, and a plurality of workpiece top seats 20 are provided on each arc-shaped supporting frame by arranging a plurality of arc-shaped supporting frames with different radii, and each arc-shaped supporting frame is provided with a plurality of workpiece top seats 20, the arc-shaped supporting frames support the curved wall plate 1, and the workpiece top seats 20 support and jack the curved wall plate 1.

As shown in fig. 1 and 5, in some embodiments, the rack further includes an arc-shaped mounting plate 19 and a plurality of toggle clamp assemblies 21, where the arc-shaped mounting plate 19 is mounted on the bracket 8, and the plurality of toggle clamp assemblies 21 are mounted on the arc-shaped mounting plate 19, and by setting the plurality of toggle clamp assemblies 21, the toggle clamp assemblies 21 can perform quick clamp fixation on the curved wall plate 1, so as to implement fixation operation on the curved wall plate 1, and meanwhile, can ensure that the curved wall plate 1 is stable and has position precision in the processing process.

In some embodiments, the X-axis driving mechanism includes an X-axis driving unit 7, a guide rail base 19 and an X-axis guide rail set 10, the guide rail base 19 is installed at the top of the base, the X-axis guide rail set 10 is installed on the guide rail base 19, the X-axis driving unit 7 drives the automatic posture adjustor 6 to move along the X-axis guide rail set 10, the X-axis guide rail set 10 is installed at the top of the base through the guide rail base 19, the X-axis driving unit 7 is installed beside the automatic posture adjustor 6, and the X-axis driving unit 7 drives the automatic posture adjustor 6 to move along the X-axis guide rail set 10, so as to adjust the curved wall board 1 along the X-axis direction.

In some embodiments, the a-axis direction is the same direction as the Y-axis; the W axis direction is the same direction as the X axis, so that the curved surface wallboard 1 can move along the X axis, the Y axis and the Z axis, meanwhile, the rotation of the curved surface wallboard 1 around the X axis and the Y axis is realized, the five-axis linkage drilling and riveting processing is realized, the processing of a large-size curved surface wallboard 1 workpiece can be met, and the processing of a conical curved surface wallboard 1 multi-angle change workpiece can be met.

Referring to fig. 1 to 6, a specific operation procedure of the curved panel drilling and riveting apparatus will be described below:

the X-axis driving mechanisms at the two sides and the four automatic gesture adjusters 6 work together to enable the placing frame to return to an initial position and a state, clamping is adjusted manually according to the actual curvature of the workpiece curved wall plate 1, and the workpiece curved wall plate 1 is installed on the placing frame.

Executing a drilling and riveting program, driving an automatic gesture adjuster 6, a turnover mechanism 22 and a placement frame to move along the X-axis direction through an X-axis driving mechanism, realizing the movement of the curved wallboard 1 along the X-axis direction, wherein the X-axis direction is the direction perpendicular to a processing mechanism, the automatic gesture adjuster 6 can drive the turnover mechanism 22 and the placement frame to move along the Y-axis direction and the Z-axis direction, realizing the movement of the curved wallboard 1 along the Y-axis direction and the Z-axis direction, driving the placement frame to rotate around the A-axis through the turnover mechanism 22, enabling the curved wallboard 1 to be in an optimal drilling and riveting state under the action of a laser scanner under the action of a first end effector 4 and a second end effector 5, driving the first end effector 4 to rotate around the W-axis, driving the second end effector 5 to rotate around the W-axis, and completing the drilling and riveting work of the wallboard in the first end effector 4 and the second end effector 5 after the curved wallboard 1 is in place according to the action of the curved surface angle and the laser scanner and the deflection angle (the upper riveting gun and the lower riveting gun are kept on the same normal line under different deflection angles). According to the processing requirement of the workpiece curved wall plate 1, the X-axis drive 7, the automatic gesture adjuster 6, the upper W-axis drive 15 and the lower W-axis drive 18 on two sides are repeated, the X, Y, Z, A and W-axis five-axis linkage of the workpiece is realized, and the drilling and riveting work of the workpiece curved wall plate 1 is completed through the upper end effector and the lower end effector in sequence.

After the system automatically recognizes that the drilling and riveting work of the workpiece curved wall plate 1 is completed, the bracket 8 assembly is driven by the X driving devices on two sides and the four automatic gesture adjusters 6 to return to the initial position and state, and the workpiece curved wall plate 1 is disassembled and hoisted to the required position manually.

The same and similar parts of the embodiments in this specification are all mutually referred to, and each embodiment focuses on the differences from the other embodiments. In particular, for the method embodiments described later, since they correspond to the system, the description is relatively simple, and reference should be made to the description of some of the system embodiments.

The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present application should be included in the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims (10)

1. A curved panel drilling and riveting apparatus comprising: the device comprises a base, a placing rack and a processing mechanism, wherein the placing rack is used for placing the curved wall plate, and the processing mechanism is used for processing the curved wall plate on the placing rack;

an X-axis driving mechanism is arranged on the base, an automatic gesture adjuster is arranged on the X-axis driving mechanism, a turnover mechanism is arranged between the automatic gesture adjuster and the placement frame, the X-axis driving mechanism drives the placement frame to move along the X-axis direction, the automatic gesture adjuster drives the placement frame to move along the Y-axis and Z-axis directions, and the turnover mechanism drives the placement frame to rotate around the A-axis;

the processing mechanism comprises a frame, a first driving mechanism, a second driving mechanism, a first end effector and a second end effector, wherein the first driving mechanism is used for driving the first end effector to rotate around a W shaft, and the second driving mechanism is used for driving the second end effector to rotate around the W shaft.

2. The curved panel drill and rivet apparatus of claim 1, wherein the first drive mechanism comprises an upper W-axis drive, an upper primary guide rail set, an upper secondary guide rail set, and an upper rack, both of which are mounted on the frame, the upper rack being mounted on the upper primary guide rail set, the upper W-axis drive driving the first end effector along the upper primary guide rail set and the upper secondary guide rail set.

3. The curved panel drilling and riveting apparatus according to claim 2, wherein the upper main guide rail group is an arc-shaped guide rail;

and/or the upper auxiliary guide rail group is an arc-shaped guide rail.

4. The curved panel drill and rivet apparatus according to claim 1, wherein the first drive mechanism comprises a mounting bracket, a lower W-axis drive, a lower set of guide rails, and a lower rack, the mounting bracket being mounted on the base, the lower set of guide rails and the lower W-axis drive being mounted on the mounting bracket, the lower rack being disposed between the lower W-axis drive and the second end effector, the lower W-axis drive driving the second end effector to slide along the lower set of guide rails via the lower rack.

5. The curved panel drill and rivet apparatus of claim 4, wherein the lower set of guide rails is arcuate.

6. The curved panel drill and rivet apparatus according to any one of claims 1-5, further comprising a line laser gauge disposed on the first end effector, the line laser gauge for scanning the profile curve of the curved panel.

7. The curved panel drilling and riveting apparatus according to claim 1, wherein the placement frame comprises a bracket and a plurality of arc-shaped supporting frames with different radiuses, the bracket is mounted on the turnover mechanism, the arc-shaped supporting frames are mounted on the bracket, and a plurality of workpiece top seats are arranged on the arc-shaped supporting frames.

8. The curved panel drill and rivet apparatus of claim 7, wherein the rack further comprises an arcuate mounting plate mounted to the bracket and a plurality of toggle clamp assemblies mounted to the arcuate mounting plate.

9. The curved panel drilling and riveting apparatus according to claim 1, wherein the X-axis driving mechanism comprises an X-axis driving mechanism, a guide rail base and an X-guide rail set, the guide rail base is mounted on the top of the base, the X-guide rail set is mounted on the guide rail base, and the X-axis driving mechanism drives the automatic posture adjuster to move along the X-guide rail set.

10. The curved panel drilling and riveting apparatus according to claim 1, wherein the a-axis direction is the same direction as the Y-axis;

and/or, the W-axis direction is the same direction as the X-axis.