CN206913163U - One kind bores the special end-effector of riveting machining robot - Google Patents
One kind bores the special end-effector of riveting machining robot Download PDFInfo
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- CN206913163U CN206913163U CN201720762542.1U CN201720762542U CN206913163U CN 206913163 U CN206913163 U CN 206913163U CN 201720762542 U CN201720762542 U CN 201720762542U CN 206913163 U CN206913163 U CN 206913163U
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- out against
- pcketing
- riveting
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- 238000003754 machining Methods 0.000 title claims abstract description 25
- 239000012636 effector Substances 0.000 title claims abstract description 19
- 238000005553 drilling Methods 0.000 claims abstract description 24
- 238000005520 cutting process Methods 0.000 claims description 12
- 230000007704 transition Effects 0.000 claims description 5
- 239000004744 fabric Substances 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 238000006243 chemical reaction Methods 0.000 abstract description 2
- 238000010276 construction Methods 0.000 abstract description 2
- 241001074085 Scophthalmus aquosus Species 0.000 description 12
- 238000000034 method Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
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Abstract
One kind bores the special end-effector of riveting machining robot, including plug pin joint（1）, hold out against cylinder（2）, riveted joint（3）, rivet cylinder（4）, ring flange（5）, drill pcketing gang tool（6）, bore motor（7）, index dial（8）, linear module（9）And electric rotating machine（10）.Plug pin joint（1）Main body is a rectangular part, and respectively there is a cylinder projection at both ends, have a through hole at the center of cylinder, there is one and the angled cylinder projection being in tilted layout of rectangular body side surface on a side of cuboid.The present apparatus and popular industrial machine people are used cooperatively drilling, pcketing, plug pin, the automation mechanized operation for holding out against and riveting that can be realized to aircraft skin.The utility model is simple in construction, drives index dial to rotate using electric rotating machine, realizes the conversion of functional part, quick and precisely.
Description
Technical field
The present invention relates to a kind of tail end manipulator of robot, more particularly to a kind of brill special end effector of riveting machining robot
Device.
Background technology
Aircraft skin quality of connection greatly influences accuracy and the life-span of Aerodynamic Configuration of Aireraft, and quality of connection is difficult to completely
Sufficient type aircraft is to high performance requirement, it has also become and the weak link of aircraft industry of China, riveting are main types of attachment,
The quality for boring riveting technology directly governs aircraft industry, and the competition for international airline industry has significant impact.
The general aircraft skin clinching method of domestic operator is still hand riveting at present, each in the both sides of aircraft skin
There is a worker, one is held riveting gun, and one is held top iron, carries out riveting processing, and not only efficiency is low, and riveting quality is difficult to
Ensure；And external automatic Drilling/Riveting process technology has tended to ripe, due to technology blockage, domestic operator buys oneself of foreign countries
Dynamic boring and riveting machine device people only has drilling function, and plug pin and riveting still can not realize automation.Not long ago the domestic big aircraft of first frame
C919 makes a successful trial flight, and is a positive signal for the aviation of China, and China's research and development have independent intellectual production
The automatic Drilling/Riveting machining robot of power is extremely urgent.
The content of the invention
For object above, the special end-effector of brill riveting machining robot of the invention, KUKA-R360-2F is assemblied in
On type industrial robot, two industrial robots are arranged symmetrically in aircraft skin both sides, and by adjusting pose, aircraft skin is bored
Riveting, which is processed special end-effector and navigated to, bores riveter positions, you can with realize to the automatic drilling of aircraft skin, pcketing, plug pin,
A series of functions of holding out against and rivet.
A kind of brill special end-effector of riveting machining robot of the invention, including plug pin joint 1, hold out against cylinder 2, riveted joint
3, rivet cylinder 4, ring flange 5, drilling pcketing gang tool 6, bore motor 7, index dial 8, linear module 9 and electric rotating machine
10。
The main body of plug pin joint 1 is a rectangular part, and respectively there is a cylinder projection at both ends, have one at the center of cylinder
Through hole, there are one and the angled cylinder projection being in tilted layout of rectangular body side surface on a side of cuboid, incline
Tiltedly there is a through hole at the center of arrangement cylinder, and be in tilted layout cylinder and the through hole oblique along cuboid length direction, forms three
Logical structure.Three nose ends are respectively into following closely mouth 1-1, nail mouth 1-2 and hold out against end entrance 1-3.Enter to follow closely mouth 1-1 with automatic for binding
The nail transferring tube road put is connected, and nail transferring tube road is conveyed into the rivet deflecting come and reaches nail mouth 1-2, nail mouth 1-2 is in plug pin
Rivet hole is directed at, end entrance 1-3 is held out against and accommodates the piston rod front end for holding out against cylinder 2.
Drilling pcketing gang tool 6 includes cutting tip 6-1, pcketing part 6-2 and handle of a knife 6-3.Cutting tip 6-1 is brill
Head is more than cutting tip 6-1 in rearmost end in front end, handle of a knife 6-3 diameter, and pcketing part 6-2 is cutting tip 6-1 and knife
Transition portion between handle 6-3, the transition portion chamfering at 45 ° between pcketing part 6-2 and handle of a knife 6-3, can be on covering
Extrude 45 ° of nest.
Plug pin joint 1 and hold out against cylinder 2 and be combined into plug pin and hold out against unit, hold out against cylinder 2 and plug pin joint 1 hold out against hold into
Mouthful 1-3 is coaxially arranged and connects firmly on index dial 8, and the piston rod head for holding out against cylinder 2 extend into and held out against in end entrance 1-3.Riveting
Joint 3 and riveting cylinder 4 are combined into riveting unit, and riveted joint 3 is arranged on the piston rod head of riveting cylinder 4, riveting cylinder 4
Cylinder body is connected firmly on index dial 8.Drilling pcketing gang tool 6 and bore motor 7 are combined into drilling pcketing unit, and drill pcketing group
Close cutter 6 to be arranged on the motor shaft of bore motor 7, bore motor 7 is connected firmly on index dial 8.Plug pin holds out against unit, and riveting is single
Member is arranged on index dial 8 with drilling pcketing unit into 120 °.Linear module 9 is feed unit, and electric rotating machine 10 is installed online
Property module 9 sliding block on, the axle of electric rotating machine 10 and the center of index dial 8 connect firmly, ring flange 5 be arranged on linear module 9 one
End, the central axis of ring flange 5 is consistent with the direction of motion of linear module 9 and is intersected vertically with the axis of rotation of index dial 8, method
Blue disk 5 is connected the special end-effector of riveting machining robot is bored with industrial robot.
The special end-effector of brill riveting machining robot of the present invention and popular industrial machine people are used cooperatively and can realized
Drilling, pcketing, plug pin, the automation mechanized operation for holding out against and riveting to aircraft skin.The present invention is simple in construction, utilizes electric rotating machine
Drive index dial to rotate, realize the conversion of functional part, quick and precisely.
Brief description of the drawings
Fig. 1 is a kind of front view for boring the special end-effector of riveting machining robot of the present invention；
Fig. 2 is a kind of top view for boring the special end-effector of riveting machining robot of the present invention；
Fig. 3 is a kind of structural representation for the plug pin joint 1 for boring the special end-effector of riveting machining robot of the present invention；
Fig. 4 is a kind of structure for the drilling pcketing gang tool 6 for boring the special end-effector of riveting machining robot of the present invention
Schematic diagram；
Fig. 5 is a kind of operating diagram for boring the special end-effector of riveting machining robot of the present invention.
Embodiment
The embodiment of the present invention is illustrated with reference to accompanying drawing 1-5.
A kind of brill special end-effector of riveting machining robot of the invention, including plug pin joint 1, hold out against cylinder 2, riveted joint
3, rivet cylinder 4, ring flange 5, drilling pcketing gang tool 6, bore motor 7, index dial 8, linear module 9 and electric rotating machine
10。
The main body of plug pin joint 1 is a rectangular part, and respectively there is a cylinder projection at both ends, have one at the center of cylinder
Through hole, there are one and the angled cylinder projection being in tilted layout of rectangular body side surface on a side of cuboid, incline
Tiltedly there is a through hole at the center of arrangement cylinder, and be in tilted layout cylinder and the through hole oblique along cuboid length direction, forms three
Logical structure.Three nose ends are respectively into following closely mouth 1-1, nail mouth 1-2 and hold out against end entrance 1-3.Enter to follow closely mouth 1-1 with automatic for binding
The nail transferring tube road put is connected, and nail transferring tube road is conveyed into the rivet deflecting come and reaches nail mouth 1-2, nail mouth 1-2 is in plug pin
Rivet hole is directed at, end entrance 1-3 is held out against and accommodates the piston rod front end for holding out against cylinder 2.
Drilling pcketing gang tool 6 includes cutting tip 6-1, pcketing part 6-2 and handle of a knife 6-3.Cutting tip 6-1 is brill
Head is more than cutting tip 6-1 in rearmost end in front end, handle of a knife 6-3 diameter, and pcketing part 6-2 is cutting tip 6-1 and knife
Transition portion between handle 6-3, the transition portion chamfering at 45 ° between pcketing part 6-2 and handle of a knife 6-3, can be on covering
Extrude 45 ° of nest.
Plug pin joint 1 and hold out against cylinder 2 and be combined into plug pin and hold out against unit, hold out against cylinder 2 and plug pin joint 1 hold out against hold into
Mouthful 1-3 is coaxially arranged and connects firmly on index dial 8, and the piston rod head for holding out against cylinder 2 extend into and held out against in end entrance 1-3.Riveting
Joint 3 and riveting cylinder 4 are combined into riveting unit, and riveted joint 3 is arranged on the piston rod head of riveting cylinder 4, riveting cylinder 4
Cylinder body is connected firmly on index dial 8.Drilling pcketing gang tool 6 and bore motor 7 are combined into drilling pcketing unit, and drill pcketing group
Close cutter 6 to be arranged on the motor shaft of bore motor 7, bore motor 7 is connected firmly on index dial 8.Plug pin holds out against unit, and riveting is single
Member is arranged on index dial 8 with drilling pcketing unit into 120 °.Linear module 9 is feed unit, and electric rotating machine 10 is installed online
Property module 9 sliding block on, the axle of electric rotating machine 10 and the center of index dial 8 connect firmly, ring flange 5 be arranged on linear module 9 one
End, the central axis of ring flange 5 is consistent with the direction of motion of linear module 9 and is intersected vertically with the axis of rotation of index dial 8, method
Blue disk 5 is connected the special end-effector of riveting machining robot is bored with industrial robot.
The special end-effector of brill riveting machining robot of the present invention, the industry of KUKA-R360-2F types is assemblied in when in use
In robot, a brill riveting machining robot is formed, two are bored riveting machining robot and are arranged symmetrically in aircraft skin both sides, are formed
A set of brill riveting machining robot system.Start to bore riveting processing, bore riveting machining robot by adjusting pose, aircraft skin is bored into riveting
Process special end-effector and navigate to brill riveter positions, it is to be added to reach covering for the drilling pcketing unit of outer side robot first
Station is put, and bore motor 7 starts drilling, and feed unit is persistently fed, and drilling finishes, and bore motor 7 stops, and feed unit continues
Feeding, complete pcketing.Drilling pcketing is finished, and feed unit is retracted, and electric rotating machine 10 rotates 120 °, is transformed into plug pin and holds out against unit
The position of rivet hole is reached, bores riveting machining robot adjustment pose, plug pin joint 1 will supply automatically close to rivet hole, plug pin joint 1
The rivet that spike devices conveying comes is injected in rivet hole, while the piston rod for holding out against cylinder 2 holds out against rivet countersunk head end, while in covering
The brill riveting machining robot adjustment pose of side, riveting unit reach processing stations, and riveted joint 3 is directed at rivet, coordinates outer sidetracking riveting
Machining robot is riveted.Riveting is completed, and interior outside industrial robot adjustment pose reaches next covering position to be processed,
Into next working cycles.
Claims (1)
1. one kind bores the special end-effector of riveting machining robot, including plug pin joint（1）, hold out against cylinder（2）, riveted joint（3）,
Rivet cylinder（4）, ring flange（5）, drill pcketing gang tool（6）, bore motor（7）, index dial（8）, linear module（9）With
Electric rotating machine（10）, it is characterised in that plug pin joint（1）Main body is a rectangular part, and respectively there is a cylinder projection at both ends,
There is a through hole at the center of cylinder, there is one and the angled inclination cloth of rectangular body side surface on a side of cuboid
The cylinder put is raised, and there is a through hole at the center for the cylinder that is in tilted layout, and be in tilted layout cylinder and along cuboid length direction
Through hole oblique, form three-port structure, three nose ends are respectively into following closely mouth（1-1）, nail mouth（1-2）With hold out against end entrance（1-
3）, enter to follow closely mouth（1-1）It is connected with the nail transferring tube road of automatic rivet-feeding apparatus, nail transferring tube road is conveyed into the rivet deflecting come and reached out
Follow closely mouth（1-2）, nail mouth（1-2）Rivet hole is directed in plug pin, holds out against end entrance（1-3）Receiving holds out against cylinder（2）Piston
Bar front end, drill pcketing gang tool（6）Including cutting tip（6-1）, pcketing part（6-2）And handle of a knife（6-3）, cutting tip
（6-1）In front end, handle of a knife（6-3）Diameter be more than cutting tip（6-1）, pcketing part（6-2）For cutting tip（6-1）With
Handle of a knife（6-3）Between transition portion, chamfering at 45 °, 45 ° of nest, plug pin joint can be extruded on covering（1）With hold out against gas
Cylinder（2）It is combined into plug pin and holds out against unit, holds out against cylinder（2）With plug pin joint（1）Hold out against end entrance（1-3）It is coaxially arranged and solid
It is associated in index dial（8）On, hold out against cylinder（2）Piston rod head extend into and hold out against end entrance（1-3）In, riveted joint（3）And riveting
Connect cylinder（4）It is combined into riveting unit, riveted joint（3）Installed in riveting cylinder（4）Piston rod head, rivet cylinder（4）'s
Cylinder body is connected firmly in index dial（8）On, drill pcketing gang tool（6）And bore motor（7）It is combined into drilling pcketing unit, drilling
Pcketing gang tool（6）Installed in bore motor（7）Motor shaft on, bore motor（7）Connect firmly in index dial（8）On, plug pin
Unit is held out against, riveting unit is arranged in index dial with drilling pcketing unit into 120 °（8）On, linear module（9）For feed unit,
Electric rotating machine（10）Installed in linear module（9）Sliding block on, electric rotating machine（10）Axle and index dial（8）Center connect firmly,
Ring flange（5）Installed in linear module（9）One end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720762542.1U CN206913163U (en) | 2017-06-28 | 2017-06-28 | One kind bores the special end-effector of riveting machining robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720762542.1U CN206913163U (en) | 2017-06-28 | 2017-06-28 | One kind bores the special end-effector of riveting machining robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206913163U true CN206913163U (en) | 2018-01-23 |
Family
ID=61323064
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720762542.1U Active CN206913163U (en) | 2017-06-28 | 2017-06-28 | One kind bores the special end-effector of riveting machining robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206913163U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107253059A (en) * | 2017-06-28 | 2017-10-17 | 河北科技大学 | Aircraft skin bores riveting and processes special end-effector |
-
2017
- 2017-06-28 CN CN201720762542.1U patent/CN206913163U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107253059A (en) * | 2017-06-28 | 2017-10-17 | 河北科技大学 | Aircraft skin bores riveting and processes special end-effector |
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|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240510 Address after: 063000 No. 1698 Weiguo North Road, Tangshan Hi-tech Industrial Park, Hebei Province Patentee after: TANGSHAN BAICHUAN INNOVATION TECHNOLOGY Co.,Ltd. Country or region after: China Address before: 050018 No. 70 East Yuhua Road, Hebei, Shijiazhuang Patentee before: HEBEI University OF SCIENCE AND TECHNOLOGY Country or region before: China |