A presser foot head part that is self-adjusting to a force receiving surface

Abstract

The utility model discloses a kind of self-adapting adjustment stress surface's presser foot head parts, including slidable presser foot assembly, presser foot assembly front end is equipped with locating plate, locating plate middle part is equipped with tool bit hole, presser foot assembly two side walls are equipped with a servo motor respectively, the output of servo motor is equipped with telescopic rotating shaft, the end of telescopic rotating shaft points to tool bit hole direction, telescopic rotating shaft end is equipped with rotating part, rotating part is equipped with several shims on it. The presser foot head of the utility model can adjust the shim corresponding to presser foot assembly according to the position of the part to be machined, adjust the shim of corresponding material reasonably according to needs, and monitor the depth of dimpling in real time. If the previous dimpling is monitored to be deeper, it indicates that the pressure is too high, and the softer shim should be switched. If the previous dimpling is monitored to be shallower, the harder shim can be appropriately switched to improve the friction force and protect the surface of the part.

Description

Technical Field

[0001] This utility model relates to the field of machining technology, specifically to a presser foot head part with an adaptively adjustable force-bearing surface. Background Technology

[0002] In precision instrument manufacturing fields, such as aerospace material processing, large laminated components are widely used due to their excellent service performance. However, their processing quality requirements are high, especially the connection holes, which require efficient and non-destructive machining. This process typically relies on high-precision robots and automated drilling and riveting machines to automatically position holes, clamp aircraft components with upper and lower pressure feet, and automate processes such as positioning, clamping, drilling, gluing, rivet feeding, and riveting. Robotic hole making, with its advantages of high flexibility, high processing efficiency, and low equipment manufacturing cost, has become a natural choice for overcoming the challenge of efficient and non-destructive hole making for large laminated components.

[0003] At the same time, the clamping effect of the presser foot parts also has a significant impact on the final machining effect. However, as a working support carrier, the structural strength or characteristics of the presser foot parts are difficult to directly meet the requirements of high-precision holes in aerospace products.

[0004] This is because the alternating cutting forces during hole making inevitably cause deformation and chatter. One function of the presser foot is to enhance the rigidity of the robot and provide chatter damping to improve stability. However, the pressure of the presser foot cannot be too high, exceeding the robot's load capacity. Another function of the presser foot is to control the countersink depth, but the presser foot itself can cause depth errors. Under the same pressure conditions, the greater the workpiece rigidity, the smaller the deformation, and the greater the countersink depth; conversely, the smaller the workpiece rigidity, the greater the deformation, and the smaller the countersink depth. Therefore, using a suitable presser foot material at the corresponding machining position can reduce the overall countersink depth of the workpiece. Currently, there is no presser foot head that can quickly switch presser foot materials during machining. Utility Model Content

[0005] To address the aforementioned problems, this utility model provides a presser foot head part with an adaptively adjustable force-bearing surface.

[0006] The technical solution of this utility model is:

[0007] An adaptive pressure foot head part includes a slidable pressure foot assembly. The front end of the pressure foot assembly is provided with a positioning plate. The positioning plate is provided with a cutter head hole in the middle. A servo motor is provided on each of the two side walls of the pressure foot assembly. The output end of the servo motor is provided with a telescopic shaft. The end of the telescopic shaft points towards the cutter head hole. The end of the telescopic shaft is provided with a rotating part. The rotating part is provided with several pads.

[0008] Furthermore, each of the two sides of the bottom of the presser foot assembly is provided with a slider, and a slide rail is provided below the slider. The slider and the two slide grooves provided on the upper surface of the slide rail are slidably connected in a one-to-one correspondence.

[0009] Note: The position of the presser foot assembly is adjusted by using the slider and slide rail.

[0010] Furthermore, each of the two slides is provided with a support block at its rear end, a fixing block is provided at the front end of the support block, and a cylinder is provided at the rear end of the top of the fixing block. The output ends of the two cylinders pass through the fixing block and are connected to the rear end of the presser foot assembly.

[0011] Note: The presser foot assembly is fed by a cylinder.

[0012] Furthermore, the pads include alloy pads, nylon pads, and rubber pads, and after the rotating part rotates, one of the pads is located on both sides of the positioning plate.

[0013] Note: By configuring three different backing plates, the appropriate backing plate can be selected according to the strength requirements of the part to be processed.

[0014] Furthermore, the rotating part is provided with a plurality of movable connecting rods connected to the pad, the middle of the movable connecting rod is provided with a first spring shaft, and the end of the movable connecting rod is connected to the pad through a second spring shaft.

[0015] Note: The arrangement of two sets of spring shafts ensures that when one pad is in operation, the other pads will not exert additional pressure on the workpiece.

[0016] Furthermore, several displacement sensors are provided on both sides of the positioning plate.

[0017] Note: The position of the presser foot assembly and the depth of the countersink are monitored in real time by a displacement sensor.

[0018] The beneficial effects of this utility model are:

[0019] The presser foot head of this utility model can adjust the corresponding pad of the presser foot assembly according to the position of the part to be processed. When processing multiple adjacent rivet holes on the same part, the pressure at each position is different. Therefore, the pad of the corresponding material should be adjusted reasonably according to the needs, and the depth of the countersink should be monitored in real time. If the previous countersink is detected to be too deep, it means that the pressure is too high and a softer pad should be switched. If the previous countersink is detected to be too shallow, a harder pad can be switched to increase the friction and protect the surface of the part. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of a pressure foot head part with adaptive adjustment of the force-bearing surface according to this utility model;

[0021] Figure 2 This is a front view of a presser foot head part with an adaptively adjustable force-bearing surface according to this utility model;

[0022] Figure 3 This is a side view of a presser foot head part with an adaptively adjustable force-bearing surface according to this utility model;

[0023] Figure 4 This is a schematic diagram of the movable linkage structure of a pressure foot head part with adaptive adjustment of the force-bearing surface according to this utility model;

[0024] Figure 5 This is a schematic diagram of the movable connecting rod of the pressure foot head part of the present invention, which adjusts the force-bearing surface so that the pad plate aligns with the positioning plate after rotation.

[0025] Among them, 1-presser foot assembly, 11-positioning plate, 12-cutter head hole, 2-servo motor, 21-telescopic shaft, 22-rotating part, 3-pad plate, 31-alloy pad plate, 32-nylon pad plate, 33-rubber pad plate, 4-slider, 5-slide rail, 51-slide groove, 6-support block, 61-fixed block, 62-cylinder, 7-movable connecting rod, 71-first spring shaft, 72-second spring shaft, 8-displacement sensor. Detailed Implementation

[0026] Example 1

[0027] like Figure 1 As shown, a presser foot head part with adaptive adjustment of the force-bearing surface includes a slidable presser foot assembly 1. The front end of the presser foot assembly 1 is provided with a positioning plate 11. The positioning plate 11 is provided with a cutter head hole 12 in the middle. A servo motor 2 is provided on each of the two side walls of the presser foot assembly 1. The servo motor 2 is a commercially available servo motor. The output end of the servo motor 2 is provided with a telescopic rotating shaft 21. The end of the telescopic rotating shaft 21 points towards the cutter head hole 12. The end of the telescopic rotating shaft 21 is provided with a rotating part 22. Three pads 3 are provided on the rotating part 22.

[0028] like Figure 2 and Figure 3 As shown, a slider 4 is provided on each side of the bottom of the presser foot assembly 1. A slide rail 5 is provided below the slider 4. The slider 4 and the two slide grooves 51 provided on the upper surface of the slide rail 5 are slidably connected in a one-to-one correspondence. A support block 6 is provided at the rear end of the two slide grooves 51. A fixing block 61 is provided at the front end of the support block 6. A cylinder 62 is provided at the rear end of the top of the fixing block 61. The cylinder 62 is a commercially available cylinder. The output ends of the two cylinders 62 pass through the fixing block 61 and are connected to the rear end of the presser foot assembly 1.

[0029] like Figure 1 , Figure 4 and Figure 5As shown, the pad 3 includes an alloy pad 31, a nylon pad 32 and a rubber pad 33. After the rotating part 22 rotates, one of the pads 3 is located on both sides of the positioning plate 11. The rotating part 22 is provided with several movable connecting rods 7 connected to the pads 3. The middle of the movable connecting rod 7 is provided with a first spring shaft 71, and the end of the movable connecting rod 7 is connected to the pad 3 through a second spring shaft 72.

[0030] like Figure 1 As shown, several displacement sensors 8 are provided on both sides of the positioning plate 11. The displacement sensors 8 are commercially available laser displacement sensors.

[0031] Example 2

[0032] The rotating part 22 is provided with two pads 3, including a nylon pad 32 and a rubber pad 33, and the positioning plate 11 itself is used as an alloy pad 31.

[0033] Working principle:

[0034] The working principle of a pressure foot head part with adaptive adjustment of the force-bearing surface according to this utility model will be briefly explained below.

[0035] When drilling holes in the laminated materials of aircraft, the presser foot part is installed on the terminal actuator to press the components at the drilling location to eliminate the lamination gaps and increase the rigidity of the robot drilling system. The slide rail 5 of the presser foot part is connected to a general feed motor. A cooling chip removal pipe is installed below the drilling position. First, the relationship between the coordinate system of the drilling terminal actuator and the coordinate system of the assembly site, as well as the relationship between the coordinate system of the robot flange and the coordinate system of the assembly site, need to be determined by measuring with a laser tracker. Based on these two relationships, the coordinate relationship between the drilling terminal actuator and the robot flange is determined. The robot moves on the linear guide rail with the platform. The pneumatically driven presser foot assembly 1, controlled by an electromagnetic reversing valve, moves back and forth and drills using the drill head hole 12.

[0036] The presser foot assembly 1 presses against the surface of the workpiece with a certain pressure, which will cause the workpiece to deform. The deformation of the hole-making point is generally away from the presser foot assembly 1, and the flat surface of the workpiece becomes a curved surface. However, the contact point between the presser foot assembly 1 and the surface of the workpiece remains unchanged. The measurement position of the displacement sensor 8, which realizes the depth compensation, is a flat surface. This deformation will cause depth error, making the depth shallower. In the early stage of robot hole making research, in order to increase the friction between the presser foot and the workpiece and protect the product surface, rubber was attached to the end face of the presser foot. The soft rubber increases the friction, but at the same time, the rubber will produce a certain degree of compression deformation.

[0037] Therefore, based on the depth of the countersink at each drilling point, the required pad 3 for the next drilling point should be reasonably predicted. During the machining process, since some parts of the workpiece have strong rigid support while others are hollow, using the same pad 3 continuously may result in a large difference in the countersink depth. If the countersink depth is found to be increasing, a softer pad 3 should be used instead. The specific operation method is as follows:

[0038] Turn on the servo motor 2, causing it to extend the telescopic shaft 21 so that the pad 3 extends beyond the position plane of the positioning plate 11. Then rotate the rotating part 22 so that the pad 3 to be replaced is positioned in front of the positioning plate 11. Then retract the telescopic shaft 21, so that the movable connecting rod 7, under the action of the first spring shaft 71 and the second spring shaft 72, aligns the pad 3 with the positioning plate 11. Figure 4 Become Figure 5 In the intermediate state, the next hole-making point is then made. This method can control the difference between the maximum and minimum countersink depth to be within 0.04mm. If a single alloy pad 31 is used, the difference between the maximum and minimum countersink depth is about 0.08mm. If a single rubber pad 33 is used, the difference between the maximum and minimum countersink depth is about 0.07mm.

Claims

1. A presser foot head part with adaptively adjustable force-bearing surface, characterized in that, The assembly includes a sliding presser foot assembly (1), with a positioning plate (11) at the front end and a cutter head hole (12) in the middle of the positioning plate (11). A servo motor (2) is provided on each of the two side walls of the presser foot assembly (1). The output end of the servo motor (2) is provided with a telescopic shaft (21), the end of which points towards the cutter head hole (12). A rotating part (22) is provided at the end of the telescopic shaft (21), and several pads (3) are provided on the rotating part (22).

2. The pressure foot head part with adaptively adjustable force-bearing surface according to claim 1, characterized in that, The presser foot assembly (1) has a slider (4) on each side of its bottom. The slider (4) is provided with a slide rail (5) below it, and the slider (4) is slidably connected to the two slide grooves (51) on the upper surface of the slide rail (5).

3. A pressure foot head component with an adaptively adjustable force-bearing surface according to claim 2, characterized in that, Each of the two slides (51) has a support block (6) at its rear end. The support block (6) has a fixing block (61) at its front end. The fixing block (61) has a cylinder (62) at its rear end. The output ends of the two cylinders (62) pass through the fixing block (61) and are connected to the rear end of the presser foot assembly (1).

4. The pressure foot head part with adaptively adjustable force-bearing surface according to claim 1, characterized in that, The pad (3) includes an alloy pad (31), a nylon pad (32) and a rubber pad (33). After the rotating part (22) rotates, one of the pads (3) is located on both sides of the positioning plate (11).

5. A pressure foot head component with an adaptively adjustable force-bearing surface according to claim 1, characterized in that, The rotating part (22) is provided with a plurality of movable connecting rods (7) connected to the pad (3). The middle part of the movable connecting rod (7) is provided with a first spring shaft (71), and the end of the movable connecting rod (7) is connected to the pad (3) through a second spring shaft (72).

6. A pressure foot head part with an adaptively adjustable force-bearing surface according to claim 1, characterized in that, Several displacement sensors (8) are provided on both sides of the positioning plate (11).

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