A double-ear support plate self-locking nut riveting workbench

Abstract

The present invention provides a double-ear support plate self-locking nut riveting workbench, comprising a workbench, a drilling and countersinking assembly and a riveting assembly, wherein the drilling and countersinking assembly and the riveting assembly are arranged on the workbench in sequence, and the drilling and countersinking assembly and the riveting assembly are respectively connected to corresponding controllers; the drilling and countersinking assembly comprises a drilling and countersinking actuator, a drilling and countersinking tooling and one or more groups of drilling and countersinking clamping mechanisms; the riveting assembly comprises a riveting tooling, a riveting clamping mechanism and a riveting actuator; the present invention has a compact and reliable structure, adopts an integrated design of drilling and riveting, and can be used to rivet the double-ear support plate self-locking nut after completing the workpiece drilling. By replacing different tooling components, drilling and countersinking and riveting of various workpieces can be achieved; the drilling and countersinking and riveting positions can be automatically and accurately adjusted to improve processing efficiency and reduce operational risks.

Description

Technical Field

[0001] The invention relates to a riveting workbench, in particular to a double-ear support plate self-locking nut riveting workbench. Background Art

[0002] Riveting is a method of joining two or more parts by drilling holes, inserting rivets, and then securing them with a rivet gun. Riveting is widely used due to its simple process, stable and reliable connection strength, easy inspection and troubleshooting, and adaptability to joining complex metal and non-metallic materials. It is particularly widely used in the aircraft and automotive industries. Choosing the right and efficient riveting method is crucial, considering the various rivet connection methods, rivet structures, and spatial assembly requirements. In the assembly manufacturing industry, small and medium-sized parts such as stringers and panels are often riveted manually using a rivet gun. This process is labor-intensive, with high labor costs and low production efficiency. Furthermore, manual operation carries certain risks, endangering worker safety and health.

[0003] Therefore, it is necessary to provide a more systematic and automated riveting workbench that can replace the manual riveting process through modular combination assembly structure and automated equipment, and can realize a series of drilling, countersinking and riveting operations on a variety of workpieces, thereby improving riveting production efficiency and accuracy. Summary of the Invention

[0004] In order to solve the above technical problems, the present invention provides a double-ear support plate self-locking nut riveting workbench, comprising a workbench, a drilling countersink assembly and a riveting assembly, wherein the drilling countersink assembly and the riveting assembly are sequentially arranged on the workbench, and the drilling countersink assembly and the riveting assembly are respectively connected to corresponding controllers, and the controllers are also arranged on the workbench;

[0005] The countersink assembly includes a countersink actuator, a countersink tool, and one or more countersink clamping mechanisms; the countersink actuator includes a main drill shaft and a three-axis displacement mechanism, the main drill shaft is connected to the workbench via the three-axis displacement mechanism, and the lower output shaft of the main drill shaft is connected to a stepped drill bit; the countersink tool is located on the workbench below the main drill shaft, and is provided with a countersink groove; the countersink clamping mechanism is located on one side of the countersink tool, and the clamping block in the countersink clamping mechanism is located above the countersink tool;

[0006] The riveting assembly includes a riveting tool, a riveting pressing mechanism and a riveting actuator; the riveting tool is arranged on a workbench, and a strip-shaped through hole is provided at a position on the workbench corresponding to the riveting tool, and a riveting through hole is provided on the riveting tool; the riveting pressing mechanism is arranged on the upper surface of the workbench, located on one side of the riveting tool, and the pressing plate in the riveting pressing mechanism is located above the riveting tool; the riveting actuator is arranged below the workbench, and the rivet head in the riveting actuator corresponds to the strip-shaped through hole of the workbench.

[0007] The three-axis displacement mechanism of the drilling and countersinking actuator includes a two-axis robot and a first lateral displacement mechanism, and the first lateral displacement mechanism includes a drilling and countersinking vertical plate, a first lateral linear guide rail, a drilling and countersinking base plate and a first lateral drive cylinder; the upper end of the drilling and countersinking vertical plate is connected to the two-axis robot, and the lower end passes through a lateral displacement through hole preset on the workbench and is connected to the drilling and countersinking base plate provided below the workbench, the first lateral linear guide rail is provided below the workbench, and the drilling and countersinking base plate is slidably connected to the first lateral linear guide rail through a slider; the first lateral drive cylinder is fixed below the workbench The output shaft is horizontally connected to the drilling and countersinking base plate, driving the drilling and countersinking base plate to move horizontally, and then driving the two-axis robot to move horizontally through the drilling and countersinking vertical plate; the drilling and countersinking vertical plate is provided with an iron chip baffle, and the iron chip baffle is located above the workbench, covering the horizontal displacement through-hole of the workbench to prevent iron chips from falling onto the first horizontal linear guide rail and affecting the displacement accuracy; the main drill shaft is connected to the displacement terminal of the two-axis robot and is vertically arranged, with the step drill bit facing the drilling and countersinking tooling below. The two-axis robot drives the main drill shaft to move in the longitudinal and vertical directions to adjust the main drill shaft to the target position.

[0008] The drilling and countersinking tool is a segmented tooling assembly, comprising at least three drilling and countersinking tooling sections, which are connected end to end in sequence and connected by connecting buckles. The drilling and countersinking tooling can be adjusted and changed as needed to adapt to the shape and length of different workpieces; the upper surface of the drilling and countersinking tooling is provided with drilling and countersinking locating pins, which are located at both ends of the drilling and countersinking groove and are used for positioning the workpiece; the lower surface of the drilling and countersinking tooling is provided with tooling locating pins, which are correspondingly inserted into the preset locating pin holes on the workbench and are used for positioning the drilling and countersinking tooling; the drilling and countersinking tooling is arranged longitudinally along the workbench, and a tooling limit block is also provided on the workbench at one end of the drilling and countersinking tooling for auxiliary positioning of the drilling and countersinking tooling.

[0009] The countersink clamping mechanism includes a clamping mechanism sliding seat, a clamping mechanism slide and a pneumatic vertical clamp. The clamping mechanism slide is fixed on the workbench, located on one side of the countersink tool, and arranged parallel to the countersink tool; the clamping mechanism sliding seat is slidably connected to the clamping mechanism slide, and the pneumatic vertical clamp is arranged on the clamping mechanism sliding seat, and the pneumatic vertical clamp can slide on the clamping mechanism slide along with the clamping mechanism sliding seat; the clamping block of the pneumatic vertical clamp is located above the countersink tool, and the clamping block is pressed down to clamp and fix the workpiece on the countersink tool; a positioning screw is also provided on the clamping mechanism sliding seat, and the positioning screw passes through a preset threaded hole on the clamping mechanism sliding seat, and the lower end abuts against the workbench, and the position of the clamping mechanism sliding seat can be fixed by tightening the positioning screw.

[0010] The riveting tool is a segmented tool assembly, including at least three riveting tool segments, which are connected end to end in sequence and connected by connecting buckles. The riveting tool can be adjusted and changed as needed to adapt to the shape and length of different workpieces; the upper surface of the riveting tool is provided with riveting positioning pins, which are located at the head and tail ends of the riveting tool and are used for positioning the workpiece; the lower surface of the riveting tool is provided with tool positioning pins, which are correspondingly inserted into the positioning pin holes preset on the workbench for positioning the riveting tool; the riveting tool is arranged longitudinally along the workbench, and a tool limit block is also provided on the workbench at one end of the riveting tool for auxiliary positioning of the riveting tool.

[0011] The riveting clamping mechanism includes a clamping mechanism linear guide rail, a clamping mechanism moving plate, a clamping mechanism driving cylinder, a clamping cylinder, a clamping plate, a limit driving cylinder, a limit sleeve and a limit block; several clamping mechanism linear guide rails are arranged on the workbench, located on one side of the riveting tooling, perpendicular to the arrangement direction of the riveting tooling, and the clamping mechanism linear guide rails are parallel to each other; the bottom of the clamping mechanism moving plate is slidably connected to the corresponding clamping mechanism linear guide rail through a slider, the clamping mechanism driving cylinder is fixed on the workbench, and the output shaft is connected to the clamping mechanism moving plate to drive the clamping mechanism. The mechanism moving plate moves laterally along the linear guide rail of the clamping mechanism; several clamping cylinders are arranged in parallel on the clamping mechanism moving plate, and the clamping end of the clamping cylinder is connected to the clamping plate, which is located above the riveting tool and is used to clamp the workpiece on the riveting tool; the limit driving cylinder is arranged on the clamping mechanism moving plate, and the limit sleeve is arranged on the side of the clamping mechanism moving plate close to the riveting tool, the output shaft of the limit driving cylinder is connected to the limit block, and the limit block passes through the limit sleeve, and the limit driving cylinder drives the limit block to extend and retract to adjust the position of the workpiece on the riveting tool, thereby playing a limiting role.

[0012] The riveting actuator includes a longitudinal displacement mechanism, a second lateral displacement mechanism, a riveting hydraulic cylinder and a rivet head. The longitudinal displacement mechanism includes a longitudinal linear guide, a longitudinal drive motor, a driving pulley, a driven pulley, a synchronous belt, and a longitudinal movable plate. The longitudinal linear guide is fixed to the lower surface of the workbench and is parallel to the arrangement direction of the riveting tooling. The output shaft of the longitudinal drive motor is connected to the reducer, the reducer is fixed to the lower surface of the workbench, the output end of the reducer is connected to the driving pulley, and the driven pulley is fixed to the lower surface of the workbench through the pulley bearing seat. The synchronous belt is sleeved on the driving pulley and the driven pulley; (a synchronous belt tensioning device is also provided between the driving pulley and the driven pulley for tensioning the synchronous belt to prevent slipping;) the longitudinal movable plate The upper portion is slidably connected to the longitudinal linear guide rail through a slider, the end of the longitudinal movable plate is connected to the synchronous belt, and the longitudinal drive motor drives the synchronous belt to rotate, thereby driving the longitudinal movable plate to slide along the longitudinal linear guide rail; the second transverse displacement mechanism includes a second transverse linear guide rail, a hydraulic cylinder connecting frame and a second transverse drive cylinder; the second transverse linear guide rail is arranged on the lower surface of the longitudinal movable plate, the hydraulic cylinder connecting frame is slidably connected to the second transverse linear guide rail through a slider, the second transverse drive cylinder is fixed on the lower surface of the longitudinal movable plate, the output shaft is connected to the hydraulic cylinder connecting frame, and the second transverse drive cylinder drives the hydraulic cylinder connecting frame to move back and forth along the second transverse linear guide rail; the riveting hydraulic cylinder is fixed at the lower end of the hydraulic cylinder connecting frame, and the output shaft is connected to the rivet head.

[0013] Furthermore, a rivet head connecting plate is provided between the riveting hydraulic cylinder and the rivet head, the lower end of the rivet head connecting plate is connected to the output shaft of the riveting hydraulic cylinder, and the upper end is connected to the rivet head; a vertical linear guide is provided on the side of the hydraulic cylinder connecting frame, and the side of the rivet head connecting plate is connected to the vertical linear guide through a slider, and the riveting hydraulic cylinder drives the rivet head up and down through the rivet head connecting plate for riveting, and the rivet head connecting plate slides along the vertical linear guide to prevent the rivet head from shaking during movement and affecting the accuracy.

[0014] Working principle of the present invention:

[0015] First, according to the shape and length of the workpiece to be processed, select and splice appropriate drilling and countersinking tools and riveting tools, and install the drilling and countersinking tools and riveting tools at the specified positions on the workbench; after the drilling and countersinking tools and riveting tools are installed, place the workpiece to be processed on the drilling and countersinking tool first, adjust the position of the pneumatic vertical clamp in the drilling and countersinking clamping mechanism on the clamping mechanism slide, tighten the positioning screw to fix the position of the clamping mechanism sliding seat, so that the clamping block of the pneumatic vertical clamp is located above the workpiece and does not block the drilling hole; control the air pump through the controller to drive the pneumatic vertical clamp in the drilling and countersinking clamping mechanism to start, and press the workpiece on the drilling and countersinking tool.

[0016] Subsequently, the main drill shaft of the drilling and countersinking actuator is controlled by the controller to move to the position above the workpiece where countersinking is required, driven by the two-axis robot and the first lateral displacement mechanism. The main drill shaft is started, and the two-axis robot drives the main drill shaft to descend, and the step drill bit on the main drill shaft is used to drill and countersink holes in the workpiece. After the drilling and countersinking is completed in sequence as required, the pneumatic vertical clamp in the drilling and countersinking clamping mechanism is controlled to retract, the workpiece that has been drilled and countersunk is removed, and the workpiece is placed on the riveting tooling.

[0017] Before the workpiece is placed on the riveting fixture, a double-ear support plate self-locking nut is placed on the riveting through-hole of the riveting fixture. Then the workpiece is placed on the riveting fixture and the rivet is placed on the drilled hole of the workpiece. The controller controls the expansion and contraction of the clamping mechanism drive cylinder in the riveting clamping mechanism to adjust the position of the clamping mechanism moving plate. The position of the limit block is further adjusted by the limit drive cylinder to adjust and limit the position of the workpiece. Then the clamping cylinder is controlled to start so that the clamping plate presses the workpiece onto the riveting fixture.

[0018] Subsequently, the controller controls the operation of the longitudinal displacement mechanism and the second transverse displacement mechanism in the riveting actuator, and the hydraulic cylinder connecting frame drives the riveting hydraulic cylinder to move to the position below the position where riveting is required, so that the rivet head is aligned with the riveting position of the workpiece, and the riveting hydraulic cylinder is started to push the rivet head connecting plate to drive the rivet head to rise to complete the riveting.

[0019] The control of the riveting assembly includes: establishing a reference coordinate system in the riveting assembly as O-XYZ, and dividing it into three directions according to the positional relationship of the riveting assembly assembly: a second transverse linear guide rail and a second transverse drive cylinder arranged along the X direction, and the hydraulic cylinder connecting frame is driven by the second transverse drive cylinder to perform linear motion along the X direction on the second transverse linear guide rail; a longitudinal displacement mechanism arranged along the Y direction drives the entire riveting actuator to perform linear motion along the Y direction via the longitudinal linear guide rail; the rivet head connecting plate and the rivet head are driven by the riveting hydraulic cylinder to perform linear motion along the Z direction on the vertical linear guide rail, and the movement satisfies the following relationship:

[0020] The movement of the riveted actuator only includes translational motion. The column vector p expresses the translation transformation of the riveted actuator coordinate system. x, y, and z are the projections of the riveted actuator translation vector on the X, Y, and Z axes respectively:

[0021]

[0022] Assume the final coordinate system O of the riveting actuator j -X j Y j Z j is through the initial coordinate system O i -X i Y i Z i The result of translating x along the X direction is Oj -X j Y j Z j to O i -X i Y i Z i The transformation matrix is:

[0023]

[0024] Similarly, the transformation matrix for translation along the Y and Z directions is:

[0025]

[0026]

[0027] The translation along the coordinate axes X, Y, and Z is called the basic translation. In the coordinate system of the riveting actuator, the movement of the rivet head from one point to any point can be regarded as consisting of these three basic translations, that is, the corresponding coordinate transformation matrix:

[0028]

[0029] The calculation formula for the riveting force that the riveting hydraulic cylinder needs to provide when riveting the riveting actuator is as follows:

[0030]

[0031] in, is the rivet head height; is the rivet yield strength; is the friction coefficient between the workpiece and the rivet; is the rivet head radius.

[0032] The present invention has the beneficial effects:

[0033] The present invention has a compact and reliable structure. It replaces the manual riveting processing process through a modular combination assembly structure and automated equipment. It adopts an integrated design of drilling, countersinking and riveting. After completing the drilling of the workpiece, the double-ear support plate self-locking nut can be riveted. By replacing different tooling components, drilling, countersinking and riveting of various workpieces can be achieved; the drilling, countersinking and riveting positions can be automatically and accurately adjusted to improve processing efficiency and reduce operational risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0035] Figure 2 Schematic diagram of the overall structure of the drill countersink assembly of the present invention;

[0036] Figure 3This is a schematic diagram of the overall structure of the riveting assembly of the present invention;

[0037] Figure 4 This is a schematic diagram of the workbench structure of the present invention;

[0038] Figure 5 This is a structural diagram of the countersinking actuator of the present invention;

[0039] Figure 6 This is a schematic diagram of the drilling and countersinking tooling structure of the present invention;

[0040] Figure 7 This is a structural diagram of the countersink pressing mechanism of the present invention;

[0041] Figure 8 This is a schematic diagram of the riveting tool structure of the present invention;

[0042] Figure 9 This is a structural diagram of the riveting and pressing mechanism of the present invention;

[0043] Figure 10 This is a partial structural diagram of the riveting actuator of the present invention;

[0044] Figure 11 This is a schematic diagram of the longitudinal displacement mechanism of the riveting actuator of the present invention;

[0045] 1. Workbench 101, controller 102, lateral displacement through hole 103, positioning pin hole 104, tooling limit block 105, tooling tray 106, power supply 107, micro pump station 108, strip through hole;

[0046] 2. Drilling and countersinking assembly 3. Riveting assembly;

[0047] 4. Countersinking actuator 401, main drill spindle 402, step drill bit 403, two-axis robot 404, first lateral displacement mechanism 405, countersinking plate 406, first lateral linear guide 407, countersinking base plate 408, first lateral drive cylinder 409, and chip baffle;

[0048] 5. Drill countersink tool 501, drill countersink groove 502, connecting buckle 503, drill countersink positioning pin 504, tool positioning pin;

[0049] 6. Countersink clamping mechanism 601, clamping mechanism sliding seat 602, clamping mechanism slideway 603, pneumatic vertical clamp 604, clamping block 605, positioning screw;

[0050] 7. Riveting tool 701, riveting through hole 702, riveting positioning pin;

[0051] 8. Riveting and clamping mechanism 801, clamping mechanism linear guide 802, clamping mechanism moving plate 803, clamping mechanism driving cylinder 804, clamping cylinder 805, clamping plate 806, limit driving cylinder 807, limit sleeve 808, limit block;

[0052] 9. Riveting actuator 901, longitudinal displacement mechanism 902, second lateral displacement mechanism 903, riveting hydraulic cylinder 904, rivet head 905, longitudinal linear guide 906, longitudinal drive motor 907, active pulley 908, driven pulley 909, synchronous belt 910, longitudinal movable plate 911, right-angle reducer 912, synchronous belt tensioning device 913, second lateral linear guide 914, hydraulic cylinder connecting frame 915, second lateral drive cylinder 916, rivet head connecting plate 917, vertical linear guide. DETAILED DESCRIPTION

[0053] See Figure 1-11 As shown:

[0054] This embodiment provides a double-ear support plate self-locking nut riveting workbench, comprising a workbench 1, a drilling countersink assembly 2, and a riveting assembly 3. The drilling countersink assembly 2 and the riveting assembly 3 are longitudinally arranged on the workbench 1 in sequence. The drilling countersink assembly 2 and the riveting assembly 3 are respectively connected to corresponding controllers 101, and the controllers 101 are also arranged on the side of the workbench 1.

[0055] The countersink assembly 2 includes a countersink actuator 4, a countersink tool 5 and four sets of countersink clamping mechanisms 6; the countersink actuator 4 includes a main drill shaft 401 and a three-axis displacement mechanism. The main drill shaft 401 is connected to the workbench 1 through the three-axis displacement mechanism, and the lower end output shaft of the main drill shaft 401 is connected to a step drill bit 402; the main drill shaft 401 is an electric spindle.

[0056] The three-axis displacement mechanism includes a two-axis robot 403 and a first lateral displacement mechanism 404. The two-axis robot 403 includes a longitudinal displacement drive arm and a vertical displacement drive arm. The vertical displacement drive arm is connected to the moving part of the longitudinal displacement drive arm to drive the main drill shaft 401 to move in the longitudinal and vertical directions. The two-axis robot 403 is an existing device and its structure is not described here. The first lateral displacement mechanism 404 includes a drilling countersink plate 405, a first lateral linear guide 406, a drilling countersink base plate 407 and a first lateral drive cylinder 408. The upper end of the drilling countersink plate 405 is connected to the longitudinal displacement drive arm of the two-axis robot 403, and the lower end passes through the preset lateral displacement through hole 102 on the workbench 1 and is connected to the drilling countersink base plate 407 provided below the workbench 1. The first lateral linear guide 406 is provided on the workbench 1. Under the table 1, the drilling and countersinking base plate 407 is slidably connected to the first horizontal linear guide rail 406 through a slider; the first horizontal drive cylinder 408 is fixed under the workbench 1, and the output shaft is horizontally connected to the drilling and countersinking base plate 407, driving the drilling and countersinking base plate 407 to move horizontally, and then driving the two-axis robot 403 to move horizontally through the drilling and countersinking vertical plate 405; the first horizontal drive cylinder 408 is a servo electric cylinder; the drilling and countersinking vertical plate 405 is provided with an iron chip baffle 409, and the iron chip baffle 409 is located above the workbench 1, covering the horizontal displacement through hole 102 of the workbench 1, to prevent iron chips from falling onto the first horizontal linear guide rail 406 and affecting the displacement accuracy; the main drill shaft 401 is connected to the moving part of the vertical displacement drive arm of the two-axis robot 403, and is vertically arranged, with the step drill bit 402 facing the drilling and countersinking tooling 5 below.

[0057] The countersinking tool 5 is arranged on the workbench 1 below the main drill shaft 401, and a countersinking groove 501 is provided on the countersinking tool 5; the countersinking tool 5 is a segmented tool assembly, including at least three countersinking tool sections, which are connected end to end in sequence and connected by a connecting buckle 502. The countersinking tool 5 can be adjusted and changed as needed to adapt to the shape and length of different workpieces; the upper surface of the countersinking tool 5 is provided with a drilling groove 501. The countersink positioning pins 503 are located at both ends of the drilling countersink groove 501 and are used for positioning the workpiece; the lower surface of the drilling countersink tool 5 is provided with a tool positioning pin 504, which is correspondingly inserted into the preset positioning pin hole 103 on the workbench 1 for positioning the drilling countersink tool 5; the drilling countersink tool 5 is arranged longitudinally along the workbench 1, and a tool limit block 104 is also provided at one end of the drilling countersink tool 5 on the workbench 1 for auxiliary positioning of the drilling countersink tool 5.

[0058] The countersink clamping mechanism 6 is arranged on one side of the countersink tool 5; the countersink clamping mechanism 6 includes a clamping mechanism sliding seat 601, a clamping mechanism slide 602 and a pneumatic vertical clamp 603, the clamping mechanism slide 602 is fixed on the workbench 1, is located on one side of the countersink tool 5, and is arranged parallel to the countersink tool 5; the clamping mechanism slide 602 is provided with an inward concave slide, the clamping mechanism sliding seat 601 is slidably connected to the inward concave slide of the clamping mechanism slide 602, and the upper part is limited by the inward concave slide, the pneumatic vertical clamp 603 is provided on the clamping mechanism sliding seat 601, and the pneumatic The vertical clamp 603 can slide on the clamping mechanism slide 602 along with the clamping mechanism sliding seat 601. The pneumatic vertical clamp 603 is an existing device; the clamping block 604 of the pneumatic vertical clamp 603 is located above the drilling and countersinking fixture 5, and the clamping block 604 is pressed down to clamp and fix the workpiece on the drilling and countersinking fixture 5; a positioning screw 605 is also provided on the clamping mechanism sliding seat 601, and the positioning screw 605 passes through the preset threaded hole on the clamping mechanism sliding seat 601, and the lower end abuts against the workbench 1. By tightening the positioning screw 605, the position of the clamping mechanism sliding seat 601 can be fixed.

[0059] The riveting assembly 3 includes a riveting tool 7, a riveting pressing mechanism 8 and a riveting actuator 9; the riveting tool 7 is arranged on a workbench 1, and a strip-shaped through hole 108 is provided on the workbench 1 at a position corresponding to the riveting tool 7, and a riveting through hole 701 is provided on the riveting tool 7;

[0060] The riveting tool 7 is a segmented tool assembly, including at least three riveting tool segments, which are connected end to end in sequence and connected by a connecting buckle 502. The riveting tool 7 can be adjusted and changed as needed to adapt to the shape and length of different workpieces; the upper surface of the riveting tool 7 is provided with riveting positioning pins 702, which are located at the head and tail ends of the riveting tool 7 and are used for positioning the workpiece; the lower surface of the riveting tool 7 is provided with tool positioning pins 504, which are correspondingly inserted into the preset positioning pin holes 103 on the workbench 1 for positioning the riveting tool 7; the riveting tool 7 is arranged longitudinally along the workbench 1, and a tool limit block 104 is also provided at one end of the riveting tool 7 on the workbench 1 for auxiliary positioning of the riveting tool 7.

[0061] The riveting and pressing mechanism 8 is arranged on the upper surface of the workbench 1, on one side of the riveting tool 7; the riveting and pressing mechanism 8 includes a pressing mechanism linear guide 801, a pressing mechanism moving plate 802, a pressing mechanism driving cylinder 803, a pressing cylinder 804, a pressing plate 805, a limit driving cylinder 806, a limit sleeve 807 and a limit block 808; five pressing mechanism linear guides 801 are arranged on the workbench 1, on one side of the riveting tool 7, perpendicular to the arrangement direction of the riveting tool 7, and the pressing mechanism linear guides 801 are parallel to each other; the bottom of the pressing mechanism moving plate 802 is slidably connected to the corresponding pressing mechanism linear guide 801 through a slider, the pressing mechanism driving cylinder 803 is fixed on the workbench 1, and the output shaft is connected to the pressing mechanism moving plate 802 is connected to drive the clamping mechanism moving plate 802 to move laterally along the clamping mechanism linear guide 801; four clamping cylinders 804 are arranged in parallel on the clamping mechanism moving plate 802, and the clamping end of the clamping cylinder 804 is connected to the clamping plate 805, and the clamping plate 805 is located above the riveting tool 7, and is used to clamp the workpiece on the riveting tool 7; the limit driving cylinder 806 is arranged on the clamping mechanism moving plate 802, and the limit sleeve 807 is arranged on the side of the clamping mechanism moving plate 802 close to the riveting tool 7, the output shaft of the limit driving cylinder 806 is connected to the limit block 808, and the limit block 808 passes through the limit sleeve 807, and the limit driving cylinder 806 drives the limit block 808 to extend and retract to adjust the position of the workpiece on the riveting tool 7, thereby playing a limiting role.

[0062] The riveting actuator 9 is arranged below the workbench 1. The riveting actuator 9 includes a longitudinal displacement mechanism 901, a second lateral displacement mechanism 902, a riveting hydraulic cylinder 903 and a rivet head 904. The longitudinal displacement mechanism 901 includes a longitudinal linear guide 905, a longitudinal drive motor 906, an active pulley 907, a driven pulley 908, a synchronous belt 909, and a longitudinal movable plate 910. The longitudinal linear guide 905 is fixed to the lower surface of the workbench 1 and is parallel to the arrangement direction of the riveting tool 7. The output shaft of the longitudinal drive motor 906 is connected to the right-angle reducer 911, the right-angle reducer 911 is fixed to the lower surface of the workbench 1, the output end of the right-angle reducer 911 is connected to the active pulley 907, the driven pulley 908 is fixed to the lower surface of the workbench 1 through the pulley bearing seat, and the synchronous belt 909 is sleeved on the active pulley 907 and the driven pulley 908; a synchronous belt tensioning device 912 is also provided between the active pulley 907 and the driven pulley 908 for tensioning the synchronous belt 909 to prevent slipping; the longitudinal shift The movable plate 910 is slidably connected to the longitudinal linear guide 905 through a slider, and the end of the longitudinal movable plate 910 is connected to the synchronous belt 909. The longitudinal drive motor 906 drives the synchronous belt 909 to rotate, thereby driving the longitudinal movable plate 910 to slide along the longitudinal linear guide 905; the second transverse displacement mechanism 902 includes a second transverse linear guide 913, a hydraulic cylinder connecting frame 914 and a second transverse drive cylinder 915; the second transverse linear guide 913 is provided on the lower surface of the longitudinal movable plate 910, and the hydraulic cylinder connecting frame 914 is provided on the lower surface of the longitudinal movable plate 910. The cylinder connecting frame 914 is slidably connected to the second transverse linear guide rail 913 through a slider, the second transverse driving cylinder 915 is fixed on the lower surface of the longitudinal movable plate 910, and the output shaft is connected to the hydraulic cylinder connecting frame 914. The second transverse driving cylinder 915 drives the hydraulic cylinder connecting frame 914 to move horizontally back and forth along the second transverse linear guide rail 913; the riveting hydraulic cylinder 903 is fixed at the lower end of the hydraulic cylinder connecting frame 914, and the output shaft is connected to the rivet head 904, and the rivet head 904 corresponds to the strip-shaped through hole 108 of the workbench 1.

[0063] A rivet head connecting plate 916 is also provided between the riveting hydraulic cylinder 903 and the rivet head 904. The lower end of the rivet head connecting plate 916 is connected to the output shaft of the riveting hydraulic cylinder 903, and the upper end is connected to the rivet head 904; a vertical linear guide rail 917 is provided on the side of the hydraulic cylinder connecting frame 914, and the side of the rivet head connecting plate 916 is connected to the vertical linear guide rail 917 through a slider. The riveting hydraulic cylinder 903 drives the rivet head 904 to move up and down for riveting through the rivet head connecting plate 916. The rivet head connecting plate 916 slides along the vertical linear guide rail 917 to prevent the rivet head 904 from shaking during movement and affecting the accuracy.

[0064] A tool tray 105 is also provided on the side of the workbench 1 for placing spare drilling and countersinking tools 5 and riveting tools 7. A power supply 106 and a micro pump station 107 are also provided below the workbench 1. The micro pump station 107 includes a hydraulic pump and an air pump. The power supply 106 is connected to the electrical equipment to provide electricity; the hydraulic pump is connected to the riveting hydraulic cylinder 903, and the air pump is connected to the pneumatic vertical clamp 603, the clamping mechanism drive cylinder 803, the clamping cylinder 804, and the limit drive cylinder 806.

[0065] Working principle of the present invention:

[0066] First, according to the shape and length of the workpiece to be processed, select and splice appropriate drilling and countersinking tooling 5 and riveting tooling 7, and install the drilling and countersinking tooling 5 and riveting tooling 7 at the corresponding specified positions on the workbench 1; after the drilling and countersinking tooling 5 and the riveting tooling 7 are installed, place the workpiece to be processed on the drilling and countersinking tooling 5, adjust the position of the pneumatic vertical clamp 603 in the drilling and countersinking clamping mechanism 6 on the clamping mechanism slide 602, tighten the positioning screw 605 to fix the position of the clamping mechanism sliding seat 601, so that the clamping block 604 of the pneumatic vertical clamp 603 is located above the workpiece and does not block the drilling hole; control the air pump through the controller 101 to drive the pneumatic vertical clamp 603 in the drilling and countersinking clamping mechanism 6 to start, and press the workpiece on the drilling and countersinking tooling 5.

[0067] Subsequently, the main drill shaft 401 of the drilling and countersinking actuator 4 is controlled by the controller 101 to move to above the position where the workpiece needs to be countersunk under the drive of the two-axis robot 403 and the first lateral displacement mechanism 404, and the main drill shaft 401 is started. The two-axis robot 403 drives the main drill shaft 401 to descend, and the step drill bit 402 on the main drill shaft 401 is used to drill and countersink the workpiece; after the drilling and countersinking is completed in sequence as required, the pneumatic vertical clamp 603 in the drilling and countersinking clamping mechanism 6 is controlled to retract, the workpiece after drilling and countersinking is removed, and the workpiece is placed on the riveting tool 7.

[0068] Before the workpiece is placed on the riveting fixture 7, a double-ear support plate self-locking nut is placed on the riveting through hole 701 of the riveting fixture 7, then the workpiece is placed on the riveting fixture 7, and the rivet is placed on the drilled hole of the workpiece. The controller 101 controls the expansion and contraction of the clamping mechanism driving cylinder 803 in the riveting clamping mechanism 8 to adjust the position of the clamping mechanism moving plate 802, and further adjusts the position of the limit block 808 through the limit driving cylinder 806 to adjust and limit the position of the workpiece, and then controls the clamping cylinder 804 to start so that the clamping plate 805 presses the workpiece onto the riveting fixture 7.

[0069] Subsequently, the controller 101 controls the operation of the longitudinal displacement mechanism 901 and the second lateral displacement mechanism 902 in the riveting actuator 9, and the hydraulic cylinder connecting frame 914 drives the riveting hydraulic cylinder 903 to move to the position below the position where riveting is required, so that the rivet head 904 is aligned with the riveting position of the workpiece, and the riveting hydraulic cylinder 903 is started, and the rivet head connecting plate 916 is pushed to drive the rivet head 904 to rise to complete the riveting.

[0070] The control of the riveting assembly 3 includes: establishing a reference coordinate system in the riveting assembly 3 as O-XYZ, and dividing it into three directions according to the positional relationship of the assembly of the riveting assembly 3: the second transverse linear guide 913 and the second transverse drive cylinder 915 arranged along the X direction, the hydraulic cylinder connecting frame 914 is driven by the second transverse drive cylinder 915 to perform linear motion along the X direction on the second transverse linear guide 913; the longitudinal displacement mechanism 901 arranged along the Y direction drives the entire riveting actuator 9 to perform linear motion along the Y direction through the longitudinal linear guide 905; the rivet head connecting plate 916 and the rivet head 904 are driven by the riveting hydraulic cylinder 903 to perform linear motion along the Z direction on the vertical linear guide 917, and the movement satisfies the following relationship:

[0071] The movement of the riveting actuator 9 only includes translational motion. The column vector p expresses the translation transformation of the coordinate system of the riveting actuator 9. x, y, and z are the projections of the translation vector of the riveting actuator 9 on the X, Y, and Z axes respectively:

[0072]

[0073] Assume that the final coordinate system O of the riveting actuator 9 j -X j Y j Z j is through the initial coordinate system O i -X i Y i Z i The result of translating x along the X direction is O j -X j Y j Z j to O i -X i Y i Z i The transformation matrix is:

[0074]

[0075] Similarly, the transformation matrix for translation along the Y and Z directions is:

[0076]

[0077]

[0078] The translation along the coordinate axes X, Y, and Z is called a basic translation. The movement of the rivet head 904 from one point to any point in the coordinate system of the riveting actuator 9 can be regarded as consisting of these three basic translations, that is, the corresponding coordinate transformation matrix:

[0079]

[0080] The calculation formula of the riveting force that the riveting hydraulic cylinder 903 needs to provide when the riveting actuator 9 is riveted is as follows:

[0081]

[0082] in, is the rivet head height; is the rivet yield strength; is the friction coefficient between the workpiece and the rivet; is the rivet head radius.

Claims

1. A double-ear support plate self-locking nut riveting workbench, characterized by: The machine comprises a workbench, a countersink assembly and a riveting assembly, wherein the countersink assembly and the riveting assembly are sequentially arranged on the workbench, and the countersink assembly and the riveting assembly are respectively connected to corresponding controllers; The countersink assembly includes a countersink actuator, a countersink tool, and one or more countersink clamping mechanisms; the countersink actuator includes a main drill shaft and a three-axis displacement mechanism, the main drill shaft is connected to the workbench via the three-axis displacement mechanism, and the lower output shaft of the main drill shaft is connected to a stepped drill bit; the countersink tool is located on the workbench below the main drill shaft, and is provided with a countersink groove; the countersink clamping mechanism is located on one side of the countersink tool, and the clamping block in the countersink clamping mechanism is located above the countersink tool; The riveting assembly includes a riveting tool, a riveting pressing mechanism and a riveting actuator; the riveting tool is arranged on a workbench, a strip-shaped through-hole is provided at a position corresponding to the riveting tool on the workbench, and a riveting through-hole is provided on the riveting tool; the riveting pressing mechanism is arranged on the upper surface of the workbench, located on one side of the riveting tool, and the pressing plate in the riveting pressing mechanism is located above the riveting tool; the riveting actuator is arranged below the workbench, and the rivet head in the riveting actuator corresponds to the strip-shaped through-hole on the workbench; The riveting actuator includes a longitudinal displacement mechanism, a second lateral displacement mechanism, a riveting hydraulic cylinder and a rivet head. The longitudinal displacement mechanism includes a longitudinal linear guide, a longitudinal drive motor, a driving pulley, a driven pulley, a synchronous belt, and a longitudinal movable plate. The longitudinal linear guide is fixed to the lower surface of the workbench and is parallel to the arrangement direction of the riveting tooling. The output shaft of the longitudinal drive motor is connected to the reducer, the reducer is fixed to the lower surface of the workbench, the output end of the reducer is connected to the driving pulley, the driven pulley is fixed to the lower surface of the workbench through the pulley bearing seat, and the synchronous belt is sleeved between the driving pulley and the driven pulley The wheel; the longitudinal movable plate is slidably connected to the longitudinal linear guide rail through a slider, the end of the longitudinal movable plate is connected to the synchronous belt, and the longitudinal drive motor drives the synchronous belt to rotate; the second transverse displacement mechanism includes a second transverse linear guide rail, a hydraulic cylinder connecting frame and a second transverse drive cylinder; the second transverse linear guide rail is provided on the lower surface of the longitudinal movable plate, the hydraulic cylinder connecting frame is slidably connected to the second transverse linear guide rail through a slider, the second transverse drive cylinder is fixed to the lower surface of the longitudinal movable plate, and the output shaft is connected to the hydraulic cylinder connecting frame; the riveting hydraulic cylinder is fixed to the lower end of the hydraulic cylinder connecting frame, and the output shaft is connected to the rivet head; A rivet head connecting plate is further provided between the riveting hydraulic cylinder and the rivet head. The lower end of the rivet head connecting plate is connected to the output shaft of the riveting hydraulic cylinder, and the upper end is connected to the rivet head. A vertical linear guide rail is provided on the side of the hydraulic cylinder connecting frame, and the side of the rivet head connecting plate is connected to the vertical linear guide rail through a slider. The control of the riveting actuator includes: establishing a reference coordinate system in the riveting assembly as O-XYZ, and dividing it into three directions according to the positional relationship of the riveted assembly assembly: a second transverse linear guide and a second transverse drive cylinder arranged along the X direction, and the hydraulic cylinder connecting frame is driven by the second transverse drive cylinder to perform linear motion along the second transverse linear guide along the X direction; a longitudinal displacement mechanism arranged along the Y direction drives the entire riveting actuator to perform linear motion along the Y direction via the longitudinal linear guide; the rivet head connecting plate and the rivet head are driven by the riveting hydraulic cylinder to perform linear motion along the Z direction on the vertical linear guide, and the movement satisfies the following relationship: The movement of the riveted actuator only includes translational motion. The column vector p expresses the translation transformation of the riveted actuator coordinate system. x, y, and z are the projections of the riveted actuator translation vector on the X, Y, and Z axes respectively: ， Assume the final coordinate system O of the riveting actuator j -X j Y j Z j is through the initial coordinate system O i -X i Y i Z i The result of translating x along the X direction is O j -X j Y j Z j to O i -X i Y i Z i The transformation matrix is: ， Similarly, the transformation matrix for translation along the Y and Z directions is: ， ， The translation along the coordinate axes X, Y, and Z is called the basic translation. The movement of the rivet head from one point to any point in the riveting actuator coordinate system is composed of these three basic translations, namely the corresponding coordinate transformation matrix: ， The calculation formula for the riveting force that the riveting hydraulic cylinder needs to provide when riveting the riveting actuator is as follows: ， in, is the rivet head height; is the rivet yield strength; is the friction coefficient between the workpiece and the rivet; is the rivet head radius.

2. The double-ear support plate self-locking nut riveting workbench according to claim 1, characterized in that: The three-axis displacement mechanism of the drilling and countersinking actuator includes a two-axis robot and a first lateral displacement mechanism, the first lateral displacement mechanism includes a drilling and countersinking vertical plate, a first lateral linear guide, a drilling and countersinking base plate and a first lateral drive cylinder; the upper end of the drilling and countersinking vertical plate is connected to the two-axis robot, and the lower end passes through a lateral displacement through-hole preset on the workbench and is connected to the drilling and countersinking base plate arranged below the workbench, the first lateral linear guide is arranged under the workbench, and the drilling and countersinking base plate is slidably connected to the first lateral linear guide through a slider; the first lateral drive cylinder is fixed under the workbench, and the output shaft is horizontally connected to the drilling and countersinking base plate; the drilling and countersinking vertical plate is provided with an iron chip baffle, and the iron chip baffle is located above the workbench and covers the lateral displacement through-hole of the workbench; the main drill shaft is connected to the displacement terminal of the two-axis robot, and is vertically arranged, with the step drill bit facing the drilling and countersinking tooling below, and the two-axis robot drives the main drill shaft to move in the longitudinal and vertical directions.

3. A double-ear support plate self-locking nut riveting workbench according to claim 1 or 2, characterized in that: The drilling and countersinking tool is a segmented tooling assembly, including at least three drilling and countersinking tooling sections, which are connected end to end in sequence and connected by connecting buckles; a drilling and countersinking tooling locating pin is provided on the upper surface of the drilling and countersinking tooling; a tooling locating pin is provided on the lower surface of the drilling and countersinking tooling, which is correspondingly plugged into the preset locating pin holes on the workbench; the drilling and countersinking tooling is arranged longitudinally along the workbench, and a tooling limit block is also provided on the workbench at one end of the drilling and countersinking tooling.

4. The double-ear support plate self-locking nut riveting workbench according to claim 1, characterized in that: The countersink clamping mechanism includes a clamping mechanism sliding seat, a clamping mechanism slide and a pneumatic vertical clamp. The clamping mechanism slide is fixed on the workbench, located on one side of the countersink tool, and arranged parallel to the countersink tool; the clamping mechanism sliding seat is slidably connected to the clamping mechanism slide, and the pneumatic vertical clamp is arranged on the clamping mechanism sliding seat, and the pneumatic vertical clamp slides on the clamping mechanism slide along with the clamping mechanism sliding seat; the clamping block of the pneumatic vertical clamp is located above the countersink tool; the clamping mechanism sliding seat is also provided with a positioning screw, and the positioning screw passes through a preset threaded hole on the clamping mechanism sliding seat, and the lower end abuts against the workbench.

5. The double-ear support plate self-locking nut riveting workbench according to claim 1, characterized in that: The riveting tool is a segmented tool assembly, including at least three riveting tool segments, which are connected end to end in sequence and connected by connecting buckles; a riveting positioning pin is provided on the upper surface of the riveting tool; a tool positioning pin is provided on the lower surface of the riveting tool, which is correspondingly inserted into the positioning pin hole preset on the workbench; the riveting tool is arranged longitudinally along the workbench, and a tool limit block is also provided on the workbench at one end of the riveting tool.

6. The double-ear support plate self-locking nut riveting workbench according to claim 1, characterized in that: The riveting and pressing mechanism includes a pressing mechanism linear guide rail, a pressing mechanism moving plate, a pressing mechanism driving cylinder, a pressing cylinder, a pressing plate, a limit driving cylinder, a limit sleeve and a limit block; several pressing mechanism linear guide rails are arranged on the workbench, located on one side of the riveting tooling, perpendicular to the arrangement direction of the riveting tooling, and the pressing mechanism linear guide rails are parallel to each other; the bottom of the pressing mechanism moving plate is slidably connected to the corresponding pressing mechanism linear guide rail through a slider, the pressing mechanism driving cylinder is fixed to the workbench, and the output shaft is connected to the pressing mechanism moving plate; several pressing cylinders are arranged in parallel on the pressing mechanism moving plate, the pressing end of the pressing cylinder is connected to the pressing plate, and the pressing plate is located above the riveting tooling; the limit driving cylinder is arranged on the pressing mechanism moving plate, and the limit sleeve is arranged on one side of the pressing mechanism moving plate close to the riveting tooling, the output shaft of the limit driving cylinder is connected to the limit block, and the limit block passes through the limit sleeve.

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