CN119077376A - An upper actuator of a drilling and riveting machine - Google Patents
An upper actuator of a drilling and riveting machine Download PDFInfo
- Publication number
- CN119077376A CN119077376A CN202411459023.9A CN202411459023A CN119077376A CN 119077376 A CN119077376 A CN 119077376A CN 202411459023 A CN202411459023 A CN 202411459023A CN 119077376 A CN119077376 A CN 119077376A
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- station
- pressure foot
- drilling
- riveting
- rotating mechanism
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Automatic Assembly (AREA)
- Insertion Pins And Rivets (AREA)
Abstract
The application discloses an upper actuator of a drilling and riveting machine. The machine comprises a machine frame, a station rotating mechanism, a cutter library mechanism, a pressure pin mechanism, a drilling station, a gluing station, a dowel pin inserting station, a riveting station and a milling station, wherein the two ends of the station rotating mechanism are respectively connected with an A-axis driving end and an A-axis driven end in a rotating mode, the cutter library mechanism and the pressure pin mechanism are arranged on one side, away from a beam, of the station rotating mechanism, the circumference of the station rotating mechanism is respectively provided with the drilling station, the gluing station, the dowel pin inserting station, the riveting station and the milling station, the stations are configured to rotate around the central axis of the station rotating mechanism and stop after rotating to a selected station, the selected station moves along the height direction of the station rotating mechanism, so that the selected station extends into the pressure pin mechanism, and drilling, gluing, rivet inserting, riveting and leveling of a skin are achieved, and the C-axis driving end and the A-axis driving end are in linkage, so that the axis of the pressure pin mechanism and the normal of the surface of the skin are coaxial. Therefore, the application can automatically execute the corresponding functions of drilling, gluing, inserting rivets, riveting and milling, improves the processing efficiency and ensures the quality stability of products.
Description
Technical Field
The application relates to the technical field of drilling and riveting machines, in particular to an upper actuator of a drilling and riveting machine.
Background
Skin skeleton type structures commonly employ riveting methods in their mechanical connection. A single large panel-like part, represented by a skin skeleton structure, requires riveting thousands or even tens of thousands of rivets.
However, in actual production, the complete riveting process sequentially comprises manual clamping, scribing, drilling, countersinking and riveting, and needs to be matched by a plurality of people, and meanwhile, the manual operation experience is relied on, so that the quality of the riveting process is not guaranteed, the working efficiency is low, and the requirement of large-batch processing of the wall plates cannot be met.
Disclosure of Invention
The embodiment of the application solves the technical problems that the riveting process of the wallboard in the prior art needs multiple persons to cooperate, so that the quality of the wallboard cannot be ensured, the working efficiency is low, and the requirement of mass processing of the wallboard cannot be met by the upper actuator of the drilling and riveting machine.
The embodiment of the application provides an upper actuator of a drilling and riveting machine, which comprises an AC swing head mechanism, a station rotating mechanism, a tool magazine mechanism and a pressure foot mechanism; the AC swing head mechanism comprises a cross beam, and an A-shaft driving end and an A-shaft driven end which are arranged at two ends of the cross beam, wherein the cross beam is provided with a C-shaft driving end, and one end of the C-shaft driving end, which is far away from the cross beam, is connected with a ram of a drilling and riveting machine; the two ends of the station rotating mechanism are respectively and rotatably connected with the A-axis driving end and the A-axis driven end, the tool magazine mechanism and the pressure foot mechanism are arranged on one side, far away from the cross beam, of the station rotating mechanism at intervals along a second direction, a drilling station, a gluing station, a pin inserting station, a riveting station and a milling station are respectively arranged in the circumferential direction of the station rotating mechanism, the drilling station, the gluing station, the pin inserting station, the riveting station and the milling station are configured to rotate around the central axis of the station rotating mechanism and stop after rotating to a selected station, the selected station moves along the height direction of the station rotating mechanism so as to extend into the pressure foot mechanism to realize drilling, gluing, riveting and milling of a skin, the C-axis driving end and the A-axis driving end drive the station rotating mechanism so as to drive the axis of the pressure foot mechanism and the surface of the skin to be coaxial, the magazine mechanism is configured to replace the normal line of the axes of the drilling station, the tool pin and the milling station, the tool magazine mechanism is configured to be a normal line of the position of the pressure foot mechanism and a position of the tool pin to be detected, the position is configured to be a local deviation of the position of the tool pin to be detected, and the position is configured to be detected to be a position of the position is detected, and a position of the position is detected to be detected, to ensure that the axis of the pressure foot mechanism is concentric with the normal to the skin surface.
In one possible implementation manner, the station rotating mechanism comprises an annular frame, an annular guide rail, a rotating seat, a gear ring, a first driving piece and a plurality of sliding components, wherein two ends of the annular frame are respectively connected with the A-axis driving end and the A-axis driven end in a rotating mode, the tool magazine mechanism and the pressure foot mechanism are respectively arranged on one side, far away from the cross beam, of the annular frame, the annular guide rail is fixedly connected in the annular frame, the gear ring is connected to the annular guide rail in a sliding mode and is positioned on one side, facing the cross beam, of the annular guide rail, the rotating seat part extends into the gear ring and is fixedly connected to the gear ring, the drilling station, the gluing station, the riveting station and the milling station are arranged on the circumference of the outer wall of the rotating seat, the sliding components are respectively arranged between the drilling station, the gluing station, the pin inserting station, the riveting station and the milling station are respectively provided with third driving pieces, the third driving pieces are configured to drive the drilling station, the pin inserting station and the gear ring to rotate around the central axis, and the rotating seat is configured to rotate around the central axis.
In one possible implementation manner, the sliding assembly comprises a first guide rail and a first sliding block, the first guide rail is arranged on the drilling station, the gluing station, the riveting station and the milling station, the first sliding block corresponding to the first guide rail is arranged on the rotating seat, and the first guide rail moves along the first sliding block to drive the drilling station, the gluing station, the riveting station and the milling station to execute corresponding drilling, gluing, riveting and milling work.
In one possible implementation manner, the outer wall of the rotary seat is provided with a camera station, and the axes of the camera station, the drilling station, the gluing station, the pin inserting station, the riveting station and the milling station are all parallel to each other and are all equal to the distance between the central axis of the rotary seat.
In one possible implementation, the pressure foot mechanism includes a pressure foot plate, a pressure foot sleeve, a second driving member, a 3D camera, a first pulley, a second pulley, a tool setting sensor, a compression bar, an elastic member, two driving assemblies, a plurality of pressure sensors, and a plurality of first laser ranging sensors; the two driving assemblies are arranged at two ends of the pressure foot plate, the tops of the two driving assemblies are connected to one side, far away from the cross beam, of the station rotating mechanism, and the two driving assemblies are configured to drive the pressure foot plate to move along the height direction of the pressure foot plate; a plurality of first laser ranging sensors are arranged on the circumference of one side, far away from the station rotating mechanism, of the pressure foot plate; the pressure foot plate is provided with a center hole, a bearing is arranged on one side, far away from the station rotating mechanism, of the center hole, the first belt wheel is sleeved on the outer side of the bearing, the pressure foot sleeve is arranged on one side, far away from the pressure foot plate, of the first belt wheel, the second driving piece is arranged on the pressure foot plate, the output end of the second driving piece is provided with the second belt wheel, the second driving piece is close to the driving end of the A shaft, the second belt wheel is configured to drive the first belt wheel to rotate through a first synchronous belt, the plurality of pressure sensors are arranged between the pressure foot sleeve and the first belt wheel and are arranged along the circumferential direction of the pressure foot sleeve, the 3D camera is arranged on the side wall of the pressure foot plate, the tool setting sensor is arranged on the side wall of the pressure foot plate and is close to the tool magazine mechanism, one end of the pressing rod extends into the tool setting sensor and is connected with one end, far away from the bottom of the tool setting sensor, the other end of the tool setting sensor is free, and toward the station rotation mechanism.
In one possible implementation, a groove is provided in a side of the pressure foot sleeve remote from the first pulley, the groove being configured to avoid interference of the pressure foot sleeve by a rivet head of the protruding skin.
In one possible implementation, the pressure foot mechanism further includes a second laser ranging sensor, a third laser ranging sensor, a fourth laser ranging sensor, a fifth laser ranging sensor, and a sixth laser ranging sensor; the second laser ranging sensor, the third laser ranging sensor and the fourth laser ranging sensor are arranged on one side of the pressure foot plate, which faces the station rotating mechanism, one end of the pressure foot plate is close to the 3D camera, and the projection of one end of the pressure foot plate, which is far away from the 3D camera, is overlapped with the projection of the central hole on a horizontal plane; the height of the second laser ranging sensor is larger than that of the third laser ranging sensor, the height of the third laser ranging sensor is larger than that of the fourth laser ranging sensor, the fifth laser ranging sensor and the sixth laser ranging sensor are arranged on one side of the pressure foot plate, which faces the station rotating mechanism, the direction of the center hole, which faces the fifth laser ranging sensor, is a third direction, the direction of the center hole, which faces the sixth laser ranging sensor, is a fourth direction, an included angle between the third direction and the fourth direction is 90 degrees, and when the rivet inserting device of the rivet inserting station clamps the rivet to reach one side of the center hole, which faces the station rotating mechanism, the fifth laser ranging sensor and the sixth laser ranging sensor are configured to measure distances from the rivet respectively, the direction of the center hole, which faces the fifth laser ranging sensor, is a third direction, the direction of the sixth laser ranging sensor, and the included angle between the third direction and the fourth direction is 90 degrees, and when the rivet inserting device of the rivet inserting station clamps the rivet to reach one side of the center hole, the direction of the station rotating mechanism is configured to measure distances between the fifth laser ranging sensor and the sixth laser ranging sensor, and the rivet, and whether the theoretical distance is in a skew range is compared.
In one possible implementation mode, the pressure foot mechanism further comprises a first support, a cooling pipe, an air blowing pipe, a chip collecting box and a dust collector, wherein the first support is arranged on one side of the pressure foot plate, which faces the station rotating mechanism, and is close to the central hole, the cooling pipe and the air blowing pipe are arranged on one side of the first support, which is far away from the pressure foot plate, the pressure foot sleeve is circumferentially provided with a plurality of through holes, the chip collecting box is communicated with one of the through holes, and one end of the chip collecting box, which is far away from the through holes, is provided with the dust collector.
In one possible implementation manner, the pressure foot mechanism further comprises a second bracket, a pen-shaped camera and two columnar light sources, wherein the second bracket is arranged on one side of the pressure foot plate, which faces the station rotating mechanism, and is close to the central hole and is opposite to the first bracket, the pen-shaped camera and the two columnar light sources are arranged at one end, far away from the pressure foot plate, of the second bracket, and the pen-shaped camera is arranged between the two columnar light sources.
In one possible implementation manner, the tool magazine mechanism comprises a tool magazine bottom plate, a rotary driving piece, a third belt pulley, a fourth belt pulley, a movable driving piece, a rack, a cutter disc, a rotating shaft, two mounting frames, two second guide rails and two second sliding blocks; the two mounting frames are fixed on one side, far away from the cross beam, of the station rotating mechanism, are arranged at intervals along a first direction, and the second sliding blocks are respectively arranged at one ends, far away from the station rotating mechanism, of the two mounting frames; the tool magazine base plate is arranged on one side of the two second guide rails far away from the second slide blocks and is provided with a mounting hole, the mounting hole is arranged between the two second guide rails, the rotary driving piece is fixed on one side of the tool magazine base plate facing the station rotating mechanism, the output end of the rotary driving piece is provided with the third belt wheel, one side of the mounting hole facing the station rotating mechanism is provided with the fourth belt wheel, the third belt wheel is configured to drive the fourth belt wheel to rotate through a second synchronous belt, one end of the rotary shaft penetrates through the fourth belt wheel and the mounting hole and is connected with the cutter disc, the cutter disc is arranged in parallel with the tool magazine base plate, a plurality of replacement tools and a plurality of riveting rods are arranged on the circumference of the cutter disc, the movable driving piece is fixed on one side of the tool magazine base plate facing the station rotating mechanism and is arranged between the two first belt wheels, the output end of the movable driving piece is arranged on the first belt wheel and is arranged on the second belt magazine base plate, the rack is arranged on the side of the cutter base plate parallel with the second guide rail, and the rack is meshed with the first gear, the movable driving piece is configured to drive the first gear to rotate, and the first gear drives the rack to linearly move, so that the rack drives the tool magazine bottom plate to move towards or away from the direction of the tool of the drilling station, the tool of the milling station or the riveting rod of the riveting station.
One or more technical solutions provided in the embodiments of the present application at least have the following technical effects:
The upper actuator of the drilling and riveting machine provided by the embodiment of the application comprises an AC swing head mechanism, a station rotating mechanism, a tool magazine mechanism and a pressure foot mechanism. The AC swing head mechanism can horizontally rotate around a vertical C shaft and also can horizontally rotate around a horizontal A shaft, and the driving end of the A shaft is linked with the driving end of the C shaft to drive the station rotating mechanism to move so as to enable the axis of the pressure foot mechanism and the normal line of the surface of the skin to be coaxial. The station rotating mechanism provided by the embodiment of the application enables the drilling station, the gluing station, the pin inserting station, the riveting station and the milling station to rotate around the central axis of the station rotating mechanism, so that the positioning precision can be improved, the stations can be realized under the condition of minimum span, the number of stations is increased, and a room is reserved for the expansion of the follow-up stations. The pressure foot mechanism provided by the embodiment of the application has a normal detection function, simplifies the processing and alignment operation, and improves the working efficiency. The tool magazine mechanism provided by the embodiment of the application can be used for replacing tools for drilling stations, replacing tools for milling stations and replacing riveting rods for riveting stations. Therefore, the upper actuator of the drilling and riveting machine can automatically perform corresponding drilling, gluing, rivet inserting, riveting and milling, improves the machining efficiency, ensures the quality stability of products, and can meet the requirement of mass machining of the wall plates.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments of the present application will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of an upper actuator of a drilling and riveting machine according to an embodiment of the present application;
Fig. 2 is a schematic structural diagram of an AC swing mechanism according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a station rotation mechanism according to an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a sliding assembly according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a tool magazine mechanism according to an embodiment of the present application;
FIG. 6 is a rear view of a tool magazine mechanism provided in an embodiment of the present application;
FIG. 7 is a partial cross-sectional view of FIG. 6;
FIG. 8 is a schematic diagram of a pressure foot mechanism according to an embodiment of the present application;
FIG. 9 is a top view of a pressure foot mechanism provided in an embodiment of the present application;
FIG. 10 is a cross-sectional view of a tool setting sensor provided by an embodiment of the present application;
FIG. 11 is a front view of a pressure foot mechanism provided in an embodiment of the present application;
Fig. 12 is a schematic diagram of a pressure foot mechanism according to an embodiment of the present application.
Reference numeral 1-AC swing mechanism; 11-a cross beam; a 12-A shaft drive end; the 13-A shaft driven end, the 14-C shaft driven end, the 2-station rotating mechanism, the 21-annular frame, the 22-annular guide rail, the 23-rotating seat, the 24-gear ring, the 25-first driving piece, the 26-sliding component, the 261-first guide rail, the 262-first sliding block, the 3-tool magazine mechanism, the 31-tool magazine bottom plate, the 32-rotating driving piece, the 33-third belt wheel, the 34-fourth belt wheel, the 35-moving driving piece, the 351-first gear, the 36-rack, the 37-cutter head, the 38-rotating shaft, the 39-mounting frame, the 391-second guide rail, the 392-second sliding block, the 393-replacing tool, the 4-pressure foot mechanism, the 41-pressure foot plate, the 411-center hole, the 42-pressure foot sleeve, the 421-groove, the 43-second driving piece, the 44-3D camera, the 45-pen-type camera, the 46-first belt wheel, the 47-second belt wheel, the 48-tool setting sensor 481, the first bracket, the 482-cooling tube, the 483-air tube, the 484-air tube, the 485-light source, the 351-first bracket, the 36-rack, the 37-cutter head, the 38-rotating shaft, the 39-mounting frame, the 39-second guide rail, the 391-second guide rail, the 392-second guide rail, the laser cylinder cap, the 411-center hole, the 42-groove, the 421-groove, the groove and the 43-43, the 43-second guide, the 43, the cylinder body, the 4-and the 4-35-4, the cylinder, the 4, the cylinder, the 42, the, the, the Distance sensor, 498-sixth laser distance sensor, 5-drilling station, 6-gluing station, 7-inserting nail station, 8-riveting station, 9-milling station and 10-camera station.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. 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.
In the description of the embodiments of the present application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the embodiments of the present application and simplify description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. The terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected via an intermediary, or in communication between two elements. The specific meaning of the above terms in the embodiments of the present application will be understood by those of ordinary skill in the art according to specific circumstances.
The embodiment of the application provides an upper actuator of a drilling and riveting machine, which is shown in fig. 1 to 12. The upper actuator of the drilling and riveting machine comprises an AC swing head mechanism 1, a station rotating mechanism 2, a tool magazine mechanism 3 and a pressure foot mechanism 4. The AC swing mechanism 1 comprises a cross beam 11, an A-axis driving end 12 and an A-axis driven end 13 which are arranged at two ends of the cross beam 11, wherein the cross beam 11 is provided with a C-axis driving end 14, and one end, far away from the cross beam 11, of the C-axis driving end 14 is connected to a ram of a drilling and riveting machine. Specifically, the ram may drive the AC swing mechanism 1 to move up and down or left and right. The two ends of the station rotating mechanism 2 are respectively and rotatably connected with the A-axis driving end 12 and the A-axis driven end 13. The tool magazine mechanism 3 and the pressure foot mechanism 4 are arranged on one side, far away from the cross beam 11, of the station rotating mechanism 2 at intervals along the second direction. The circumference in the station rotating mechanism 2 is respectively provided with a drilling station 5, a gluing station 6, a pin inserting station 7, a riveting station 8 and a milling station 9, wherein the drilling station 5, the gluing station 6, the pin inserting station 7, the riveting station 8 and the milling station 9 are configured to rotate around the central axis of the station rotating mechanism 2 and stop after rotating to a selected station, and the selected station moves along the height direction of the station rotating mechanism 2 so as to extend into the pressure foot mechanism 4, so that the skin is drilled, glued, rivet inserted, riveted and milled. The C-axis driving end 14 and the A-axis driving end 12 are linked to drive the station rotating mechanism 2 to move so as to enable the axis of the pressure foot mechanism 4 and the normal line of the surface of the skin to be coaxial. The magazine mechanism 3 is configured to replace the tool of the drilling station 5, the tool of the milling station 9 and the rivet stem of the riveting station 8. The pressure foot mechanism 4 is configured to detect deviation of the nose point of the local region of the hole to be machined from the actual normal of the hole site, and calculate the normal direction of the skin surface of the wall plate by a program to ensure that the axis of the pressure foot mechanism 4 is concentric with the normal of the skin surface.
It should be noted that, the AC swing mechanism 1 of the embodiment of the present application may rotate horizontally around the vertical C axis, and may also rotate around the horizontal a axis, where the a axis driving end 12 and the C axis driving end 14 are linked to drive the station rotating mechanism 2 to move, so that the axis of the pressure leg mechanism 4 and the normal line of the skin surface are concentric. The station rotating mechanism 2 of the embodiment of the application enables the drilling station 5, the gluing station 6, the pin inserting station 7, the riveting station 8 and the milling station 9 to rotate around the central axis of the station rotating mechanism 2, thereby not only improving the positioning precision, but also realizing the number of stations under the condition of minimum span, and leaving room for the expansion of the subsequent stations. The pressure foot mechanism 4 provided by the embodiment of the application has a normal detection function, so that the processing and alignment operation is simplified, and the working efficiency is improved. The tool magazine mechanism 3 of the embodiment of the application can replace tools for the drilling station 5, tools for the milling station 9 and rivet bars for the riveting station 8. Therefore, the upper actuator of the drilling and riveting machine can automatically perform corresponding drilling, gluing, rivet inserting, riveting and milling, improves the machining efficiency, ensures the quality stability of products, and can meet the requirement of mass machining of the wall plates.
In the embodiment of the present application, the station rotating mechanism 2 includes an annular frame 21, an annular guide rail 22, a rotating seat 23, a gear ring 24, a first driving member 25, and a plurality of sliding assemblies 26. Both ends of the annular frame 21 are rotatably connected to the a-axis driving end 12 and the a-axis driven end 13, respectively. The magazine mechanism 3 and the pressure foot mechanism 4 are both disposed on the side of the annular frame 21 remote from the cross beam 11. The annular guide rail 22 is fixedly connected within the annular frame 21. The gear ring 24 is slidably connected to the annular guide rail 22 and is located on the side of the annular guide rail 22 facing the cross beam 11, and the rotating seat 23 partially extends into the gear ring 24 and is fixedly connected to the gear ring 24. The drilling station 5, the gluing station 6, the dowel station 7, the riveting station 8 and the milling station 9 are arranged on the circumference of the outer wall of the rotary seat 23, a sliding component 26 is arranged between the drilling station 5, the gluing station 6, the riveting station 8 and the milling station 9 and the rotary seat 23, and third driving pieces are arranged on the drilling station 5, the gluing station 6, the dowel station 7, the riveting station 8 and the milling station 9 and are configured to drive the drilling station 5, the gluing station 6, the dowel station 7, the riveting station 8 and the milling station 9 to move along the height direction of the rotary seat 23.
The third driving parts arranged at the drilling station 5, the gluing station 6, the riveting station 8 and the milling station 9 are all screw rods, and the third driving part of the pin inserting station 7 is an electric cylinder. The lead of the electric cylinder is smaller, the thrust can be accurately controlled, and the thrust is larger.
The output end of the first driving member 25 is connected to the ring gear 24 and configured to drive the ring gear 24 to rotate about the central axis of the rotary seat 23. Specifically, the first driving members 25 of the embodiment of the present application are two. The two first driving pieces 25 drive the gear ring 24 to rotate, so that the rotating seat 23 is driven to rotate, and conversion of different stations can be achieved.
Further, the first driving member 25 according to the embodiment of the present application is a motor, and the output end of the motor is provided with a second gear, and the second gear drives the gear ring 24 to rotate.
It should be noted that, according to the program setting, each station may be driven by the first driving member 25, so that the rotating seat 23 rotates around its central axis, and stops after rotating to the selected station, and the corresponding station is driven by the third driving member of each station, and moves to the position above the wall plate along the direction of the first slider 262. Specifically, each station is arranged on the circumference of the outer wall of the rotating seat 23, so that the space of the station form is smaller than that of the conventional station form which is arranged in a straight line, and the station function expansibility is stronger.
In an embodiment of the present application, the slide assembly 26 includes a first guide 261 and a first slider 262. The drilling station 5, the gluing station 6, the riveting station 8 and the milling station 9 are all provided with a first guide 261. The rotation seat 23 is provided with a first slider 262 corresponding to the first guide rail 261. The first guide rail 261 moves along the first slider 262 to drive the drilling station 5, the gluing station 6, the riveting station 8 and the milling station 9 to perform corresponding drilling, gluing, riveting and milling operations. It should be noted that the pin inserting station 7 according to the embodiment of the present application may move along the height direction of the rotating seat 23.
It should be noted that, in the embodiment of the present application, each first guide rail 261 may be correspondingly provided with two first sliding blocks 262, and the two first sliding blocks 262 are spaced along the height direction of the rotating seat 23, so that the stability of the overall structure is better.
In the embodiment of the application, the outer wall of the rotary seat 23 is provided with the image pickup station 10. The axes of the camera shooting station 10, the drilling station 5, the gluing station 6, the pin inserting station 7, the riveting station 8 and the milling station 9 are all parallel to each other, and the distances between the camera shooting station and the central axis of the rotating seat 23 are equal, so that errors can not occur when the stations rotate in place, and the working efficiency and the working precision are further improved.
In the manual operation, the image pickup station 10 is aligned with the center hole 411 of the pressure foot plate 41, and in the automatic operation, the drill and rivet positions are aligned by using 3D vision positioning, so that the machining operation can be performed.
In the embodiment of the present application, the pressure foot mechanism 4 includes a pressure foot plate 41, a pressure foot cover 42, a second driving member 43, a 3D camera 44, a first pulley 46, a second pulley 47, a tool setting sensor 48, a compression bar 49, an elastic member 490, two driving assemblies 491, a plurality of pressure sensors 492, and a plurality of first laser ranging sensors 493. The two driving components 491 are disposed at two ends of the pressure foot 41, and the tops thereof are connected to one side of the station rotation mechanism 2 far from the cross beam 11, and are configured to drive the pressure foot 41 to move along the height direction thereof.
Specifically, the pressure foot cover 42 is of a frustum structure and is of a hollow structure, and the projection along the axis of the pressure foot cover gradually decreases, so that the pressure foot cover is designed to facilitate chip discharging on the one hand and the lower drill bit can be seen by a camera above the pressure foot cover on the other hand.
The drive assembly 491 includes a cylinder block 4911, a piston 4912, and a cylinder head 4913. Two cylinder blocks 4911 are provided at both ends of the pressure foot plate 41, respectively, and a cylinder head 4913 is fixedly connected to one end of the cylinder block 4911 remote from the pressure foot plate 41. One end of the piston 4912 is connected to the side of the station rotating mechanism 2 remote from the cross member 11, and the other end thereof extends into the cylinder block 4911.
A plurality of first laser ranging sensors 493 are provided in the circumferential direction of the side of the presser foot plate 41 remote from the station rotation mechanism 2.
The number of the first laser ranging sensors 493 in the embodiment of the application may be four, and the four first laser ranging sensors 493 are used for measuring distances from the periphery of the hole to be processed of the skin to the four first laser ranging sensors 493 respectively, and then the normal vector direction of the skin surface of the wall plate is calculated according to the four distance values, so as to ensure that the axis of the pressure foot sleeve 42 and the normal line of the skin surface are coaxial.
Two first laser ranging sensors 493 are provided on both sides of the pressure foot plate 41. The pressure foot plate 41 is provided with a central hole 411, one side of the central hole 411 away from the station rotating mechanism 2 is provided with a bearing, the outer side of the bearing is sleeved with a first belt wheel 46, and one side of the first belt wheel 46 away from the pressure foot plate 41 is provided with a pressure foot sleeve 42. The second driving member 43 is mounted to the presser foot plate 41, the output end thereof is mounted with a second pulley 47, and the second driving member 43 is close to the a-axis driving end 12. The second pulley 47 is configured to drive the first pulley 46 to rotate by the first timing belt. Specifically, the second driving member 43 drives the second pulley 47 to rotate the pressure foot plate 41, so that the first synchronous belt drives the pressure foot sleeve 42 to swing within a certain range, and the pressure foot sleeve 42 can avoid interference with the protrusion on the surface of the skin.
In the embodiment of the present application, a plurality of pressure sensors 492 are disposed between the pressure foot cover 42 and the first pulley 46 and along the circumferential direction of the pressure foot cover 42. Specifically, the pressure sensor 492 of the embodiment of the present application is provided with three. When the pressure exerted by the pressure foot cover 42 reaches a certain set point, a signal is sent to the control system that the pressure foot cover 42 has contacted the skin.
In the embodiment of the present application, the 3D camera 44 is disposed on the sidewall of the pressure foot 41, and is configured to detect the position of the positioning hole, the positioning rivet or the mark, and provide the three-dimensional coordinates of the drilling position for the numerical control system.
In the embodiment of the application, the tool setting sensor 48 is arranged on the side wall of the pressure foot plate 41 and is close to the tool magazine mechanism 3, an elastic piece 490 is arranged in the tool setting sensor 48, one end of the pressing rod 49 extends into the tool setting sensor 48 and is connected with one end of the elastic piece 490, which is far away from the bottom of the tool setting sensor 48, and the other end of the elastic piece is a free end and faces the station rotating mechanism 2.
After the pressing rod 49 contacts the tip of the cutter, the shoulder of the pressing rod 49 is sensed by the tool setting sensor 48 as the cutter moves downward, and the actual length of the cutter is calculated by comparing the position of the spindle of the cutter at this time with the position of the reference cutter length.
Specifically, the tool setting sensor 48 is provided on the side surface of the pocket on the surface of the pressure foot plate 41. When a tool of known length contacts the free end of the plunger 49 and lowers it to a position, the tool setting sensor 48 receives a signal and registers the current co-ordinate position of the tool, and when the tool leaves the plunger 49, the resilient member 490 returns the plunger 49.
In the embodiment of the application, the side of the pressure foot sleeve 42 far away from the first pulley 46 is provided with the groove 421, and the groove 421 is configured to prevent the rivet head protruding out of the skin from interfering with the pressure foot sleeve 42, so that the riveting precision of the wallboard is improved.
In the embodiment of the present application, the pressure foot mechanism 4 further includes a second laser ranging sensor 494, a third laser ranging sensor 495, a fourth laser ranging sensor 496, a fifth laser ranging sensor 497, and a sixth laser ranging sensor 498. The second laser ranging sensor 494, the third laser ranging sensor 495 and the fourth laser ranging sensor 496 are all disposed on one side of the pressure foot 41 facing the station rotating mechanism 2, one end of each of the second laser ranging sensor 494, the third laser ranging sensor 495 and the fourth laser ranging sensor 496 is close to the 3D camera 44, and the projection of one end of each of the second laser ranging sensors, which is far from the 3D camera 44, coincides with the projection of the central hole 411 on the horizontal plane. The second laser ranging sensor 494 has a height greater than that of the third laser ranging sensor 495, and the third laser ranging sensor 495 has a height greater than that of the fourth laser ranging sensor 496.
When the tool at a certain station moves above the presser foot 41 and is at a position coaxial with the presser foot cover 42, after the tool at that station moves downward to the tool detection position, the second laser ranging sensor 494 can detect whether the tool bar of the tool exists, the third laser ranging sensor 495 can detect whether the tool nose of the tool exists, and the fourth laser ranging sensor 496 can detect the position in front of the tool nose of the tool, which is not blocked by the tool. If the length of the tool is proper, only the second laser ranging sensor 494 and the third laser ranging sensor 495 can detect the tool, and the fourth laser ranging sensor 496 cannot detect the tool, the signal is normal, if the length of the tool is too long, the fourth laser ranging sensor 496 can detect the tool, the signal is abnormal, and if only the second laser ranging sensor 494 detects the tool, it is proved that the tool is broken or the length of the tool is insufficient.
In the embodiment of the present application, the fifth laser ranging sensor 497 and the sixth laser ranging sensor 498 are both disposed on one side of the pressure foot 41 facing the station rotating mechanism 2, the direction of the central hole 411 facing the fifth laser ranging sensor 497 is the third direction, the direction of the central hole 411 facing the sixth laser ranging sensor 498 is the fourth direction, and the included angle between the third direction and the fourth direction is 90 °. When the pin inserter of the pin inserting station 7 clamps the rivet to the side of the center hole 411 facing the station rotating mechanism 2, the fifth laser ranging sensor 497 and the sixth laser ranging sensor 498 are configured to measure distances from the fifth laser ranging sensor 497 and the sixth laser ranging sensor 498 to the rivet, respectively, and compare whether the theoretical distance difference is in an allowable range to determine whether the rivet is askew, so that the rivet mounting quality can be improved.
In the embodiment of the present application, the pressure foot mechanism 4 further includes a first bracket 481, a cooling pipe 482, an air blowing pipe 483, a chip collecting box 484, and a dust collector. The first bracket 481 is provided on the side of the presser foot 41 facing the station rotation mechanism 2, and is close to the center hole 411. The side of the first bracket 481 remote from the pressure foot plate 41 is provided with a cooling tube 482 and a blowing tube 483. The cooling pipe 482 and the air blowing pipe 483 can lubricate and cool the cutter and blow off the cutting chips during processing, thereby improving the processing quality and prolonging the service life of the cutter.
In the embodiment of the present application, a plurality of through holes are provided in the circumferential direction of the pressure foot cover 42, the chip collection box 484 is communicated with one of the through holes, and a dust collector is provided at one end of the chip collection box 484, which is far away from the through hole. According to the embodiment of the application, the chips enter the chip collection box 484 from the through holes under the action of negative pressure, and finally enter the dust collector.
In the embodiment of the present application, the pressure foot mechanism 4 further includes a second bracket 486, a pen-type camera 45, and two columnar light sources 485. The second bracket 486 is disposed on a side of the presser foot 41 facing the station rotation mechanism 2, and is disposed adjacent to the center hole 411 and opposite to the first bracket 481. The pen-shaped camera 45 and the two columnar light sources 485 are both arranged at one end of the second bracket 486 away from the pressure foot plate 41, and the pen-shaped camera 45 is arranged between the two columnar light sources 485. The pen-type camera 45 of the present application can monitor the operation conditions in the pressure foot cover 42 in real time, such as drilling, inserting nails, riveting, etc.
In the embodiment of the present application, the tool magazine mechanism 3 includes a tool magazine base plate 31, a rotary driving member 32, a third belt pulley 33, a fourth belt pulley 34, a moving driving member 35, a rack 36, a cutter 37, a rotating shaft 38, two mounting frames 39, two second guide rails 391 and two second sliders 392. The two mounting frames 39 are fixed on one side of the station rotating mechanism 2 far away from the cross beam 11 and are arranged at intervals along the first direction, and the second sliding blocks 392 are respectively arranged at one ends of the two mounting frames 39 far away from the station rotating mechanism 2. The two second guide rails 391 are respectively slidably connected to the corresponding second sliders 392. The tool magazine bottom plate 31 is disposed on one side of the two second guide rails 391 away from the second slider 392, and is provided with a mounting hole disposed between the two second guide rails 391. The rotation driving member 32 is fixed to a side of the magazine base plate 31 facing the station rotation mechanism 2, and an output end thereof is provided with a third pulley 33, a fourth pulley 34 is mounted to a side of the mounting hole facing the station rotation mechanism 2, and the third pulley 33 is configured to drive the fourth pulley 34 to rotate by a second timing belt. One end of the rotating shaft 38 passes through the fourth pulley 34, the mounting hole, and is connected to the cutterhead 37. The cutter head 37 is disposed parallel to the magazine base plate 31, and a plurality of replacement cutters 393 and a plurality of rivet rods are disposed in the circumferential direction of the cutter head 37. The moving driving member 35 is fixed on one side of the tool magazine bottom plate 31 facing the station rotating mechanism 2 and located between two mounting frames 39, the output end of the moving driving member 35 is provided with a first gear 351, and the rack 36 is mounted on the tool magazine bottom plate 31 and located on the same side of the tool magazine bottom plate 31 as the second guide rail 391. The rack 36 is disposed parallel to the second guide rail 391, and the rack 36 is engaged with the first gear 351, and the moving driving member 35 is configured to drive the first gear 351 to rotate, and the first gear 351 drives the rack 36 to move linearly, so that the rack 36 drives the tool magazine bottom plate 31 to move toward or away from the tool of the drilling station 5, the tool of the milling station 9, or the rivet rod of the riveting station 8.
Specifically, when the drilling station 5 or the milling station 9 needs to replace a tool, the cutter head 37 rotates to an empty tool position, the moving driving piece 35 drives the rack 36 to move, so that the tool magazine bottom plate 31 drives the cutter head 37 to move forward, the drilling station 5 or the milling station 9 moves up to remove the tool of the cutter head, at this time, the cutter head 37 rotates to the corresponding angle position of the tool position to be grabbed, the drilling station 5 or the milling station 9 moves down, the tool is grabbed to replace the tool 393, and the tool magazine mechanism 3 returns to the initial position, so that a tool changing cycle is completed. The replacement of the anchor of the riveting station 8 is the same as the principle described above.
Further, the embodiment of the application can monitor the working condition of each station in real time, can discover various faults such as a collision machine in time, and avoids accidents.
In this specification, each embodiment is described in a progressive manner, and the same or similar parts of each embodiment are referred to each other, and each embodiment is mainly described as a difference from other embodiments.
The foregoing embodiments are only for illustrating the technical solution of the present application, but not for limiting the same, and although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that modifications may be made to the technical solution described in the foregoing embodiments, or equivalents may be substituted for some or all of the technical features thereof, without departing from the spirit of the corresponding technical solution from the scope of the technical solution of the present application.
Claims (10)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410628744.1A CN118357739A (en) | 2024-05-21 | 2024-05-21 | Upper actuator of drilling and riveting machine |
| CN2024106287441 | 2024-05-21 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN119077376A true CN119077376A (en) | 2024-12-06 |
| CN119077376B CN119077376B (en) | 2025-04-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410628744.1A Pending CN118357739A (en) | 2024-05-21 | 2024-05-21 | Upper actuator of drilling and riveting machine |
| CN202411459023.9A Active CN119077376B (en) | 2024-05-21 | 2024-10-18 | An upper actuator of a drilling and riveting machine |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410628744.1A Pending CN118357739A (en) | 2024-05-21 | 2024-05-21 | Upper actuator of drilling and riveting machine |
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| CN (2) | CN118357739A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119857816B (en) * | 2025-03-25 | 2025-07-15 | 杭州艾美依航空制造装备有限公司 | Pressure foot unit for rivet |
| CN119857817B (en) * | 2025-03-25 | 2025-07-15 | 杭州艾美依航空制造装备有限公司 | Pressure foot unit driving assembly |
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|---|---|---|---|---|
| CN105643278A (en) * | 2016-02-29 | 2016-06-08 | 浙江大学 | A horizontal automatic drilling and riveting machine tool for aircraft panel assembly |
| CN105728630A (en) * | 2016-02-24 | 2016-07-06 | 浙江大学 | Pressure foot unit of automatic drilling and riveting machine |
| CN107253059A (en) * | 2017-06-28 | 2017-10-17 | 河北科技大学 | Aircraft skin bores riveting and processes special end-effector |
| CN209969480U (en) * | 2018-12-30 | 2020-01-21 | 东莞市天禄实业有限公司 | A switching tool magazine of a multi-station intelligent riveting machine |
| CN220636397U (en) * | 2023-08-31 | 2024-03-22 | 沈阳中捷航空航天机床有限公司 | Hole making device for aircraft assembly automatic drilling equipment |
-
2024
- 2024-05-21 CN CN202410628744.1A patent/CN118357739A/en active Pending
- 2024-10-18 CN CN202411459023.9A patent/CN119077376B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105728630A (en) * | 2016-02-24 | 2016-07-06 | 浙江大学 | Pressure foot unit of automatic drilling and riveting machine |
| CN105643278A (en) * | 2016-02-29 | 2016-06-08 | 浙江大学 | A horizontal automatic drilling and riveting machine tool for aircraft panel assembly |
| CN107253059A (en) * | 2017-06-28 | 2017-10-17 | 河北科技大学 | Aircraft skin bores riveting and processes special end-effector |
| CN209969480U (en) * | 2018-12-30 | 2020-01-21 | 东莞市天禄实业有限公司 | A switching tool magazine of a multi-station intelligent riveting machine |
| CN220636397U (en) * | 2023-08-31 | 2024-03-22 | 沈阳中捷航空航天机床有限公司 | Hole making device for aircraft assembly automatic drilling equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN118357739A (en) | 2024-07-19 |
| CN119077376B (en) | 2025-04-15 |
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