EP0604734A1 - Riveteuse automatique - Google Patents

Riveteuse automatique Download PDF

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Publication number
EP0604734A1
EP0604734A1 EP93117824A EP93117824A EP0604734A1 EP 0604734 A1 EP0604734 A1 EP 0604734A1 EP 93117824 A EP93117824 A EP 93117824A EP 93117824 A EP93117824 A EP 93117824A EP 0604734 A1 EP0604734 A1 EP 0604734A1
Authority
EP
European Patent Office
Prior art keywords
rivet
riveting machine
machine according
pliers
automatic riveting
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.)
Granted
Application number
EP93117824A
Other languages
German (de)
English (en)
Other versions
EP0604734B1 (fr
Inventor
Rüdiger Botha
Kurt Grossheim
Bernd Schneider
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Airbus Operations GmbH
Original Assignee
Deutsche Aerospace AG
Airbus Operations GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Deutsche Aerospace AG, Airbus Operations GmbH filed Critical Deutsche Aerospace AG
Publication of EP0604734A1 publication Critical patent/EP0604734A1/fr
Application granted granted Critical
Publication of EP0604734B1 publication Critical patent/EP0604734B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/14—Riveting machines specially adapted for riveting specific articles, e.g. brake lining machines
    • B21J15/142—Aerospace structures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines

Definitions

  • the invention relates to an automatic riveting machine for the automatic search for individual riveting points, consisting essentially of a drilling unit, a rivet transfer unit and a rivet squeezer, each of which can be controlled, the drilling unit and the riveting squeeze on a mounting bracket in guides pointing radially to the riveting point by means of actuating cylinders, preferably pneumatic cylinders , are movably mounted, the receiving console has a multi-coupling for coupling the riveting machine to a positioner.
  • an automatic riveting machine which searches for individual riveting points within a relatively complex component, is known. It essentially consists of a drilling feed unit, a rivet feed unit and a riveting unit, each of which is designed to be actuated and is movably mounted on a holding bracket in guides pointing radially to the riveting point.
  • This known solution leads to the riveting of clip / frame or clip / stringer connections especially in aircraft construction due to the automatic control of the rivet points, which are quite difficult to access.
  • the drilling feed unit which consists of a first guide body with a pneumatic / electrical sensor and a second guide body with an angle drill with a spring-loaded drill guide system, and which are guided in parallel, is moved from its rest position to the rivet position in the working position and the rivet hole is drilled.
  • the drilling feed unit has the disadvantage of not guaranteeing the required lowering and the required accuracy of a borehole for a pass riveting.
  • the rivet feed device is moved into the working position so that the axis of the previously drilled rivet hole is in line with the axis of the feed tube of the rivet. In this position, a rivet is shot into the pre-drilled hole using compressed air.
  • the riveting unit which is designed as a so-called alligator rivet squeezer, is moved into the working position.
  • the rivet squeezer consists of a fixed leg with a rivet insert inserted at the front end and a movable leg. A flat die and a pressure bushing intended to compress the components are arranged on the movable leg. This rivet squeezer works on the scissor pinch stroke principle and only achieves a straight squeeze movement in a very limited area. It therefore does not meet the high requirements for accuracy and parallelism for squeezing fit rivets in different lengths.
  • This solution therefore has the disadvantage of not being able to produce fit rivet squeeze connections for which a borehole quality for press fits, the pressing in of rivets and a straight-line rivet squeezing movement is necessary and which is only used in a limited working area in which the rivet remains in the rivet hole under the action of gravity can be.
  • a drilling unit essentially consists of an upper guide body on which a drive and a drilling spindle are arranged, a tool holder being introduced directly into the drilling spindle and a lower guide body on a drilling console guided in parallel and can be moved independently of one another by actuating cylinders, and a tool lubrication device
  • a rivet transfer unit essentially consisting of a delivery pipe and a pivotable rivet transfer pliers provided with rivet receptacles, is firmly positioned on the receiving console, the rivet transfer pliers being pivotable in this way about a pivot axis is that in the rivet conveying position the central axes of the delivery tube and the rivet receptacle are aligned and in the rivet tapping position the central axes of the rivet receptacle and the rivet clamp of the rivet retracted from the riveting point form a line and that a rivet squeezer consists essentially of a carriage and a plier guide with upper pli
  • the riveting machine according to the invention is used to automatically produce press rivet connections.
  • An exemplary embodiment of the solution according to the invention described below carries out the automatic riveting of fitting rivets on sheet metal node connections in a relatively complex component.
  • a positioner to which an automatic riveting machine is attached, moves the automatic riveting machine to the respective starting position, from which a radial movement of the individual components to the respective sheet metal node connection is achieved.
  • a numerical machine control implements the automatic process of the entire riveting process. The invention is explained in more detail on the basis of the description of the exemplary embodiment, its mode of operation and FIGS. 1-12 of the drawing.
  • FIG. 1 shows an overall view of an automatic riveting machine 1 with the following components: a drilling unit 2, an application unit 8 for supplying a sealant, a rivet transfer unit 3 and a rivet squeezer 4, which are mounted on a receiving bracket 5 in guides pointing radially to the riveting point.
  • the mounting bracket 5 serves as a fastening for all the structural units belonging to the automatic riveting machine 1, which are either fixed or movably arranged on the mounting bracket 5.
  • linear guides are provided on the mounting bracket 5, on which the units are moved away from the riveting point 9 by means of actuating cylinders, for example pneumatic cylinders, in the working position to the riveting point 9 or in the rest position.
  • the rivet transfer unit 3 is fixedly arranged on the mounting bracket 5 and only realizes a pivoting movement of the rivet transfer pliers 302 about the pivot axis 304.
  • the end face of the mounting bracket 5 is provided for flange mounting a multi-coupling 6 as a connection to a positioner.
  • the positioner implements the process of the entire riveting machine 1 at the riveting points in one relatively complex component.
  • the positioner and the automatic riveting machine 1 are controlled in the workflow with the aid of the machine control, preferably a numerical control. With the help of the positioning, the entire riveting machine 1 can be rotated about a system axis 20 and thus implement arbitrarily selectable working positions.
  • the part of the multi-coupling 6 on the riveting machine is shown in FIG. 2 and consists of a connecting plate 7, on which essentially contact plates 10, supporting pins 11, pull cylinder guides 12, electrical plug connections 13a to 13f, pneumatic couplings 14, hydraulic connections 15, a suction connection 16, a lubricant connection 17 and rivet conveyor connections 18 are arranged.
  • the riveting machine 1 is pulled towards the positioner by means of the pull cylinders which are arranged on the positioner side.
  • the support pins 11 move into locking cylinders on the positioner side, which are hydraulically loaded in the retracted state.
  • the drilling unit 2 is shown in FIGS. 3 to 5 shown. It is used for the production of countersunk bores, which are required to accommodate rivets.
  • the view from above of the drilling unit 2, shown in FIG. 3, shows the arrangement of the drilling unit 2 on the mounting bracket 5 in the working position at the riveting point 9.
  • the movement of the drilling unit 2 from the working position back to the rest position and vice versa is carried out by a pneumatic cylinder 205 whose movement is limited by a stop with a shock absorber 206.
  • a chip channel 214 is attached to the drilling unit 2 in such a way that the chips produced are immediately sucked off during the drilling process and collected outside the riveting machine 1 via corresponding suction lines and the suction connection described above.
  • FIG. 4 shows the drilling unit 2 in the view IV according to FIG. 1. It essentially consists of a drilling console 203 with an upper guide body 201 and a lower guide body 202 guided in parallel thereon, which are operated by means of the double-acting pneumatic cylinders 207 and 208 on the drilling bracket 203 attached guide rails 219 and 220 can be moved against each other or apart.
  • a tool lubrication device 204 is fixedly arranged on the mounting bracket 5, so that the upper guide body 202 is lowered into the tool lubrication device 204 with a drive, a drilling spindle 211 and a drilling tool 212 in the rest position, ie the retracted position of the drilling unit 2, so that the drilling tool 212 is surrounded by a housing 204 a and is wetted with drilling lubricating oil.
  • An air-lubricating oil mixture is generated in the tool lubrication device 204 and sprayed onto the tool 212 as a spray. This is the only way to achieve the fit quality of the hole required for the rivet connection.
  • the drilling unit 2 is moved to the riveting point 9.
  • the actuation of the pneumatic cylinder 207 places the lower guide body 202 with a counter-holder 216 on a component, for example a laminated core 21, and supports the component during the drilling process.
  • the upper guide body 201 is lowered by actuating the pneumatic cylinder 208 and thus realizes the drilling feed movement with simultaneous regulation of the drilling feed speed by means of a hydraulic damper 217.
  • the drive of the drilling tool consisting of the E-spindle motor 209 and toothed belt gear 210, and a drilling spindle 211 are arranged in such a way that a transmission of a high number of rotations required for the fit quality is possible.
  • a roller tensioning lever 218 (visible in FIG. 3) arranged in the empty space of the toothed belt 210a, which is pressed onto the toothed belt 210a by spring force, causes an initiator, which monitors the position of the roller tensioning lever 218, to receive a signal when the toothed belt 210a breaks and interrupts the drilling process.
  • FIG. 1 A part of the upper guide body 201 can be seen in FIG.
  • the drive of the drilling tool 212 is not visible.
  • the countersink drill 212 is inserted directly into a tool holder 211 a of the drilling spindle 211.
  • the tool holder 211a is designed as a cylindrical blind hole with a subsequent internal thread in the drilling spindle 211, into which the tool 212 is screwed.
  • a concentricity of the countersink 212 necessary for the fit quality of the bore can thus be achieved.
  • the drilling feed movement is realized by lowering the upper guide body 201 mounted in guide rails 219, 220 (visible in FIG. 4). During this lowering and simultaneous drilling feed movement, the bushing guide system 221 first places on the laminated core 21 with a pressure bushing 213 and presses the components to be riveted together. The bushing guide system 221 is guided in parallel in ball bushings 223 with at least two guide pins 222 in the upper guide body 201. After placing the drilling tool 212, the bushing guide system 221 moves relatively counter to the drilling feed direction and against a spring force, which is preferably applied by a coil spring 224.
  • a drilling path limitation is implemented with a microswitch 225 arranged on the upper guide body 201 and a switch extension pin 226, which switch when a stop screw 227 integrated in the bushing guide system 221 is touched and thus automatically stop the drilling feed after a defined drilling length and countersinking depth.
  • the upper guide body 201 is raised, the lower guide body 202 with the counter-holder 216 remains in the "pressing" position and implements a borehole control by means of a through-bore through which the counter-holder 216 is pressurized with compressed air.
  • a pneumatic / electrical converter (P / E converter) is arranged in a compressed air supply line.
  • the P / E converter is arranged in a compressed air supply line.
  • the upper and lower guide bodies 201 and 202 are moved apart and the drilling console 203 is moved into the rest position.
  • the application unit 8 is moved into the working position on the receiving console 5 and leads a sealing compound to the rivet point 9 in order to ensure a sealing of the rivet connection that is required in aircraft construction.
  • a visual check of the dosing quantity of the sealing compound takes place with the help of a video camera that transmits the image of a surveillance person.
  • the application unit 8 is automatically moved into the rest position after dosing and releases the workstation for the subsequent riveting and riveting.
  • the rivet transfer unit 3 essentially consisting of a conveying tube 301 with a collecting basket 305 and rivet transfer pliers 302 with a rivet receptacle 303, is shown.
  • the conveyor tube 301 is rigidly attached to the receiving bracket 5 with tube holders 306 and 307.
  • the rivet transfer pliers 302 are firmly positioned on the receiving console 5 and can be pivoted about a pivot axis 304.
  • the swiveling movement is generated with the aid of a pneumatic cylinder 309.
  • the rivet delivery tongs 302 can assume two positions, a rivet delivery position, i.e.
  • the rivet transfer pliers 302 are located under the fixedly positioned delivery tube 301 such that the central axes of the delivery tube 301 and the rivet receptacle 303 form a line (see also FIG. 8b), and a rivet tapping position in which the rivet transfer pliers 302 are pivoted about the pivot axis 304 and is located under the upper pliers 403 of the retracted rivet crimp 4 in such a way that the central axes of the rivet receptacle 303 and the rivet clamp 405 form a line.
  • a rivet crimp 4 is shown in three views and in FIG. 12 a rivet system as a detail.
  • the rivet squeezer 4 is composed of the following parts: a slide 401, which enables the rivet squeeze 4 to be moved into the working position and back into the rest position by means of the pneumatic cylinders 409 and 410 on linear guides 5a of the mounting bracket 5 (visible in FIG.
  • a pliers guide 402 which, using four guide pillars 424a to 424d (424 c and d not visible), guides upper pliers 403 and lower pliers 404 in parallel and the upper and lower pliers 403 and 404 with the aid of a pneumatic cylinder 420 and can be moved against each other with the aid of hydraulic cylinders 406 to 408 and a riveting system consisting of a riveting tool 411 arranged on the upper pliers 403 with a rivet clamp 405 used for receiving and transporting a rivet to the riveting point 9, and a counterholder arranged on the lower pliers 404 412 with a rivet latch 413.
  • the pliers guide 4 02 is "floating" on the slide 401, ie the tong guide 402 is movable in the axial direction relative to the slide 401 in order to avoid any occurrence Compensate component tolerances when approaching the component.
  • Spring elements hold the off-center pliers guide 402 in the central position, and the pliers guide 402 is centered by means of integrated hydraulic cylinders 415 and 416.
  • the riveting system as a detail can be seen in FIG. 12.
  • the riveting tool consisting of an upper striker 417 and a rivet clamp 405 surrounding it, which is mounted in a resilient guide cage 418, is arranged on the upper pliers 403.
  • the counter holder 412 is provided with a rivet setting bolt 413, which blocks it when riveting or releases it when the rivet is crushed.
  • the rivet transfer unit 3 and the rivet squeezer 4 act to carry out the riveting process with the rivet feeding, rivet pressing and squeezing in the manner described below.
  • a predetermined rivet for example a solid bimetal rivet used for riveting in aircraft, a so-called cherry buck, which has a cylindrical setting head and has a hollow corner radius as a transition to the rivet shank, the rivet shank being designed as a cylindrical mating surface and the shaft end as a flat truncated cone, and that Joint connection between the rivet shank and the borehole is designed as a press fit, pneumatically conveyed via the rivet delivery connection 18, via the delivery pipe 301 with a collecting basket 305 arranged at the front end into the rivet receptacle 303 of the rivet transfer pliers 302 (visible in FIG. 6).
  • the rivet is tensioned pneumatically, ie a pneumatic cylinder 308 is pressurized with compressed air and the pliers 302 are closed against a spring force.
  • the rivet crimp 4 is positioned in the retracted position with the upper pliers 404 and lower pliers 405 extended, with the upper pliers 404 above the pivoted rivet transfer pliers 302, and the plier guide 402 is centered on the slide 401.
  • a downward movement of the upper pliers 403 is realized by means of a hydraulic cylinder 406 integrated in the upper pliers 403 and a rivet is received with the slotted rivet clamp 405, preferably made of plastic, in such a way that the rivet is picked up Place the gripper of the rivet clamp 405 over the setting head of the rivet in the rivet holder 303.
  • the upper tongs 403 are with a Pneumatic cylinder 420 opened. With the rivet received in the rivet clamp 405, the rivet crimp 4 moves into the working position. Before reaching the working position, the tong guide 402 is switched to "floating".
  • the movements for pressing in are achieved by means of hydraulic cylinders 406 and 407, which take the required pressure from a pressure accumulator.
  • the upper pliers 403 and the lower pliers 404 move to the component 21.
  • the lower pliers 404 supports the component 21 with the blocked counter-holder 412 and the upper striker 417 attached to the upper pliers 403 presses the rivet into the fitting bore.
  • the blocked rivet setting latch 413 must be released before the rivet crushing. This is done by means of a pneumatic cylinder 414, which pulls the bolt 413 back and thus releases the counter-holder 412.
  • Initiators 422 recognize the position of the rivet latch 413 and give a signal to initiate the crimping process to the control.
  • the force required for the squeezing and counter-holding is generated by means of a high-pressure pump, which is passed via the hydraulic lines 421 to the hydraulic cylinders 406 to 408.
  • the upper and lower pliers 403 and 404 are pressed against the component 21.
  • the pushing force is generated with the hydraulic cylinders 406 and 407.
  • the upper striker 417 holds against the setting head of the rivet.
  • the squeezing force is applied with the hydraulic cylinder 408 and the flat die 419 attached to the lower pliers 404 carries out the squeezing movement.
  • the squeezing movement is interrupted when a predetermined hydraulic pressure is reached via a pressure switch, for example arranged on the multi-coupling 6 within the hydraulic line 421.
  • the rivet crushing path is determined by the limited free space in the axial direction of the flat die 419. After the squeezing process has taken place, the pliers are moved apart by means of the pneumatic cylinder 420. The rivet latch 413 is moved and locked under the counter holder 412 and is thus in the starting position for the next riveting process. The entire rivet crimp 4 is moved along the receiving console 5 in the rest position.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Insertion Pins And Rivets (AREA)
  • Automatic Assembly (AREA)
  • Drilling And Boring (AREA)
EP93117824A 1992-12-29 1993-11-03 Riveteuse automatique Expired - Lifetime EP0604734B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4244403 1992-12-29
DE4244403A DE4244403A1 (de) 1992-12-29 1992-12-29 Automatische Nietmaschine

Publications (2)

Publication Number Publication Date
EP0604734A1 true EP0604734A1 (fr) 1994-07-06
EP0604734B1 EP0604734B1 (fr) 1997-03-12

Family

ID=6476748

Family Applications (1)

Application Number Title Priority Date Filing Date
EP93117824A Expired - Lifetime EP0604734B1 (fr) 1992-12-29 1993-11-03 Riveteuse automatique

Country Status (7)

Country Link
US (1) US5375754A (fr)
EP (1) EP0604734B1 (fr)
JP (1) JPH06277785A (fr)
CA (1) CA2112418C (fr)
DE (2) DE4244403A1 (fr)
RU (1) RU2106926C1 (fr)
UA (1) UA26260C2 (fr)

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US5673839A (en) * 1995-11-29 1997-10-07 The Boeing Company Real-time fastener measurement system
GB9816796D0 (en) 1998-08-03 1998-09-30 Henrob Ltd Improvements in or relating to fastening machines
US6975088B1 (en) * 2002-11-15 2005-12-13 Automation By Design, Inc. Automatic dynamic joint tensioning system
GB0228259D0 (en) * 2002-12-04 2003-01-08 Short Brothers Plc Automated riveting machine
DE102004006407A1 (de) * 2004-02-10 2005-09-01 Daimlerchrysler Ag Vorrichtung zum automatisierten Setzen eines Blindniets
DE102005041534A1 (de) 2005-08-31 2007-03-01 Newfrey Llc, Newark Verfahren und Vorrichtung zum Zuführen von Verbindungselementen zu einem Verarbeitungsgerät
JP5555937B2 (ja) * 2009-09-15 2014-07-23 東芝三菱電機産業システム株式会社 リベッティングマシン
DE102009049616B4 (de) * 2009-10-16 2019-05-09 Böllhoff Verbindungstechnik GmbH Setzgerät, Zuführmodul des Setzgeräts und Fügeverfahren zum Verbinden von mindestens zwei Bauteilen
CN102371328A (zh) * 2010-08-06 2012-03-14 厦门义胜自动化设备有限公司 铆接机
CN102013360B (zh) * 2010-10-15 2012-12-26 浙江亚洲龙继电器有限公司 继电器短路环铆接机
CN102120245B (zh) * 2010-12-18 2013-03-20 周俊雄 一种触点铆接机
CN102601297A (zh) * 2012-03-21 2012-07-25 健雄职业技术学院 自动铆钉铆接装置
JP2014091142A (ja) * 2012-11-01 2014-05-19 Mitsubishi Heavy Ind Ltd ファスナー打ち込み装置及びファスナー打ち込み方法
CN104416113A (zh) * 2013-08-20 2015-03-18 珠海格力电器股份有限公司 铆接模具及具有其的铆接设备
DE102016110914A1 (de) * 2015-11-23 2017-05-24 Broetje-Automation Gmbh Endeffektor für eine Nietvorrichtung
US10590979B2 (en) 2017-01-24 2020-03-17 Ford Global Technologies, Llc Corrosion protection for mechanical joints
DE102017114972A1 (de) * 2017-04-03 2018-10-04 Broetje-Automation Gmbh Verfahren zum Versorgen einer Nietmaschine mit Nietelementen
CA3170365A1 (fr) 2020-02-08 2021-08-12 Jr Automation Technologies, Llc Appareil d'attache de rivet
CN112247554A (zh) * 2020-08-07 2021-01-22 江门市戈利图自动化机械设备有限公司 液压铰链自动组装机
CN112388656B (zh) * 2020-12-08 2024-06-25 兰州交通大学 一种使用机械臂的拉丝铆钉自动装配机构
CN113732236A (zh) * 2021-08-31 2021-12-03 浙江嘉兴津荣汽车部件有限公司 自动压铆机
CN114192728B (zh) * 2021-12-13 2024-05-14 安徽鲲鹏装备模具制造有限公司 一种脚轮安装板铆接机
GB2627486A (en) * 2023-02-24 2024-08-28 Airbus Operations Ltd Automated clamp

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EP0301964A1 (fr) * 1987-07-29 1989-02-01 Recoules Automation (S.A.) Dispositif de percage et rivetage
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DE3232093A1 (de) * 1982-08-28 1984-03-01 Messerschmitt-Bölkow-Blohm GmbH, 8000 München Automatische nietmaschine
EP0301964A1 (fr) * 1987-07-29 1989-02-01 Recoules Automation (S.A.) Dispositif de percage et rivetage
US4955119A (en) * 1989-07-11 1990-09-11 Imta Multi-task end effector for robotic machining center
US5203855A (en) * 1990-12-21 1993-04-20 The Boeing Company Method of mist lubrication, chip vacuum and coil cooling
US5169047A (en) * 1991-10-30 1992-12-08 Endres Thomas E Compact rivet attachment apparatus

Also Published As

Publication number Publication date
DE4244403A1 (de) 1994-07-07
RU2106926C1 (ru) 1998-03-20
JPH06277785A (ja) 1994-10-04
US5375754A (en) 1994-12-27
EP0604734B1 (fr) 1997-03-12
UA26260C2 (uk) 1999-07-19
CA2112418C (fr) 2000-08-22
CA2112418A1 (fr) 1994-06-30
DE59305759D1 (de) 1997-04-17

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