A gantry-type automatic drilling and riveting machine

Abstract

The present invention belongs to the technical field of drilling and riveting machines, and discloses a gantry-type automatic drilling and riveting machine. The device includes a ground rail, and two groups of sliding seats are symmetrically arranged on the surface of the ground rail. A column is fixedly connected to the surface of each sliding seat. The top of the column is symmetrically provided with an upper cross beam through a connecting plate. An upper saddle is slidably connected to the surface of the upper cross beam. An upper ram is arranged inside the upper saddle. One end of the upper ram close to the ground is connected to an upper AC swivel head. A multi-station sliding seat mechanism is arranged inside the upper AC swivel head. An upper pressure foot mechanism is fixedly connected to the outside of the multi-station sliding seat mechanism. A lower cross beam is also arranged between the two groups of symmetrically arranged sliding seats, and a lower riveting gun mechanism is arranged on the top of the lower cross beam; the axes of the upper pressure foot mechanism and the lower riveting gun mechanism are coaxially arranged. The gantry-type automatic drilling and riveting machine has a high degree of automation, can 3D scan the workpiece, automatically find the normal vector, calculate the machining reference point, replace manual finding of the normal vector, save time, and improve the machining accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of drilling and riveting machines, and particularly to a gantry-type automatic drilling and riveting machine. Background Art

[0002] In the assembly of metal components such as aircraft panels, riveting is still one of the most important connection methods at present, accounting for a large amount of work. Traditional manual riveting has poor working conditions, low production efficiency, and the riveting quality highly depends on the experience and skills of workers, and it does not meet the development requirements of aircraft digital assembly. Therefore, it is imperative to use an automatic drilling and riveting machine to replace manual operation. However, the principle and structure of high-end automatic drilling and riveting machines are quite complex. Currently, only a few manufacturers in European and American countries have the ability to develop and manufacture them, such as EI, GEMCOR, BROETJE, etc. The research and development of high-end automatic drilling and riveting machines is still blank in China. The riveting of aircraft panels in China is either carried out by manual operation or low-end equipment, or relies on imported automatic drilling and riveting machines from abroad.

[0003] The processing of aircraft fuselage panels and wing panels requires multiple processes such as drilling, gluing, inserting nails, riveting, and milling. When using traditional panel processing, it is necessary to transfer to multiple equipment for processing or manual processing, which is time-consuming and laborious. The riveting quality is manually inspected, and the quality consistency cannot be guaranteed, which cannot meet the requirements of large-scale panel processing. Summary of the Invention

[0004] The purpose of the present invention is to provide a gantry-type automatic drilling and riveting machine to solve the problems mentioned in the above background art that when using traditional panel processing, it is necessary to transfer to multiple equipment for processing or manual processing, which is time-consuming and laborious, the riveting quality is manually inspected, the quality consistency cannot be guaranteed, and it cannot meet the requirements of large-scale panel processing.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] A gantry-type automatic drilling and riveting machine includes ground rails symmetrically arranged on the factory floor. Two groups of sliding seats are symmetrically arranged on the surface of the ground rails. A column is fixedly connected to the surface of each sliding seat. Upper crossbeams are symmetrically arranged on the top of the columns through connecting plates. An upper saddle is slidably connected to the surface of the upper crossbeam. An upper ram is arranged inside the upper saddle. Z-axis driving motors are symmetrically arranged on both sides of the upper ram. A panel fixture is also fixedly connected between the symmetrically arranged ground rails. A panel is clamped on the panel fixture.

[0007] One end of the upper ram near the ground is connected to an upper AC swing head. A multi-station slide mechanism is arranged inside the upper AC swing head. An upper pressure foot mechanism is fixedly connected to the outside of the multi-station slide mechanism. An upper tool mechanism is slidably connected inside the multi-station slide mechanism. The upper tool mechanism includes a drilling spindle mechanism, a glue application mechanism, a riveting mechanism, a target capture camera, a milling mechanism, and a pin inserting mechanism arranged in a straight line inside the multi-station slide mechanism. The drilling spindle mechanism, the glue application mechanism, the riveting mechanism, the target capture camera, the milling mechanism, and the pin inserting mechanism are configured to move horizontally left and right inside the multi-station slide mechanism and stop after moving to the selected mechanism, and extend the selected mechanism into the upper pressure foot mechanism to realize drilling, glue application, riveting, distance measurement, milling, and pin inserting of the skin;

[0008] A lower cross beam is also arranged between two symmetrically arranged slides. A Y-axis slide plate is slidably connected to the surface of the lower cross beam. X-axis guide rails are symmetrically arranged on the surface of the Y-axis slide plate. A lower saddle is slidably connected to the surface of the X-axis guide rails. A lower ram is slidably connected inside the lower saddle. An electric cylinder is arranged inside the lower ram. The driving end of the electric cylinder is connected to a lower AC swing head through a driving shaft. A lower riveting gun mechanism is arranged inside the lower AC swing head;

[0009] The axes of the upper pressure foot mechanism and the lower riveting gun mechanism are coaxially arranged, and the axes of the upper pressure foot mechanism and the lower riveting gun mechanism are parallel to the normal line of the wall panel.

[0010] Further preferably, the upper AC swing head includes an upper connecting frame connected to one end of the upper ram near the ground. An upper A-axis driving end and an upper A-axis driven end are respectively arranged at both ends of the upper connecting frame. An upper C-axis motor is arranged at the center of the side of the upper connecting frame away from the upper A-axis driving end and the upper A-axis driven end. A direct drive motor is arranged inside the upper A-axis driving end.

[0011] Further preferably, the multi-station slide mechanism includes a frame connected between the upper A-axis driving end and the lower A-axis driven end. A sliding seat is slidably connected inside the frame. A connecting piece is arranged on the surface of the sliding seat. The connecting piece is connected to the outside of a transmission lead screw. One end of the transmission lead screw is connected to the driving end of a station driving motor, and the other end of the transmission lead screw is provided with a bearing seat. The drilling spindle mechanism, the glue application mechanism, the riveting mechanism, the target capture camera, the milling mechanism, and the pin inserting mechanism are arranged in a straight line inside the sliding seat in sequence.

[0012] Further preferably, guide rails are symmetrically arranged at the bottom of the frame. Sliders are slidably connected to the guide rails. The outside of the sliders is connected to the upper tool mechanism.

[0013] Further preferably, the upper pressure foot mechanism includes a cylinder connected to the outside of the frame. The driving end of the cylinder is connected to an upper pressure foot plate, and a bearing is provided at the bottom of the center of the upper pressure foot plate.

[0014] A plurality of upper laser distance sensors are symmetrically arranged on the front and rear sides of the upper pressure foot plate.

[0015] A 3D camera and a motor reducer are respectively arranged on the left and right sides of the upper pressure foot plate. A small pulley is provided at the driving end of the motor reducer. The small pulley is connected to a large pulley through a synchronous belt. The large pulley is sleeved outside the bearing. An upper pressure foot sleeve is further connected to the outside of the large pulley. A plurality of pressure sensors are evenly arranged between the upper pressure foot sleeve and the large pulley, and the pressure sensors are evenly arranged along the circumferential direction of the upper pressure foot sleeve.

[0016] Further preferably, a cooling nozzle and a lubricating nozzle are connected to one side of the upper pressure foot plate surface close to the 3D camera through a bracket, and an upper pinhole camera is further arranged on one side of the upper pressure foot plate surface close to the 3D camera.

[0017] A high-position laser sensor, a middle-position laser sensor and a low-position laser sensor are further arranged on one side of the upper pressure foot plate surface close to the motor reducer.

[0018] Further preferably, the lower AC swing head includes a lower connecting frame connected to the driving end of the electric cylinder. The lower A-axis driving end and the lower A-axis driven end are respectively arranged at both ends of the lower connecting frame. A lower C-axis motor is arranged at the center of the side of the lower connecting frame far from the lower A-axis driving end and the lower A-axis driven end. A direct drive motor is arranged inside the lower A-axis driving end.

[0019] Further preferably, the lower riveting gun mechanism includes a housing arranged inside the lower connecting frame. A top block is arranged inside the housing. A spring is arranged on the surface of the top block. The other end of the spring is sequentially provided with a pressure plate, an electromagnetic coil, a driving plate and a partition from bottom to top. An amplifier is fixedly connected to the center of the surface of the partition through a fitting block. A guide rod is connected to the center of the surface of the top block. The guide rod passes through the spring, the pressure plate, the electromagnetic coil, the driving plate and the partition and is connected to the bottom center of the amplifier. The driving end of the amplifier is connected to a lower riveting rod. An insulating rubber layer is arranged outside the electromagnetic coil. Limit blocks are arranged outside the driving plate and the partition. A cylinder body is connected to the outside of the limit blocks. A cylinder head is connected to the top of the cylinder body. A lower pressure foot sleeve is arranged at the center of the surface of the cylinder head. The lower riveting rod passes through the cylinder head and is movably connected to the inside of the lower pressure foot sleeve. A riveting button is arranged at the end of the lower riveting rod.

[0020] Further preferably, the electromagnetic coil is also electrically connected to a power source, a first laser distance sensor is further provided at the bottom of the housing, and a lower laser distance sensor and a lower pinhole camera are further provided outside the cylinder head.

[0021] Further preferably, a plurality of Z-axis guide rails are symmetrically arranged between the lower ram and the lower saddle, a transmission shaft is further arranged between the X-axis guide rail and the lower saddle, and one end of the transmission shaft is connected to an X-axis driving motor.

[0022] Further preferably, a robotic arm is further provided on the carriage. When the drilling spindle mechanism or the milling mechanism needs to replace the tool, the robotic arm extends to replace the tool.

[0023] Further preferably, the upper cross beam and the upper saddle are connected by screw drive, and a Y-axis driving motor is arranged at one end of the screw.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0025] During processing, first, the workpiece is scanned by a 3D camera to establish a three-dimensional digital model. By calculating and comparing the actual workpiece and the theoretical model, the position deviation between the theoretical model and the actual workpiece is corrected, so that the machining program can accurately machine. Multiple laser distance sensors on the upper pressure foot plate measure and calculate the normal vector direction of the machining area. The numerical control system of the drilling and riveting machine controls the movement of the upper pressure foot mechanism in the X-axis, Y-axis, and Z-axis, and the upper AC swivel head swings along the A-axis and C-axis. At the same time, the X-axis, Y-axis, and Z-axis of the lower riveting gun mechanism and the A-axis and C-axis of the lower AC swivel head also make corresponding movements or swings, so that the axes of the upper pressure foot sleeve and the lower pressure foot sleeve are always coaxial, that is, the normal vector direction coincides with the axis of the upper pressure foot sleeve. When the upper pressure foot mechanism contacts the skin, the pressure sensor under the upper pressure foot sleeve senses the signal of contacting the skin. At this time, the upper pressure foot mechanism is locked in the X-axis, Y-axis, and Z-axis and the upper AC swivel head. This position is used as the riveting reference surface. The X-axis, Y-axis, and Z-axis of the lower riveting gun mechanism and the lower AC swivel head are linked to make the lower riveting gun mechanism move along the normal vector direction until it presses against the surface of the wall panel, and the upper and lower riveting heads firmly clamp the wall panel together.

[0026] The drilling spindle mechanism, the gluing mechanism, the riveting mechanism, the target capture camera, the milling mechanism, and the plugging mechanism are configured to move horizontally left and right inside the multi-station carriage mechanism and stop after moving to the selected mechanism. The selected mechanism is extended into the upper pressure foot mechanism to realize drilling, gluing, riveting, distance measurement, milling, and plugging of the skin.

[0027] Generally speaking, this gantry-type automatic drilling and riveting machine has a high degree of automation. It can 3D scan workpieces, automatically find the normal vector, calculate the machining reference points, replace manual normal vector finding, save time, and improve machining accuracy. It has complete functions, including automated drilling, gluing, pin insertion, riveting, measurement, and milling functions, realizing unmanned manufacturing, improving machining efficiency, and ensuring product quality stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 is a side view of the overall structure of the present invention;

[0030] Figure 3 is a schematic diagram of the structure of the upper tool mechanism of the present invention;

[0031] Figure 4 is a side view of the upper working head of the present invention;

[0032] Figure 5 is a cross-sectional view of the upper pressure foot plate of the present invention;

[0033] Figure 6 is a front view of the structure of the lower working head of the present invention;

[0034] Figure 7 is a schematic diagram of the overall structure of the lower working head of the present invention;

[0035] Figure 8 is a cross-sectional view of the upper AC swing head of the present invention;

[0036] Figure 9 is a schematic diagram of the structure of the multi-station sliding seat mechanism of the present invention;

[0037] Figure 10 is a front view of the structure of the multi-station sliding seat mechanism of the present invention;

[0038] Figure 11 is a schematic diagram of the structure of the upper pressure foot mechanism of the present invention;

[0039] Figure 12 is a schematic diagram of the bottom structure of the upper pressure foot mechanism of the present invention;

[0040] Figure 13 is a cross-sectional view of the structure of the lower riveting gun mechanism of the present invention;

[0041] Figure 14 is a schematic diagram of the riveting state structure of the present invention;

[0042] Figure 15 is a schematic diagram of the non-riveting state structure of the present invention;

[0043] Figure 16Schematic diagram of the measuring position of the wall panel thickness according to the present invention;

[0044] In the figure: 1, ground rail; 2, sliding seat; 3, column; 4, lower cross beam; 5, upper ram; 6, upper cross beam; 7, wall panel fixture; 8, upper sliding saddle; 9, upper AC swivel head; 91, upper C-axis motor; 92, upper A-axis driven end; 93, upper A-axis driving end; 94, upper connecting frame; 10, multi-station sliding seat mechanism; 101, frame; 102, sliding seat; 103, transmission lead screw; 104, slider; 105, guiding track; 106, station driving motor; 11, robotic arm; 12, upper tool mechanism; 121, drilling spindle mechanism; 122, gluing mechanism; 123, riveting mechanism; 124, target capture camera; 125, milling mechanism; 126, pin inserting mechanism; 13, Y-axis driving motor; 14, pressure sensor; 15, Z-axis driving motor; 16, upper pressure foot sleeve; 17, upper pressure foot mechanism; 171, upper pressure foot plate; 175, motor reducer; 176, small pulley; 177, bearing; 178, large pulley; 179, synchronous belt; 1710, bracket; 1711, cooling nozzle; 1712, lubricating nozzle; 1713, upper pinhole camera; 1714, high-position laser sensor; 1715, middle-position laser sensor; 1716, low-position laser sensor; 18, upper laser distance measuring sensor; 19, cylinder; 20, 3D camera; 21, lower AC swivel head; 22, lower ram; 23, lower sliding saddle; 24, Y-axis slide plate; 25, electric cylinder; 26, X-axis guide rail; 27, Z-axis guide rail; 28, lower riveting gun mechanism; 281, top block; 282, limit block; 283, spring; 284, pressing plate; 285, electromagnetic coil; 286, driving plate; 287, partition board; 288, fitting block; 289, amplifier; 2810, insulating glue layer; 2811, guiding rod; 2812, power supply; 2813, lower pressure foot sleeve; 2814, riveting button; 2815, first laser distance measuring sensor; 2816, lower riveting rod; 2818, wall panel; 2819, cylinder block; 2820, cylinder head; 2821, lower laser distance measuring sensor; 2822, lower pinhole camera; 29, X-axis driving motor. Detailed implementation manners

[0045] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0046] Please refer to Figures 1 - 16 , the present invention provides a technical solution:

[0047] A gantry-type automatic drilling and riveting machine, comprising ground rails 1 symmetrically arranged on the factory floor. Two sets of sliding seats 2 are symmetrically arranged on the surface of the ground rails 1. A column 3 is fixedly connected to the surface of each sliding seat 2. An upper cross beam 6 is symmetrically arranged at the top of the column 3 through a connecting plate. An upper saddle 8 is slidably connected to the surface of the upper cross beam 6. An upper ram 5 is arranged inside the upper saddle 8. Z-axis driving motors 15 are symmetrically arranged on both sides of the upper ram 5. A wall plate fixture 7 is also fixedly connected between the symmetrically arranged ground rails 1. A wall plate 2818 is clamped on the wall plate fixture 7;

[0048] One end of the upper ram 5 near the ground is connected to an upper AC swivel head 9. A multi-station sliding seat mechanism 10 is arranged inside the upper AC swivel head 9. An upper pressure foot mechanism 17 is fixedly connected to the outside of the multi-station sliding seat mechanism 10. An upper tool mechanism 12 is slidably connected inside the multi-station sliding seat mechanism 10. The upper tool mechanism 12 includes a drilling spindle mechanism 121, a gluing mechanism 122, a riveting mechanism 123, a target capture camera 124, a milling mechanism 125, and a pin inserting mechanism 126 arranged in a straight line inside the multi-station sliding seat mechanism 10. The drilling spindle mechanism 121, the gluing mechanism 122, the riveting mechanism 123, the target capture camera 124, the milling mechanism 125, and the pin inserting mechanism 126 are configured to move horizontally left and right inside the multi-station sliding seat mechanism 10 and stop after moving to the selected mechanism, and extend the selected mechanism into the upper pressure foot mechanism 17 to achieve drilling, gluing, riveting, distance measurement, milling, and pin inserting of the skin;

[0049] A lower cross beam 4 is also arranged between the two sets of symmetrically arranged sliding seats 2. A Y-axis slide plate 24 is slidably connected to the surface of the lower cross beam 4. X-axis guide rails 26 are symmetrically arranged on the surface of the Y-axis slide plate 24. A lower saddle 23 is slidably connected to the surface of the X-axis guide rails 26. A lower ram 22 is slidably connected inside the lower saddle 23. An electric cylinder 25 is arranged inside the lower ram 22. The driving end of the electric cylinder 25 is connected to a lower AC swivel head 21 through a driving shaft. A lower riveting gun mechanism 28 is arranged inside the lower AC swivel head 21;

[0050] The axes of the upper pressure foot mechanism 17 and the lower riveting gun mechanism 28 are coaxially arranged, and the axes of the upper pressure foot mechanism 17 and the lower riveting gun mechanism 28 are parallel to the normal line of the wall plate 2818.

[0051] In the present invention, the upper AC swivel head 9 includes an upper connecting frame 94 connected to one end of the upper ram 5 near the ground. An upper A-axis driving end 93 and an upper A-axis driven end 92 are respectively arranged at both ends of the upper connecting frame 94. An upper C-axis motor 91 is arranged at the center of the side of the upper connecting frame 94 away from the upper A-axis driving end 93 and the upper A-axis driven end 92. A direct drive motor is arranged inside the upper A-axis driving end 93.

[0052] In the present invention, the multi-station sliding seat mechanism 10 includes a frame 101 connected between the driving end 93 and the driven end 92 of the upper A-axis. A sliding seat 102 is slidably connected inside the frame 101. A connecting member is provided on the surface of the sliding seat 102, and the connecting member is connected to the outside of the transmission lead screw 103. One end of the transmission lead screw 103 is connected to the driving end of the station driving motor 106, and a bearing seat is provided at the other end of the transmission lead screw 103. Inside the sliding seat 102, a drilling spindle mechanism 121, a glue application mechanism 122, a riveting mechanism 123, a target capture camera 124, a milling mechanism 125, and a pin inserting mechanism 126 are arranged in a straight line in sequence. Guide rails 105 are symmetrically provided at the bottom of the frame 101, and sliders 104 are slidably connected to the guide rails 105. The outside of the sliders 104 is connected to the upper tool mechanism 12.

[0053] In the present invention, the upper pressure foot mechanism 17 includes a cylinder 19 connected to the outside of the frame 101. The driving end of the cylinder 19 is connected to an upper pressure foot plate 171, and a bearing 177 is provided at the bottom of the center of the upper pressure foot plate 171;

[0054] A plurality of upper laser distance sensors 18 are symmetrically provided on the front and rear sides of the upper pressure foot plate 171;

[0055] A 3D camera 20 and a motor reducer 175 are respectively provided on the left and right sides of the upper pressure foot plate 171. A small pulley 176 is provided at the driving end of the motor reducer 175. The small pulley 176 is connected to a large pulley 178 through a synchronous belt 179. The large pulley 178 is sleeved outside the bearing 177. An upper pressure foot sleeve 16 is further connected to the outside of the large pulley 178, and a plurality of pressure sensors 14 are evenly provided between the upper pressure foot sleeve 16 and the large pulley 178. The pressure sensors 14 are evenly arranged along the circumferential direction of the upper pressure foot sleeve 16. On one side of the upper pressure foot plate 171 close to the 3D camera 20, a cooling nozzle 1711 and a lubricating nozzle 1712 are connected through a bracket 1710, and an upper pinhole camera 1713 is further provided on one side of the upper pressure foot plate 171 close to the 3D camera 20;

[0056] A high-position laser sensor 1714, a middle-position laser sensor 1715, and a low-position laser sensor 1716 are further provided on one side of the upper pressure foot plate 171 close to the motor reducer 175.

[0057] In the present invention, the lower AC swing head 21 includes a lower connecting frame connected to the driving end of the electric cylinder 25. The lower A-axis driving end and the lower A-axis driven end are respectively provided at both ends of the lower connecting frame. A lower C-axis motor is provided at the center of the side of the lower connecting frame away from the lower A-axis driving end and the lower A-axis driven end. A direct drive motor is provided inside the lower A-axis driving end.

[0058] In the present invention, the lower riveting gun mechanism 28 includes a housing disposed inside the lower connecting frame. Inside the housing, there is a top block 281. A spring 283 is disposed on the surface of the top block 281. At the other end of the spring 283, there are successively arranged from bottom to top a pressure plate 284, an electromagnetic coil 285, a driving plate 286, and a partition plate 287. At the center of the surface of the partition plate 287, an amplifier 289 is fixedly connected through a fitting block 288. At the center of the surface of the top block 281, a guide rod 2811 is connected. The guide rod 2811 passes through the spring 283, the pressure plate 284, the electromagnetic coil 285, the driving plate 286, and the partition plate 287 and is connected to the center of the bottom of the amplifier 289. The driving end of the amplifier 289 is connected to a lower riveting rod 2816. An insulating rubber layer 2810 is disposed outside the electromagnetic coil 285. Limiting blocks 282 are disposed outside the driving plate 286 and the partition plate 287. The outside of the limiting blocks 282 is connected to a cylinder block 2819. The top of the cylinder block 2819 is connected to a cylinder head 2820. At the center of the surface of the cylinder head 2820, a lower pressure foot sleeve 2813 is disposed. The lower riveting rod 2816 passes through the cylinder head 2820 and is movably connected inside the lower pressure foot sleeve 2813. A riveting button 2814 is disposed at the end of the lower riveting rod 2816. The electromagnetic coil 285 is also electrically connected to a power supply 2812. A first laser distance sensor 2815 is further disposed at the bottom of the housing. A lower laser distance sensor 2821 and a lower pinhole camera 2822 are further disposed outside the cylinder head 2820.

[0059] In the present invention, a plurality of Z-axis guide rails 27 are symmetrically disposed between the lower ram 22 and the lower saddle 23. A transmission shaft is further disposed between the X-axis guide rail 26 and the lower saddle 23. One end of the transmission shaft is connected to an X-axis driving motor 29.

[0060] In the present invention, a robotic arm 11 is further disposed on the slide base 2. When the drilling spindle mechanism 121 or the milling mechanism 125 needs to replace the tool, the robotic arm 11 extends to replace the tool.

[0061] In the present invention, the upper cross beam 6 and the upper saddle 8 are connected by a lead screw in a transmission manner, and a Y-axis driving motor 13 is disposed at one end of the lead screw.

[0062] Embodiment: During processing, first use the 3D camera 20 to scan the workpiece to establish a three-dimensional digital model. By calculating and comparing the actual workpiece with the theoretical model, correct the position deviation between the theoretical model and the actual workpiece, so that the processing program can accurately process. Among the upper pressure foot mechanisms 17, the 4 upper laser distance sensors 18 on the upper pressure foot plate 171 measure and calculate the normal vector direction of the processing area. Then, through the action of the slide 2 and the ground rail 1, the upper half of the entire device is adjusted to move on the X-axis. At the same time, the Y-axis drive motor 13 cooperates with the lead screw to drive the upper saddle 8 to move on the upper cross beam 6 in the Y-axis direction, and the Z-axis drive motor 15 drives the upper ram 5 to move up and down in the Z-axis direction inside the upper saddle 8, so as to adjust the position of the upper AC swivel head 9. Furthermore, through the swinging of the A and C axes of the upper AC swivel head 9, the angle of the multi-station slide mechanism 10 is adjusted. Then, the position of the upper pressure foot mechanism 17 is adjusted through the upper tool mechanism 12 that slides left and right inside the multi-station slide mechanism 10. At the same time, the lower half of the entire device adjusts the position of the lower AC swivel head 21 through the Y-axis slide plate 24 arranged on the surface of the lower cross beam 4 and the action of the X-axis drive motor 29 and the electric cylinder 25. Furthermore, through the swinging of the A and C axes of the lower AC swivel head 21, the angle of the lower riveting gun mechanism 28 is adjusted. Ensure that the axes of the upper pressure foot mechanism 17 and the lower riveting gun mechanism 28 are coaxially arranged, and the axes of the upper pressure foot mechanism 17 and the lower riveting gun mechanism 28 are parallel to the normal line of the wall panel 2818.

[0063] The upper tool mechanism 12 includes a drilling spindle mechanism 121, a gluing mechanism 122, a riveting mechanism 123, a target capture camera 124, a milling mechanism 125, and a pin inserting mechanism 126 that are arranged in a straight line inside the multi-station slide mechanism 10. The drilling spindle mechanism 121, the gluing mechanism 122, the riveting mechanism 123, the target capture camera 124, the milling mechanism 125, and the pin inserting mechanism 126 are configured to move horizontally left and right inside the multi-station slide mechanism 10 and stop after moving to the selected mechanism, and extend the selected mechanism into the upper pressure foot mechanism 17 to realize drilling, gluing, riveting, distance measurement, milling, and pin inserting of the skin.

[0064] The lower part of the air cylinder 19 is connected to the upper pressure foot plate 171. On one side of the surface of the upper pressure foot plate 171 close to the motor reducer 175, a high-position laser sensor 1714, a middle-position laser sensor 1715 and a low-position laser sensor 1716 are also provided. When the spindle of the drilling spindle mechanism 121, the gluing mechanism 122, the riveting mechanism 123, the milling mechanism 125 or the pin inserting mechanism 126 moves to the position above the upper pressure foot plate 171 and coaxial with the upper pressure foot sleeve 16 and then moves down to the tool detection position, the high-position laser sensor 1714 detects whether there is a tool on the spindle, the middle-position laser sensor 1715 detects whether there is a tool tip, and the low-position laser sensor 1716 detects whether the tool length is too long. If the tool length is correct, the high-position laser sensor 1714 and the middle-position laser sensor 1715 detect an object and the signal is normal. When the tool is too long, the low-position laser sensor 1716 detects an object and the signal is abnormal. Through the combined action of the high-position laser sensor 1714, the middle-position laser sensor 1715 and the low-position laser sensor 1716, the tool information is ensured to be accurate and error-free.

[0065] Four upper laser ranging sensors 18 are installed on the side of the upper pressure foot plate 171. By calculating the normal vector direction of the skin surface of the wall panel 2818 through a program, it is ensured that the axis of the upper pressure foot sleeve 16 always coincides with this normal vector. A pressure sensor 14 is installed on the bottom surface of the upper pressure foot sleeve 16. When it is detected that the pressure received by the upper pressure foot sleeve 16 reaches the set value, a signal that the upper pressure foot sleeve 16 has contacted the skin of the wall panel 2818 is sent to the control system. The upper pressure foot sleeve 16 is driven by a motor through the motor reducer 175 and then driven by a small pulley 176 and a large pulley 178 under the drive of the synchronous belt 179 to drive the upper pressure foot sleeve 16 to rotate, and a certain range of swing can be realized. A groove is opened on the end face of the upper pressure foot sleeve 16 to avoid interference between the upper pressure foot sleeve 16 and the rivet head protruding from the skin.

[0066] A bracket 1710 is fixed on the upper pressure foot plate 171. An upper pinhole camera 1713 is installed beside the bracket 1710 to monitor the working conditions of machining, pin inserting and riveting in real time. A cooling nozzle 1711 and a lubricating nozzle 1712 are provided on the bracket 1710 to lubricate and cool the tool during machining.

[0067] The upper tool mechanism 12 moves so that the axes of the drilling spindle mechanism 121, the glue applying mechanism 122, the riveting mechanism 123, the target capturing camera 124, the milling mechanism 125, and the pin inserting mechanism 126 are aligned with the center of the upper pressure foot sleeve 16 in sequence, that is, the normal vector direction coincides with the center of the upper pressure foot sleeve 16. The drilling spindle mechanism 121 moves along the normal vector direction to drill a hole in the panel 2818, and then the drilling spindle mechanism 121 retracts. The upper tool mechanism 12 moves again so that the glue applying mechanism 122 is aligned with the center of the upper pressure foot sleeve 16, inserts into the hole, and applies the sealant in the hole with compressed air or a glue pump, and then retracts. Similarly, the riveting mechanism 123 and the pin inserting mechanism 126 are moved to the axis of the upper pressure foot sleeve 16 in sequence to insert the rivet into the panel 2818 and rivet. The target capturing camera 124 measures the height of the rivet head protruding from the skin. If the height of the rivet protruding from the skin exceeds the qualified range, the protruding rivet head is milled by the spindle of the milling mechanism 125.

[0068] During the riveting process, the upper pressure foot plate 171 is always in contact with the outer side of the wall plate 2818, and the lower pressure foot sleeve 2813 is in contact with the inner side of the wall plate 2818. The movement of the lower pressure foot sleeve 2813 and the movement of the lower rivet rod 2816 inside are independent of each other. The lower pressure foot sleeve 2813 retracts under the pressure of the wall plate 2818, while the lower rivet rod 2816 moves up and down under the electromagnetic force of the electromagnetic coil 285. When not riveted, the lower rivet rod 2816 moves upward under the pressure of the lower spring 283 to support the tail end of the rivet. During riveting, under the electromagnetic force of the electromagnetic coil 285, the lower rivet rod 2816 moves upward to squeeze the tail end of the rivet and upset it, and the lower rivet rod 2816 moves downward under the reaction, and moves upward and returns to the top under the action of the spring 283. The first laser distance sensor 2815 compares the standard pier head height and calculates whether the actual pier head height is qualified. The upper pressure foot mechanism 17 and the lower rivet gun mechanism 28 continue to apply pressure to the wall panel 2818, and the lower rivet rod 2816 continues to be pressurized, so that the amplifier 289, the engaging block 288, the partition 287 and the driving plate 286 push the electromagnetic coil 285 and the pressure plate 284 to move downward and compress the spring 283. When compressed to a certain set value, the first laser ranging sensor 2815 senses and records the distance Dx between the first laser ranging sensor 2815 and the lower end surface of the pressure plate 284 at this time, and then determines a pier head with a specific value as the standard pier head, determines its height D1, and obtains its compression spring 283. The distance D2 between the first laser ranging sensor 2815 and the lower end surface of the pressure plate 284, these two sets of values ​​have a corresponding relationship as standard values. After each riveting is completed, the lower rivet rod 2816 performs the same steps, contacts the pier head end face of the rivet button 2814 to be tested, compresses the components involved in the riveting punch and compresses the spring 283, and the first laser ranging sensor 2815 records the distance Dx from the lower end face of the pressure plate 284 this time. By calculating the difference between the standard pier head D2 value and the pier head Dx value to be tested, the standard pier head height D1 is corrected, and the pier head height can be obtained through simple calculation.

[0069] The cylinder body 2819 is fixedly connected to the outer wall of the shell, and the cylinder head 2820 moves up and down. The lower end is provided with a lower laser distance sensor 2821. The end face of the upper pressure foot sleeve 16 contacts the outer side of the wall panel 2818, and the lower pressure foot sleeve 2813 contacts the inner side of the wall panel 2818. When the wall panel 2818 continues to be pressurized, the lower pressure foot sleeve 2813 pushes the cylinder head 2820 downward to achieve the purpose of buffering. When it descends to a certain height, the lower laser distance sensor 2821 senses and transmits the signal to the CNC system. The system will then record the position coordinates of the center point of the end face when the lower pressure foot sleeve 2813 contacts the wall panel 2818, and also record the position coordinates of the center point of the end face when the upper pressure foot plate 171 contacts the wall panel 2818. The coordinate values ​​of the center points of the end faces on both sides are calculated by the example formula It can calculate the distance between two points. Since the upper pressure foot mechanism 17 and the lower riveting gun mechanism 28 are coaxial during the riveting process, the calculated coordinate distance is always the shortest distance between the wall panels 2818, that is, it ensures that the measured value is the wall thickness.

[0070] Overall, this gantry-type automatic drilling and riveting machine has a high degree of automation. It can 3D scan the workpiece, automatically find the normal vector, calculate the machining reference point, replace manual normal vector finding, save time, and improve machining accuracy. It has complete functions, including automatic drilling, gluing, pin insertion, riveting, measurement, and milling functions, realizing unmanned manufacturing, improving machining efficiency, and ensuring product quality stability.

[0071] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention, and any reference signs in the claims should not be regarded as limiting the claims involved.

[0072] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and all should be covered by the protection scope of the present invention.

Claims

1. A gantry type automatic drilling and riveting machine, comprising a ground rail (1) symmetrically arranged on the factory floor, characterized in that: Two groups of slide seats (2) are symmetrically arranged on the surface of the ground rail (1), and each of the slide seats (2) is fixedly connected to a column (3). An upper crossbeam (6) is symmetrically arranged on the top of the column (3) through a connecting plate. An upper slide saddle (8) is slidably connected to the surface of the upper crossbeam (6). An upper slide bolster (5) is arranged inside the upper slide saddle (8). Z-axis drive motors (15) are symmetrically arranged on both sides of the upper slide bolster (5). A wall panel clamp (7) is also fixedly connected between the symmetrically arranged ground rails (1), and a wall panel (2818) is clamped on the wall panel clamp (7); The end of the upper ram (5) close to the ground is connected to an upper AC swing head (9), a multi-station slide mechanism (10) is arranged inside the upper AC swing head (9), an upper pressure foot mechanism (17) is fixedly connected to the outside of the multi-station slide mechanism (10), an upper tool mechanism (12) is slidably connected inside the multi-station slide mechanism (10), and the upper tool mechanism (12) comprises a drilling spindle mechanism (121), a gluing mechanism (122), a riveting mechanism (123), and a mesh mechanism arranged in a straight line inside the multi-station slide mechanism (10). The target capture camera (124), the milling mechanism (125) and the nail insertion mechanism (126), the drilling spindle mechanism (121), the gluing mechanism (122), the riveting mechanism (123), the target capture camera (124), the milling mechanism (125) and the nail insertion mechanism (126) are configured to move horizontally left and right along the inside of the multi-station slide mechanism (10), and stop after moving to the selected mechanism, and extend the selected mechanism into the upper pressure foot mechanism (17) to achieve drilling, gluing, riveting, ranging, milling and nail insertion of the skin; A lower crossbeam (4) is also arranged between the two groups of slide seats (2) that are symmetrically arranged. A Y-axis slide plate (24) is slidably connected to the surface of the lower crossbeam (4). An X-axis guide rail (26) is symmetrically arranged on the surface of the Y-axis slide plate (24). A lower slide saddle (23) is slidably connected to the surface of the X-axis guide rail (26). A lower slide saddle (23) is slidably connected to the interior of the lower slide saddle (23). An electric cylinder (25) is arranged inside the lower slide saddle (22). The driving end of the electric cylinder (25) is connected to a lower AC swing head (21) via a driving shaft. A lower rivet gun mechanism (28) is arranged inside the lower AC swing head (21). The axes of the upper pressure foot mechanism (17) and the lower rivet gun mechanism (28) are coaxially arranged with each other, and the axes of the upper pressure foot mechanism (17) and the lower rivet gun mechanism (28) are parallel to the normal line of the wall panel (2818).

2. A gantry type automatic drilling and riveting machine according to claim 1, characterized in that: The upper AC swing head (9) comprises an upper connecting frame (94) connected to the end of the upper ram (5) close to the ground, an upper A-axis driving end (93) and an upper A-axis driven end (92) are respectively arranged at two ends of the upper connecting frame (94), an upper C-axis motor (91) is arranged at the center of the upper connecting frame (94) away from the upper A-axis driving end (93) and the upper A-axis driven end (92), and a direct drive motor is arranged inside the upper A-axis driving end (93).

3. A gantry type automatic drilling and riveting machine according to claim 2, characterized in that: The multi-station slide mechanism (10) comprises a frame (101) connected between an upper A-axis driving end (93) and an upper A-axis driven end (92); a slide seat (102) is slidably connected inside the frame (101); a connecting piece is arranged on the surface of the slide seat (102); the connecting piece is connected to the outside of a transmission screw (103); one end of the transmission screw (103) is connected to the driving end of a station driving motor (106); the other end of the transmission screw (103) is provided with a bearing seat; a drilling spindle mechanism (121), a gluing mechanism (122), a riveting mechanism (123), a target capturing camera (124), a milling mechanism (125) and a nail inserting mechanism (126) are arranged in sequence in a straight line inside the slide seat (102).

4. The gantry type automatic drilling and riveting machine according to claim 3, characterized in that: A guide rail (105) is symmetrically arranged at the bottom of the frame (101), a slider (104) is slidably connected to the guide rail (105), and an upper tool mechanism (12) is connected to the outer side of the slider (104).

5. The gantry type automatic drilling and riveting machine according to claim 4, characterized in that: The upper pressure foot mechanism (17) comprises a cylinder (19) connected to the outside of the frame (101), the driving end of the cylinder (19) is connected to an upper pressure foot plate (171), and a bearing (177) is provided at the bottom of the center of the upper pressure foot plate (171); A plurality of upper laser distance measuring sensors (18) are symmetrically arranged on the front and rear sides of the upper pressure foot plate (171); The left and right sides of the upper pressure foot plate (171) are respectively provided with a 3D camera (20) and a motor reducer (175); a driving end of the motor reducer (175) is provided with a small pulley (176); the small pulley (176) is connected to a large pulley (178) via a synchronous belt (179); the large pulley (178) is sleeved on the outside of a bearing (177); the outside of the large pulley (178) is also connected to an upper pressure foot sleeve (16); and a plurality of pressure sensors (14) are evenly arranged between the upper pressure foot sleeve (16) and the large pulley (178); the pressure sensors (14) are evenly arranged along the circumference of the upper pressure foot sleeve (16).

6. The gantry type automatic drilling and riveting machine according to claim 5, characterized in that: A cooling nozzle (1711) and a lubricating nozzle (1712) are connected to the side of the surface of the upper pressure foot plate (171) close to the 3D camera (20) through a bracket (1710), and an upper pinhole camera (1713) is also provided on the side of the surface of the upper pressure foot plate (171) close to the 3D camera (20); A high-position laser sensor (1714), a middle-position laser sensor (1715) and a low-position laser sensor (1716) are also provided on the side of the surface of the upper pressure foot plate (171) close to the motor reducer (175).

7. The gantry type automatic drilling and riveting machine according to claim 1, characterized in that: The lower AC swing head (21) comprises a lower connecting frame connected to the driving end of the electric cylinder (25), the lower A-axis driving end and the lower A-axis driven end are respectively arranged at two ends of the lower connecting frame, a lower C-axis motor is arranged at the center of the lower connecting frame away from the lower A-axis driving end and the lower A-axis driven end, and a direct drive motor is arranged inside the lower A-axis driving end.

8. The gantry type automatic drilling and riveting machine according to claim 7, characterized in that: The lower riveting gun mechanism (28) comprises a shell arranged inside the lower connecting frame, a top block (281) is arranged inside the shell, a spring (283) is arranged on the surface of the top block (281), a pressure plate (284), an electromagnetic coil (285), a driving plate (286) and a partition (287) are arranged on the other end of the spring (283) from bottom to top, an amplifier (289) is fixedly connected to the center of the surface of the partition (287) through a fitting block (288), a guide rod (2811) is connected to the center of the surface of the top block (281), and the guide rod (2811) passes through the spring (283), the pressure plate (284), the electromagnetic coil (285), the driving plate (286) and the partition (287) and is connected to the amplifier (289). At the bottom center of the amplifier (289), the driving end of the amplifier (289) is connected to a lower rivet rod (2816), an insulating rubber layer (2810) is arranged on the outside of the electromagnetic coil (285), a limit block (282) is arranged on the outside of the driving plate (286) and the partition (287), the limit block (282) is connected to the outside of a cylinder body (2819), the top of the cylinder body (2819) is connected to a cylinder head (2820), a lower pressure foot sleeve (2813) is arranged at the center of the surface of the cylinder head (2820), the lower rivet rod (2816) penetrates the cylinder head (2820) and is movably connected to the inside of the lower pressure foot sleeve (2813), and a rivet button (2814) is arranged at the end of the lower rivet rod (2816).

9. The gantry type automatic drilling and riveting machine according to claim 8, characterized in that: The electromagnetic coil (285) is also electrically connected to the power supply (2812), a first laser distance measuring sensor (2815) is also provided at the bottom of the shell, and a lower laser distance measuring sensor (2821) and a lower pinhole camera (2822) are also provided on the outside of the cylinder head (2820).

10. The gantry type automatic drilling and riveting machine according to claim 1, characterized in that: A plurality of Z-axis guide rails (27) are symmetrically arranged between the lower slide pillow (22) and the lower slide saddle (23), and a transmission shaft is also arranged between the X-axis guide rail (26) and the lower slide saddle (23), one end of the transmission shaft being connected to an X-axis drive motor (29).

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