CN210160345U - Be used for riveted end effector of aircraft fuselage - Google Patents
Be used for riveted end effector of aircraft fuselage Download PDFInfo
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- CN210160345U CN210160345U CN201920603386.3U CN201920603386U CN210160345U CN 210160345 U CN210160345 U CN 210160345U CN 201920603386 U CN201920603386 U CN 201920603386U CN 210160345 U CN210160345 U CN 210160345U
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- riveting
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- mounting plate
- rotating
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- 239000012636 effector Substances 0.000 title claims abstract description 10
- 238000005553 drilling Methods 0.000 claims abstract description 31
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 230000009471 action Effects 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000007306 turnover Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 2
- 238000012545 processing Methods 0.000 abstract description 4
- 241001074085 Scophthalmus aquosus Species 0.000 abstract 1
- 238000003754 machining Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Abstract
The utility model relates to an end effector for riveting an airplane body, which is provided with a bracket, a drilling and riveting mechanism, a datum hole detection module for aligning a datum hole and a presser foot mechanism for aligning in a normal direction and pressing a workpiece to be processed; the bracket comprises an upper bracket and a lower bracket; an electric push rod is arranged on the upper bracket; the upper bracket is rotationally connected with the lower bracket through a first rotating shaft; the electric push rod is rotatably connected with the lower bracket through a second rotating shaft, and the second rotating shaft is parallel to the first rotating shaft. The utility model discloses accessible reference hole detection module and presser foot mechanism's alignment to compensate the adjustment through electric putter, can realize the processing of riveting of the brill of higher accuracy.
Description
Technical Field
The utility model relates to an end effector for aircraft fuselage riveting.
Background
Aircraft wings or some fuselages are manufactured by riveting together a supporting framework and a thin-walled skin panel. Because the wings and the fuselage of the airplane have certain curved surfaces, the machining precision of the airplane cannot be well guaranteed and the assembly efficiency is low in the traditional riveting assembly in a manual mode.
Therefore, in order to improve the assembly efficiency and the assembly precision, people develop and design the machining requirements of the wings and the fuselage of the airplane on the automatic drilling and riveting equipment. Although many automatic drilling and riveting machine tools for airplane wings and airframes are developed, the machining precision of the machine tools cannot be well guaranteed because the machine tools cannot realize multi-directional compensation.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a can realize diversified compensation be used for aircraft fuselage riveted end effector.
Realize the utility model discloses the technical scheme of purpose is: the utility model is provided with a bracket, a drilling and riveting mechanism, a reference hole detection module for reference hole alignment and a presser foot mechanism for normal alignment and pressing of a workpiece to be processed; the bracket comprises an upper bracket and a lower bracket; an electric push rod is arranged on the upper bracket; the upper bracket is rotationally connected with the lower bracket through a first rotating shaft; the electric push rod is rotatably connected with the lower bracket through a second rotating shaft, and the second rotating shaft is parallel to the first rotating shaft.
The lower bracket comprises a supporting plate and a rotating bracket; the upper bracket is rotatably connected with the supporting plate through a first rotating shaft; the electric push rod is rotatably connected with the supporting plate through a second rotating shaft; the rotating bracket is rotatably connected with the supporting plate through a turntable; the rotating axis of the rotating bracket is vertical to the supporting plate; a first swing foot seat is rotatably arranged on the supporting plate; the rotating bracket is rotatably provided with a second swinging foot seat; the rotating axis of the first swinging foot seat, the rotating axis of the second swinging foot seat and the rotating axis of the rotating bracket are parallel to each other; a screw rod sliding seat is fixedly arranged on the first swinging foot seat, and an electric screw rod is fixedly arranged on the second swinging foot seat; the electric screw rod is connected with the screw rod sliding seat in a matching way. When the lower support overturns relative to the upper support, the swing angle detection can be carried out through the magnetic grid ruler arranged on the first rotating shaft. And a magnetic grid ruler capable of realizing accurate rotation detection is arranged on the turntable.
The drilling and riveting mechanism comprises a drilling device for drilling, a riveting device for riveting and a rivet receiving and transferring device; the rotating bracket is provided with a mounting plate in a sliding manner, and the mounting plate is provided with a first driving device capable of driving the mounting plate to slide; the drilling device is arranged on the mounting plate in a sliding mode, and a second driving device capable of driving the drilling device to slide in a direction perpendicular to the sliding direction of the mounting plate is arranged on the drilling device; the riveting device is arranged on the mounting plate in a sliding manner, and a third driving device capable of driving the riveting device to slide along the direction vertical to the sliding direction of the mounting plate is arranged on the riveting device; the rivet receiving and transferring device comprises a rivet output pipe, a telescopic cylinder, a turnover motor and a pneumatic finger for clamping a rivet; the rivet output tube fixed mounting is on the mounting panel, telescopic cylinder fixed mounting is on the lower carriage, upset motor and telescopic cylinder's telescopic shaft fixed connection, the output shaft and the pneumatic finger fixed connection of upset motor, pneumatic finger reciprocates between rivet output tube and riveting set under the upset motor drive to get the nail and bind on rivet output tube and riveting set respectively under telescopic cylinder's effect. And the rivet output pipe is correspondingly provided with a detection sensor for detecting the diameter and the length of the rivet.
The reference hole detection module comprises a servo motor, a linear sliding table and a 2D laser profiler; the 2D laser profiler is fixedly arranged on the linear sliding table; the servo motor is fixedly arranged on the lower support and drives the linear sliding table to slide.
The presser foot mechanism comprises a sliding supporting plate, a driving cylinder, a presser foot opening and a normal detection sensor; the sliding supporting plate is arranged on the lower bracket in a sliding manner; the driving cylinder is fixedly connected to the lower support, and a push shaft of the driving cylinder is fixedly connected with the sliding supporting plate; the sliding supporting plate slides along the direction vertical to the sliding direction of the mounting plate under the pushing of the driving cylinder; the presser foot opening is fixedly arranged on the sliding supporting plate, and a laser displacement sensor is fixedly arranged on the periphery of the presser foot opening; the drilling device and the riveting device can be respectively matched with the pressure foot opening correspondingly through the sliding of the mounting plate.
The utility model discloses has positive effect: (1) the utility model can realize the turnover of the lower bracket through the electric push rod, and increase the compensation in one direction, thereby further improving the processing precision of drilling and riveting;
(2) the utility model can realize the rotation between the rotating bracket and the supporting plate through the matching of the electric screw rod and the screw rod sliding seat, namely, the swing compensation in one direction is added, thereby further improving the processing precision of drilling and riveting;
(3) the utility model discloses utilize benchmark hole detection module and presser foot mechanism, the diversified compensation of reunion can guarantee to bore the machining precision of riveting at the at utmost.
Drawings
In order that the present invention may be more readily and clearly understood, the following detailed description of the present invention is given in conjunction with the accompanying drawings, in which
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural view of the middle presser foot mechanism of the present invention;
fig. 3 is a schematic structural view of the drilling and riveting mechanism of the present invention;
fig. 4 is a schematic structural view of the rivet receiving and transferring device of the present invention;
fig. 5 is a schematic structural diagram of the middle reference hole detection module of the present invention;
Detailed Description
Referring to fig. 1 to 5, the present invention comprises a support 1, a drilling and riveting mechanism 2, a reference hole detection module 3 for reference hole alignment, and a presser foot mechanism 4 for normal alignment and pressing of a workpiece to be processed; the bracket 1 includes an upper bracket 11 and a lower bracket 12.
The lower bracket 12 includes a support plate 121 and a rotation bracket 122; the upper bracket 11 is rotatably connected with the support plate 121 through a first rotating shaft; the electric push rod 5 is rotatably connected with the support plate 121 through a second rotating shaft; the second rotating shaft is parallel to the first rotating shaft; the rotating bracket 122 is rotatably connected with the supporting plate 121 through a turntable 123; the rotation axis of the rotation bracket 122 is perpendicular to the support plate 121; a first swing foot seat 6 is rotatably arranged on the supporting plate 121; a second swing foot seat 7 is rotatably arranged on the rotating bracket 122; the rotation axis of the first swing foot seat 6, the rotation axis of the second swing foot seat 7 and the rotation axis of the rotation bracket 122 are parallel to each other; a screw rod sliding seat 8 is fixedly arranged on the first swinging foot seat 6, and an electric screw rod 9 is fixedly arranged on the second swinging foot seat 7; and the electric screw rod 9 is connected with the screw rod sliding seat 8 in a matching way.
The drilling and riveting mechanism 2 comprises a drilling device 21 for drilling, a riveting device 22 for riveting and a rivet receiving and transferring device 23; the rotating bracket 122 is provided with a mounting plate 24 in a sliding manner, and the mounting plate 24 is provided with a first driving device capable of driving the mounting plate to slide; the drilling device 21 is arranged on the mounting plate 24 in a sliding manner, and a second driving device capable of driving the drilling device 21 to slide along the direction perpendicular to the sliding direction of the mounting plate 24 is arranged on the drilling device 21; the riveting device 22 is arranged on the mounting plate 24 in a sliding manner, and a third driving device capable of driving the riveting device 22 to slide along the direction perpendicular to the sliding direction of the mounting plate 24 is arranged on the riveting device 22; the rivet receiving and transferring device 23 comprises a rivet output pipe 23-1, a telescopic cylinder 23-2, a turnover motor 23-3 and a pneumatic finger 23-4 for clamping rivets; the rivet output pipe 23-1 is fixedly arranged on the mounting plate 24, the telescopic cylinder 23-2 is fixedly arranged on the lower support 12, the overturning motor 23-3 is fixedly connected with a telescopic shaft of the telescopic cylinder 23-2, an output shaft of the overturning motor 23-3 is fixedly connected with a pneumatic finger 23-4, the pneumatic finger 23-4 is driven by the overturning motor to reciprocate between the rivet output pipe 23-1 and the riveting device 22, and nails are taken from and installed on the rivet output pipe 23-1 and the riveting device 22 respectively under the action of the telescopic cylinder 23-2.
The reference hole detection module 3 comprises a servo motor 31, a linear sliding table 32 and a 2D laser profiler 33; the 2D laser profiler 33 is fixedly arranged on the linear sliding table 32; the servo motor 31 is fixedly mounted on the lower bracket 12 and drives the linear sliding table 32 to slide.
The presser foot mechanism 4 comprises a sliding support plate 41, a driving cylinder 42, a presser foot opening 43 and a normal direction detection sensor; the sliding supporting plate 41 is arranged on the lower bracket 12 in a sliding manner; the driving cylinder 42 is fixedly connected to the lower bracket 12, and a pushing shaft of the driving cylinder 42 is fixedly connected to the sliding supporting plate 41; the sliding supporting plate 41 slides along the sliding direction vertical to the mounting plate 24 under the pushing of the driving air cylinder 42; the presser foot opening 43 is fixedly arranged on the sliding supporting plate 41, and the periphery of the presser foot opening 43 is fixedly provided with a laser displacement sensor 44; the drilling device 21 and the riveting device 22 can be respectively matched with the presser foot opening 43 correspondingly through the sliding of the mounting plate 24.
The working process of the utility model is as follows:
firstly, taking out the rivet from the rivet output pipe 23-1 by the pneumatic finger 23-4 under the action of the telescopic cylinder 23-2, and then aligning the rivet clamped by the pneumatic finger 23-4 to a rivet installing hole of the riveting device 22 under the action of the overturning motor 23-3; then the pneumatic finger 23-4 sends the rivet into a rivet installing hole of the riveting device 22 under the action of the telescopic cylinder 23-2, and then the pneumatic finger 23-4 loosens the rivet and resets to receive and transfer the rivet next time;
meanwhile, the reference hole detection module 3 is used for aligning the reference hole, the laser displacement sensor 44 in the presser foot mechanism 4 is used for aligning the to-be-processed object without performing normal alignment, and the electric push rod 5 and the electric lead screw 9 work simultaneously for alignment. After alignment, the presser foot opening 43 compresses tightly the workpiece to be processed, the drilling device 21 performs hole making and dimple processing on the workpiece to be processed, then the mounting plate 24 slides, so that the riveting device 22 aligns with the presser foot opening 43, and then press riveting is performed.
The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (5)
1. An end effector for riveting an airplane body is provided with a support (1), a drilling and riveting mechanism (2), a datum hole detection module (3) for aligning a datum hole, and a presser foot mechanism (4) for aligning in a normal direction and pressing a workpiece to be processed; the method is characterized in that: the bracket (1) comprises an upper bracket (11) and a lower bracket (12); an electric push rod (5) is arranged on the upper bracket (11); the upper bracket (11) is rotationally connected with the lower bracket (12) through a first rotating shaft; the electric push rod (5) is rotatably connected with the lower bracket (12) through a second rotating shaft, and the second rotating shaft is parallel to the first rotating shaft.
2. An end effector for aircraft fuselage riveting according to claim 1, wherein: the lower bracket (12) comprises a support plate (121) and a rotating bracket (122); the upper bracket (11) is rotatably connected with the support plate (121) through a first rotating shaft; the electric push rod (5) is rotationally connected with the support plate (121) through a second rotating shaft; the rotating bracket (122) is rotatably connected with the supporting plate (121) through a turntable (123); the rotating axis of the rotating bracket (122) is vertical to the supporting plate (121); a first swing foot seat (6) is rotatably arranged on the supporting plate (121); a second swing foot seat (7) is rotatably arranged on the rotating bracket (122); the rotating axis of the first swinging foot seat (6), the rotating axis of the second swinging foot seat (7) and the rotating axis of the rotating bracket (122) are parallel to each other; a screw rod sliding seat (8) is fixedly arranged on the first swinging foot seat (6), and an electric screw rod (9) is fixedly arranged on the second swinging foot seat (7); the electric screw rod (9) is connected with the screw rod sliding seat (8) in a matching way.
3. An end effector for aircraft fuselage riveting according to claim 2, wherein: the drilling and riveting mechanism (2) comprises a drilling device (21) for drilling, a riveting device (22) for riveting and a rivet receiving and transferring device (23); the rotating bracket (122) is provided with a mounting plate (24) in a sliding manner, and the mounting plate (24) is provided with a first driving device capable of driving the mounting plate to slide; the drilling device (21) is arranged on the mounting plate (24) in a sliding mode, and a second driving device capable of driving the drilling device (21) to slide along the direction perpendicular to the sliding direction of the mounting plate (24) is arranged on the drilling device; the riveting device (22) is arranged on the mounting plate (24) in a sliding manner, and a third driving device capable of driving the riveting device (22) to slide along the direction vertical to the sliding direction of the mounting plate (24) is arranged on the riveting device; the rivet receiving and transferring device (23) comprises a rivet output pipe (23-1), a telescopic cylinder (23-2), a turnover motor (23-3) and a pneumatic finger (23-4) for clamping a rivet; the rivet output pipe (23-1) is fixedly arranged on the mounting plate (24), the telescopic cylinder (23-2) is fixedly arranged on the lower support (12), the overturning motor (23-3) is fixedly connected with a telescopic shaft of the telescopic cylinder (23-2), an output shaft of the overturning motor (23-3) is fixedly connected with the pneumatic finger (23-4), and the pneumatic finger (23-4) is driven by the overturning motor to reciprocate between the rivet output pipe (23-1) and the riveting device (22) and respectively takes out and installs the rivet on the rivet output pipe (23-1) and the riveting device (22) under the action of the telescopic cylinder (23-2).
4. An end effector for aircraft fuselage riveting according to claim 2, wherein: the datum hole detection module (3) comprises a servo motor (31), a linear sliding table (32) and a 2D laser profiler (33); the 2D laser profiler (33) is fixedly arranged on the linear sliding table (32); the servo motor (31) is fixedly arranged on the lower bracket (12) and drives the linear sliding table (32) to slide.
5. An end effector for aircraft fuselage riveting according to claim 3, wherein: the presser foot mechanism (4) comprises a sliding supporting plate (41), a driving cylinder (42), a presser foot opening (43) and a normal direction detection sensor; the sliding supporting plate (41) is arranged on the lower bracket (12) in a sliding manner; the driving air cylinder (42) is fixedly connected to the lower support (12), and a pushing shaft of the driving air cylinder (42) is fixedly connected with the sliding supporting plate (41); the sliding supporting plate (41) slides along the sliding direction vertical to the mounting plate (24) under the pushing of the driving air cylinder (42); the presser foot opening (43) is fixedly arranged on the sliding supporting plate (41), and a laser displacement sensor (44) is fixedly arranged on the periphery of the presser foot opening (43); the drilling device (21) and the riveting device (22) can be respectively correspondingly matched with the pressure foot opening (43) through the sliding of the mounting plate (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920603386.3U CN210160345U (en) | 2019-04-28 | 2019-04-28 | Be used for riveted end effector of aircraft fuselage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920603386.3U CN210160345U (en) | 2019-04-28 | 2019-04-28 | Be used for riveted end effector of aircraft fuselage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210160345U true CN210160345U (en) | 2020-03-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920603386.3U Active CN210160345U (en) | 2019-04-28 | 2019-04-28 | Be used for riveted end effector of aircraft fuselage |
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| Country | Link |
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| CN (1) | CN210160345U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110202084A (en) * | 2019-04-28 | 2019-09-06 | 常州市三利精机有限公司 | A kind of end effector for airframe riveting |
-
2019
- 2019-04-28 CN CN201920603386.3U patent/CN210160345U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110202084A (en) * | 2019-04-28 | 2019-09-06 | 常州市三利精机有限公司 | A kind of end effector for airframe riveting |
| CN110202084B (en) * | 2019-04-28 | 2024-02-23 | 常州市三利精机有限公司 | End effector for riveting airplane body |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: An end effector for riveting aircraft fuselage Granted publication date: 20200320 Pledgee: Suzhou Bank Co.,Ltd. Changzhou Branch Pledgor: CHANGZHOU SANLI PRECISION MACHINE Co.,Ltd. Registration number: Y2024980010721 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right |