CN206405709U - A kind of multi-functional automatic Drilling/Riveting actuator assembled for aircraft - Google Patents
A kind of multi-functional automatic Drilling/Riveting actuator assembled for aircraft Download PDFInfo
- Publication number
- CN206405709U CN206405709U CN201621146986.4U CN201621146986U CN206405709U CN 206405709 U CN206405709 U CN 206405709U CN 201621146986 U CN201621146986 U CN 201621146986U CN 206405709 U CN206405709 U CN 206405709U
- Authority
- CN
- China
- Prior art keywords
- automatic
- module
- riveting
- cylinder
- nail
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Automatic Assembly (AREA)
Abstract
The utility model discloses a kind of multi-functional automatic Drilling/Riveting actuator assembled for aircraft, designed using functional unit blockization, it includes unit handover module, automatic reference centering module, presser feet and normal direction automatic detection module, automatic punching module, aperture detection and laminated thickness automatic measurement module, automatic nail feeding module, automatic glue application module, automatic riveting module and automatic tool preset module；The actuator relate to aircraft component assembling and install complete process functional requirement to fastener since drilling, by integrated with robot or special equipment, realize the application in aircraft components numeric terminal production line, by integrated with Style Product Information Management System and automatic Material Handling System, the digital management of whole production process is realized；The actuator is highly integrated, full-featured, compact conformation, improves the assembling quality and efficiency of assembling of aerospace partses.
Description
Technical field
The utility model is related to a kind of multi-functional automatic Drilling/Riveting actuator assembled for aircraft, belongs to Aero-Space manufacture
Automated assembly field.
Background technology
In aircraft movable wing composite material thin wall class component assembling process, riveting is topmost connected mode, system
Hole and riveting occupy most of workload, and the quality of riveting directly influences the quality of aircraft component.Traditional riveting method
Still based on artificial, the position and center normal direction position in hole ensure that riveting quality is poor, inefficiency, serious shadow by workman's experience
Ring the efficiency of assembling of aircraft.And examined for the big multi-functional relatively simple only automatic punching of actuator currently on the market and normal direction
Brake, is only capable of the brill riveting that realizes semi-automation, using be required to after actuator currently on the market subsequent artefacts complete gluing and
Riveting work, if in operation under composite assembly environment, the process environments of composite to the harm of health very
Greatly, it is relatively complicated using manual tool changing to the drilling of different size aperture in addition, influence efficiency of assembling.
The content of the invention
The purpose of this utility model is to overcome existing hand riveting is of poor quality, efficiency is low, working environment is severe defect more
Mend existing automation equipment function it is single not enough the problem of there is provided a kind of positioning precision is high, efficiency of assembling is high, full-featured
Multi-functional automatic Drilling/Riveting actuator.
Concrete technical scheme of the present utility model is as follows：
A kind of multi-functional automatic Drilling/Riveting actuator assembled for aircraft, is designed, it includes using functional unit blockization
Unit handover module, automatic reference centering module, presser feet and normal direction automatic detection module, automatic punching module, aperture detection and
The groups such as laminated thickness automatic measurement module, automatic nail feeding module, automatic glue application module, automatic riveting module and automatic tool preset module
Into wherein automatic reference centering module, automatic punching module, aperture are detected and laminated thickness automatic measurement module, automatic nail feeding
On the slide unit of module installation unit handover module parallel with automatic riveting module, slide unit is connected by guide rail slide block with base, is led to
Cross servomotor and the position switching of unit module is realized in precise ball screw auxiliary driving；Presser feet and normal direction automatic detection module,
Automatic glue application module, automatic tool preset module are fixed on the base of unit handover module.
The unit handover module is by base, slide unit, servomotor, precise ball screw pair, line slideway, robot method
Blue disk interface, grating scale composition, wherein slide unit is connected by line slideway with base, and servomotor and precise ball screw pair are driven
It is dynamic, switch between functional unit block.
The automatic reference centering module is by YE, industrial camera, camera lens, light source, door, tumble cylinder and case
Body is constituted, and YE is fixed on slide unit, and top is provided with box house and is provided with industrial camera, and camera lens and light source etc. are attached
Part, by tumble cylinder automatic open-close is realized in the front end door of casing, there is dust-proof and protection to industrial camera.
The presser feet and normal direction automatic detection module by pressure foot, vacuum crumb-suction pipe, normal direction measurement sensor, cylinder, lead
Rail is constituted, and vacuum crumb-suction pipe is arranged on pressure foot front end, and pressure foot both sides are installed equipped with 4 normal direction measurement sensors, pressure foot
Implementation is driven to move forward and backward action by cylinder on guide rail.
The automatic punching module is by base, drilling cutter, position measurement sensor, electro spindle, servomotor, accurate rolling
Ballscrew is secondary and line slideway is constituted, and electro spindle is arranged on base by line slideway, servomotor and precise ball screw
Pair, which is connected, drives electro spindle to move forward and backward, and drilling Cutting tool installation manner is in electro spindle, when detecting drilling by position measurement sensor
Drilling cutter and presser feet and the relative position relation of normal direction detection module.
Aperture detection and laminated thickness automatic measurement module by adapter, oscillating cylinder, rotating shaft, tool changing seat, handle of a knife,
Electronic plug gauge, YE, ring gauge seat, cylinder and fixed seat composition.YE upper end is provided with adapter, swings gas
Cylinder, rotating shaft and tool changing seat are fixed on adapter, and rotating shaft front end is installed by tool changing seat and supported, and rear end is connected with oscillating cylinder knife
Handle front end is clamped with electronic plug gauge in rotating shaft, and oscillating cylinder drives handle of a knife and electronic plug gauge rotary motion, electronic execution
Device realizes the motion that moves forward and backward of electronic plug gauge；The calibration that different size is provided with inside ring gauge seat is installed on cylinder top
Ring gauge, realizes the automatic calibration of electronic plug gauge head.
The automatic nail feeding module is by electric cylinder, bearing one, inlet suction port, push rod, cylinder, bearing two, nail transferring tube, guiding
Device, detection sensor, centering chuck, bearing three, electrical turntable, adapter, jaw chuck, detection sensor, angled seat, detection are passed
Sensor, not loose tongue recover and pneumatic block composition.Electric cylinder is connected by bearing one with slide unit side, and electric cylinder front end is consolidated
Surely there is push rod, push rod is hollow-core construction of the front end with guiding groove, and side is provided with inlet suction port push rod front end insertion guider,
Guider upper end is connected with nail transferring tube, and front end is equipped with centering chuck, and both sides are provided with detection sensor, guider lower end and cylinder
Connection, cylinder is fixed on slide unit side by bearing two, and guider is realized in the presence of cylinder before and after rivet grasping system
Motion, rivet enters the detected sensor of guider by nail transferring tube and detected, and compressed air is defeated by rivet by inlet suction port
Centering chuck is delivered to, rivet is pushed into jaw chuck by push rod under electric cylinder effect, is surveyed while being fed back by the position of electric cylinder
Go out the length of rivet；Be fixed in jaw chuck side equipped with detection sensor on electrical turntable, electrical turntable by bearing three and
Support base is connected, and the side of bearing three is equipped with detection sensor, for detecting rivet diameter；Unqualified nail recover lower end and ring gauge
Connection, front end is provided with pneumatic block, detects unqualified rear centering chuck carrying rivet and moves to unqualified nail recover, gas
Dynamic block is opened, and useless nail will be blown into useless nail recover by compressed air, while pneumatic block is closed, realizes returning for unqualified nail
Receive.
The automatic glue application module is made up of gluer and adapter, and gluer is fixed on bearing three by adapter,
Rivet is fixed and rotated by automatic nail feeding erect-position, and gluer automatic ration applies daub and encloses surface in nail rod one.
The automatic riveting module by YE, position sensor, take out riveting gun and buffer is constituted, YE
Lower end is fixed on slide unit, and buffer is fixed on YE, buffer rear end field riveting operating position sensor, on
End, which is provided with, takes out riveting gun；Riveting is judged by riveting action position sensor automatically to the change in displacement for taking out buffer when riveting gun works
Connect the process of work.
The automatic tool preset module is by tool detection instrument and support arm.Support arm passes through Tool monitoring erect-position support base mounting interface
It is fixed on support base, tool detection instrument is fixed on support arm, cutter is moved into tool detection instrument radially touches and rotate one
Circle, you can whether detection tool diameter and cutter have abrasion, axially touching can detect tool length.
The utility model is used for the multi-functional automatic Drilling/Riveting actuator that aircraft is assembled, and automatically switches with unit handover module
Function；With according to aircraft product benchmark hole automatic reference centering function；Pressure size and normal direction automatic detection with presser feet
With adjustment function；With automatic punching and carry out the deep accurate control function of nest；With aperture and the on-line automatic measurement of laminated thickness
Function；The function of self-plugging rivet is conveyed with automatic nail feeding；With the function in self-plugging rivet automatic glue application；With self-plugging rivet
Automatic riveting function and the function with automatic tool preset.
For aircraft assemble multi-functional automatic Drilling/Riveting actuator to aperture detection and laminated thickness automatic measurement module,
The measurement of aperture and laminated thickness can be completed simultaneously.
The automatic nail feeding module of the multi-functional automatic Drilling/Riveting actuator assembled for aircraft, it is possible to achieve different-diameter and length
The self-plugging rivet conveying of degree, and complete the detection of diameter and length.
The automatic glue application module of the multi-functional automatic Drilling/Riveting actuator assembled for aircraft, is revolved using self-plugging rivet nail rod
Turn, glue is quantified to the mode that self-plugging rivet nail rod surface one is enclosed that is applied to automatically.
The automatic riveting module of the multi-functional automatic Drilling/Riveting actuator assembled for aircraft, is fastened for self-plugging rivet aviation
Part is using the riveting method for taking out riveting automatically.
The utility model integration degree is higher, and function is more complete, each station can be entered according to consumer product demand
Appropriate combination is gone to meet different demands.
The utility model has the advantage that compared with prior art：
1) the utility model can once complete aircraft component datum hole centering-normal direction detection-drilling-aperture and
Laminated thickness detect-selects and recommends the process such as nail-gluing-riveting, without other work outside manual intervention or progress frame,
Substantially reduce the assembly period of conventional product；
2) by automatic riveting mode, riveting force uniformity is good, small to damaged products, and product quality is stable；
3) quantitative automatic gluing function is passed through, it is to avoid the inhomogeneities of gluing.
4) simplify the technological process such as artificial line, inspection in the past, reduce hand labor intensity,.
5) by integrated with Style Product Information Management System and automatic Material Handling System, the numeral of whole production process is realized
Change management.
Brief description of the drawings
Fig. 1 is the utility model automatic Drilling/Riveting actuator front view.
Fig. 2 is the utility model automatic Drilling/Riveting actuator top view.
Fig. 3 is the utility model unit handover module schematic diagram.
Fig. 4 is the utility model automatic reference centering module diagram.
Fig. 5 is the utility model presser feet and normal direction automatic detection module schematic diagram.
Fig. 6 is the utility model automatic punching module diagram.
Fig. 7 is the utility model Pore Diameter Detection and laminated thickness automatic detection module schematic diagram.
Fig. 8 is the utility model automatic nail feeding module diagram.
Fig. 9 is the utility model automatic glue application module diagram.
Figure 10 is the utility model automatic riveting module schematic diagram.
Figure 11 is the utility model automatic tool preset module diagram.
In figure：Unit handover module 1, automatic reference centering module 2, presser feet and normal direction automatic detection module 3, automatic punching
Module 4, aperture detection and laminated thickness automatic measurement module 5, automatic nail feeding module 6, automatic glue application module 7, automatic riveting die
Block 8, automatic tool preset module 9, base 1-1, slide unit 1-2, servomotor 1-3, precise ball screw secondary 1-4, line slideway 1-5,
Robot ring flange interface 1-6, grating scale 1-7, YE 2-1, industrial camera 2-2, camera lens 2-3, light source 2-4, door
2-5, tumble cylinder 2-6, casing 2-7, pressure foot 3-1, vacuum crumb-suction pipe 3-2, normal direction measurement sensor 3-3, cylinder 3-4, lead
Rail 3-5, base 4-1, drilling cutter 4-2, position measurement sensor 4-3, electro spindle 4-4, servomotor 4-5, precise ball silk
Bar secondary 4-6, line slideway 4-7, adapter 5-1, oscillating cylinder 5-2, rotating shaft 5-3, tool changing seat 5-4, handle of a knife 5-5, electronic plug gauge
5-6, YE 5-7, ring gauge seat 5-8, cylinder 5-9, fixed seat 5-10, electric cylinder 6-1, the 6-2 of bearing one, inlet suction port 6-
3rd, push rod 6-4, cylinder 6-5, the 6-6 of bearing two, nail transferring tube 6-7, guider 6-8, detection sensor 6-9, centering chuck 6-10, branch
Three 6-11 of seat, electrical turntable 6-12, adapter 6-13, jaw chuck 6-14, detection sensor 6-15, angled seat 6-16, detection are passed
Sensor 6-17, not loose tongue recover 6-18, pneumatic block 6-19, gluer 7-1, adapter (7-2), YE 8-1,
Position sensor 8-2, take out riveting gun 8-3, buffer 8-4, tool detection instrument 9-1, support arm 9-2.
Embodiment
As shown in Figure 1, Figure 2, Figure 3 shows, the multi-functional automatic Drilling/Riveting actuator assembled for aircraft, by using functional unit mould
Blockization is designed, and it includes unit handover module 1, automatic reference centering module 2, presser feet and normal direction automatic detection module 3, automatic system
Casement block 4, aperture detection and laminated thickness automatic measurement module 5, automatic nail feeding module 6, automatic glue application module 7, automatic riveting
Module 8 and the grade of automatic tool preset module 9 composition, wherein automatic reference centering module 2, automatic punching module 4, aperture detection and lamination
The slide unit 1-2 of thickness automatic measurement module 5, automatic nail feeding module 6 installation unit handover module 1 parallel with automatic riveting module 8
On, slide unit 1-2 is connected by guide rail slide block 1-5 with base 1-1, is driven by servomotor 1-3 and precise ball screw secondary 1-4
Realize the position switching of unit module；Presser feet and normal direction automatic detection module 3, automatic glue application module 7, automatic tool preset module 9 are solid
It is scheduled on the base 1-1 of unit handover module 1.
Unit handover module 1 is by base 1-1, slide unit 1-2, servomotor 1-3, precise ball screw secondary 1-4, line slideway
1-5, robot ring flange interface 1-6, grating scale 1-7 compositions, wherein slide unit 1-2 are connected by line slideway 1-5 and base 1-1
Connect, servomotor 1-3 and precise ball screw secondary 1-4 drivings switch between functional unit block.
Automatic reference centering module 2 by YE 2-1, industrial camera 2-2, camera lens 2-3, light source 2-4, door 2-5,
Tumble cylinder 2-6 and casing 2-7 compositions, YE 2-1 is fixed on slide unit 1-2, and top is provided with peace inside casing 2-7
Equipped with industrial camera 2-2, the annex such as camera lens 2-3 and light source 2-4 passes through tumble cylinder 2-6 in casing 2-7 front end door 2-5
Automatic open-close is realized, there is dust-proof and protection to industrial camera 2-2.
Presser feet and normal direction automatic detection module 3 are by pressure foot 3-1, vacuum crumb-suction pipe 3-2, normal direction measurement sensor 3-3, gas
Cylinder 3-4, guide rail 3-5 are constituted, and vacuum crumb-suction pipe 3-2 is arranged on pressure foot 3-1 front ends, and pressure foot 3-1 both sides are surveyed equipped with 4 normal direction
Quantity sensor 3-3, pressure foot 3-1 are arranged on guide rail 3-5 drives implementation to move forward and backward action by cylinder 3-4.
Automatic punching module 4 is by base 4-1, drilling cutter 4-2, position measurement sensor 4-3, electro spindle 4-4, servo
Motor 4-5, precise ball screw secondary 4-6 and line slideway 4-7 compositions, electro spindle 4-4 are arranged on base by line slideway 4-7
On 4-1, servomotor 4-5 is connected with precise ball screw secondary 4-6 drives electro spindle 4-4 to move forward and backward, drilling cutter 4-2 peaces
Mounted in electro spindle 4-4, drilling cutter 4-2 and presser feet and normal direction detection module 3 when detecting drilling by position measurement sensor 4-3
Relative position relation.
Aperture is detected and laminated thickness automatic measurement module 5 is by adapter 5-1, oscillating cylinder 5-2, rotating shaft 5-3, tool changing seat
5-4, handle of a knife 5-5, electronic plug gauge 5-6, YE 5-7, ring gauge seat 5-8, cylinder 5-9 and fixed seat 5-10 compositions.It is electronic
Actuator 5-7 upper ends are provided with adapter 5-1, and oscillating cylinder 5-2, rotating shaft 5-3 and tool changing seat 5-4 are fixed on adapter 5-1,
Rotating shaft 5-3 front ends are installed by tool changing seat 5-4 and supported, and rear end is connected with oscillating cylinder 5-2, and handle of a knife 5-5 front ends are clamped with electronics
Feeler gauge 5-6 is arranged on rotating shaft 5-3, and oscillating cylinder 5-2 drives handle of a knife 5-5 and electronic plug gauge 5-6 rotary motions, YE
5-7 realizes the electronic plug gauge 5-6 motion that moves forward and backward；It is provided with cylinder 5-9 tops inside ring gauge seat 5-8 and difference is installed
The calibration ring gauge of specification, realizes the automatic calibration of electronic plug gauge 5-6 gauge heads.
Automatic nail feeding module 6 is by electric cylinder 6-1, the 6-2 of bearing one, inlet suction port 6-3, push rod 6-4, cylinder 6-5, bearing two
6-6, nail transferring tube 6-7, guider 6-8, detection sensor 6-9, centering chuck 6-10, the 6-11 of bearing three, electrical turntable 6-12, turn
Joint chair 6-13, jaw chuck 6-14, detection sensor 6-15, angled seat 6-16, not detection sensor 6-17, loose tongue recover 6-
18 and pneumatic block 6-19 is constituted.Electric cylinder 6-1 is connected by the 6-2 of bearing one with slide unit 1-2 sides, and electric cylinder 6-1 front ends are consolidated
Surely it is hollow-core construction of the front end with guiding groove to have push rod 6-4, push rod 6-4, and side is provided with before inlet suction port 6-3, push rod 6-4
End insertion guider 6-8, guider 6-8 upper ends are connected with nail transferring tube 6-7, and front end is equipped with centering chuck 6-10, and both sides are provided with
Detection sensor 6-9, guider 6-8 lower ends are connected with cylinder 6-5, and cylinder 6-5 is fixed on slide unit 1-2 sides by the 6-6 of bearing two
Face, guider 6-8 realizes moving forward and backward for rivet grasping system in the presence of cylinder 6-5, and rivet is entered by nail transferring tube 6-7
Guider 6-8 is detected sensor 6-9 and detected, and rivet is delivered to centering chuck 6- by compressed air by inlet suction port 6-3
Rivet is pushed into jaw chuck 6-14 by 10, push rod 6-4 under electric cylinder 6-1 effects, while being fed back by electric cylinder 6-1 position
Measure the length of rivet；It is fixed in jaw chuck 6-14 sides equipped with detection sensor 6-15 on electrical turntable 6-12, electric rotating
Platform 6-12 is connected by the 6-11 of bearing three with support base 1-1, and the 6-11 of bearing three sides are equipped with detection sensor 6-17, for detecting
Rivet diameter；Unqualified nail recover 6-18 lower ends are connected with ring gauge 5-8, and front end is provided with pneumatic block 6-19, detects not
Centering chuck 6-10 carries rivet and moves to unqualified nail recover 6-18 after qualified, and pneumatic block 6-19 is opened, and useless nail will be by
Compressed air is blown into useless nail recover 6-18, while pneumatic block 6-19 is closed, realizes the recovery of unqualified nail
Automatic glue application module 7 is by gluer 7-1 and adapter 7-2 into gluer 7-1 is fixed on branch by adapter 7-2
On three 6-12 of seat, rivet is fixed and rotated by automatic nail feeding erect-position 6, and gluer 7-1 automatic rations apply daub and enclosed in nail rod one
Surface.
Automatic riveting module 8 by YE 8-1, position sensor 8-2, take out riveting gun 8-3 and buffer 8-4 is constituted,
YE 8-1 is fixed on slide unit 1-2 lower end, and buffer 8-4 is fixed on YE 8-1, buffer 8-4 rear ends
Field riveting operating position sensor 8-2, upper end, which is provided with, takes out riveting gun 8-3；By riveting action position sensor 8-2 to taking out
The change in displacement of buffer judges the process of riveting work automatically when riveting gun 8-3 works.
Automatic tool preset module 9 is by tool detection instrument 9-1 and support arm 9-2.Support arm 9-2 is pacified by Tool monitoring erect-position support base
Attaching mouthful 1-10 is fixed on support base 1-1, and tool detection instrument 9-1 is fixed on support arm 9-2, and cutter is moved into Tool monitoring
Instrument 9-1 is radially touched and revolved and turns around, you can whether detection tool diameter and cutter have abrasion, and axially touching can detect cutter
Length.
The multi-functional automatic Drilling/Riveting actuator assembled for aircraft, with unit handover module automatic switching function；Have
According to aircraft product benchmark hole automatic reference centering function；Pressure size and normal direction automatic detection and adjustment work(with presser feet
Energy；With automatic punching and carry out the deep accurate control function of nest；With aperture and the on-line automatic measurement function of laminated thickness；Have
Automatic nail feeding conveys the function of self-plugging rivet；With the function in self-plugging rivet automatic glue application；With self-plugging rivet automatic riveting
Function and the function with automatic tool preset.
The aperture detection of the multi-functional automatic Drilling/Riveting actuator assembled for aircraft and laminated thickness automatic measurement module 5,
The measurement of aperture and laminated thickness can be completed simultaneously.
For aircraft assemble multi-functional automatic Drilling/Riveting actuator automatic nail feeding module 6, it is possible to achieve different-diameter and
The self-plugging rivet conveying of length, and complete the detection of diameter and length.
The automatic glue application module 7 of the multi-functional automatic Drilling/Riveting actuator of aircraft assembling, is rotated using self-plugging rivet nail rod, from
It is dynamic that glue is quantified to the mode that self-plugging rivet nail rod surface one is enclosed that is applied to.
The automatic riveting module 8 of the multi-functional automatic Drilling/Riveting actuator assembled for aircraft, it is tight for self-plugging rivet aviation
Firmware is using the riveting method for taking out riveting automatically.
The utility model existing drawback for more than, the full-automatic drilling riveting of aircraft component is realized using highly integrated actuator,
Be particularly suitable for use in the assembling of aircraft movable wing composite material thin wall class component, and the riveting to final fastener since drilling is complete
Into using full-automatic mode, the stability and Product Assembly efficiency of product assembly quality are substantially increased；Reduce composite
To the harm of operator's health under process environments；Improve flexibility that automation equipment assembles in aircraft component and from
Dynamicization degree.
The utility model can be integrated with mobile robot or special equipment, and installing space is small, flexibility is high, automation
Degree is high.And compared with the equipment such as automatic drill riveter, the utility model cost is low, be widely used, by part shape and size
Restriction is small.
Claims (7)
1. a kind of multi-functional automatic Drilling/Riveting actuator assembled for aircraft, is designed using functional unit blockization, its feature exists
Include unit handover module (1), automatic reference centering module (2), presser feet and normal direction automatic detection module (3), automatic system in it
Casement block (4), aperture detection and laminated thickness automatic measurement module (5), automatic nail feeding module (6), automatic glue application module (7),
Automatic riveting module (8) and automatic tool preset module (9) etc. are constituted, wherein automatic reference centering module (2), automatic punching module
(4), aperture detection and laminated thickness automatic measurement module (5), automatic nail feeding module (6) peace parallel with automatic riveting module (8)
On the slide unit (1-2) for filling unit handover module (1), slide unit (1-2) is connected by guide rail slide block (1-5) with support base (1-1), is led to
Cross servomotor (1-3) and the position switching of unit module is realized in precise ball screw secondary (1-4) transmission；Presser feet and normal direction are automatic
Detection module (3), automatic glue application module (7), automatic tool preset module (9) are fixed on the support base (1-1) of unit handover module (1)
On；
Unit handover module (1) by support base (1-1), slide unit (1-2), servomotor (1-3), precise ball screw secondary (1-4),
Guide rail slide block (1-5), robot ring flange interface (1-6), grating scale (1-7) composition, wherein slide unit (1-2) passes through guide rail slide block
(1-5) is connected with support base (1-1), servomotor (1-3) and precise ball screw secondary (1-4) driving, carries out functional unit mould
Switching between segments；
Automatic reference centering module (2) is by YE (2-1), industrial camera (2-2), camera lens (2-3), light source (2-4), gear
(2-5), tumble cylinder (2-6) and casing (2-7) composition are covered, YE (2-1) is fixed on slide unit (1-2), and top is set
It is equipped with inside casing (2-7) and industrial camera (2-2), the annex such as camera lens (2-3) and light source (2-4), in casing (2-7) is installed
Front end door (2-5) is realized by tumble cylinder (2-6) automatically opens up conjunction, there is dust-proof and protection work to industrial camera (2-2)
With.
Presser feet and normal direction automatic detection module (3) are by pressure foot (3-1), vacuum crumb-suction pipe (3-2), normal direction measurement sensor (3-
3), cylinder (3-4), guide rail (3-5) composition, vacuum crumb-suction pipe (3-2) are arranged on pressure foot (3-1) front end, pressure foot (3-1) two
Side is equipped with 4 normal direction measurement sensors (3-3), and pressure foot (3-1) is arranged on guide rail (3-5) to be driven in fact by cylinder (3-4)
The capable action that moves forward and backward；
Automatic punching module (4) by base (4-1), drilling cutter (4-2), position measurement sensor (4-3), electro spindle (4-4),
Servomotor (4-5), precise ball screw secondary (4-6) and line slideway (4-7) composition, electro spindle (4-4) pass through line slideway
(4-7) is arranged on base (4-1), and servomotor (4-5) is connected with precise ball screw secondary (4-6) drives electro spindle (4-4)
Move forward and backward, drilling cutter (4-2) is arranged on electro spindle (4-4), drilling when system is detected by position measurement sensor (4-3)
Spot facing cutter (4-2) and presser feet and the relative position relation of normal direction detection module (3)；
Aperture detect and laminated thickness automatic measurement module (5) by adapter (5-1), oscillating cylinder (5-2), rotating shaft (5-3), change
Tool rest (5-4), handle of a knife (5-5), electronic plug gauge (5-6), YE (5-7), ring gauge seat (5-8), cylinder (5-9) and fixation
Seat (5-10) composition.YE (5-7) upper end is provided with adapter (5-1), oscillating cylinder (5-2), rotating shaft (5-3) and changes
Tool rest (5-4) is fixed on adapter (5-1), and rotating shaft (5-3) front end is installed by tool changing seat (5-4) and supported, and rear end is connected with
Oscillating cylinder (5-2), handle of a knife (5-5) front end is clamped with electronic plug gauge (5-6) in rotating shaft (5-3), oscillating cylinder (5-2)
Drive handle of a knife (5-5) and electronic plug gauge (5-6) rotary motion, YE (5-7) realize electronic plug gauge (5-6) advance and
Setback；The calibration ring gauge that different size is provided with inside ring gauge seat (5-8) is installed on cylinder (5-9) top, electricity is realized
The automatic calibration of sub- feeler gauge (5-6) gauge head；
Automatic nail feeding module (6) is by electric cylinder (6-1), bearing one (6-2), inlet suction port (6-3), push rod (6-4), cylinder (6-
5), bearing two (6-6), nail transferring tube (6-7), guider (6-8), detection sensor (6-9), centering chuck (6-10), bearing three
(6-11), electrical turntable (6-12), adapter (6-13), jaw chuck (6-14), detection sensor (6-15), angled seat (6-
16), detection sensor (6-17), not loose tongue recover (6-18) and pneumatic block (6-19) composition.Electric cylinder (6-1) passes through
Bearing one (6-2) is connected with slide unit (1-2) side, and electric cylinder (6-1) is fixedly arranged at the front end with push rod (6-4), and push rod (6-4) is front end
With the hollow-core construction for being oriented to groove, side is provided with inlet suction port (6-3), and push rod (6-4) front end insertion guider (6-8) is led
Nail transferring tube (6-7) is connected with to device (6-8) upper end, front end is equipped with centering chuck (6-10), and both sides are provided with detection sensor (6-
9), guider (6-8) lower end is connected with cylinder (6-5), and cylinder (6-5) is fixed on slide unit (1-2) side by bearing two (6-6)
Face, guider (6-8) realizes moving forward and backward for rivet grasping system in the presence of cylinder (6-5), and rivet passes through nail transferring tube (6-
7) it is detected sensor (6-9) into guider (6-8) to detect, compressed air is conveyed rivet by inlet suction port (6-3)
To centering chuck (6-10), rivet is pushed into jaw chuck (6-14) by push rod (6-4) under electric cylinder (6-1) effect, is led to simultaneously
The position feedback for crossing electric cylinder (6-1) measures the length of rivet；Detection sensor (6-15) is housed sideways in jaw chuck (6-14)
It is fixed on electrical turntable (6-12), electrical turntable (6-12) is connected by bearing three (6-11) with support base (1-1), bearing three
(6-11) is equipped with detection sensor (6-17) sideways, for detecting rivet diameter；Unqualified nail recover (6-18) lower end and ring
Seat (5-8) connection is advised, front end is provided with pneumatic block (6-19), detect unqualified rear centering chuck (6-10) and carry rivet fortune
Move to unqualified nail recover (6-18), pneumatic block (6-19) is opened, useless nail will be blown into useless nail recover (6- by compressed air
18), while pneumatic block (6-19) is closed, the recovery of unqualified nail is realized；
Automatic glue application module (7) is made up of gluer (7-1) and adapter (7-2), and gluer (7-1) passes through adapter (7-2)
It is fixed on bearing three (6-11), rivet is fixed and rotated by automatic nail feeding module (6), gluer (7-1) automatic ration is applied
Daub encloses surface in nail rod one；
Automatic riveting module (8) by YE (8-1), position sensor (8-2), take out riveting gun (8-3) and buffer (8-4)
Composition, YE (8-1) lower end is fixed on slide unit (1-2), and buffer (8-4) is fixed on YE (8-1),
Buffer (8-4) rear end field riveting operating position sensor (8-2), upper end, which is provided with, takes out riveting gun (8-3)；Pass through riveting action
The change in displacement of buffer judges the process of riveting work automatically when position sensor (8-2) is to taking out riveting gun (8-3) work；
Automatic tool preset module (9) is by tool detection instrument (9-1) and support arm (9-2).Support arm (9-2) is supported by Tool monitoring erect-position
Seat mounting interface (1-10) is fixed on support base (1-1), and tool detection instrument (9-1) is fixed on support arm (9-2), and cutter is moved
Move tool detection instrument (9-1) and radially touch and revolve and turn around, you can whether detection tool diameter and cutter have abrasion, axially touch
Tool length can be detected by touching.
2. a kind of multi-functional automatic Drilling/Riveting actuator assembled for aircraft according to claim 1, it is characterised in that tool
There is unit handover module automatic switching function；With according to aircraft product benchmark hole automatic reference centering function；With presser feet
Pressure size and normal direction automatic detection and adjustment function；With automatic punching and carry out the deep accurate control function of nest；With aperture
And the on-line automatic measurement function of laminated thickness；The function of self-plugging rivet is conveyed with automatic nail feeding；With automatic in self-plugging rivet
The function of gluing；Function with self-plugging rivet automatic riveting function and with automatic tool preset.
3. a kind of multi-functional automatic Drilling/Riveting actuator assembled for aircraft according to claim 1, it is characterised in that hole
Footpath is detected and laminated thickness automatic measurement module (5), and the measurement of aperture and laminated thickness can be completed simultaneously.
4. a kind of multi-functional automatic Drilling/Riveting actuator assembled for aircraft according to claim 1, it is characterised in that from
It is dynamic to send dolly set block (6), it is possible to achieve different-diameter and the conveying of the self-plugging rivet of length, and complete the detection of diameter and length.
5. a kind of multi-functional automatic Drilling/Riveting actuator assembled for aircraft according to claim 1, it is characterised in that from
Dynamic gluing module (7), is rotated using self-plugging rivet nail rod, automatically quantifies glue and be applied to the side that self-plugging rivet nail rod surface one is enclosed
Formula.
6. a kind of multi-functional automatic Drilling/Riveting actuator assembled for aircraft according to claim 1, it is characterised in that from
Dynamic riveting module (8), for self-plugging rivet aviation fasteners using the riveting method for taking out riveting automatically.
7. a kind of multi-functional automatic Drilling/Riveting actuator assembled for aircraft according to claim 1, it is characterised in that should
Automatic Drilling/Riveting actuator, the assembling for the aircraft movable wing composite material thin wall class component that is particularly suitable for use in.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621146986.4U CN206405709U (en) | 2016-10-21 | 2016-10-21 | A kind of multi-functional automatic Drilling/Riveting actuator assembled for aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621146986.4U CN206405709U (en) | 2016-10-21 | 2016-10-21 | A kind of multi-functional automatic Drilling/Riveting actuator assembled for aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206405709U true CN206405709U (en) | 2017-08-15 |
Family
ID=59549175
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621146986.4U Expired - Fee Related CN206405709U (en) | 2016-10-21 | 2016-10-21 | A kind of multi-functional automatic Drilling/Riveting actuator assembled for aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206405709U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106334940A (en) * | 2016-10-21 | 2017-01-18 | 尚鳌自动化工程（上海）有限公司 | Multifunctional automatic drilling and riveting actuator for airplane assembly |
| CN107414894A (en) * | 2017-09-05 | 2017-12-01 | 西北工业大学 | A kind of station conversion device |
| CN108555598A (en) * | 2018-06-22 | 2018-09-21 | 湖北航鹏化学动力科技有限责任公司 | A kind of automatic drilling, gluing, lock silk device |
| CN108723428A (en) * | 2018-05-25 | 2018-11-02 | 南京航空航天大学 | A kind of online variable element method for drilling of laminated material based on current of electric |
| CN110666519A (en) * | 2019-10-23 | 2020-01-10 | 张生营 | Aircraft skin bores and rivets processingequipment |
| CN113941684A (en) * | 2021-09-10 | 2022-01-18 | 首都航天机械有限公司 | Automatic assembling device and method for supporting plate nut |
| CN115435741A (en) * | 2022-11-09 | 2022-12-06 | 北京成立科技有限公司 | Titanium alloy new material performance detection device for aerospace |
-
2016
- 2016-10-21 CN CN201621146986.4U patent/CN206405709U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106334940A (en) * | 2016-10-21 | 2017-01-18 | 尚鳌自动化工程（上海）有限公司 | Multifunctional automatic drilling and riveting actuator for airplane assembly |
| CN107414894A (en) * | 2017-09-05 | 2017-12-01 | 西北工业大学 | A kind of station conversion device |
| CN108723428A (en) * | 2018-05-25 | 2018-11-02 | 南京航空航天大学 | A kind of online variable element method for drilling of laminated material based on current of electric |
| CN108555598A (en) * | 2018-06-22 | 2018-09-21 | 湖北航鹏化学动力科技有限责任公司 | A kind of automatic drilling, gluing, lock silk device |
| CN110666519A (en) * | 2019-10-23 | 2020-01-10 | 张生营 | Aircraft skin bores and rivets processingequipment |
| CN113941684A (en) * | 2021-09-10 | 2022-01-18 | 首都航天机械有限公司 | Automatic assembling device and method for supporting plate nut |
| CN113941684B (en) * | 2021-09-10 | 2024-05-14 | 首都航天机械有限公司 | Automatic assembling device and method for supporting plate nuts |
| CN115435741A (en) * | 2022-11-09 | 2022-12-06 | 北京成立科技有限公司 | Titanium alloy new material performance detection device for aerospace |
| CN115435741B (en) * | 2022-11-09 | 2023-01-03 | 北京成立科技有限公司 | Titanium alloy new material performance detection device for aerospace |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206405709U (en) | A kind of multi-functional automatic Drilling/Riveting actuator assembled for aircraft | |
| CN106334940A (en) | Multifunctional automatic drilling and riveting actuator for airplane assembly | |
| CN104698968B (en) | Multi-functional automatic Drilling/Riveting end effector and automatic Drilling/Riveting method | |
| CN109202460B (en) | High-precision drilling and nail feeding device | |
| CN105773632B (en) | A kind of multi-functional end effector of automatic drill riveter | |
| CN204975930U (en) | A many function executing ware for airplane assembling | |
| CN102248389B (en) | Multipoint flexible positioning method and tool for automatic drilling and riveting assembly of wallboard | |
| CN109506836B (en) | Automatic balancing machine for cross-flow fan blades and dynamic balance compensation processing method thereof | |
| CN104708322A (en) | Multifunctional drilling and riveting actuator and working method thereof | |
| CN105643278B (en) | A kind of horizontal automatic Drilling/Riveting lathe for aircraft target ship assembly | |
| CN106862110B (en) | Light and color splitting machine for automatically and intelligently detecting miniature products and working method thereof | |
| CN106392603B (en) | A kind of device and method of automation installation temporary fastener | |
| CN105598658B (en) | A kind of flexible axis hole automatic assembling apparatus applied to large-scale precision equipment | |
| CN110625593A (en) | End effector of intelligent hole making robot | |
| CN104786035A (en) | Automobile instrument automatic pointer pressing device | |
| CN104070181A (en) | Full-automatic intelligent processing lathe of cross-axle universal joint | |
| CN105651174A (en) | Vision measurement system used for horizontal automatic drilling and riveting machine of aircraft panel | |
| CN205437770U (en) | Full automatic assembly check out test set of air outlet among automotive interior | |
| CN202070885U (en) | Multi-point flexible positioning tool for wallboard automatic drilling and riveting assembly | |
| CN106017386A (en) | Diameter gripping and measuring device and measuring method thereof | |
| CN109482699B (en) | Automatic balancing machine and balancing piece production mechanism thereof | |
| CN209698440U (en) | Multi-functional automatic punching device | |
| CN202037356U (en) | Automatic curved surface drilling tail end actuator | |
| CN103551919A (en) | Measuring device of repeated positioning accuracy of automatic tool changing of rotary manipulator | |
| CN205449004U (en) | Car seat horizontal driver threaded rod, full automated inspection equipment of dish that splines |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170815 Termination date: 20191021 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |