CN208722470U - A kind of flexible training device for aircraft annular pneumatic riveting - Google Patents
A kind of flexible training device for aircraft annular pneumatic riveting Download PDFInfo
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- CN208722470U CN208722470U CN201721574821.1U CN201721574821U CN208722470U CN 208722470 U CN208722470 U CN 208722470U CN 201721574821 U CN201721574821 U CN 201721574821U CN 208722470 U CN208722470 U CN 208722470U
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- riveting
- joint
- sliding block
- connecting rod
- training device
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Abstract
The utility model provides a kind of flexible training device for aircraft annular pneumatic riveting, is related to aerospace assembling manufacturing field.Using the device and Training Methodology, it can be achieved that aircraft is riveted the skills training of work annular riveting operation, riveting quality non break down test, the fuselage annular riveting tasks such as Work condition analogue and skill examination.The riveting of airframe different location is simulated by adjusting the pose of robot, and single nail riveting or the more nail rivetings of annular may be selected.Realize that sliding block is bonded or separates with riveting emulation board by stepper motor drive turntable rotation, and then crimping rivet or taking-up rivet.Riveting quality can be detected and be assessed after riveting simulation.The utility model is easy to operate, at low cost, high-efficient, any machine section of analog fuselage annular riveting, freedom degree is high, riveting operation simulation is high with actual condition compactness, can effectively improve and is riveted work skills training efficiency, shortens and is riveted the time that work adapts to actual production operating condition.
Description
Technical field
The utility model relates to machinery, automobile, ship, aerospace component, component assembling manufacturing fields more particularly to one
Kind is used for the flexible training device of aircraft annular pneumatic riveting.
Background technique
Aircraft safety problem is mainly the integrity problem assembled, rivets the main assembling form as airplane parts,
Occupy highly important status in aircraft assembly.
Currently, Domestic Aircraft assembly and installment work mechanization and the degree of automation are lower, hand labour amount is than great, labor
Dynamic productivity is low, and quality requirement is high.Fuselage side riveting space is small, riveting gun adjustment is difficult, and riveting skill requirement is high, especially machine
There are many riveting of the bending sections such as body, number of rivets.Most of connection needs to carry out annular riveting, for the riveting stability of rivet
It is required that high.Traditional clinching method has hand rivet(ing) method and hammer riveting method.Hand rivet(ing) method tool is simple, easy to operate, is mainly used for small combination
Part, anchor nut and the riveting of two-sided countersunk head；Hammer into shape riveting method be suitable for various riveted structures, be widely used in the various sub-assemblies of body and
Component.Both methods human factor is affected, and riveting quality is unstable, and labor intensity is high, working condition is poor.Prototype
Production status difference is very big, so that employee, which obtains after being riveted work certification, not can be carried out productive labor still.
Therefore, those skilled in the art is dedicated to developing a kind of flexible training device for aircraft annular pneumatic riveting
And Training Methodology, solve that training cost in traditional training method is excessively high, annular more nail riveting quality consistency are poor, is riveted work training
The problems such as environment and actual production working environment difference are big.
Utility model content
For the defect of existing training apparatus, the utility model provides the flexibility training for aircraft annular pneumatic riveting
Device, and realized by this device and be riveted being substantially improved for work skills training efficiency, realize staffs training and production capacity
The seamless interfacing of promotion.
The utility model discloses a kind of flexible training device for aircraft annular pneumatic riveting, the flexibility training devices
Including riveting platform, the riveting platform includes bottom plate, riveting emulation board, sliding block, mounting bracket, turntable and connecting rod, the riveting
Emulation board is connect to be circular ring shape and be provided with equally distributed sliding slot, the bottom end of the sliding slot and the sliding block along radial direction at it
One end be provided with semicircle orifice, the sliding block is placed in the sliding slot, the sliding block slides into bottom end in the sliding slot when institute
State semicircle orifice be combined into annular circular hole for place and fixing rivet, the turntable be round and its diameter less than riveting emulation
The annular diameters of plate, the turntable is placed in the inner ring of the riveting emulation board and, the company hinged with one end of the connecting rod
The other end of bar and the sliding block are hinged, and the mounting bracket is fixed on the bottom plate, and the riveting emulation board is fixed on institute
It states in mounting bracket, rotating the turntable can drive the sliding block to slide in the sliding slot of the riveting emulation board, described in realization
Sliding block and riveting emulation plate closing, clamping and opening.
Further, the semicircle orifice tapping of the sliding block and the riveting emulation board passes through special heat treatment.Institute
It states mounting bracket to be bolted on the bottom plate, the mounting bracket and the bottom plate are detachable.The mounting bracket
Number is three and is mutually uniformly fixed on the bottom plate in 120 ° of angle directions.The riveting emulation board is bolted
In the mounting bracket, the riveting emulation board and the mounting bracket are detachable.
Further, the riveting platform further includes stepper motor, and the stepper motor is fixedly connected with the turntable, institute
After stating stepper motor rotation, the sliding block is driven to slide in the sliding slot of the emulation board by the turntable and the connecting rod,
Realize the sliding block and riveting emulation plate closing, clamping and opening.The stepper motor passes through shaft coupling and the turntable
It is fixedly connected.
Further, the flexible training device further includes articulated robot, and the articulated robot includes pedestal, first
Joint, second joint, first connecting rod, third joint, second connecting rod, the 4th joint and the 5th joint, the one of first joint
End is fixedly connected with the upper plane of the pedestal, the fixed company of the other end in first joint and one end of the second joint
It connects, the other end of the second joint is fixedly connected with one end of the first connecting rod, the other end of the first connecting rod and institute
The one end for stating third joint is fixedly connected, and the other end in the third joint is fixedly connected with one end of the second connecting rod, institute
The other end for stating second connecting rod is fixedly connected with the one end in the 4th joint, the other end and the described 5th in the 4th joint
The one end in joint is fixedly connected, and the other end in the 5th joint is fixedly connected with the riveting platform, first joint,
Two joints, third joint, the 4th joint and the 5th joint are rotatable, for adjusting the angles and positions of the riveting platform.
The invention also discloses a kind of Training Methodology of flexible training device for aircraft annular pneumatic riveting, packets
Include following steps:
The rivet-types such as step 1, the single nail riveting of selection or ring-shaped staple riveting are adjusted by the joint of cradle head robot
The pose of whole robot, corresponding operating condition when simulation rivets；
Step 2, operation stepper motor so that it is rotated clockwise turntable so that sliding block under the action of connecting rod along the chute to turn
Disk center direction is mobile, realizes that sliding block is separated with riveting emulation board；
Step 3 places rivet according to specified rivet-type；
Step 4, operation stepper motor make it rotate counterclockwise turntable, so that sliding block is under the action of connecting rod along the chute to remote
It is mobile from center of turntable direction, it realizes that sliding block is finally bonded completely with riveting emulation board, completes riveting emulation board and be accurately positioned；
Step 5 carries out bump riveting using pneumatic riveting gun, until completing riveting；
After the completion of step 6, riveting, operation stepper motor makes it rotate clockwise turntable, separation sliding block and riveting emulation board,
It takes out rivet and carries out the detection of rivet geometrical morphology.
Compared with prior art, the utility model have it is following the utility model has the advantages that
1, the utility model is mobile using articulated robot and positions, and spatial degrees of freedom is big, accurate positioning, with actual condition
Compactness is higher.
2, the utility model can make riveting set move in space any position using articulated robot as carrier
It is dynamic, it may make and accurately simulate in riveting process: riveting of standing, semi-crouch riveting, elevation angle riveting, angle of depression riveting, horizontal riveting
With the free positions such as vertical riveting, while the simulation riveting of other bay section annulars such as fuselage riveting operating condition, riveting can also be carried out
Analog simulation plate is provided with looping pit, the riveting of analog list nail, the more nail rivetings of annular.Transplantability is stronger, be suitable for any machine section and
Operating condition riveting simulation, the consistency of riveting quality, stability and efficiency are all higher.
3, the working condition that the utility model articulated robot can be true to nature simulate during aircraft really produces, greatly
Improve the problem of tradition training disconnects with actual production.
Make furtherly below with reference to technical effect of the attached drawing to the design of the utility model, specific structure and generation
It is bright, to be fully understood from the purpose of this utility model, feature and effect.
Detailed description of the invention
Fig. 1 is the overall structure diagram of utility model device；
Fig. 2 is the articulated robot structural schematic diagram of the utility model；
Fig. 3 is the riveting platform structure schematic diagram of the utility model；
Fig. 4 is the riveting emulation board lower part schematic diagram of the utility model；
Fig. 5 is the flow chart of the utility model operation (for riveting platform).
In figure: 1 is articulated robot, and 1-1 is pedestal, and 1-2 is the first joint, and 1-3 is second joint, and 1-4 is third pass
Section, 1-5 are the 5th joint, and 1-6 is the 4th joint, and 1-7 is second connecting rod, and 1-8 is first connecting rod, and 2 be riveting platform, and 2-1 is
Bottom plate, 2-2 are mounting bracket, and 2-3 is rivet, and 2-4 is turntable, and 2-5 is sliding block, and 2-6 is riveting emulation board, and 2-7 is stepping electricity
Machine, 2-8 are connecting rod.
Specific embodiment
The utility model is described in detail combined with specific embodiments below.Following embodiment will be helpful to this field
Technical staff further understands the utility model, but does not limit the utility model in any form.It should be pointed out that ability
For the those of ordinary skill in domain, without departing from the concept of the premise utility, various modifications and improvements can be made.
These are all within the protection scope of the present invention.
As shown in Fig. 1-Fig. 4, technical solution described in the utility model provides a kind of for the soft of aircraft annular pneumatic riveting
Property training device, including riveting platform 2 and articulated robot 1, riveting platform 2 be fixedly connected with articulated robot 1.Joint machine
People 1 can be fixed on elevator, and perhaps elevator or operation post/frame can be used for adjusting articulated robot on operation post/frame
Height simultaneously provides positioning and support (in elevator or operation post/frame figure slightly) for it.
Riveting platform 2 includes bottom plate 2-1, riveting emulation board 2-6, sliding block 2-5, mounting bracket 2-2, turntable 2-4 and connecting rod
2-8, riveting emulation board 2-6 is circular ring shape and is provided with equally distributed sliding slot along radial direction at it, at the bottom of the sliding slot
End and one end of sliding block 2-5 are provided with semicircle orifice, and sliding block 2-5 is placed in the sliding slot of riveting emulation board 2-6, and sliding block 2-5 is described
When sliding into bottom end in sliding slot the semicircle orifice be combined into annular circular hole for place and fixing rivet 2-3, turntable 2-4 be circle and
Its diameter be less than riveting emulation board 2-6 annular diameters, turntable 2-4 be placed in riveting emulation board 2-6 inner ring in and with connecting rod 2-8
One end it is hinged, the other end and sliding block 2-5 of connecting rod 2-8 is hinged, and mounting bracket 2-2 is fixed on bottom plate 2-1, rivet emulation board
2-6 is fixed on mounting bracket 2-2, and rotation turntable 2-4 can be slided in the sliding slot of riveting emulation board 2-6 with movable slider 2-5, real
Existing sliding block 2-5 and riveting emulation board 2-6 closure are clamped and are opened, for fixing, clamping and unclamping rivet.
The semicircle orifice tapping of sliding block 2-5 and riveting emulation board 2-6 pass through special heat treatment.Mounting bracket 2-2 is logical
It crosses bolt to be fixed on bottom plate 2-1, mounting bracket 2-2 and bottom plate 2-1 are detachable.Mounting bracket 2-2 number is for three and mutual
It is uniformly fixed on bottom plate 2-1 in 120 ° of angle directions.Riveting emulation board 2-6 is bolted on mounting bracket 2-2, riveting
It meets emulation board 2-6 and mounting bracket 2-2 is detachable.Stepper motor 2-7 is fixedly connected by shaft coupling with turntable 2-4, stepping electricity
It after machine 2-7 rotation, is slided in the sliding slot of emulation board 2-6 by turntable 2-4 and connecting rod 2-8 with movable slider 2-5, realizes sliding block 2-
5 are closed, clamp and open with riveting emulation board 2-6, for fixing, clamping and unclamping rivet.
Articulated robot 1 includes pedestal 1-1, the first joint 1-2, second joint 1-3, first connecting rod 1-8, third joint 1-
4, second connecting rod 1-7, the 4th joint 1-6 and the 5th joint 1-5.One end of first joint 1-2 is fixed with the upper plane of pedestal 1-1
Connection, the other end of the first joint 1-2 are fixedly connected with one end of second joint 1-3, the other end of second joint 1-3 and first
One end of connecting rod 1-8 is fixedly connected, and the other end of first connecting rod 1-8 is fixedly connected with one end of third joint 1-4, third joint
The other end of 1-4 is fixedly connected with one end of second connecting rod 1-7, one end of the other end of second connecting rod 1-7 and the 4th joint 1-6
Be fixedly connected, the other end of the 4th joint 1-6 is fixedly connected with one end of the 5th joint 1-5, the other end of the 5th joint 1-5 with
Riveting platform 2 is fixedly connected.First joint 1-2, second joint 1-3, third joint 1-4, the 4th joint 1-6 and the 5th joint 1-
5 is rotatable, and for adjusting the angles and positions of riveting platform 2, simulation fuselage and other bay sections etc. are riveted in assembling process
Different operating conditions.
According to operating condition needs, different operating conditions when riveting are simulated by adjusting the pose of articulated robot 1.Pass through second
Joint 1-3 rotation alpha1°, third joint 1-4 rotation β1°, the 4th joint 1-6 rotates γ1° realize the adjustment of pose one, analog machine
Body middle and lower part rivets operating condition.Pass through second joint 1-3 rotation alpha2°, third joint 1-4 rotation β2°, the 4th joint 1-6 rotates γ2°
To realize the adjustment of pose two, simulation waist riveting operating condition.Pass through second joint 1-3 rotation alpha3°, third joint 1-4 rotation
Turn β3°, the 4th joint 1-6 rotates γ3° realize the adjustment of pose three, simulation fuselage middle and upper part rivets operating condition.Other pose tune
It is whole to be configured as needed.It adjusts after needing operating condition to be simulated, it can single nail or annular are carried out on riveting platform 2
The simulation pneumatic riveting of nail operates.
As shown in figure 5, technical solution described in the utility model provides a kind of flexibility training for aircraft annular pneumatic riveting
The Training Methodology of training apparatus:
Step 1, referring to Fig. 1, simulate different operating conditions when riveting by adjusting the pose of articulated robot 1.Pass through
Two joint 1-3 rotation alphas1°, third joint 1-4 rotation β1°, the 4th joint 1-6 rotates γ1° realize the adjustment of pose one, simulation
Lower Mid Fuselage rivets operating condition.Pass through second joint 1-3 rotation alpha2°, third joint 1-4 rotation β2°, the 4th joint 1-6 rotation
γ2° realize the adjustment of pose two, simulation waist rivets operating condition.Pass through second joint 1-3 rotation alpha3°, third joint 1-4
Rotation β3°, the 4th joint 1-6 rotates γ3° realize the adjustment of pose three, simulation fuselage middle and upper part rivets operating condition.Other poses
Adjustment can be configured as needed.
Step 2 makes it rotate clockwise turntable 2-4, so that sliding block 2-5 referring to Fig. 3 and Fig. 4, operation stepper motor 2-7
It is mobile to center of turntable direction along the chute under the action of connecting rod 2-8, it realizes sliding block 2-5 and rivets the separation of emulation board 2-6.
Step 3 takes rivet 2-3 to be placed in the hole of emulation board 2-6 referring to Fig. 3 and Fig. 4 according to selected rivet-type
Heart neighbouring position, stepper motor 2-7 rotate counterclockwise turntable 2-4 so that sliding block 2-5 under the action of connecting rod 2-8 along the chute to
It is mobile far from center of turntable direction, it is bonded sliding block 2-5 completely with riveting emulation board 2-6, completes operation riveting emulation board
The accurate positionin of 2-6.
Step 4, hand-held pneumatic riveting gun carry out continuous riveting operation, until riveting technology work determines that riveting is fully completed.
Step 5, operation stepper motor 2-7 rotate clockwise turntable 2-4, so that sliding block 2-5 is separated with riveting emulation board 2-6
It opens, takes out the measurement that rivet 2-3 carries out the basic parameters and geometrical morphology such as pier nose diameter, rivet diameter.
The preferred embodiments of the present invention have been described in detail above.It should be appreciated that the ordinary skill people of this field
Member according to the present utility model can conceive without creative work makes many modifications and variations.Therefore, all this technology necks
Technical staff passes through logic analysis, reasoning or limited reality according to the design of the utility model on the basis of existing technology in domain
Available technical solution is tested, it all should be within the scope of protection determined by the claims.
Claims (8)
1. a kind of flexible training device for aircraft annular pneumatic riveting, which is characterized in that it is described flexibility training device include
Platform is riveted, the riveting platform includes bottom plate, riveting emulation board, sliding block, mounting bracket, turntable and connecting rod, and the riveting is imitative
True plate is circular ring shape and is provided with equally distributed sliding slot along radial direction at it, the one of the bottom end of the sliding slot and the sliding block
End is provided with semicircle orifice, and the sliding block is placed in the sliding slot, when the sliding block slides into bottom end in the sliding slot described in half
Circular hole be combined into annular circular hole for place and fixing rivet, the turntable be that round and its diameter is less than and described rivets emulation board
Annular diameters, the turntable be placed in it is described riveting emulation board inner ring in and it is hinged with one end of the connecting rod, the connecting rod
The other end and the sliding block are hinged, and the mounting bracket is fixed on the bottom plate, and the riveting emulation board is fixed on the peace
It fills on bracket, rotating the turntable can drive the sliding block to slide in the sliding slot of the riveting emulation board, realize the sliding block
With riveting emulation plate closing, clamping and opening.
2. being used for the flexible training device of aircraft annular pneumatic riveting as described in claim 1, which is characterized in that the sliding block
Semicircle orifice tapping with the riveting emulation board is through Overheating Treatment.
3. being used for the flexible training device of aircraft annular pneumatic riveting as described in claim 1, which is characterized in that the installation
Bracket is bolted on the bottom plate, and the mounting bracket and the bottom plate are detachable.
4. being used for the flexible training device of aircraft annular pneumatic riveting as described in claim 1, which is characterized in that the installation
Number of supports is three and is mutually uniformly fixed on the bottom plate in 120 ° of angle directions.
5. being used for the flexible training device of aircraft annular pneumatic riveting as described in claim 1, which is characterized in that the riveting
Emulation board is bolted in the mounting bracket, and the riveting emulation board and the mounting bracket are detachable.
6. being used for the flexible training device of aircraft annular pneumatic riveting as described in claim 1, which is characterized in that the riveting
Platform further includes stepper motor, and the stepper motor is fixedly connected with the turntable, after the stepper motor rotation, by described
Turntable and the connecting rod drive the sliding block to slide in the sliding slot of the emulation board, realize that the sliding block and the riveting emulate
Plate closing, clamping and opening.
7. being used for the flexible training device of aircraft annular pneumatic riveting as claimed in claim 6, which is characterized in that the stepping
Motor is fixedly connected by shaft coupling with the turntable.
8. such as the flexible training device of any of claims 1-7 for the pneumatic riveting of aircraft annular, feature exists
In, it is described flexibility training device further include articulated robot, the articulated robot include pedestal, the first joint, second joint,
First connecting rod, third joint, second connecting rod, the 4th joint and the 5th joint, one end and the pedestal in first joint
Upper plane is fixedly connected, and the other end in first joint is fixedly connected with one end of the second joint, the second joint
The other end be fixedly connected with one end of the first connecting rod, one end of the other end of the first connecting rod and the third joint
Be fixedly connected, the other end in the third joint is fixedly connected with one end of the second connecting rod, the second connecting rod it is another
End is fixedly connected with the one end in the 4th joint, the fixed company of the other end in the 4th joint and the one end in the 5th joint
Connect, the other end in the 5th joint is fixedly connected with the riveting platform, first joint, second joint, third joint,
4th joint and the 5th joint are rotatable, for adjusting the angles and positions of the riveting platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721574821.1U CN208722470U (en) | 2017-11-22 | 2017-11-22 | A kind of flexible training device for aircraft annular pneumatic riveting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721574821.1U CN208722470U (en) | 2017-11-22 | 2017-11-22 | A kind of flexible training device for aircraft annular pneumatic riveting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208722470U true CN208722470U (en) | 2019-04-09 |
Family
ID=65968270
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721574821.1U Expired - Fee Related CN208722470U (en) | 2017-11-22 | 2017-11-22 | A kind of flexible training device for aircraft annular pneumatic riveting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208722470U (en) |
-
2017
- 2017-11-22 CN CN201721574821.1U patent/CN208722470U/en not_active Expired - Fee Related
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190409 Termination date: 20211122 |
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| CF01 | Termination of patent right due to non-payment of annual fee |