WO2005110643A1 - Sistema mejorado de remachado automático - Google Patents
Sistema mejorado de remachado automático Download PDFInfo
- Publication number
- WO2005110643A1 WO2005110643A1 PCT/ES2005/000262 ES2005000262W WO2005110643A1 WO 2005110643 A1 WO2005110643 A1 WO 2005110643A1 ES 2005000262 W ES2005000262 W ES 2005000262W WO 2005110643 A1 WO2005110643 A1 WO 2005110643A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- heads
- improved automatic
- automatic riveting
- function
- monofunction
- Prior art date
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 10
- 238000012937 correction Methods 0.000 claims abstract description 5
- 238000009434 installation Methods 0.000 claims abstract description 3
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 238000003754 machining Methods 0.000 claims 1
- 238000005553 drilling Methods 0.000 abstract description 6
- 230000008901 benefit Effects 0.000 abstract description 5
- 238000004140 cleaning Methods 0.000 abstract description 2
- 238000003780 insertion Methods 0.000 abstract description 2
- 230000037431 insertion Effects 0.000 abstract description 2
- 239000012636 effector Substances 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 230000003252 repetitive effect Effects 0.000 description 2
- 239000000565 sealant Substances 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
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
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49826—Assembling or joining
- Y10T29/49833—Punching, piercing or reaming part by surface of second part
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49826—Assembling or joining
- Y10T29/49908—Joining by deforming
- Y10T29/49938—Radially expanding part in cavity, aperture, or hollow body
- Y10T29/49943—Riveting
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49826—Assembling or joining
- Y10T29/49947—Assembling or joining by applying separate fastener
- Y10T29/49954—Fastener deformed after application
- Y10T29/49956—Riveting
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
- Y10T29/5116—Plural diverse manufacturing apparatus including means for metal shaping or assembling forging and bending, cutting or punching
- Y10T29/5118—Riveting
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
- Y10T29/5168—Multiple-tool holder
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
- Y10T29/5168—Multiple-tool holder
- Y10T29/5173—Longitudinally and transversely movable
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/5343—Means to drive self-piercing work part
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53709—Overedge assembling means
- Y10T29/5377—Riveter
Definitions
- the present specification refers, as its title indicates, to an improved automatic riveting system, of the type used in precision robotic installations for the realization with the same equipment, of multiple functions at the same working point, such as drilling, countersinking, inserting rivets, riveting, cleaning, etc., characterized in that it uses a multi-tool head without its own movement, fixed in a parallel kinematics machine, the latter being the one that performs all the combined movements of multi-tool head positioning, making the appropriate corrections of position between the different physical locations of the independent tools placed in the tool head.
- the movement of the anthropomorphic robot is only used to transport the rotary multi-tool head to the work point, the robot movement not subsequently intervening in the actual riveting process, which is entirely in charge of the rotary multi-tool head.
- This riveting system has the great disadvantage that it forces the rotary multi-tool head to have the necessary constructive precision to ensure the correct repetitive positioning of the different tools on the point to be riveted, since the anthropomorphic robot does not have this positioning accuracy repetitive.
- the additional problem is also remarkable which involve frequent breakdowns and the high cost associated with their repair.
- the improved automatic riveting system object of the present invention uses several independent single-function heads individually fixed to the working flange. of the parallel kinematics machine.
- This set of single-function heads consists of a common support provided with a plurality of housings, with the appropriate shape, preferably cylindrical, intended to accommodate inside each of the different single-function heads (drilling, sealant applicator, rivet inserter , riveter, etc.
- the parallel kinematics machine used as a support robot thanks to its intrinsic characteristic of being able to perform movements in multiple axes simultaneously with very high positioning accuracy and repeatability, is responsible for moving the set of single-function heads to the work point, in the same way that conventional robots do, but also subsequently responsible for carrying out the appropriate displacements of the monofunctional heads, so that during the different phases of the riveting, each of the tools or actuators supported on the different individual heads can act at the same point Working with the required precision.
- These movements of the parallel kinematics machine are equivalent to the necessary correction that the numerical control of the parallel kinematics machine must perform to compensate for the displacement or offset that separates the different tools or actuators included in the different single-function heads. In this way, during the riveting process it will be the parallel kinematics machine itself position the tools or actuators at the riveting point.
- This improved automatic riveting system is especially suitable for all those precision operations that involve the consecutive positioning of several tools or actuators at the same point, such as drilling and riveting, in which a tool could be sequentially intervened at the same point. drilling, chip aspiration, rivet insertion, riveter, sealant depositor, 3D artificial vision system or operation quality check, etc., all of which are located independently in the same support flange that acts as an interface mechanic with the parallel kinematics machine.
- This set of single-function heads can adopt various distributions of the cylindrical housings, being preferably linear, in a single row of housings, or matrix, with several rows of overlapping housings.
- Each of the housings for each single-function head will be equipped with a linear displacement mechanism, allowing the tool or actuator of its housing to be slightly protruded during use, bringing it closer to the surface of the piece to be riveted, and withdrawing it into the housing. when it is no longer used. This avoids that an unused monofunction head can accidentally collide with the surface or body to be riveted.
- This linear displacement mechanism will be of any of the commonly used types, electrical, pneumatic or hydraulic, being controlled by the same numerical control system as the parallel kinematics machine that supports it.
- This improved automatic riveting system presented provides multiple advantages over the systems available in the Currently, it is the most important that eliminates the need for complex mechanisms for positioning and advancing actuators or tools, thereby achieving a significant reduction in the economic cost of said element, increasing its reliability, precision and mechanical duration.
- Another advantage of the present invention is the easy and economical adaptation of the riveted system to any number of tools and actuators, mainly due to the characteristic simplicity of the set of independent single-function heads. Also another added advantage is that this system can adapt very easily to any type of parallel kinematics machine, allowing an extension of its working functionalities without the need for a high complementary economic investment.
- figure - 1 - shows a front and side view of the assembly formed by a parallel kinematics machine and an example of a set of monofunction heads placed independently, in this case prepared with housing for three monofunction heads.
- Figure -2- shows a view of the previous set showing the top of the single-function head assembly, with a detail expanding detailing the possible approach movement of each of them independently.
- the improved automatic riveting system uses, as can be seen in the attached drawing, a set (1) of single-function heads (5) fixedly attached to the flange (2) that acts as a mechanical interface with the parallel kinematics machine (3).
- This set (1) of single-function heads (5) consists of a common support provided with a plurality of housings (4), preferably cylindrical, intended to accommodate each inside a different type of single-function head (5) intended to make a specific function or use a work tool.
- the parallel kinematics machine (3) is used as a support robot, thanks to its intrinsic characteristic of being able to perform movements in multiple axes simultaneously with a very high positioning accuracy and repeatability, which is responsible for moving the assembly (1) of single-function heads ( 5) to the point of work, also subsequently responsible for making the appropriate displacements of the set (1) of single-function heads (5) so that, during the riveting process, each of the single-function heads (5) supported in the housings (4) ) Individuals can act at the same work point with sufficient accuracy required.
- These displacements of the set (1) of single-function heads (5) are equivalent to the necessary correction that the numerical control of the parallel kinematics machine (3) must perform to compensate for the offset or offset that separates the different single-function heads (yes). 5) included in the set (1) of single function heads (5).
- each of the housings (4) for single function heads (5) is provided with a linear displacement mechanism (6) to avoid possible collisions with the surface to be machined.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
- Machine Tool Units (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2005800202178A CN101005908B (zh) | 2004-05-13 | 2005-05-13 | 改进的自动铆接系统 |
JP2007512232A JP2007537047A (ja) | 2004-05-13 | 2005-05-13 | 改良型自動リベッティングシステム |
ES05748658T ES2399274T3 (es) | 2004-05-13 | 2005-05-13 | Sistema mejorado de remachado automático |
EP05748658A EP1745871B1 (en) | 2004-05-13 | 2005-05-13 | Improved automatic riveting system |
US11/596,240 US8468670B2 (en) | 2004-05-13 | 2005-05-13 | Enhanced automatic riveting system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ES200401154A ES2255386B1 (es) | 2004-05-13 | 2004-05-13 | Sistema mejorado de remachado automatico. |
ESP200401154 | 2004-05-13 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2005110643A1 true WO2005110643A1 (es) | 2005-11-24 |
Family
ID=35394028
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/ES2005/000262 WO2005110643A1 (es) | 2004-05-13 | 2005-05-13 | Sistema mejorado de remachado automático |
Country Status (7)
Country | Link |
---|---|
US (1) | US8468670B2 (es) |
EP (1) | EP1745871B1 (es) |
JP (1) | JP2007537047A (es) |
CN (1) | CN101005908B (es) |
ES (2) | ES2255386B1 (es) |
PT (1) | PT1745871E (es) |
WO (1) | WO2005110643A1 (es) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1884453A3 (en) * | 2006-07-31 | 2010-12-22 | Airbus Operations S.L. | Crawler robot equipped with a work unit, and control system for such crawler robots |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
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ES2331290B1 (es) * | 2008-06-27 | 2010-09-29 | Airbus Operations, S.L. | Dispositivo multifuncion y procedimiento de remachado automatico por control numerico. |
SE535182C2 (sv) * | 2010-06-17 | 2012-05-08 | Exechon Ab | En parallellkinematisk maskin med kardanhållare |
ES2522921B2 (es) * | 2013-05-17 | 2015-07-30 | Loxin 2002, S.L. | Cabezal y procedimiento de mecanizado automático con visión |
CN105642769A (zh) * | 2016-04-08 | 2016-06-08 | 苏州元泰自动化科技有限公司 | 一种自动切换铆压头的铆压机构 |
US10590979B2 (en) * | 2017-01-24 | 2020-03-17 | Ford Global Technologies, Llc | Corrosion protection for mechanical joints |
MX2017008919A (es) * | 2017-07-05 | 2018-03-01 | Gabriela Reyes Fuchs Carmen | Proceso para formar una imagen a color de materiales incinerados mediante tecnicas de microscopia. |
US11225039B2 (en) | 2018-06-08 | 2022-01-18 | Aurora Flight Sciences Corporation | Systems and methods to automate composite manufacturing quality checks |
CN113102984B (zh) * | 2021-04-28 | 2023-02-28 | 浙江吉利控股集团有限公司 | 汽车fds滑牙失效在线返修方法和工具、控制器及存储介质 |
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-
2004
- 2004-05-13 ES ES200401154A patent/ES2255386B1/es not_active Expired - Lifetime
-
2005
- 2005-05-13 EP EP05748658A patent/EP1745871B1/en active Active
- 2005-05-13 WO PCT/ES2005/000262 patent/WO2005110643A1/es active Application Filing
- 2005-05-13 PT PT57486581T patent/PT1745871E/pt unknown
- 2005-05-13 JP JP2007512232A patent/JP2007537047A/ja active Pending
- 2005-05-13 ES ES05748658T patent/ES2399274T3/es active Active
- 2005-05-13 CN CN2005800202178A patent/CN101005908B/zh active Active
- 2005-05-13 US US11/596,240 patent/US8468670B2/en active Active
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Also Published As
Publication number | Publication date |
---|---|
US8468670B2 (en) | 2013-06-25 |
PT1745871E (pt) | 2013-02-20 |
CN101005908A (zh) | 2007-07-25 |
ES2399274T3 (es) | 2013-03-27 |
EP1745871A1 (en) | 2007-01-24 |
EP1745871B1 (en) | 2012-12-05 |
ES2255386A1 (es) | 2006-06-16 |
ES2255386B1 (es) | 2007-10-01 |
CN101005908B (zh) | 2010-09-22 |
JP2007537047A (ja) | 2007-12-20 |
US20090007410A1 (en) | 2009-01-08 |
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