CN205968129U - Automatic change device of interim fastener of installation - Google Patents
Automatic change device of interim fastener of installation Download PDFInfo
- Publication number
- CN205968129U CN205968129U CN201620893014.5U CN201620893014U CN205968129U CN 205968129 U CN205968129 U CN 205968129U CN 201620893014 U CN201620893014 U CN 201620893014U CN 205968129 U CN205968129 U CN 205968129U
- Authority
- CN
- China
- Prior art keywords
- outer sleeve
- die nut
- mechanical gripper
- temporary fastener
- servomotor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
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Abstract
The utility model discloses an automatic change device of interim fastener of installation. It includes mechanical tongs, buffer spring, the guide bearing, pneumatic sliding platform, the detection switch, send the nail pipe, outer sleeve hexagonal spanner, inner hexagon spanners, synchronous pulley, synchronous pulley, hold -in range etc, wherein the quill shaft endotheca of outer sleeve hexagonal spanner has allen key, outer sleeve hexagonal spanner and allen key can independent control rotary motion and relative displacement, battery temperature passes through torque sensor feedback closed -loop control, it detects feedback closed -loop control through absolute formula grating chi and displacement sensor respectively to feed the displacement, the utility model discloses an integrated going up to automatic device (if special system hole equipment or mobile robot unit) realize the interim fastener mode of automatic installation, has solved interim fastener installation, and positioning accuracy is poor, the clamp force can not the accurate control etc. Less than, the people's that starts building intensity of labour falls, reduced the labour skill requirement to the workman.
Description
Technical field
This utility model is related to the device that temporary fastener is installed by a kind of automatization, belong to Aero-Space manufacturing based on digital,
Automated assembly field.
Background technology
In aircraft assembling process, either assembly class assembling, such as aircraft fuselage wallboard and stringer etc. are connected, or part
Assembling, the such as connection of aircraft wing skins and rib, are all first to adopt the two or more part of tool locating, then lamination
Pre-connection hole processed adopts temporary fastener to connect, and finally dismantles the positioning tool in large quantities of impact drilling spaces, carries out high-volume and make
Hole connects.So temporary fastener is aircraft assembling process usage amount is big, positioning precision is high, to temporary fastener clamping force whether
Can accurately control, to follow-up aircraft assembling quality it is critical that link, to the life-span of aircraft, there is very important work
With.
The pre-connection fastening method of traditional aircraft assembling, using the interim fastening of punching folder or plain bolt fastening, adopts
Both pre-connection part methods, it is poor to have a positioning precision, and clamping force cannot be precisely controlled by artificial judgment it is difficult to ensure to clamp
The concordance of power, it is impossible to realize Automated assembly, largely have impact on Aircraft Quality and efficiency of assembling.For airplane digital
The trend development changing mounting technology relevant device is next supporting.Study the device correlation technique that temporary fastener is installed by a kind of automatization
To coordinate Domestic Aircraft numeric terminal technology imperative.
This utility model is directed to above demand it is proposed that the device of temporary fastener is installed by a kind of automatization, by integrated
Realize automatization's mounting means on automatic equipment (as special drilling equipment or mobile robot unit), effectively solve and face
When securing member installation process in, positioning precision is poor, and the defect such as clamping force size is uncontrollable and clamping force is inconsistent, using integrated
Positioning precision height, efficiency of assembling height, clamping force are installed on automatic equipment by torque sensor closed loop feedback realization precisely control
System；Hand labor intensity significantly reduces, and different sortie aircraft assembling bolts or rivet stress assembling quality conformance are good.In aircraft
Numeric terminal has wide application prospect in field.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, provides a kind of positioning precision high, clamping force enables
It is precisely controlled, adaptability is good, the device and method of temporary fastener is installed by the automatization that efficiency of assembling is high, concordance is good.
The technical solution of the utility model is：The device of temporary fastener is installed by a kind of automatization, including mechanical gripper, delays
Rush spring, guide bearing, Pneumatic slid platform, the first detection switch, send nail pipe, outer sleeve die nut, inner hexagon spanner, support shaft
Hold, vacuum lead, bearing block, the first synchronous pulley, the second synchronous pulley, Timing Belt, the first reductor, first servo electricity
Machine, the second reductor, the second servomotor, displacement transducer, mechanical gripper slide unit, guide rail slide block, the first cylinder, screw mandrel bearing
Seat, mounting seat, send nail slide unit, guide rail slide block, first shaft coupling, nut seat, feeding ball wire bar pair, torque sensor, the
Two cylinders, second shaft coupling, guide rail slide block, the second speed reducer mounting base, the 3rd shaft coupling, the 3rd servomotor, absolute optical
Grid chi, cable drag chain, the second detection switch；Align with sending nail tube hub in mechanical gripper center, by buffer spring and the axis of guide
Hold and be arranged on Pneumatic slid platform, the relative position that the first detection switch detects mechanical gripper, aerodynamic slide are installed on Pneumatic slid platform
Platform is fixed on mechanical gripper slide unit to be arranged on guide rail slide block and passes through the first cylinder realization advance or retreat；Outer sleeve hexagonal is pulled
Handss are arranged on bearing block, by the first synchronous pulley, the second synchronous pulley, Timing Belt, the first reductor, the first servomotor
It is connected, realize rotating；Internal hexagonal wrench sleeve is in outer sleeve die nut hollow mandrel interior and first shaft coupling, torque sensing
Device, second shaft coupling, the second reductor, second servomotor be connected, realize rotating, by be arranged on guide rail slide block, second
On speed reducer mounting base, realized and outer sleeve die nut relative movement using the second cylinder, displacement transducer detects and feeds back
Amount of movement；Bearing block be fixed on send nail slide unit and guide rail slide block on, by screw mandrel shaft block, feeding ball wire bar pair, the 3rd
Axial organ, the 3rd servomotor drive.
Further, be cased with inner hexagon spanner in the quill shaft of described outer sleeve die nut, outer sleeve die nut and
Inner hexagon spanner can be with independent control rotary motion and relative displacement.
Further, described outer sleeve die nut and inner hexagon spanner turning moment are fed back by torque sensor, enter
Pass through absolute grating scale and displacement transducer detection feedback to displacement respectively.
Further, the described device installing temporary fastener for automatization, temporary fastener adopts mechanical gripper side
Formula is from sending nail pipe to take out, and carries out Switch of working position feeding outer sleeve die nut and inner hexagon spanner by Pneumatic slid platform.
A kind of method installing temporary fastener for automatization of this utility model, step is as follows：
1) work initial preparation state：Mechanical gripper is in open mode, and mechanical gripper center is managed with sending nail
Center alignment；
2) using outside automatization's feeding device for nail or by the way of vibratory bowl auxiliary equipment, temporary fastener is pressed certain
Direction ordered arrangement, and manually or automatically put in pipeline from the one end giving nail pipe；
3) temporary fastener in nail pipe will be sent, conveyed to mechanical gripper direction using air pressure mode, sending nail Guan Shangan
When temporary fastener is detected equipped with detection switch and passing through, mechanical gripper is transformed into closed mode, mechanical gripper from open mode
Clamping temporary fastener；
4) the first cylinder stretches out, and so that temporary fastener on mechanical gripper is extracted completely from sending in nail pipe, Pneumatic slid platform to
Lower movement, using mechanical gripper center and outer sleeve die nut center alignment；
5) the first cylinders retract, makes the temporary fastener on mechanical gripper insert in outer sleeve die nut；
6) temporary fastener outer-hexagonal and outer sleeve die nut para-position：If temporary fastener and outer sleeve die nut
Hexagonal do not have para-position to complete, buffer spring compresses, and mechanical gripper will be ejected detection switch detection action and not complete, first
Servomotor drives outer sleeve die nut low speed and reverse, when the hexagonal para-position of temporary fastener and outer sleeve die nut, delays
Rush spring reset, detection switch detection action completes, the first servomotor enables and keeps outer sleeve die nut current state not
Become；
7) hexagonal and inner hexagon spanner para-position in temporary fastener：Second servomotor drives inner hexagon spanner low speed anti-
Turn, the second cylinders retract simultaneously, if temporary fastener does not have para-position to complete with the hexagonal of inner hexagon spanner, buffer spring pressure
Contracting, mechanical gripper will be ejected detection switch detection action and not complete, and the second servomotor drives inner hexagon spanner to continue instead
Turn, until completing para-position；Simultaneous displacement sensor test position puts in place；
8) pass through vacuum lead, between outer sleeve die nut and inner hexagon spanner, produce negative pressure of vacuum, make interim
Securing member is by stable absorption on outer sleeve die nut；
9) mechanical gripper is opened, and unclamps temporary fastener, and the first cylinder stretches out, and mechanical gripper departs from temporary fastener, gas
Dynamic slide unit moves up reset, and the first cylinders retract resets；
10) drive and send nail slide unit by screw mandrel shaft block, feeding ball wire bar pair, the 3rd shaft coupling, the 3rd servomotor
Feeding, thus driving the temporary fastener on outer sleeve die nut and inner hexagon spanner to feed, until insertion aircraft assembling knot
By absolute grating scale, component target pre-connection in the hole, detects that temporary fastener insert action completes；
11) the first servomotor enables and continues to keep outer sleeve die nut current state constant, by the second servo electricity
Machine drives inner hexagon spanner to rotate forward, and the second servomotor reaches setting torque value, torque sensor feedback torque actual value, completes
The complete dress of temporary fastener；
12) close the vacuum of vacuum lead, the 3rd servomotor drives and send nail slide unit to return reset, completes one temporarily
The installation of securing member；
13) multiple temporary fastener installation process repeat the above steps 1)～step 12)；
14) temporary fastener dismounting completes to operate using man-hour manually hand-held instrument.
Brief description
Fig. 1 is that temporary fastener device front view is installed by automatization of the present utility model；
Fig. 2 is that temporary fastener device left view is installed by automatization of the present utility model；
Fig. 3 is that temporary fastener device top view is installed by automatization of the present utility model；
In figure：Mechanical gripper 1, buffer spring 2, guide bearing 3, Pneumatic slid platform 4, the first detection switch 5, send nail pipe 6, outer
Sleeve die nut 7, inner hexagon spanner 8, spring bearing 9, vacuum lead 10, bearing block 11, the first synchronous pulley 12, second
Synchronous pulley 13, Timing Belt 14, the first reductor 15, the first servomotor 16, the second reductor 17, the second servomotor 18,
Displacement transducer 19, mechanical gripper slide unit 20, the first guide rail slide block 21, the first cylinder 22, screw mandrel shaft block 23, mounting seat
24th, nail slide unit 25, the second guide rail slide block 26, first shaft coupling 27, nut seat 28, feeding ball wire bar pair 29, torque sensing are sent
Device 30, the second cylinder 31, second shaft coupling 32, the 3rd guide rail slide block 34, the second speed reducer mounting base 33, the 3rd shaft coupling 35,
3rd servomotor 36, absolute grating scale 37, cable drag chain 38, the second detection switch 39
Specific embodiment
As shown in 1,2,3, for the device of automatization's installation temporary fastener, including mechanical gripper 1, buffer spring 2, lead
To bearing 3, Pneumatic slid platform 4, the first detection switch 5, send nail pipe 6, outer sleeve die nut 7, inner hexagon spanner 8, spring bearing
9th, vacuum lead 10, bearing block 11, the first synchronous pulley 12, the second synchronous pulley 13, Timing Belt 14, the first reductor 15,
First servomotor 16, the second reductor 17, the second servomotor 18, displacement transducer 19, mechanical gripper slide unit 20, first lead
Rail slide block 21, the first cylinder 22, screw mandrel shaft block 23, mounting seat 24, send nail slide unit 25, the second guide rail slide block 26, first
Axial organ 27, nut seat 28, feeding ball wire bar pair 29, torque sensor 30, the second cylinder 31, second shaft coupling the 32, the 3rd are led
Rail slide block 34, the second speed reducer mounting base 33, the 3rd shaft coupling 35, the 3rd servomotor 36, absolute grating scale 37, cable drag
Chain 38, the second detection switch 39；Pipe 6 center alignment is followed closely with sending in mechanical gripper 1 center, is pacified by buffer spring 2 and guide bearing 3
It is contained on Pneumatic slid platform 4, the relative position that detection switch 5 detects mechanical gripper 1 is installed on Pneumatic slid platform 4, Pneumatic slid platform 4 is solid
It is scheduled on mechanical gripper slide unit 20 to be arranged on the first guide rail slide block 21 and pass through the first cylinder 22 realization advance or retreat；Outer sleeve
Die nut 7 is arranged on bearing block 11, by synchronous pulley 12, synchronous pulley 13, Timing Belt 14, the first reductor 15,
One servomotor 16 is connected, and realizes rotating；Inner hexagon spanner 8 is enclosed within outer sleeve die nut 7 hollow mandrel interior and first
Axial organ 27, torque sensor 30, second shaft coupling 32, the second reductor 17, the second servomotor 18 are connected, and realize rotating,
By being arranged on guide rail slide block 34, on the second speed reducer mounting base 33, realized and outer sleeve die nut 7 using the second cylinder 31
Relative movement, displacement transducer 19 detects and feeds back amount of movement；Bearing block 11 is fixed on and send nail slide unit 25 and the second guide rail slide block
On 26, driven by screw mandrel shaft block 23, feeding ball wire bar pair 29, the 3rd shaft coupling 35, the 3rd servomotor 36.
The device of temporary fastener is installed for automatization, outer sleeve die nut 7 quill shaft is cased with inner hexagon spanner 8,
Outer sleeve die nut 7 and inner hexagon spanner 8 can be with independent control rotary motion and relative displacements.
The device of temporary fastener is installed for automatization, outer sleeve die nut 7 and inner hexagon spanner 8 turning moment are led to
Cross torque sensor feedback, absolute grating scale 37 and displacement transducer 19 detection feedback are passed through in feeding displacement respectively.
For automatization install temporary fastener device, temporary fastener using mechanical gripper 1 mode from send nail pipe 6 take
Go out, and sent on outer sleeve die nut 7 and inner hexagon spanner 8 by the switching of Pneumatic slid platform 4 position.
For automatization, temporary fastener method is installed, its method and step is as follows：
1) work initial preparation state：Mechanical gripper 1 is in open mode, and mechanical gripper 1 center with send nail
Pipe 6 center alignment；
2) using outside automatization's feeding device for nail or by the way of vibratory bowl auxiliary equipment, temporary fastener is pressed certain
Direction ordered arrangement, and manually or automatically put in pipeline from the one end giving nail pipe 6；
3) temporary fastener in nail pipe 6 will be sent, conveyed to mechanical gripper 1 direction using air pressure mode, on sending nail pipe 6
When being provided with detection switch 39 and temporary fastener is detected and pass through, mechanical gripper 1 is transformed into closed mode, machine from open mode
Tool handgrip 1 clamps temporary fastener；
4) the first cylinder 22 stretches out, and so that temporary fastener on mechanical gripper 1 is extracted completely from sending in nail pipe 6, aerodynamic slide
Platform 4 moves down, using mechanical gripper 1 center and outer sleeve die nut 7 center alignment；
5) the first cylinder 22 is retracted, and so that the temporary fastener on mechanical gripper 1 is inserted in outer sleeve die nut 7；
6) temporary fastener outer-hexagonal and outer sleeve die nut 7 para-position：If temporary fastener is pulled with outer sleeve hexagonal
The hexagonal of handss 7 does not have para-position to complete, and buffer spring 2 compresses, and it is not complete that mechanical gripper 1 will be ejected detection switch 5 detection action
Become, the first servomotor 16 drives outer sleeve die nut 7 low speed and reverse, when temporary fastener and outer sleeve die nut 7
Hexagonal para-position, buffer spring 2 resets, and detection switch 5 detection action completes, and the first servomotor 16 enables and keeps outer sleeve hexagonal
Spanner 7 current state is constant；
7) hexagonal and inner hexagon spanner 8 para-position in temporary fastener：Second servomotor 18 drives inner hexagon spanner 8 low speed
Reversion, the second cylinder 31 is retracted simultaneously, if temporary fastener does not have para-position to complete with the hexagonal of inner hexagon spanner 8, buffering elastic
Spring 2 compresses, and mechanical gripper 1 will be ejected detection switch 5 detection action and not complete, and the second servomotor 18 drives interior hexagonal to pull
Handss 8 persistently invert, until completing para-position；Simultaneous displacement sensor 19 test position puts in place.
8) pass through vacuum lead 10, produce negative pressure of vacuum between outer sleeve die nut 7 and inner hexagon spanner 8, make
Temporary fastener is by stable absorption on outer sleeve die nut 7；
9) mechanical gripper 1 is opened, and unclamps temporary fastener, and the first cylinder 22 stretches out, and mechanical gripper 1 departs from interim fastening
Part, Pneumatic slid platform 4 moves up reset, and the first cylinder 22 is retracted and resetted；
10) driven by screw mandrel shaft block 23, feeding ball wire bar pair 29, the 3rd shaft coupling 35, the 3rd servomotor 36
Nail slide unit 25 is sent to feed, thus driving the temporary fastener on outer sleeve die nut 7 and inner hexagon spanner 8 to feed, until inserting
Enter aircraft assembling structure part target pre-connection in the hole, detect that temporary fastener insert action completes by absolute grating scale 37；
11) the first servomotor 16 enables and continues to keep outer sleeve die nut 7 current state constant, by the second servo
Motor 18 drives inner hexagon spanner 8 to rotate forward, and the second servomotor 18 reaches setting torque value, and torque sensor 30 feedback torque is real
Actual value, completes the complete dress of temporary fastener；
12) close the vacuum of vacuum lead 10, the 3rd servomotor 36 drives and send nail slide unit 25 to return reset, completes one
The installation of individual temporary fastener；
13) multiple temporary fastener installation process repeat the above steps 1)～step 12).
Claims (4)
1. a kind of automatization install temporary fastener device it is characterised in that include mechanical gripper (1), buffer spring (2),
Guide bearing (3), Pneumatic slid platform (4), the first detection switch (5), nail pipe (6), outer sleeve die nut (7), interior hexagonal is sent to pull
Handss (8), spring bearing (9), vacuum lead (10), bearing block (11), the first synchronous pulley (12), the second synchronous pulley
(13), Timing Belt (14), the first reductor (15), the first servomotor (16), the second reductor (17), the second servomotor
(18), displacement transducer (19), mechanical gripper slide unit (20), the first guide rail slide block (21), the first cylinder (22), screw mandrel shaft block
(23), mounting seat (24), send nail slide unit (25), the second guide rail slide block (26), first shaft coupling (27), nut seat (28), enter
To ball wire bar pair (29), torque sensor (30), the second cylinder (31), second shaft coupling (32), the 3rd guide rail slide block (34),
Second speed reducer mounting base (33), the 3rd shaft coupling (35), the 3rd servomotor (36), absolute grating scale (37), cable drag
Chain (38), the second detection switch (39)；Mechanical gripper (1) center with send nail pipe (6) center alignment, by buffer spring (2) and
Guide bearing (3) is arranged on Pneumatic slid platform (4), detects mechanical gripper in upper the first detection switch (5) of installing of Pneumatic slid platform (4)
(1) relative position, Pneumatic slid platform (4) is fixed on to be arranged on mechanical gripper slide unit (20) and passes through on the first guide rail slide block (21)
First cylinder (22) is realized advancing or is retreated；Outer sleeve die nut (7) is arranged on bearing block (11), by the first Timing Belt
Wheel (12), the second synchronous pulley (13), Timing Belt (14), the first reductor (15), the first servomotor (16) are connected, and just realize
Reversion；Inner hexagon spanner (8) is enclosed within outer sleeve die nut (7) hollow mandrel interior and first shaft coupling (27), torque sensor
(30), second shaft coupling (32), the second reductor (17), the second servomotor (18) are connected, and realize rotating, by being arranged on
On 3rd guide rail slide block (34), the second speed reducer mounting base (33), realized and outer sleeve die nut using the second cylinder (31)
(7) relative movement, displacement transducer (19) detects and feeds back amount of movement；Bearing block (11) is fixed on and send nail slide unit (25) and second
On guide rail slide block (26), by screw mandrel shaft block (23), feeding ball wire bar pair (29), the 3rd shaft coupling (35), the 3rd servo
Motor (36) drives.
2. the device of temporary fastener is installed it is characterised in that described overcoat by a kind of automatization according to claim 1
It is cased with inner hexagon spanner (8), outer sleeve die nut (7) and inner hexagon spanner (8) are independent in the quill shaft of cylinder die nut (7)
Control rotary motion and relative displacement.
3. the device of temporary fastener is installed it is characterised in that described overcoat by a kind of automatization according to claim 1
Cylinder die nut (7) and inner hexagon spanner (8) turning moment are fed back by torque sensor, and absolute type is passed through in feeding displacement respectively
Grating scale (37) and displacement transducer (19) detection feedback.
4. the device of temporary fastener is installed it is characterised in that described is interim by a kind of automatization according to claim 1
Securing member adopt mechanical gripper (1) mode from send nail pipe (6) take out, and by Pneumatic slid platform (4) carry out Switch of working position send into outside
Sleeve die nut (7) and inner hexagon spanner (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620893014.5U CN205968129U (en) | 2016-12-13 | 2016-12-13 | Automatic change device of interim fastener of installation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620893014.5U CN205968129U (en) | 2016-12-13 | 2016-12-13 | Automatic change device of interim fastener of installation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205968129U true CN205968129U (en) | 2017-02-22 |
Family
ID=58030791
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620893014.5U Withdrawn - After Issue CN205968129U (en) | 2016-12-13 | 2016-12-13 | Automatic change device of interim fastener of installation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205968129U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106392603A (en) * | 2016-12-13 | 2017-02-15 | 尚鳌自动化工程（上海）有限公司 | Device and method for mounting temporary fasteners automatically |
| CN113084504A (en) * | 2021-04-15 | 2021-07-09 | 李少云 | Fastening device of temporary fastening piece |
-
2016
- 2016-12-13 CN CN201620893014.5U patent/CN205968129U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106392603A (en) * | 2016-12-13 | 2017-02-15 | 尚鳌自动化工程（上海）有限公司 | Device and method for mounting temporary fasteners automatically |
| CN106392603B (en) * | 2016-12-13 | 2018-08-10 | 尚鳌自动化工程（上海）有限公司 | A kind of device and method of automation installation temporary fastener |
| CN113084504A (en) * | 2021-04-15 | 2021-07-09 | 李少云 | Fastening device of temporary fastening piece |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170222 Effective date of abandoning: 20180810 |