CN204975930U - A many function executing ware for airplane assembling - Google Patents
A many function executing ware for airplane assembling Download PDFInfo
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- CN204975930U CN204975930U CN201520775367.0U CN201520775367U CN204975930U CN 204975930 U CN204975930 U CN 204975930U CN 201520775367 U CN201520775367 U CN 201520775367U CN 204975930 U CN204975930 U CN 204975930U
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Abstract
The utility model relates to a many function executing ware for airplane assembling, be fixed with photograph measurement element that the measuring basis hole site put on the main tributary fagging, compress tightly workpiece surface compress tightly subassembly and station conversion assembly, the integration has normal direction determine module on compressing tightly the subassembly, be equipped with the drilling subassembly that can drive interconversion station down at station conversion assembly on the main tributary fagging and send nail riveting subassembly, the drilling subassembly with send nail riveting subassembly to connect respectively to hole that feed the subassembly and the subassembly is fed in the riveting. Compact structure, small can realize automatically that the in -process location is riveted to the brill, the normal direction measures, compresses tightly, drills, send the nail riveting a series of functions, and degree of automation is high, promote airplane assembling's automatic level.
Description
Technical field
The utility model is about a kind of device assembled for aircraft skin and the parts such as rib, long purlin, particularly relates to a kind of Multifunctional actuator for transporation by plane.
Background technology
During aircraft target ship assembling, need drilling on covering and the parts such as rib, long purlin, by the mode of riveted joint, covering and the parts such as rib, long purlin are coupled together, form aircraft target ship assembly.Usually take following method of operating: first, skeleton is installed in type frame, covering and skeleton are fitted, utilizes hold down gag, covering and skeleton are compressed, ensure relatively-stationary position relationship therebetween; Secondly, adopt the modes such as line or installing drill template, determine the position needing boring and riveted joint, adjustment boring bar tool axially, makes it vertical with skin-surface bore position, boring; Then, by feeding device for nail, rivet is delivered to riveting location, insert in riveted holes, and reliably locate; Finally, clincher tool is adopted to rivet.
When covering and the parts such as rib, long purlin assemble, hole, send the aspects such as nail, riveted joint mostly to adopt manual mode, the normal direction of drilling position or the normal direction by means of bushing plate control hole are determined in range estimation, and effect is undesirable; When manual drilling, riveted joint, cannot apply to stablize, thrust reliably, chip is easily mingled with between covering and skeleton, also needs covering to be separated with skeleton, to clear up chip, when again fitting, easily produces position error; Because distortion causes the position between product and equipment inaccurate, actual grade may not be inconsistent with desired depth, cannot ensure that rivet reaches position accurately.Above-mentioned various factors seriously have impact on drilling, riveting quality.
Research for multi-functional drill aperture apparatus and relevant auxiliary equipment is at the early-stage, application aspect is in blank substantially, still mainly adopt based on the method for fixing tool type frame, hand assembled at present, significantly limit the reduction of frock cost and the raising of efficiency of assembling.Some Aviation Manufacturing Enterprises, institution of higher learning have started to research and develop multi-functional drill aperture apparatus and relevant auxiliary equipment, but function singleness, integrated level are low, automaticity is not high, be difficult to increase work efficiency, and bulky, structure is too fat to move, quality is large, inertia is large, be arranged on robot or multi-coordinate platform, poor stability, positioning precision is low, easily occur flutter, the higher boring of very difficult acquisition, riveting quality; Too fat to move structure and poor flexibility limit aviation assembling the applying of field at operation in narrow space, can not meet the long-life of aircraft of new generation, requirements at the higher level that high Stealth Fighter proposes the quality of connection of aircraft target ship and aerodynamic configuration.
Thus, the present inventor relies on experience and the practice of being engaged in relevant industries for many years, proposes a kind of Multifunctional actuator for transporation by plane, to overcome the defect of prior art.
Utility model content
The purpose of this utility model is to provide a kind of Multifunctional actuator for transporation by plane, for normal direction detection, vision guide location, compacting skin, drilling, send the work of following closely and riveting, greatly can reduce the labour intensity of operator, improve aircraft target ship boring, the quality of riveting and efficiency, thus promote the automatization level of transporation by plane.
The purpose of this utility model is achieved in that a kind of Multifunctional actuator for transporation by plane, and described Multifunctional actuator comprises main supporting plate, and described Main shoe plate rear end is provided with the connecting interface be connected with miscellaneous equipment; Described main supporting plate is fixed with the photographic measurement assembly of measuring basis hole site, the holding down assembly and station transition components of workpiece pressing surface;
Described holding down assembly is fixed on described Main shoe plate front end, described in hold down assembly on be integrated with normal direction detection components; Described main supporting plate be provided with can under described station transition components drives mutually conversion station boring assemblies and send nail riveted joint assembly, described boring assemblies and send nail riveted joint assembly be connected boring feeder assembly respectively and rivet feeder assembly;
The view direction of described photographic measurement assembly is towards described Main shoe plate front, described boring assemblies, send nail riveted joint assembly be arranged on described in hold down assembly after, described boring assemblies, send nail riveted joint assembly direction of feed towards described Main shoe plate front end.
In a better embodiment of the present utility model, photographic measurement assembly comprises surveying camera, camera mounting bracket, described camera mounting bracket is fixed on described main supporting plate, described surveying camera is arranged on described camera mounting bracket, and the view direction of described surveying camera aims at described Main shoe plate front.
In a better embodiment of the present utility model, described in hold down assembly and comprise hold-down head, distance measuring sensor, compression actuator; Described compression actuator is fixed on described Main shoe plate front end, described hold-down head can be arranged on described compression actuator movably under described compression actuator drives, and the compression end face of described hold-down head is perpendicular to described boring assemblies, the direction of feed sending nail riveted joint assembly; The surrounding that described distance measuring sensor is arranged on described hold-down head forms described normal direction detection components, and the plane at described distance measuring sensor place is parallel with described compression end face.
In a better embodiment of the present utility model, described compression actuator is compression cylinder, and described compression cylinder is included in the moving member of movement under gas pressure, and described hold-down head is fixed on described moving member; Described distance measuring sensor comprises four laser range sensors, and wherein two laser range sensors are fixed on the compression end face side of described hold-down head, and two other laser range sensor symmetry is fixed on the compression end face opposite side of described hold-down head.
In a better embodiment of the present utility model, described station transition components comprises conversion motor, and described conversion motor is fixed on described main supporting plate by conversion motor support; The motor shaft ends of described conversion motor is equipped with the large synchronous pulley of conversion;
Described main supporting plate is fixed with bearing block, is rotatablely equipped with conversion leading screw in described bearing block, on described conversion leading screw, thread bush is connected to conversion nut, and described conversion nut top is fixedly connected with conversion gripper shoe; One end that described conversion leading screw is corresponding with the large synchronous pulley of described conversion is fixed with conversion small synchronous pulley, and described conversion small synchronous pulley is connected with the large synchronous belt pulley transmission of described conversion by conversion synchronization band;
Described main supporting plate is fixed with guide rail, and the bearing of trend of described guide rail is parallel with the bearing of trend of described conversion leading screw; Be fixed with slide block bottom described conversion gripper shoe, described skid is arranged on described guide rail.
In a better embodiment of the present utility model, described boring assemblies, sending nail riveted joint, assembly is adjacent is arranged side by side;
Described boring feeder assembly and described boring assemblies are fixed on the side above described conversion gripper shoe, and described boring feeder assembly connects described boring assemblies by V belt translation;
Described riveted joint feeder assembly and the described nail riveted joint assembly that send are fixed on opposite side above described conversion gripper shoe, send nail riveted joint assembly described in described riveted joint feeder assembly is connected by V belt translation;
Described boring assemblies is parallel with sending the direction of feed of nail riveted joint assembly, the bearing of trend of described guide rail and described boring assemblies with send that to follow closely the direction of feed of riveting assembly vertical; Described holding down assembly is positioned at described boring assemblies and the described front sending nail riveted joint assembly.
In a better embodiment of the present utility model, described boring feeder assembly comprises and creeps into motor and creep into reductor; Describedly creep into motor and creep into and be fixed on above described conversion gripper shoe to reductor, described in creep into connect to the output shaft of motor described in creep into reductor, described in creep into reductor output shaft on be fixed with and creep into small synchronous pulley;
Described boring assemblies comprises brill Feed servo system guiding integrated module, the rear end of described brill Feed servo system guiding integrated module is fixed with creeps into large synchronous pulley, described in creep into and be connected to toothed belt transmission by creeping into small synchronous pulley with described creeping into large synchronous pulley.
In a better embodiment of the present utility model, described riveted joint feeder assembly comprises riveting feeding motor and riveting feeding reductor; Described riveting feeding motor and riveting feeding reductor are fixed on above described conversion gripper shoe, and the output shaft of described riveting feeding motor connects described riveting feeding reductor, and the output shaft of described riveting feeding reductor is fixed with riveting feeding small synchronous pulley;
The described nail riveted joint assembly that send comprises riveting Feed servo system guiding integrated module, the rear end of described riveting Feed servo system guiding integrated module is fixed with the large synchronous pulley of riveting feeding, and the large synchronous pulley of described riveting feeding is connected by riveting feeding toothed belt transmission with described riveting feeding small synchronous pulley;
The described nail riveted joint assembly that send also is provided with feeding device for nail, and described feeding device for nail is connected to the top of riveted joint.
In a better embodiment of the present utility model, the compression end face of described hold-down head is provided with the work open-work passed for drill bit and riveted joint, the axis of described work open-work and described boring assemblies, send that to follow closely the direction of feed of riveting assembly parallel.
In a better embodiment of the present utility model, described brill Feed servo system guiding integrated module comprises and bores straight-line feed module, described in creep into and be fixedly connected with described brill straight-line feed module to large synchronous pulley;
Described riveting Feed servo system guiding integrated module comprises riveting straight-line feed module, and the large synchronous pulley of described riveting feeding is fixedly connected with described riveting straight-line feed module.
From the above mentioned, this Multifunctional actuator integrated level is high, and compact conformation, volume are little, and automatically can realize boring location in riveting process, normal direction is measured, compress, hole, send nail riveted joint a series of function, automaticity is high; Employing vision guide is located, and can determine the position of holing; Utilize laser range sensor position and attitude scaling method and the planar fit method based on least square method, detect the normal direction of skin-surface drilling position; Cylinder is utilized to carry out self adaptation compression; Connecting interface can conveniently be integrated and connected with robot, Five Axis lathe or miscellaneous equipment, promotes the automatization level of transporation by plane.
Accompanying drawing explanation
The following drawings is only intended to schematically illustrate the utility model and explain, does not limit scope of the present utility model.Wherein:
Fig. 1: be the structural representation of the utility model Multifunctional actuator.
Fig. 2: be photographic measurement assembly in the utility model and the structural representation held down assembly.
Fig. 3: be the structural representation of station transition components in the utility model.
Fig. 4: be boring assemblies in the utility model, the structural representation sending nail riveted joint assembly, boring feeder assembly and riveted joint feeder assembly.
Detailed description of the invention
In order to there be understanding clearly to technical characteristic of the present utility model, object and effect, now contrast accompanying drawing and detailed description of the invention of the present utility model is described.
As shown in Figure 1, the direction of arrow indication is from sensing front end, rear end.The utility model provides a kind of Multifunctional actuator 100 for transporation by plane, is mainly used in aircraft skin and the parts such as rib, long purlin assemble.Multifunctional actuator 100 comprises main supporting plate 12, and the rear end of main supporting plate 12 is provided with the connecting interface 121 be connected with miscellaneous equipment, can be connected integrated by this connecting interface 121 with robot, Five Axis lathe or miscellaneous equipment.Main supporting plate 12 is fixed with hold down assembly 20 and the station transition components 30 on the photographic measurement assembly 10 of measuring basis hole site, workpiece pressing surface.Hold down assembly 20 front ends being fixed on main supporting plate 12, hold down assembly on 20 and be integrated with normal direction detection components, main supporting plate 12 be provided with can under station transition components 30 drives mutually conversion station boring assemblies 50 and send nail riveted joint assembly 60, boring assemblies 50 and send nail riveted joint assembly 60 be connected boring feeder assembly 40 respectively and rivet feeder assembly 70; The view direction of photographic measurement assembly 10, towards the front of main supporting plate 12, boring assemblies 50, is sent nail riveted joint assembly 60 to be arranged on to hold down assembly after 20, boring assemblies 50, send the front end of direction of feed towards main supporting plate 12 of nail riveted joint assembly 60.
This Multifunctional actuator 100, by the position in photographic measurement assembly 10 measuring basis hole, can determine the position needing boring; Then the normal direction of skin-surface bore position is detected by the normal direction detection components integrated on 20 that holds down assembly, the workbench be connected to by this Multifunctional actuator 100 by hold down assembly 20 normal direction be adjusted to the normal direction of skin-surface, by 20 compressions realizing aircraft skin and long purlin, rib that hold down assembly; By station transition components 30, boring assemblies 50 is moved to boring station; First holed by the position that boring assemblies 50 is being determined, during boring, the feeding of drill bit in boring assemblies 50 is realized by boring feeder assembly 40, after completing boring, returning of boring assemblies 50 is realized by boring feeder assembly 40, realize boring assemblies 50 by station transition components 30 and send the conversion of following closely and riveting assembly 60, nail riveted joint assembly 60 will be sent to be transformed into operating position (i.e. the position at original boring assemblies place), realize by riveted joint feeder assembly 70 feeding sending riveted joint in nail riveted joint assembly 60, complete to send and follow closely and rivet.Thus utilize when aircraft skin and the parts such as rib, long purlin assemble that vision guide is located, self adaptation compresses, automatic drilling, automatic nail feeding and riveted joint, effectively improve drilling, send the quality of nail and efficiency.
As a specific embodiment of the present utility model, as shown in Figure 2, photographic measurement assembly 10 comprises surveying camera 101, camera mounting bracket, camera mounting bracket is fixed on main supporting plate 12, be positioned at the side of main supporting plate 12, surveying camera 101 is arranged on camera mounting bracket 102, and the view direction of surveying camera 101 aims at the front of main supporting plate 12.During this photographic measurement component operation, measured the position of two ends datum hole by surveying camera 101, and automatically calculate by the calculation element connected the quantity and position that need boring according to datum hole position, two ends.
Further, hold down assembly 20 comprise hold-down head 201, distance measuring sensor 203, compress actuator 202; Compress the front end that actuator 202 is fixed on main supporting plate 12, hold-down head 201 is arranged on and compresses on actuator 202, mobilely under compression actuator 202 drives can realize compress and release action.The compression end face of hold-down head 201 is perpendicular to boring assemblies 50, the direction of feed sending nail riveted joint assembly 60, compress end and be provided with the work open-work 2011 passed for drill bit and riveted joint, work open-work 2011 axis be hold down assembly 20 normal direction, hold down assembly 20 normal direction and boring assemblies 50, send that to follow closely the direction of feed of riveting assembly 60 parallel, the center of drill bit and riveted joint can with the dead in line of work open-work 2011.Distance measuring sensor 203 is arranged on the surrounding mechanics of hold-down head 201 to detection components, and the plane at distance measuring sensor 203 place is parallel with compression end face.Concrete, compressing actuator 202 is compression cylinder, also can adopt other drive form such as motor, hydraulic pressure, and compression cylinder is included in the moving member of movement under gas pressure, and hold-down head 201 is fixed on moving member.Wherein, distance measuring sensor 203 comprises four laser range sensors, also the range sensor of other form can be adopted, wherein two laser range sensors are fixed on the compression end face side of hold-down head 201, and two other laser range sensor symmetry is fixed on the compression end face opposite side of hold-down head 201.This hold down assembly work time, the distance of each laser range sensor to surface of the work is measured respectively by four laser range sensors, and then simulate the normal direction of surface of the work, and it is consistent with the normal direction of surface of the work to be adjusted to by workbench the normal direction compressing end face, hold-down head 201 is driven to be compacted to surface of the work by compression cylinder.
Further, as shown in Figure 3, station transition components 30 comprises conversion motor 301, and conversion motor 301 is fixed on main supporting plate 12 by conversion motor support 302, and conversion motor 301 and conversion motor support 302 can be fixed on the downside of main supporting plate 12; The motor shaft ends of conversion motor 301 is equipped with the large synchronous pulley 303 of conversion; The upside of main supporting plate 12 is fixed with bearing block 304, bearing block 304 is divided into main bearing seat and countershaft bearing, main bearing seat and dynamic being provided with of countershaft bearing transfer change leading screw 305, on conversion leading screw 305, thread bush is connected to conversion nut 306, and conversion nut 306 top is fixedly connected with conversion gripper shoe 307.By changing rotating drive conversion nut 306 translation of leading screw 305, thus conversion gripper shoe 307 translation together fixing above driving.One end that conversion leading screw 305 is corresponding with the large synchronous pulley 303 of conversion is fixed with changes small synchronous pulley 308, and conversion small synchronous pulley 308 is in transmission connection by conversion synchronization band 309 and the large synchronous pulley 303 of conversion.The upside of main supporting plate 12 is also fixed with guide rail 310, and the bearing of trend of guide rail 310 is parallel with the bearing of trend of conversion leading screw 305; Be fixed with slide block 311 bottom conversion gripper shoe 307, slide block 311 is slidably arranged on guide rail 310.Boring assemblies 50, sending nail riveted joint, assembly 60 is adjacent is arranged side by side; Boring feeder assembly 40 and boring assemblies 50 are fixed on the side above conversion gripper shoe 307, and boring feeder assembly 40 connects boring assemblies 50 by V belt translation; Riveted joint feeder assembly 70 and send nail riveted joint assembly 60 to be fixed on opposite side above conversion gripper shoe 307, riveted joint feeder assembly 70 is connected by V belt translation and send nail riveted joint assembly 60; Boring assemblies 50 is parallel with sending the direction of feed of nail riveted joint assembly 60, the bearing of trend of guide rail 310 and boring assemblies 50 with send that to follow closely the direction of feed of riveting assembly 60 vertical; Hold down assembly and 20 be positioned at boring assemblies 50 and send the front of nail riveted joint assembly 60.During the work of this station transition components, conversion motor 301 drives conversion small synchronous pulley 308 to rotate by the large synchronous pulley 303 of conversion and conversion synchronization band 309, and then drive conversion leading screw 305 to rotate by conversion small synchronous pulley 308, thus drive conversion gripper shoe 307 to be moved along the guide rail 310 on main supporting plate 12 by slide block 311 by the conversion nut 306 be arranged on conversion leading screw 305, realize being arranged on the boring assemblies 50 of both sides in conversion gripper shoe 307 and sending the station translation function of nail riveted joint assembly 60.
Further, as shown in Figure 4, feeder assembly 40 of holing comprises and creeps into motor 401 and creep into reductor 402; Creep into and be fixed on conversion gripper shoe 307 above with creeping into reductor 402 to motor 401, creep into and can be fixed on above conversion gripper shoe 307 to reductor support 404 by creeping into reductor 402, creep into and creep into reductor 402 to the connection of the output shaft of motor 401, creep into and creep into small synchronous pulley 403 to the output shaft of reductor 402 is fixed with.Boring assemblies 50 comprises brill Feed servo system guiding integrated module 501, this brill Feed servo system guiding integrated module 501 includes borehole drill construction and bores straight-line feed module, borehole drill construction is arranged on and bores in straight-line feed module, and borehole drill construction is prior art, drives drill bit to hole by actuator.Bore straight-line feed module and can adopt sliding block guide track structure of the prior art or screw slider structure, creep into and be located at brill Feed servo system guiding integrated module 501 rear end to large synchronous pulley 405, be fixedly connected with brill straight-line feed module, creep into and be in transmission connection to Timing Belt 406 by creeping into small synchronous pulley 403 with creeping into large synchronous pulley 405, creep into and drive brill straight-line feed module to produce straight-line displacement to the rotation of large synchronous pulley 405, borehole drill construction is moved forward and backward.
Riveted joint feeder assembly 70 comprises riveting feeding motor 701 and riveting feeding reductor 702; Riveting feeding motor 701 and riveting feeding reductor 702 are fixed on above conversion gripper shoe 307, and the output shaft of riveting feeding motor 701 connects riveting feeding reductor 702, the output shaft of riveting feeding reductor 702 is fixed with riveting feeding small synchronous pulley 703.Nail riveted joint assembly 60 is sent to comprise riveting Feed servo system guiding integrated module 601, riveting Feed servo system guiding integrated module 601 comprises riveting mechanism and riveting straight-line feed module, riveting mechanism is arranged in riveting straight-line feed module, and riveting mechanism is prior art, drives riveted joint to rivet by actuator.Riveting straight-line feed module can adopt sliding block guide track structure of the prior art or screw slider structure, and the large synchronous pulley 704 of riveting feeding is located at riveting Feed servo system guiding integrated module 601 rear end, is fixedly connected with riveting straight-line feed module.The large synchronous pulley 704 of riveting feeding is in transmission connection by riveting feeding Timing Belt 705 with riveting feeding small synchronous pulley 703, and the rotation of the large synchronous pulley 704 of riveting feeding drives riveting straight-line feed module to produce straight-line displacement, and riveting mechanism is moved forward and backward.Nail riveted joint assembly 60 is sent also to be provided with feeding device for nail 602, feeding device for nail 602 is connected to the top of riveted joint, can adopt the passage that a relative riveted joint is obliquely installed, be connected on this feeding device for nail by rivet delivery tube during work, rivet arrives riveted joint by feeding device for nail 602.
When boring feeder assembly 40 works, creep into and creep into motor 401 rotate to small synchronous pulley 403 by creeping into drive to reductor 402, and then creep into rotate to large synchronous pulley 405 by creeping into drive to Timing Belt 406, thus drive drill bit feed motion, realize boring assemblies 50 feed function during boring.Similar with boring feeder assembly 40, when riveted joint feeder assembly 70 works, riveting feeding motor 701 drives riveting feeding small synchronous pulley 703 to rotate by riveting feeding reductor 702, and then drive the large synchronous pulley 704 of riveting feeding to rotate by riveting feeding Timing Belt 705, thus drive riveted joint feed motion, realize boring assemblies 50 feed function during riveted joint.
From the above mentioned, this Multifunctional actuator integrated level is high, and compact conformation, volume are little, and automatically can realize boring location in riveting process, normal direction is measured, compress, hole, send nail riveted joint a series of function, automaticity is high; Employing vision guide is located, and can determine the position of holing; Utilize laser range sensor position and attitude scaling method and the planar fit method based on least square method, detect the normal direction of skin-surface drilling position; Cylinder is utilized to carry out self adaptation compression; Connecting interface can conveniently be integrated and connected with robot, Five Axis lathe or miscellaneous equipment.
The foregoing is only the schematic detailed description of the invention of the utility model, and be not used to limit scope of the present utility model.Any those skilled in the art, equivalent variations done under the prerequisite not departing from design of the present utility model and principle and amendment, all should belong to the scope of the utility model protection.
Claims (14)
1. for a Multifunctional actuator for transporation by plane, it is characterized in that, described Multifunctional actuator comprises main supporting plate, and described Main shoe plate rear end is provided with the connecting interface be connected with miscellaneous equipment; Described main supporting plate is fixed with the photographic measurement assembly of measuring basis hole site, the holding down assembly and station transition components of workpiece pressing surface;
Described holding down assembly is fixed on described Main shoe plate front end, described in hold down assembly on be integrated with normal direction detection components; Described main supporting plate be provided with can under described station transition components drives mutually conversion station boring assemblies and send nail riveted joint assembly, described boring assemblies and send nail riveted joint assembly be connected boring feeder assembly respectively and rivet feeder assembly;
The view direction of described photographic measurement assembly is towards described Main shoe plate front, described boring assemblies, send nail riveted joint assembly be arranged on described in hold down assembly after, described boring assemblies, send nail riveted joint assembly direction of feed towards described Main shoe plate front end.
2. as claimed in claim 1 for the Multifunctional actuator of transporation by plane, it is characterized in that, described photographic measurement assembly comprises surveying camera, camera mounting bracket, described camera mounting bracket is fixed on described main supporting plate, described surveying camera is arranged on described camera mounting bracket, and the view direction of described surveying camera aims at described Main shoe plate front.
3., as claimed in claim 2 for the Multifunctional actuator of transporation by plane, it is characterized in that, described in hold down assembly and comprise hold-down head, distance measuring sensor, compression actuator; Described compression actuator is fixed on described Main shoe plate front end, described hold-down head can be arranged on described compression actuator movably under described compression actuator drives, and the compression end face of described hold-down head is perpendicular to described boring assemblies, the direction of feed sending nail riveted joint assembly; The surrounding that described distance measuring sensor is arranged on described hold-down head forms described normal direction detection components, and the plane at described distance measuring sensor place is parallel with described compression end face.
4. as claimed in claim 3 for the Multifunctional actuator of transporation by plane, it is characterized in that, described compression actuator is compression cylinder, and described compression cylinder is included in the moving member of movement under gas pressure, and described hold-down head is fixed on described moving member; Described distance measuring sensor comprises four laser range sensors, and wherein two laser range sensors are fixed on the compression end face side of described hold-down head, and two other laser range sensor symmetry is fixed on the compression end face opposite side of described hold-down head.
5., as claimed in claim 4 for the Multifunctional actuator of transporation by plane, it is characterized in that, described station transition components comprises conversion motor, and described conversion motor is fixed on described main supporting plate by conversion motor support; The motor shaft ends of described conversion motor is equipped with the large synchronous pulley of conversion;
Described main supporting plate is fixed with bearing block, is rotatablely equipped with conversion leading screw in described bearing block, on described conversion leading screw, thread bush is connected to conversion nut, and described conversion nut top is fixedly connected with conversion gripper shoe; One end that described conversion leading screw is corresponding with the large synchronous pulley of described conversion is fixed with conversion small synchronous pulley, and described conversion small synchronous pulley is connected with the large synchronous belt pulley transmission of described conversion by conversion synchronization band;
Described main supporting plate is fixed with guide rail, and the bearing of trend of described guide rail is parallel with the bearing of trend of described conversion leading screw; Be fixed with slide block bottom described conversion gripper shoe, described skid is arranged on described guide rail.
6. as claimed in claim 5 for the Multifunctional actuator of transporation by plane, it is characterized in that, described boring assemblies, send nail riveted joint assembly is adjacent and be arranged side by side;
Described boring feeder assembly and described boring assemblies are fixed on the side above described conversion gripper shoe, and described boring feeder assembly connects described boring assemblies by V belt translation;
Described riveted joint feeder assembly and the described nail riveted joint assembly that send are fixed on opposite side above described conversion gripper shoe, send nail riveted joint assembly described in described riveted joint feeder assembly is connected by V belt translation;
Described boring assemblies is parallel with sending the direction of feed of nail riveted joint assembly, the bearing of trend of described guide rail and described boring assemblies with send that to follow closely the direction of feed of riveting assembly vertical; Described holding down assembly is positioned at described boring assemblies and the described front sending nail riveted joint assembly.
7. the Multifunctional actuator for transporation by plane as described in claim 5 or 6, is characterized in that, described boring feeder assembly comprises and creeps into motor and creep into reductor; Describedly creep into motor and creep into and be fixed on above described conversion gripper shoe to reductor, described in creep into connect to the output shaft of motor described in creep into reductor, described in creep into reductor output shaft on be fixed with and creep into small synchronous pulley;
Described boring assemblies comprises brill Feed servo system guiding integrated module, the rear end of described brill Feed servo system guiding integrated module is fixed with creeps into large synchronous pulley, described in creep into and be connected to toothed belt transmission by creeping into small synchronous pulley with described creeping into large synchronous pulley.
8., as claimed in claim 7 for the Multifunctional actuator of transporation by plane, it is characterized in that, described riveted joint feeder assembly comprises riveting feeding motor and riveting feeding reductor; Described riveting feeding motor and riveting feeding reductor are fixed on above described conversion gripper shoe, and the output shaft of described riveting feeding motor connects described riveting feeding reductor, and the output shaft of described riveting feeding reductor is fixed with riveting feeding small synchronous pulley;
The described nail riveted joint assembly that send comprises riveting Feed servo system guiding integrated module, the rear end of described riveting Feed servo system guiding integrated module is fixed with the large synchronous pulley of riveting feeding, and the large synchronous pulley of described riveting feeding is connected by riveting feeding toothed belt transmission with described riveting feeding small synchronous pulley;
The described nail riveted joint assembly that send also is provided with feeding device for nail, and described feeding device for nail is connected to the top of riveted joint.
9. the Multifunctional actuator for transporation by plane according to any one of claim 3 to 6, it is characterized in that, the compression end face of described hold-down head is provided with the work open-work passed for drill bit and riveted joint, the axis of described work open-work and described boring assemblies, send that to follow closely the direction of feed of riveting assembly parallel.
10. as claimed in claim 8 for the Multifunctional actuator of transporation by plane, it is characterized in that, described brill Feed servo system guiding integrated module comprises and bores straight-line feed module, described in creep into and be fixedly connected with described brill straight-line feed module to large synchronous pulley;
Described riveting Feed servo system guiding integrated module comprises riveting straight-line feed module, and the large synchronous pulley of described riveting feeding is fixedly connected with described riveting straight-line feed module.
11., as claimed in claim 1 for the Multifunctional actuator of transporation by plane, is characterized in that, described in hold down assembly and comprise hold-down head, distance measuring sensor, compression actuator; Described compression actuator is fixed on described Main shoe plate front end, described hold-down head can be arranged on described compression actuator movably under described compression actuator drives, and the compression end face of described hold-down head is perpendicular to described boring assemblies, the direction of feed sending nail riveted joint assembly; The surrounding that described distance measuring sensor is arranged on described hold-down head forms described normal direction detection components, and the plane at described distance measuring sensor place is parallel with described compression end face.
12. Multifunctional actuator for transporation by plane according to any one of Claims 1-4, it is characterized in that, described station transition components comprises conversion motor, and described conversion motor is fixed on described main supporting plate by conversion motor support; The motor shaft ends of described conversion motor is equipped with the large synchronous pulley of conversion;
Described main supporting plate is fixed with bearing block, is rotatablely equipped with conversion leading screw in described bearing block, on described conversion leading screw, thread bush is connected to conversion nut, and described conversion nut top is fixedly connected with conversion gripper shoe; One end that described conversion leading screw is corresponding with the large synchronous pulley of described conversion is fixed with conversion small synchronous pulley, and described conversion small synchronous pulley is connected with the large synchronous belt pulley transmission of described conversion by conversion synchronization band;
Described main supporting plate is fixed with guide rail, and the bearing of trend of described guide rail is parallel with the bearing of trend of described conversion leading screw; Be fixed with slide block bottom described conversion gripper shoe, described skid is arranged on described guide rail.
13. Multifunctional actuator for transporation by plane as described in claim 5 or 6, it is characterized in that, described riveted joint feeder assembly comprises riveting feeding motor and riveting feeding reductor; Described riveting feeding motor and riveting feeding reductor are fixed on above described conversion gripper shoe, and the output shaft of described riveting feeding motor connects described riveting feeding reductor, and the output shaft of described riveting feeding reductor is fixed with riveting feeding small synchronous pulley;
The described nail riveted joint assembly that send comprises riveting Feed servo system guiding integrated module, the rear end of described riveting Feed servo system guiding integrated module is fixed with the large synchronous pulley of riveting feeding, and the large synchronous pulley of described riveting feeding is connected by riveting feeding toothed belt transmission with described riveting feeding small synchronous pulley;
The described nail riveted joint assembly that send also is provided with feeding device for nail, and described feeding device for nail is connected to the top of riveted joint.
14. as claimed in claim 10 for the Multifunctional actuator of transporation by plane, it is characterized in that, the compression end face of described hold-down head is provided with the work open-work passed for drill bit and riveted joint, the axis of described work open-work and described boring assemblies, send that to follow closely the direction of feed of riveting assembly parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520775367.0U CN204975930U (en) | 2015-10-08 | 2015-10-08 | A many function executing ware for airplane assembling |
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| CN105643278A (en) * | 2016-02-29 | 2016-06-08 | 浙江大学 | Horizontal automatic drilling and riveting machine tool used for assembling aircraft panel |
| CN105651174A (en) * | 2016-02-29 | 2016-06-08 | 浙江大学 | Vision measurement system used for horizontal automatic drilling and riveting machine of aircraft panel |
| CN105689627A (en) * | 2016-03-30 | 2016-06-22 | 宜兴市融兴铸造有限公司 | Main shaft feeding mechanism of aircraft riveting machine |
| CN105773632A (en) * | 2016-03-17 | 2016-07-20 | 浙江大学 | Multifunctional end executor of automatic drilling and riveting machine |
| CN106995063A (en) * | 2017-04-26 | 2017-08-01 | 浙江大学 | A kind of multi-functional end effector |
| CN107363296A (en) * | 2017-07-27 | 2017-11-21 | 南京航空航天大学 | A kind of autonomous creep bores riveting system and its operation method |
| CN107414894A (en) * | 2017-09-05 | 2017-12-01 | 西北工业大学 | A kind of station conversion device |
| CN109227080A (en) * | 2018-09-30 | 2019-01-18 | 成都南方电子仪表有限公司 | A kind of multifunction manipulator and revolving platform |
| CN111050945A (en) * | 2017-07-28 | 2020-04-21 | 赛峰集团 | Riveting method of airplane |
| WO2021036588A1 (en) * | 2019-08-26 | 2021-03-04 | 上海航天精密机械研究所 | Automatic drilling and riveting actuating mechanism and method suitable for riveting rocket cabin body |
| CN112958743A (en) * | 2021-03-30 | 2021-06-15 | 杭州艾美依航空制造装备有限公司 | Pressure riveting driving device of driving multiplexing automatic drilling and riveting machine |
| CN113443166A (en) * | 2021-06-25 | 2021-09-28 | 成都飞机工业（集团）有限责任公司 | Laminated hole-making and flexible assembling system for complex curved surface of airplane front body component |
| CN115401154A (en) * | 2022-10-11 | 2022-11-29 | 沈阳工业大学 | Automatic drilling and riveting tail end execution device for longitudinal-torsional ultrasonic vibration |
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| CN105643278B (en) * | 2016-02-29 | 2018-07-24 | 浙江大学 | A kind of horizontal automatic Drilling/Riveting lathe for aircraft target ship assembly |
| CN105651174A (en) * | 2016-02-29 | 2016-06-08 | 浙江大学 | Vision measurement system used for horizontal automatic drilling and riveting machine of aircraft panel |
| CN105643278A (en) * | 2016-02-29 | 2016-06-08 | 浙江大学 | Horizontal automatic drilling and riveting machine tool used for assembling aircraft panel |
| CN105773632A (en) * | 2016-03-17 | 2016-07-20 | 浙江大学 | Multifunctional end executor of automatic drilling and riveting machine |
| CN105773632B (en) * | 2016-03-17 | 2017-10-31 | 浙江大学 | A kind of multi-functional end effector of automatic drill riveter |
| CN105689627A (en) * | 2016-03-30 | 2016-06-22 | 宜兴市融兴铸造有限公司 | Main shaft feeding mechanism of aircraft riveting machine |
| CN106995063A (en) * | 2017-04-26 | 2017-08-01 | 浙江大学 | A kind of multi-functional end effector |
| CN106995063B (en) * | 2017-04-26 | 2019-05-14 | 浙江大学 | A kind of multi-functional end effector |
| CN107363296A (en) * | 2017-07-27 | 2017-11-21 | 南京航空航天大学 | A kind of autonomous creep bores riveting system and its operation method |
| CN111050945A (en) * | 2017-07-28 | 2020-04-21 | 赛峰集团 | Riveting method of airplane |
| CN107414894A (en) * | 2017-09-05 | 2017-12-01 | 西北工业大学 | A kind of station conversion device |
| CN109227080A (en) * | 2018-09-30 | 2019-01-18 | 成都南方电子仪表有限公司 | A kind of multifunction manipulator and revolving platform |
| WO2021036588A1 (en) * | 2019-08-26 | 2021-03-04 | 上海航天精密机械研究所 | Automatic drilling and riveting actuating mechanism and method suitable for riveting rocket cabin body |
| CN112958743A (en) * | 2021-03-30 | 2021-06-15 | 杭州艾美依航空制造装备有限公司 | Pressure riveting driving device of driving multiplexing automatic drilling and riveting machine |
| CN112958743B (en) * | 2021-03-30 | 2022-09-30 | 杭州艾美依航空制造装备有限公司 | Pressure riveting driving device for driving multiplexing automatic drilling and riveting machine |
| CN113443166A (en) * | 2021-06-25 | 2021-09-28 | 成都飞机工业（集团）有限责任公司 | Laminated hole-making and flexible assembling system for complex curved surface of airplane front body component |
| CN113443166B (en) * | 2021-06-25 | 2022-06-14 | 成都飞机工业（集团）有限责任公司 | Laminated hole-making and flexible assembling system for complex curved surface of airplane front body component |
| CN115401154A (en) * | 2022-10-11 | 2022-11-29 | 沈阳工业大学 | Automatic drilling and riveting tail end execution device for longitudinal-torsional ultrasonic vibration |
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Address after: 100024 North East military villa, eight Li bridge, Chaoyang District, Beijing Patentee after: China Institute of Aeronautical Manufacturing Technology Address before: 100024 North East military villa, eight Li bridge, Chaoyang District, Beijing Patentee before: Beijing Aviation Manufacturing Engineering Institute of China Aviation Industry Group Company |