Upper actuator of automatic drilling and riveting machine

Abstract

The utility model belongs to the technical field of drilling and riveting machines, and discloses an upper actuator of an automatic drilling and riveting machine. The device comprises an AC swing head unit, the AC swing head unit comprises a C-axis driving motor, the driving end of the C-axis driving motor is connected with a cross beam, the two ends of the cross beam are provided with an A-axis driven end and an A-axis driving end respectively, and a multi-station sliding seat unit is connected between the A-axis driven end and the A-axis driving end; the multi-station sliding seat unit comprises a frame, a sliding seat is slidably connected to the interior of the frame, a drilling spindle mechanism, a gluing mechanism, a riveting mechanism, a target capturing camera, a milling mechanism and a pin inserting mechanism are linearly and sequentially arranged in the sliding seat, and a pressure foot unit is further fixedly connected to the outer side of the frame. The device can control each machining mechanism to move, is high in efficiency and accurate in moving position, has the capability of monitoring the working condition of each station in real time, and can effectively prevent machine collision in the machining process.

Description

Technical Field

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

[0002] In the assembly of metal components such as aircraft panels, riveting is still one of the most important connection methods, which occupies a huge workload. Traditional manual riveting has poor working conditions and low production efficiency. The quality of riveting is heavily dependent on the experience and skills of workers, and it does not meet the development requirements of aircraft digital assembly. Therefore, it is imperative to use automatic drilling and riveting machines to replace manual operation.

[0003] The Chinese patent document with publication number CN203918448U discloses a new type of automatic drilling and riveting end effector, the mechanical part of which includes: a spindle feed unit, a clamping and riveting unit, a measuring unit and an auxiliary mechanism. In order to ensure the position consistency of drilling and riveting, the automatic drilling and riveting unit is designed with a drilling and riveting switching mechanism (driven by a stepper motor) to achieve the integration of drilling, clamping and riveting. In the automatic drilling and riveting unit, the drive motor for spindle feed and the drive motor for clamping and riveting both use absolute encoders, which can be self-locking at zero speed, and the automatic drilling and riveting unit adds a high-precision laser ranging device to ensure the accuracy of system zero return and positioning. The degree of integration of each unit in this technical solution is not high, and the degree of coordination is not good, which causes the size of the end effector to become larger and the riveting quality to decrease. Utility Model Content

[0004] The utility model aims to provide an upper actuator of an automatic drilling and riveting machine to solve the problems raised in the above background technology.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] An upper actuator of an automatic drilling and riveting machine comprises an AC swing head unit, wherein the AC swing head unit comprises a C-axis drive motor, a driving end of the C-axis drive motor is connected to a crossbeam, two ends of the crossbeam are respectively provided with an A-axis driven end and an A-axis driving end, and a multi-station slide unit is connected between the A-axis driven end and the A-axis driving end;

[0007] The multi-station slide unit comprises a frame, a slide is slidably connected inside the frame, a drilling spindle mechanism, a gluing mechanism, a riveting mechanism, a target capture camera, a milling mechanism and a nail insertion mechanism are arranged in sequence in a straight line inside the slide, and a pressure foot unit is also fixedly connected to the outside of the frame;

[0008] The pressure foot unit comprises a cylinder symmetrically connected to the outside of the frame, the driving ends of the two cylinders are connected to the pressure foot plate, a plurality of laser distance measuring sensors are symmetrically arranged on the front and rear sides of the pressure foot plate, a 3D camera and a motor reducer are respectively arranged on the left and right sides of the pressure foot plate, a small pulley is arranged on the driving end of the motor reducer, the small pulley is connected to a large pulley through a synchronous belt, a bearing is also sleeved inside the large pulley, and a pressure foot sleeve is also connected inside the bearing;

[0009] The drilling spindle mechanism, gluing mechanism, riveting mechanism, target capture camera, milling mechanism and nailing mechanism are configured to move horizontally left and right along the inside of the frame, and stop after moving to the selected mechanism, and extend the selected mechanism into the pressure foot sleeve to achieve drilling, gluing, riveting, target capture, milling and nailing of the skin.

[0010] Further preferably, the frame surface is also connected to a transmission rod through a bearing seat, the other end of the transmission rod passes through a nut and is connected to a direct drive motor, the nut is connected to the slide surface through a connecting piece, and sliders are provided at the four corners of the bottom of the slide, and the sliders are slidably connected to transverse guide rails provided on the bottom surface of the frame.

[0011] Further preferably, a plurality of longitudinal guide rails and lifting mechanisms are also provided through the interior of the slide seat.

[0012] Further preferably, a bracket is provided on the side of the pressure foot plate surface close to the 3D camera, and a cooling nozzle and a lubrication nozzle are provided on the surface of the bracket.

[0013] Further preferably, a pinhole camera is also provided on a side of the pressure foot surface close to the 3D camera.

[0014] Further preferably, a high-position laser sensor, a middle-position laser sensor and a low-position laser sensor are respectively arranged on one side of the surface of the pressure foot plate close to the motor reducer.

[0015] Further preferably, a plurality of pressure sensors are evenly arranged between the large pulley and the pressure foot sleeve, and the pressure sensors are evenly arranged along the circumference of the pressure foot sleeve.

[0016] Compared with the prior art, the beneficial effects of the utility model are:

[0017] During processing, the workpiece is first scanned with a 3D camera to establish a three-dimensional digital model. By calculating and comparing the actual workpiece with the theoretical model, the position deviation between the theoretical model and the actual workpiece is corrected, so that the processing program can be accurately processed. Multiple laser rangefinders on the pressure foot plate measure and calculate the normal vector direction of the processing area. The drilling and riveting machine CNC system controls the movement of the pressure foot unit on the X-axis, Y-axis and Z-axis, and the AC swing head unit swings along the A and C axes. Make the axis of the pressure foot sleeve parallel to the normal of the skin. When the pressure foot unit contacts the skin, the drilling spindle mechanism, gluing mechanism, riveting mechanism, target capture camera, milling mechanism and nail insertion mechanism are configured to move horizontally left and right along the inside of the multi-station slide unit, and stop after moving to the selected mechanism, and extend the selected mechanism into the upper pressure foot unit to achieve drilling, gluing, riveting, target capture, milling and nail insertion of the skin.

[0018] A high-position laser sensor, a middle-position laser sensor and a low-position laser sensor are respectively arranged on the side of the pressure foot surface close to the motor reducer. When the spindle of the drilling spindle mechanism, the gluing mechanism, the riveting mechanism, the milling mechanism or the nail insertion mechanism moves to a position coaxial with the pressure foot sleeve above the pressure foot and moves downward to the tool detection position, the high-position laser sensor detects whether the tool on the spindle exists, the middle-position laser sensor detects whether the tool tip exists, and the low-position laser sensor detects whether the tool length is too long. If the tool length is correct, the high-position laser sensor and the middle-position laser sensor detect the object and the signal is normal. When the tool is too long, the low-position laser sensor detects the object and the signal is abnormal. The tool information is accurate through the joint action of the high-position laser sensor, the middle-position laser sensor and the low-position laser sensor.

[0019] The bottom of the pressure foot is equipped with a pressure sensor. When the pressure on the pressure foot reaches the set value, a signal is sent to the control system that the pressure foot has contacted the panel skin. The pressure foot is driven by a motor-driven synchronous belt to drive the pressure foot to rotate, and can achieve a certain range of swing. The end face of the pressure foot is grooved to avoid interference between the pressure foot and the rivet head protruding from the skin.

[0020] A bracket is arranged on the side of the pressure foot plate surface close to the 3D camera, and a cooling nozzle and a lubricating nozzle are arranged on the surface of the bracket, which can lubricate and cool the tool during processing.

[0021] In summary, the device can control the movement of each processing mechanism with high efficiency and accurate movement position. It also has the ability to monitor the working conditions of each station in real time, which can effectively prevent collisions during processing. It also has the function of detecting and aligning the normal direction of the skin surface, thus improving the working efficiency and processing consistency. The force exerted on the pressure foot sleeve is sensed in real time to accurately locate the skin surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0023] Figure 2 This is a cross-sectional view of the AC swing head unit of the present utility model;

[0024] Figure 3 It is a schematic diagram of the three-dimensional structure of the multi-station slide unit of the utility model;

[0025] Figure 4 This is a front structural diagram of the multi-station slide unit of the utility model;

[0026] Figure 5 This is a schematic diagram of the front structure of the slide seat of the utility model;

[0027] Figure 6 It is a schematic diagram of the three-dimensional structure of the slide seat of the utility model;

[0028] Figure 7 This is a schematic diagram of the structure of the pressure foot unit of the utility model;

[0029] Figure 8 This is a schematic diagram of the bottom structure of the pressure foot unit of the utility model;

[0030] Fig. 9 This is a cross-sectional view of the pressure foot structure of the utility model;

[0031] In the figure: 1, AC swing head unit; 101, C axis drive motor; 102, A axis driven end; 103, A axis driving end; 104, crossbeam; 2, multi-station slide unit; 201, frame; 202, slide; 203, transmission rod; 204, slider; 205, transverse guide rail; 206, nut; 207, drilling spindle mechanism; 208, gluing mechanism; 209, riveting mechanism; 210, target capture camera; 211, milling mechanism; 212, nail insertion mechanism; 213, longitudinal guide rail; 214, lifting Mechanism; 3, pressure foot unit; 301, pressure foot plate; 302, cylinder; 303, 3D camera; 304, laser ranging sensor; 305, motor reducer; 306, small pulley; 307, bearing; 308, large pulley; 309, synchronous belt; 310, pressure foot sleeve; 311, pressure sensor; 312, bracket; 313, cooling nozzle; 314, lubrication nozzle; 315, pinhole camera; 316, high-position laser sensor; 317, middle-position laser sensor; 318, low-position laser sensor. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0033] See also Figure 1-Figure 9 , the utility model provides a technical solution:

[0034] An upper actuator of an automatic drilling and riveting machine includes an AC swing head unit 1, the AC swing head unit 1 includes a C-axis drive motor 101, the driving end of the C-axis drive motor 101 is connected to a crossbeam 104, the two ends of the crossbeam 104 are respectively provided with an A-axis driven end 102 and an A-axis driving end 103, and a multi-station slide unit 2 is connected between the A-axis driven end 102 and the A-axis driving end 103; the angle of the multi-station slide unit 2 is adjusted by swinging the A and C axes of the AC swing head unit 1.

[0035] The multi-station slide unit 2 includes a frame 201, a slide 202 is slidably connected inside the frame 201, a drilling spindle mechanism 207, a gluing mechanism 208, a riveting mechanism 209, a target capture camera 210, a milling mechanism 211 and a nail insertion mechanism 212 are arranged in a straight line inside the slide 202, and a pressure foot unit 3 is also fixedly connected to the outside of the frame 201;

[0036] The pressure foot unit 3 includes a cylinder 302 symmetrically connected to the outside of the frame 201, the driving ends of the two cylinders 302 are connected to the pressure foot plate 301, a plurality of laser distance measuring sensors 304 are symmetrically arranged on the front and rear sides of the pressure foot plate 301, a 3D camera 303 and a motor reducer 305 are respectively arranged on the left and right sides of the pressure foot plate 301, a small pulley 306 is arranged on the driving end of the motor reducer 305, the small pulley 306 is connected to a large pulley 308 through a synchronous belt 309, a bearing 307 is also sleeved inside the large pulley 308, and a pressure foot sleeve 310 is also connected inside the bearing 307; the plurality of laser distance measuring sensors 304 on the pressure foot plate 301 measure and calculate the normal vector direction of the processing area, the drilling and riveting machine numerical control system controls the movement of the pressure foot unit 3 on the X axis, Y axis and Z axis, and the AC swing head unit 1 swings along the A and C axes. Make the axis of the pressure foot sleeve 310 parallel to the normal line of the skin. After the upper pressure foot unit 3 contacts the skin, the drilling spindle mechanism 207, the gluing mechanism 208, the riveting mechanism 209, the target capture camera 210, the milling mechanism 211 and the nail insertion mechanism 212 are configured to move horizontally left and right along the interior of the multi-station slide unit 2, and stop after moving to the selected mechanism, and extend the selected mechanism into the upper pressure foot unit 3 to achieve drilling, gluing, riveting, target capture, milling and nailing of the skin.

[0037] The drilling spindle mechanism 207, the gluing mechanism 208, the riveting mechanism 209, the target capture camera 210, the milling mechanism 211 and the nailing mechanism 212 are configured to move horizontally left and right along the inside of the frame 201, and after the selected mechanism is moved to the appropriate position, the selected mechanism is extended into the pressure foot sleeve 310 to achieve drilling, gluing, riveting, target capture, milling and nailing of the skin.

[0038] In the embodiment of the present application, the surface of the frame 201 is also connected to a transmission rod 203 through a bearing seat, and the other end of the transmission rod 203 passes through a nut 206 and is connected to a direct drive motor, and the nut 206 is connected to the surface of the slide 202 through a connecting piece, and sliders 204 are provided at the four corners of the bottom of the slide 202, and the slider 204 is slidably connected to a transverse guide rail 205 provided on the bottom surface of the frame 201. A transverse guide rail 205 is fixed below the frame 201, and the slide 202 is fixed on the slider 204, and the slide 202 can move along the transverse guide rail 205. A lead screw 203 is fixed on the frame 201, and the lead screw 203 rotates to drive the nut 206, driving the slide 202 to move back and forth, realizing the station change.

[0039] In the embodiment of the present application, a plurality of longitudinal guide rails 213 and a lifting mechanism 214 are also provided inside the slide 202. The drilling spindle mechanism 207, the gluing mechanism 208, the riveting mechanism 209, the target capture camera 210, the milling mechanism 211 and the nail insertion mechanism 212 can be driven by the lifting mechanism 214 to press the longitudinal guide rails 213 to move up and down, and the lifting mechanism 214 can be a structure in which a motor cooperates with a lead screw.

[0040] In the embodiment of the present application, a bracket 312 is provided on the side of the pressure foot plate 301 close to the 3D camera 303, and a cooling nozzle 313 and a lubricating nozzle 314 are provided on the surface of the bracket 312. The cooling nozzle 313 and the lubricating nozzle 314 can lubricate and cool the tool during processing.

[0041] In the embodiment of the present application, a pinhole camera 315 is also provided on the side of the pressure foot plate 301 near the 3D camera 303. The pinhole camera 315 can observe the working conditions of each workstation in real time. During processing, the workpiece is first scanned with the 3D camera 303 to establish a three-dimensional digital model, so that the processing program can be accurately processed.

[0042] In the embodiment of the present application, a high-position laser sensor 316, a middle-position laser sensor 317 and a low-position laser sensor 318 are respectively arranged on one side of the surface of the pressure foot plate 301 close to the motor reducer 305. When the spindle of the drilling spindle mechanism 207, the gluing mechanism 208, the riveting mechanism 209, the milling mechanism 211 or the nail insertion mechanism 212 moves to a position above the pressure foot plate 301 and coaxial with the pressure foot sleeve 310 and moves downward to the tool detection position, the high-position laser sensor 316 detects whether the tool on the spindle exists, the middle-position laser sensor 317 detects whether the tool tip exists, and the low-position laser sensor 318 detects whether the tool length is too long. If the tool length is correct, the high-position laser sensor 316 and the middle-position laser sensor 317 detect the object and the signal is normal. When the tool is too long. The low-position laser sensor 318 detects the object and the signal is abnormal. Through the joint action of the high-position laser sensor 316, the middle-position laser sensor 317 and the low-position laser sensor 318, the tool information is guaranteed to be accurate.

[0043] In the embodiment of the present application, a plurality of pressure sensors 311 are evenly arranged between the large pulley 308 and the pressure foot sleeve 310, and the pressure sensors 311 are evenly arranged along the circumference of the pressure foot sleeve 310. When it is detected that the pressure on the pressure foot sleeve 310 reaches the set value, a signal that the pressure foot sleeve 310 has contacted the wall panel skin is sent to the control system. The pressure foot sleeve 310 is driven by the motor-driven synchronous belt 309 to drive the pressure foot sleeve 310 to rotate, and can achieve a certain range of swing. The end face of the pressure foot sleeve 310 is grooved to avoid interference between the pressure foot sleeve 310 and the rivet head protruding from the skin.

[0044] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any figure mark in the claims should not be regarded as limiting the claims involved.

[0045] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An upper actuator of an automatic drilling and riveting machine, comprising an AC swing head unit (1), characterized in that: The AC swing head unit (1) comprises a C-axis drive motor (101), the drive end of the C-axis drive motor (101) is connected to a crossbeam (104), the two ends of the crossbeam (104) are respectively provided with an A-axis driven end (102) and an A-axis driving end (103), and a multi-station slide unit (2) is connected between the A-axis driven end (102) and the A-axis driving end (103); The multi-station slide unit (2) comprises a frame (201), a slide (202) is slidably connected inside the frame (201), a drilling spindle mechanism (207), a gluing mechanism (208), a riveting mechanism (209), a target capturing camera (210), a milling mechanism (211) and a nail inserting mechanism (212) are arranged in sequence in a straight line inside the slide (202), and a pressure foot unit (3) is also fixedly connected to the outside of the frame (201); The pressure foot unit (3) comprises a cylinder (302) symmetrically connected to the outside of the frame (201), the driving ends of the two cylinders (302) are both connected to the pressure foot plate (301), a plurality of laser distance measuring sensors (304) are symmetrically arranged on the front and rear sides of the pressure foot plate (301), a 3D camera (303) and a motor reducer (305) are respectively arranged on the left and right sides of the pressure foot plate (301), a small pulley (306) is arranged on the driving end of the motor reducer (305), the small pulley (306) is connected to a large pulley (308) via a synchronous belt (309), a bearing (307) is also sleeved inside the large pulley (308), and a pressure foot sleeve (310) is also connected inside the bearing (307); The drilling spindle mechanism (207), the gluing mechanism (208), the riveting mechanism (209), the target capturing camera (210), the milling mechanism (211) and the nail inserting mechanism (212) are configured to move horizontally left and right along the inside of the frame (201), and stop after moving to a selected mechanism, and extend the selected mechanism into the inside of the pressure foot sleeve (310) to achieve drilling, gluing, riveting, target capturing, milling and nail inserting of the skin.

2. The upper actuator of the automatic drilling and riveting machine according to claim 1, characterized in that: The surface of the frame (201) is also connected to a transmission rod (203) via a bearing seat, the other end of the transmission rod (203) passes through a nut (206) and is connected to a direct drive motor, the nut (206) is connected to the surface of a slide seat (202) via a connecting piece, and sliders (204) are provided at the four corners of the bottom of the slide seat (202), and the sliders (204) are slidably connected to a transverse guide rail (205) provided on the bottom surface of the frame (201).

3. The upper actuator of the automatic drilling and riveting machine according to claim 1, characterized in that: A plurality of longitudinal guide rails (213) and a lifting mechanism (214) are also provided through the interior of the slide seat (202).

4. The upper actuator of the automatic drilling and riveting machine according to claim 1, characterized in that: A bracket (312) is provided on the side of the surface of the pressure foot plate (301) close to the 3D camera (303), and a cooling nozzle (313) and a lubrication nozzle (314) are provided on the surface of the bracket (312).

5. The upper actuator of the automatic drilling and riveting machine according to claim 1, characterized in that: A pinhole camera (315) is also provided on one side of the surface of the pressure foot plate (301) close to the 3D camera (303).

6. The upper actuator of the automatic drilling and riveting machine according to claim 1, characterized in that: A high-position laser sensor (316), a middle-position laser sensor (317) and a low-position laser sensor (318) are respectively arranged on one side of the surface of the pressure foot plate (301) close to the motor reducer (305).

7. The upper actuator of the automatic drilling and riveting machine according to claim 1, characterized in that: A plurality of pressure sensors (311) are evenly arranged between the large pulley (308) and the pressure foot sleeve (310), and the pressure sensors (311) are evenly arranged along the circumference of the pressure foot sleeve (310).

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