An upper actuator of a drilling and riveting machine

Abstract

The present application discloses an upper actuator of a drilling and riveting machine. The two ends of the station rotating mechanism are respectively rotatably connected to the A-axis driving end and the A-axis driven end; the tool magazine mechanism and the pressure foot mechanism are both arranged on the side of the station rotating mechanism away from the crossbeam; the circumferential direction of the station rotating mechanism is respectively provided with a drilling station, a gluing station, a nail inserting station, a riveting station and a milling station, each station is configured to rotate around the central axis of the station rotating mechanism, and stop after rotating to the selected station, and the selected station moves along the height direction of the station rotating mechanism so that it extends into the pressure foot mechanism to realize drilling, gluing, rivet insertion, riveting and milling of the skin; the C-axis driving end and the A-axis driving end are linked so that the axis of the pressure foot mechanism and the normal of the skin surface are coaxial. Therefore, the present application can automatically perform the corresponding drilling, gluing, rivet insertion, riveting and milling functions, improve the processing efficiency, and ensure the stability of product quality.

Description

Technical Field

[0001] The present application relates to the technical field of drilling and riveting machines, and in particular to an upper actuator of a drilling and riveting machine. Background Art

[0002] Skin-frame structures generally use riveting in their mechanical connections. A single large panel part, such as a skin-frame structure, requires thousands or even tens of thousands of rivets.

[0003] However, in actual production, the complete riveting process includes manual clamping, marking, drilling, countersinking, and riveting, which requires the cooperation of multiple people and also relies on manual operation experience. As a result, the quality of the riveting process cannot be guaranteed and the work efficiency is low, which makes it impossible to meet the needs of large-scale processing of wall panels. Summary of the invention

[0004] The embodiment of the present application provides an upper actuator for a drilling and riveting machine, thereby solving the technical problem that the riveting process of the wall panels in the prior art requires the cooperation of multiple people, resulting in unguaranteed quality, low work efficiency, and inability to meet the needs of mass processing of wall panels.

[0005] The embodiment of the present application provides an upper actuator of a drilling and riveting machine, including an AC swing head mechanism, a station rotation mechanism, a tool magazine mechanism and a pressure foot mechanism; the AC swing head mechanism includes a crossbeam, and an A-axis driving end and an A-axis driven end arranged at both ends of the crossbeam, the crossbeam is provided with a C-axis driving end, and the end of the C-axis driving end away from the crossbeam is connected to the slide of the drilling and riveting machine; the two ends of the station rotation mechanism are rotatably connected to the A-axis driving end and the A-axis driven end respectively; the tool magazine mechanism and the pressure foot mechanism are both arranged on one side of the station rotation mechanism away from the crossbeam, and are spaced apart along the second direction; the circumferential direction of the station rotation mechanism is respectively provided with a drilling station, a gluing station, a nail inserting station, a riveting station and a milling station, the drilling station, the gluing station, the nail inserting station The workstation, the riveting station and the milling station are configured to rotate around the central axis of the workstation rotating mechanism and stop after rotating to the selected workstation. The selected workstation moves along the height direction of the workstation rotating mechanism so that it extends into the pressure foot mechanism to realize drilling, gluing, inserting rivets, riveting and milling of the skin; the C-axis driving end and the A-axis driving end are linked to drive the workstation rotating mechanism to move so that the axis of the pressure foot mechanism and the normal of the skin surface are coaxial; the tool magazine mechanism is configured to replace the tool of the drilling station, the tool of the milling station and the rivet rod of the riveting station; the pressure foot mechanism is configured to detect the deviation between the tool tip point in the local area of ​​the hole to be processed and the actual normal of the hole position to ensure that the axis of the pressure foot mechanism and the normal of the skin surface are coaxial.

[0006] In a possible implementation, the workstation rotation mechanism includes an annular frame, an annular guide rail, a rotating seat, a gear ring, a first driving member and a plurality of sliding assemblies; the two ends of the annular frame are rotatably connected to the A-axis driving end and the A-axis driven end respectively; the tool magazine mechanism and the pressure foot mechanism are both arranged on the side of the annular frame away from the crossbeam; the annular guide rail is fixedly connected to the annular frame; the gear ring is slidably connected to the annular guide rail and is located on the side of the annular guide rail facing the crossbeam, the rotating seat partially extends into the gear ring and is fixedly connected to the gear ring; the drilling tool The gluing station, the gluing station, the riveting station and the milling station are arranged in the circumference of the outer wall of the rotating seat, and the sliding components are respectively arranged between the rotating seat, the drilling station, the gluing station, the nailing station, the riveting station and the milling station are all provided with a third driving member, and the third driving member is configured to drive the drilling station, the gluing station, the nailing station, the riveting station and the milling station to move along the height direction of the rotating seat; the output end of the first driving member is connected to the gear ring, and is configured to drive the gear ring to rotate around the central axis of the rotating seat.

[0007] In one possible implementation, the sliding assembly includes a first guide rail and a first slider; the drilling station, the gluing station, the riveting station and the milling station are all provided with the first guide rail; the rotating seat is provided with a first slider corresponding to the first guide rail; the first guide rail moves along the first slider to drive the drilling station, the gluing station, the riveting station and the milling station to perform corresponding drilling, gluing, riveting and milling operations.

[0008] In a possible implementation, a camera station is provided on the outer wall of the rotating seat; the axes of the camera station, the drilling station, the gluing station, the nailing station, the riveting station and the milling station are parallel to each other and are equidistant from the central axis of the rotating seat.

[0009] In a possible implementation, the pressure foot mechanism includes a pressure foot plate, a pressure foot sleeve, a second driving member, a 3D camera, a first pulley, a second pulley, a tool setting sensor, a pressure rod, an elastic member, two driving components, a plurality of pressure sensors and a plurality of first laser ranging sensors; the two driving components are arranged at both ends of the pressure foot plate, and the tops thereof are connected to the side of the workstation rotating mechanism away from the crossbeam, and are configured to drive the pressure foot plate to move along its height direction; a plurality of the first laser ranging sensors are arranged circumferentially on the side of the pressure foot plate away from the workstation rotating mechanism; the pressure foot plate is provided with a center hole, and a bearing is provided on the side of the center hole away from the workstation rotating mechanism, and the first pulley is sleeved on the outer side of the bearing, and the first pulley is arranged on the side away from the pressure foot The pressure foot sleeve is provided on one side of the plate; the second driving member is installed on the pressure foot plate, and the second pulley is installed on the output end of the pressure foot plate, and the second driving member is close to the A-axis driving end; the second pulley is configured to drive the first pulley to rotate through the first synchronous belt; a plurality of pressure sensors are arranged between the pressure foot sleeve and the first pulley, and are arranged along the circumference of the pressure foot sleeve; the 3D camera is arranged on the side wall of the pressure foot plate; the tool setting sensor is arranged on the side wall of the pressure foot plate, and is close to the tool magazine mechanism, the elastic member is arranged in the tool setting sensor, one end of the pressure rod extends into the tool setting sensor, and is connected to the end of the elastic member away from the bottom of the tool setting sensor, and the other end is a free end, and faces the workstation rotation mechanism.

[0010] In a possible implementation, a groove is formed on a side of the pressure foot sleeve away from the first pulley, and the groove is configured to prevent a rivet head protruding from the skin from interfering with the pressure foot sleeve.

[0011] In a possible implementation, the pressure foot mechanism further includes a second laser ranging sensor, a third laser ranging sensor, a fourth laser ranging sensor, a fifth laser ranging sensor and a sixth laser ranging sensor; the second laser ranging sensor, the third laser ranging sensor and the fourth laser ranging sensor are all arranged on a side of the pressure foot plate facing the workstation rotating mechanism, one end of each of which is close to the 3D camera, and the projection of the end away from the 3D camera overlaps with the projection of the center hole in the horizontal plane; the height of the second laser ranging sensor is greater than the height of the third laser ranging sensor, and the height of the third laser ranging sensor is greater than the height of the fourth laser ranging sensor; The fifth laser ranging sensor and the sixth laser ranging sensor are both arranged on the side of the pressure foot plate facing the workstation rotating mechanism, the direction of the center hole facing the fifth laser ranging sensor is the third direction, the direction of the center hole facing the sixth laser ranging sensor is the fourth direction, and the angle between the third direction and the fourth direction is 90°; when the nail inserter of the nail inserting station clamps the rivet to the side of the center hole facing the workstation rotating mechanism, the fifth laser ranging sensor and the sixth laser ranging sensor are configured to measure the distance from the fifth laser ranging sensor and the sixth laser ranging sensor to the rivet respectively, and compare whether the theoretical distance difference is within the allowable range to determine whether the rivet is skewed.

[0012] In a possible implementation, the pressure foot mechanism also includes a first bracket, a cooling pipe, an air blowing pipe, a chip collection box and a vacuum cleaner; the first bracket is arranged on the side of the pressure foot plate facing the workstation rotation mechanism and close to the center hole; the cooling pipe and the air blowing pipe are arranged on the side of the first bracket away from the pressure foot plate; a plurality of through holes are arranged circumferentially of the pressure foot sleeve, the chip collection box is connected to one of the through holes, and the vacuum cleaner is arranged on the end of the chip collection box away from the through hole.

[0013] In a possible implementation, the pressure foot mechanism also includes a second bracket, a pen-shaped camera and two columnar light sources; the second bracket is arranged on the side of the pressure foot plate facing the workstation rotation mechanism, close to the center hole, and opposite to the first bracket; the pen-shaped camera and the two columnar light sources are both arranged at the end of the second bracket away from the pressure foot plate, and the pen-shaped camera is arranged between the two columnar light sources.

[0014] In a possible implementation, the tool magazine mechanism includes a tool magazine base plate, a rotating drive member, a third pulley, a fourth pulley, a movable drive member, a rack, a tool disc, a rotating shaft, two mounting frames, two second guide rails and two second sliders; the two mounting frames are fixed to a side of the work station rotation mechanism away from the cross beam, and are arranged at intervals along a first direction, and the ends of the two mounting frames away from the work station rotation mechanism are respectively provided with the second sliders; the two second guide rails are respectively slidably connected to the corresponding second sliders; the tool magazine base plate is arranged on a side of the two second guide rails away from the second sliders, and is provided with a mounting hole, and the mounting hole is arranged between the two second guide rails; the rotating drive member is fixed to a side of the tool magazine base plate facing the work station rotation mechanism, and the third pulley is provided at its output end, the fourth pulley is installed on the side of the mounting hole facing the work station rotation mechanism, and the third pulley It is configured to drive the fourth pulley to rotate through a second synchronous belt; one end of the rotating shaft passes through the fourth pulley and the mounting hole and is connected to the tool disc; the tool disc is arranged in parallel with the tool magazine base plate, and a plurality of replaceable tools and a plurality of rivet rods are arranged on the circumference of the tool disc; the mobile driving member is fixed to the side of the tool magazine base plate facing the workstation rotation mechanism and is located between the two mounting frames, and a first gear is provided at the output end of the mobile driving member, and the rack is installed on the tool magazine base plate and is located on the same side of the tool magazine base plate as the second guide rail; the rack is arranged in parallel with the second guide rail, and the rack is meshed with the first gear, and the mobile driving member is configured to drive the first gear to rotate, and the first gear drives the rack to move linearly, so that the rack drives the tool magazine base plate to move toward or away from the tool of the drilling station, the tool of the milling station or the rivet rod of the riveting station.

[0015] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects:

[0016] The upper actuator of the drilling and riveting machine provided in the embodiment of the present application includes an AC swing head mechanism, a station rotation mechanism, a tool magazine mechanism and a pressure foot mechanism. The AC swing head mechanism of the embodiment of the present application can rotate horizontally around the vertical C axis, or around the horizontal A axis. The A axis driving end and the C axis driving end are linked to drive the station rotation mechanism to move so that the axis of the pressure foot mechanism and the normal of the skin surface are coaxial. The station rotation mechanism of the embodiment of the present application allows the drilling station, the gluing station, the nail insertion station, the riveting station and the milling station to rotate around the central axis of the station rotation mechanism, which can not only improve the positioning accuracy, but also realize more stations under the minimum span conditions for each station, leaving room for subsequent station expansion. The pressure foot mechanism of the embodiment of the present application has a normal detection function, which simplifies the processing alignment operation and improves work efficiency. The tool magazine mechanism of the embodiment of the present application can replace tools for the drilling station, replace tools for the milling station and replace rivet rods for the riveting station. Therefore, the upper actuator of the drilling and riveting machine of the embodiment of the present application can automatically perform the corresponding drilling, gluing, rivet insertion, riveting and milling operations, improve processing efficiency, ensure product quality stability, and thus meet the needs of large-scale processing of wall panels. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments of the present application. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A schematic diagram of the structure of the upper actuator of the drilling and riveting machine provided in an embodiment of the present application;

[0019] Figure 2 A schematic diagram of the structure of the AC swing head mechanism provided in an embodiment of the present application;

[0020] Figure 3 A schematic diagram of the structure of the station rotation mechanism provided in the embodiment of the present application;

[0021] Figure 4 A schematic diagram of the structure of a sliding assembly provided in an embodiment of the present application;

[0022] Figure 5 A schematic diagram of the structure of the tool magazine mechanism provided in the embodiment of the present application;

[0023] Figure 6 A rear view of the tool magazine mechanism provided in the embodiment of the present application;

[0024] Figure 7 for Figure 6 A partial cross-sectional view of

[0025] Figure 8 A schematic diagram of the structure of the pressure foot mechanism provided in the embodiment of the present application Figure 1 ;

[0026] Fig. 9 A top view of a pressure foot mechanism provided in an embodiment of the present application;

[0027] Fig.10 A cross-sectional view of a tool setting sensor provided in an embodiment of the present application;

[0028] Fig.11 A front view of a pressure foot mechanism provided in an embodiment of the present application;

[0029] Fig.12 A schematic diagram of the structure of the pressure foot mechanism provided in the embodiment of the present application Figure 2 .

[0030] Figure numerals: 1-AC swing head mechanism; 11-crossbeam; 12-A axis driving end; 13-A axis driven end; 14-C axis driving end; 2-station rotating mechanism; 21-annular frame; 22-annular guide rail; 23-rotating seat; 24-gear ring; 25-first driving member; 26-sliding assembly; 261-first guide rail; 262-first slider; 3-tool magazine mechanism; 31-tool magazine bottom plate; 32-rotating driving member; 33-third pulley; 34-fourth pulley; 35-moving driving member; 351-first gear; 36-rack; 37-knife disc; 38-rotating shaft; 39-mounting frame; 391-second guide rail; 392-second slider; 393-replaceable tool; 4-pressure foot mechanism; 41-pressure foot plate; 411-center hole; 42-pressure foot sleeve; 421-groove; 43-second driving member; 44 -3D camera; 45-pen-type camera; 46-first pulley; 47-second pulley; 48-tool setting sensor; 481-first bracket; 482-cooling pipe; 483-air blowing pipe; 484-chip collection box; 485-columnar light source; 486-second bracket; 49-pressure rod; 490-elastic member; 491-driving assembly; 4911-cylinder body; 4912-piston; 4913-cylinder head; 492-pressure sensor; 493-first laser distance sensor; 494-second laser distance sensor; 495-third laser distance sensor; 496-fourth laser distance sensor; 497-fifth laser distance sensor; 498-sixth laser distance sensor; 5-drilling station; 6-glueing station; 7-nailing station; 8-riveting station; 9-milling station; 10-camera station. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0032] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. The terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In addition, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0033] The present application embodiment provides an upper actuator of a drilling and riveting machine, such as Figures 1 to 12As shown. The upper actuator of the drilling and riveting machine includes an AC swing head mechanism 1, a station rotation mechanism 2, a tool magazine mechanism 3 and a pressure foot mechanism 4. The AC swing head mechanism 1 includes a crossbeam 11, and an A-axis driving end 12 and an A-axis driven end 13 arranged at both ends of the crossbeam 11. The crossbeam 11 is provided with a C-axis driving end 14, and the end of the C-axis driving end 14 away from the crossbeam 11 is connected to the slide of the drilling and riveting machine. Specifically, the slide can drive the AC swing head mechanism 1 to move up and down or left and right. The two ends of the station rotation mechanism 2 are rotatably connected to the A-axis driving end 12 and the A-axis driven end 13 respectively. The tool magazine mechanism 3 and the pressure foot mechanism 4 are both arranged on the side of the station rotation mechanism 2 away from the crossbeam 11, and are arranged at intervals along the second direction. The station rotating mechanism 2 is provided with a drilling station 5, a gluing station 6, a nailing station 7, a riveting station 8 and a milling station 9 in the circumferential direction. The drilling station 5, the gluing station 6, the nailing station 7, the riveting station 8 and the milling station 9 are configured to rotate around the central axis of the station rotating mechanism 2 and stop after rotating to the selected station. The selected station moves along the height direction of the station rotating mechanism 2 so that it extends into the pressure foot mechanism 4 to achieve drilling, gluing, rivet insertion, riveting and milling of the skin. The C-axis driving end 14 and the A-axis driving end 12 are linked to drive the station rotating mechanism 2 to move so that the axis of the pressure foot mechanism 4 and the normal of the skin surface are coaxial. The tool magazine mechanism 3 is configured to replace the tool of the drilling station 5, the tool of the milling station 9 and the rivet rod of the riveting station 8. The pressure foot mechanism 4 is configured to detect the deviation between the tool tip point in the local area of ​​the hole to be processed and the actual normal of the hole position, and calculate the normal vector direction of the skin surface of the wall panel through a program to ensure that the axis of the pressure foot mechanism 4 and the normal of the skin surface are coaxial.

[0034] It should be noted that the AC swing head mechanism 1 of the embodiment of the present application can rotate horizontally around the vertical C axis, or around the horizontal A axis. The A axis driving end 12 and the C axis driving end 14 are linked to drive the station rotation mechanism 2 to move so that the axis of the pressure foot mechanism 4 and the normal of the skin surface are coaxial. The station rotation mechanism 2 of the embodiment of the present application allows the drilling station 5, the gluing station 6, the nail insertion station 7, the riveting station 8 and the milling station 9 to rotate around the central axis of the station rotation mechanism 2, which can not only improve the positioning accuracy, but also realize more stations under the minimum span condition for each station, leaving room for subsequent station expansion. The pressure foot mechanism 4 of the embodiment of the present application has a normal detection function, which simplifies the processing alignment operation and improves work efficiency. The tool magazine mechanism 3 of the embodiment of the present application can replace the tool for the drilling station 5, the tool for the milling station 9 and the rivet rod for the riveting station 8. Therefore, the upper actuator of the drilling and riveting machine of the embodiment of the present application can automatically perform the corresponding drilling, gluing, rivet insertion, riveting and milling operations, improve processing efficiency, ensure product quality stability, and thus meet the needs of large-scale processing of wall panels.

[0035] In the embodiment of the present application, the workstation rotation mechanism 2 includes an annular frame 21, an annular guide rail 22, a rotating seat 23, a gear ring 24, a first driving member 25 and a plurality of sliding assemblies 26. The two ends of the annular frame 21 are rotatably connected to the A-axis driving end 12 and the A-axis driven end 13 respectively. The tool magazine mechanism 3 and the pressure foot mechanism 4 are both arranged on the side of the annular frame 21 away from the crossbeam 11. The annular guide rail 22 is fixedly connected to the annular frame 21. The gear ring 24 is slidably connected to the annular guide rail 22 and is located on the side of the annular guide rail 22 facing the crossbeam 11. The rotating seat 23 partially extends into the gear ring 24 and is fixedly connected to the gear ring 24. The drilling station 5, the gluing station 6, the nailing station 7, the riveting station 8 and the milling station 9 are arranged on the circumference of the outer wall of the rotating seat 23, and sliding components 26 are respectively arranged between the drilling station 5, the gluing station 6, the riveting station 8 and the milling station 9 and the rotating seat 23. The drilling station 5, the gluing station 6, the nailing station 7, the riveting station 8 and the milling station 9 are all provided with a third driving member, and the third driving member is configured to drive the drilling station 5, the gluing station 6, the nailing station 7, the riveting station 8 and the milling station 9 to move along the height direction of the rotating seat 23.

[0036] The third driving members of the drilling station 5, the gluing station 6, the riveting station 8 and the milling station 9 of the embodiment of the present application are all screws, and the third driving member of the nail insertion station 7 is an electric cylinder. The lead of the electric cylinder is small, the thrust can be accurately controlled, and its thrust is large.

[0037] The output end of the first driving member 25 is connected to the ring gear 24, and is configured to drive the ring gear 24 to rotate around the central axis of the rotating seat 23. Specifically, there are two first driving members 25 in the embodiment of the present application. The two first driving members 25 drive the ring gear 24 to rotate, thereby driving the rotating seat 23 to rotate, and then the conversion of different workstations can be realized.

[0038] Furthermore, the first driving member 25 of the embodiment of the present application is a motor, and a second gear is provided at the output end of the motor, and the second gear drives the ring gear 24 to rotate.

[0039] It should be noted that, according to the program setting, each station can be driven by the first driving member 25 to make the rotating seat 23 rotate around its central axis, and stop after rotating to the selected station. The corresponding station is then driven by the third driving member of each station and moves along the direction of the first slider 262 to the top of the wall plate for operation. Specifically, each station of the present application is arranged in the circumference of the outer wall of the rotating seat 23, which is smaller than the traditional linear arrangement of the station form space and has stronger station function expandability.

[0040] In the embodiment of the present application, the sliding assembly 26 includes a first guide rail 261 and a first slider 262. The drilling station 5, the gluing station 6, the riveting station 8 and the milling station 9 are all provided with the first guide rail 261. The rotating seat 23 is provided with a first slider 262 corresponding to the first guide rail 261. The first guide rail 261 moves along the first slider 262 to drive the drilling station 5, the gluing station 6, the riveting station 8 and the milling station 9 to perform corresponding drilling, gluing, riveting and milling operations. It should be noted that the nail insertion station 7 of the embodiment of the present application can itself move along the height direction of the rotating seat 23.

[0041] It should be noted that, in the embodiment of the present application, two first sliders 262 may be provided corresponding to each first guide rail 261 , and the two first sliders 262 are spaced apart along the height direction of the rotating seat 23 , so that the stability of the overall structure is better.

[0042] In the embodiment of the present application, a camera station 10 is provided on the outer wall of the rotating seat 23. The axes of the camera station 10, the drilling station 5, the gluing station 6, the nailing station 7, the riveting station 8 and the milling station 9 are parallel to each other and are equidistant from the central axis of the rotating seat 23, so that when each station is rotated into place, there will be no error, further improving the work efficiency and processing accuracy.

[0043] It should be noted that during manual operation, the camera station 10 is aligned with the center hole 411 of the pressure foot plate 41, and during automatic processing, 3D visual positioning is used to align the drilling and riveting position, so that processing operations can be carried out.

[0044] In the embodiment of the present application, the pressure foot mechanism 4 includes a pressure foot plate 41, a pressure foot sleeve 42, a second driving member 43, a 3D camera 44, a first pulley 46, a second pulley 47, a tool setting sensor 48, a pressure rod 49, an elastic member 490, two driving components 491, a plurality of pressure sensors 492 and a plurality of first laser ranging sensors 493. The two driving components 491 are arranged at both ends of the pressure foot plate 41, and the tops thereof are connected to the side of the station rotating mechanism 2 away from the crossbeam 11, and are configured to drive the pressure foot plate 41 to move along its height direction.

[0045] Specifically, the pressure foot sleeve 42 is a frustum structure and a hollow structure, and the projection along its axis gradually decreases. Such a structural design is for facilitating chip removal on the one hand, and for enabling the camera above it to see the drill bit below on the other hand.

[0046] It should be noted that the driving assembly 491 includes a cylinder body 4911, a piston 4912 and a cylinder head 4913. The two cylinder bodies 4911 are respectively arranged at the two ends of the pressure foot plate 41, and the cylinder head 4913 is fixedly connected to the end of the cylinder body 4911 away from the pressure foot plate 41. One end of the piston 4912 is connected to the side of the station rotating mechanism 2 away from the crossbeam 11, and the other end thereof extends into the cylinder body 4911.

[0047] A plurality of first laser distance measuring sensors 493 are arranged in the circumferential direction of the side of the pressure foot plate 41 away from the workstation rotating mechanism 2 .

[0048] There may be four first laser ranging sensors 493 in the embodiment of the present application. The four first laser ranging sensors 493 are used to measure the distances from the skin holes to be processed to the four first laser ranging sensors 493 respectively, and then calculate the normal vector direction of the skin surface of the wall panel according to the four distance values ​​to ensure that the axis of the pressure foot sleeve 42 and the normal of the skin surface are coaxial.

[0049] Two first laser distance measuring sensors 493 are arranged on both sides of the pressure foot plate 41. The pressure foot plate 41 is provided with a center hole 411, and a bearing is arranged on the side of the center hole 411 away from the workstation rotating mechanism 2, and a first pulley 46 is sleeved on the outer side of the bearing, and a pressure foot sleeve 42 is arranged on the side of the first pulley 46 away from the pressure foot plate 41. The second driving member 43 is installed on the pressure foot plate 41, and a second pulley 47 is installed on the output end of the pressure foot plate 41, and the second driving member 43 is close to the A-axis driving end 12. The second pulley 47 is configured to drive the first pulley 46 to rotate through the first synchronous belt. Specifically, the pressure foot plate 41 is driven by the second driving member 43 to rotate the second pulley 47, so that the first synchronous belt drives the pressure foot sleeve 42 to swing within a certain range, so that the pressure foot sleeve 42 can avoid interfering with the protrusions on the skin surface.

[0050] In the embodiment of the present application, a plurality of pressure sensors 492 are disposed between the pressure foot sleeve 42 and the first pulley 46, and are disposed along the circumference of the pressure foot sleeve 42. Specifically, three pressure sensors 492 are disposed in the embodiment of the present application. When the pressure on the pressure foot sleeve 42 reaches a certain set value, a signal is sent to the control system indicating that the pressure foot sleeve 42 has contacted the skin.

[0051] In the embodiment of the present application, the 3D camera 44 is disposed on the side wall of the pressure foot 41 and is configured to detect the positions of the positioning holes, positioning rivets or marks, and provide the three-dimensional coordinates of the drilling position for the CNC system.

[0052] In the embodiment of the present application, the tool setting sensor 48 is arranged on the side wall of the pressure foot plate 41 and is close to the tool magazine mechanism 3. An elastic member 490 is arranged in the tool setting sensor 48. One end of the pressure rod 49 extends into the tool setting sensor 48 and is connected to the end of the elastic member 490 away from the bottom of the tool setting sensor 48. The other end is a free end and faces the workstation rotation mechanism 2.

[0053] It should be noted that after the pressure rod 49 contacts the tip of the tool, as the tool moves downward, the shoulder of the pressure rod 49 will be sensed by the tool sensor 48, and the actual length of the tool can be calculated by comparing the spindle position of the tool at this time with the position of the reference tool length.

[0054] Specifically, the tool setting sensor 48 is arranged on the side surface of the knife groove on the surface of the pressure foot plate 41. When a tool of known length contacts the free end of the pressure rod 49 and makes it drop to a certain position, the tool setting sensor 48 receives a signal and records the current coordinate position of the tool; when the tool leaves the pressure rod 49, the elastic member 490 resets the pressure rod 49.

[0055] In the embodiment of the present application, a groove 421 is provided on the side of the pressure foot sleeve 42 away from the first pulley 46 , and the groove 421 is configured to prevent the rivet heads protruding from the skin from interfering with the pressure foot sleeve 42 , thereby improving the accuracy of the wall panel riveting.

[0056] In the embodiment of the present application, the pressure foot mechanism 4 further includes a second laser distance sensor 494, a third laser distance sensor 495, a fourth laser distance sensor 496, a fifth laser distance sensor 497 and a sixth laser distance sensor 498. The second laser distance sensor 494, the third laser distance sensor 495 and the fourth laser distance sensor 496 are all arranged on the side of the pressure foot plate 41 facing the station rotating mechanism 2, and one end of each is close to the 3D camera 44, and the projection of the end away from the 3D camera 44 overlaps with the projection of the center hole 411 in the horizontal plane. The height of the second laser distance sensor 494 is greater than the height of the third laser distance sensor 495, and the height of the third laser distance sensor 495 is greater than the height of the fourth laser distance sensor 496.

[0057] It should be noted that when the tool of a certain station moves to the position above the pressure foot plate 41 and coaxial with the pressure foot sleeve 42, after the tool of the station moves downward to the tool detection position, the second laser distance sensor 494 can detect whether the tool bar of the tool exists, the third laser distance sensor 495 can detect whether the tool tip exists, and the fourth laser distance sensor 496 can detect the front position of the tool tip, which is not blocked by the tool. If the length of the tool is appropriate, only the second laser distance sensor 494 and the third laser distance sensor 495 can detect the tool, and the fourth laser distance sensor 496 cannot detect the tool, then the signal is normal; when the length of the tool is too long, the fourth laser distance sensor 496 can detect the tool, then the signal is abnormal; if only the second laser distance sensor 494 detects the tool, it proves that the tool is broken or the length of the tool is insufficient.

[0058] In the embodiment of the present application, the fifth laser distance measuring sensor 497 and the sixth laser distance measuring sensor 498 are both arranged on the side of the pressure foot plate 41 facing the station rotating mechanism 2, the direction of the center hole 411 facing the fifth laser distance measuring sensor 497 is the third direction, the direction of the center hole 411 facing the sixth laser distance measuring sensor 498 is the fourth direction, and the angle between the third direction and the fourth direction is 90°. When the nail inserter of the nail inserting station 7 holds the rivet to the side of the center hole 411 facing the station rotating mechanism 2, the fifth laser distance measuring sensor 497 and the sixth laser distance measuring sensor 498 are configured to measure the distance from the fifth laser distance measuring sensor 497 and the sixth laser distance measuring sensor 498 to the rivet respectively, and compare whether the theoretical distance difference is within the allowable range to determine whether the rivet is skewed, thereby improving the installation quality of the rivet.

[0059] In the embodiment of the present application, the pressure foot mechanism 4 further includes a first bracket 481, a cooling pipe 482, an air blowing pipe 483, a chip collecting box 484 and a vacuum cleaner. The first bracket 481 is arranged on the side of the pressure foot plate 41 facing the station rotating mechanism 2 and close to the center hole 411. The side of the first bracket 481 away from the pressure foot plate 41 is provided with a cooling pipe 482 and an air blowing pipe 483. The cooling pipe 482 and the air blowing pipe 483 of the embodiment of the present application can lubricate and cool the tool and blow away the chips during processing, thereby improving the processing quality and extending the tool life.

[0060] In the embodiment of the present application, a plurality of through holes are arranged around the pressure foot cover 42, and the chip collection box 484 is connected to one of the through holes, and a dust collector is arranged at one end of the chip collection box 484 away from the through hole. In the embodiment of the present application, the chips enter the chip collection box 484 from the through hole under the action of negative pressure, and finally enter the dust collector.

[0061] In the embodiment of the present application, the pressure foot mechanism 4 further includes a second bracket 486, a pen-shaped camera 45 and two columnar light sources 485. The second bracket 486 is arranged on the side of the pressure foot plate 41 facing the workstation rotating mechanism 2, close to the center hole 411, and arranged opposite to the first bracket 481. The pen-shaped camera 45 and the two columnar light sources 485 are both arranged at one end of the second bracket 486 away from the pressure foot plate 41, and the pen-shaped camera 45 is arranged between the two columnar light sources 485. The pen-shaped camera 45 of the present application can monitor the operation conditions in the pressure foot sleeve 42 in real time, such as drilling, nailing, riveting, etc.

[0062] In the embodiment of the present application, the tool magazine mechanism 3 includes a tool magazine base plate 31, a rotating drive member 32, a third pulley 33, a fourth pulley 34, a mobile drive member 35, a rack 36, a cutter disc 37, a rotating shaft 38, two mounting frames 39, two second guide rails 391 and two second sliders 392. The two mounting frames 39 are fixed to the side of the station rotating mechanism 2 away from the crossbeam 11, and are arranged at intervals along the first direction. The ends of the two mounting frames 39 away from the station rotating mechanism 2 are respectively provided with second sliders 392. The two second guide rails 391 are respectively slidably connected to the corresponding second sliders 392. The tool magazine base plate 31 is arranged on the side of the two second guide rails 391 away from the second sliders 392, and is provided with a mounting hole, and the mounting hole is arranged between the two second guide rails 391. The rotary drive member 32 is fixed to the side of the tool magazine base plate 31 facing the station rotation mechanism 2, and the output end thereof is provided with a third pulley 33, and the side of the mounting hole facing the station rotation mechanism 2 is provided with a fourth pulley 34, and the third pulley 33 is configured to drive the fourth pulley 34 to rotate through the second synchronous belt. One end of the rotating shaft 38 passes through the fourth pulley 34 and the mounting hole, and is connected to the cutter disc 37. The cutter disc 37 is arranged parallel to the tool magazine base plate 31, and a plurality of replacement tools 393 and a plurality of rivet rods are arranged around the cutter disc 37. The mobile drive member 35 is fixed to the side of the tool magazine base plate 31 facing the station rotation mechanism 2, and is located between the two mounting frames 39, and the output end of the mobile drive member 35 is provided with a first gear 351, and the rack 36 is installed on the tool magazine base plate 31, and is located on the same side of the tool magazine base plate 31 as the second guide rail 391. The rack 36 is arranged parallel to the second guide rail 391, and the rack 36 is meshed with the first gear 351. The mobile driving member 35 is configured to drive the first gear 351 to rotate, and the first gear 351 drives the rack 36 to move in a straight line, so that the rack 36 drives the tool magazine base plate 31 to move toward or away from the tool of the drilling station 5, the tool of the milling station 9 or the rivet rod of the riveting station 8.

[0063] Specifically, when the drilling station 5 or the milling station 9 needs to replace the tool, the cutter disc 37 rotates to an empty tool position, and the mobile driving member 35 drives the rack 36 to move, so that the tool magazine bottom plate 31 drives the cutter disc 37 forward, and the drilling station 5 or the milling station 9 moves up to remove its own tool. At this time, the cutter disc 37 rotates to the corresponding angular phase position of the tool position that needs to be grabbed, and the drilling station 5 or the milling station 9 moves down and grabs the tool to replace the tool 393, and the tool magazine mechanism 3 returns to the initial position, thereby completing a tool change cycle. Replacing the anchor rod of the riveting station 8 is the same as the above principle.

[0064] Furthermore, the embodiments of the present application can monitor the working conditions of each workstation in real time, and can promptly detect various faults such as machine collisions to avoid accidents.

[0065] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other. Each embodiment focuses on the differences from other embodiments.

[0066] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit the present application. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some or all of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present application.

Claims

1. An upper actuator of a drilling and riveting machine, characterized in that: It includes an AC swing head mechanism (1), a work station rotation mechanism (2), a tool magazine mechanism (3) and a pressure foot mechanism (4); The AC swing head mechanism (1) comprises a crossbeam (11), and an A-axis driving end (12) and an A-axis driven end (13) arranged at two ends of the crossbeam (11); the crossbeam (11) is provided with a C-axis driving end (14); an end of the C-axis driving end (14) away from the crossbeam (11) is connected to a ram of a drilling and riveting machine; The two ends of the workstation rotating mechanism (2) are rotatably connected to the A-axis driving end (12) and the A-axis driven end (13) respectively; The tool magazine mechanism (3) and the pressure foot mechanism (4) are both arranged on a side of the workstation rotating mechanism (2) away from the crossbeam (11), and are arranged at intervals along the second direction; The station rotating mechanism (2) is provided with a drilling station (5), a gluing station (6), a nail inserting station (7), a riveting station (8) and a milling station (9) in the circumferential direction thereof. The drilling station (5), the gluing station (6), the nail inserting station (7), the riveting station (8) and the milling station (9) are configured to rotate around the central axis of the station rotating mechanism (2). After the riveting station (8) or the milling station (9) rotates to a position corresponding to the pressure foot mechanism (4), it stops rotating, and the drilling station (5), the gluing station (6), the nail inserting station (7), the riveting station (8) or the milling station (9) rotate to a position corresponding to the pressure foot mechanism (4) and move along the height direction of the station rotating mechanism (2) so as to extend into the pressure foot mechanism (4) to achieve drilling, gluing, rivet inserting, riveting or milling of the skin; The C-axis driving end (14) and the A-axis driving end (12) are linked to drive the station rotating mechanism (2) to move so that the axis of the pressure foot mechanism (4) and the normal line of the skin surface are coaxial; The tool magazine mechanism (3) is configured to replace the tool of the drilling station (5), the tool of the milling station (9) and the rivet rod of the riveting station (8); The pressure foot mechanism (4) is configured to detect the deviation between the tool tip point in the local area of ​​the hole to be processed and the actual normal direction of the hole position, so as to ensure that the axis of the pressure foot mechanism (4) and the normal line of the skin surface are coaxial.

2. The upper actuator of the drilling and riveting machine according to claim 1, characterized in that: The workstation rotating mechanism (2) comprises an annular frame (21), an annular guide rail (22), a rotating seat (23), a gear ring (24), a first driving member (25) and a plurality of sliding assemblies (26); The two ends of the annular frame (21) are rotatably connected to the A-axis driving end (12) and the A-axis driven end (13) respectively; The tool magazine mechanism (3) and the pressure foot mechanism (4) are both arranged on a side of the annular frame (21) away from the crossbeam (11); The annular guide rail (22) is fixedly connected inside the annular frame (21); The gear ring (24) is slidably connected to the annular guide rail (22) and is located on a side of the annular guide rail (22) facing the crossbeam (11); the rotating seat (23) partially extends into the gear ring (24) and is fixedly connected to the gear ring (24); The drilling station (5), the gluing station (6), the nail inserting station (7), the riveting station (8) and the milling station (9) are arranged on the circumference of the outer wall of the rotating seat (23); the sliding assembly (26) is arranged between the drilling station (5), the gluing station (6), the riveting station (8) and the milling station (9) and the rotating seat (23) respectively; the drilling station (5), the gluing station (6), the nail inserting station (7), the riveting station (8) and the milling station (9) are all provided with a third driving member, and the third driving member is configured to drive the drilling station (5), the gluing station (6), the nail inserting station (7), the riveting station (8) and the milling station (9) to move along the height direction of the rotating seat (23); The output end of the first driving member (25) is connected to the ring gear (24) and is configured to drive the ring gear (24) to rotate around the central axis of the rotating seat (23).

3. The upper actuator of the drilling and riveting machine according to claim 2, characterized in that: The sliding assembly (26) comprises a first guide rail (261) and a first sliding block (262); The drilling station (5), the gluing station (6), the riveting station (8) and the milling station (9) are all provided with the first guide rail (261); The rotating seat (23) is provided with a first sliding block (262) corresponding to the first guide rail (261); The first guide rail (261) moves along the first slide block (262) to drive the drilling station (5), the gluing station (6), the riveting station (8) and the milling station (9) to perform corresponding drilling, gluing, riveting and milling operations.

4. The upper actuator of the drilling and riveting machine according to claim 2, characterized in that: The outer wall of the rotating seat (23) is provided with a camera station (10); The axes of the camera station (10), the drilling station (5), the gluing station (6), the nail inserting station (7), the riveting station (8) and the milling station (9) are all parallel to each other and are equidistant from the central axis of the rotating seat (23).

5. The upper actuator of the drilling and riveting machine according to claim 1, characterized in that: The pressure foot mechanism (4) comprises a pressure foot plate (41), a pressure foot sleeve (42), a second driving member (43), a 3D camera (44), a first pulley (46), a second pulley (47), a tool setting sensor (48), a pressure rod (49), an elastic member (490), two driving assemblies (491), a plurality of pressure sensors (492) and a plurality of first laser distance measuring sensors (493); The two driving assemblies (491) are arranged at both ends of the pressure foot plate (41), and the tops thereof are connected to a side of the workstation rotating mechanism (2) away from the crossbeam (11), and are configured to drive the pressure foot plate (41) to move along its height direction; A plurality of the first laser distance measuring sensors (493) are arranged in the circumferential direction of the side of the pressure foot plate (41) away from the workstation rotating mechanism (2); The pressure foot plate (41) is provided with a central hole (411), a bearing is provided on a side of the central hole (411) away from the workstation rotating mechanism (2), the first pulley (46) is sleeved on the outer side of the bearing, and the pressure foot sleeve (42) is provided on a side of the first pulley (46) away from the pressure foot plate (41); The second driving member (43) is installed on the pressure foot plate (41), and the second pulley (47) is installed on the output end of the second driving member (43), and the second driving member (43) is close to the A-axis driving end (12); The second pulley (47) is configured to drive the first pulley (46) to rotate via a first synchronous belt; The plurality of pressure sensors (492) are arranged between the pressure foot sleeve (42) and the first pulley (46), and are arranged along the circumference of the pressure foot sleeve (42); The 3D camera (44) is arranged on the side wall of the pressure foot plate (41); The tool setting sensor (48) is arranged on the side wall of the pressure foot plate (41) and is close to the tool magazine mechanism (3). The elastic member (490) is arranged in the tool setting sensor (48). One end of the pressure rod (49) extends into the tool setting sensor (48) and is connected to one end of the elastic member (490) away from the bottom of the tool setting sensor (48), and the other end is a free end and faces the workstation rotation mechanism (2).

6. The upper actuator of the drilling and riveting machine according to claim 5, characterized in that: A groove (421) is provided on a side of the pressure foot sleeve (42) away from the first pulley (46), and the groove (421) is configured to prevent the rivet head protruding from the skin from interfering with the pressure foot sleeve (42).

7. The upper actuator of the drilling and riveting machine according to claim 5, characterized in that: The pressure foot mechanism (4) further comprises a second laser distance measuring sensor (494), a third laser distance measuring sensor (495), a fourth laser distance measuring sensor (496), a fifth laser distance measuring sensor (497) and a sixth laser distance measuring sensor (498); The second laser distance measuring sensor (494), the third laser distance measuring sensor (495) and the fourth laser distance measuring sensor (496) are all arranged on a side of the pressure foot plate (41) facing the workstation rotating mechanism (2), and one end of each of them is close to the 3D camera (44), and the projection of the end thereof away from the 3D camera (44) overlaps with the projection of the center hole (411) in a horizontal plane; The height of the second laser distance measuring sensor (494) is greater than the height of the third laser distance measuring sensor (495), and the height of the third laser distance measuring sensor (495) is greater than the height of the fourth laser distance measuring sensor (496); The fifth laser distance measuring sensor (497) and the sixth laser distance measuring sensor (498) are both arranged on a side of the pressure foot plate (41) facing the workstation rotating mechanism (2); the direction of the center hole (411) facing the fifth laser distance measuring sensor (497) is a third direction; the direction of the center hole (411) facing the sixth laser distance measuring sensor (498) is a fourth direction; and the angle between the third direction and the fourth direction is 90°; When the nail inserter of the nail inserting station (7) clamps the rivet to the side of the center hole (411) facing the station rotating mechanism (2), the fifth laser ranging sensor (497) and the sixth laser ranging sensor (498) are configured to measure the distance from the fifth laser ranging sensor (497) and the sixth laser ranging sensor (498) to the rivet respectively, and compare whether the theoretical distance difference is within an allowable range to determine whether the rivet is skewed.

8. The upper actuator of the drilling and riveting machine according to claim 5, characterized in that: The pressure foot mechanism (4) further comprises a first bracket (481), a cooling pipe (482), an air blowing pipe (483), a chip collection box (484) and a dust collector; The first bracket (481) is arranged on a side of the pressure foot plate (41) facing the workstation rotating mechanism (2) and is close to the center hole (411); The cooling pipe (482) and the air blowing pipe (483) are arranged on a side of the first bracket (481) away from the pressure foot plate (41); The pressure foot cover (42) is provided with a plurality of through holes in the circumference thereof. The chip collection box (484) is in communication with one of the through holes, and the dust collector is provided at one end of the chip collection box (484) away from the through hole.

9. The upper actuator of the drilling and riveting machine according to claim 8, characterized in that: The pressure foot mechanism (4) further comprises a second bracket (486), a pen-shaped camera (45) and two columnar light sources (485); The second bracket (486) is arranged on a side of the pressure foot plate (41) facing the workstation rotating mechanism (2), close to the center hole (411), and opposite to the first bracket (481); The pen-shaped camera (45) and the two columnar light sources (485) are both arranged at one end of the second bracket (486) away from the pressure foot plate (41), and the pen-shaped camera (45) is arranged between the two columnar light sources (485).

10. The upper actuator of the drilling and riveting machine according to claim 1, characterized in that: The tool magazine mechanism (3) comprises a tool magazine bottom plate (31), a rotating drive member (32), a third pulley (33), a fourth pulley (34), a moving drive member (35), a rack (36), a tool disc (37), a rotating shaft (38), two mounting frames (39), two second guide rails (391) and two second slide blocks (392); The two mounting frames (39) are fixed to a side of the workstation rotating mechanism (2) away from the crossbeam (11), and are spaced apart along a first direction; and the second sliding blocks (392) are respectively provided at one end of the two mounting frames (39) away from the workstation rotating mechanism (2); The two second guide rails (391) are respectively slidably connected to the corresponding second sliding blocks (392); The tool magazine bottom plate (31) is arranged on a side of the two second guide rails (391) away from the second slide block (392), and is provided with a mounting hole, wherein the mounting hole is arranged between the two second guide rails (391); The rotary drive member (32) is fixed to a side of the tool magazine bottom plate (31) facing the workstation rotating mechanism (2), and the output end thereof is provided with the third pulley (33), and the side of the mounting hole facing the workstation rotating mechanism (2) is provided with the fourth pulley (34), and the third pulley (33) is configured to drive the fourth pulley (34) to rotate through a second synchronous belt; One end of the rotating shaft (38) passes through the fourth pulley (34) and the mounting hole, and is connected to the cutter disc (37); The cutter disc (37) is arranged in parallel with the tool magazine bottom plate (31), and a plurality of replacement cutters (393) and a plurality of rivet rods are arranged in the circumference of the cutter disc (37); The mobile driving member (35) is fixed to a side of the tool magazine base plate (31) facing the workstation rotating mechanism (2) and is located between the two mounting frames (39); a first gear (351) is provided at the output end of the mobile driving member (35); the rack (36) is installed on the tool magazine base plate (31) and is located on the same side of the tool magazine base plate (31) as the second guide rail (391); The rack (36) is arranged parallel to the second guide rail (391), and the rack (36) is meshed with the first gear (351). The mobile drive member (35) is configured to drive the first gear (351) to rotate, and the first gear (351) drives the rack (36) to move linearly, so that the rack (36) drives the tool magazine base plate (31) to move toward or away from the tool of the drilling station (5), the tool of the milling station (9) or the rivet rod of the riveting station (8).

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