A flexible press-riveting device assembly

Abstract

The present application relates to a kind of flexible riveting device assembly, including riveting equipment, riveting equipment includes workbench, riveting component and positioning component, riveting component includes riveter, riveter is slidably connected on first Y axis mobile seat along Z axis direction, first Y axis mobile seat is slidably connected on first X axis mobile seat along Y axis direction, and first X axis mobile seat is slidably connected on workbench along X axis direction;Positioning component is connected on workbench, and positioning component includes oppositely arranged end positioning baffle and tight jaw assembly, and lateral positioning component is arranged between end positioning baffle and tight jaw assembly, and lateral positioning component includes first lateral rest and second lateral rest, and tight jaw assembly includes base, and base has jaw, and jaw is driven by tight cylinder to be close to or away from end positioning baffle.The present application can effectively position and rivet to special-shaped structural member or complex structural member, and can effectively improve riveting efficiency.

Description

Technical Field

[0001] This invention relates to the field of riveting technology, and in particular to a flexible riveting device assembly. Background Technology

[0002] A riveting device is a riveting equipment that uses rivets to fix workpieces together. However, existing riveting devices are generally suitable for riveting regular structural parts, but for some irregular or complex structural parts, existing riveting devices cannot effectively position and rivet them, resulting in low riveting efficiency and failing to meet production needs. Summary of the Invention

[0003] Therefore, the technical problem to be solved by the present invention is to overcome the shortcomings of the existing riveting device, which cannot effectively position and rivet some irregular or complex structural parts, resulting in low riveting efficiency.

[0004] To address the aforementioned technical problems, the present invention provides a flexible riveting device assembly, including a riveting device, wherein the riveting device includes,

[0005] Workbench;

[0006] A riveting assembly, comprising a riveting machine, the riveting machine being slidably connected to a first Y-axis movable seat along the Z-axis direction, the first Y-axis movable seat being slidably connected to a first X-axis movable seat along the Y-axis direction, and the first X-axis movable seat being slidably connected to the worktable along the X-axis direction; wherein the X-axis direction and the Y-axis direction are both perpendicular to the Z-axis direction;

[0007] A positioning assembly is connected to the worktable and located on one side of the riveting assembly. The positioning assembly includes an end positioning baffle and a clamping claw assembly disposed opposite to each other. A lateral positioning assembly is disposed between the end positioning baffle and the clamping claw assembly. The lateral positioning assembly includes a first lateral support and a second lateral support disposed opposite to each other. The clamping claw assembly includes a base, on which a claw is slidably connected. The claw is driven by a clamping cylinder to move closer to or away from the end positioning baffle.

[0008] In one embodiment of the present invention, both the end positioning baffle and the claw are provided with positioning grooves.

[0009] In one embodiment of the present invention, a first positioning block and a second positioning block are respectively connected to both sides of the end positioning baffle, and a positioning reference mark is provided on both the first positioning block and the second positioning block.

[0010] In one embodiment of the present invention, the positioning component further includes a clamping cylinder for clamping the workpiece onto the lateral positioning component.

[0011] In one embodiment of the present invention, a first grinding assembly is connected to the bottom of the worktable. The first grinding assembly includes a first grinding machine, which is connected to a second X-axis moving seat. The second X-axis moving seat is slidably connected to the worktable along the X-axis direction.

[0012] In one embodiment of the present invention, the first grinding machine includes a first grinding actuator, a first hydraulic propulsion device and a first motor. The first grinding actuator includes a first drive shaft, on which a first grinding head is connected. The first hydraulic propulsion device is used to drive the first drive shaft to perform linear motion, and the first motor is used to drive the first drive shaft to perform rotational motion.

[0013] In one embodiment of the present invention, a sliding keyway is provided on the first transmission shaft, a drive pulley is connected to the output shaft of the first motor, the drive pulley is connected to the driven pulley via a synchronous belt, the driven pulley is connected to the hollow shaft sleeve via a first connecting key, the first transmission shaft passes through the hollow shaft sleeve, and the sliding keyway on the first transmission shaft and the hollow shaft sleeve are connected by a second connecting key, the second connecting key being slidable along the length direction of the sliding keyway.

[0014] In one embodiment of the present invention, the flexible riveting device assembly further includes a drilling and grinding assembly, which includes a bracket connected to a robotic arm. A main camera and a main motor are connected to the bracket, and a rotating frame is connected to the main motor. A drilling assembly is connected to one side of the rotating frame, and a second grinding assembly is connected to the other side. A central shaft is connected to the bracket and is located inside the rotating frame. The central shaft is connected to the rotating frame via a first rolling bearing. A pressure foot is connected to one end of the central shaft extending out of the rotating frame. A first pressure sensor is connected to the bottom of the pressure foot. A positioning hole is provided on the pressure foot, and a through hole is provided on the first pressure sensor. The through hole and the positioning hole are connected.

[0015] In one embodiment of the present invention, the second grinding assembly includes a second grinding head, a hydraulic cylinder, and a second motor. The second grinding head and the second transmission shaft are connected. The hydraulic cylinder is used to drive the second transmission shaft to perform linear motion, and the second motor is used to drive the second transmission shaft to perform rotational motion.

[0016] In one embodiment of the present invention, the flexible riveting device assembly further includes a bracket device, the bracket device including a frame, on which a drill bit bracket and a grinding head bracket are connected, and both the drill bit bracket and the grinding head bracket include a support frame, the upper part of the support frame is provided with a disc, and the disc is circumferentially provided with a plurality of clamping components.

[0017] The technical solution of the present invention has the following advantages compared with the prior art:

[0018] The flexible riveting device assembly described in this invention can effectively position and rivet some irregular or complex structural parts, and can effectively improve riveting efficiency. Attached Figure Description

[0019] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0020] Figure 1 This is a structural schematic diagram of the flexible riveting device assembly of the present invention;

[0021] Figure 2 yes Figure 1 Assembly diagram of the middle worktable, riveting assembly, positioning assembly and first grinding assembly;

[0022] Figure 3 yes Figure 2 A structural diagram of the structure shown from another angle;

[0023] Figure 4 yes Figure 2 Assembly diagram of the positioning component;

[0024] Figure 5 yes Figure 4 Assembly diagram of the center clamping claw assembly;

[0025] Figure 6 yes Figure 2 Assembly diagram of the medium-pressure riveting assembly;

[0026] Figure 7 yes Figure 6 Schematic diagram of a medium-pressure riveting machine;

[0027] Figure 8 This is an assembly diagram of the riveting machine and the lead screw and nut transmission mechanism;

[0028] Figure 9 yes Figure 2 Assembly diagram of the first polishing component;

[0029] Figure 10 yes Figure 9 Assembly diagram of the first grinding machine and the second X-axis moving base;

[0030] Figure 11 yes Figure 9 An exploded view of the first grinding machine in China;

[0031] Figure 12 yes Figure 11 A schematic diagram of the structure of the first grinding machine after the first motor has been removed;

[0032] Figure 13 yes Figure 12 A schematic diagram of the structure of the first grinding actuator;

[0033] Figure 14 yes Figure 13 A schematic diagram of the structure of the first drive shaft in the middle;

[0034] Figure 15 This is an exploded view of the first hydraulic propulsion device;

[0035] Figure 16 This is a schematic diagram of the connection between the first drive shaft and the hollow bushing;

[0036] Figure 17 This is a schematic diagram of the drilling and grinding assembly in this invention (with the robotic arm removed);

[0037] Figure 18 yes Figure 17 Assembly diagram of the central support and rotating frame;

[0038] Figure 19 yes Figure 18 A schematic diagram of the exploded structure;

[0039] Figure 20 yes Figure 17 A schematic diagram of the structure of the second grinding component;

[0040] Figure 21 This is a schematic diagram of the hanging device in this invention;

[0041] Figure 22 yes Figure 21 Schematic diagram of the middle support frame;

[0042] Figure 23 yes Figure 22 A schematic diagram of the structure of the clamping component;

[0043] Figure 24 This is a schematic diagram of the structural component assembly in its fixed position.

[0044] Figure 25 This is a detailed schematic diagram of the positioning of structural components;

[0045] Figure 26 This is a schematic diagram of the drilling positioning principle;

[0046] Figure 27 This is a simplified diagram of the drilling positioning principle;

[0047] Figure 28 This is a schematic diagram showing the drilling and grinding device and the structural component in a relatively perpendicular state.

[0048] Figure 29 This is a schematic diagram showing the state of the main camera scanning reference B;

[0049] Figure 30 This is a schematic diagram showing the state of the main camera scanning reference A;

[0050] Figure 31 This is a schematic diagram for determining the borehole location;

[0051] Figure 32 This is a schematic diagram of the drilling process;

[0052] Figure 33 yes Figure 32 A magnified view of a portion of point M in the middle;

[0053] Figure 34 This is a schematic diagram showing the grinding status of the top surface of the structural component;

[0054] Figure 35 yes Figure 34 A magnified view of a portion of point N in the diagram;

[0055] Figure 36 This is a schematic diagram showing the grinding process of the bottom surface of the structural component;

[0056] Figure 37 yes Figure 36 A magnified view of a portion of point Q;

[0057] Figure 38 This is a schematic diagram showing the relative positional state of the riveting assembly and the positioning assembly;

[0058] Figure 39 This is an isometric schematic diagram of the first camera positioning (the first camera aligned with the rivet hole);

[0059] Figure 40 This is a schematic diagram of the first camera's positioning (the first camera is aligned with the rivet hole);

[0060] Figure 41 This is a schematic diagram of a riveting machine (riveting head) aligned with the riveting hole to be riveted;

[0061] Figure 42 This is a diagram showing the distance between the centerline of the riveting machine (riveting head) and the centerline of the camera;

[0062] Figure 43 This is a schematic diagram of the panel of the riveting machine (riveting head) touching the top of the structural component assembly;

[0063] Figure 44 yes Figure 43 A magnified view of a portion of point R in the middle;

[0064] Explanation of reference numerals in the instruction manual:

[0065] 10. Workshop flooring;

[0066] 20. Workbench;

[0067] 30. Riveting assembly; 301. Riveting machine; 3011. First camera; 3012. Riveting head; 302. First Y-axis moving seat; 303. First X-axis moving seat; 304. Lead screw; 305. Drive motor; 306. First slide rail; 307. First slider; 308. Rivet;

[0068] 40. Positioning assembly; 401. End positioning baffle; 4011. Positioning groove; 402. Clamping claw assembly; 4021. Base; 4022. Claw; 4023. Clamping cylinder; 403. First lateral support; 404. Second lateral support; 405. First positioning block; 4051. Reference A; 406. Second positioning block; 4061. Reference B; 407. Clamping cylinder; 408. Hydraulic pump;

[0069] 50. First grinding assembly; 501. Second X-axis moving base; 502. First grinding machine; 503. First grinding actuator; 5031. First drive shaft; 50311. Sliding keyway; 5032. First grinding head; 5033. Grinding head clamp; 5034. Transmission support; 5035. Second camera; 504. First hydraulic propulsion device; 505. First motor; 506. Drive pulley; 507. Driven pulley; 508. Synchronous belt; 509. Hollow bushing; 510. First connecting key; 511. Second connecting key; 512. Second pressure sensor;

[0070] 60. Drilling and grinding assembly; 601. Support frame; 602. Robotic arm; 603. Main camera; 604. Main motor; 605. Rotating frame; 606. Drilling assembly; 6061. Drill bit; 607. Second grinding assembly; 6071. Second grinding head; 6072. Hydraulic cylinder; 6073. Second motor; 6074. Quick-change coupling; 608. Central shaft; 609. First rolling bearing; 610. Pressure foot; 6101. Positioning hole; 611. First pressure sensor; 6110. Through hole; 612. EHA hydraulic motor;

[0071] 70. Hanger assembly; 701. Frame; 702. Drill bit hanger; 703. Grinding head hanger; 704. Support frame; 705. Disc body; 706. Clamping assembly; 7061. Clamping part; 7062. Hinge rod; 7063. Anti-loosening nut; 7064. Spring; 7065. Holding block;

[0072] 80. Structural components; 801. Riveting holes; Detailed Implementation

[0073] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0074] Reference Figures 1-3 As shown, this embodiment discloses a flexible riveting device assembly, including a riveting device, which includes a worktable 20, a riveting assembly 30, and a positioning assembly 40. The worktable 20 is set on the workshop floor 10.

[0075] The riveting assembly 30 includes a riveting machine 301, which is used to rivet workpieces. The riveting machine 301 is slidably connected to a first Y-axis moving seat 302 along the Z-axis direction. The first Y-axis moving seat 302 is slidably connected to a first X-axis moving seat 303 along the Y-axis direction. The first X-axis moving seat 303 is slidably connected to a worktable 20 along the X-axis direction.

[0076] The X-axis and Y-axis are both perpendicular to the Z-axis.

[0077] The above settings allow the riveting machine 301 to move in the X-axis, Y-axis and Z-axis directions, making it easy to flexibly adjust the position of the riveting machine 301 to meet the riveting requirements of different workpieces.

[0078] The positioning component 40 is connected to the worktable 20 and located on one side of the riveting component 30. The positioning component 40 includes an end positioning baffle 401 and a clamping claw 4022 component 402 disposed opposite to each other. A lateral positioning component 40 is disposed between the end positioning baffle 401 and the clamping claw 4022 component 402. The lateral positioning component 40 includes a first lateral support 403 and a second lateral support 404 disposed opposite to each other. The clamping claw 4022 component 402 includes a base 4021. A claw 4022 is slidably connected to the base 4021. The claw 4022 is driven by a clamping cylinder 4023 to move closer to or away from the end positioning baffle 401.

[0079] The first lateral support 403 and the second lateral support 404 can limit the side of the workpiece, so that the workpiece is confined between the first lateral support 403 and the second lateral support 404 to prevent it from moving. At the same time, the first lateral support 403 and the second lateral support 404 also support the workpiece, so that the workpiece is supported at a certain height to facilitate subsequent riveting operations.

[0080] In actual use, the workpiece is placed on the first lateral support 403 on the left side and on the second lateral support 404 on the right side. The front side abuts against the end positioning baffle 401, and the rear side abuts against the jaw 4022 of the clamping jaw 4022 assembly 402. The left and right sides here correspond to the X-axis direction.

[0081] When limiting the front and rear sides of the workpiece, the workpiece is placed between the end positioning baffle 401 and the jaw 4022 of the clamping jaw 4022 assembly 402. The clamping cylinder 4023 drives the jaw 4022 to push the workpiece closer to the end positioning baffle 401 until the front side of the workpiece abuts against the end positioning baffle 401. When it is necessary to remove the workpiece, the clamping cylinder 4023 simply drives the jaw 4022 to move backward and disengage from the workpiece.

[0082] The first lateral shelf 403, the second lateral shelf 404, the end positioning baffle 401, and the clamping claw 4022 assembly 402 are all detachably connected to the worktable 20 to facilitate position adjustment.

[0083] The power source for the clamping cylinder 4023 is provided by the hydraulic pump 408.

[0084] With the aforementioned positioning component 40, workpiece positioning can be achieved from multiple directions, which is especially suitable for the effective positioning of some irregular or complex workpieces. The riveting machine 301 can move in the X-axis, Y-axis and Z-axis directions, which facilitates flexible adjustment of the relative position between the riveting machine 301 and the positioning component 40, thereby adapting to the riveting requirements of different workpieces and improving riveting efficiency.

[0085] In one embodiment, a first camera 3011 may be provided on the riveting machine 301 to detect the position of the rivet hole.

[0086] In one embodiment, two riveting machines 301 can be provided on the worktable 20, and each riveting machine 301 can move in the X-axis direction, Y-axis direction and Z-axis direction.

[0087] Furthermore, the end positioning baffle 401 is parallel to the X-axis direction.

[0088] In one implementation, such as Figures 4-5As shown, both the end positioning baffle 401 and the claw 4022 are provided with positioning grooves 4011 to accommodate the workpiece, so that the edge of the workpiece is placed in the corresponding positioning groove 4011 to better position the workpiece.

[0089] Furthermore, the aforementioned positioning groove 4011 is an arc-shaped groove.

[0090] In one embodiment, a first positioning block 405 and a second positioning block 406 are respectively connected to both sides of the end positioning baffle 401. Positioning reference marks are provided on both the first positioning block 405 and the second positioning block 406, namely reference A4051 and reference B4061, respectively. During positioning, one front end of the workpiece abuts against the first positioning block 405, and the other front end abuts against the second positioning block 406, to better limit the workpiece's position. Furthermore, the positioning reference marks on the positioning blocks facilitate precise positioning of the drilling location.

[0091] In one embodiment, the positioning assembly 40 further includes a clamping cylinder 407, which is used to press the workpiece downwards onto the lateral positioning assembly 40, thereby better locking the workpiece and preventing it from moving during subsequent operations. For example, a pressure block is connected to the piston rod of the clamping cylinder 407, and the retraction of the piston rod can drive the pressure block to move downwards and press it onto the workpiece.

[0092] The aforementioned clamping cylinder 407 is a rotary clamping cylinder, which has both rotation and linear extension / retraction functions. The rotation function prevents the clamping block from interfering with structural components during the clamping and positioning process.

[0093] Furthermore, in order to achieve a better locking and positioning effect, a corresponding number of clamping cylinders 407 can be set near the first lateral support 403, a corresponding number of clamping cylinders 407 can be set near the second lateral support 404, and a corresponding clamping cylinder 407 can also be set near the clamping claw 4022 assembly 402, so as to clamp the workpiece from different directions.

[0094] Furthermore, two clamping claw assemblies 402 can be provided on the opposite side of the end positioning baffle 401.

[0095] In one implementation, such as Figures 6-8As shown, the first X-axis moving seat 303 is driven to move in the X-axis direction by the first lead screw 304 nut transmission mechanism. The riveting machine 301 can also be driven to move in the Z-axis direction by the second lead screw 304 nut transmission mechanism. The first Y-axis moving seat 302 is driven to move in the Y-axis direction by the third lead screw 304 nut transmission mechanism. The lead screw 304 nut transmission mechanism typically includes a lead screw 304 and a transmission nut. The drive motor 305 drives the lead screw 304 to rotate, which in turn drives the transmission nut to move linearly along the lead screw 304. In a specific arrangement, the lead screws 304 of the three lead screw 304 nut transmission mechanisms are arranged perpendicular to each other. The transmission nut of the first lead screw 304 nut transmission mechanism is connected to the first X-axis moving seat 303, the transmission nut of the second lead screw 304 nut transmission mechanism is connected to the riveting machine 301, and the transmission nut of the third lead screw 304 nut transmission mechanism is connected to the first Y-axis moving seat 302.

[0096] To ensure the stability of the movement of the first X-axis moving seat 303, a first slide rail 306 is provided on the worktable 20, and a first slider 307 is provided on the first X-axis moving seat 303. The first slider 307 is slidably connected to the first slide rail 306.

[0097] In one embodiment, a first polishing assembly 50 is connected to the bottom of the worktable 20;

[0098] The first polishing assembly 50 includes a first polishing machine, such as... Figure 9 As shown, the first grinding machine is connected to the second X-axis moving base 501. The second X-axis moving base 501 is slidably connected to the worktable 20 along the X-axis direction to facilitate the adjustment of the position of the first grinding machine. The second X-axis moving base 501 can be driven to move in the X-axis direction by the lead screw 304 nut transmission mechanism.

[0099] The first grinding machine is used to grind the burrs and sharp angles at the ends of rivets 308 formed on the bottom surface of the workpiece due to drilling.

[0100] In one implementation, such as Figures 10-12 As shown, the first grinding machine includes a first grinding actuator 503, a first hydraulic propulsion device 504, and a first motor 505. The first grinding actuator 503 includes a first drive shaft 5031, on which a first grinding head 5032 is connected. The first hydraulic propulsion device 504 is used to drive the first drive shaft 5031 to perform linear motion, thereby driving the first grinding head 5032 to perform telescopic motion. The first motor 505 is used to drive the first drive shaft 5031 to perform rotational motion, thereby driving the first grinding head 5032 to rotate and perform grinding action.

[0101] The first hydraulic propulsion device 504 allows the first grinding head 5032 to float. When the contact pressure between the grinding head and the workpiece is too high, the first grinding head 5032 retracts; when the contact pressure is too low, the first grinding head 5032 moves forward to make close contact with the workpiece, ensuring a good grinding effect. This floating of the grinding head achieves flexible grinding. Additionally, the first hydraulic propulsion device can also extend the first grinding head 5032 to contact the workpiece to be ground.

[0102] The aforementioned first hydraulic propulsion device 504 can be an EHA (Electro-Hydraulic Actuator) electric hydraulic propulsion device. The EHA electric hydraulic propulsion device is a device that integrates a hydraulic motor, a hydraulic pump 408, and a hydraulic cylinder 6072. It is an existing technology and will not be described in detail here. The EHA electric hydraulic propulsion device can drive the extension and retraction of the piston rod of the hydraulic cylinder 6072, thereby driving the first transmission shaft 5031 to perform linear motion.

[0103] Furthermore, the first drive shaft 5031 and the first grinding head 5032 can be connected by a grinding head clamp 5033. The grinding head clamp 5033 is used to hold the first grinding head 5032.

[0104] The first drive shaft 5031 is connected to the drive support 5034. The first drive shaft 5031 and the drive support 5034 are connected by bearings, so that the first drive shaft 5031 can rotate relative to the drive support 5034. At the same time, the first drive shaft 5031 can drive the drive support 5034 to move linearly together.

[0105] A second pressure sensor 512 is connected to the transmission support 5034 to detect the grinding pressure. The second pressure sensor 512 can be a membrane sensor.

[0106] A second camera 5035 is connected to the transmission support 5034 to facilitate the detection of the grinding position.

[0107] In one embodiment, the first drive shaft 5031 and the output shaft of the first motor 505 are connected by a belt drive mechanism, which includes a drive pulley 506, a driven pulley 507 and a synchronous belt 508.

[0108] like Figures 13-15As shown, a sliding keyway 50311 is provided on the first drive shaft 5031, and a drive pulley 506 is connected to the output shaft of the first motor 505. The drive pulley 506 is connected to the driven pulley 507 through a synchronous belt 508. The driven pulley 507 is connected to the hollow shaft sleeve 509 through a first connecting key 510. The first drive shaft 5031 passes through the hollow shaft sleeve 509. The sliding keyway 50311 on the first drive shaft 5031 and the hollow shaft sleeve 509 are connected by a second connecting key 511. The second connecting key 511 can slide along the length direction of the sliding keyway 50311.

[0109] The motor drives the active pulley 506 to rotate, which in turn drives the passive pulley 507 to rotate via the synchronous belt 508. The first connecting key 510 of the passive pulley 507 drives the hollow bushing 509 to rotate, and the hollow bushing 509 drives the first transmission shaft 5031 to rotate via the second connecting key 511.

[0110] It should be noted that, as Figure 14 and Figure 16 As shown, the sliding keyway 50311 is a long keyway. When the first drive shaft 5031 moves in a straight line, the second connecting key 511 slides relative to the sliding keyway 50311, so that the second connecting key 511 will not obstruct the straight movement of the first drive shaft 5031.

[0111] Understandably, when using the first grinding machine to grind the workpiece, the first grinding head 5032 needs to be extended out of the worktable 20 to contact the workpiece above. At this time, a strip-shaped through hole can be provided on the worktable 20 so that the first grinding head 5032 can extend out of the strip-shaped through hole and contact the workpiece. At the same time, when the first grinding machine moves horizontally, the grinding head can also move in the strip-shaped through hole.

[0112] In one implementation, such as Figures 17-19 As shown, the above-mentioned flexible riveting device assembly also includes a drilling and grinding assembly 60. The drilling and grinding assembly 60 includes a bracket 601, which is connected to a robotic arm. A main camera 603 and a main motor 604 are connected to the bracket 601. The main motor 604 is connected to a rotating frame 605 to drive the rotating frame 605 to rotate. A drilling assembly 606 is connected to one side of the outside of the rotating frame 605, and a second grinding assembly 607 is connected to the other side. A central shaft 608 is located inside the rotating frame 605 and its end is connected to the bracket. The central shaft 608 is connected to the rotating frame 605 through a first rolling bearing 609 so that the rotating frame 605 can rotate relative to the central shaft 608.

[0113] One end of the central shaft 608 extending out of the rotating frame 605 is connected to a pressure foot 610. The bottom of the pressure foot 610 is connected to a first pressure sensor 611. The pressure foot 610 is provided with a positioning hole 6101. The first pressure sensor 611 is provided with a through hole 6110. The through hole 6110 and the positioning hole 6101 are connected and their axes coincide.

[0114] The main camera 603 can scan the positioning reference marks on the positioning component 40 and synchronously transmit the scanning information to the controller (computer) to accurately determine the position of the hole to be drilled. After determining the position of the hole to be drilled, the pressure foot 610 presses the workpiece, at which point the first pressure sensor 611 presses against the workpiece surface, and the axis of the positioning hole 6101 on the pressure foot 610 coincides with the axis of the hole to be drilled, so as to position the hole to be drilled, so that the drill bit 6061 of the drilling component 606 can be inserted into the positioning hole 6101 to perform drilling operations. In addition, the main camera 603 can also detect the grinding position and the riveting position.

[0115] The first pressure sensor 611 can detect the clamping force of the pressure foot 610 on the workpiece, so as to facilitate timely sensing and control.

[0116] The first pressure sensor 611 can be a membrane sensor.

[0117] The drilling assembly 606 is used to drill holes in the workpiece as required for the riveting operation, and the second grinding assembly 607 is used to grind the burrs formed by drilling the workpiece or the burrs and sharp angles at the ends of the rivets 308.

[0118] The robotic arm enables multi-degree-of-freedom movement of the support 601, thereby allowing for the adjustment of the overall position of the rotating frame, the drilling assembly 606, and the second grinding assembly 607.

[0119] In one implementation, such as Figure 20 As shown, the second grinding assembly 607 includes a second grinding head 6071, a hydraulic cylinder 6072, and a second motor 6073. The second grinding head 6071 is connected to the second transmission shaft. The hydraulic cylinder 6072 is used to drive the second transmission shaft to make linear motion, thereby driving the second grinding head 6071 to make linear motion. The second motor 6073 is used to drive the second transmission shaft to make rotational motion, thereby driving the second grinding head 6071 to make rotational motion to perform grinding operations.

[0120] Driven by the hydraulic cylinder 6072, the second grinding head 6071 can extend to contact the workpiece to be ground. At the same time, the second grinding head 6071 can float. When the contact pressure between the grinding head and the workpiece is too high, the second grinding head 6071 will retract. When the contact pressure between the grinding head and the workpiece is too low, the second grinding head 6071 will move forward to make close contact with the workpiece to ensure the grinding effect. The floating of the grinding head achieves flexible grinding.

[0121] The second grinding assembly 607 is also equipped with a membrane sensor to detect the grinding pressure of the second grinding head 6071, so as to control the extension and retraction of the second grinding head 6071.

[0122] The hydraulic cylinder 6072 described above is powered by an EHA (Electro-Hydraulic Actuator) hydraulic motor 612. The EHA hydraulic motor 612 is a prior art product and will not be described in detail here.

[0123] In one embodiment, the second grinding head 6071 is detachably connected to the grinding head clamp 5033 and the quick-change connector 6074. The quick-change connector 6074 is detachably connected to the second drive shaft, and the second grinding head 6071 can be quickly disassembled through the quick-change connector 6074.

[0124] In one embodiment, the drilling assembly 606 includes a drill bit 6061. The structure of the drilling assembly 606 is basically the same as that of the second grinding assembly 607. The only difference is that the second grinding head 6071 is replaced with the drill bit 6061. This will not be described in detail here.

[0125] In one implementation, such as Figure 21 As shown, the flexible riveting device assembly also includes a bracket device 70, which includes a frame 701. A drill bit 6061 bracket and a grinding head bracket 703 are connected to the frame 701. Both the drill bit 6061 bracket and the grinding head bracket 703 include a support frame 704. A disc 705 is provided on the upper part of the support frame 704. Multiple clamping components 706 are arranged circumferentially on the disc 705 for clamping different drill bits 6061 or grinding heads, so as to facilitate the quick replacement of drill bits 6061 / grinding heads.

[0126] like Figures 22-23 As shown, the clamping assembly 706 includes two clamping parts 7061, both of which are hinged to the disc body 705 via a hinge rod 7062. A clamping space is formed between the two clamping parts 7061 to clamp the drill bit 6061 or a grinding head. A spring 7064 is connected between the two clamping parts 7061. A retaining block 7065 is also provided between the two clamping parts 7061 so that the two clamping parts 7061 can be spread apart by a certain distance.

[0127] When an item (drill bit 6061 or grinding head) is placed between the two clamping parts 7061, the two clamping parts 7061 are opened and clamped by the item, and the spring 7064 is in an extended state. When the item is removed, the two clamping parts 7061 are reset under the action of the spring 7064.

[0128] The end of the aforementioned hinge rod 7062 is connected to an anti-loosening nut 7063 via a thread.

[0129] The following example, using a workpiece-structural component 80 that needs to be riveted, illustrates the usage of the above-mentioned flexible riveting device: The above-mentioned structural component includes a sealing plate and a skeleton.

[0130] 1) such as Figure 24 As shown, the pre-assembled structural component assembly 80 (with the structural component end plate assembled onto the frame) that needs to be riveted and fixed is placed in the positioning assembly 40, so that the structural component assembly 80 is located in the space enclosed by the end positioning baffle 401, the clamping claw 4022 assembly 402, the first lateral support 403, and the second lateral support 404. The clamping cylinder 4023 drives the claw 4022, and the structural component is pressed against the end positioning baffle 401. The clamping cylinder 407 presses the structural component downward, thereby achieving stable and reliable positioning of the structural component assembly 80.

[0131] 2) such as Figures 25-27 As shown, the drilling positioning method is performed using a reference point reverse positioning method: If the positioning reference mark set on the first positioning block 405 is reference A4051, and the positioning reference mark set on the second positioning block 406 is reference B4061, then the main camera 603 on the drilling and grinding device first scans the above-mentioned "reference A4051" and "reference B4061", and transmits the scanning information synchronously to the computer; the computer calculates the relative position (actual drilling position) between the "hole to be drilled" and "reference A4051" and "reference B4061" based on the received "reference A4051" and "reference B4061" information and the "drilling positioning parameters" input by the operator; the computer transmits the calculated drilling position information to the drilling and grinding device so that the drilling and grinding device can be driven to perform locating drilling or grinding on the structural component 80; the drilling positioning method can be selected. Figure 27 a or Figure 27 b.

[0132] Specifically, such as Figure 28 As shown, first start the robot's robotic arm and drilling and grinding device, so that its second grinding component 607 is perpendicular to the structural component component 80.

[0133] Start the robotic arm, such as Figure 29As shown, the main camera 603 mounted on the drilling and grinding device scans the aforementioned "reference B4061" and transmits the scan information synchronously to the computer.

[0134] like Figure 30 As shown, the "reference A4051" is then scanned by the main camera 603 set on the drilling and grinding device, and the scan information is synchronously transmitted to the computer.

[0135] 3) such as Figure 31 As shown, the drilling and grinding device is moved by the control of the robotic arm, so that the positioning hole 6101 of the pressure foot 610 is aligned with the position of the hole to be drilled, thereby realizing the positioning of the hole to be drilled, and causing the end of the first pressure sensor 611 to press against the surface of the structural component sealing plate assembly to be drilled.

[0136] 4) such as Figures 32-33 As shown, keeping the pressure foot 610 stationary, the rotating frame 605 is driven to rotate 90° relative to the central axis 608, so that the drill bit 6061 of the drilling assembly 606 is concentric with the positioning hole 6101 of the pressure foot 610, and the drill bit 6061 passes through the positioning hole 6101 to contact the surface of the structural component assembly 80, thereby confirming that drilling preparation is complete; the drill bit 6061 is driven to rotate to begin drilling the structural component assembly 80; after the hole is drilled through, the drilling mechanism assembly is reversed to pull the drill bit 6061 out of the drilled hole and retract the drill bit 6061 to its original position;

[0137] 5) such as Figures 34-35 As shown, the rotating frame 605 is driven to rotate 180° relative to the central axis 608 again, so that the second grinding head 6071 of the second grinding assembly 607 is concentric with the positioning hole 6101 of the pressure foot 610, and the second grinding head 6071 passes through the positioning hole 6101 and contacts the surface of the drilled hole of the structural component 80, thereby determining the grinding position; then the second grinding assembly 607 is started, so that the second grinding head 6071 begins to grind the drilled end of the structural component 80 to remove the burrs at the drilled end. After grinding is completed, the second grinding assembly 607 is reversed, so that the second grinding head 6071 stops running and retracts to its original position.

[0138] 6) such as Figures 36-37 As shown, the first grinding assembly 50 is activated, and the first grinding head 5032 is used to grind the burrs at the ends of the holes formed by drilling in the structural component assembly 80 from the bottom. Specifically, the first grinding assembly 50 is first driven to move linearly along the X-axis to cooperate with the second camera 5035 for positioning identification of the grinding target point (the drilled hole); then, the burrs at the ends of the drilled hole-rivet hole 801 are ground from the bottom. The grinding force is detected by the membrane sensor equipped on the second grinding assembly 607.

[0139] 7) The relative position of the riveting machine 301 with the structural component 80 in the positioning assembly 40 when the riveting machine 301 is not in operation is as follows: Figure 38 As shown,

[0140] Start the first camera 3011 on the riveting machine 301 to put it into "position search state"; such as Figures 39-40 As shown, the riveting machine 301 is then slowly moved in the X-axis direction; then the riveting machine 301 is slowly moved in the Y-axis direction, the purpose of which is to make the first camera 3011 scan the riveting hole 801 to be riveted (the hole that has been drilled before) and align it with the riveting hole 801.

[0141] 8)Reference Figures 41-42 As shown, the riveting machine 301 is moved 37mm in the direction (Y direction) towards the structural component assembly 80. The purpose is to align the riveting head 3012 of the riveting machine 301 with the riveting hole 801 (the riveting head 3012 and the riveting hole 801 are coaxial and concentric).

[0142] The aforementioned 37mm refers to the straight-line distance between the centerline of the riveting head 3012 and the centerline of the first camera 3011. In the subsequent fabrication of the riveting device, this "distance value" or its arrangement can be determined based on the type of the selected first camera 3011.

[0143] 9) Slowly move the riveting machine 301 upward (in the Z-axis direction) and make the top of the riveting head 3012 at the bottom of the riveting machine 301 touch the end plate of the structural component assembly 80, and simultaneously insert the rivet 308 into the riveting hole 801, thereby realizing the riveting of the end plate and the structural skeleton in the structural component assembly 80.

[0144] 10) Start the riveting machine 301, as follows Figures 43-44 As shown, the riveting head 3012 of the riveting machine 301 slowly presses down the rivet 308, causing the rivet 308 to deform under pressure in order to achieve the purpose of riveting the sealing plate to the skeleton.

[0145] Following the above operating steps, move the riveting machine 301 to the next riveting hole 801 to perform the riveting operation; after all the riveting holes 801 are riveted in place, detach the riveting machine 301 from the structural component assembly 80 and return it to standby mode.

[0146] Finally, the first grinding component 50 can be activated as needed to grind the end burrs on the bottom of the riveted "rivet 308".

[0147] The flexible riveting device described in the above embodiment can effectively realize the positioning and riveting of irregular structural parts, and at the same time can perform integrated operations of drilling, grinding and riveting of rivet holes, which greatly improves riveting efficiency.

[0148] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A flexible riveting device assembly, characterized in that: Includes a riveting device, the riveting device comprising, Workbench; A riveting assembly, comprising a riveting machine, the riveting machine being slidably connected to a first Y-axis movable seat along the Z-axis direction, the first Y-axis movable seat being slidably connected to a first X-axis movable seat along the Y-axis direction, and the first X-axis movable seat being slidably connected to the worktable along the X-axis direction; wherein the X-axis direction and the Y-axis direction are both perpendicular to the Z-axis direction; A positioning assembly is connected to the worktable and located on one side of the riveting assembly. The positioning assembly includes an end positioning baffle and a clamping claw assembly disposed opposite to each other. A lateral positioning assembly is disposed between the end positioning baffle and the clamping claw assembly. The lateral positioning assembly includes a first lateral support and a second lateral support disposed opposite to each other. The clamping claw assembly includes a base, on which a claw is slidably connected. The claw is driven by a clamping cylinder to move closer to or away from the end positioning baffle. It also includes a drilling and grinding assembly, which includes a bracket connected to a robotic arm. A main camera and a main motor are connected to the bracket, and a rotating frame is connected to the main motor. A drilling assembly is connected to one side of the rotating frame, and a second grinding assembly is connected to the other side. A central shaft is connected to the bracket and is located inside the rotating frame. The central shaft is connected to the rotating frame via a first rolling bearing. A pressure foot is connected to one end of the central shaft extending out of the rotating frame. A first pressure sensor is connected to the bottom of the pressure foot. A positioning hole is provided on the pressure foot, and a through hole is provided on the first pressure sensor. The through hole and the positioning hole are connected.

2. The flexible riveting device assembly according to claim 1, characterized in that: Both the end positioning baffle and the chuck are provided with positioning grooves.

3. The flexible riveting device assembly according to claim 1, characterized in that: The end positioning baffle is connected to a first positioning block and a second positioning block on both sides, and both the first positioning block and the second positioning block are provided with positioning reference marks.

4. The flexible riveting device assembly according to claim 1, characterized in that: The positioning assembly also includes a clamping cylinder for pressing the workpiece onto the lateral positioning assembly.

5. The flexible riveting device assembly according to claim 1, characterized in that: The bottom of the worktable is connected to a first grinding assembly, which includes a first grinding machine. The first grinding machine is connected to a second X-axis moving seat, which is slidably connected to the worktable along the X-axis direction.

6. The flexible riveting device assembly according to claim 5, characterized in that: The first grinding machine includes a first grinding actuator, a first hydraulic propulsion device, and a first motor. The first grinding actuator includes a first drive shaft, on which a first grinding head is connected. The first hydraulic propulsion device is used to drive the first drive shaft to perform linear motion, and the first motor is used to drive the first drive shaft to perform rotational motion.

7. The flexible riveting device assembly according to claim 6, characterized in that: The first drive shaft is provided with a sliding keyway, and the output shaft of the first motor is connected to a drive pulley. The drive pulley is connected to a driven pulley via a synchronous belt, and the driven pulley is connected to a hollow shaft sleeve via a first connecting key. The first drive shaft passes through the hollow shaft sleeve, and the sliding keyway on the first drive shaft and the hollow shaft sleeve are connected by a second connecting key. The second connecting key can slide along the length direction of the sliding keyway.

8. The flexible riveting device assembly according to claim 1, characterized in that: The second grinding assembly includes a second grinding head, a hydraulic cylinder, and a second motor. The second grinding head is connected to a second drive shaft. The hydraulic cylinder is used to drive the second drive shaft to perform linear motion, and the second motor is used to drive the second drive shaft to perform rotational motion.

9. The flexible riveting device assembly according to claim 1, characterized in that: It also includes a hanging device, which includes a frame, on which a drill bit hanger and a grinding head hanger are connected. Both the drill bit hanger and the grinding head hanger include a support frame. A disc is provided on the upper part of the support frame, and multiple clamping components are arranged circumferentially on the disc.

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