A power device for drilling and riveting large-size composite material parts

Abstract

This invention discloses a power device for riveting and drilling large-size composite material parts, specifically relating to the field of riveting processing technology. It includes a riveting power assembly, a workpiece to be riveted, and a supporting fixture assembly. The riveting power assembly is driven by a first manipulator, while the supporting fixture assembly supports the workpiece to be riveted. The riveting power assembly includes an actuator, on which a rivet gun and a feeding tube are mounted. A positioning seat is also provided at the bottom of the actuator, and a first vacuum adsorption structure is fixedly connected to the bottom of the positioning seat. A rivet storage device is mounted on the positioning seat. This invention uses the first vacuum adsorption structure to reverse-adsorb the workpiece to be riveted, and uses the positioning seat for auxiliary support. This makes the actual riveting process more precise, ensuring accurate alignment between the rivet gun and the riveting hole. It also avoids excessive pushing of the workpiece during rivet feeding, which could deform or damage the workpiece, further improving the actual riveting accuracy.

Description

Technical Field

[0001] This invention relates to the field of riveting technology, and more specifically, to a power device for riveting holes in large-size composite material parts. Background Technology

[0002] Riveting is a process used for permanently or semi-permanently joining metal parts, widely used in aerospace, automotive manufacturing, and building structures. It securely connects two or more workpieces together using a fastener called a rivet. The basic principle involves drilling holes in the workpieces to be joined, inserting rivets into these holes, and then applying pressure to one end of the rivet using a special tool (such as a rivet gun). This causes the rivet to deform and fill the hole, while simultaneously forming a head at the other end to ensure the workpieces are firmly secured.

[0003] With the continuous development of riveting technology, various automated riveting equipment has gradually been developed. For example, pneumatic or electric automatic riveting guns are used in conjunction with corresponding automated drive devices to move the rivet gun to the appropriate position for automated riveting operations.

[0004] In the modern aerospace industry, reducing structural weight to improve fuel efficiency, increase payload capacity, and extend range is a perpetual pursuit. To this end, designers widely employ lightweight, high-strength metallic materials, with aluminum alloys, magnesium alloys, aluminum forgings, and other high-quality advanced metal structural components playing a crucial role. Riveting has also become the preferred connection method between various structures.

[0005] As riveting technology gradually shifts from manual to automated operations, riveting efficiency is also improving. However, for some large components, such as aircraft skins (aluminum alloys, magnesium alloys, etc.) and other large aerospace equipment, the surface area is relatively large, and the materials to be riveted are often in a suspended state (e.g., the edges of two adjacent materials to be riveted, or the composite connection of multiple layers of materials in composite materials, and because the overall size of the equipment is too large to achieve full-coverage tooling support, many riveting positions are in a suspended state). Since the above materials are relatively thin and have poor rigidity, the pushing of the rivet by the riveting gun during the actual riveting process can easily affect the material. For example, when the rivet is pushed into the riveting hole, the pushing of the rivet can easily cause excessive compression of the material, especially when there is a certain error between the rivet and the riveting hole. The pushing of the rivet increases the friction between the rivet and the riveting hole, which makes it easier for the material to be riveted to deform or be damaged, affecting the riveting quality. Summary of the Invention

[0006] The present invention provides a power device for drilling and riveting large-size composite material parts. The problem to be solved is that during the riveting process of thin-walled high-quality metal materials in a suspended state, the advancement of the rivet by the riveting gun can easily affect the material, causing deformation or damage to the material to be riveted, thus affecting the riveting quality.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a power device for drilling and riveting large-size composite material parts, comprising a riveting power assembly, a workpiece to be riveted, and a support fixture assembly, wherein the riveting power assembly is driven to move by a first manipulator, and the support fixture assembly is used to support the workpiece to be riveted.

[0008] The riveting power assembly includes an actuator, on which a rivet gun and a feeding pipe are mounted;

[0009] The bottom of the actuator is also provided with a positioning seat, and the bottom of the positioning seat is fixedly connected with a first vacuum adsorption structure. The bottom of the first vacuum adsorption structure is provided with multiple sets of vacuum adsorption holes. The positioning seat is provided with a nail storage device, which is used to receive the rivets output from the feed tube. The actuator is provided with a feed driver for driving the rivet gun to move vertically and a transverse driver for driving the positioning seat to move laterally.

[0010] The nail storage device consists of multiple sets of sector-shaped units. The sector-shaped units are driven to move closer or further apart by a split-and-joint drive assembly. The nail storage device is equipped with nail-stopping protrusions, and a vision recognition assembly is also installed on the actuator. The vision recognition assembly is used to visually recognize the surface of the workpiece to be riveted.

[0011] The positioning seat has a cylindrical structure. Each sector unit is slidably installed in the positioning seat along the radial direction of the nail storage device. An elastic element is installed between the sector unit and the positioning seat. The splitting and opening drive assembly is a conical head installed at the bottom of the rivet gun. The conical head is slidably adapted to the top of the inner wall of the nail storage device.

[0012] The positioning base is equipped with a slide rail structure, which is used to support the sliding of the fan-shaped unit. The slide rail structure is inclined in the positioning base and gradually increases in height along the direction towards the inner wall of the positioning base.

[0013] The hole-making and riveting power equipment also includes a hole-making assembly, which is driven to move by a second manipulator. The hole-making assembly includes a support base, on which a punch driver is installed. A second vacuum adsorption structure is provided above the support base. The second vacuum adsorption structure is the same as the first vacuum adsorption structure. A punch head is installed at the output end of the punch driver. A punching counter-support is fixedly connected to the bottom of the fan-shaped unit.

[0014] A support cylinder is fixedly connected to the top of the support base. An air extraction hood is provided on one side of the support cylinder. The air extraction hood is connected to an air extraction device. An expansion section is fixedly connected to the output end of the punching driver. The expansion section slides with the top of the support cylinder. The punch head is fixedly installed on the top of the expansion section. A hollow hole is provided inside the punch head. A docking hole connected to the hollow hole is provided on the bottom outer side of the expansion section.

[0015] The first vacuum adsorption structure is a disc-shaped structure. There is a movable space between the first vacuum adsorption structure and the positioning seat. The middle part of the first vacuum adsorption structure protrudes upward and is fixedly connected to the positioning seat. The first vacuum adsorption structure is elastic.

[0016] Multiple sets of connecting rods are provided between the top of the first vacuum adsorption structure and the bottom of the positioning seat. Both ends of the connecting rods are provided with ball heads. The bottom of the first vacuum adsorption structure is provided with concave holes corresponding to the positions of the connecting rods. A flexible guide cylinder is provided inside the concave hole. Both ends of the flexible guide cylinder are fixedly connected to the concave hole. The ball head at the top of the connecting rod is slidably installed in the flexible guide cylinder, and the ball head at the bottom of the connecting rod is rotatably installed in the first vacuum adsorption structure. The positioning seat is provided with an air injection channel communicating with each concave hole. The air injection channel is connected to an air injection device through a pipe.

[0017] The first manipulator includes a large hybrid operation assembly, which includes a lifting driver and a hybrid power head. The hybrid power head includes a power head frame, in which an actuator arm is mounted. A rotating seat is rotatably mounted at the end of the actuator arm. The actuator seat of the riveting power assembly is rotatably mounted on the rotating seat. A first rotating frame is rotatably mounted in the power head frame, and the actuator arm is rotatably mounted in the first rotating frame. The axis of rotation between the actuator arm and the first rotating frame is perpendicular to the axis of rotation between the first rotating frame and the power head frame. A second rotating frame is also rotatably mounted on the power head frame, located above the actuator arm. The hybrid power head also includes three sets of branch drivers. Two sets of branch drivers are located on both sides of the actuator arm and are rotatably mounted in the first rotating frame. The axis of rotation between these two sets of branch drivers and the first rotating frame is parallel to the axis of rotation between the actuator arm and the first rotating frame. The other set of branch drivers is rotatably mounted in the second rotating frame, and the axis of rotation between this branch driver and the second rotating frame is perpendicular to the axis of rotation between the second rotating frame and the power head frame. The output ends of all three sets of branch drivers are connected to the actuator arm via universal joints.

[0018] The first manipulator also includes a first travel rail, a lifting drive is slidably mounted on the first travel rail, a support base is mounted at the execution end of the second manipulator, the second manipulator is equipped with a second travel rail, the second manipulator is slidably mounted on the second travel rail, and the support tooling assembly includes an AGV trolley, on which a turntable is provided, a rotation drive device is provided in the turntable, and a fixed tooling for supporting the workpiece to be riveted is provided on the turntable.

[0019] The beneficial effects of this invention are as follows:

[0020] 1. In actual riveting, the present invention uses a first vacuum adsorption structure to adsorb the workpiece to be riveted in the opposite direction, and uses a positioning seat for auxiliary support to position the workpiece to be riveted relatively. This makes the docking of the rivet gun and the rivet hole more precise during actual riveting. At the same time, it can also avoid excessive pushing of the workpiece to be riveted during rivet feeding, which would cause deformation or damage to the workpiece to be riveted. This further improves the actual riveting accuracy, especially for high-quality metal structural parts such as aluminum forgings, and can provide effective and stable riveting connection operations.

[0021] 2. This invention utilizes a punch head to form a set of punching components. Before riveting with a rivet gun, the first and second vacuum adsorption structures are driven to the same area and positioned on opposite sides of the workpiece to be riveted. Vacuum adsorption is then performed to effectively fix the workpiece in this area. The second vacuum adsorption structure is then driven to rise by a punching driver, and the cylindrical structure formed by the punching counter-support is used to punch holes in the workpiece to be riveted, thereby creating riveting holes and effectively improving processing efficiency.

[0022] 3. By adopting a large hybrid operation component, this invention combines the advantages of machine tools and robotic arms, and integrates multiple power sources to form a powerful and highly flexible first manipulator, achieving more precise free control and further improving the accuracy of the equipment. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0024] Figure 2 This is a schematic diagram of the working state of the present invention.

[0025] Figure 3 This is a schematic diagram of the overall structure of the riveting power assembly of the present invention.

[0026] Figure 4 This is a diagram showing the state of the pneumatic feeding pipe in the riveting power assembly of the present invention when it feeds rivets into the rivet storage device.

[0027] Figure 5 This is a schematic diagram of the actual riveting process of the present invention.

[0028] Figure 6 This is a schematic diagram of the structure in which rivets fall into the rivet storage device of the present invention.

[0029] Figure 7 This is a schematic diagram of the riveting state when using a blind rivet in this invention.

[0030] Figure 8This is a schematic diagram of the structure of the present invention after adding the hole-making component.

[0031] Figure 9 This is a schematic diagram of the overall structure of the hole-making assembly of the present invention.

[0032] Figure 10 This is a diagram showing the state of the punching assembly of the present invention when it is used in conjunction with the riveting power assembly for punching.

[0033] Figure 11 For the present invention Figure 10 Enlarged view of the structure of part A.

[0034] Figure 12 This is a diagram showing the state of the riveting power assembly and the riveting assembly working together after the hole-making is completed in this invention.

[0035] Figure 13 This is a top view showing the distribution of each sector-shaped unit in the cylindrical positioning seat of the present invention.

[0036] Figure 14 This is a diagram showing the state of the present invention when using the counter-pressure head on the support cylinder to rivet non-core-pulling rivets such as hollow rivets.

[0037] Figure 15 This is a schematic diagram of the improved first vacuum adsorption structure of the present invention.

[0038] Figure 16 This diagram shows the connection relationship between the improved first vacuum adsorption structure and the bottom of the support cylinder.

[0039] Figure 17 This is a schematic diagram illustrating the riveting operation using a large hybrid operation assembly according to the present invention.

[0040] Figure 18 This is a schematic diagram from one perspective of the hybrid power head of the present invention.

[0041] Figure 19 This is another schematic diagram of the hybrid power head of the present invention.

[0042] The attached figures are labeled as follows: 1. Riveting power assembly; 11. Actuator seat; 12. Rivet gun; 121. Conical head; 13. Feeding pipe; 14. Vision recognition assembly; 15. Feed driver; 16. Transverse driver; 17. Rivet; 2. First manipulator; 21. Large hybrid operation assembly; 211. Lifting driver; 212. Hybrid power head; 2121. Power head frame; 2122. Action arm; 2123. First rotating frame; 2124. Second rotating frame; 2125. Branch driver; 2126. Rotating seat; 22. First travel track; 3. Workpiece to be riveted; 4. Supporting tooling assembly; 5. Positioning seat; 51. First vacuum adsorption structure; 52. Connecting rod; 53. Concave hole; 54. Flexible guide cylinder; 55. Air injection channel; 6. Nail storage device; 61. Fan-shaped unit; 62. Nail stop protrusion; 63. Punching back support part; 7. Hole making assembly; 71. Support seat; 72. Punching driver; 721. Diameter expansion part; 722. Punch head; 73. Second vacuum adsorption structure; 74. Support cylinder; 75. Evacuation hood; 76. Back pressure head; 8. Second manipulator; 81. Second travel track. Detailed Implementation

[0043] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0044] Refer to the instruction manual appendix Figures 1 to 16 A power device for riveting and drilling large-size composite material parts includes a riveting power assembly 1, a first manipulator 2, a workpiece 3 to be riveted, and a support fixture assembly 4. The first manipulator 2 is used to move the riveting power assembly 1, while the support fixture assembly 4 is used to support the workpiece 3 to be riveted. The support fixture assembly 4 is equipped with a turntable and a rotation drive device. The turntable is equipped with a fixed fixture for supporting the workpiece 3 to be riveted. The support fixture assembly 4 is an AGV (Automated Guided Vehicle) trolley, which can support and transport the workpiece 3 to be riveted. The workpiece 3 to be riveted is mainly a combination of a supporting structural component and a flat structural component, such as a skeleton structure (e.g., a high-quality metal forged structural component made of aluminum or titanium alloy) and an outer skin structure (e.g., a flat structural component made of aluminum alloy or magnesium alloy). At the same time, the rotation drive of the turntable can adjust the mating area between the workpiece 3 to be riveted and the riveting power assembly 1, thereby further increasing the ease of operation of the equipment and enabling it to accommodate larger workpieces 3 to be riveted.

[0045] The riveting power assembly 1 includes an actuator 11, which is installed on the actuator end of the first manipulator 2. The actuator 11 is equipped with a rivet gun 12 and a feeding pipe 13. The rivet gun 12 is an automatic rivet gun (e.g., a pneumatic or electric rivet gun, depending on the rivet structure selected). The rivet gun 12 is connected to an automatic rivet feeding structure, for example, a set of conveying pipes. The conveying pipes are used to input rivets 17. After the rivets 17 are input into the conveying pipes one by one, air is blown into the conveying pipes to move the rivets 17 into the feeding pipe 13, thereby realizing the automatic feeding of rivets 17.

[0046] The bottom of the actuator 11 is also provided with a positioning seat 5, and a first vacuum adsorption structure 51 is fixedly connected to the bottom of the positioning seat 5. Both the positioning seat 5 and the first vacuum adsorption structure 51 are provided with holes for the rivet gun 12 to pass through. The first vacuum adsorption structure 51 is made of rubber and has multiple sets of vacuum adsorption holes at its bottom. A vacuum tube is provided on the first vacuum adsorption structure 51, which is connected to a vacuum pumping device. The positioning seat 5 is provided with a nail storage device 6, which is composed of multiple sets of fan-shaped unit bodies 61. 1. Driven by the (separation and retraction drive assembly), the rivet gun 12 is moved closer or further apart. The rivet storage device 6 is provided with a rivet stop protrusion 62. The rivet storage device 6 is used to receive the rivets output from the feed tube 13. The actuator 11 is provided with a feed driver 15 for driving the rivet gun 12 to move vertically and a transverse driver 16 for driving the positioning seat 5 to move laterally. The actuator 11 is also equipped with a vision recognition component 14. The vision recognition component 14 is used to visually recognize the surface of the workpiece 3 to be riveted, so as to assist the first manipulator 2 in further determining the riveting position and improving the riveting accuracy.

[0047] It should be noted that in the above embodiments, blind rivets are mainly used, and the workpiece 3 to be riveted has already been pre-drilled with riveting holes (for example, for some aluminum forging structural parts, the riveting holes are pre-machined before riveting). During actual riveting, the first manipulator 2 drives the actuator 11 to the designated position, and the actuator 11 remains stationary. At this time, the fan-shaped unit 61 on the positioning seat 5 is in a merged state, forming a complete rivet storage device 6. After the feeding tube 13 automatically feeds the rivet, the rivet 17 falls into the rivet storage device 6 and is supported by the rivet protrusion 62. Then, by driving the positioning seat 5 to move laterally, the rivet storage device 6 moves to below the rivet gun 12, and then the rivet gun 12 is driven to move downwards and approach the rivet 17, using the rivet... The pneumatic device (e.g., vacuum device) in the rivet gun 12 adsorbs the rivet 17, thus achieving automatic rivet insertion. Then, the actuator 11 is driven to move again, causing the first vacuum adsorption structure 51 to reach the riveting hole. The vacuum device is then activated, allowing the first vacuum adsorption structure 51 to effectively adsorb the material of the workpiece 3 to be riveted at this location and provide reverse support, making the workpiece 3 relatively stable in this area. The rivet gun 12 is then driven to descend, allowing the rivet 17 to enter the riveting hole (at this time, the fan-shaped units 61 are relatively separated, not affecting the relative downward movement of the rivet gun 12). For pull-core rivets, the rivet gun 12 should be equipped with a device to pull the core rod of the rivet 17, as detailed in the appendix of the instruction manual. Figure 7 Pull the core rod to deform the other end of the rivet 17, and the riveting will be completed (the blind rivet and the corresponding rivet gun 12 are common riveting solutions, so they will not be explained in detail in this embodiment).

[0048] In this embodiment, the first vacuum adsorption structure 51 is used to adsorb the workpiece 3 to be riveted in the opposite direction during actual riveting, and the positioning seat 5 is used for auxiliary support to position the workpiece 3 to be riveted relatively. This makes the docking between the rivet gun 12 and the riveting hole more accurate during actual riveting. At the same time, it can also avoid excessive pushing of the workpiece 3 to be riveted during rivet feeding, which would cause deformation or damage to the workpiece 3 to be riveted, and further improve the actual riveting accuracy.

[0049] In the above embodiments, the corresponding riveting holes need to be pre-machined on the workpiece 3 to be riveted, which increases the overall processing and production time. Therefore, in order to improve the overall processing efficiency, this embodiment also provides a scheme for simultaneously drilling holes on the workpiece 3 to be riveted. For details, please refer to the appendix of the specification. Figures 8 to 12The drilling and riveting power equipment also includes a drilling assembly 7, which is installed at the execution end of the second manipulator 8. The second manipulator 8 is equipped with a second travel rail 81. Specifically, the drilling assembly 7 includes a support base 71, which is installed at the execution end of the second manipulator 8. A punching driver 72 (e.g., a hydraulic cylinder) is mounted on the support base 71. A second vacuum adsorption structure 73 is provided above the support base 71. The second vacuum adsorption structure 73 has the same structure as the first vacuum adsorption structure 51 and also has a vacuum adsorption function. A punch head 722 is installed at the output end of the punching driver 72. A punching counter-support part 6 is fixedly connected to the bottom of the fan-shaped unit 61. 3. When each sector unit 61 is brought together, each punching support part 63 forms a cylindrical structure, which, together with the punch head 722, forms a punching assembly. Specifically, before the rivet gun 12 rivets, the first vacuum adsorption structure 51 and the second vacuum adsorption structure 73 are driven to the same area and located on the front and back sides of the workpiece 3 to be riveted, respectively. Then, vacuum adsorption is performed to effectively fix the workpiece 3 to be riveted in this area. Then, the punching driver 72 drives the second vacuum adsorption structure 73 to rise, and the cylindrical structure formed by the punching support part 63 punches holes in the workpiece 3 to be riveted, thereby obtaining riveting holes, which can effectively improve processing efficiency.

[0050] It should be noted that each sector-shaped unit 61 in the aforementioned nail storage device 6 needs to be separated after the holes are drilled. Therefore, it is necessary to promptly drive the sector-shaped unit 61 away. Each sector-shaped unit 61 can be driven independently by multiple cylinders as a separation and engagement drive assembly, or a corresponding linkage structure can be set as a separation and engagement drive assembly. For example, refer to the appendix of the instruction manual. Figure 12 and Figure 13 The positioning seat 5 has a cylindrical structure. Each sector unit 61 is slidably installed in the positioning seat 5 along the radial direction of the nail storage device 6. An elastic element (such as a spring) is installed between the sector unit 61 and the positioning seat 5. A conical head 121 is fixedly installed at the bottom of the rivet gun 12. The positioning seat 5 is provided with a slide rail structure, which is used to support the sliding of the sector unit 61. The slide rail structure is gradually raised in the direction of approaching the inner wall of the positioning seat 5. Thus, when the sector unit 61 separates and slides, it can gradually rise to avoid friction damage between the punched back support part 63 and the workpiece 3 to be riveted.

[0051] In the above embodiment, when making holes, the rivet gun 12 can first approach the rivet 17 and pull the rivet 17 upward. After the hole is made, the rivet gun 12 continues to descend, which causes the conical head 121 to push each sector unit 61 apart. Then the bottom of the rivet 17 abuts against the waste material punched out from the top of the punch head 722 and descends together until the rivet 17 is inserted into the riveting hole, and then the riveting operation is performed.

[0052] Furthermore, to facilitate the collection of waste generated during punching and to ensure that the waste does not affect the insertion of the rivet 17, this embodiment also provides the following technical solutions, specifically referring to the appendix to the specification. Figures 10 to 12 A support cylinder 74 is fixedly connected to the top of the support base 71. A suction hood 75 is provided on one side of the support cylinder 74. The suction hood 75 is connected to a suction device, and a filter screen is provided between the suction hood 75 and the pipe connected to the suction device. An expansion section 721 is fixedly connected to the output end of the punching driver 72. The expansion section 721 slides with the top of the support cylinder 74 to form a piston structure. A punch head 722 is fixedly installed on the top of the expansion section 721. A hollow hole is provided inside the punch head 722. A hole is provided on the outer side of the bottom of the expansion section 721. After the punching is completed, the vacuum device connected to the vacuum hood 75 is turned on to form a negative pressure in the support cylinder 74. At this time, under the action of the docking hole on the expansion section 721, a negative pressure is formed on the top of the punch head 722, which has an adsorption effect on the punched waste. Then the punching driver 72 drives the expansion section 721 and the punch head 722 to gradually descend until the waste is removed from the riveting hole and enters the support cylinder 74. It is carried by the airflow to the vacuum hood 75 for storage, thereby avoiding the waste from affecting the subsequent riveting.

[0053] In the above embodiments, blind rivets are mainly used, so there is no need to equip them with a separate reverse support structure. However, when used in conjunction with the hole-making assembly 7, non-blind rivets such as hollow rivets can also be used for riveting. For example, refer to the appendix of the instruction manual. Figure 14 A counter-pressure head 76 is fixedly installed on the top of the support cylinder 74. After the hole is made, the support cylinder 74 is driven to move so that the counter-pressure head 76 can cooperate with the rivet gun 12 to perform bidirectional extrusion on the hollow rivet to achieve riveting.

[0054] In the above embodiment, the first vacuum adsorption structure 51 can be directly attached to and fixedly connected to the bottom of the positioning seat 5. However, if it is necessary to increase the support stability of the first vacuum adsorption structure 51 for the workpiece 3 to be riveted, the actual size of the first vacuum adsorption structure 51 needs to be increased. Since the actual surface shape of some workpieces 3 to be riveted is not flat and has a certain curvature (e.g., fuselage skin or other curved surface structures and other aerospace equipment and structures), when the actual design size of the first vacuum adsorption structure 51 is increased, or due to the limitation of the large volume of the rivet 17 itself, the ordinary first vacuum adsorption structure 51 is difficult to fully fit when facing workpieces 3 with different curvatures. Therefore, this embodiment also provides the following technical solutions, specifically referring to the appendix of the specification. Figure 15 and Figure 16The first vacuum adsorption structure 51 is a disc-shaped structure. There is a movable space between the first vacuum adsorption structure 51 and the positioning seat 5. The middle part of the first vacuum adsorption structure 51 protrudes upward and is fixedly connected to the positioning seat 5. The first vacuum adsorption structure 51 itself is elastic. Multiple sets of connecting rods 52 are provided between the top of the first vacuum adsorption structure 51 and the bottom of the positioning seat 5. Both ends of the connecting rods 52 are provided with ball heads. The bottom of the first vacuum adsorption structure 51 is provided with a concave hole 53 corresponding to the position of the connecting rods 52. A flexible guide cylinder 54 is provided inside the concave hole 53. Both ends of the flexible guide cylinder 54 are fixedly connected to the concave hole 53. The ball head at the top of the connecting rod 52 is slidably installed in the flexible guide cylinder 54, and the ball head at the bottom of the connecting rod 52 is rotatably installed in the first vacuum adsorption structure 51, thereby forming an auxiliary support for the first vacuum adsorption structure 51. The positioning seat 5 is provided with an air injection channel 55 communicating with each concave hole 53. The air injection channel 55 is connected to an air injection device (e.g., an air pump) through a pipe.

[0055] It should be noted that in actual use, since there is a certain distance between the first vacuum adsorption structure 51 and the positioning seat 5, when the first vacuum adsorption structure 51 contacts the workpiece 3 to be riveted, the first vacuum adsorption structure 51 can deform according to the actual surface condition of the workpiece 3. Then, the vacuum hole in the first vacuum adsorption structure 51 is evacuated, which allows the first vacuum adsorption structure 51 to adsorb the workpiece 3 to be riveted. At this time, the first vacuum adsorption structure 51 still has deformation capability, so the support effect on the workpiece 3 to be riveted is not good. Therefore, air can be injected into the concave hole 53 through an air injection device, thereby causing each flexible guide cylinder 54 to bulge inward. This increases the squeezing friction on the ball head at the top of the connecting rod 52, thereby fixing the connecting rod 52 relatively and thus fixing the support of the connecting rod 52 on the first vacuum adsorption structure 51. This improves the support stability of the first vacuum adsorption structure 51 after contacting the workpiece 3 to be riveted. Before air is filled into the concave hole 53, each flexible guide cylinder 54 is a flat cylindrical structure, and the ball head at the top of the connecting rod 52 can slide and rotate freely inside it. Therefore, when the first vacuum adsorption structure 51 adapts and deforms with the workpiece 3 to be riveted, each connecting rod 52 can also undergo corresponding changes until air is filled into the concave hole 53, at which point the connecting rod 52 becomes relatively fixed. Therefore, it can be applied to various curved surface structures.

[0056] It should be noted that both the first manipulator 2 and the second manipulator 8 mentioned above can adopt common robotic arm structures for automated free operation. However, for large workpieces 3 to be riveted, the span of the end effector of the robotic arm is relatively large, resulting in relatively low actual accuracy. Therefore, please refer to the appendix of the instruction manual. Figures 17 to 19This embodiment also provides another first manipulator 2, namely, the first manipulator 2 includes a large hybrid operation assembly 21 and a first travel track 22. The large hybrid operation assembly 21 includes a lifting driver 211 and a hybrid power head 212. The lifting driver 211 is slidably disposed on the first travel track 22. The hybrid power head 212 includes a power head frame 2121, in which an actuating arm 2122 is disposed. A rotating seat 2126 is rotatably mounted at the end of the actuating arm 2122. The riveting power assembly... The actuator 11 of component 1 is rotatably mounted on the rotating seat 2126. A first rotating frame 2123 is rotatably mounted in the power head frame 2121. The actuator arm 2122 is rotatably mounted in the first rotating frame 2123, and the axis of rotation between the actuator arm 2122 and the first rotating frame 2123 is perpendicular to the axis of rotation between the first rotating frame 2123 and the power head frame 2121. A second rotating frame 2124 is also rotatably mounted on the power head frame 2121, and the second rotating frame 2124 is located above the actuator arm 2122. The hybrid power head 212 further includes three sets of branch drivers 2125, two of which are located on both sides of the actuator arm 2122 and rotatably mounted in the first rotating frame 2123. The axis of rotation between these two sets of branch drivers 2125 and the first rotating frame 2123 is parallel to the axis of rotation between the actuator arm 2122 and the first rotating frame 2123. The other set of branch drivers 2125 is rotatably mounted in the second rotating frame 2124, and the branch driver 2125 and the second rotating frame 2124 are also rotatably mounted in the second rotating frame 2124. The pivot between the frames 2124 is perpendicular to the pivot between the second rotating frame 2124 and the power head frame 2121. The output ends of the three sets of branch drivers 2125 are all connected to the action arm 2122 through universal joints. Thus, with the help of the three sets of branch drivers 2125, the action arm 2122 can be fully moved. The three sets of branch drivers 2125 can be selected as hydraulic cylinders, thereby providing more precise and powerful movement drive for the riveting power assembly 1, making the operation of the riveting power assembly 1 more flexible and precise.

[0057] The aforementioned hybrid operation component 21 is a power output part of the machine tool that combines the advantages of both machine tools and robotic arms. It integrates multiple power sources to form a powerful and highly flexible first manipulator 2. For example, the lifting drive 211 can be based on the spindle lifting system of the machine tool, while the hybrid power head 212 can be based on a six-degree-of-freedom spindle system. Multiple branch drives 2125 adjust the posture of the actuator arm 2122, and coordinate with the rotation of the rotating seat 2126 and the rotation of the drive actuator 11 to achieve more precise and free control. In particular, the lifting drive 211, which is integrated with the machine tool spindle lifting system, after stabilization, allows the power head 2121 and the lifting drive to work together to achieve more precise and free control. The 211 components form a more stable whole, reducing their own vibration error. Thus, when approaching the workpiece 3 to be riveted, the riveting power assembly 1 can achieve higher processing accuracy by freely manipulating the actuator 2122 with multiple degrees of freedom. Especially when facing the curved workpiece 3 to be riveted, in the riveting operation in a certain area, the actuator 2122 can be fixed first, and the riveting power assembly 1 can be accurately moved in a small area by only using the three sets of branch drivers 2125. This reduces the number of moving parts and further reduces the vibration error caused by the synchronous movement of multiple parts when the robotic arm needs to move at the same time to achieve position movement, thus further improving the accuracy of the equipment.

[0058] It should be noted that this invention is mainly aimed at the riveting processing of various structural components in high-standard fields such as aerospace. Therefore, it provides a riveting processing method with high stability, which can effectively and stably connect various materials such as magnesium, aluminum alloys, and magnesium alloys, as well as high-quality metal forging structures such as various aluminum forgings, to manufacture higher-quality aerospace equipment. In particular, it can provide effective and stable processing for connecting various flat aluminum forgings and composite connections of multiple structural components.

[0059] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A large scale composite component hole making riveting power plant characterized by: The riveting power assembly (1) is driven to move by the first manipulator (2), and the support tooling assembly (4) is used for supporting the riveting workpiece (3); The riveting power assembly (1) comprises an execution seat (11), and a rivet gun (12) and a feeding pipe (13) are arranged on the execution seat (11); The bottom of the execution seat (11) is further provided with a positioning seat (5), the bottom of the positioning seat (5) is fixedly connected with a first vacuum adsorption structure (51), a plurality of groups of vacuum adsorption holes are arranged on the bottom of the first vacuum adsorption structure (51), a rivet storage device (6) is arranged on the positioning seat (5), the rivet storage device (6) is used for receiving rivets output by the feeding pipe (13), and a feeding driver (15) for driving the rivet gun (12) to move vertically and a transverse movement driver (16) for driving the positioning seat (5) to move transversely are arranged on the execution seat (11); The rivet storage device (6) is composed of a plurality of groups of fan-shaped unit bodies (61), the fan-shaped unit bodies (61) are driven to move close to or away from each other by a split and combination driving assembly, a rivet blocking protrusion (62) is arranged in the rivet storage device (6), and a visual identification assembly (14) is further installed on the execution seat (11), and the visual identification assembly (14) is used for visually identifying the surface of the riveting workpiece (3); The positioning seat (5) is in a cylindrical structure, the fan-shaped unit bodies (61) are respectively slidably installed in the positioning seat (5) along the radial direction of the rivet storage device (6), an elastic member is installed between the fan-shaped unit bodies (61) and the positioning seat (5), and the split and combination driving assembly is a conical head (121) installed at the bottom of the rivet gun (12), the conical head (121) is slidably matched with the top end of the inner wall of the rivet storage device (6); The positioning seat (5) is provided with a slide rail structure, the slide rail structure is used for supporting the fan-shaped unit bodies (61) to slide, the slide rail structure is obliquely arranged in the positioning seat (5), and the slide rail structure is gradually arranged to be higher in the direction of approaching the inner wall of the positioning seat (5); The first vacuum adsorption structure (51) is in a disc-shaped structure, an activity space is arranged between the first vacuum adsorption structure (51) and the positioning seat (5), the middle part of the first vacuum adsorption structure (51) is upwardly protruded and fixedly connected with the positioning seat (5), and the first vacuum adsorption structure (51) is elastic; A plurality of connecting rods (52) are arranged between the top of the first vacuum adsorption structure (51) and the bottom of the positioning seat (5), both ends of the connecting rod (52) are provided with a ball head structure, the bottom of the first vacuum adsorption structure (51) is provided with an inner recess hole (53) corresponding to the position of the connecting rod (52), the inner recess hole (53) is provided with a flexible guide cylinder (54) inside, both ends of the flexible guide cylinder (54) are fixedly connected with the inner recess hole (53), the ball head at the top of the connecting rod (52) is slidingly installed in the flexible guide cylinder (54), the ball head at the bottom of the connecting rod (52) is rotatably installed in the first vacuum adsorption structure (51), the positioning seat (5) is provided with a gas injection channel (55) communicated with each inner recess hole (53), and the gas injection channel (55) is connected with a gas injection device through a pipeline.

2. A large composite part drilling riveting power device according to claim 1, characterized in that: The hole forming and riveting power equipment further comprises a hole forming assembly (7) driven and moved by a second manipulator (8), the hole forming assembly (7) comprises a support seat (71), a punching driver (72) is installed on the support seat (71), a second vacuum adsorption structure (73) is arranged above the support seat (71), the second vacuum adsorption structure (73) is the same as the first vacuum adsorption structure (51), a punch part (722) is installed at the output end of the punching driver (72), and the bottom of the fan-shaped unit body (61) is fixedly connected with a punching counter-support part (63).

3. A large composite part drilling riveting power device according to claim 2, characterized in that: The top of the support seat (71) is fixedly connected with a support cylinder (74), one side of the support cylinder (74) is provided with an air exhaust cover (75), the air exhaust cover (75) is connected with an air exhaust device, the output end of the punching driver (72) is fixedly connected with a diameter expansion part (721), the diameter expansion part (721) is in sliding fit with the top of the support cylinder (74), the punch part (722) is fixedly installed at the top of the diameter expansion part (721), the inside of the punch part (722) is provided with a hollow hole, and the bottom outside of the diameter expansion part (721) is provided with a butt joint hole connected with the hollow hole.

4. A large composite part drilling riveting power device according to claim 3, characterized in that: The first manipulator (2) comprises a large hybrid operation assembly (21), the large hybrid operation assembly (21) comprises a lifting driver (211) and a hybrid power head (212), the hybrid power head (212) comprises a power head frame (2121), an action arm (2122) is arranged in the power head frame (2121), a rotating seat (2126) is rotatably arranged at the tail end of the action arm (2122), the execution seat (11) of the riveting power assembly (1) is rotatably arranged on the rotating seat (2126), a first rotating frame (2123) is rotatably arranged in the power head frame (2121), the action arm (2122) is rotatably arranged in the first rotating frame (2123), and the rotation shaft between the action arm (2122) and the first rotating frame (2123) is arranged vertically to the rotation shaft between the first rotating frame (2123) and the power head frame (2121), a second rotating frame (2124) is further rotatably arranged on the power head frame (2121), the second rotating frame (2124) is located in the upper region of the action arm (2122), the hybrid power head (212) further comprises three groups of branch drivers (2125), two groups of the branch drivers (2125) are arranged on the two sides of the action arm (2122) and are rotatably arranged in the first rotating frame (2123), the rotation shaft between the two groups of the branch drivers (2125) and the first rotating frame (2123) is arranged parallel to the rotation shaft between the action arm (2122) and the first rotating frame (2123), the other group of the branch drivers (2125) is rotatably arranged in the second rotating frame (2124), and the rotation shaft between the branch driver (2125) and the second rotating frame (2124) is arranged vertically to the rotation shaft between the second rotating frame (2124) and the power head frame (2121), and the output ends of the three groups of branch drivers (2125) are connected with the action arm (2122) through universal joints.

5. A large composite part drilling riveting power device according to claim 4, characterized in that: The first manipulator (2) further comprises a first walking track (22), the lifting driver (211) is slidably arranged on the first walking track (22), the support seat (71) is arranged at the execution end of the second manipulator (8), the second manipulator (8) is provided with a second walking track (81), the second manipulator (8) is slidably arranged on the second walking track (81), and the support tool assembly (4) comprises an AGV trolley, a rotating table is arranged on the AGV trolley, rotating driving equipment is arranged in the rotating table, and a fixing tool for supporting the riveting workpiece (3) is arranged on the rotating table.

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