CN107639199A - Spin friction riveting process actuator and multiaxis frictional rivet joints robot - Google Patents
Spin friction riveting process actuator and multiaxis frictional rivet joints robot Download PDFInfo
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- CN107639199A CN107639199A CN201710904476.1A CN201710904476A CN107639199A CN 107639199 A CN107639199 A CN 107639199A CN 201710904476 A CN201710904476 A CN 201710904476A CN 107639199 A CN107639199 A CN 107639199A
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- rivet
- riveting process
- drive
- spin friction
- driving
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/02—Riveting procedures
- B21J15/027—Setting rivets by friction heating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
- B21J15/14—Riveting machines specially adapted for riveting specific articles, e.g. brake lining machines
- B21J15/142—Aerospace structures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
- B21J15/16—Drives for riveting machines; Transmission means therefor
- B21J15/26—Drives for riveting machines; Transmission means therefor operated by rotary drive, e.g. by electric motor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Insertion Pins And Rivets (AREA)
Abstract
The invention provides a kind of spin friction riveting process actuator and multiaxis frictional rivet joints robot, the spin friction riveting process actuator includes the techniques such as core pulling frictional rivet joints, implanted frictional rivet joints, frictional rivet welding, agitating friction weldering, friction stir spot welding, with dual drive, double feedings, it can realize that power and Displacement Feedback control by appropriate design, complete machine uses electric drive and servo, has the characteristics of high-efficient automatic, stable and controllable for quality, mechanical property is good.The present invention is functionally provided with the double adaptive features of feeding of coaxial bispin, and function modoularization simultaneously has controlled opening, by carrying out certain reconstruct above software to function, can be achieved with the process function of a variety of advanced connections.
Description
Technical field
The present invention relates to a kind of spin friction riveting process actuator and multiaxis frictional rivet joints robot.
Background technology
In the large product general assembly such as space flight and aviation, automobile, be frequently run onto narrow space, closing or it is semiclosed, structure is multiple
The small connection requirement of the structure connection operating mode and high intensity in miscellaneous region, deformation, some advanced Joining Technologies, such as core pulling rub
The techniques such as riveting, implanted frictional rivet joints, frictional rivet welding, agitating friction weldering, friction stir spot welding are wiped, are just arisen at the historic moment respectively.
But it currently there are no achievable a variety of implanted frictional rivet joints, core pulling frictional rivet joints, frictional rivet welding, agitating friction weldering, stir
The equipment for mixing the connection of the techniques such as friction spot welding.
The content of the invention
It is an object of the invention to provide a kind of spin friction riveting process actuator, advanced implanted can be achieved
The techniques such as frictional rivet joints, core pulling frictional rivet joints, frictional rivet welding, agitating friction weldering, friction stir spot welding connect.
To solve the above problems, the present invention provides a kind of spin friction riveting process actuator, including：
Outward turning drive module（1）, inward turning drive module（2）, double feeding modules（3）, booster of forging a knife（4）, rivet clamp and drive
Start building to fill（5）, rivet（6）, clamp ring（7）, sliding bearing（8）And fastener.
Further, in above-mentioned spin friction riveting process actuator, the outer rotation drive module（1）Including：Electricity
Machine（1-1）, drive gear（1-2）, transition gear component（1-3）, overcoat driving gearshaft（1-4）, outer rotation cover of driver（1-
5）, outer bearing group（1-6）, bearing outer ring locking nut（1-7）, bearing inner ring locking nut（1-8）, key（1-9）And screw（1-
10）.
Further, in above-mentioned spin friction riveting process actuator, the motor（1-1）Using servo-drive electricity
Machine, rated speed 3000rpm~6000rpm, more than nominal torque 15Nm；Overcoat driving gearshaft（1-4）Gear use is arranged at top
In moment of torsion and rotating speed that transmission motor passes over, there is locking screw to be used for connection rivet clamping with driving frock for bottom；Outside
Bearing group（1-6）By calculating and assembling, guarantee is not less than 15KN axial directions upset force.
Further, in above-mentioned spin friction riveting process actuator, the inward turning drive module（2）Including：Electricity is main
Axle（2-1）, interior drive shell（2-2）, shaft coupling（2-3）, hollow knife striking cylinder（2-4）, flanging driving spline（2-5）, bar of forging a knife（2-
6a）, disc spring（2-6b）, dynamic seal ring（2-6c）, interior looper drive shaft（2-7）, inner bearing group（2-8）, bearing outer ring locking nut
（2-9）, bearing inner ring locking nut（2-10）.
Further, in above-mentioned spin friction riveting process actuator, the electro spindle（2-1）Selected parameter is volume
Determine rotating speed 10000rpm, nominal torque 22.7Nm；Considered based on lightweight, antero posterior axis bearing selects steel；Stator case uses
High strength alumin ium alloy, true qualities oxidation, screw thread match somebody with somebody steel-wire screw-socket；Mandrel uses titanium alloy.
Further, in above-mentioned spin friction riveting process actuator, shaft coupling is connect by described（2-3）Connect flanging
Drive spline（2-5）, looper drive shaft in driving（2-7）；Looper drive shaft in driving（2-7）Inside is equipped with element of forging a knife, including beats
Knife bar（2-6a）, disc spring（2-6b）, dynamic seal ring（2-6c）, and pass through booster of forging a knife（4）The hollow knife striking cylinder of oil pressure actuated（2-
4）, so as to ensure that rivet loads and unloads, when hollow knife striking cylinder（2-4）Do not apply and worked when forging a knife axial force by the pulling force of disc spring, from
And tense rivet and clamp and driving frock（5）Spring clip, clamp rivet（6）；Looper drive shaft in driving（2-7）Outside interior axle
Hold group（2-8）Have to pass through calculating and assemble, guarantee is not less than 15KN axial directions upset force.
Further, in above-mentioned spin friction riveting process actuator, double feeding modules（3）Including：It is outer to drive electricity
Dynamic cylinder（3-1）, frame group（3-2a、3-2b、3-2c）, driving rack (3-3), coaxial Double-gear (3-4), driving rack (3-5),
Outer drive transmission bracket (3-6), roll linear module (3-7), mandrel system (3-8), interior drive electric cylinder（3-9）, driving rack（3-
10）, coaxial Double-gear（3-11）, driving rack（3-12）, interior drive transmission bracket（3-13）.
Further, in above-mentioned spin friction riveting process actuator, double feeding modules（3）Electric cylinder use
Lim-Tec servo electric jar, electric cylinder 4.3Kg weight can externally apply about 5620KN push/pull power, movement travel
150mm, maximum speed 127mm/s.
Further, in above-mentioned spin friction riveting process actuator, double feeding modules（3）Using driving rack
(3-3,3-10) drives the gear wheel of coaxial Double-gear (3-4,3-11), then drives driving rack by coaxial Double-gear little gear
(3-5,3-12), radius ratio R/r=3 of two gears, linear motion force transformation and motion transform can be achieved；Outer transmission bracket (3- again
And interior transmission bracket 3-12 5)）By power and movement output to outward turning drive module (1) and inward turning drive module (2).
Further, in above-mentioned spin friction riveting process actuator, described frame group 3-2a, 3-2b, 3-2c are used
The mode of spelling group is assembled, is manufactured using high strength alumin ium alloy, and double Feed servo systems are distributed in 90 ° of angles respectively, and by outward turning
Drive module（1）Median plane and forge a knife booster median plane overlap, be arranged in the front and rear of electro spindle.
Another technical scheme provided by the invention is a kind of multiaxis frictional rivet joints robot, including above-mentioned spin friction riveting
Technique actuator and articulated robot, the spin friction riveting process actuator are arranged on the articulated robot.
Compared with prior art, the invention discloses a kind of coaxial double adaptive Multifunctional rotary frictional rivet joints of feeding of bispin
Technique actuator, using outer drive rotation and the achievable Friction stir welding of outer drive feed function combination, metal friction rivet welding work
Skill；Using interior drive rotation and the interior achievable implanted frictional rivet joints technique of drive feed function combination；Using the double feedings of coaxial bispin
Adaptive combination, can be achieved core pulling frictional rivet joints and double movable ring friction stir spot Welding.The coaxial double feedings of bispin are adaptive more
There is function spin friction riveting process actuator electricity to drive rotary drilling, electricity drives rotation pumpback, high speed swivel feeding and jerk etc.
Function, the process requirements such as implanted frictional rivet joints, core pulling frictional rivet joints, frictional rivet welding can be met.The present invention coordinates Digit Control Machine Tool
System or robot system, can solve the spatial complex such as Aero-Space region can not the more materials of metal/non-metal of prebored hole connect
The high intensity riveting problem connect, has the characteristics of high-efficient automatic, mechanical property is good, without fifth wheel.Above-mentioned coaxial bispin pair is entered
To adaptive Multifunctional rotary frictional rivet joints technique actuator, all technique execution actions use accurate electro-servo control, riveting
Process, the clamping of rivet, with controlling, are distributed using the combination driving of pneumohydraulic pressure-cylinder and knife striking cylinder on knife striking cylinder flange face
There is lead limit switch, it is ensured that rivet clamps in place；Meanwhile by the power and displacement data of electric cylinder, it is added to technique
In closed loop feedback, ensure the safety of rivet technique, the rough sledding for avoiding function interference, rivet from flying out occurs.
Brief description of the drawings
Fig. 1 is the overall construction drawing of the spin friction riveting process actuator of one embodiment of the invention；
Fig. 2 be in Fig. 1 along A-A to profile；
Fig. 3 is the sectional view that Fig. 2 is Fig. 1；
Fig. 4 is along the profile of B-B direction in Fig. 3；
Fig. 5 be in Fig. 3 along C-C to profile；
Fig. 6 be in Fig. 3 along D-D to profile；
Fig. 7 is the outward turning drive module schematic diagram of one embodiment of the invention；
Fig. 8 be in Fig. 7 along A-A to profile；
Fig. 9 is Fig. 7 sectional view；
Figure 10 is along the sectional view of B-B direction in Fig. 8；
Figure 11 be in Fig. 8 along A to sectional view；
Figure 12 is the inward turning drive module schematic diagram of one embodiment of the invention；
Figure 13 be in Figure 12 along A-A to profile；
Figure 14 is double feeding module schematic diagrames of one embodiment of the invention；
Figure 15 is Figure 14 profile；
Figure 16 is the sectional view in mono- direction of Figure 14；
Figure 17 is the sectional view of Figure 14 other directions；
Figure 18 is along the sectional view of B-B direction in Figure 14；
Figure 19 is the sectional views of Figure 14 in one direction；
Figure 20 be in Figure 16 along C-C to sectional view；
Figure 21 be in Figure 16 along D-D to sectional view；
Figure 22 is multiaxis frictional rivet joints robot architecture's schematic diagram of an example of the invention.
Embodiment
In order to facilitate the understanding of the purposes, features and advantages of the present invention, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is further detailed explanation.
As shown in Figures 1 to 6, the present invention provides a kind of spin friction riveting process actuator, including：
Outward turning drive module 1, inward turning drive module 2, double feeding modules 3, booster 4 of forging a knife, rivet clamping and driving frock 5,
Rivet 6, clamp ring 7, sliding bearing 8 and fastener.The invention discloses a kind of coaxial double adaptive multifunctional rotaries of feeding of bispin
Turn frictional rivet joints technique actuator, using outer drive rotation and the achievable Friction stir welding of outer drive feed function combination, metal
Frictional rivet welding technique；Using interior drive rotation and the interior achievable implanted frictional rivet joints technique of drive feed function combination；Using coaxial
The adaptive combination of the double feedings of bispin, can be achieved core pulling frictional rivet joints and double movable ring friction stir spot Welding.Coaxial bispin pair is entered
To adaptive Multifunctional rotary frictional rivet joints technique actuator there is electricity to drive rotary drilling, electricity drives rotation pumpback, is rotated at a high speed
Give and the function such as jerk, the process requirements such as implanted frictional rivet joints, core pulling frictional rivet joints, frictional rivet welding can be met.The present invention matches somebody with somebody
Close numerically-controlled machine tool system or robot system, can solve the spatial complex such as Aero-Space region can not prebored hole metal/non-gold
Belong to the high intensity riveting problem of more material connections, there is the characteristics of high-efficient automatic, mechanical property is good, without fifth wheel.It is above-mentioned same
The double adaptive Multifunctional rotary frictional rivet joints technique actuators of feeding of axle bispin, all technique execution actions are using accurate electric servo
Control, riveting process is reliable, and the clamping of rivet is using the combination driving and control of pneumohydraulic pressure-cylinder and knife striking cylinder, knife striking cylinder flange
Lead limit switch is distributed with face, it is ensured that rivet clamps in place；Meanwhile by the power and displacement data of electric cylinder, add
Enter into technique closed loop feedback, ensure the safety of rivet technique, the rough sledding hair for avoiding function interference, rivet from flying out
It is raw.
In one embodiment of the invention, as shown in Fig. 7 to 11, the outer rotation drive module 1 includes：Motor 1-1, sliding tooth
Take turns 1-2, transition gear component 1-3, overcoat driving gearshaft 1-4, outer rotation cover of driver 1-5, outer bearing group 1-6, outside bearing
Enclose locking nut 1-7, bearing inner ring locking nut 1-8, key 1-9 and screw 1-10.
In one embodiment of the invention, as shown in Figure 12 to 13, the inward turning drive module 2 includes：Electro spindle 2-1, interior drive
Shell 2-2, shaft coupling 2-3, hollow knife striking cylinder 2-4, flanging driving spline 2-5, the bar 2-6a that forges a knife, disc spring 2-6b, dynamic seal ring
2-6c, interior looper drive shaft 2-7, inner bearing group 2-8, bearing outer ring locking nut 2-9, bearing inner ring locking nut 2-10.
In one embodiment of the invention, as shown in Figure 14 to 21, double feeding modules 3 include：Outer drive electric cylinder 3-1, machine
Frame group 3-2a-c, driving rack 3-3, coaxial Double-gear 3-4, driving rack 3-5, outer drive transmission bracket 3-6, the linear module of rolling
3-7, mandrel system 3-8, interior drive electric cylinder 3-9, driving rack 3-10, coaxial Double-gear 3-11, driving rack 3-12, interior drive are driven
Bracket 3-13.
In one embodiment of the invention, the motor 1-1 uses servo drive motor, rated speed 3000rpm（Highest
6000rpm）, more than nominal torque 15Nm, meet the Feed servo system of the shaft of rivet of rivet；Overcoat driving gearshaft 1-4 tops have
Gear is used to transmit moment of torsion and rotating speed that motor passes over, and there is locking screw to be used for connection rivet clamping with driving work for bottom
Dress；For outer bearing group 1-6 by calculating and assembling, guarantee is not less than 15KN axial directions upset force；Using not less than above-mentioned key element
Ability as other elements calculate or type selecting input.
In one embodiment of the invention, the electro spindle 2-1 is designed manufacture using special electro spindle --- spin friction
The electric main shaft device of equipment is connected, available parameter is rated speed 10000rpm, nominal torque 22.7Nm；Based on lightweight
Consider, antero posterior axis bearing selects steel（Black）, proof strength；Stator case uses high strength alumin ium alloy, true qualities oxidation, and screw thread is matched somebody with somebody
Steel-wire screw-socket；Mandrel uses titanium alloy, plays overall loss of weight and obtains overall low inertia design, is easy to rivet jerk.
In one embodiment of the invention, shaft coupling 2-3 connections flanging driving spline 2-5, driving inner sleeve transmission are connect by described
Axle 2-7；Forge a knife element, including the bar 2-6a that forges a knife, disc spring 2-6b, dynamic seal ring 2-6c are housed in driving inside looper drive shaft 2-7,
And by the hollow knife striking cylinder 2-4 of the oil pressure actuated of booster 4 that forges a knife, so as to ensure that rivet loads and unloads, when hollow knife striking cylinder 2-4 does not apply
Worked during axial force of forging a knife by the pulling force of disc spring, the spring clip with driving frock 5 is clamped so as to tense rivet, clamps rivet 6；
Inner bearing group 2-8 in driving outside looper drive shaft 2-7 has to pass through calculating and assembled, and guarantee is not less than 15KN axial directions upset
Power.
In one embodiment of the invention, the electric cylinder of double feeding modules 3 uses Lim-Tec servo electric jar, electronic
Cylinder 4.3Kg weight can externally apply about 5620KN push/pull power, movement travel 150mm, maximum speed 127mm/s.
In one embodiment of the invention, double feeding modules 3 drive coaxial Double-gear 3- using driving rack 3-3,3-10
4th, 3-11, gear wheel, then by coaxial Double-gear little gear drive driving rack 3-5,3-12, pass through the radius of two gears
Than（R/r=3）, linear motion force transformation and motion transform can be achieved, realize three times reinforcement（16860N）, while feed speed and
Movement travel is reduced to 1/3rd（Stroke 50mm, speed 42mm/s）, also comply with rivet process demand；Pass through again
Outer transmission bracket 3-5 and interior transmission bracket 3-12）By power and movement output to outward turning drive module 1 and inward turning drive module 2, from
And ensure the shaft of rivet of rivet technical process and riveting mandrel and enter to give pulling motion demand.
In one embodiment of the invention, held as the double adaptive Multifunctional rotary frictional rivet joints Joining Technologies of feeding of coaxial bispin
Frame group 3-2a, 3-2b, 3-2c of row device can be manufactured by the way of spelling group is assembled using high strength alumin ium alloy, and cause it is double enter
It is distributed respectively in 90 ° of angles to driving, and by the median plane of outward turning drive module 1（By electrical axis and overcoat driving gearshaft
1-4 axis determine）Overlapped with the median plane for booster of forging a knife, be arranged in the front and rear of electro spindle, such arrangement has
Beneficial to actuator center of gravity near rivet axis, it is easy to realize the power and kinematic accuracy of riveting process on articulated robot
Control, realizes that quick, the high-precision riveting point of riveting process seeks position.
In one embodiment of the invention, all technique execution actions use accurate electro-servo control, and riveting process is reliable, rivet
Clamping using the combination driving and control of pneumohydraulic pressure-cylinder and knife striking cylinder, stroke limit is distributed with knife striking cylinder flange face and opens
Close, it is ensured that rivet clamps in place；Meanwhile by the power and displacement data of electric cylinder, be added in technique closed loop feedback,
Ensure the safety of rivet technique, the rough sledding for avoiding function interference, rivet from flying out occurs.
In one embodiment of the invention, by it is outer drive rotation and it is outer drive feed function combination can be achieved Friction stir welding,
Metal friction rivet welding technique；Pass through interior drive rotation and the interior achievable implanted frictional rivet joints technique of drive feed function combination；Pass through
The adaptive combination of the coaxial double feedings of bispin, can be achieved core pulling frictional rivet joints and double movable ring friction stir spot Welding.
The invention provides a kind of light multi-functional Joining Technology actuator, and advanced implanted friction riveting can be achieved
Connect, the connection of the technique such as core pulling frictional rivet joints, frictional rivet welding, agitating friction weldering, friction stir spot welding.The present invention attempts to design this
Scheme, and achieve success.The solution of the present invention has initiative, and it is adaptive special to be functionally provided with the double feedings of coaxial bispin
Point, function modoularization simultaneously have controlled opening, by carrying out certain reconstruct above software to function, can be achieved with a variety of
The process function of advanced connection.
In a word, a kind of coaxial double adaptive Multifunctional rotary frictional rivet joints techniques of feeding of bispin disclosed by the invention perform
Device, there is electric drive rotary drilling, electricity to drive the functions such as rotation pumpback, high speed swivel feeding and jerk, implanted friction riveting can be met
Connect, the process requirements such as core pulling frictional rivet joints, frictional rivet welding, coordinate numerically-controlled machine tool system or robot system, in nowadays mixing material
Among the application for expecting combining structure, equipment of the invention can be riveted such as steel/aluminium alloy/magnesium alloy/metal-base composites/non-gold
Belong to the combination of the mixing material such as material, solve the spatial complex regions such as Aero-Space and can not the more material connectivity problems of prebored hole, tool
There is the characteristics of high-efficient automatic, mechanical property are good, without fifth wheel, prospect is very wide.
The double adaptive Multifunctional rotary frictional rivet joints technique actuators of feeding of the coaxial bispin of the present invention, are functionally provided with
The coaxial double adaptive features of feeding of bispin, function modoularization simultaneously has controlled opening, by being carried out above software to function
Certain reconstruct, it can be achieved with the process function of a variety of advanced connections.
The double adaptive Multifunctional rotary frictional rivet joints technique actuators of feeding of coaxial bispin of the present invention, have dual drive,
Double feedings, it can realize that power and Displacement Feedback control by appropriate design, complete machine uses electric drive and servo, has efficiently certainly
Dynamicization, it is stable and controllable for quality, mechanical property is good the characteristics of.
The double adaptive Multifunctional rotary frictional rivet joints of feeding of the coaxial bispin of the present invention are connected below with reference to Fig. 1~Figure 22
Technique actuator is connect to be described in further detail.
To solve to be frequently run onto narrow space, closing or semiclosed, knot in the large product general assembly such as space flight and aviation, automobile
The small connection requirement of the structure connection operating mode and high intensity of structure complex region, deformation, the present invention provide a kind of light, more work(
Energy spin friction riveting technique actuator, for realizing the Joining Technology of advanced spin friction class, including core pulling friction
The technique such as riveting, implanted frictional rivet joints, frictional rivet welding, agitating friction weldering, friction stir spot welding.The solution of the present invention, which has, to be opened
It is invasive, the double adaptive features of feeding of coaxial bispin are functionally provided with, function modoularization simultaneously has controlled opening, by soft
Certain reconstruct is carried out above part to function, can be achieved with the process function of a variety of advanced connections.
Now describe the adaptive Multifunctional rotary friction riveting of the double feedings of coaxial bispin of the present invention in detail with a preferred embodiment
Connect Joining Technology actuator.
Fig. 1~6 are the double adaptive Multifunctional rotary frictional rivet joints Joining Technology actuator overall patterns of feeding of coaxial bispin.Such as
Shown in Fig. 1, Multifunctional rotary frictional rivet joints Joining Technology actuator is by outward turning drive module 1, inward turning drive module 2, double feedings
Module 3, gas-liquid booster 4 of forging a knife, rivet clamp and driving frock 5, rivet 6, clamp ring 7, sliding bearing 8 and fastener group
Into.Frame group 3-2a, 3-2b as the double adaptive Multifunctional rotary frictional rivet joints Joining Technology actuators of feeding of coaxial bispin,
3-2c can be manufactured by the way of spelling group is assembled using high strength alumin ium alloy, and cause double Feed servo systems respectively in 90 ° of angles point
Cloth, and by the median plane of outward turning drive module 1（Determined by electrical axis and overcoat driving gearshaft 1-4 axis）With gas-liquid of forging a knife
The median plane of booster overlaps, and is arranged in the front and rear of electro spindle, such arrangement is advantageous to actuator center of gravity and existed
Near rivet axis, it is easy to realize the power and motion accuracy control of riveting process on articulated robot, realizes riveting process
Quick, high-precision riveting point seek position.Double feeding modules 3 are by outer transmission bracket 3-5 and interior transmission bracket 3-12 by power and motion
Export to outward turning drive module 1 and inward turning drive module 2, so as to ensure the shaft of rivet of rivet technical process and riveting mandrel
Enter to give pulling motion demand.Rivet is clamped by rivet and is connected to the adaptive more work(of the double feedings of coaxial bispin with driving frock 5
On energy spin friction riveting technique actuator, ensure rivet force and the reliable guarantee of motion.
Fig. 7~11 are outward turning drive module schematic diagrames.Outer rotation drive module is by motor 1-1, drive gear 1-2, transition
Gear assembly 1-3, overcoat driving gearshaft 1-4, outer rotation cover of driver 1-5, outer bearing group 1-6, bearing outer ring locking nut
11-7, bearing inner ring locking nut 11-8, key 1-9 and screw 1-10 compositions.Motor 1-1 can use servo drive motor, specified
Rotating speed 3000rpm（Highest 6000rpm）, more than nominal torque 15Nm, meet the Feed servo system of the shaft of rivet of rivet.Overcoat is driven
Gear shaft 1-4 tops have gear to be used to transmit moment of torsion and rotating speed that motor passes over, and there is locking screw to be used to connect for bottom
Rivet clamps and driving frock；Outer bearing group 1-6 has to pass through calculating and assembled, and guarantee is not less than 15KN axial directions upset force；Adopt
Other elements calculating or the input of type selecting are used as by the use of the ability not less than above-mentioned key element.
Figure 12 ~ 13 are inward turning drive module schematic diagrames.By electro spindle 2-1, interior drive shell 2-2, shaft coupling 2-3, hollow beat
Knife cylinder 2-4, flanging driving spline 2-5, the bar 2-6a that forges a knife, disc spring 2-6b, dynamic seal ring 2-6c, interior looper drive shaft 2-7, inner bearing
Group 2-8, bearing outer ring locking nut 22-9, bearing inner ring locking nut 22-10 compositions.Electro spindle 2-1 can use Special electric master
Axle is designed manufacture, and available parameter is rated speed 10000rpm, nominal torque 22.7Nm；Considered based on lightweight,
Antero posterior axis bearing selects steel（Black）, proof strength；Stator case uses high strength alumin ium alloy, true qualities oxidation, and screw thread matches somebody with somebody steel wire
Swivel nut；Mandrel uses titanium alloy, plays overall loss of weight and obtains overall low inertia design, is easy to rivet jerk.Electro spindle 2-1 leads to
Cross and meet shaft coupling 2-3 connections flanging driving spline 2-5, looper drive shaft 2-7 in driving；It is equipped with driving inside looper drive shaft 2-7
Forge a knife element, including the bar 2-6a that forges a knife, disc spring 2-6b, dynamic seal ring 2-6c, and the oil pressure actuated of booster 4 is hollow to beat by forging a knife
Knife cylinder 2-4, so as to ensure that rivet loads and unloads, worked when hollow knife striking cylinder 2-4, which does not apply, forges a knife axial force by the pulling force of disc spring,
The spring clip with driving frock 5 is clamped so as to tense rivet, clamps rivet 6；Inner bearing group in driving outside looper drive shaft 2-7
2-8 has to pass through calculating and assembled, and guarantee is not less than 15KN axial directions upset force.
Figure 14 ~ 21 are double feeding module schematic diagrames.By outer drive electric cylinder 3-1, frame group 3-2a ~ c, drive rack 3-3, same
Axle Double-gear 3-4, driving rack 3-5, outer drive transmission bracket 3-6, the linear module 3-7 of rolling, mandrel system 3-8, interior drive electric cylinder
3-9, driving rack 3-10, coaxial Double-gear 3-11, driving rack 3-12, interior drive transmission bracket 3-13 compositions.Electric cylinder can be adopted
With Lim-Tec servo electric jar, electric cylinder 4.3Kg weight can externally apply about 5620KN push/pull power, movement travel
150mm, maximum speed 127mm/s.Double feeding modules drive coaxial Double-gear 3-4 and 3-11 using driving rack 3-3 and 3-10
Gear wheel, then by coaxial Double-gear little gear drive driving rack 3-5 and 3-12, pass through the radius ratio of two gears（R/r=
3）, linear motion force transformation and motion transform can be achieved, realize three times reinforcement（16860N）, while feed speed and movement travel
It is reduced to 1/3rd（Stroke 50mm, speed 42mm/s）, also comply with rivet process demand；Held in the palm again by outer transmission
Frame 3-5 and interior transmission bracket 3-12）By power and movement output to outward turning drive module 1 and inward turning drive module 2, so as to ensure riveting
The shaft of rivet and riveting mandrel for following closely riveting process process enter to give pulling motion demand.
Figure 22 is multiaxis frictional rivet joints robot architecture's schematic diagram of present pre-ferred embodiments.The multiaxis frictional rivet joints
Robot includes spin friction riveting process actuator 4-1, send dolly set block 4-2, articulated robot 4-3, handling device 4-4,
Servo platform（Containing frock）4-6 and it is riveted product 4-5.Dolly set block is sent to blow mode or the transmission of rivet band using pneumatic；It is close more
More sensing modes such as section robot 4-4 can integrate robot vision, power is felt improve riveting quality, riveting efficiency；Servo platform
（Containing frock）4-6 can use coordinated signals or PLC controls to combine pneumatic/hydraulic way control；Handling device 4-4 is used to carry quilt
Riveting products 4-5.
Articulated robot 4-4, using the high-precision multi-axis robot of high load capability as equipment matrix, pass through machine
Vision to form robot system with merging for robot movement high-precision control technology.Equipment work in, based on robot vision,
Power feels technology, position deviation value is obtained according to target location and feedback position, by this deviation compared with the criterion of setting
Compared with, and output result is converted into motion control instruction, robot control input module, and driving machine are write by pci bus
Device people performs terminal and carries out position and angle adjustment, the position of tacking point and rivet angle.In equipment work, due to robot
Working space power, motion etc. constrain, and the rivet welding main shaft technological requirement consistent with the normal of complex space type surface is, it is necessary to pass through
The trajectory planning of robot obtains preferable pose with solving decoupling.
Dolly set block 4-2 is sent, the vibrating disk auto-sequencing based on more sensing functions, pneumatic line conveying and automechanism are high
Precision send nail.Self-priming rotation clamping plate filling and assemble mechanism automatically can be used.During riveting, enough rivets are put in vibration disc spins
Orient in material choosing apparatus, after the completion of a rivet frictional rivet joints process, mechanism rotation clamping plate is rotated by 90 °, and rivet is positioned at
Immediately below spin friction riveting process actuator 4-1, clamp and drive by double feeding modules 3, gas-liquid booster 4 of forging a knife, rivet
Start building to fill 5 and realize rivet clamping process.After the completion of, mechanism rotation clamping plate rapidly returns back to original position.Now pneumatic line conveying from
Suction pipe holds and conveys orientation rivet rotates clamping plate to mechanism, and mechanism rotation clamping plate steps up rivet, and wait loads next time.
Handling device 4-4, which is realized, is riveted product 4-5 in servo platform（Containing frock）Carrying above 4-6, realization treat riveting,
In riveting and the rapid transport of riveting product.Servo platform（Containing frock）4-6 realizes the clamping for being riveted product 4-5, by automatic
Chemical industry dress technology can realize that flexible adaptive support solves the rigidity of support demand of product；By servo feed system, rotation is realized
Turn quick accurate riveting points of the frictional rivet joints technique actuator 4-1 on product 4-5 is riveted and seek position.
The double adaptive Multifunctional rotary frictional rivet joints Joining Technology actuators of feeding of the coaxial bispin of the present invention have double drive
Dynamic, double feeding, it can realize that power and Displacement Feedback control by appropriate design, complete machine uses electric drive and servo, has height
The features such as effect automates, is stable and controllable for quality.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
Obviously, those skilled in the art can carry out the spirit of various changes and modification without departing from the present invention to invention
And scope.So, if these modifications and variations of the present invention belong to the claims in the present invention and its equivalent technologies scope it
Interior, then the present invention is also intended to including these changes and modification.
Claims (11)
- A kind of 1. spin friction riveting process actuator, it is characterised in that including：Outward turning drive module（1）, inward turning drive module（2）, double feeding modules（3）, booster of forging a knife（4）, rivet clamp and drive Start building to fill（5）, rivet（6）, clamp ring（7）, sliding bearing（8）And fastener.
- 2. spin friction riveting process actuator as claimed in claim 1, it is characterised in that the outer rotation drive module （1）Including：Motor（1-1）, drive gear（1-2）, transition gear component（1-3）, overcoat driving gearshaft（1-4）, outer rotation Cover of driver（1-5）, outer bearing group（1-6）, bearing outer ring locking nut（1-7）, bearing inner ring locking nut（1-8）, key（1- 9）And screw（1-10）.
- 3. spin friction riveting process actuator as claimed in claim 2, it is characterised in that the motor（1-1）Using watching Take motor, rated speed 3000rpm~6000rpm, more than nominal torque 15Nm；Overcoat driving gearshaft（1-4）Top There is gear to be used to transmit moment of torsion and rotating speed that motor passes over, there is locking screw to be used for connection rivet clamping and drive for bottom Frock；Outer bearing group（1-6）By calculating and assembling, guarantee is not less than 15KN axial directions upset force.
- 4. spin friction riveting process actuator as claimed in claim 1, it is characterised in that the inward turning drive module（2） Including：Electro spindle（2-1）, interior drive shell（2-2）, shaft coupling（2-3）, hollow knife striking cylinder（2-4）, flanging driving spline（2-5）、 Forge a knife bar（2-6a）, disc spring（2-6b）, dynamic seal ring（2-6c）, interior looper drive shaft（2-7）, inner bearing group（2-8）, bearing outer ring Locking nut（2-9）, bearing inner ring locking nut（2-10）.
- 5. spin friction riveting process actuator as claimed in claim 4, it is characterised in that the electro spindle（2-1）From Parameter be rated speed 10000rpm, nominal torque 22.7Nm；Considered based on lightweight, antero posterior axis bearing selects steel；It is fixed Sub- housing uses high strength alumin ium alloy, true qualities oxidation, and screw thread matches somebody with somebody steel-wire screw-socket；Mandrel uses titanium alloy.
- 6. spin friction riveting process actuator as claimed in claim 4, it is characterised in that connect shaft coupling by described（2- 3）Connect flanging driving spline（2-5）, looper drive shaft in driving（2-7）；Looper drive shaft in driving（2-7）Inside is equipped with member of forging a knife Part, including bar of forging a knife（2-6a）, disc spring（2-6b）, dynamic seal ring（2-6c）, and pass through booster of forging a knife（4）Oil pressure actuated is hollow Knife striking cylinder（2-4）, so as to ensure that rivet loads and unloads, when hollow knife striking cylinder（2-4）Do not apply when forging a knife axial force by the pulling force of disc spring Work, clamped and driving frock so as to tense rivet（5）Spring clip, clamp rivet（6）；Looper drive shaft in driving（2-7） Outside inner bearing group（2-8）Have to pass through calculating and assemble, guarantee is not less than 15KN axial directions upset force.
- 7. spin friction riveting process actuator as claimed in claim 1, it is characterised in that double feeding modules（3）Bag Include：Outer drive electric cylinder（3-1）, frame group（3-2a、3-2b、3-2c）, driving rack (3-3), coaxial Double-gear (3-4), transmission Rack (3-5), outer drive transmission bracket (3-6), roll linear module (3-7), mandrel system (3-8), interior drive electric cylinder（3-9）, drive Carry-over bar（3-10）, coaxial Double-gear（3-11）, driving rack（3-12）, interior drive transmission bracket（3-13）.
- 8. spin friction riveting process actuator as claimed in claim 7, it is characterised in that double feeding modules（3）'s Electric cylinder uses Lim-Tec servo electric jar, and electric cylinder 4.3Kg weight can externally apply about 5620KN push/pull power, transports Dynamic stroke 150mm, maximum speed 127mm/s.
- 9. spin friction riveting process actuator as claimed in claim 7, it is characterised in that double feeding modules（3）Adopt The gear wheel of coaxial Double-gear (3-4,3-11) is driven with driving rack (3-3,3-10), then is driven by coaxial Double-gear little gear Dynamic driving rack (3-5,3-12), radius ratio R/r=3 of two gears, can be achieved linear motion force transformation and motion transform；It is outer again Transmission bracket (3-5) and interior transmission bracket 3-12）By power and movement output to outward turning drive module (1) and inward turning drive module (2)。
- 10. spin friction riveting process actuator as claimed in claim 7, it is characterised in that frame group 3-2a, 3- 2b, 3-2c are manufactured by the way of spelling group is assembled using high strength alumin ium alloy, and cause double Feed servo systems respectively in 90 ° of angles point Cloth, and by outward turning drive module（1）Median plane and forge a knife booster median plane overlap, before being arranged in electro spindle Afterwards.
- 11. multiaxis frictional rivet joints robot, it is characterised in that including as described in any claim in claim 1 to 10 Spin friction riveting process actuator and articulated robot, the spin friction riveting process actuator are arranged on more passes Save in robot.
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| CN201710904476.1A CN107639199B (en) | 2017-09-29 | 2017-09-29 | Rotary friction riveting process actuator and multi-shaft friction riveting robot |
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| CN113458584A (en) * | 2020-06-24 | 2021-10-01 | 西安交通大学 | Four-motor direct-drive type alternating-current servo punching and riveting device for multilayer plate friction stir rivet welding and punching and riveting machine |
| CN113477872A (en) * | 2021-08-12 | 2021-10-08 | 宁波捷豹集团股份有限公司 | Spin riveting machine |
| CN116638184A (en) * | 2023-07-17 | 2023-08-25 | 中南大学 | Ultrasonic-assisted friction stir welding riveting connection device and method for heterogeneous metal structures |
| CN116689943A (en) * | 2023-07-17 | 2023-09-05 | 中南大学 | Current-assisted friction stir welding riveting connection robot and method for steel-aluminum mixed structure |
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