WO2021036588A1 - 适用于火箭舱体铆接的自动钻铆执行机构与方法 - Google Patents

适用于火箭舱体铆接的自动钻铆执行机构与方法 Download PDF

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Publication number
WO2021036588A1
WO2021036588A1 PCT/CN2020/103242 CN2020103242W WO2021036588A1 WO 2021036588 A1 WO2021036588 A1 WO 2021036588A1 CN 2020103242 W CN2020103242 W CN 2020103242W WO 2021036588 A1 WO2021036588 A1 WO 2021036588A1
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WIPO (PCT)
Prior art keywords
module
nail
riveting
rivet
drilling
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PCT/CN2020/103242
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English (en)
French (fr)
Inventor
袁桢棣
周愿愿
梁莹
张维轩
杨学勤
成群林
徐爱杰
Original Assignee
上海航天精密机械研究所
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Publication of WO2021036588A1 publication Critical patent/WO2021036588A1/zh

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    • 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
    • B21J15/02—Riveting procedures
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass

Definitions

  • the invention relates to a device for automatic assembly, in particular to an automatic drilling and riveting actuator and method suitable for riveting of rocket cabin bodies.
  • Riveting is an important process in the manufacturing process of the rocket cabin.
  • the end frame, shell section, skin, stringer and other parts to be riveted were pre-assembled on the frame, and the holes were made by hand. After manual insertion of nails, manual riveting is finally carried out.
  • there are tens of thousands of rivets on the rocket cabin there is serious noise in the drilling and riveting process, which makes manual riveting labor intensive, easy to cause damage to the body, and low production efficiency.
  • aerospace manufacturing companies have gradually begun to introduce automatic drilling and riveting equipment in recent years to replace manual riveting and improve rocket production efficiency.
  • the Chinese patent document with the publication number CN101417348A discloses a drilling end effector for industrial robots, which includes a spindle unit, a feeding unit, and a supporting unit.
  • Spindle unit includes precision spindle head, spindle motor and drive, ER chuck handle and tool, timing belt and pulley
  • feed unit includes linear ball guide sleeve and special shaft, screw nut pair, feed motor and drive, timing belt And pulley
  • supporting unit includes base, shaft seat, precision spindle head support, cylinder support, pressure head tube shell, presser foot, front plate, rear plate, solenoid valve connecting plate, spindle motor connecting plate, limit switch Connect the board.
  • the spindle unit realizes the adjustable cutting speed of the drill bit
  • the feed unit realizes the adjustable feed speed and feed stroke of the drill bit
  • the supporting unit ensures the overall rigidity of the end effector.
  • the purpose of the present invention is to provide an automatic drilling and riveting actuator and method suitable for riveting the rocket cabin body.
  • an automatic drilling and riveting actuator suitable for riveting of rocket cabin bodies, which includes a nail shooting module, a nail pressing riveting module, a drilling countersink module, a switching module, and a compression distance measuring module;
  • the tight ranging module compresses the rocket cabin;
  • the drilling and countersinking module completes the drilling or countersinking on the surface of the cabin;
  • the switching module realizes the position exchange of the drilling and countersinking module and the stud rivet module;
  • the nailing module injects the rivet into the stud and rivets At the end of the module, insert the rivet into the prepared hole and complete the riveting;
  • the stud press riveting module includes a riveting head, a detection unit and a servo electric cylinder, and the servo electric cylinder is sequentially connected to the detection unit and the riveting head;
  • the detection unit includes a housing, a sliding core, and a displacement sensor.
  • the housing is connected to the servo electric cylinder.
  • the sliding core is slidably installed in the housing. One end of the sliding core is connected to the riveting head.
  • the housing is provided with a displacement sensor that can measure the sliding core and the housing. The relative displacement between.
  • the detection unit further includes a bushing, a third coil spring and a target plate; the bushing is arranged in the housing, and the sliding core can slide in the bushing;
  • the third coil spring is arranged between the other end of the sliding core and the housing along the sliding direction of the sliding core, and makes a gap between the other end of the sliding core and the housing, and the width of the gap can be changed under the action of external force;
  • the target board is arranged in the circumferential direction of the sliding core and opposite to the displacement sensor, and a slideway is provided at the corresponding position of the shell and the target board, and the slideway is parallel to the sliding direction of the sliding core.
  • the target board can be driven by the sliding core. Sliding in the slide; the displacement sensor can detect the current distance from itself to the target board.
  • the stud pressing riveting module further includes a mounting plate, and the stud pressing riveting module is connected to the switching module through the mounting plate;
  • the rivet head includes a nail nozzle, an annular spring, a second rotating shaft, a push pin, a nail nozzle seat, a limit pin, a second spiral spring, a riveting die, a pressing plate, and a positioning pin;
  • One end of the riveting die is a tapered surface
  • the sliding core and the riveting die are provided with a tapered hole at one end, and the riveting die and the sliding core are connected to each other through the tapered surface and the tapered hole.
  • the pressing plate fixes the riveting die on the sliding core. Rotation is restricted by positioning pins;
  • the second coil spring and the nail tip seat are sequentially inserted into the riveting mold, the nail tip seat can slide along the riveting mold, and the nail tip is set on the nail tip seat through the second rotating shaft;
  • the nail nozzle seat is provided with a first limiting groove along the length direction of the riveting film, and a limiting pin is arranged on the riveting film.
  • the limiting pin can slide in the first limiting groove to limit the nail nozzle seat and the riveting film.
  • the second limit groove is provided on the nail nozzle seat, and the push pin is provided on the riveting film. Under the thrust of the second coil spring, the push pin fits the second limit groove;
  • the two lobes of the nail nozzle are compressed and connected by an annular spring, and when the nail shooting module pushes the rivet to the nail nozzle, the two lobes of the nail nozzle are squeezed apart, so that the rivet is clamped by the nail nozzle.
  • the nail shooting module includes a first bracket, a first linear module, a first servo motor, a pipeline mounting plate, a nail shooting unit, a nail feeding tube, a drag chain, and a drag chain bracket;
  • the first bracket is connected to the switching module, the first linear module is installed on the first bracket, and one or more nail shooting units are arranged on the first linear module, and the nail shooting units correspond to the nail feeding pipes one by one. connection;
  • the pipeline mounting plate is installed on the first linear module, the mobile end of the towline is connected to one end of the pipeline mounting plate, and the fixed end of the towline is connected to the towline bracket installed on the first bracket;
  • the nail feeding pipe penetrates into the inside of the drag chain from the mobile end of the drag chain through the pipeline mounting plate and is neatly arranged inside the drag chain, and connects to the external nail cabinet after passing through the fixed end of the drag chain to realize the nail feeding;
  • the first servo motor is installed at one end of the first linear module, and the first servo motor can drive the nail shooting unit, the pipeline mounting plate, the nail feeding tube and the drag chain to move along the first linear module.
  • the nail shooting unit includes a pipe joint, a nail clip, a first coil spring, a first rotating shaft, a nail pusher, an air cylinder, a sensor, and a bottom plate; the bottom plate is connected to the first linear module, and the nail clip passes through the first
  • the shaft is connected to the bottom plate, the two lobes of the nail clip are compressed and connected by the first coil spring, and a rivet placement hole is formed between the two lobes.
  • the bottom plate is provided with a pipe joint at a position corresponding to the rivet placement hole, and the pipe joint is connected to the nail feeding tube
  • the bottom plate and the position corresponding to the rivet placement hole are provided with a nail sending groove, the nail sending groove extends to the edge of the bottom plate, a nail push is provided in the nail sending groove, and the nail push is connected to the cylinder provided on the bottom plate, and the nail is pushed in the cylinder
  • the rivet placed in the rivet placement hole can be pushed to the edge of the bottom plate to enter the rivet pressing module under the driving of the rivet;
  • the nail pusher is provided with a supporting section and a notch with the same cross-sectional shape as the rivet;
  • a sensor is arranged on the bottom plate, and the sensor can detect whether the rivet has entered the rivet pressing module.
  • the drilling and countersinking module includes a second bracket, a second linear module, a drilling spindle, and a second servo motor; the second bracket, the second linear module, and the drilling spindle are connected in sequence, and the drilling spindle is connected The second servo motor and the second bracket are connected to the switching module.
  • the switching module includes a frame, a sliding seat, a first linear guide, a sliding saddle, a ball screw pair, a coupling, a third servo motor, a dust cover, and a grating ruler;
  • a sliding seat is installed on the frame, a first linear guide rail is arranged on the sliding seat, a grating ruler is arranged on the first linear guide rail, and the sliding saddle is connected to the first linear guide rail through the sliding block of the first linear guide rail.
  • the sliding saddle is connected to the nail shooting module, the nail pressing riveting module, and the drilling and countersinking module.
  • the two ends of the sliding saddle are also provided with dust cover; the upper part of the rack is connected to the compression distance measuring module;
  • the third servo motor and the ball screw pair are arranged on the frame, the third servo motor is connected to the ball screw pair through a coupling, and the ball screw pair is connected to the saddle;
  • the distance from the end edge of the nail shooting unit of the nail shooting module to the center of the nail nozzle of the nail rivet module is equal to the distance from the center of the nail nozzle of the nail rivet module to the center of the drilling spindle of the drilling and countersinking module.
  • the compaction distance measurement module includes a presser foot, a presser bar, a second linear guide rail, a compaction cylinder, a mounting seat, and a chip suction pipe;
  • the mounting seat is connected to the switching module, the mounting seat is provided with a compression cylinder and a second linear guide rail, the compression cylinder has a stroke reading function, the compression cylinder is connected to the slider of the second linear guide rail, and the slider of the second linear guide rail is connected Pressure rod
  • the pressing rod is provided with a dust suction tube and a pressing foot with a circular hole, the dust suction pipe is connected to the inside of the circular hole of the pressing foot, and the pressing foot is made of polyurethane.
  • it further includes a numerical control system, which is signally connected to the nail shooting module, the nail rivet module, the drilling countersink module, the switching module, and the compression distance measuring module, and can control the nail shooting module, the nail rivet module, and the drilling module.
  • a numerical control system which is signally connected to the nail shooting module, the nail rivet module, the drilling countersink module, the switching module, and the compression distance measuring module, and can control the nail shooting module, the nail rivet module, and the drilling module.
  • the numerical control system can correct the feed distance of the stud pressing module and the drilling countersink module according to the data fed back by the compression cylinder of the compression distance measurement module, and automatically compensate the roundness error of the rocket cabin processing;
  • the numerical control system can judge whether the rivet is inserted into the hole made by the drilling and countersinking module according to the law that the current distance fed back by the displacement sensor changes with time.
  • the servo electric cylinder is controlled to stop moving.
  • an automatic drilling and riveting execution method suitable for riveting of rocket cabin bodies including the following steps:
  • Step 1 The CNC system controls the automatic drilling and riveting actuator to move to the riveting position, so that the center line of the presser foot coincides with the theoretical center line of the riveting hole, and the center line of the drilling spindle coincides with the center line of the presser foot;
  • Step 2 Compress the compression cylinder of the distance measurement module to drive the presser foot to contact the surface of the rocket cabin, and the compression cylinder will feed back its stroke to the CNC system.
  • the CNC system feeds the drill countersink module and the rivet module Make corrections
  • Step 3 The drilling spindle of the drilling and countersinking module is aligned with the presser foot and driven by the second servo motor to drill and counter-hole on the surface of the rocket cabin; while the drilling and countersinking module is working, the nail-shooting module completes the mounting of the rivet module nail;
  • Step 4 The sliding saddle of the switching module moves under the drive of the third servo motor to switch the positions of the rivet rivet module and the countersinking module, so that the nail nozzle of the rivet module aligns with the presser foot, and the servo electric cylinder drives the nail nozzle
  • the rivet is inserted into the prepared hole, and the inspection unit monitors the insertion process. Once an abnormality occurs, the CNC system will alarm and stop the insertion action, and if there is no abnormality, the riveting will be completed;
  • Step 5 The automatic drilling and riveting actuator moves to the next riveting position, and the sliding saddle of the switching module is driven by the third servo motor to switch the positions of the rivet pressing module and the drilling and countersinking module, so that the drilling spindle of the drilling and countersinking module is aligned Quasi-presser foot, repeat steps 1-4 to complete all riveting tasks.
  • the present invention has the following beneficial effects:
  • the present invention can set multiple nail shooting units in the nail shooting module according to the requirements of workpiece riveting.
  • the rivet specifications can be adjusted flexibly and can adapt to various types of workpiece processing;
  • the nail pusher of the nail shooting unit is provided with supporting sections and notches, Ensure that the rivets do not overturn and move, and avoid the rivets from falling out;
  • the rivet unit is equipped with a sensor to detect whether the rivet has entered the rivet pressing module to prevent the rivet from leaking and form an effective protection for the processed workpiece.
  • the present invention is equipped with a detection unit in the rivet pressing module, which can detect whether the rivet is correctly inserted into the workpiece, avoiding downtime caused by problems such as stuck nails, crooked nails, and rivets not being inserted, affecting the efficiency of drilling and riveting, and even causing product scrapping.
  • the present invention sets up a compact distance measurement module, and the compaction device of the compact distance measurement module realizes compaction work before drilling and riveting, reduces the gap, improves the rigidity of the end effector, and improves the hole making, Riveting working conditions;
  • the compression cylinder of the compression distance measurement module has a stroke reading function, which can feedback control the feed distance of the stud compression riveting module and the drilling countersink module, and automatically compensate for the roundness error of the rocket cabin.
  • the compaction and distance measurement module is provided with a dust suction tube to ensure that the debris generated in the process of drilling and counter-boring can be discharged through the dust suction tube to avoid affecting subsequent operations.
  • the nail shooting module can complete the nailing of the inserting nail pressure riveting module, which improves the assembly efficiency of aerospace components.
  • the present invention completes the riveting link in the assembly of workpieces, especially aerospace workpieces, through a highly integrated and integrated automatic drilling and riveting actuator, which includes functional modules for realizing the whole process of drilling, countersinking, chip removal, and riveting.
  • the process control has functional modules such as detection, positioning, and conversion.
  • Fig. 1 is a schematic diagram of a three-dimensional structure of an automatic drilling and riveting actuator suitable for riveting of rocket cabin bodies according to the present invention.
  • FIG. 2 is a first-view three-dimensional structure diagram of the nail shooting module of the present invention.
  • FIG. 3 is a schematic diagram of a second perspective three-dimensional structure of the nail shooting module of the present invention.
  • FIG. 4 is a schematic diagram of a third perspective three-dimensional structure of the nail shooting module of the present invention.
  • Fig. 5 is a rear view of the nail shooting unit of the present invention.
  • Fig. 6 is a first-view three-dimensional structure diagram of the nail shooting unit of the present invention.
  • FIG. 7 is a schematic diagram of a second perspective three-dimensional structure of the nail shooting unit of the present invention.
  • Fig. 8 is a first state schematic diagram of the present invention in which the nail pusher pushes the rivet from the nail shooting unit to the rivet pressing module.
  • FIG. 9 is a schematic diagram of the second state of the present invention in which the nail pusher pushes the rivet from the nail shooting unit to the nail pressing riveting module.
  • Fig. 10 is a schematic diagram of a third state in which the nail pusher pushes the rivet from the nail shooting unit to the nail press riveting module according to the present invention.
  • Figure 11 is a side view of the nail shooting unit.
  • Fig. 12 is a schematic diagram of the three-dimensional structure of the stud pressing riveting module of the present invention.
  • Figure 13 is a left side view of the detection unit and the riveting head of the present invention.
  • FIG. 14 is a schematic diagram of the nail shooting module of the present invention injecting rivets into the rivet pressing module.
  • 15 is a schematic diagram of the three-dimensional structure of the detection unit of the present invention.
  • Figure 16 is a cross-sectional view of the detection unit of the present invention.
  • Figure 17 is a cross-sectional view of the detection unit and the riveting head of the present invention.
  • Fig. 18 is a curve of the change of the gap width with time when the rivet of the present invention is normally inserted into the hole position.
  • Fig. 19 is a curve of the change of the gap width with time when the rivet of the present invention cannot be inserted into the hole normally.
  • FIG. 20 is a schematic diagram of the three-dimensional structure of the drill and countersink module of the present invention.
  • FIG. 21 is a schematic diagram of the first three-dimensional structure of the switching module of the present invention.
  • FIG. 22 is a schematic diagram of a second three-dimensional structure of the switching module of the present invention.
  • FIG. 23 is a schematic diagram of the three-dimensional structure of the compressed distance measuring module.
  • the figure shows:
  • an automatic drilling and riveting actuator suitable for riveting of rocket cabins, including a nail shooting module 1, a nail pressing riveting module 2, a drilling countersink module 3, a switching module 4, and a compression distance measuring module 5;
  • the compacting and ranging module 5 compacts the rocket cabin;
  • the countersinking module 3 completes drilling or countersinking on the surface of the cabin;
  • the switching module 4 realizes the position exchange of the countersinking module 3 and the rivet module 2;
  • the rivet module 1 injects the rivet 159 into the end of the rivet rivet module 2, and the rivet module 2 inserts the rivet 159 into the prepared hole and completes the riveting;
  • the rivet module 2 includes a rivet head and a detection unit 29 and a servo electric cylinder 212, the servo electric cylinder 212 is connected to the detection unit 29 and the riveting head in turn;
  • the detection unit includes a housing 291, a sliding core 293, and a displacement sensor 295.
  • the housing 291 is connected to the servo electric cylinder 212, and the sliding core 293 is slidably mounted on In the housing 291, one end of the sliding core 293 is connected to a riveting head, and a displacement sensor 295 is provided on the housing 291, and the displacement sensor 295 can measure the relative displacement between the sliding core 293 and the housing 291.
  • the detection unit 29 also includes a bushing 292, a third coil spring 294, and a target plate 296; the bushing is arranged in the housing 291, and the sliding core 293 can slide in the bushing 292; The sliding direction of the sliding core 293 is arranged between the other end of the sliding core 293 and the housing 291, and a gap 297 is formed between the other end of the sliding core 293 and the housing 291, and the width of the gap 297 can be changed under the action of external force;
  • the plate 296 is arranged in the circumferential direction of the sliding core 293 and is opposite to the displacement sensor 295.
  • the housing 291 and the target plate 296 are provided with slideways at the corresponding positions, and the slideways are parallel to the sliding direction of the sliding core 293.
  • the target plate 296 is in the sliding core Driven by the 293, it can slide in the slide; the displacement sensor 295 can detect the current distance 298 from itself to the target board 296.
  • the displacement sensor is a laser displacement sensor.
  • a third coil spring 294 is provided between the bottom of the sliding core 293 and the bottom of the housing 291.
  • the tension of the third coil spring 294 provides a gap 297 between the bottom of the sliding core 293 and the bottom of the housing 291.
  • the top of the housing 291 is provided with a fixing plate to make the sliding.
  • the top of the core 293 cannot slide out of the top of the shell 291, and the sliding core 293 can only slide along the bushing 292 inside the shell 291; the width of the gap 297 will change under the action of external force.
  • the top force is applied, since the fixed plate restricts the sliding core 293 from sliding outward, the width of the gap 297 is maintained at the maximum value.
  • a target plate 296 is provided in the circumferential direction of the sliding core 293, and a displacement sensor 295 opposite to the target plate 296 is provided on the housing 291.
  • the current distance 298 between the displacement sensor 295 and the target plate 296 is measured in real time to know the width change of the gap 297.
  • the plug riveting module 2 further includes a mounting plate 213, and the plug riveting module 2 is connected to the switching module 4 through the mounting plate 213;
  • the rivet head includes a nail nozzle 21, a ring spring 22, a second rotating shaft 23, a push pin 24, Nail nozzle base 25, limit pin 26, second coil spring 27, riveting die 28, pressing plate 210 and positioning pin 211;
  • one end of the riveting die 28 is a tapered surface, and one end of the sliding core 293 connected to the riveting die 28 is provided with a cone
  • the riveting die 28 and the sliding core 293 are matched and connected with the tapered hole through a tapered surface.
  • the pressing plate 210 fixes the riveting die 28 on the sliding core 293, and the riveting die 28 is restricted from rotating by a positioning pin 211; the second coil spring 27 ,
  • the nail nozzle holder 25 is sequentially inserted into the riveting mold 28, the nail nozzle holder 25 can slide along the riveting mold 28, the nail nozzle 21 is set on the nail nozzle holder 25 through the second rotating shaft 23; the upper edge of the nail nozzle holder 25 is the rivet film 28
  • a first limiting slot is provided in the length direction, and a limiting pin 26 is provided on the riveting film 28.
  • the limiting pin 26 can slide in the first limiting slot to limit the rotation between the nail nozzle base 25 and the riveting film 28
  • the nail nozzle seat 25 is provided with a second limiting groove
  • the riveting film 28 is provided with a push pin 24, under the thrust of the second coil spring 27, the push pin 24 and the second limiting groove fit; the nail
  • the two lobes of the nozzle 21 are tightly connected by a ring spring 22.
  • the mounting plate 213 is arranged between the detection unit 29 and the servo electric cylinder 212.
  • the nail nozzle 21 receives the rivet 159 sent from the nail shooting module 1, and the servo electric cylinder drives the detection unit 29 and the riveting head to move to complete the nail and riveting process.
  • the nail shooting module 1 includes a first bracket 11, a first linear module 12, a first servo motor 13, a pipeline mounting plate 14, a nail shooting unit 15, a nail feeding tube 16, a drag chain 17, and a drag chain bracket 18
  • the first bracket 11 is connected to the switching module 4, a first linear module 12 is installed on the first bracket 11, and one or more nail-shooting units 15 are provided on the first linear module 12, the nail-shooting unit 15 is connected to the nail-feeding pipe 16 in a one-to-one correspondence;
  • the pipeline mounting plate 14 is installed on the first linear module 12, the mobile end of the drag chain 17 is connected to one end of the pipeline mounting plate 14, and the drag chain 17 is fixed The end is connected with the drag chain bracket 18 installed on the first bracket 11; the nail delivery tube 16 penetrates into the drag chain 17 from the mobile end of the drag chain 17 through the pipeline mounting plate 14 and is neatly arranged inside the drag chain 17, from After the fixed end of the drag chain 17 passes through, it is connected to an external nail cabinet to realize nail feeding; the first serv
  • the nail shooting unit 15 includes a pipe joint 151, a nail clip 152, a first coil spring 153, a first rotating shaft 154, a nail pusher 155, an air cylinder 156, a sensor 157, and a bottom plate 158; the bottom plate 158 and the first linear module 12 is connected, the nail clip 152 is connected to the bottom plate 158 through the first rotating shaft 154, the two lobes of the nail clip 152 are compressed and connected by the first coil spring 153, a rivet placement hole is formed between the two lobes, and the bottom plate 158 is in phase with the rivet placement hole
  • a pipe joint 151 is provided at the corresponding position, and the pipe joint 151 is connected to the nail-feeding pipe 16; the bottom plate 158 is provided with a nail-feeding groove at a position corresponding to the rivet placement position, and the nail-feeding groove extends to the edge of the bottom plate 158 and is in the nail-feeding groove
  • a nail pusher 155 is provided, and the nail push
  • the nail pusher 155 can push the rivet 159 placed at the rivet placement position to the edge of the base plate 158 under the drive of the air cylinder 156 to enter the rivet pressing module 2;
  • the nail pusher 155 is provided with a supporting section 1511 and a notch 1510 having the same cross-sectional shape as the rivet 159;
  • a sensor 157 is provided on the bottom plate 158, and the sensor 157 can detect whether the rivet 159 has entered the rivet pressing module 2 or not.
  • each nail shooting unit 15 corresponds to one type of rivet 159, and multiple nail shooting units 15 correspond to multiple types of rivets 159. Therefore, it is first necessary to control the first servo motor 13 to drive the nailing unit 15, the pipe mounting plate 14, the nail feeding tube 16, and the drag chain 17 to move along the first linear module 12 so that the specified type of rivet 159 corresponds to the
  • the nail unit 15 is opposite to the nail nozzle 21 of the nail press riveting module 2; secondly, the external nail cabinet accepts the nail sending instruction and sends the rivets 159 of the specified model to the nail shooting unit 15 through the nail sending tube 16, in order to avoid the nail sending tube 16
  • the posture changes during the movement, which causes the rivet 159 to not pass smoothly, so that the nail feeding tube 16 penetrates the drag chain 17 and is neatly arranged inside the drag chain 17; the rivet 159 enters from the pipe joint 151 of the nail shooting unit 15 and reaches the nail clip 152.
  • the nail pusher 155 pushes the rivet 159 from the rivet placement hole position to the edge of the bottom plate 158 under the drive of the air cylinder 156, so that the rivet 159 enters the rivet pressing module 2, and the support section 1511 and notch set on the nail pusher 155 1510, it can ensure that the rivet 159 does not overturn and move during the moving process, and prevent the rivet 159 from coming out; finally, the sensor 157 set on the bottom plate 158 determines whether the rivet 159 has entered the rivet pressing module 2 to prevent the leakage of the rivet. It effectively protects the rocket cabin.
  • the drilling and countersinking module 3 includes a second bracket 31, a second linear module 33, a drilling spindle 32, and a second servo motor 34; the second bracket 31, the second linear module 33, and the drilling spindle 32 are connected in sequence , The drilling spindle 32 is connected to the second servo motor 34, and the second bracket 31 is connected to the switching module 4.
  • the drilling spindle 32 is driven by the second servo motor 34 to slide along the second linear module 33 to realize drilling and countersinking.
  • the second servo motor 34 adjusts the feed rate of the drilling spindle 32 to control the axial force of the drill bit to reduce the burr at the rivet outlet.
  • the drilling spindle 32 continues to advance. Yes, go to the countersink.
  • the switching module 4 includes a frame 41, a sliding seat 42, a first linear guide 43, a sliding saddle 44, a ball screw 45, a coupling 46, a third servo motor 47, a dust cover 48, and a grating ruler 49
  • a sliding seat 42 is installed on the frame 41, a first linear guide 43 is provided on the sliding seat 42, a grating ruler 49 is provided on the first linear guide 43, and the saddle 44 passes through the first linear guide 43
  • the sliding block is connected to the first linear guide 43;
  • the sliding saddle 4 is connected to the nail shooting module 1, the nail pressing riveting module 2, the drilling and countersinking module 3, and the two ends of the sliding saddle 44 are also provided with a dust cover 48;
  • the frame 41 The upper part is connected to the compression distance measuring module 5;
  • the third servo motor 47 and the ball screw pair 45 are arranged on the frame 41, and the third servo motor 47 is connected to the ball screw pair 45 through a coupling 46, and the ball screw pair 45 is connected to
  • the third servo motor 47 drives the ball screw pair 45 through the coupling 46, so that the saddle 44 performs the conversion between the riveting station and the hole-making station in a linear motion.
  • the grating ruler 49 on the first linear guide 43 accurately measures the stroke of the saddle 44 to realize the precise switching between the drilling and riveting stations, and avoiding jamming due to positioning errors during the nail insertion process.
  • the compaction distance measurement module 5 includes a presser foot 51, a press rod 52, a second linear guide 53, a compaction cylinder 54, a mounting seat 55, and a dust suction pipe 56; the mounting seat 55 is connected to the switching module 4, and the mounting seat 55
  • a compression cylinder 54 and a second linear guide 53 are provided on the compression cylinder 54.
  • the compression cylinder 54 has a stroke reading function.
  • the compression cylinder 54 is connected to the slider of the second linear guide 53 and the slider of the second linear guide 53 is connected to the pressing rod 52;
  • the pressing rod 52 is provided with a dust suction pipe 56 and a pressing foot 51 with a circular hole.
  • the dust suction pipe 56 communicates with the inside of the round hole of the pressing foot 51, and the pressing foot 51 is made of polyurethane.
  • the compression cylinder 54 drives the compression rod 52 to move along the linear guide 53 from the initial position until the presser foot 51 contacts the rocket cabin.
  • the compression cylinder 54 has a stroke reading function, which feeds the stroke back to In the numerical control system, the feed distance of the plug-in screw riveting module 2 and the drilling and countersinking module 3 is corrected to automatically compensate the roundness error of the rocket cabin processing; the presser foot 51 has a circular hole position, and the presser foot 51 presses the workpiece Afterwards, the drilling spindle 32 of the drilling and countersinking module 3 completes drilling and countersinking through the hole position, and the debris generated during the drilling and countersinking process is discharged in time through the chip suction pipe 56 to avoid affecting subsequent operations and keep working The environment is clean and tidy, and the presser foot 51 is made of polyurethane material to avoid damage to the surface of the rocket cabin; after the switch module 4 switches the positions of the screw riveting module 2 and the drilling and countersinking module 3, the nail nozzle 21 of the screw riveting module 2 also passes the presser foot The round hole of 51 completes the nail.
  • the pressing rod 52 is a folding pressing rod, and the
  • the numerical control system is signally connected to the nail shooting module 1, the nail pressing riveting module 2, the drilling and countersinking module 3, the switching module 4, and the compression distance measuring module 5, and can control the nail shooting module 1, the nail pressing riveting module.
  • the operation of the module 2, the drilling and countersinking module 3, the switching module 4, and the compaction and distance measurement module 5; the numerical control system is capable of comparing the stud pressing and riveting module 2 and the drilling and rivet module 2 according to the data fed back from the compaction cylinder 54 of the compaction and distance measurement module 5.
  • the feed distance of the countersink module 3 is corrected to automatically compensate for the roundness error of the rocket cabin body processing; the numerical control system can judge whether the rivet 159 is inserted into the countersink module 3 according to the current distance 298 fed back by the displacement sensor 295 over time.
  • the servo electric cylinder 212 is controlled to stop moving to avoid problems such as downtime caused by stuck nails, crooked nails and rivets not being inserted, affecting the efficiency of drilling and riveting and even causing product scrapping.
  • the CNC system signal connects to the nail shooting module 1, the nail press riveting module 2, the drilling and countersinking module 3, the switching module 4, and the compression and distance measuring module 5 and sends instructions to these modules.
  • the CNC system can also signal to connect to the external nail cabinet and Send nail delivery instructions to the external nail cabinet.
  • the numerical control system controls the automatic drilling and riveting actuator suitable for the riveting of the rocket cabin body to move to the riveting position, so that the center line of the presser foot 51 is aligned with the riveting hole position.
  • the theoretical center line coincides, and the center line of the drilling spindle 32 coincides with the center line of the presser foot 51.
  • the CNC system sends a compaction command to the compaction and distance measurement module 5.
  • the compaction cylinder 54 drives the presser foot 51 to contact the surface of the rocket cabin and feeds back the stroke of the presser foot to the CNC system.
  • the CNC system will press the cylinder according to 54
  • the feedback data amends the feed rate of the drill countersink module 3 and the nail press riveting module 2.
  • the numerical control system issues drilling and counter-hole commands to the drilling and countersinking module 3.
  • the drilling spindle 32 of the drilling and countersinking module 3 is aligned with the circular hole of the presser foot 51 and driven by the second servo motor 34 on the surface of the rocket cabin.
  • Drilling and countersinking the debris generated in the process of drilling and countersinking is sucked and discharged by the chip suction pipe 56 of the compacting distance measuring module 5; while the drilling and countersinking module is working, the CNC system sends the nails to the external nail cabinet Instruction, the external nail cabinet transports the rivets 159 of the specified model to the nailing unit 15 through the nailing pipe 16, and the numerical control system sends instructions to the first servo motor 13, and the first servo motor 13 drives the nailing unit 15 and the pipeline mounting plate 14.
  • the nail feeding tube 16 and the drag chain 17 move along the first linear module 12 so that the nail shooting unit 15 corresponding to the specified type of rivet 159 is opposed to the nail nozzle 21 of the nail rivet module 2, and the nail shooting unit 15 Pushing 155 pushes the rivet 159 into the nail nozzle 21.
  • the numerical control system issues a switching instruction to the switching module 4, and the sliding saddle 44 of the switching module 4 is driven by the third servo motor 47 to move and switch the positions of the plug riveting module 2 and the drilling and countersinking module 3, so that the plug riveting module The nail nozzle 21 of 2 is aligned with the presser foot 51.
  • the rivet head sends the rivet 159 into the hole drilled by the countersinking module 3, and the time when the end of the rivet 159 clamped by the nail nozzle 21 reaches the surface of the workpiece is zero time, which is between 0 and t1.
  • the rivet head gradually inserts the rivet 159 into the hole under the driving force of the servo electric cylinder 212.
  • the sliding core 293 does not receive a force toward the bottom, and the width of the gap 297, that is, L2 maintains the maximum value (that is, as shown in the figure)
  • the rivet head continues to move toward the workpiece.
  • the sliding core 293 will receive a force toward the bottom.
  • the third coil spring 294 is compressed by force, and the width of gap 297 gradually decreases from t1 to t2 until it reaches zero.
  • the numerical control system judges that there is no abnormality in the state of the stud pressing riveting module 2 at this time, and continues to complete the pressing riveting, and proceed to the sixth step.
  • the numerical control system records the relationship between the gap 297 and the time under the above normal conditions. When the gap 297 does not reach a certain value range within a certain time, the numerical control system will judge that there is a crooked nail or the rivet cannot enter the hole position. As shown in Figure 19, when a crooked nail or a rivet cannot be inserted into the hole, the time when the end of the rivet 159 clamped by the nail nozzle 21 reaches the surface of the workpiece is zero, and the rivet head is driven by the servo electric cylinder 212 to feed the rivet. 159 continuously exerts a forward force, but the rivet 159 cannot enter the hole normally, which makes the rivet head receive a force away from the surface of the workpiece.
  • the third coil spring 294 is compressed, and the sliding core 293 moves toward the bottom. Slipping, the width of the gap 297 gradually decreases from 0 to t3 until it reaches 0.
  • the numerical control system recognizes that the change relationship between the gap 297 and the time at this time does not conform to the preset change relationship, and judges that the screwing process is abnormal, and controls the servo electric cylinder 212 to stop moving, and the screwing riveting module 2 stops screwing.
  • the numerical control system controls the automatic drilling and riveting actuators suitable for riveting the rocket cabin body to move to the next riveting position, and sends a switching command to the switching module again, and the saddle 44 of the switching module 4 is driven by the third servo motor 47 to move Switch the positions of the stud pressing riveting module 2 and the drilling and countersinking module 3 so that the drilling spindle 32 of the drilling and countersinking module 3 is aligned with the presser foot 51, and the above steps are repeated to complete all riveting tasks.
  • an automatic drilling and riveting execution method suitable for the riveting of a rocket cabin body in particular, an automatic drilling and riveting execution method suitable for the riveting of a rocket cabin body using the above-mentioned automatic drilling and riveting execution mechanism suitable for the riveting of the rocket cabin body
  • the drilling and riveting method includes the following steps:
  • Step 1 The CNC system controls the automatic drilling and riveting actuator to move to the riveting position, so that the center line of the presser foot 51 coincides with the theoretical center line of the riveting hole, and the center line of the drilling spindle 32 coincides with the center line of the presser foot 51;
  • Step 2 Compress the compression cylinder 54 of the distance measurement module 5 to drive the presser foot 51 to contact the surface of the rocket cabin, and the compression cylinder 54 feeds back its stroke to the CNC system, and the CNC system presses and rivets the drill countersink module 3 and the pins Correct the feed of module 2;
  • Step 3 The drilling spindle 32 of the drilling and countersinking module 3 is aligned with the presser foot 51 and driven by the second servo motor 34 to drill and counter-hole on the surface of the rocket cabin; while the drilling and countersinking module 3 is working, the nailing module 1 is inserted in pairs Nail the riveting module 2 to complete the nailing;
  • Step 4 The sliding saddle 44 of the switching module 4 moves under the driving of the third servo motor 47 to switch the positions of the screw riveting module 2 and the drilling and countersinking module 3, so that the nail nozzle 21 of the screw riveting module 2 is aligned with the presser foot 51 ,
  • the servo electric cylinder 212 drives the nail nozzle 21 to insert the rivet 159 into the prepared hole, and the inspection unit 29 monitors the inserting process. Once an abnormality occurs, the CNC system alarms and stops the inserting action, and if there is no abnormality, the riveting is completed;
  • Step 5 The automatic drilling and riveting actuator moves to the next riveting position, and the sliding saddle 44 of the switching module 4 is driven by the third servo motor 47 to move and switch the positions of the rivet pressing module 2 and the drilling and countersinking module 3, so that the drilling and countersinking module
  • the drilling spindle 32 of 3 is aligned with the presser foot 51, and steps 1-4 are repeated to complete all riveting tasks.
  • the automatic drilling and riveting actuator suitable for the riveting of the rocket cabin body includes a nail shooting module 1, a nail pressing riveting module 2, a drilling countersink module 3, a switching module 4, and a compression distance measuring module 5.
  • the nail shooting module 1 is installed on the side of the sliding seat 42 through the first bracket 11.
  • the stud pressing module 2 and the drilling and countersinking module 3 are installed in parallel on the sliding saddle 44 through the mounting plate 211 and the second bracket 31 respectively.
  • the compression distance measuring module 5 is installed on the plane of the frame 41 through the mounting seat 55.
  • the nail shooting module 1 includes a first bracket 11, a first linear module 12, a first servo motor 13, a pipeline mounting plate 14, a nail shooting unit 15, a nail feeding tube 16, a drag chain 17, and a drag chain bracket 18.
  • the first linear module 12 is installed on the first bracket 11.
  • a plurality of nailing units 15 can be installed on the first linear module 12, each nail The unit 15 is connected to the nail delivery pipe 16, and receives the rivets 159 delivered from the nail cabinet under the nail delivery instruction of the CNC system.
  • the pipeline installation plate 14 is installed on the first linear module 12, the mobile end of the towline 17 is installed on the lower end of the pipeline installation plate 14, and the fixed end is connected to the towline bracket 18 installed on the first bracket 11.
  • the nail feeding tube 16 is neatly arranged on the pipeline installation plate 14 and connected to the nail cabinet via the drag chain 17 to prevent the rivet from being blocked due to the change in the posture of the nail feeding tube 16 during the movement.
  • the first servo motor 13 drives the nailing unit 15, the pipe mounting plate 14, the nail feeding tube 16, and the drag chain 17 to move in the X-axis direction according to the nailing signal sent by the numerical control system to make the nailing unit where the corresponding type of rivet 159 is located. 15 corresponds to the nail nozzle 21.
  • the nail shooting unit 15 includes a pipe joint 151, a nail clip 152, a first coil spring 153, a first rotating shaft 154, a nail pusher 155, an air cylinder 156, a sensor 157 and a bottom plate 158.
  • the bottom plate 158 is fixed to the first linear module 12, the two lobes of the nail clip 152 are connected to the bottom plate 158 through the first rotating shaft 154, and the two lobes of the nail clip 152 are connected by a first coil spring 153. Keep closed under force.
  • a hole is formed between the two petals of the nail clip 152, and the rivet 159 can enter the hole through the pipe joint 151.
  • the nail clamp cylinder 156 drives the nail pusher 155 to squeeze the nail clamp 152 open, and the rivet 159 moves in the nail clamp 152 with the nail pusher 155 and enters the rivet pressing module 2.
  • the sensor 157 is installed on the bottom plate 158 and can determine whether the rivet 159 has entered the rivet pressing module 2 through a signal.
  • a notch 1510 and a supporting section 1511 are designed on the nail pusher 155. The cross-sectional shape of the notch 1510 is the same as that of the rivet 159. During the pushing process of the rivet 159, the notch 1510 and the supporting section 1511 can ensure that the rivet 159 does not overturn and move.
  • the plug riveting module 2 includes a nail nozzle 21, an annular spring 22, a second rotating shaft 23, a push pin 24, a nail nozzle seat 25, a limit pin 26, a second coil spring 27, a riveting die 28, a detection unit 29, a pressing plate 210, Locating pin 211, servo electric cylinder 212 and mounting plate 213.
  • the root of the riveting die 28 is a tapered surface, which can be inserted into the corresponding taper hole of the detecting unit 29, the riveting die 28 is fixed on the detecting unit 29 by the pressing plate 210, and the rotation of the riveting die 28 is restricted by the positioning pin 211.
  • the spiral spring (27) and the nail nozzle holder (25) are sequentially inserted into the riveting die (28).
  • the nail nozzle holder (25) can slide along the riveting die (28) through the push pin (24) inserted into the corresponding hole on the riveting die (28). ), the limit pin (26) limits the sliding range.
  • the two lobes of the nail nozzle 21 are mounted on the nail nozzle holder 25 through the second rotating shaft 23, and the nail nozzle holder 25 and the riveting die 28 are restricted by the limiting pin 26 on the riveting die 28 and the first limiting groove on the nail nozzle holder 25 Between the rotation.
  • the two petals of the nail nozzle 21 can be closed and opened, and the ring spring 22 is embedded in the two petals of the nail nozzle 21 to make it in a closed state.
  • the nail shooting unit 15 squeezes the two petals of the nail nozzle 21 apart so that the rivet 159 is clamped by the nail nozzle 21.
  • the servo electric cylinder 212 is connected with the detection unit 29 to drive it to move along the normal direction of the rocket cabin to complete the nail insertion and riveting.
  • the detection unit 29 includes a housing 291, a bushing 292, a sliding core 293, a third coil spring 294, a displacement sensor 295, and a target plate 296.
  • the bushing 292 is fixed in the housing 291, and the sliding core 293 can slide in the bushing 292.
  • a third coil spring 294 is arranged between the bottom of the sliding core 293 and the bottom of the housing 291 to maintain a certain gap between the bottom of the sliding core 293 and the bottom of the housing 291. 297. The size of the gap 297 can change under the action of external force.
  • a laser sensor 295 is installed on the housing 291, a target board 296 is installed on the sliding core 293, and the current distance 298 from the target board 296 is detected by the displacement sensor 295, and the change of the gap 297 can be known.
  • the displacement sensor 295 is a laser displacement sensor.
  • the gap 297 does not reach a certain numerical range within the specified time, and it is judged that there is a crooked nail or the rivet 159 cannot enter the hole position, and the numerical control system controls the servo electric cylinder 212 to stop moving.
  • the time when the end of the rivet 159 clamped by the nail nozzle 21 reaches the product surface is zero, the gap 297 size L2 changes with time, from 0 to t1, L2 is the maximum, and from t1 to t2, L2 gradually changes from the maximum to 0.
  • the gap 297 size L2 changes with time, from 0 to t3, L2 gradually changes from the maximum value to zero.
  • the drilling and countersinking module 3 includes a second bracket 31, a drilling spindle 32, a second linear module 33, and a second servo motor 34.
  • the second servo motor 34 drives the second linear module 33 to feed the drilling spindle 32 to complete drilling and countersinking.
  • the switching module 4 includes a frame 41, a sliding seat 42, a first linear guide 43, a sliding saddle 44, a ball screw pair 45, a coupling 46, a third servo motor 47, a dust cover 48, and a grating ruler 49.
  • the frame 41 is connected with an automatic drilling and riveting machine, and the drilling and riveting actuators are controlled to operate through a numerical control system.
  • the sliding seat 42 is installed on the frame 41, the sliding seat 42 is provided with a first linear guide 43, the saddle 44 is installed on the sliding block of the first linear guide 43, and the third servo motor 47 drives the ball wire through the coupling 46.
  • the rod pair 45 realizes the reciprocating linear movement of the saddle 44.
  • a dust cover 48 is provided at both ends of the saddle 44 to prevent the entry of drill chips.
  • the switch module 4 is also installed with a grating ruler 49 to realize the precise switching between the drilling and countersinking station and the riveting station, and avoiding stuck nails due to positioning errors during the nail insertion process.
  • the compression distance measurement module 5 includes a pressure foot 51, a pressure rod 52, a second linear guide 53, a compression cylinder 54, a mounting seat 55, and a dust suction pipe 56.
  • a compression cylinder 54 is installed in the inner cavity of the mounting seat 55, a second linear guide 53 is installed on the upper surface, and the second linear guide 53 is connected to the pressing rod 52.
  • the end of the pressing rod 52 is equipped with a pressing foot 51.
  • the pressing foot 51 is made of polyurethane to avoid Damage the product.
  • the pressing cylinder 54 has a stroke reading function.
  • the pressing cylinder 54 drives the pressing rod 52 and the pressing foot 51 along the second linear guide 53 from the initial position to contact with the rocket cabin, and the stroke of the pressing cylinder 54 is fed back to the numerical control In the system, the feed distance of the stud pressing module 2 and the drilling and countersinking module 3 is corrected, and the roundness error of the rocket cabin body processing is automatically compensated.
  • the chip suction pipe 56 is installed on the pressing rod 52 and is used to collect the chips generated during the drilling and countersinking process.
  • the operation process of the automatic drilling and riveting actuator suitable for riveting the rocket cabin body is as follows:
  • Step 1 The numerical control system controls the automatic drilling and riveting actuator to move the automatic drilling and riveting actuator to the riveting position.
  • the center line of the presser foot 51 coincides with the theoretical center line of the riveting hole, and the center line of the drilling spindle 32 and the presser foot 51 The center lines of, coincide, and the nail shooting module 1 injects the first rivet 159 into the nail nozzle 21;
  • Step 2 The pressing cylinder 54 drives the presser foot 51 to contact with the surface of the rocket cabin, and the pressing cylinder 54 feeds back its stroke to the numerical control system.
  • the numerical control system controls the feed rate of the drill countersink module 3 and the stud pressing module 2 Amend
  • Step 3 The second linear module 33 of the drilling and countersinking module 3 drives the drilling spindle 32 to feed, and the drilling and countersinking are completed by drilling and countersinking at the end of the drilling spindle 32;
  • Step 4 The switching module 4 drives the rivet pressing module 2 and the drilling and countersinking module 3 to exchange positions, the servo electric cylinder 212 drives the nail nozzle 21 to insert the rivet 159 into the hole prepared in the previous step, and the inspection unit 15 monitors the insertion process , Once an abnormality occurs, the numerical control system alarms and stops the action of inserting the nail. If there is no abnormality, the riveting is completed.
  • Step 5 The automatic drilling and riveting actuator moves to the next riveting position, and at the same time, the switching module 4 drives the plug-in riveting module 2 and the drilling and countersinking module 3 to exchange positions again, and repeats the above process to complete all the riveting tasks.

Abstract

一种适用于火箭舱体铆接的自动钻铆执行机构与方法，包括射钉模块（1）、插钉压铆模块（2）、钻锪模块（3）、切换模块（4）以及压紧测距模块（5）；压紧测距模块（5）将火箭舱体压紧，钻锪模块（3）在舱体表面完成钻孔或锪孔，同时射钉模块（1）将铆钉（159）注入插钉压铆模块（2）末端，切换模块（4）实现钻锪模块（3）和插钉压铆模块（2）位置交换，插钉压铆模块（2）将铆钉（159）插入制好的孔位中并完成铆接。通过压紧测距模块（5）对舱体位置进行测量，反馈修正制孔和锪孔的进给量，适应舱体的圆度误差。该执行机构能够实现多种型号铆钉的自动上钉及插钉，并对各过程进行检测，避免出现无钉和歪钉的情况，对火箭舱体形成有效保护。

Description

适用于火箭舱体铆接的自动钻铆执行机构与方法 技术领域
本发明涉及自动化装配的一种设备，具体地，涉及一种适用于火箭舱体铆接的自动钻铆执行机构与方法。
背景技术
铆接是火箭舱体在制造过程中的重要工艺，以往是通过在型架上将待铆接的端框、壳段、蒙皮、桁条等零件预装配，通过手工制孔、锪孔，再经过手工插钉，最后进行手工铆接。由于火箭舱体上存在数以万计的铆钉，钻铆过程存在严重噪音，使得人工铆接劳动强度大、对身体易造成伤害且生产效率低下。基于对自动钻铆技术的迫切需求，近年来航天制造企业已逐渐开始引进自动钻铆设备，力求代替人工铆接、提高火箭生产效率。但是在现有自动钻铆设备的使用过程中，一是经常出现卡钉、歪钉以及铆钉不能插入等问题导致停机，影响钻铆效率，而出现这些问题后铆接动作还在继续，造成产品的报废，带来严重经济损失；二是钻铆执行机构集成度不高，体积大、重量重，导致起停时间长、运行速度慢，影响铆接效率；三是火箭舱体零件加工圆度误差大，在缺乏误差补偿功能的情况下，无法对进给距离进行修正，依靠使零件强制变形的方式进行钻铆，无法适应厚度大、难以变形的零件(如壳段)。
公开号为CN101417348A的中国专利文献公开了一种工业机器人用的钻孔末端执行器，包括有主轴单元、进给单元、支承单元。主轴单元包括精密主轴头，主轴电机及驱动，ER夹头柄及刀具，同步带及带轮；进给单元包括直线滚珠导套及专用轴，丝杆螺母副，进给电机及驱动，同步带及带轮；支承单元包括基座，轴座，精密主轴头支座，气缸支座，压头管壳，压脚，前板，后板，电磁阀连接板，主轴电机连接板，限位开关连接板。主轴单元实现钻头的切削速度可调，进给单元实现钻头的进给速度和进给行程可调，支承单元保证了末端执行器的整体刚度。该发明提供的钻孔末端执行器的优点在于，结合机器人使用构成柔性钻削系统，可提高钻孔的效率和精度，减少工人的重复劳动；不足之处在于仅能实现连续的钻孔功能，无 法实现铆接功能，一体化程度低，功能不齐全。
发明内容
针对现有技术中的缺陷，本发明的目的是提供一种适用于火箭舱体铆接的自动钻铆执行机构与方法。
根据本发明的一个方面，提供一种适用于火箭舱体铆接的自动钻铆执行机构，包括射钉模块、插钉压铆模块、钻锪模块、切换模块以及压紧测距模块；所述压紧测距模块将火箭舱体压紧；钻锪模块在舱体表面完成钻孔或锪孔；切换模块实现钻锪模块和插钉压铆模块位置交换；射钉模块将铆钉注入插钉压铆模块末端，插钉压铆模块将铆钉插入制好的孔位中并完成铆接；
所述插钉压铆模块包括铆头、检测单元以及伺服电动缸，伺服电动缸依次连接检测单元、铆头；
所述检测单元包括外壳、滑芯、位移传感器，外壳连接伺服电动缸，滑芯滑动安装于外壳内，滑芯的一端连接铆头，外壳上设置有位移传感器，位移传感器能够测量滑芯和外壳之间的相对位移。
优选地，所述检测单元还包括衬套、第三螺旋弹簧以及目标板；所述衬套设置于外壳内，滑芯能够在衬套内滑动；
所述第三螺旋弹簧沿滑芯滑动方向设置于滑芯另一端与外壳之间，并使得滑芯另一端与外壳之间具有间隙，所述间隙的宽度能够在外力作用下改变；
所述目标板设置于滑芯的周向上并与位移传感器相对，外壳与目标板的对应位置上设置有滑道，所述滑道平行于滑芯滑动方向，目标板在滑芯的带动下能够在所述滑道内滑动；所述位移传感器能够检测自身到目标板的当前距离。
优选地，所述插钉压铆模块还包括安装板，插钉压铆模块通过安装板连接切换模块；
所述铆头包括钉嘴、环形弹簧、第二转轴、推销、钉嘴座、限位销、第二螺旋弹簧、铆模、压板以及定位销；
所述铆模一端为锥面，滑芯与铆模连接的一端设置有锥孔，铆模与滑芯通过锥面与锥孔匹配连接，所述压板将铆模固定在滑芯上，铆模通过定位销限制旋转；
所述第二螺旋弹簧、钉嘴座依次套入铆模，钉嘴座可沿铆模滑动，钉嘴通过第二转轴设置于钉嘴座上；
所述钉嘴座上沿铆膜长度方向上设置有第一限位槽，铆膜上设置有限位销，所述限位销能够在第一限位槽内滑动，限制钉嘴座与铆膜之间的旋转；所述钉嘴座上设置有第二限位槽，铆膜上设置有推销，在第二螺旋弹簧的推力作用下，推销与第二限位槽贴合；
所述钉嘴的两瓣通过环形弹簧压紧连接，射钉模块将铆钉推向钉嘴时将钉嘴的两瓣挤开，使铆钉被钉嘴夹持。
优选地，所述射钉模块包括第一支架、第一直线模组、第一伺服电机、管路安装板、射钉单元、送钉管、拖链以及拖链支架；
所述第一支架连接切换模块，第一支架上安装有第一直线模组，第一直线模组上设置一个或多个射钉单元，所述射钉单元与送钉管一一对应连接；
所述管路安装板安装于第一直线模组上，拖链的移动端与管路安装板的一端连接，拖链的固定端与安装在第一支架上的拖链支架连接；
所述送钉管通过管路安装板从拖链移动端穿入拖链内部并在拖链内部整齐排列，从拖链固定端穿出后连接外部钉柜实现送钉；
所述第一伺服电机安装于第一直线模组的一端，第一伺服电机能够驱动射钉单元、管路安装板、送钉管以及拖链沿第一直线模组运动。
优选地，所述射钉单元包括管接头、钉夹、第一螺旋弹簧、第一转轴、钉推、气缸、传感器以及底板；所述底板与第一直线模组连接，钉夹通过第一转轴与底板连接，钉夹的两瓣通过第一螺旋弹簧压紧连接，两瓣间形成一个铆钉放置孔位，底板上与铆钉放置孔位相对应的位置上设置管接头，管接头连接送钉管；所述底板与铆钉放置孔位相对应的位置上开设有送钉槽，送钉槽延伸到底板边缘，送钉槽内设置有钉推，钉推连接设置在底板上的气缸，钉推在气缸的驱动下能够将铆钉放置孔位放置的铆钉推送到底板边缘进入插钉压铆模块；
所述钉推上设置有扶持段和与铆钉截面形状相同的缺口；
所述底板上设置有传感器，传感器能够检测铆钉是否已进入插钉压铆模块。
优选地，所述钻锪模块包括第二支架、第二直线模组、钻削主轴以及第二伺服电机；所述第二支架、第二直线模组、钻削主轴依次连接，钻削主轴连接第二伺服电机，第二支架连接切换模块。
优选地，所述切换模块包括机架、滑座、第一直线导轨、滑鞍、滚珠丝杆副、联轴器、第三伺服电机、防尘罩以及光栅尺；
所述机架上安装有滑座，滑座上设置有第一直线导轨，第一直线导轨上设置有 光栅尺，滑鞍通过第一直线导轨的滑块与第一直线导轨连接；滑鞍连接射钉模块、插钉压铆模块、钻锪模块，滑鞍两端还设置有防尘罩；所述机架上方连接压紧测距模块；
所述第三伺服电机、滚珠丝杆副设置在机架上，第三伺服电机通过联轴器连接滚珠丝杆副，滚珠丝杆副连接滑鞍；
所述射钉模块的射钉单元末端边缘到插钉压铆模块的钉嘴中心的距离等于插钉压铆模块的钉嘴中心到钻锪模块的钻削主轴中心的距离。
优选地，所述压紧测距模块包括压脚、压杆、第二直线导轨、压紧气缸、安装座以及吸屑管；
所述安装座连接切换模块，安装座上设置压紧气缸和第二直线导轨，压紧气缸具有行程读取功能，压紧气缸连接第二直线导轨的滑块，第二直线导轨的滑块连接压杆；
所述压杆上设置吸屑管和带圆形孔位的压脚，吸屑管连通压脚圆形孔位内部，所述压脚采用聚氨酯材质。
优选地，还包括数控系统，所述数控系统信号连接射钉模块、插钉压铆模块、钻锪模块、切换模块以及压紧测距模块并能够控制射钉模块、插钉压铆模块、钻锪模块、切换模块以及压紧测距模块的运行；
所述数控系统能够根据压紧测距模块的压紧气缸反馈的数据对插钉压铆模块和钻锪模块的进给距离进行修正，自动补偿火箭舱体加工圆度误差；
所述数控系统能够根据位移传感器反馈的当前距离随时间变化的规律判断铆钉是否插入钻锪模块制好的孔位，当铆钉未插入孔位，控制伺服电动缸停止运动。
根据本发明的另一个方面，提供一种适用于火箭舱体铆接的自动钻铆执行方法，包括如下步骤：
步骤1：数控系统控制自动钻铆执行机构运动到铆接位置，使压脚的中心线与铆接孔位理论中心线重合，钻削主轴的中心线与压脚的中心线重合；
步骤2：压紧测距模块的压紧气缸驱动压脚与火箭舱体表面接触，压紧气缸将其行程反馈到数控系统中，数控系统对钻锪模块和插钉压铆模块的进给量进行修正；
步骤3：钻锪模块的钻削主轴对准压脚并通过第二伺服电机驱动在火箭舱体表面钻孔和锪孔；钻锪模块工作的同时，射钉模块对插钉压铆模块完成上钉；
步骤4：切换模块的滑鞍在第三伺服电机驱动下运动切换插钉压铆模块与钻锪 模块的位置，使得插钉压铆模块的钉嘴对准压脚，伺服电动缸驱动钉嘴将铆钉插入制好的孔位中，通过检测单元监控插钉过程，一旦出现异常，数控系统报警并停止插钉动作，无异常则完成压铆；
步骤5：自动钻铆执行机构运动到下一个铆接位置，切换模块的滑鞍在第三伺服电机驱动下运动切换插钉压铆模块与钻锪模块的位置，使得钻锪模块的钻削主轴对准压脚，重复步骤1-4，完成所有铆接任务。
与现有技术相比，本发明具有如下的有益效果：
1、本发明可根据工件铆接所需，在射钉模块设置多个射钉单元，铆钉规格可灵活调整，能适应多种类型的工件加工；射钉单元的钉推上设置扶持段和缺口，保证铆钉不出现倾覆和窜动，避免铆钉脱出；射钉单元上设置有传感器，可实现对铆钉是否已进入插钉压铆模块的检测，以防止漏钉情况，对加工工件形成有效保护。
2、本发明在插钉压铆模块设置检测单元，能够检测铆钉是否被正确插入工件，避免卡钉、歪钉以及铆钉不能插入等问题导致的停机、影响钻铆效率甚至造成产品报废等问题。
3、本发明根据工艺要求，设置压紧测距模块，压紧测距模块的压紧装置实现在钻孔、铆接之前的压紧工作，减小间隙，提高末端执行器刚度，改善制孔、铆接工作条件；压紧测距模块的压紧气缸具有行程读取功能，能够反馈控制插钉压铆模块和钻锪模块的进给距离，自动补偿火箭舱体加工圆度误差。
4、本发明在压紧测距模块设置有吸屑管，确保钻孔和锪孔过程中产生的碎屑可以通过吸屑管排出，避免影响后续操作。
5、本发明在使用时，钻锪模块工作的同时，射钉模块可对插钉压铆模块完成上钉，提高了航天部件的装配效率。
6、本发明将工件，特别是航天工件装配中的铆接环节，通过高度集成一体化的自动钻铆执行机构来完成，其包含实现钻孔、锪窝、除屑、铆接全过程的功能模块，过程控制中具有检测、定位、转换等功能模块，通过与机器人或数控系统集成，实现在火箭舱体数字化装配生产线中的应用，通过与生产信息管理系统及自动化物流系统的集成，实现整个生产过程的数字化管理；该执行机构高度集成，功能全面，结构紧凑，提高了航天部件的装配质量及装配效率。
附图说明
通过阅读参照以下附图对非限制性实施例所作的详细描述，本发明的其它特征、目的和优点将会变得更明显：
图1为本发明适用于火箭舱体铆接的自动钻铆执行机构的立体结构示意图。
图2为本发明射钉模块的第一视角立体结构示意图。
图3为本发明射钉模块的第二视角立体结构示意图。
图4为本发明射钉模块的第三视角立体结构示意图。
图5为本发明射钉单元的后视图。
图6为本发明射钉单元的第一视角立体结构示意图。
图7为本发明射钉单元的第二视角立体结构示意图。
图8为本发明钉推将铆钉从射钉单元推向插钉压铆模块的第一状态示意图。
图9为本发明钉推将铆钉从射钉单元推向插钉压铆模块的第二状态示意图。
图10为本发明钉推将铆钉从射钉单元推向插钉压铆模块的第三状态示意图。
图11为射钉单元的侧视图。
图12为本发明插钉压铆模块的立体结构示意图。
图13为本发明检测单元与铆头的左视图。
图14为本发明射钉模块将铆钉注入插钉压铆模块的示意图。
图15为本发明检测单元的立体结构示意图。
图16为本发明检测单元的剖面图。
图17为本发明检测单元与铆头的剖面图。
图18为本发明铆钉正常插入孔位时，间隙宽度随时间的变化曲线。
图19为本发明铆钉不能正常插入孔位时，间隙宽度随时间的变化曲线。
图20为本发明钻锪模块的立体结构示意图。
图21为本发明切换模块的第一立体结构示意图。
图22为本发明切换模块的第二立体结构示意图。
图23为压紧测距模块的立体结构示意图。
图中示出：
1-射钉模块        1511-扶持段      293-滑芯          41-机架
11-第一支架       16-送钉管        294-第三螺旋弹簧  42-滑座
12-第一直线模组   17-拖链          295-位移传感器    43-第一直线导轨
13-第一伺服电机   18-拖链支架      296-目标板        44-滑鞍
14-管路安装板      2-插钉压铆模块    297-间隙           45-滚珠丝杆副
15-射钉单元        21-钉嘴           298-当前距离       46-联轴器
151-管接头         22-环形弹簧       210-压板           47-第三伺服电机
152-钉夹           23-第二转轴       211-定位销         48-防尘罩
153-第一螺旋弹簧   24-推销           212-伺服电动缸     49-光栅尺
154-第一转轴       25-钉嘴座         213-安装板         5-压紧测距模块
155-钉推           26-限位销         3-钻锪模块         51-压脚
156-气缸           27-第二螺旋弹簧   31-第二支架        52-压杆
157-传感器         28-铆模           32-钻削主轴        53-第二直线导轨
158-底板           29-检测单元       33-第二直线模组    54-压紧气缸
159-铆钉           291-外壳          34-第二伺服电机    55-安装座
1510-缺口          292-衬套          4-切换模块         56-吸屑管
具体实施方式
下面结合具体实施例对本发明进行详细说明。以下实施例将有助于本领域的技术人员进一步理解本发明，但不以任何形式限制本发明。应当指出的是，对本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变化和改进。这些都属于本发明的保护范围。
在本申请的描述中，需要理解的是，术语“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
根据本发明的一个方面，提供一种适用于火箭舱体铆接的自动钻铆执行机构，包括射钉模块1、插钉压铆模块2、钻锪模块3、切换模块4以及压紧测距模块5；所述压紧测距模块5将火箭舱体压紧；钻锪模块3在舱体表面完成钻孔或锪孔；切换模块4实现钻锪模块3和插钉压铆模块2位置交换；射钉模块1将铆钉159注入插钉压铆模块2末端，插钉压铆模块2将铆钉159插入制好的孔位中并完成铆接；所述插钉压铆模块2包括铆头、检测单元29以及伺服电动缸212，伺服电动缸212依次连接检测单元29、铆头；所述检测单元包括外壳291、滑芯293、位移传感器295，外壳291连接伺服电动缸 212，滑芯293滑动安装于外壳291内，滑芯293的一端连接铆头，外壳291上设置有位移传感器295，位移传感器295能够测量滑芯293和外壳291之间的相对位移。
所述检测单元29还包括衬套292、第三螺旋弹簧294以及目标板296；所述衬套设置于外壳291内，滑芯293能够在衬套292内滑动；所述第三螺旋弹簧294沿滑芯293滑动方向设置于滑芯293另一端与外壳291之间，并使得滑芯293另一端与外壳291之间具有间隙297，所述间隙297的宽度能够在外力作用下改变；所述目标板296设置于滑芯293的周向上并与位移传感器295相对，外壳291与目标板296的对应位置上设置有滑道，所述滑道平行于滑芯293滑动方向，目标板296在滑芯293的带动下能够在所述滑道内滑动；所述位移传感器295能够检测自身到目标板296的当前距离298。优选地，所述位移传感器为激光位移传感器。
滑芯293底部与外壳291底部之间设置第三螺旋弹簧294，第三螺旋弹簧294的张力使得滑芯293底部与外壳291底部之间具有间隙297，外壳291的顶部设置有固定板，使得滑芯293的顶部无法滑出外壳291的顶部，滑芯293只能在外壳291内部沿衬套292滑动；间隙297的宽度会在外力作用下发生改变，在滑芯293未受到外力作用或者受到向顶部的作用力时，由于固定板限制了滑芯293向外滑动，间隙297的宽度保持在最大值，当滑芯293受到向底部的作用力时，间隙297的宽度会逐渐缩小。在滑芯293周向上设置目标板296，在外壳291上设置与目标板296相对的位移传感器295，通过位移传感器295实时测量其与目标板296的当前距离298即可知间隙297的宽度变化。
所述插钉压铆模块2还包括安装板213，插钉压铆模块2通过安装板213连接切换模块4；所述铆头包括钉嘴21、环形弹簧22、第二转轴23、推销24、钉嘴座25、限位销26、第二螺旋弹簧27、铆模28、压板210以及定位销211；所述铆模28一端为锥面，滑芯293与铆模28连接的一端设置有锥孔，铆模28与滑芯293通过锥面与锥孔匹配连接，所述压板210将铆模28固定在滑芯293上，铆模28通过定位销211限制旋转；所述第二螺旋弹簧27、钉嘴座25依次套入铆模28，钉嘴座25可沿铆模28滑动，钉嘴21通过第二转轴23设置于钉嘴座25上；所述钉嘴座25上沿铆膜28长度方向上设置有第一限位槽，铆膜28上设置有限位销26，所述限位销26能够在第一限位槽内滑动，限制钉嘴座25与铆膜28之间的旋转；所述钉嘴座25上设置有第二限位槽，铆膜28上设置有推销24，在第二螺旋弹簧27的推力作用下，推销24与第二限位槽贴合；所述钉嘴21的两瓣通过环形弹簧22压紧连接，射钉模块1将铆钉159推向钉嘴21时将钉嘴21的两瓣挤开，使铆钉159被钉嘴21夹持。优选地，所述安装板213设置在检测单元29 和伺服电动缸212之间。插钉压铆模块2工作时，钉嘴21接收从射钉模块1送来的铆钉159，伺服电动缸驱动检测单元29和铆头运动以完成插钉和铆接过程。
所述射钉模块1包括第一支架11、第一直线模组12、第一伺服电机13、管路安装板14、射钉单元15、送钉管16、拖链17以及拖链支架18；所述第一支架11连接切换模块4，第一支架11上安装有第一直线模组12，第一直线模组12上设置一个或多个射钉单元15，所述射钉单元15与送钉管16一一对应连接；所述管路安装板14安装于第一直线模组12上，拖链17的移动端与管路安装板14的一端连接，拖链17的固定端与安装在第一支架11上的拖链支架18连接；所述送钉管16通过管路安装板14从拖链17移动端穿入拖链17内部并在拖链17内部整齐排列，从拖链17固定端穿出后连接外部钉柜实现送钉；所述第一伺服电机13安装于第一直线模组12的一端，第一伺服电机13能够驱动射钉单元15、管路安装板14、送钉管16以及拖链17沿第一直线模组12运动。
所述射钉单元15包括管接头151、钉夹152、第一螺旋弹簧153、第一转轴154、钉推155、气缸156、传感器157以及底板158；所述底板158与第一直线模组12连接，钉夹152通过第一转轴154与底板158连接，钉夹152的两瓣通过第一螺旋弹簧153压紧连接，两瓣间形成一个铆钉放置孔位，底板158上与铆钉放置孔位相对应的位置上设置管接头151，管接头151连接送钉管16；所述底板158与铆钉放置位置相对应的位置上开设有送钉槽，送钉槽延伸到底板158边缘，送钉槽内设置有钉推155，钉推155连接设置在底板158上的气缸156，钉推155在气缸156的驱动下能够将铆钉放置位置放置的铆钉159推送到底板158边缘进入插钉压铆模块2；所述钉推155上设置有扶持段1511和与铆钉159截面形状相同的缺口1510；所述底板158上设置有传感器157，传感器157能够检测铆钉159是否已进入插钉压铆模块2。
射钉模块1工作时，由于射钉模块1上设置有一个或多个射钉单元15，每个射钉单元15对应一种型号的铆钉159，多个射钉单元15对应多种型号的铆钉159，因此首先需要控制第一伺服电机13驱动射钉单元15、管路安装板14、送钉管16以及拖链17沿第一直线模组12运动，使得指定型号铆钉159所对应的射钉单元15与插钉压铆模块2的钉嘴21相对；其次，外部钉柜接受送钉指令将指定型号的铆钉159通过送钉管16输送给射钉单元15，为避免送钉管16在运动过程中姿态发生变化而导致铆钉159通行不畅，让送钉管16贯穿拖链17并在拖链17内部整齐排列；铆钉159从射钉单元15的管接头151进入，到达钉夹152的铆钉放置孔位，钉推155在气缸156的驱动下将铆钉159从铆钉放置孔位推到底板158边缘，使铆钉159进入插钉压铆模块2，钉推155上设置 的扶持段1511和缺口1510，可保证铆钉159在移动过程中不出现倾覆和窜动，避免铆钉159脱出；最后，底板158上设置的传感器157判断铆钉159是否已进入插钉压铆模块2，以防止漏钉情况，对火箭舱体形成有效保护。
所述钻锪模块3包括第二支架31、第二直线模组33、钻削主轴32以及第二伺服电机34；所述第二支架31、第二直线模组33、钻削主轴32依次连接，钻削主轴32连接第二伺服电机34，第二支架31连接切换模块4。钻锪模块3工作时，钻削主轴32在第二伺服电机34的驱动下，沿着第二直线模组33滑动以实现钻孔和锪孔。优选地，当工件将要钻透时，第二伺服电机34调整钻削主轴32的进给速度，控制钻头轴向力，以减小铆钉出口的毛刺，钻通材料后，钻削主轴32继续进给，进行锪窝。
所述切换模块4包括机架41、滑座42、第一直线导轨43、滑鞍44、滚珠丝杆副45、联轴器46、第三伺服电机47、防尘罩48以及光栅尺49；所述机架41上安装有滑座42，滑座42上设置有第一直线导轨43，第一直线导轨43上设置有光栅尺49，滑鞍44通过第一直线导轨43的滑块与第一直线导轨43连接；滑鞍4连接射钉模块1、插钉压铆模块2、钻锪模块3，滑鞍44两端还设置有防尘罩48；所述机架41上方连接压紧测距模块5；所述第三伺服电机47、滚珠丝杆副45设置在机架41上，第三伺服电机47通过联轴器46连接滚珠丝杆副45，滚珠丝杆副45连接滑鞍44；所述射钉模块1的射钉单元15末端边缘到插钉压铆模块2的钉嘴21中心的距离等于插钉压铆模块2的钉嘴21中心到钻锪模块3的钻削主轴32中心的距离。切换模块工作时，第三伺服电机47通过联轴器46驱动滚珠丝杆副45，使得滑鞍44以直线运动的方式进行铆接工位和制孔工位的转换，滑鞍44在运动时，第一直线导轨43上的光栅尺49准确测量滑鞍44行程以实现钻锪工位和铆接工位的精确切换，避免插钉过程因定位误差出现卡钉。
所述压紧测距模块5包括压脚51、压杆52、第二直线导轨53、压紧气缸54、安装座55以及吸屑管56；所述安装座55连接切换模块4，安装座55上设置压紧气缸54和第二直线导轨53，压紧气缸54具有行程读取功能，压紧气缸54连接第二直线导轨53的滑块，第二直线导轨53的滑块连接压杆52；所述压杆52上设置吸屑管56和带圆形孔位的压脚51，吸屑管56连通压脚51圆形孔位内部，所述压脚51采用聚氨酯材质。压紧测距模块5工作时，压紧气缸54驱动压杆52沿直线导轨53从初始位置运动到压脚51与火箭舱体接触，压紧气缸54具有行程读取功能，其将行程反馈到数控系统中，以对插钉压铆模块2和钻锪模块3的进给距离进行修正，自动补偿火箭舱体加工圆度误差；压脚51带有圆形孔位，压脚51压紧工件后，钻锪模块3的钻削主轴32通过该孔 位完成钻孔和锪孔，钻孔和锪孔过程中产生的碎屑通过吸屑管56及时排出，以避免影响后续操作，并保持工作环境整洁，压脚51采用聚氨酯材质，以避免损坏火箭舱体表面；切换模块4切换插钉压铆模块2和钻锪模块3位置后，插钉压铆模块2的钉嘴21也通过压脚51的圆形孔位完成插钉。优选地，压杆52为折形压杆，折形设计可以减少压杆52的施力面积，进一步提升压紧性能。
还包括数控系统，所述数控系统信号连接射钉模块1、插钉压铆模块2、钻锪模块3、切换模块4以及压紧测距模块5并能够控制射钉模块1、插钉压铆模块2、钻锪模块3、切换模块4以及压紧测距模块5的运行；所述数控系统能够根据压紧测距模块5的压紧气缸54反馈的数据对插钉压铆模块2和钻锪模块3的进给距离进行修正，自动补偿火箭舱体加工圆度误差；所述数控系统能够根据位移传感器295反馈的当前距离298随时间变化的规律判断铆钉159是否插入钻锪模块3制好的孔位，当铆钉159未插入孔位，控制伺服电动缸212停止运动，避免卡钉、歪钉以及铆钉不能插入等问题导致的停机、影响钻铆效率甚至造成产品报废等问题。
数控系统信号连接射钉模块1、插钉压铆模块2、钻锪模块3、切换模块4以及压紧测距模块5并向这些模块发出指令，此外，数控系统也可信号连接外部钉柜并向外部钉柜下达送钉指令。
在适用于火箭舱体铆接的自动钻铆执行机构工作时，第一，数控系统控制适用于火箭舱体铆接的自动钻铆执行机构运动到铆接位置，使压脚51的中心线与铆接孔位理论中心线重合，钻削主轴32的中心线与压脚51的中心线重合。
第二，数控系统向压紧测距模块5发出压紧指令，压紧气缸54驱动压脚51与火箭舱体表面接触并将压脚的行程反馈到数控系统中，数控系统将根据压紧气缸54反馈的数据修正钻锪模块3和插钉压铆模块2的进给量。
第三，数控系统向钻锪模块3发出钻孔和锪孔指令，钻锪模块3的钻削主轴32对准压脚51的圆形孔位并通过第二伺服电机34驱动在火箭舱体表面钻孔和锪孔，钻孔和锪孔过程中产生的碎屑由压紧测距模块5的吸屑管56吸走排出；在钻锪模块工作的同时，数控系统向外部钉柜下达送钉指令，外部钉柜将指定型号的铆钉159通过送钉管16输送到射钉单元15，数控系统再向第一伺服电机13发送指令，第一伺服电机13驱动射钉单元15、管路安装板14、送钉管16以及拖链17沿第一直线模组12运动使得指定型号铆钉159所对应的射钉单元15与插钉压铆模块2的钉嘴21相对，射钉单元15的钉推155将铆钉159推入到钉嘴21中。
第四，数控系统向切换模块4下达切换指令，切换模块4的滑鞍44在第三伺服电机47驱动下运动切换插钉压铆模块2与钻锪模块3的位置，使得插钉压铆模块2的钉嘴21对准压脚51。
第五，如图18所示，铆头将铆钉159送入钻锪模块3钻好的孔位中，以钉嘴21夹持的铆钉159末端到达工件表面时刻为零时刻，在0到t1阶段，铆头在伺服电动缸212的驱动力下将铆钉159逐渐插入孔位中，此过程中滑芯293未受到向底部的作用力，间隙297的宽度即L2保持最大值(即图中所示的max值)，铆钉159完全插入后，铆头继续向靠近工件方向运动，由于铆模28已将铆钉159压紧在工件表面，滑芯293将受到一个向底部的作用力，第三螺旋弹簧294受力压缩，间隙297的宽度从t1到t2逐渐缩小直至为0。数控系统判断出此时插钉压铆模块2的状态无异常，继续完成压铆，并进行第六步。
数控系统纪录有以上正常状态下间隙297与时间的变化关系，当间隙297未在一定时间到达一定数值范围，数控系统将判断出现歪钉或铆钉无法进入孔位等情况。如图19所示，当出现歪钉或铆钉无法插入孔位等情况时，以钉嘴21夹持的铆钉159末端到达工件表面时刻为零时刻，铆头在伺服电动缸212的驱动下给铆钉159不断施加向前的作用力，而铆钉159无法正常进入孔位中，这使得铆头受到远离工件表面方向的作用力，在该力作用下，第三螺旋弹簧294压缩，滑芯293向底部滑移，间隙297的宽度从0到t3时刻逐渐缩小直至为0。数控系统识别到此时间隙297与时间的变化关系不符合预设变化关系，判断插钉过程不正常，控制伺服电动缸212停止运动，插钉压铆模块2停止插钉动作。
第六，数控系统控制适用于火箭舱体铆接的自动钻铆执行机构运动到下一个铆接位置，并再次向切换模块发出切换指令，切换模块4的滑鞍44在第三伺服电机47驱动下运动切换插钉压铆模块2与钻锪模块3的位置，使得钻锪模块3的钻削主轴32对准压脚51，重复以上步骤，完成所有铆接任务。
根据本发明的另一个方面，提供一种适用于火箭舱体铆接的自动钻铆执行方法，尤其是采用了上述适用于火箭舱体铆接的自动钻铆执行机构的适用于火箭舱体铆接的自动钻铆方法，包括如下步骤：
步骤1：数控系统控制自动钻铆执行机构运动到铆接位置，使压脚51的中心线与铆接孔位理论中心线重合，钻削主轴32的中心线与压脚51的中心线重合；
步骤2：压紧测距模块5的压紧气缸54驱动压脚51与火箭舱体表面接触，压紧气 缸54将其行程反馈到数控系统中，数控系统对钻锪模块3和插钉压铆模块2的进给量进行修正；
步骤3：钻锪模块3的钻削主轴32对准压脚51并通过第二伺服电机34驱动在火箭舱体表面钻孔和锪孔；钻锪模块3工作的同时，射钉模块1对插钉压铆模块2完成上钉；
步骤4：切换模块4的滑鞍44在第三伺服电机47驱动下运动切换插钉压铆模块2与钻锪模块3的位置，使得插钉压铆模块2的钉嘴21对准压脚51，伺服电动缸212驱动钉嘴21将铆钉159插入制好的孔位中，通过检测单元29监控插钉过程，一旦出现异常，数控系统报警并停止插钉动作，无异常则完成压铆；
步骤5：自动钻铆执行机构运动到下一个铆接位置，切换模块4的滑鞍44在第三伺服电机47驱动下运动切换插钉压铆模块2与钻锪模块3的位置，使得钻锪模块3的钻削主轴32对准压脚51，重复步骤1-4，完成所有铆接任务。
优选实施例：
根据本发明提供的适用于火箭舱体铆接的自动钻铆执行机构，包括射钉模块1、插钉压铆模块2、钻锪模块3、切换模块4、压紧测距模块5。射钉模块1通过第一支架11安装在滑座42侧面。插钉压铆模块2和钻锪模块3分别通过安装板211和第二支架31并列安装在滑鞍44上。压紧测距模块5通过安装座55安装在机架41上平面。
射钉模块1包括第一支架11、第一直线模组12、第一伺服电机13、管路安装板14、射钉单元15、送钉管16、拖链17、拖链支架18。第一直线模组12安装在第一支架11上，根据火箭舱体铆接所需的铆钉159的规格，可在第一直线模组12上安装多个射钉单元15，每个射钉单元15与送钉管16连接，在数控系统的送钉指令下接收从钉柜中输送的铆钉159。管路安装板14安装在第一直线模组12上，拖链17移动端安装在管路安装板14下端，固定端与安装在第一支架11上的拖链支架18连接。送钉管16在管路安装板14上整齐排列，并经由拖链17与钉柜连接，避免因送钉管16在运动过程中姿态发生变化而导致铆钉通行不畅。第一伺服电机13根据数控系统发出的要钉信号，驱动射钉单元15、管路安装板14、送钉管16、拖链17在X轴方向运动，使相应型号铆钉159所在的射钉单元15与钉嘴21对应。
所述射钉单元15包括管接头151、钉夹152、第一螺旋弹簧153、第一转轴154、钉推155、气缸156、传感器157、底板158。底板158与第一直线模组12固定，钉夹152的两瓣通过第一转轴154与底板158连接，钉夹152的两瓣之间以第一螺旋弹簧153连接，在第一螺旋弹簧153力作用下保持闭合状态。
钉夹152的两瓣中间形成一个孔位，铆钉159可通过管接头151进入该孔位中。钉夹气缸156驱动钉推155可将钉夹152挤开，铆钉159随钉推155在钉夹152内移动，进入插钉压铆模块2中。传感器157安装在底板158上，可通过信号判断铆钉159是否已进入插钉压铆模块2中。钉推155上设计缺口1510和扶持段1511，缺口1510的截面形状与铆钉159的截面形状相同，在铆钉159推送过程中，缺口1510和扶持段1511可保证铆钉159不出现倾覆和窜动。
插钉压铆模块2包括钉嘴21、环形弹簧22、第二转轴23、推销24、钉嘴座25、限位销26、第二螺旋弹簧27、铆模28、检测单元29、压板210、定位销211、伺服电动缸212以及安装板213。所述铆模28根部为锥面，可插入检测单元29相应锥孔内，以压板210将铆模28固定在检测单元29上，并通过定位销211限制铆模28旋转。螺旋弹簧(27)、钉嘴座(25)依次套入铆模(28)，钉嘴座(25)可沿铆模(28)滑动，通过插入铆模(28)上相应孔的推销(24)、限位销(26)限制滑动范围。钉嘴21的两瓣通过第二转轴23安装在钉嘴座25上，通过铆模28上的限位销26以及钉嘴座25上的第一限位槽限制钉嘴座25与铆模28之间的转动。钉嘴21的两瓣可实现闭合和张开，环形弹簧22嵌入钉嘴21的两瓣中，使其处于闭合状态。
射钉单元15将铆钉推向钉嘴21过程中，将钉嘴21的两瓣挤开，使铆钉159被钉嘴21夹持。伺服电动缸212与检测单元29连接，驱动其沿火箭舱体法向运动，完成插钉和铆接。
所述检测单元29包括外壳291、衬套292、滑芯293、第三螺旋弹簧294、位移传感器295、目标板296。衬套292固定在外壳291内，滑芯293可在衬套292内滑移，滑芯293底部与外壳291底部之间设置第三螺旋弹簧294，使滑芯293底部与外壳291底部保持一定间隙297，在外力作用下间隙297大小可发生变化。在外壳291上安装激光传感器295，在滑芯293上安装目标板296，通过位移传感器295检测其到目标板296的当前距离298，可知间隙297的变化情况。优选地，所述位移传感器295为激光位移传感器。
间隙297未在规定时间内到达一定数值范围，判断出现歪钉或铆钉159无法进入孔位，数控系统控制伺服电动缸212停止运动。以钉嘴21夹持的铆钉159末端到达产品表面时刻为零时刻，间隙297大小L2随时间变化，0到t1时刻，L2为最大值，t1到t2时刻，L2由最大值逐渐变为0。参见图18，以钉嘴21夹持的铆钉159末端到达产品表面时刻为零时刻，间隙297大小L2随时间变化，0到t3时刻，L2由最大值逐渐变为 0。
钻锪模块3包括第二支架31、钻削主轴32、第二直线模组33、第二伺服电机34。第二伺服电机34驱动第二直线模组33使钻削主轴32进给，完成钻孔、锪孔。
切换模块4包括机架41、滑座42、第一直线导轨43、滑鞍44、滚珠丝杆副45、联轴器46、第三伺服电机47、防尘罩48、光栅尺49。机架41与自动钻铆机连接，通过数控系统控制钻铆执行机构运行。滑座42安装在机架41上，滑座42上设置第一直线导轨43，滑鞍44安装在第一直线导轨43滑块上，第三伺服电机47通过联轴器46驱动滚珠丝杆副45，实现滑鞍44的往复直线运动。滑鞍44两端设置防尘罩48，避免钻屑进入。切换模块4还安装了光栅尺49，实现钻锪工位和铆接工位的精确切换，避免插钉过程因定位误差出现卡钉。
压紧测距模块5包括压脚51、压杆52、第二直线导轨53、压紧气缸54、安装座55、吸屑管56。安装座55内腔安装压紧气缸54，上平面安装第二直线导轨53，第二直线导轨53滑块与压杆52连接，压杆52末端安装压脚51，压脚51采用聚氨酯材质，避免损伤产品。所述压紧气缸54具有行程读取功能，压紧气缸54驱动压杆52和压脚51沿第二直线导轨53从初始位置运动到与火箭舱体接触，压紧气缸54的行程反馈到数控系统中，对插钉压铆模块2和钻锪模块3的进给距离进行修正，自动补偿火箭舱体加工圆度误差。吸屑管56安装在压杆52上，用于收集钻锪过程中产生的切屑。
所述适用于火箭舱体铆接的自动钻铆执行机构的作业过程如下：
步骤1：数控系统控制自动钻铆执行机构使自动钻铆执行机构运动到铆接位置，此时压脚51的中心线与铆接孔位理论中心线重合，钻削主轴32的中心线与压脚51的中心线重合，射钉模块1将首颗铆钉159注入钉嘴21中；
步骤2：压紧气缸54驱动压脚51与火箭舱体表面接触，压紧气缸54将其行程反馈到数控系统中，数控系统对钻锪模块3和插钉压铆模块2的进给量进行修正；
步骤3：钻锪模块3的第二直线模组33驱动钻削主轴32进给，通过钻削主轴32末端钻锪一体刀完成钻孔和锪孔；
步骤4：切换模块4驱动插钉压铆模块2与钻锪模块3交换位置，伺服电动缸212驱动钉嘴21将铆钉159插入上一步制好的孔位中，通过检测单元15监控插钉过程，一旦出现异常，数控系统报警并停止插钉动作，无异常则完成压铆。
步骤5：自动钻铆执行机构运动到下一个铆接位置，同时切换模块4再次驱动插钉压铆模块2与钻锪模块3交换位置，重复上述过程，完成所有铆接任务。
以上对本发明的具体实施例进行了描述。需要理解的是，本发明并不局限于上述特定实施方式，本领域技术人员可以在权利要求的范围内做出各种变化或修改，这并不影响本发明的实质内容。在不冲突的情况下，本申请的实施例和实施例中的特征可以任意相互组合。

Claims (10)

  1. 一种适用于火箭舱体铆接的自动钻铆执行机构，其特征在于，包括射钉模块(1)、插钉压铆模块(2)、钻锪模块(3)、切换模块(4)以及压紧测距模块(5)；所述压紧测距模块(5)将火箭舱体压紧；钻锪模块(3)在舱体表面完成钻孔或锪孔；切换模块(4)实现钻锪模块(3)和插钉压铆模块(2)位置交换；射钉模块(1)将铆钉(159)注入插钉压铆模块(2)末端，插钉压铆模块(2)将铆钉(159)插入制好的孔位中并完成铆接；
    所述插钉压铆模块(2)包括铆头、检测单元(29)以及伺服电动缸(212)，伺服电动缸(212)依次连接检测单元(29)、铆头；
    所述检测单元包括外壳(291)、滑芯(293)、位移传感器(295)，外壳(291)连接伺服电动缸(212)，滑芯(293)滑动安装于外壳(291)内，滑芯(293)的一端连接铆头，外壳(291)上设置有位移传感器(295)，位移传感器(295)能够测量滑芯(293)和外壳(291)之间的相对位移。
  2. 根据权利要求1所述的适用于火箭舱体铆接的自动钻铆执行机构，其特征在于，所述检测单元(29)还包括衬套(292)、第三螺旋弹簧(294)以及目标板(296)；所述衬套设置于外壳(291)内，滑芯(293)能够在衬套(292)内滑动；
    所述第三螺旋弹簧(294)沿滑芯(293)滑动方向设置于滑芯(293)另一端与外壳(291)之间，并使得滑芯(293)另一端与外壳(291)之间具有间隙(297)，所述间隙(297)的宽度能够在外力作用下改变；
    所述目标板(296)设置于滑芯(293)的周向上并与位移传感器(295)相对，外壳(291)与目标板(296)的对应位置上设置有滑道，所述滑道平行于滑芯(293)滑动方向，目标板(296)在滑芯(293)的带动下能够在所述滑道内滑动；所述位移传感器(295)能够检测自身到目标板(296)的当前距离(298)。
  3. 根据权利要求1所述的适用于火箭舱体铆接的自动钻铆执行机构，其特征在于，所述插钉压铆模块(2)还包括安装板(213)，插钉压铆模块(2)通过安装板(213)连接切换模块(4)；
    所述铆头包括钉嘴(21)、环形弹簧(22)、第二转轴(23)、推销(24)、钉嘴座(25)、限位销(26)、第二螺旋弹簧(27)、铆模(28)、压板(210)以及定位销(211)；
    所述铆模(28)一端为锥面，滑芯(293)与铆模(28)连接的一端设置有锥孔， 铆模(28)与滑芯(293)通过锥面与锥孔匹配连接，所述压板(210)将铆模(28)固定在滑芯(293)上，铆模(28)通过定位销(211)限制旋转；
    所述第二螺旋弹簧(27)、钉嘴座(25)依次套入铆模(28)，钉嘴座(25)可沿铆模(28)滑动，钉嘴(21)通过第二转轴(23)设置于钉嘴座(25)上；
    所述钉嘴座(25)上沿铆膜(28)长度方向上设置有第一限位槽，铆膜(28)上设置有限位销(26)，所述限位销(26)能够在第一限位槽内滑动，限制钉嘴座(25)与铆膜(28)之间的旋转；所述钉嘴座(25)上设置有第二限位槽，铆膜(28)上设置有推销(24)，在第二螺旋弹簧(27)的推力作用下，推销(24)与第二限位槽贴合；
    所述钉嘴(21)的两瓣通过环形弹簧(22)压紧连接，射钉模块(1)将铆钉(159)推向钉嘴(21)时将钉嘴(21)的两瓣挤开，使铆钉(159)被钉嘴(21)夹持。
  4. 根据权利要求1所述的适用于火箭舱体铆接的自动钻铆执行机构，其特征在于，所述射钉模块(1)包括第一支架(11)、第一直线模组(12)、第一伺服电机(13)、管路安装板(14)、射钉单元(15)、送钉管(16)、拖链(17)以及拖链支架(18)；
    所述第一支架(11)连接切换模块(4)，第一支架(11)上安装有第一直线模组(12)，第一直线模组(12)上设置一个或多个射钉单元(15)，所述射钉单元(15)与送钉管(16)一一对应连接；
    所述管路安装板(14)安装于第一直线模组(12)上，拖链(17)的移动端与管路安装板(14)的一端连接，拖链(17)的固定端与安装在第一支架(11)上的拖链支架(18)连接；
    所述送钉管(16)通过管路安装板(14)从拖链(17)移动端穿入拖链(17)内部并在拖链(17)内部整齐排列，从拖链(17)固定端穿出后连接外部钉柜实现送钉；
    所述第一伺服电机(13)安装于第一直线模组(12)的一端，第一伺服电机(13)能够驱动射钉单元(15)、管路安装板(14)、送钉管(16)以及拖链(17)沿第一直线模组(12)运动。
  5. 根据权利要求4所述的适用于火箭舱体铆接的自动钻铆执行机构，其特征在于，所述射钉单元(15)包括管接头(151)、钉夹(152)、第一螺旋弹簧(153)、第一转轴(154)、钉推(155)、气缸(156)、传感器(157)以及底板(158)；所述底板(158)与第一直线模组(12)连接，钉夹(152)通过第一转轴(154)与底板(158)连接，钉夹(152)的两瓣通过第一螺旋弹簧(153)压紧连接，两瓣间形成一个铆钉放置孔位，底板(158)上与铆钉放置孔位相对应的位置上设置管接头(151)，管接头(151)连接 送钉管(16)；所述底板(158)与铆钉放置孔位相对应的位置上开设有送钉槽，送钉槽延伸到底板(158)边缘，送钉槽内设置有钉推(155)，钉推(155)连接设置在底板(158)上的气缸(156)，钉推(155)在气缸(156)的驱动下能够将铆钉放置孔位放置的铆钉(159)推送到底板(158)边缘进入插钉压铆模块(2)；
    所述钉推(155)上设置有扶持段(1511)和与铆钉(159)截面形状相同的缺口(1510)；
    所述底板(158)上设置有传感器(157)，传感器(157)能够检测铆钉(159)是否已进入插钉压铆模块(2)。
  6. 根据权利要求1所述的适用于火箭舱体铆接的自动钻铆执行机构，其特征在于，所述钻锪模块(3)包括第二支架(31)、第二直线模组(33)、钻削主轴(32)以及第二伺服电机(34)；所述第二支架(31)、第二直线模组(33)、钻削主轴(32)依次连接，钻削主轴(32)连接第二伺服电机(34)，第二支架(31)连接切换模块(4)。
  7. 根据权利要求1所述的适用于火箭舱体铆接的自动钻铆执行机构，其特征在于，所述切换模块(4)包括机架(41)、滑座(42)、第一直线导轨(43)、滑鞍(44)、滚珠丝杆副(45)、联轴器(46)、第三伺服电机(47)、防尘罩(48)以及光栅尺(49)；
    所述机架(41)上安装有滑座(42)，滑座(42)上设置有第一直线导轨(43)，第一直线导轨(43)上设置有光栅尺(49)，滑鞍(44)通过第一直线导轨(43)的滑块与第一直线导轨(43)连接；滑鞍(4)连接射钉模块(1)、插钉压铆模块(2)、钻锪模块(3)，滑鞍(44)两端还设置有防尘罩(48)；所述机架(41)上方连接压紧测距模块(5)；
    所述第三伺服电机(47)、滚珠丝杆副(45)设置在机架(41)上，第三伺服电机(47)通过联轴器(46)连接滚珠丝杆副(45)，滚珠丝杆副(45)连接滑鞍(44)；
    所述射钉模块(1)的射钉单元(15)末端边缘到插钉压铆模块(2)的钉嘴(21)中心的距离等于插钉压铆模块(2)的钉嘴(21)中心到钻锪模块(3)的钻削主轴(32)中心的距离。
  8. 根据权利要求1所述的适用于火箭舱体铆接的自动钻铆执行机构，其特征在于，所述压紧测距模块(5)包括压脚(51)、压杆(52)、第二直线导轨(53)、压紧气缸(54)、安装座(55)以及吸屑管(56)；
    所述安装座(55)连接切换模块(4)，安装座(55)上设置压紧气缸(54)和第二直线导轨(53)，压紧气缸(54)具有行程读取功能，压紧气缸(54)连接第二直线导轨(53)的滑块，第二直线导轨(53)的滑块连接压杆(52)；
    所述压杆(52)上设置吸屑管(56)和带圆形孔位的压脚(51)，吸屑管(56)连通压脚(51)圆形孔位内部，所述压脚(51)采用聚氨酯材质。
  9. 根据权利要求1所述的适用于火箭舱体铆接的自动钻铆执行机构，其特征在于，还包括数控系统，所述数控系统信号连接射钉模块(1)、插钉压铆模块(2)、钻锪模块(3)、切换模块(4)以及压紧测距模块(5)并能够控制射钉模块(1)、插钉压铆模块(2)、钻锪模块(3)、切换模块(4)以及压紧测距模块(5)的运行；
    所述数控系统能够根据压紧测距模块(5)的压紧气缸(54)反馈的数据对插钉压铆模块(2)和钻锪模块(3)的进给距离进行修正，自动补偿火箭舱体加工圆度误差；
    所述数控系统能够根据位移传感器(295)反馈的当前距离(298)随时间变化的规律判断铆钉(159)是否插入钻锪模块(3)制好的孔位，当铆钉(159)未插入孔位，控制伺服电动缸(212)停止运动。
  10. 一种适用于火箭舱体铆接的自动钻铆执行方法，其特征在于，包括如下步骤：
    步骤1：数控系统控制自动钻铆执行机构运动到铆接位置，使压脚(51)的中心线与铆接孔位理论中心线重合，钻削主轴(32)的中心线与压脚(51)的中心线重合；
    步骤2：压紧测距模块(5)的压紧气缸(54)驱动压脚(51)与火箭舱体表面接触，压紧气缸(54)将其行程反馈到数控系统中，数控系统对钻锪模块(3)和插钉压铆模块(2)的进给量进行修正；
    步骤3：钻锪模块(3)的钻削主轴(32)对准压脚(51)并通过第二伺服电机(34)驱动在火箭舱体表面钻孔和锪孔；钻锪模块(3)工作的同时，射钉模块(1)对插钉压铆模块(2)完成上钉；
    步骤4：切换模块(4)的滑鞍(44)在第三伺服电机(47)驱动下运动切换插钉压铆模块(2)与钻锪模块(3)的位置，使得插钉压铆模块(2)的钉嘴(21)对准压脚(51)，伺服电动缸(212)驱动钉嘴(21)将铆钉(159)插入制好的孔位中，通过检测单元(29)监控插钉过程，一旦出现异常，数控系统报警并停止插钉动作，无异常则完成压铆；
    步骤5：自动钻铆执行机构运动到下一个铆接位置，切换模块(4)的滑鞍(44)在第三伺服电机(47)驱动下运动切换插钉压铆模块(2)与钻锪模块(3)的位置，使得钻锪模块(3)的钻削主轴(32)对准压脚(51)，重复步骤1-4，完成所有铆接任务。
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