A rivet removal and hole diameter measuring integrated device for wing defect treatment

Abstract

This invention discloses an integrated device for rivet removal and hole diameter measurement in wing defect treatment. It is used to remove rivets from the top of the wing and measure the size of the rivet holes after removal. The device includes a vehicle platform positioned on the top of the wing, which moves along the wing's top surface via multiple movable components at its bottom. Vacuum suction cups are installed at both ends of the bottom of the vehicle platform to fix it to the wing's top surface. A proximity component is fixedly connected to the middle of the vehicle platform. A positioning plate is connected to the bottom end of a telescopic rod at the bottom of the vehicle platform. A rivet height testing mechanism, a rivet hole diameter measuring mechanism, and a rivet removal mechanism are installed circumferentially on the bottom of the positioning plate. The rivet height testing mechanism measures the height of the rivets installed on the top of the wing. The rivet removal mechanism removes rivets whose height does not meet design requirements. The rivet hole diameter measuring mechanism measures the size of the rivet holes at the removed rivet locations.

Description

Technical Field

[0001] This invention belongs to the field of wing maintenance technology, specifically a device for rivet removal and bore diameter measurement used in wing defect treatment. Background Technology

[0002] In the modern aviation industry, the wing, as the core load-bearing component of an aircraft, directly affects flight safety due to the quality of its connections. Rivet connections have become the main method of wing assembly due to their reliability and economy. However, after riveting, defects such as excessive flatness, damage, and loosening may occur. Therefore, it is necessary to remove the defective rivets and measure the diameter of the holes after removal to facilitate the installation of new rivets.

[0003] However, existing rivet removal devices can only be used with one type of rivet, resulting in low removal efficiency and poor removal effect. In addition, existing removal devices cannot measure the diameter of the removed hole, which does not facilitate subsequent reinstallation and limits the scope of application of the device. Summary of the Invention

[0004] The purpose of this invention is to provide an integrated device for rivet removal and bore diameter measurement for wing defect treatment. This addresses the problem that existing rivet removal devices can only be used with one type of rivet, resulting in low removal efficiency and poor removal effect. It also solves the problem that existing removal devices cannot measure the bore diameter after removal, thus hindering subsequent reinstallation and limiting the applicability of the device.

[0005] The technical solution of the present invention is as follows: The present invention provides an integrated device for rivet removal and hole diameter measurement for wing defect treatment, comprising: the integrated device for removing rivets 101 on the top of the wing 1, and measuring the size of the rivet hole after removal; the integrated device comprises: a vehicle platform 2, a proximity component 3, a vacuum suction cup component 4, a moving component 5, a rivet height testing mechanism 7, a rivet hole diameter measuring mechanism 8, and a rivet removal mechanism 9; The vehicle platform 2 is located on the top of the wing 1. The vehicle platform 2 moves on the top surface of the wing 1 through multiple moving components 5 located at its bottom. Vacuum suction cup components 4 are respectively provided at both ends of the bottom of the vehicle platform 2 so as to be fixedly adsorbed to the top surface of the wing 1 by the vacuum suction cup components 4. The proximity component 3 is fixedly connected to the middle of the vehicle platform 2. The bottom end of the telescopic rod at the bottom of the proximity component 3 is connected to the positioning plate 302. The bottom of the positioning plate 302 is equipped with a rivet height testing mechanism 7, a rivet hole diameter measuring mechanism 8, and a rivet removal mechanism 9 along the circumferential direction. The rivet height testing mechanism 7 measures the height of the rivet 101 installed on the top of the wing 1, the rivet removal mechanism 9 removes rivets 101 whose height does not meet the design requirements, and the rivet hole diameter measuring mechanism 8 measures the rivet hole at the position where the rivet 101 was removed.

[0006] Optionally, in the rivet removal and aperture measurement integrated device for wing defect treatment as described above, A controller 201 is fixedly mounted on the top of the vehicle platform 2, and a power supply 202 is fixedly installed at one end of the controller 201. Each movable component 5 fixedly mounted on the bottom of the vehicle platform 2 includes: a mounting frame 5a, a positioning rod 501 slidably connected to the mounting frame 5a, the top of the positioning rod 501 being placed inside the mounting frame 5a, and a positioning block 505 being fixedly connected to its top. The positioning block 505 is slidably connected to a groove on the mounting frame 5a. A roller positioning plate 502 is fixedly mounted on the bottom of the positioning rod 501, and a roller 503 is installed inside the roller positioning plate 502. In the two sets of moving components 5 located at one end of the vehicle platform 2, each roller positioning plate 502 is externally fixedly equipped with a roller motor 504, and each roller motor 504 is rotatably connected to the corresponding roller 503 through a rotating shaft.

[0007] Optionally, the rivet removal and aperture measurement integrated device for wing defect treatment as described above also includes: a negative pressure component 6 and a preliminary inspection camera 204; Inside each of the moving components 5, a set of negative pressure components 6 is provided, including: a positioning plate 601, a negative pressure pump 602, a negative pressure valve 603, a negative pressure pipe 604, and a negative pressure plate 605; A positioning plate 601 is fixed inside each of the roller positioning plates 502, and a negative pressure pump 602 is fixed on the top of each positioning plate 601. Each negative pressure pump 602 is connected to the negative pressure plate 605 at the bottom through a negative pressure pipe 604, and a negative pressure valve 603 is provided on the negative pressure pipe 604. A preliminary inspection camera 204 is also fixed at the bottom of the vehicle platform 2. The integrated device is used to generate a downward force on the integrated device through each negative pressure component 6 during the movement process, so as to maintain the movement stability of the integrated device.

[0008] Optionally, in the rivet removal and bore measurement integrated device for wing defect treatment as described above, the vacuum suction cup assembly 4 installed at both ends of the vehicle platform 2 includes: The vehicle platform 2 is fixedly mounted at both ends by connecting strips 405. Each connecting plate 403 has a vacuum suction cup assembly camera 404 fixed at its outer end and a moving camera 203 fixed at the top of one connecting plate 403. Each connecting plate 403 is hinged to the vacuum suction cup assembly moving rod 401 at its bottom. Each vacuum suction cup assembly moving rod 401 is rotatably connected to a vacuum suction cup assembly reversing motor 402 at its front end. Each vacuum suction cup assembly reversing motor 402 is fixedly connected to one end of the connecting plate 403.

[0009] Optionally, in the rivet removal and bore measurement integrated device for wing defect treatment as described above, the proximity component 3 fixedly installed in the middle of the vehicle platform 2 includes: A proximity rod 3a is fixedly connected to the middle of the vehicle platform 2. A reversing motor 301 is fixed at the bottom of the proximity rod 3a. The reversing motor 301 is rotatably connected to the positioning disk 302 at its bottom. A proximity camera 303 is fixed at the bottom of the positioning disk 302. The positioning disk 302 is fixedly connected to the rivet height testing mechanism 7 at its bottom.

[0010] Optionally, in the rivet removal and aperture measurement integrated device for wing defect treatment as described above, The rivet height testing mechanism 7, which is fixedly installed at the bottom of the positioning disk 302, includes: a test connecting rod 7a fixedly installed at the bottom of the positioning disk 302; a shifting motor 703 fixedly installed at the bottom of the test connecting rod 7a; the output shaft of the shifting motor 703 is connected to the shifting disk 704, so as to drive the shifting disk 704 to rotate forward and backward; a positioning strip 701 is fixedly installed on one side of the outer wall of the test connecting rod 7a; a flatness displacement sensor 702 is fixedly installed on the lower end face of the positioning strip 701; multiple test rod assemblies are evenly distributed along the circumference of the shifting disk 704; and a test camera 709 located inside each test rod assembly is fixedly installed at the bottom of the shifting disk 704. Each of the test rod assemblies includes: a test rod 705 and a test motor positioning strip 711 mounted on the transposition plate 704 with a clearance fit. The top ends of the test rod 705 and the test motor positioning strip 711 are fixedly connected to a flatness test motor 710. A test plate 706 is fixed to the bottom of the test rod 705, and a test shaft 707 is fixed to the bottom of the test plate 706. A test spring 708 is sleeved on the test rod 705 between the transposition plate 704 and the test plate 706. Among the multiple test rod assemblies mounted on the bottom of the transposition plate 704, the distance from the end of each test shaft 707 to the axis of the test rod 705 is different, which is used to realize the height test of rivets of different specifications. The rivet height testing mechanism 7 is used to select the corresponding test rod assembly after determining the specifications of the rivet to be tested. The selected test rod assembly is rotated to below the flatness displacement sensor 702 by the shifting disk 704. The test shaft 707 is driven to rotate by the flatness testing motor 710. The flatness displacement sensor 702 and the test shaft 707 are selected to cooperate to test the height of the wing plane around the rivet and the height of the rivet end face, respectively, so as to measure whether the current rivet height meets the design requirements. During the measurement process, the descent distance of the test rod 705 at the corresponding position is monitored by the test camera 709, and the contact state between the test shaft 707 and the wing surface or the rivet end face is monitored.

[0011] Optionally, in the rivet removal and hole diameter measurement integrated device for wing defect treatment as described above, the rivet height testing mechanism 7 further includes: a loosening test component installed in the middle of the bottom end face of the transposition plate 704; The loosening test assembly includes: a loosening test rod 712 fixedly installed at the bottom of the transposition plate 704; a loosening test tension sensor 713 installed at the bottom of the loosening test rod 712; a loosening suction cup vacuum pump 717 installed at the bottom of the loosening test tension sensor 713; a loosening suction cup 715 fixedly connected to the bottom of the loosening suction cup valve 716 via a pipe, and the pipe is equipped with a loosening suction cup valve 716; and a loosening displacement sensor 714 fixedly installed at the bottom of the transposition plate 704. The rivet height testing mechanism 7 is used to move the loosening test component above the loose rivet when the initial inspection camera 204 detects a loose rivet. The loosening test component is moved by the movement of the vehicle platform 2, and the loosening test rod 712 is driven to descend by the test connecting rod 7a, so that the loosening suction cup 715 is attached to the end face of the loose rivet. The loosening test rod 712 is driven to move upward. The displacement of the rivet is monitored during the movement of the loosening test rod 712 by the cooperation of the loosening displacement sensor 714 and the loosening test tension sensor 713, so as to determine the loosening status of the rivet.

[0012] Optionally, in the rivet removal and aperture measurement integrated device for wing defect treatment as described above, The rivet removal mechanism 9, which is fixedly installed at the bottom of the positioning plate 302, includes: a removal connecting rod 9a fixedly installed at the bottom of the positioning plate 302; a removal motor 902 fixedly installed at the bottom end of the removal connecting rod 9a; the output end of the removal motor 902 is sequentially connected to a removal rod mounting base and a drill bit 905; multiple telescopic removal rods 903 are circumferentially installed along the bottom edge of the removal rod mounting base; and a cutting head 904 is fixedly installed at the outer end of each removal rod 903; and a removal camera 901 fixedly installed at the bottom of the positioning plate 302 and located inside the rivet removal mechanism 9. The rivet removal mechanism 9 is used to drive the drill bit 905 to drill a hole on the end face of the rivet by rotating the removal motor 902. After the drill bit 905 extends into the rivet, it extends all the removal rods 903 and uses the cutting head 904 at the end of each removal rod 903 to rotate and cut the inside of the rivet until it approaches the outer diameter of the rivet and stops rotating and cutting, thus removing the remaining rivet.

[0013] Optionally, in the rivet removal and aperture measurement integrated device for wing defect treatment as described above, The rivet hole diameter measuring mechanism 8, which is fixedly installed at the bottom of the positioning disk 302, includes: a measuring connecting rod 8a fixedly installed at the bottom of the positioning disk 302; a measuring motor 802 fixedly installed at the bottom of the measuring connecting rod 8a; the output shaft of the measuring motor 802 connected to a measuring rod mounting base; telescopic measuring needle moving rods 803 symmetrically installed at both ends of the measuring rod mounting base; a Z-shaped measuring needle positioning strip 804 fixedly connected to the end of each measuring needle moving rod 803; a measuring positioning needle 805 installed on the inner side of the bottom end of each measuring needle positioning strip 804; a displacement sensor 806 fixedly installed on the inner side of one measuring needle positioning strip 804 for measuring the distance between two measuring needle moving rods 803; and a measuring camera 801 fixedly installed at the bottom of the positioning disk 302 and located inside the rivet hole diameter measuring mechanism 8. The rivet hole diameter measuring mechanism 8 is used to extend two measuring positioning pins 805 at the bottom into the rivet hole to be measured by extending and retracting the measuring connecting rod 8a, and at the same time extend two measuring pin moving rods 803 so that the two measuring positioning pins 805 contact the two ends of the inner wall of the rivet hole. The displacement measured by the displacement sensor 806 is used to calculate the rivet hole diameter.

[0014] The beneficial effects of this invention are as follows: This invention provides an integrated device for rivet removal and hole diameter measurement for wing defect treatment. Using this device, the height of the rivets 101 installed on the top of the wing 1 is measured by the rivet height testing mechanism 7; rivets 101 whose height does not meet design requirements are removed by the rivet removal mechanism 9; and the rivet hole diameter is measured by the rivet hole diameter measuring mechanism 8 at the location of the removed rivets 101. Compared with the prior art, this invention has the following beneficial effects: First, the present invention uses a combination of roller spring and positioning rod to allow the positioning rod to move along the moving component, thereby making the roller close to the wing, thus ensuring the stability of the entire device's movement. Furthermore, the combination of negative pressure pump and negative pressure valve allows negative pressure to be generated at the lower end of the negative pressure plate, thereby ensuring the stability of the vehicle platform during movement. At the same time, the entire device can be adapted to wings of different shapes, thereby improving the applicability of the entire device. Secondly, the present invention can drive the vacuum suction cup assembly moving rod to rotate through the reversing motor of the vacuum suction cup assembly, and at the same time, the vacuum suction cup assembly can be raised and lowered through the extension and retraction of the moving rod of the vacuum suction cup assembly, so that the vacuum suction cup assembly is in close contact with the wing. Furthermore, the operation of the vacuum suction cup assembly can fix the suction cup to the wing, thereby ensuring the stability of the disassembly of the entire device and thus ensuring the disassembly effect. At the same time, the device can pre-inspect whether the rivets are qualified through the initial inspection camera, thereby saving testing time. Third, the present invention utilizes the telescopic mechanism of the rivet height testing mechanism to drive the shifting motor to rise and fall, thereby driving the shifting disk to rise and fall, ensuring that the test shaft is tightly attached to the outer surface of the rivet. Furthermore, the flatness testing motor drives the test rod to rotate, which in turn drives the test shaft to rotate. This allows the flatness testing motor to rise and fall when the rivet is not parallel to the wing. By replacing the test shaft with a larger size, the dimensions of the wing and the flatness displacement sensor can be measured. Comparing the two allows for the measurement of the height difference between the rivet and the wing, thus measuring the degree of flatness and ensuring test accuracy. Simultaneously, due to the different lengths of the test shaft, it can be adapted to rivets of different outer diameters, thereby increasing the overall applicability of the device. Furthermore, the telescopic mechanism of the loosening test rod drives the loosening test tension sensor to rise and fall, causing the loosening suction cup to firmly hold the rivet. When the loosening test rod retracts, the force of the loosening test tension sensor and the loosening displacement sensor can monitor whether the loosening suction cup rises and falls, thus determining whether the rivet is loose, ensuring test accuracy, improving test efficiency, and guaranteeing test results. Fourth, the present invention can drive the removal motor to rise and fall by extending and retracting the rivet removal mechanism. Furthermore, the removal rod can drive the cutting head to move by extending and retracting. At the same time, the removal motor can drive the drill bit to rotate and drill solid rivets out of the round hole. At the same time, the cutting head can be tightly attached to the inner surface of the drilled hole of the rivet, so as to facilitate the removal of loose rivets and the cutting of unqualified rivets, thereby ensuring the removal effect. Fifth, the present invention can drive the measuring motor to rise and fall by extending and retracting the rivet hole diameter measuring mechanism, and at the same time, it can drive the measuring needle positioning strip to move by extending and retracting the measuring needle moving rod, so that the measuring positioning needle is in close contact with the inner wall of the hole. At this time, the positioning of the two measuring needles is measured by the measuring displacement sensor. Attached Figure Description

[0015] The accompanying drawings are provided to further understand the technical solutions of the present invention and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of the present invention and do not constitute a limitation on the technical solutions of the present invention.

[0016] Figure 1 A schematic diagram of the integrated device for rivet removal and aperture measurement for wing defect treatment provided by the present invention; Figure 2 for Figure 1A schematic diagram of the vehicle platform in the integrated device shown; Figure 3 for Figure 1 A schematic diagram of the bottom of the vehicle platform in the integrated device shown; Figure 4 for Figure 1 A schematic diagram of the left end of the vehicle platform in the integrated device shown; Figure 5 for Figure 1 A schematic diagram of the lower end of the movable component in the integrated device shown; Figure 6 for Figure 1 A schematic diagram of the top of the negative pressure plate in the integrated device shown; Figure 7 for Figure 1 A schematic diagram of the integrated device shown, close to the lower end of the component; Figure 8 for Figure 1 A schematic diagram of the bottom of the positioning disk in the integrated device shown; Figure 9 for Figure 1 A schematic diagram of the bottom of the rivet height testing mechanism in the integrated device shown; Figure 10 for Figure 1 A schematic diagram of the lower end of the loosening test rod in the integrated device shown; Figure 11 for Figure 1 A schematic diagram of the lower end of the loose suction cup valve in the integrated device shown; Figure 12 for Figure 1 A schematic diagram of the lower end of the rivet hole diameter measuring mechanism in the integrated device shown; Figure 13 for Figure 1 A schematic diagram of the lower end of the rivet removal mechanism in the integrated device shown; Figure 14 for Figure 1 A schematic diagram showing the removal of the lower end of the motor in the integrated device shown.

[0017] Explanation of reference numerals in the attached figures: 1-Wing; 2-Vehicle platform; 3-Proximity assembly; 4-Vacuum suction cup assembly; 5-Moving assembly; 6-Negative pressure plate; 7-Rivet height testing mechanism; 7a-Test connecting rod; 8-Rivet hole diameter measuring mechanism; 8a-Measuring connecting rod; 9-Rivet removal mechanism; 9a-Removal connecting rod; 101-Rivet; 201-Controller; 202-Power supply; 203-Moving camera; 204-Initial inspection camera; 301-Reversing power supply Machine; 302-Positioning plate; 303-Close-up camera; 401-Vacuum suction cup assembly moving rod; 402-Vacuum suction cup assembly reversing motor; 403-Connecting plate; 404-Vacuum suction cup assembly camera; 405-Connecting strip; 501-Positioning rod; 502-Roller positioning plate; 503-Roller; 504-Roller motor; 505-Positioning block; 506-Roller spring; 601-Positioning plate; 602-Negative pressure pump; 603 - Negative pressure valve; 604 - Negative pressure pipe; 605 - Negative pressure disc; 701 - Positioning strip; 702 - Flatness displacement sensor; 703 - Shift motor; 704 - Shift disc; 705 - Test rod; 706 - Test disc; 707 - Test shaft; 708 - Test spring; 709 - Test camera; 710 - Flatness test motor; 711 - Test motor positioning strip; 712 - Loosening test rod; 713 - Loosening test tension sensor 714 - Loose displacement sensor; 715 - Loose suction cup; 716 - Loose suction cup valve; 717 - Loose suction cup vacuum pump; 801 - Measuring camera; 802 - Measuring motor; 803 - Measuring needle moving rod; 804 - Measuring needle positioning strip; 805 - Measuring positioning needle; 806 - Measuring displacement sensor; 901 - Remove camera; 902 - Remove motor; 903 - Remove rod; 904 - Cutting head; 905 - Drill bit. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

[0019] As explained in the background section, existing rivet removal devices can only be used with one type of rivet, resulting in low removal efficiency and poor removal effect. In addition, existing removal devices cannot measure the diameter of the removed hole, which does not facilitate subsequent reinstallation and limits the applicability of the device.

[0020] To address the aforementioned problems, this invention provides an integrated device for rivet removal and bore diameter measurement in wing defect treatment, which can realize the integrated operation of removing various types of rivets on the wing and measuring the bore diameter after removal.

[0021] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0022] Reference Figures 1 to 14 As shown, the present invention provides an integrated device for rivet removal and hole diameter measurement for wing defects. This device is used to remove rivets 101 on the top of the wing 1 and to measure the size of the rivet holes after removal. The integrated device includes: a vehicle platform 2, a proximity component 3, a vacuum suction cup component 4, a moving component 5, a rivet height testing mechanism 7, a rivet hole diameter measuring mechanism 8, and a rivet removal mechanism 9.

[0023] In this embodiment of the invention, the vehicle platform 2 is disposed on the top of the wing 1. The vehicle platform 2 moves on the top surface of the wing 1 through a plurality of movable components 5 disposed at its bottom. Vacuum suction cup components 4 are respectively disposed at both ends of the bottom of the vehicle platform 2 so as to be fixedly adsorbed to the top surface of the wing 1 by means of the vacuum suction cup components 4.

[0024] In this embodiment of the invention, the proximity component 3 is fixedly connected to the middle of the vehicle platform 2. The bottom end of the telescopic rod of the proximity component 3 at the bottom of the vehicle platform 2 is connected to the positioning disk 302. The bottom of the positioning disk 302 is respectively equipped with a rivet height testing mechanism 7, a rivet hole diameter measuring mechanism 8, and a rivet removal mechanism 9 along the circumferential direction. The rivet height testing mechanism 7 measures the height of the rivet 101 installed on the top of the wing 1, the rivet removal mechanism 9 removes the rivet 101 whose height does not meet the design requirements, and the rivet hole diameter measuring mechanism 8 measures the rivet hole at the position where the rivet 101 was removed.

[0025] In one embodiment of the present invention, a controller 201 is fixedly mounted on the top of the vehicle platform 2, and a power supply 202 is fixedly installed at one end of the controller 201. Each movable component 5 fixedly mounted on the bottom of the vehicle platform 2 includes: a mounting frame 5a, a positioning rod 501 slidably connected to the mounting frame 5a, the top end of the positioning rod 501 being placed inside the mounting frame 5a, and a positioning block 505 fixedly connected to its top end. The positioning block 505 is slidably connected to a groove on the mounting frame 5a. A roller positioning plate 502 is fixedly mounted on the bottom of the positioning rod 501, and a roller 503 is installed inside the roller positioning plate 502. In addition, in the two sets of movable components 5 located at one end of the vehicle platform 2, a roller motor 504 is fixedly mounted on the outside of each roller positioning plate 502, and each roller motor 504 is rotatably connected to the corresponding roller 503 via a rotating shaft.

[0026] In one implementation of this invention, the integrated device further includes: a negative pressure component 6 and a preliminary inspection camera 204; a set of negative pressure components 6 is respectively provided inside each of the moving components 5, including: a positioning plate 601, a negative pressure pump 602, a negative pressure valve 603, a negative pressure pipe 604, and a negative pressure plate 605; a positioning plate 601 is fixed inside each of the roller positioning plates 502, a negative pressure pump 602 is fixed on the top of each of the positioning plates 601, each of the negative pressure pumps 602 is connected to the negative pressure plate 605 at the bottom through a negative pressure pipe 604, and the negative pressure pipe 604 is provided with a negative pressure valve 603; a preliminary inspection camera 204 is also fixed at the bottom of the vehicle platform 2.

[0027] In this implementation, the integrated device is specifically used to maintain the stability of the integrated device's movement by generating a downward force on the integrated device through each negative pressure component 6 during the movement process.

[0028] In one implementation of this invention, the vacuum suction cup assembly 4 installed at both ends of the vehicle platform 2 includes: connecting plates 403 fixedly installed at both ends of the vehicle platform 2 via connecting strips 405; a vacuum suction cup assembly camera 404 fixed to the outer end of each connecting plate 403; a movable camera 203 fixed to the top of one connecting plate 403; each connecting plate 403 hinged to the vacuum suction cup assembly moving rod 401 at its bottom; a vacuum suction cup assembly reversing motor 402 rotatably connected to the front end of each vacuum suction cup assembly moving rod 401; and each vacuum suction cup assembly reversing motor 402 fixedly connected to one end of the connecting plate 403.

[0029] In one implementation of this invention, the proximity component 3 fixedly installed in the middle of the vehicle platform 2 includes: a proximity rod 3a fixedly connected in the middle of the vehicle platform 2, a reversing motor 301 fixed at the bottom of the proximity rod 3a, the reversing motor 301 being rotatably connected to the positioning disk 302 at its bottom, a proximity camera 303 fixed at the bottom of the positioning disk 302, and the positioning disk 302 being fixedly connected to the rivet height testing mechanism 7 at its bottom.

[0030] In one embodiment of the present invention, the rivet height testing mechanism 7, which is fixedly installed at the bottom of the positioning disk 302, includes: a test connecting rod 7a fixedly installed at the bottom of the positioning disk 302; a shifting motor 703 fixedly installed at the bottom of the test connecting rod 7a; the output shaft of the shifting motor 703 is connected to the shifting disk 704 to drive the shifting disk 704 to rotate forward and backward; a positioning strip 701 is fixedly provided on one side of the outer wall of the test connecting rod 7a; a flatness displacement sensor 702 is fixedly installed on the lower end face of the positioning strip 701; multiple test rod assemblies are evenly distributed along the circumference of the shifting disk 704; and a test camera 709 located inside each test rod assembly is fixedly installed at the bottom of the shifting disk 704.

[0031] In this implementation, each test rod assembly includes: a test rod 705 and a test motor positioning strip 711 mounted on the transposition plate 704 with a clearance fit. The top ends of the test rod 705 and the test motor positioning strip 711 are fixedly connected to a flatness test motor 710. A test plate 706 is fixed to the bottom of the test rod 705, and a test shaft 707 is fixed to the bottom of the test plate 706. A test spring 708 is sleeved on the test rod 705 between the transposition plate 704 and the test plate 706. Among the multiple test rod assemblies mounted on the bottom of the transposition plate 704, the distance from the end of each test shaft 707 to the axis of the test rod 705 is different, which is used to realize the height test of rivets of different specifications.

[0032] In this implementation, the rivet height testing mechanism 7, after determining the specifications of the rivet to be tested, selects the corresponding test rod assembly. The selected test rod assembly is rotated below the flatness displacement sensor 702 via the shifting disk 704. The flatness testing motor 710 drives the test shaft 707 to rotate, and the flatness displacement sensor 702 and test shaft 707 are matched to test the wing plane height around the rivet and the rivet end face height, respectively, to determine whether the current rivet height meets the design requirements. During the measurement process, the test camera 709 monitors the descent distance of the test rod 705 at the corresponding position and monitors the contact state between the test shaft 707 and the wing surface or rivet end face.

[0033] In one implementation of this invention, the rivet height testing mechanism 7 further includes a loosening test component installed at the center of the bottom end face of the transposition disk 704. The loosening test component includes: a loosening test rod 712 fixedly installed at the bottom of the transposition disk 704; a loosening test tension sensor 713 installed at the bottom of the loosening test rod 712; a loosening suction cup vacuum pump 717 installed at the bottom of the loosening test tension sensor 713; a loosening suction cup 715 fixedly connected to the bottom of a loosening suction cup valve 716 via a pipe, and the pipe is equipped with a loosening suction cup valve 716; and a loosening displacement sensor 714 fixedly installed at the bottom of the transposition disk 704.

[0034] In this implementation, the rivet height testing mechanism 7 is used to move the loosening test component above the loose rivet by moving the vehicle platform 2 when the initial inspection camera 204 detects a loose rivet. The loosening test rod 712 is driven to descend by the test connecting rod 7a, so that the loosening suction cup 715 is attached to the end face of the loose rivet. The loosening test rod 712 is driven to move upward. The displacement of the rivet is monitored during the movement of the loosening test rod 712 by the cooperation of the loosening displacement sensor 714 and the loosening test tension sensor 713, so as to determine the loosening status of the rivet.

[0035] In one embodiment of the present invention, the rivet removal mechanism 9 fixedly installed at the bottom of the positioning disk 302 includes: a removal connecting rod 9a fixedly installed at the bottom of the positioning disk 302, a removal motor 902 fixedly installed at the bottom end of the removal connecting rod 9a, the output end of the removal motor 902 being sequentially connected to a removal rod mounting base and a drill bit 905, a plurality of retractable removal rods 903 being circumferentially installed along the bottom edge of the removal rod mounting base, and a cutting head 904 fixedly installed at the outer end of each removal rod 903; and a removal camera 901 fixedly installed at the bottom of the positioning disk 302 and located inside the rivet removal mechanism 9.

[0036] In this implementation, the rivet removal mechanism 9 is used to drive the drill bit 905 to drill a hole on the end face of the rivet by rotating the removal motor 902. After the drill bit 905 extends into the rivet, it extends all the removal rods 903 and uses the cutting head 904 at the end of each removal rod 903 to rotate and cut the inside of the rivet until it approaches the outer diameter of the rivet and stops rotating and cutting, thus removing the remaining rivet.

[0037] In one embodiment of the present invention, the rivet hole diameter measuring mechanism 8 fixedly installed at the bottom of the positioning disk 302 includes: a measuring connecting rod 8a fixedly installed at the bottom of the positioning disk 302; a measuring motor 802 fixedly installed at the bottom of the measuring connecting rod 8a; the output shaft of the measuring motor 802 connected to a measuring rod mounting base; retractable measuring needle moving rods 803 symmetrically installed at both ends of the measuring rod mounting base; a Z-shaped measuring needle positioning strip 804 fixedly connected to the end of each measuring needle moving rod 803; a measuring positioning needle 805 installed on the inner side of the bottom end of each measuring needle positioning strip 804; a displacement sensor 806 fixedly installed on the inner side of one measuring needle positioning strip 804 for measuring the distance between two measuring needle moving rods 803; and a measuring camera 801 fixedly installed at the bottom of the positioning disk 302 and located inside the rivet hole diameter measuring mechanism 8.

[0038] In this implementation, the rivet hole diameter measuring mechanism 8 is used to extend the two measuring positioning pins 805 at the bottom into the rivet hole to be measured by extending and retracting the measuring connecting rod 8a, and at the same time extend the two measuring pin moving rods 803 so that the two measuring positioning pins 805 contact the two ends of the inner wall of the rivet hole. The rivet hole diameter is calculated by measuring the displacement amount by the displacement sensor 806.

[0039] This invention provides an integrated device for rivet removal and hole diameter measurement in wing defect treatment. Using this device, the height of rivets 101 installed on the top of the wing 1 is measured by a rivet height testing mechanism 7; rivet removal mechanism 9 removes rivets 101 whose height does not meet design requirements; and rivet hole diameter measurement mechanism 8 measures the rivet hole at the location of the removed rivets 101. Compared with the prior art, this invention has the following advantages: First, the present invention uses a combination of roller spring and positioning rod to allow the positioning rod to move along the moving component, thereby making the roller close to the wing, thus ensuring the stability of the entire device's movement. Furthermore, the combination of negative pressure pump and negative pressure valve allows negative pressure to be generated at the lower end of the negative pressure plate, thereby ensuring the stability of the vehicle platform during movement. At the same time, the entire device can be adapted to wings of different shapes, thereby improving the applicability of the entire device. Secondly, the present invention can drive the vacuum suction cup assembly moving rod to rotate through the reversing motor of the vacuum suction cup assembly, and at the same time, the vacuum suction cup assembly can be raised and lowered through the extension and retraction of the moving rod of the vacuum suction cup assembly, so that the vacuum suction cup assembly is in close contact with the wing. Furthermore, the operation of the vacuum suction cup assembly can fix the suction cup to the wing, thereby ensuring the stability of the disassembly of the entire device and thus ensuring the disassembly effect. At the same time, the device can pre-inspect whether the rivets are qualified through the initial inspection camera, thereby saving testing time. Third, the present invention utilizes the telescopic mechanism of the rivet height testing mechanism to drive the shifting motor to rise and fall, thereby driving the shifting disk to rise and fall, ensuring that the test shaft is tightly attached to the outer surface of the rivet. Furthermore, the flatness testing motor drives the test rod to rotate, which in turn drives the test shaft to rotate. This allows the flatness testing motor to rise and fall when the rivet is not parallel to the wing. By replacing the test shaft with a larger size, the dimensions of the wing and the flatness displacement sensor can be measured. Comparing the two allows for the measurement of the height difference between the rivet and the wing, thus measuring the degree of flatness and ensuring test accuracy. Simultaneously, due to the different lengths of the test shaft, it can be adapted to rivets of different outer diameters, thereby increasing the overall applicability of the device. Furthermore, the telescopic mechanism of the loosening test rod drives the loosening test tension sensor to rise and fall, causing the loosening suction cup to firmly hold the rivet. When the loosening test rod retracts, the force of the loosening test tension sensor and the loosening displacement sensor can monitor whether the loosening suction cup rises and falls, thus determining whether the rivet is loose, ensuring test accuracy, improving test efficiency, and guaranteeing test results. Fourth, the present invention can drive the removal motor to rise and fall by extending and retracting the rivet removal mechanism. Furthermore, the removal rod can drive the cutting head to move by extending and retracting. At the same time, the removal motor can drive the drill bit to rotate and drill solid rivets out of the round hole. At the same time, the cutting head can be tightly attached to the inner surface of the drilled hole of the rivet, so as to facilitate the removal of loose rivets and the cutting of unqualified rivets, thereby ensuring the removal effect. Fifth, the present invention can drive the measuring motor to rise and fall by extending and retracting the rivet hole diameter measuring mechanism, and at the same time, it can drive the measuring needle positioning strip to move by extending and retracting the measuring needle moving rod, so that the measuring positioning needle is in close contact with the inner wall of the hole. At this time, the positioning of the two measuring needles is measured by the measuring displacement sensor.

[0040] The technical solution of the present invention will be illustrated below through several embodiments.

[0041] Example 1: Depend on Figures 1-3 , Figures 7-8 The present invention provides an integrated device for rivet removal and hole diameter measurement for wing defect treatment, which is used to remove rivets 101 on the top of the wing 1 and measure the size of the rivet holes after removal. The integrated device provided by the present invention includes: a vehicle platform 2 disposed on the top of the wing 1, the vehicle platform 2 being made of alloy material, the vehicle platform 2 being used to support the entire device, the bottom of the vehicle platform 2 being provided with a plurality of rollers 503, the rollers 503 being able to drive the entire device to move by rotating, and vacuum suction cup assembly moving rods 401 being provided at both the left and right ends of the vehicle platform 2, the vacuum suction cup assembly moving rods 401 being retractable, thereby driving the vacuum suction cup assembly 4 to rise and fall, the bottom of each vacuum suction cup assembly moving rod 401 being fixed with a vacuum suction cup assembly 4, the operation of the vacuum suction cup assembly 4 being able to make the suction cup tightly adhere to the wing 1, thereby ensuring the stability of the disassembly of the entire device; The bottom of the vehicle platform 2 is also provided with a positioning plate 302, which is made of alloy material. The bottom end of the positioning plate 302 is respectively equipped with a rivet height testing mechanism 7, a rivet hole diameter measuring mechanism 8 and a rivet removal mechanism 9 along the circumferential direction.

[0042] The positioning disk 302 has a rivet height testing mechanism 7 at its bottom. The rivet height testing mechanism 7 is telescopic, allowing it to drive the shifting motor 703 to rise and fall. The bottom of the rivet height testing mechanism 7 has a shifting disk 704, made of alloy material. The shifting disk 704 is used to position the test rods 705. Several test rods 705 are slidably connected to the shifting disk 704. The test rods 705 are also made of alloy material. Rotation of the test rods 705 drives the test shaft 707 to rotate, thereby measuring the flatness of the rivet 101. Each test rod 705 has a test disk 706 fixed to its bottom. The test disk 706 is made of alloy material. Made of alloy material, the test disc 706 is used to position the test shaft 707. Each test disc 706 has a test shaft 707 fixed to its bottom. The test shaft 707 is made of alloy material and is used to measure the flatness of the rivet 101. A loosening test rod 712 is also fixed to the bottom of the positioning disc 704. The loosening test rod 712 is telescopic, which can drive the loosening test tension sensor 713 to rise and fall. A loosening suction valve 716 is provided at the bottom of the loosening test rod 712. A loosening suction cup 715 is fixed to the bottom of the loosening suction valve 716. The loosening suction cup 715 can tighten the loosened rivet 101. The positioning disc 302... The bottom is also equipped with a rivet removal mechanism 9, which is telescopic, thereby driving the removal motor 902 to rise and fall. The bottom of the rivet removal mechanism 9 is equipped with several removal rods 903, which are telescopic, thereby driving the cutting head 904 to move. The telescopic length of the removal rods 903 can be controlled by internal sensors and encoders, allowing the cutting head 904 to fit tightly against the inner surface of the drilled hole of the rivet 101. This facilitates the removal of loose rivets 101 and the cutting of defective rivets 101. Drill bits 905 are fixed to the bottom of the several removal rods 903 via a rotating shaft. The outer diameter of the drill bits 905 is much smaller than that of the rivet 101. The outer diameter of the rivet 101 is determined by the rotation of the drill bit 905, which can drill a round hole out of the solid rivet 101. The bottom of the positioning disk 302 is also provided with a rivet hole diameter measuring mechanism 8. The rivet hole diameter measuring mechanism 8 is telescopic, which can drive the measuring motor 802 to rise and fall. The bottom of the rivet hole diameter measuring mechanism 8 is provided with two measuring needle positioning strips 804. The measuring needle positioning strips 804 are made of alloy material and are used to position the measuring positioning needles 805. A measuring positioning needle 805 is fixed inside each measuring needle positioning strip 804. The measuring positioning needle 805 is made of alloy material and is used to measure the rivet hole diameter.

[0043] Example 2: Based on Example 1, referring to Figures 4-6As shown, a controller 201 is fixed to the top of the vehicle platform 2. The controller 201 is used to control the entire device. A power supply 202 is fixed to the right end of the controller 201. The power supply 202 provides the necessary power to the entire device. Several moving components 5 are fixed to the bottom of the vehicle platform 2. The moving components 5 are made of alloy material and are used to position the positioning rod 501. Each moving component 5 has a positioning rod 501 slidably connected inside. The positioning rod 501 is made of alloy material and is used to position the roller positioning plate 502. A positioning block 505 is fixed to the top of each positioning rod 501. The positioning block 505 is made of alloy material and can prevent the roller positioning plate 502 from being positioned. The positioning rod 501 rotates, and each positioning block 505 is slidably connected to the groove on its external moving component 5. A roller positioning plate 502 is fixed to the bottom of each positioning rod 501, and the roller positioning plate 502 is used to position each roller 503. Each roller positioning plate 502 is rotatably connected to the roller 503 inside it. A roller motor 504 is fixed to the outside of each roller positioning plate 502 at its left end. Each roller motor 504 is rotatably connected to the roller 503 inside it via a rotating shaft. The roller motor 504 can drive the roller 503 to rotate. A positioning plate 601 is fixed to the inner side of each roller positioning plate 502. The positioning plate 601 is made of alloy material and is used for positioning. The negative pressure plate 6 has a negative pressure pump 602 fixed to the top of each positioning plate 601, a negative pressure pipe 604 fixed to each negative pressure pump 602, and a negative pressure valve 603 fixed to the outside of each negative pressure pipe 604. The negative pressure pump 602 and the negative pressure valve 603 cooperate to generate negative pressure at the lower end of the negative pressure plate 6, thereby ensuring the stability of the vehicle platform 2 when moving along the wing 1. A negative pressure plate 6 is also fixed to the bottom of each negative pressure pipe 604. The negative pressure plate 6 is made of alloy material. A preliminary inspection camera 204 is also fixed to the bottom of the vehicle platform 2. The preliminary inspection camera 204 is used to preliminarily inspect whether the rivets 101 are qualified, thereby saving testing time. Connecting strips 405 are fixed to both the left and right ends of the vehicle platform 2. The connecting strip 405 is made of alloy material and is used to position the connecting plate 403. A connecting plate 403, also made of alloy material, is fixed to the outer end of each connecting strip 405. The connecting plate 403 is used to position the vacuum suction cup assembly moving rod 401. A vacuum suction cup assembly camera 404 is fixed to the outer end of each connecting plate 403. The vacuum suction cup assembly camera 404 is used to monitor the position of the vacuum suction cup assembly moving rod 401. A moving camera 203 is fixed to the top of the left end of the connecting plate 403. The moving camera 203 is used to monitor the movement of the vehicle platform 2. Each connecting plate 403 is hinged to the vacuum suction cup assembly moving rod 401 at its bottom.Each vacuum suction cup assembly moving rod 401 is rotatably connected to a vacuum suction cup assembly reversing motor 402 at its front end. The vacuum suction cup assembly reversing motor 402 can drive the vacuum suction cup assembly moving rod 401 to rotate, thereby making the vacuum suction cup assembly 4 tightly adhere to the wing 1. Each vacuum suction cup assembly reversing motor 402 is fixedly connected to a connecting plate 403 at one end. Before using this device, the operator places the vehicle platform 2 on top of the wing 1. At this time, due to the action of the roller spring 506, the moving component 5, and the positioning rod 501, the roller 503 is kept in close contact with the wing 1, thus adapting to different wing shapes. The controller 201 controls the negative pressure pump 602 and the negative pressure valve 603 to create negative pressure at the bottom of the negative pressure plate 6, preventing the roller 503 from moving away from the wing 1. The controller 201 then controls the moving camera 203 to monitor the movement of the vehicle platform 2. The controller 201 also controls the vacuum suction cup assembly camera 404 to monitor the position of the vacuum suction cup assembly 4. Furthermore, the controller 201 controls the two roller motors 504 to cooperate... The device operates, causing the two rollers 503 on the left end to rotate, thereby moving the entire device on top of the wing 1. At this time, the controller 201 can perform a preliminary inspection of the rivet 101 through the preliminary inspection camera 204. When the preliminary inspection camera 204 detects that the rivet 101 is unqualified, the controller 201 controls the positioning disk 302 to be positioned on top of the rivet 101 to be tested. When the rivet height testing mechanism 7 is positioned on top of the rivet 101 to be tested, the controller 201 controls the vacuum suction cup assembly reversing motor 402 and the vacuum suction cup assembly moving rod 401 to work together, so that the vacuum suction cup assembly 4 is in close contact with the wing 1. Furthermore, the controller 201 controls the vacuum suction cup assembly 4 to work, thereby ensuring the stability of the entire device.

[0044] Example 3: Based on Example 1, referring to Figures 9-11As shown, a proximity component 3 is also fixed on the vehicle platform 2. The proximity component 3 is retractable, thereby driving the commutator motor 301 to rise and fall. The commutator motor 301 is fixed at the bottom of the proximity component 3. The commutator motor 301 can drive the positioning disk 302 to rotate. The commutator motor 301 is rotatably connected to the positioning disk 302 at its bottom. A proximity camera 303 is fixed at the bottom of the positioning disk 302. The proximity camera 303 is used to monitor the position of the rivet height testing mechanism 7, the rivet hole diameter measuring mechanism 8, and the rivet removal mechanism 9. The positioning disk 302 is fixedly connected to the rivet height testing mechanism 7 at its bottom. A positioning strip 701 is fixed to the outside of the rivet height testing mechanism 7. 701 is made of alloy material. The positioning strip 701 is used to position the flatness displacement sensor 702. The flatness displacement sensor 702 is fixed at the bottom of the positioning strip 701. The flatness displacement sensor 702 can determine the height difference between the rivet 101 and the wing 1 by monitoring the distance moved by the flatness test motor 710, thereby ensuring the accuracy of the test. The bottom of the rivet height test mechanism 7 is fixed with a shift motor 703. The shift motor 703 can drive the shift disk 704 to rotate. The shift motor 703 is rotatably connected to the shift disk 704 at its bottom. Several test motor positioning strips 711 are slidably connected on the shift disk 704. The test motor positioning strips 711 are made of alloy material. The test motor positioning strip 711 is used to position the flatness test motor 710. A flatness test motor 710 is fixed to the top of each test motor positioning strip 711. The flatness test motor 710 can drive the test rod 705 to rotate. Each flatness test motor 710 is rotatably connected to the test rod 705 at its bottom. Each test rod 705 is also provided with a test spring 708 on its exterior. The test spring 708 is elastic, thereby ensuring that the test shaft 707 is in close contact with the surface of the rivet 101. The distance from the end of each test shaft 707 to the axis of the test rod 705 is different, and the length of each test shaft 707 is different, allowing the test shaft 707 to adapt to rivets 101 with different inner diameters. 1. This improves the overall usability of the device. Each test rod 705 has a test camera 709 fixedly connected to its top transposition plate 704. The test camera 709 monitors the position of the test shaft 707. A loosening displacement sensor 714 is fixed to the bottom of the transposition plate 704. The loosening displacement sensor 714 determines whether the rivet 101 is loose by measuring the movement distance of the loosening test tension sensor 713. A loosening test tension sensor 713 is fixed to the bottom of the loosening test rod 712. The loosening test tension sensor 713 measures the tension on the loosening suction cup vacuum pump 717. The loosening test tension sensor 713 is fixed to the bottom of the loosening suction cup vacuum pump 717.The loosening suction cup vacuum pump 717 and the loosening suction cup 715 at its bottom are fixedly connected by a pipe. The pipe of the loosening suction cup vacuum pump 717 is fixedly connected to the loosening suction cup valve 716. The cooperation of the loosening suction cup vacuum pump 717 and the loosening suction cup valve 716 allows the loosening suction cup 715 to be tightly attached to the rivet 101. Furthermore, the controller 201 controls the extension of the proximity component 3, thereby causing the positioning disk 302 to descend. At this time, the controller 201 controls the reversing motor 301 to work, thereby causing the rivet height testing mechanism 7 to rotate to the left end. At this time, the controller 201 fixes the entire device through the roller motor 504 and the vacuum suction cup assembly 4. At this time, the controller 201 controls the extension of the loosening test rod 712. At this time, the loosening suction cup 715 is tightly attached to the loosened rivet 101. Furthermore, the loosening suction cup valve 716 and the loosening suction cup vacuum pump 717 cooperate to make the loosening suction cup 715 tightly attached to the unqualified rivet 101, thereby tightening the unqualified rivet 101. 1. At this time, the controller 201 can monitor the distance between the loosening test tension sensor 713 and the loosening displacement sensor 714 through the loosening displacement sensor 714. At this time, the controller 201 controls the loosening test rod 712 to retract. At this time, the loosening displacement sensor 714 can monitor the movement of the loosening test tension sensor 713. At the same time, the loosening test tension sensor 713 monitors the force on the loosening suction cup 715. Simultaneously, the test camera 709 can monitor whether the loosening suction cup 715 moves, thereby determining whether the unqualified rivet 101 is wobbling up and down, thus determining whether the rivet 101 is loose. At the same time, the amount of loosening displacement can be determined, further controlling... The controller 201 controls the entire device so that the test disc 706 is positioned on top of the defective rivet 101. At this time, the controller 201 can monitor the approximate size of the rivet 101 through the test camera 709. The shifting motor 703 controls the shifting disc 704 to rotate, thereby controlling the test shaft 707 of the required size to move to the top of the rivet 101 according to the different sizes of the rivets 101. The controller 201 then controls the rivet height testing mechanism 7 to extend, so that the test rod 705 is positioned on top of the rivet 101. Due to the action of the test rod 705, the test shaft 707 is tightly pressed against the rivet 101. The controller 201 then controls the... The flatness testing motor 710 operates, thereby driving the testing rod 705 to rotate, which in turn allows the testing shaft 707 to rotate along the axis of the rivet 101. If the rivet 101 is at a different height from the wing 1, the testing shaft 707 causes the flatness testing motor 710 to rise or fall. The flatness displacement sensor 702 can monitor the rising or falling distance of the flatness testing motor 710. By replacing the testing shaft 707 with a larger one and repeating the above operation, the distance between the flatness displacement sensor 702 and the wing 1 can be measured. By comparing the two, the specific value of the rivet 101's height can be determined, thus ensuring the accuracy of the flatness measurement.

[0045] Example 4, based on Example 1, by Figures 12-14 The positioning disk 302 is fixedly connected to the rivet hole diameter measuring mechanism 8 at its bottom. Each rivet hole diameter measuring mechanism 8 has a measuring camera 801 fixedly connected to the positioning disk 302 on its inner side. The measuring camera 801 is used to monitor the position of the measuring needle moving rod 803. A measuring motor 802 is fixedly fixed to the bottom of each rivet hole diameter measuring mechanism 8, which can drive the measuring needle moving rod 803 to rotate. The measuring needle moving rod 803 is rotatably connected to the bottom of the measuring motor 802. The measuring needle moving rod 803 is telescopic, thereby driving the measuring needle positioning strip 804 to move. The measuring needle moving rod 803 is fixedly connected to the measuring needle positioning strips 804 at both ends. A measuring displacement sensor 806 is fixedly fixed to the inner side of one end of the measuring needle positioning strip 804. The measuring displacement sensor 806 can measure the distance between the upper ends of the two measuring needle positioning strips 804 to measure the distance between the outer sides of the two measuring positioning needles 805. The positioning disk 302 is fixedly connected to the rivet removal mechanism 9 at its bottom. A removal camera 901 is also fixedly connected to the positioning disk 302 inside the rivet removal mechanism 9. The removal camera 901 is used to monitor the position of the cutting head 904. A removal motor 902 is fixedly installed at the bottom of the rivet removal mechanism 9. The removal motor 902 can drive the removal rod 903 to rotate. The removal motor 902 is rotatably connected to the removal rod 903 at its bottom. A cutting head 904 is fixedly installed on the outside of each removal rod 903. The upper end of the cutting head 904 is vertical, and the lower end of the cutting head 904 adopts a conical structure. This allows the cutting head 904 to clamp the rivet 101 while simultaneously cutting it. The cutting head 904 is made of alloy material and is used to cut the rivet 101, thereby removing it.

[0046] After the test is completed, if the rivet 101 is confirmed to be unqualified, the controller 201 controls the reversing motor 301 to work, thereby driving the rivet removal mechanism 9 to rotate to the top of the unqualified rivet 101. At this time, the controller 201 can monitor the position of the removal rod 903 through the removal camera 901. At the same time, the removal camera 901 can also transmit the shape and size information of the rivet 101 to the controller 201, thereby comparing it with the system information to obtain the size information of the unqualified rivet 101, so as to facilitate the control of the extension of the removal rod 903. At this time, the controller 201 controls the rivet removal mechanism 9 to extend, thereby driving the removal rod 903 to descend. 201 operates via the removal motor 902 and the rivet removal mechanism 9, thereby driving the drill bit 905 to rotate downwards, thus drilling a hole in the rivet 101. When the removal rod 903 moves into the interior of the rivet 101, the controller 201 controls the removal rod 903 to extend, thereby causing the cutting head 904 to press tightly against the inner wall of the rivet 101. At this time, the controller 201 controls the rivet removal mechanism 9 to retract, thereby removing the loose rivet 101. If there is no loosening defect, the controller 201 controls the rivet removal mechanism 9, the removal rod 903, and the removal motor 902 to cooperate so that the cutting head 904 cuts the rivet 101. When the cutting head 905... 4. When the cutting dimension is similar to the outer diameter of the rivet 101 of this model obtained from comparison in the system, the rivet 101 is a hollow tube. At this time, the controller 201 controls the removal motor 902 to stop working. The controller 201 then controls the 903 to slightly extend, so that the cutting head is in close contact with the inner wall of the drilled hole of the rivet 101. The controller 201 then controls the rivet removal mechanism 9 to reciprocate, causing the rivet 101 to swing up and down, causing the top cover of the rivet 101 to detach from the top of the wing 1, and simultaneously causing the bottom of the rivet 101 to fall from the bottom of the through hole, thus completing the removal of the rivet 101. At this time, the controller 201 controls the reversing motor 301 to... In the next operation, the rivet hole diameter measuring mechanism 8 rotates to the top of the hole after the rivet has been removed. At this time, the controller 201 controls the rivet hole diameter measuring mechanism 8 to extend, thereby driving the measuring needle moving rod 803 to descend, thereby moving the measuring positioning needle 805 into the drill hole. At this time, the controller 201 controls the measuring needle moving rod 803 to extend, so that the distance between the two measuring needle positioning bars 804 can be monitored by the measuring displacement sensor 806, thereby measuring the distance between the two measuring positioning needles 805, and thus measuring the hole diameter. Furthermore, the controller 201 controls the measuring motor 802 to rotate the measuring needle moving rod 803, thereby measuring any position in the drill hole, thus ensuring the accuracy of the measurement.

[0047] The workflow of this invention is as follows: Before using this device, the operator places the vehicle platform 2 on top of the wing 1. At this time, due to the action of the roller spring 506, the moving component 5, and the positioning rod 501, the roller 503 can be kept in close contact with the wing 1, thus adapting to different shapes of wings 1. At this time, the controller 201 controls the negative pressure pump 602 and the negative pressure valve 603 to form a negative pressure at the bottom of the negative pressure plate 6, thereby preventing the roller 503 from moving away from the wing 1. At this time, the controller 201 controls the moving camera 203 to monitor the movement of the vehicle platform 2. At this time, the controller 201 controls the vacuum suction cup assembly camera 404 to monitor the vacuum suction cup assembly 4. The controller 201 further controls the two roller motors 504 to work together, thereby driving the two rollers 503 on the left end to rotate, thus moving the entire device on the top of the wing 1. At this time, the controller 201 can perform a preliminary inspection of the rivet 101 through the preliminary inspection camera 204. When the preliminary inspection camera 204 detects that the rivet 101 is unqualified, the controller 201 controls the positioning disk 302 to be positioned on top of the rivet 101 to be tested. When the rivet height testing mechanism 7 is positioned on top of the rivet 101 to be tested, the controller 201 controls the vacuum suction cup assembly reversing motor 402 and the vacuum suction cup assembly moving rod 401 to work together, thereby making the vacuum suction cup... Component 4 is in close contact with the wing 1. The controller 201 further controls the vacuum suction cup assembly 4 to operate, thereby ensuring the stability of the entire device. The controller 201 further controls the extension of the contact component 3, thereby causing the positioning disk 302 to descend. At this time, the controller 201 controls the reversing motor 301 to operate, thereby causing the rivet height testing mechanism 7 to rotate to the left end. At this time, the controller 201 fixes the entire device through the roller motor 504 and the vacuum suction cup assembly 4. The controller 201 then controls the extension of the loosening test rod 712, at which point the loosening suction cup 715 is in close contact with the loosened rivet 101. Furthermore, the loosening suction cup valve 716 and the loosening suction cup vacuum pump 717 are... The mechanism allows the loosening suction cup 715 to adhere tightly to the defective rivet 101, thereby tightening the defective rivet 101. At this time, the controller 201 can monitor the distance between the loosening test tension sensor 713 and the loosening displacement sensor 714 via the loosening displacement sensor 714. Simultaneously, the controller 201 controls the loosening test rod 712 to retract. The loosening displacement sensor 714 can then monitor the movement of the loosening test tension sensor 713, while the loosening test tension sensor 713 monitors the force on the loosening suction cup 715. Furthermore, the test camera 709 can monitor whether the loosening suction cup 715 is moving, thereby determining whether the defective rivet 101 is wobbling up and down.This allows the system to determine whether the rivet 101 is loose and the amount of loosening displacement. Furthermore, the controller 201 controls the entire device so that the test disc 706 is positioned on top of the defective rivet 101. At this time, the controller 201 can monitor the approximate size of the rivet 101 through the test camera 709. The shifting motor 703 controls the shifting disc 704 to rotate, thereby controlling the test shaft 707 of the required size to move to the top of the rivet 101 according to the different sizes of the rivets 101. At this time, the controller 201 controls the rivet height testing mechanism 7 to extend, so that the test rod 705 is positioned on top of the rivet 101. Due to the action of the test rod 705, the test shaft 707... When rivet 101 is in close contact with 07, the controller 201 controls the flatness testing motor 710 to operate, thereby driving the testing rod 705 to rotate. This allows the testing shaft 707 to rotate along the axis of rivet 101. If the distance between rivet 101 and the wing 1 is different, the testing shaft 707 can cause the flatness testing motor 710 to rise or fall. The flatness displacement sensor 702 can monitor the rising or falling distance of the flatness testing motor 710. By replacing the testing shaft 707 with a larger size and repeating the above operation, the distance between the flatness displacement sensor 702 and the wing 1 can be measured. By comparing the two, the specific height difference of rivet 101 can be determined. The numerical values ​​ensure the accuracy of the flatness measurement. After the test, if the rivet 101 is confirmed to be unqualified, the controller 201 controls the reversing motor 301 to work, thereby driving the rivet removal mechanism 9 to rotate to the top of the unqualified rivet 101. At this time, the controller 201 can monitor the position of the removal rod 903 through the removal camera 901. At the same time, the removal camera 901 can also transmit the shape and size information of the rivet 101 to the controller 201, thereby comparing it with the system information to obtain the size information of the unqualified rivet 101, so as to facilitate the control of the extension size of the removal rod 903. At this time, the controller 201 controls the rivet removal mechanism 9 to extend, thereby driving the removal rod 903 to extend. 03. As the rivet 101 descends, the controller 201 operates via the removal motor 902 and the rivet removal mechanism 9, causing the drill bit 905 to rotate downwards, thus drilling a hole in the rivet 101. When the removal rod 903 moves into the interior of the rivet 101, the controller 201 controls the removal rod 903 to extend, causing the cutting head 904 to press tightly against the inner wall of the rivet 101. At this time, the controller 201 controls the rivet removal mechanism 9 to retract, thereby removing the loose rivet 101. If the rivet is not loose, the controller 201 controls the cutting head 904 to cut the rivet 101 through the cooperation of the rivet removal mechanism 9, the removal rod 903, and the removal motor 902.When the cutting size of the cutting head 904 is close to the outer diameter of the rivet 101 of the same model obtained by comparison in the system, the rivet 101 is a hollow tube. At this time, the controller 201 controls the removal motor 902 to stop working. The controller 201 then controls the 903 to extend slightly, so that the cutting head is in close contact with the inner wall of the drilled hole of the rivet 101. The controller 201 then controls the rivet removal mechanism 9 to reciprocate, causing the rivet 101 to swing up and down, causing the top cover of the rivet 101 to detach from the top of the wing 1, and simultaneously causing the bottom of the rivet 101 to fall from the bottom of the through hole, thus completing the removal of the rivet 101. At this time, the controller 201 controls the reversing motor... 301 operates again, causing the rivet hole diameter measuring mechanism 8 to rotate to the top of the hole where the rivet has been removed. At this time, the controller 201 controls the rivet hole diameter measuring mechanism 8 to extend, thereby causing the measuring needle moving rod 803 to descend, thus moving the measuring positioning needle 805 into the drilled hole. The controller 201 then controls the measuring needle moving rod 803 to extend, allowing the measuring displacement sensor 806 to monitor the distance between the two measuring needle positioning bars 804, thereby measuring the distance between the two measuring positioning needles 805 and thus measuring the hole diameter. Furthermore, the controller 201 controls the measuring motor 802 to rotate the measuring needle moving rod 803, thereby measuring any position in the drilled hole, ensuring measurement accuracy.

[0048] While the embodiments disclosed in this invention are as described above, they are merely illustrative of the embodiments to facilitate understanding of the invention and are not intended to limit the invention. Any person skilled in the art to which this invention pertains may make any modifications and variations in the form and details of the implementation without departing from the spirit and scope disclosed herein; however, the scope of patent protection for this invention shall still be determined by the scope defined in the appended claims.

Claims

1. A rivet removal and hole diameter measuring integrated device for wing defect treatment, characterized by, The integrated device is used to remove the rivets (101) on the top of the wing (1) and to measure the size of the rivet holes after removal; the integrated device includes: a vehicle platform (2), a proximity component (3), a vacuum suction cup component (4), a moving component (5), a rivet height testing mechanism (7), a rivet hole diameter measuring mechanism (8), and a rivet removal mechanism (9). The vehicle platform (2) is located on the top of the wing (1). The vehicle platform (2) moves on the top surface of the wing (1) through multiple moving components (5) at its bottom. Vacuum suction cup components (4) are respectively provided at both ends of the bottom of the vehicle platform (2) so as to be fixedly adsorbed on the top surface of the wing (1) through the vacuum suction cup components (4). The proximity component (3) is fixedly connected to the middle of the vehicle platform (2). The bottom end of the telescopic rod of the proximity component (3) at the bottom of the vehicle platform (2) is connected to the positioning plate (302). The bottom of the positioning plate (302) is equipped with a rivet height testing mechanism (7), a rivet hole diameter measuring mechanism (8) and a rivet removal mechanism (9) along the circumferential direction. The rivet height testing mechanism (7) measures the height of the rivet (101) installed on the top of the wing (1), the rivet removal mechanism (9) removes the rivet (101) whose height does not meet the design requirements, and the rivet hole diameter measuring mechanism (8) measures the rivet hole at the position of the removed rivet (101). The proximity component (3) fixedly installed in the middle of the vehicle platform (2) includes: A proximity rod (3a) is fixedly connected to the middle of the vehicle platform (2). A reversing motor (301) is fixed at the bottom of the proximity rod (3a). The reversing motor (301) is rotatably connected to the positioning disk (302) at its bottom. A proximity camera (303) is fixed at the bottom of the positioning disk (302). The positioning disk (302) is fixedly connected to the rivet height testing mechanism (7) at its bottom. The rivet height testing mechanism (7) fixedly installed at the bottom of the positioning disk (302) includes: a test connecting rod (7a) fixedly installed at the bottom of the positioning disk (302), a shift motor (703) fixedly installed at the bottom of the test connecting rod (7a), the output shaft of the shift motor (703) connected to the shift disk (704) so ​​as to drive the shift disk (704) to rotate forward and reverse through the shift motor (703), a positioning strip (701) fixedly installed on one side of the outer wall of the test connecting rod (7a), and a flatness displacement sensor (702) fixedly installed on the lower end face of the positioning strip (701); multiple test rod assemblies are evenly distributed around the shift disk (704), and a test camera (709) located inside each test rod assembly is fixedly installed at the bottom of the shift disk (704). Each of the test rod assemblies includes: a test rod (705) and a test motor positioning strip (711) mounted on the transposition plate (704) in a clearance fit. The top ends of the test rod (705) and the test motor positioning strip (711) are fixedly connected to a flatness test motor (710). A test plate (706) is fixed to the bottom of the test rod (705). A test shaft (707) is fixed to the bottom of the test plate (706). A test spring (708) is sleeved on the test rod (705) between the transposition plate (704) and the test plate (706). Among the multiple test rod assemblies mounted on the bottom of the transposition plate (704), the distance from the end of each test shaft (707) to the axis of the test rod (705) is different, which is used to realize the height test of rivets of different specifications. The rivet height testing mechanism (7) is used to select the corresponding test rod assembly after determining the specification of the rivet to be tested. The selected test rod assembly is rotated to the underside of the flatness displacement sensor (702) by the shifting plate (704). The test shaft (707) is driven to rotate by the flatness test motor (710). The flatness displacement sensor (702) and the test shaft (707) are selected to cooperate to test the wing plane height around the rivet to be tested and the rivet end face height, so as to measure whether the current rivet height meets the design requirements. During the measurement process, the descent distance of the test rod (705) at the corresponding position is monitored by the test camera (709), and the contact state between the test shaft (707) and the wing surface or the rivet end face is monitored.

2. The integrated device for rivet removal and bore diameter measurement for wing defect treatment according to claim 1, characterized in that, A controller (201) is fixed on the top of the vehicle platform (2), and a power supply (202) is fixedly installed at one end of the controller (201); each moving component (5) fixedly installed at the bottom of the vehicle platform (2) includes: a mounting frame (5a), a positioning rod (501) slidably connected to the mounting frame (5a), the top of the positioning rod (501) is placed inside the mounting frame (5a), and a positioning block (505) is fixedly connected to its top. The positioning block (505) is slidably connected to the slide groove on the mounting frame (5a), and a roller positioning plate (502) is fixedly installed at the bottom of the positioning rod (501). A roller (503) is installed inside the roller positioning plate (502). In the two sets of moving components (5) located at one end of the vehicle platform (2), each roller positioning plate (502) is fixedly mounted with a roller motor (504), and each roller motor (504) is rotatably connected to the corresponding roller (503) through a rotating shaft.

3. A rivet removal and hole diameter measuring integrated device for wing defect treatment according to claim 2, characterized in that, Also includes: Negative pressure component (6) and initial inspection camera (204); Inside each of the moving components (5), a set of negative pressure components (6) is provided, including: a positioning plate (601), a negative pressure pump (602), a negative pressure valve (603), a negative pressure pipe (604), and a negative pressure plate (605). A positioning plate (601) is fixed inside each of the roller positioning plates (502), and a negative pressure pump (602) is fixed on the top of each positioning plate (601). Each negative pressure pump (602) is connected to the negative pressure plate (605) at the bottom through a negative pressure pipe (604), and the negative pressure pipe (604) is equipped with a negative pressure valve (603). A preliminary inspection camera (204) is also fixed at the bottom of the vehicle platform (2). The integrated device is used to generate a downward force on the integrated device through each negative pressure component (6) during the movement process, so as to maintain the movement stability of the integrated device.

4. The integrated device for rivet removal and aperture measurement for wing defect treatment according to claim 1, characterized in that, The vacuum suction cup assemblies (4) installed at both ends of the vehicle platform (2) include: The vehicle platform (2) has connecting plates (403) fixedly installed at both ends of the vehicle platform (2) by connecting strips (405). Each connecting plate (403) has a vacuum suction cup assembly camera (404) fixed at its outer end and a moving camera (203) fixed at the top of one end of the connecting plate (403). Each connecting plate (403) is hinged to the vacuum suction cup assembly moving rod (401) at its bottom. Each vacuum suction cup assembly moving rod (401) is rotatably connected to a vacuum suction cup assembly reversing motor (402) at its front end. Each vacuum suction cup assembly reversing motor (402) is fixedly connected to the connecting plate (403) at one end of its body.

5. The integrated device for rivet removal and bore diameter measurement for wing defect treatment according to claim 1, characterized in that, The rivet height testing mechanism (7) further includes: a loosening test component installed in the middle of the bottom end face of the transposition plate (704); The loosening test assembly includes: a loosening test rod (712) fixedly installed at the bottom of the transposition plate (704); a loosening test tension sensor (713) installed at the bottom of the loosening test rod (712); a loosening suction cup vacuum pump (717) installed at the bottom of the loosening test tension sensor (713); a loosening suction cup (715) fixedly connected to the bottom of the loosening suction cup valve (716) via a pipe, and the pipe is equipped with a loosening suction cup valve (716); and a loosening displacement sensor (714) fixedly installed at the bottom of the transposition plate (704). The rivet height testing mechanism (7) is used to move the loosening test component above the loosening rivet by moving the vehicle platform (2) when the initial inspection camera (204) detects a loosening rivet, and drive the loosening test rod (712) to descend by moving the test connecting rod (7a), so that the loosening suction cup (715) is attached to the end face of the loosening rivet, and drive the loosening test rod (712) to move upward. The loosening displacement sensor (714) and the loosening test tension sensor (713) cooperate to monitor the displacement of the rivet during the movement of the loosening test rod (712) to determine the loosening status of the rivet.

6. The integrated device for rivet removal and aperture measurement for wing defect treatment according to claim 1, characterized in that, The rivet removal mechanism (9) fixedly installed at the bottom of the positioning plate (302) includes: a removal connecting rod (9a) fixedly installed at the bottom of the positioning plate (302), a removal motor (902) fixedly installed at the bottom end of the removal connecting rod (9a), the output end of the removal motor (902) being connected in sequence to the removal rod mounting base and the drill bit (905), a plurality of telescopic removal rods (903) being installed circumferentially along the bottom of the removal rod mounting base, and a cutting head (904) fixedly installed at the outer end of each removal rod (903); and a removal camera (901) fixedly installed at the bottom of the positioning plate (302) and located inside the rivet removal mechanism (9); The rivet removal mechanism (9) is used to drive the drill bit (905) to drill a hole on the end face of the rivet by rotating the removal motor (902). After the drill bit extends into the rivet, it extends all the removal rods (903) and uses the cutting head (904) at the end of each removal rod (903) to rotate and cut the inside of the rivet. After the rotation stops and the cutting is completed, the remaining rivet is removed.

7. The integrated device for rivet removal and aperture measurement for wing defect treatment according to claim 1, characterized in that, The rivet hole diameter measuring mechanism (8) fixedly installed at the bottom of the positioning plate (302) includes: a measuring connecting rod (8a) fixedly installed at the bottom of the positioning plate (302), a measuring motor (802) fixedly installed at the bottom of the measuring connecting rod (8a), the output shaft of the measuring motor (802) connected to the measuring rod mounting seat, telescopic measuring needle moving rods (803) symmetrically installed at both ends of the measuring rod mounting seat, a Z-shaped measuring needle positioning strip (804) fixedly connected to the end of each measuring needle moving rod (803), a measuring positioning needle (805) installed on the inner side of the bottom end of each measuring needle positioning strip (804), a displacement sensor (806) fixedly installed on the inner side of one measuring needle positioning strip (804) for measuring the distance between the two measuring needle moving rods (803); and a measuring camera (801) fixedly installed at the bottom of the positioning plate (302) and located inside the rivet hole diameter measuring mechanism (8); The rivet hole diameter measuring mechanism (8) is used to extend the two measuring positioning pins (805) at the bottom into the rivet hole to be measured by extending and retracting the measuring connecting rod (8a), and at the same time extend the two measuring pin moving rods (803) so that the two measuring positioning pins (805) contact the two ends of the inner wall of the rivet hole. The displacement measured by the displacement sensor (806) is used to calculate the rivet hole diameter.

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