Intelligent axis deviation detection device and method for manual hammering and riveting

Abstract

The invention provides an intelligent axis deviation detection device for manual hammering and riveting, which comprises a fixing structure, a processor module, a gyroscope module, a Bluetooth module, a power supply module and a display and touch module, and is characterized in that the fixing structure is mounted and fixed at the tail end part of a riveter; the display and touch module comprises an end cover shell and a touch display screen integrally arranged on the end cover shell; the processor module, the gyroscope module, the Bluetooth module and the power supply module are fixedly mounted in a cavity formed by fixing the fixing structure and the end cover shell; the gyroscope module is used for detecting motion data of the gyroscope module in the riveting process; the processor module is connected with the gyroscope module and is used for analyzing and processing the motion data detected by the gyroscope module; the Bluetooth module is connected with the processor module and is used for performing wireless communication with an upper computer; the display and touch module is connected with the processor module and is used for displaying processing data output by the processor module; and the power supply module is connected with the processor module and the display and touch module.

Description

Technical Field

[0001] The invention relates to the technical field of manual hammer riveting for aircraft, and in particular to an intelligent axis deviation detection device and method for manual hammer riveting. Background Art

[0002] The commonly used connection method in aircraft assembly is riveting, which can be roughly divided into automatic drilling and riveting and manual riveting according to different actual application conditions. In actual aircraft production, due to the specificity of site conditions and aircraft structural characteristics, a combination of automatic drilling and riveting and manual riveting is often used.

[0003] At present, some large aircraft companies use automatic drilling and riveting technology to produce aircraft. Automatic drilling and riveting technology has the characteristics of good quality consistency and high assembly efficiency. It is mainly used in areas with open space, a large number of rivets, and regular arrangement, such as the straight section of the aircraft. However, for areas with limited space, riveted assembly surfaces with gradual changes, and areas with more complex surfaces, such as the head and tail of the aircraft, manual riveting is still required to complete the assembly production work. Compared with machine riveting, manual riveting has the characteristics of low equipment cost, flexible riveting methods, small riveting operation space requirements, and weak mutual influence of multi-nail riveting. Therefore, it can well meet the needs of riveting assembly production in specific positions of aircraft.

[0004] Unlike machine riveting, the process of manual riveting is that the riveting worker holds the riveting gun and controls the rivet hammer to repeatedly impact the rivet to make the tail of the rivet produce elastic / plastic deformation and finally form the pier head. Factors such as the size of the riveting input air pressure during the riveting process, the deviation of the overlap between the axis of the riveting gun and the axis of the rivet during the riveting process, the slippage of the riveting hammer during the riveting process, and the number of impacts will directly affect the quality of rivet forming. In particular, the deviation of the overlap between the axis of the riveting gun and the axis of the rivet has a greater impact. A slightly larger deviation is very likely to cause a large distortion, deviation and damage to the pier head, greatly reducing the quality and pass rate of rivet forming. Therefore, for manual riveting, the quality of riveting forming depends largely on the skill level of the riveting worker, who needs to have a more accurate grasp of the overlap between the axis of the riveting gun and the axis of the rivet.

[0005] In view of the above situation, it is currently very important to use intelligent auxiliary devices in manual riveting operations to reduce the requirements on the skill level of riveting workers. Summary of the invention

[0006] In order to solve the above problems, the present invention aims to provide an intelligent axis deviation detection device for manual hammer riveting and a method for using the device, so as to assist riveting skilled workers to have a more accurate grasp of the overlap between the axis of the riveting gun and the axis of the rivet during the riveting process, thereby improving the quality of rivet forming.

[0007] To achieve the above object, the present invention adopts the following technical solution:

[0008] The invention provides an intelligent axis deviation detection device for manual hammer riveting, characterized in that it comprises: a fixed structure, a processor module, a gyroscope module, a Bluetooth module, a power module, and a display and touch module, wherein the fixed structure is installed and fixed on the tail end of a riveting gun; the display and touch module comprises an end cover shell and a touch display screen integrated on the end cover shell; the processor module, the gyroscope module, the Bluetooth module, and the power module are all installed and fixed in a cavity formed by the fixed structure and the end cover shell; the gyroscope module is used to detect its own motion data during the riveting process; the processor module is connected to the gyroscope module for analyzing and processing the motion data detected by the gyroscope module; the Bluetooth module is connected to the processor module for wireless communication with a host computer; the display and touch module is connected to the processor module for displaying processed data output by the processor module; and the power module is connected to the processor module and the display and touch module.

[0009] Furthermore, in the intelligent axis deviation detection device for manual hammer riveting provided by the present invention, it can also have the following characteristics: wherein, the gyroscope module adopts the MPU9250 gyroscope module, and the detected motion data includes the three-axis acceleration, angular velocity, and magnetic field data of the gyroscope module during the riveting process.

[0010] Furthermore, in the intelligent axis deviation detection device for manual hammer riveting provided by the present invention, it can also have the following characteristics: the power module directly supplies power to the processor module and the display and touch module; the display and touch module displays a Bluetooth operation interface for the user to control the power-on of the Bluetooth module by touch; a charging interface is provided on the end cover shell, and the power module is connected to the charging interface for charging.

[0011] Furthermore, in the intelligent axis deviation detection device for manual hammer riveting provided by the present invention, it can also have the following feature: wherein, after the power is turned on, the display and touch module displays an initialization touch interface for the user to perform initialization operations by touch.

[0012] Furthermore, in the intelligent axis deviation detection device for manual hammer riveting provided by the present invention, it can also have the following features: wherein the analysis and processing of the motion data by the processor module includes:

[0013] 1) Calculate the three-axis angle of the gyroscope module, that is, the angle of the rivet gun axis;

[0014] 2) Correct the schematic point position of the riveting gun axis in the two-dimensional plane;

[0015] 3) Determine the deviation between the rivet gun axis and the rivet axis.

[0016] Furthermore, in the intelligent axis deviation detection device for manual hammer riveting provided by the present invention, it can also have the following characteristics: wherein the processor module calculates the three-axis angle of the gyroscope module through the Kalman filter fusion algorithm.

[0017] Furthermore, in the intelligent axis deviation detection device for manual hammer riveting provided by the present invention, it can also have the following characteristics: wherein, the processor module corrects the schematic point position of the rivet gun axis in the two-dimensional plane through a zeroing algorithm, and the zeroing algorithm assigns the angle of the axis used when the user presses the zeroing key to the record and processes it through an if conditional statement, so that the current axis coincidence deviation is 0, thereby realizing the zeroing function.

[0018] Furthermore, in the intelligent axis deviation detection device for manual hammer riveting provided by the present invention, it can also have the following characteristics: wherein, the processor module determines the deviation between the rivet gun axis and the rivet axis including the following processes: schematic plane selection algorithm: determine whether the angle of the processed rivet gun axis is within a preset range through the if conditional statement, and switch to another plane if not; axis coincidence deviation judgment algorithm: amplify the two-axis deviation values ​​of the rivet gun axis and the rivet axis that have been cleared, and sum the squares to determine the size of the square of the circumference with the preset range, and issue a reminder if it exceeds the preset range.

[0019] Furthermore, in the intelligent axis deviation detection device for manual hammer riveting provided by the present invention, it can also have the following feature: wherein, during the hammer riveting process, the display and touch module displays in real time the schematic position of the deviation between the riveting gun axis and the rivet axis on a two-dimensional plane.

[0020] The present invention also provides a method for detecting an intelligent axis deviation of manual hammer riveting, which is performed using the above-mentioned intelligent axis deviation detection device for manual hammer riveting and is characterized in that it comprises the following steps:

[0021] Step 1: Install and fix the intelligent axis deviation detection device for manual hammer riveting on the riveting gun;

[0022] Step 2: Turn on the power supply, and the user clicks the initialization button on the display and touch module 7 through touch operation to start the initialization program and perform initialization;

[0023] Step 3: Start the program after initialization, and the gyroscope module 3 works;

[0024] Step 4: The user calibrates the riveting angle before starting riveting so that the riveting gun and the rivet hole are on the same axis;

[0025] Step 5: Before riveting, the user touches and clicks the zero adjustment button on the display and touch module to start the zero adjustment program and perform zero adjustment;

[0026] Step 6: The user performs riveting operation, and the display and touch module displays a schematic diagram of the overlap deviation between the axis of the riveting gun and the axis of the rivet; at the same time, the host computer is started, and the Bluetooth module is powered on through the display and touch module, so that the host computer communicates with the Bluetooth module, and the host computer synchronously obtains the overlap deviation data between the axis of the riveting gun and the axis of the rivet, and records the schematic diagram of the overlap deviation between the axis of the riveting gun and the axis of the rivet during riveting;

[0027] Step 7: The user adjusts the rivet gun posture according to the coincidence deviation between the rivet gun axis and the rivet axis, so that the coincidence deviation is within an acceptable range for riveting;

[0028] Step 8: Return to step 4 if you need to switch the next nail, otherwise end.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. Auxiliary riveting skills During the riveting process, workers have a more accurate grasp of the overlap between the axis of the riveting gun and the axis of the rivet, thereby improving the quality of rivet forming.

[0031] 2. The intelligent axis deviation detection device for manual hammer riveting can also be used in the training process of riveting skilled workers, so that skilled workers can quickly get started with riveting tasks and make subsequent adjustments based on the coincidence error records between the axis of the riveting gun and the axis of the rivet during riveting, thereby increasing the efficiency of training.

[0032] 3. It can be used to assess the riveting skills of workers in their grasp of the coincidence error between the axis of the riveting gun and the axis of the rivet during riveting, so that the assessment criteria are not limited to the shape of the rivet head. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the communication connection between the intelligent axis deviation detection device for manual hammer riveting and the host computer in an embodiment of the present invention;

[0034] Figure 2 It is a structural exploded view of an intelligent axis deviation detection device for manual hammer riveting in an embodiment of the present invention;

[0035] Figure 3 is a schematic diagram of the axis deviation of the rivet gun displayed by the intelligent axis deviation detection device for manual hammer riveting in an embodiment of the present invention;

[0036] Figure 4 It is a schematic diagram of the actual measurement of the axis deviation of the rivet gun by the intelligent axis deviation detection device for manual hammer riveting of aircraft in an embodiment of the present invention;

[0037] Figure 5It is a working flow chart of the intelligent axis deviation detection device for manual hammer riveting in an embodiment of the present invention;

[0038] Figure 6 It is a flow chart of the analysis and processing of motion data by the processor module in an embodiment of the present invention.

[0039] Figure numerals: 10. Intelligent axis deviation detection device for manual hammer riveting; 20. Host computer; 1. Fixed structure; 2. Processor module; 3. MPU9250 gyroscope module; 4. Power module; 5. Bluetooth module; 6. Type-C interface; 7. Display and touch module; 8. Rivet gun; 101. Acceptable range of rivet gun axis deviation; 102. Schematic point of rivet gun axis in two-dimensional plane; 103. Warning range of rivet gun axis deviation; 104. Excessive range of rivet gun axis deviation. DETAILED DESCRIPTION

[0040] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the following embodiments are combined with the accompanying drawings to specifically illustrate the technical solutions of the present invention.

[0041] See also Figure 2 An embodiment of the present invention provides an intelligent axis deviation detection device for manual hammer riveting, including: a fixed structure 1, a processor module 2, a gyroscope module 3, a Bluetooth module 5, a power module 4, and a display and touch module 7.

[0042] The fixing structure 1 is fixed to the rear end of the rivet gun 8 by means of a snap-fitting method. The display and touch module 7 comprises an end cover housing and a touch display screen integrated on the end cover housing. The end cover housing is connected and fixed to the fixing structure 1 by means of a threaded connection. The processor module 2, the gyroscope module 3, the Bluetooth module 5, and the power module 4 are all fixed and installed in a cavity formed by fixing the fixing structure 1 and the end cover housing.

[0043] The gyroscope module 3 is used to detect its own motion data during the riveting process. The gyroscope module 3 adopts the MPU9250 gyroscope module, and the detected motion data includes the three-axis acceleration, angular velocity, and magnetic field data of the gyroscope module during the riveting process.

[0044] The Bluetooth module 5 is used for wireless communication with the host computer. Figure 1 , the figure illustrates the wireless communication between the intelligent axis deviation detection device 10 for manual hammer riveting and the host computer 20.

[0045] The display and touch module 7 is used to display the processed data output by the processor module 2, that is, in the process of hammer riveting, the deviation schematic position of the riveting gun axis and the rivet axis on the two-dimensional plane is displayed in real time. In addition, after the power is turned on, the display and touch module 7 displays an initialization touch interface for the user to perform initialization operations by touch.

[0046] The processor module 2 is connected to the gyroscope module 3 , the Bluetooth module 5 , the display and touch module 7 , and the power module 4 .

[0047] The power module 4 is directly powered by the processor module 2 and the display and touch module 7. The display and touch module 7 displays a Bluetooth operation interface for the user to control the power on of the Bluetooth module 5 by touch. A charging interface is provided on the end cover housing of the display and touch module 7, and the power module 4 is connected to the charging interface for charging. The charging interface preferably adopts a type-c interface.

[0048] The processor module 2 analyzes and processes the motion data detected by the gyroscope module 3. Figure 6 ,The analysis and processing process includes:

[0049] 1) Calculate the three-axis angle of the gyroscope module, that is, the angle of the rivet gun axis.

[0050] The three-axis angles X, Y, and Z of the gyroscope module 3 are calculated through the Kalman filter fusion algorithm.

[0051] 2) Correct the schematic point position of the rivet gun axis in the two-dimensional plane.

[0052] The position of the schematic point of the riveting gun axis in the two-dimensional plane is corrected by the zeroing algorithm. The zeroing algorithm is as follows:

[0053] S2-1: Click the zero adjustment button to determine whether the angle of the Z axis is within the preset range (pre-defined by the user), determine the main riveting direction (vertical or horizontal) and the rotation axis, and select the angle change surface (XZ plane, YZ plane).

[0054] S2-2: Assign the values ​​when the zero adjustment button is pressed to a and c respectively, that is, if it is the XZ plane, X1=a, Z1=c (X1, Z1 are the X and Z axis angles when the button is pressed respectively) and the same is true for the YZ plane.

[0055] S2-3: Let q=Zc, t=Xa. At this time, q and t represent the angle deviation of the two axes after zeroing, so that the current axis coincidence deviation is 0, realizing the zeroing function.

[0056] 3) Determine the deviation between the axis of the riveting gun and the axis of the rivet, which specifically includes the following processes:

[0057] Schematic diagram of plane selection algorithm: Use the if conditional statement to determine whether the angle of the processed rivet gun axis is within the preset range. If not, switch to another plane. Let m = m + K*q; n = n + K*t, m and n are initially the coordinates of the center point of the screen, and K is the error amplification factor, so that the axis coincidence deviation is more obvious on the display screen.

[0058] Axis coincidence deviation judgment algorithm: amplify the two-axis deviation value of the riveting gun axis and the rivet axis after zeroing, square and sum them, judge the square size of the perimeter within the preset range, and give a reminder if it exceeds the preset range. Set the axis coincidence deviation warning, alarm and acceptable range of coincidence deviation as needed, assign the values ​​of m and n to the schematic points, and display them on the screen.

[0059] See also Figure 3 , the screen interface shown in the figure is a circle, the dot marked with 102 is the schematic point of the rivet gun axis in the two-dimensional plane, and the rivet axis is the center point of the circle on the interface, the innermost circle marked with 101 is the acceptable range of rivet gun axis deviation, the innermost circle marked with 103 is the warning range of rivet gun axis deviation, and the innermost circle marked with 104 is the excessive deviation range of rivet gun axis. These three ranges can be adjusted according to actual riveting requirements.

[0060] When it is determined that the axis coincidence deviation exceeds the corresponding preset range, a corresponding reminder is displayed according to the exceeded range.

[0061] See also Figure 5 The embodiment of the present invention further provides a method for detecting the intelligent axis deviation of manual hammer riveting. The method is performed using the intelligent axis deviation detection device for manual hammer riveting, and specifically comprises the following steps:

[0062] Step 1: Install and fix the intelligent axis deviation detection device for manual hammer riveting on the rivet gun.

[0063] Step 2: Turn on the power supply, and the user clicks the initialization button on the display and touch module 7 through touch operation to start the initialization program and perform initialization.

[0064] Step 3: Start the program after initialization, and the gyroscope module 3 works.

[0065] Step 4: The user calibrates the riveting angle before starting riveting so that the rivet gun and the rivet hole are on the same axis.

[0066] Step 5: Before riveting, the user touches and clicks the zero adjustment button on the display and touch module 7 to start the zero adjustment program and perform zero adjustment.

[0067] Step 6: The user performs riveting operation, and the display and touch module displays a schematic diagram of the overlap deviation between the rivet gun axis and the rivet axis; at the same time, the host computer is started, and the Bluetooth module 5 is powered on through the display and touch module, so that the host computer communicates with the Bluetooth module 5, and the host computer synchronously obtains the overlap deviation data between the rivet gun axis and the rivet axis, and records the schematic diagram of the overlap deviation between the rivet gun axis and the rivet axis during riveting;.

[0068] Step 7: The user adjusts the rivet gun posture according to the deviation of the overlap between the rivet gun axis and the rivet axis so that the overlap deviation is within an acceptable range for riveting. Figure 4 The deviations of various postures are shown in FIG.

[0069] Step 8: Return to step 4 if you need to switch the next nail, otherwise end.

[0070] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. An intelligent axis deviation detection device for manual hammer riveting, characterized in that: include: Fixed structure, processor module, gyroscope module, Bluetooth module, power module, display and touch module, Wherein, the fixing structure is installed and fixed on the tail end of the rivet gun; The display and touch module comprises an end cover housing and a touch display screen integrated on the end cover housing; The processor module, the gyroscope module, the Bluetooth module, and the power module are all installed and fixed in a cavity formed by the fixing structure and the end cover shell; The gyroscope module is used to detect its own motion data during the riveting process; The processor module is connected to the gyroscope module and is used to analyze and process the motion data detected by the gyroscope module; The Bluetooth module is connected to the processor module and is used for wireless communication with the host computer; The display and touch module is connected to the processor module and is used to display the processed data output by the processor module; The power module is connected to the processor module and the display and touch module.

2. The intelligent axis deviation detection device for manual hammer riveting according to claim 1, characterized in that: in, The gyroscope module adopts the MPU9250 gyroscope module, and the detected motion data includes the three-axis acceleration, angular velocity, and magnetic field data of the gyroscope module during the riveting process.

3. The intelligent axis deviation detection device for manual hammer riveting according to claim 1 is characterized in that: in, The power module directly supplies power to the processor module and the display and touch module; The display and touch module displays a Bluetooth operation interface for the user to control the power-on of the Bluetooth module by touch; The end cover shell is provided with a charging interface, and the power module is connected to the charging interface for charging.

4. The intelligent axis deviation detection device for manual hammer riveting according to claim 1, characterized in that: in, After the power is turned on, the display and touch module displays an initialization touch interface for the user to perform initialization operations by touch.

5. The intelligent axis deviation detection device for manual hammer riveting according to claim 1, Features: The analysis and processing of the motion data by the processor module includes: 1) Calculate the three-axis angle of the gyroscope module, that is, the angle of the rivet gun axis; 2) Correct the schematic point position of the riveting gun axis in the two-dimensional plane; 3) Determine the deviation between the rivet gun axis and the rivet axis.

6. The intelligent axis deviation detection device for manual hammer riveting according to claim 5, characterized in that: in, The processor module calculates the three-axis angle of the gyroscope module through a Kalman filter fusion algorithm.

7. The intelligent axis deviation detection device for manual hammer riveting according to claim 5, characterized in that: in, The processor module corrects the schematic point position of the rivet gun axis in the two-dimensional plane through a zeroing algorithm. The zeroing algorithm assigns the angle of the axis used when the user presses the zeroing key to the record and processes it through an if conditional statement, so that the current axis coincidence deviation is 0, thereby realizing the zeroing function.

8. The intelligent axis deviation detection device for manual hammer riveting according to claim 5, characterized in that: in, The processor module determines the deviation between the axis of the riveter and the axis of the rivet, including the following process: Schematic diagram of the plane selection algorithm: the if conditional statement is used to determine whether the angle of the processed rivet gun axis is within the preset range. If not, switch to another plane; Axis coincidence deviation judgment algorithm: amplify the two-axis deviation values ​​of the riveter axis and the rivet axis that have been cleared, square them and sum them, and judge the square size of the circumference within the preset range. If it exceeds the preset range, a reminder will be issued.

9. The intelligent axis deviation detection device for manual hammer riveting according to claim 5, characterized in that: in, The display and touch module displays the deviation schematic position of the riveting gun axis and the rivet axis on the two-dimensional plane in real time during the hammer riveting process.

10. A method for detecting intelligent axis deviation of manual hammer riveting, the method being performed by using the intelligent axis deviation detection device for manual hammer riveting as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: Install and fix the intelligent axis deviation detection device for manual hammer riveting on the riveting gun; Step 2: Turn on the power supply, and the user clicks the initialization button on the display and touch module 7 through touch operation to start the initialization program and perform initialization; Step 3: Start the program after initialization, and the gyroscope module 3 works; Step 4: The user calibrates the riveting angle before starting riveting so that the riveting gun and the rivet hole are on the same axis; Step 5: Before riveting, the user touches and clicks the zero adjustment button on the display and touch module to start the zero adjustment program and perform zero adjustment; Step 6: The user performs riveting operation, and the display and touch module displays a schematic diagram of the overlap deviation between the axis of the riveting gun and the axis of the rivet; at the same time, the host computer is started, and the Bluetooth module is powered on through the display and touch module, so that the host computer communicates with the Bluetooth module, and the host computer synchronously obtains the overlap deviation data between the axis of the riveting gun and the axis of the rivet, and records the schematic diagram of the overlap deviation between the axis of the riveting gun and the axis of the rivet during riveting; Step 7: The user adjusts the rivet gun posture according to the coincidence deviation between the rivet gun axis and the rivet axis, so that the coincidence deviation is within an acceptable range for riveting; Step 8: Return to step 4 if you need to switch the next nail, otherwise end.

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