CN114833841B - Drilling and riveting device suitable for large-scale products - Google Patents
Drilling and riveting device suitable for large-scale products Download PDFInfo
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- CN114833841B CN114833841B CN202210378943.2A CN202210378943A CN114833841B CN 114833841 B CN114833841 B CN 114833841B CN 202210378943 A CN202210378943 A CN 202210378943A CN 114833841 B CN114833841 B CN 114833841B
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- 238000005553 drilling Methods 0.000 title claims abstract description 45
- 238000000034 method Methods 0.000 description 9
- 241001074085 Scophthalmus aquosus Species 0.000 description 7
- 230000009471 action Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000003754 machining Methods 0.000 description 4
- 230000008094 contradictory effect Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 241000587161 Gomphocarpus Species 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002243 precursor Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/007—Riveting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Drilling And Boring (AREA)
Abstract
The invention provides a drilling and riveting device suitable for large-scale products, which comprises a first positioning assembly and a second positioning assembly, wherein the first positioning assembly comprises a base, a multi-degree-of-freedom mechanical arm and a Y-direction telescopic rod; the second positioning assembly comprises a positioning assembly a and a positioning assembly b, the positioning assembly a is detachably connected with the Y-direction telescopic rod, the positioning assembly b is slidably arranged on the positioning assembly a, and the positioning assembly b can reciprocate along the X direction; the positioning component b is provided with a first sliding rail and a second sliding rail which are communicated with each other and are arranged at an included angle, the positioning component b further comprises a plurality of first sliding blocks, the drill bit is arranged on the first sliding blocks, and when the drill bit is riveted, the first sliding blocks move to the second sliding rail and can reciprocate on the second sliding rail along the Z direction. The drilling and riveting device is simple in structure, accurate in positioning, universal and suitable for drilling and riveting of large-scale products.
Description
Technical Field
The invention belongs to the field of machine manufacturing, assembling and processing, relates to a drilling and riveting device suitable for large-scale products, and particularly relates to a precise positioning drilling and riveting device suitable for large-scale products.
Background
Because the riveting operation process is easy to grasp, the riveting device not only can adapt to various structures, but also can be applied to connection of various materials, and therefore, the riveting device is widely applied to product assembly. The rivet has the advantages of light weight and high strength compared with other connecting pieces.
The drilling and riveting operation is needed in advance before riveting, and the drilling and riveting machine based on the mobile operation platform has the characteristics of better flexibility and full coverage of the working area. Riveting refers to a method of upsetting a shank in a rivet hole of a part by using axial force and forming a nail head so as to connect a plurality of parts. The rivet holes need to be machined by drilling and riveting in advance. However, in the prior art, the movement precision of a common mechanical arm or a machine tool is low, and the requirement of high-precision drilling and riveting cannot be met. In addition, the high load is required to be borne in the riveting process, and the rigidity of the high-precision drilling and riveting machine cannot be ensured. Under the condition of different drilling and riveting requirements, the drill bit needs to be manually replaced, and the machining efficiency is low, so that the integral mobile drilling and riveting equipment with high precision, high efficiency, universality and rigidity meeting the requirements is needed.
The prior art discloses a plurality of types of brill riveting device, but current brill riveting device has that positioning error is great, motion precision is very low, can't satisfy the problem such as high accuracy brill riveting work (large-scale product processing positioning precision and brill riveting rigidity contradict each other and are difficult to guarantee simultaneously), and in addition, current brill riveting device structure is comparatively complicated, bulky, lacks the commonality simultaneously.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art.
Therefore, the invention provides a drilling and riveting device suitable for large-scale products.
The technical scheme of the invention is as follows: the utility model provides a bore and rivet device suitable for large-scale product, this bore and rivet device includes first locating component and second locating component, wherein:
The first positioning component is used for coarse positioning of the second positioning component and Y-direction positioning of the drill bit, the first positioning component comprises a base, a multi-degree-of-freedom mechanical arm and a Y-direction telescopic rod, the multi-degree-of-freedom mechanical arm is respectively connected with the base and the Y-direction telescopic rod, the multi-degree-of-freedom mechanical arm can rotate at a plurality of nodes to adjust positions, and the Y-direction telescopic rod can reciprocate along the Y direction;
The second positioning assembly comprises a positioning assembly a and a positioning assembly b, the positioning assembly a is detachably connected with the Y-direction telescopic rod, the positioning assembly b is slidably arranged on the positioning assembly a, and the positioning assembly b can reciprocate along the X direction; the positioning assembly b is provided with a first sliding rail and a second sliding rail, the first sliding rail and the second sliding rail are communicated and are arranged at an included angle, the positioning assembly b further comprises a plurality of first sliding blocks, a plurality of drill bits are arranged in one-to-one correspondence with the first sliding blocks, the specifications of the drill bits are different, the drill bits are arranged on the corresponding first sliding blocks, before drilling and riveting, the first sliding blocks are arranged on the first sliding rails at intervals, any first sliding blocks can reciprocate along the first sliding rails, and when drilling and riveting, the first sliding blocks move to the second sliding rails and can reciprocate along the Z direction on the second sliding rails.
Further, the positioning assembly a comprises a first positioning platform and a first driving part, wherein the first positioning platform is provided with a third sliding rail, and the first driving part is arranged on the first positioning platform; the positioning assembly b further comprises a second positioning platform and a second sliding block, the first sliding rail and the second sliding rail are both arranged on the first side face of the second positioning platform, the second sliding block is fixedly arranged on the second side face, opposite to the first side face, of the second positioning platform, the second sliding block is matched with the third sliding rail, and the first driving part is used for driving the second sliding block to reciprocate on the third sliding rail along the X direction.
Further, the positioning assembly b further comprises a second driving part, the second driving part is arranged on the second positioning platform, and the second driving part is used for driving the first sliding block to reciprocate on the first sliding rail and the first sliding rail to reciprocate on the second sliding rail along the Z direction.
Further, the first driving part and the second driving part are motors.
Further, the positioning assembly b further comprises a binocular positioning camera, the binocular positioning camera is arranged on the second positioning platform, and the binocular positioning camera is used for identifying and positioning positions of drilling and riveting.
Further, the multi-degree-of-freedom mechanical arm is a three-degree-of-freedom mechanical arm, and the three-degree-of-freedom mechanical arm can rotate at three nodes to adjust positions.
Further, the Y-direction telescopic rod comprises a first rod section, an elastic section and a second rod section which are sequentially connected, the first rod section is connected with the multi-degree-of-freedom mechanical arm, and the second rod section is detachably connected with the positioning assembly a.
Further, the elastic section is a spring.
According to the technical scheme, coarse positioning can be realized through movement of the mechanical arm, and accurate positioning of the drill bit X, Y and the Z direction can be realized through matching of the Y-direction telescopic rod with the positioning component a and the positioning component b, wherein the mechanical arm is adopted as a drill riveting movement positioning basis, and the range of adaptable machined parts is wide and the universality is strong; meanwhile, the accurate positioning of drilling and riveting is realized through sliding movement between the positioning assembly a and the positioning assembly b and between the parts of the positioning assembly b, the structure stability is high, the structure is simple and compact, the rigidity is high, the action response is quick, and the problem that the positioning precision of drilling and riveting of large products and the rigidity of drilling and riveting are mutually contradictory and difficult to guarantee simultaneously in the prior art can be solved. In addition, positioning assembly b contains the drill bit storehouse (a plurality of first sliders + drill bits of arranging on first slide rail), can change the drill bit under multiple brill riveting demand circumstances, need not the manual replacement, improves machining efficiency greatly.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is evident that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
Fig. 1 is a schematic structural diagram of a drilling and riveting device suitable for large-scale products according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a second positioning assembly according to an embodiment of the present invention;
Fig. 3 is a schematic structural diagram of a positioning assembly a according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a positioning component b according to an embodiment of the present invention;
the above figures include the following designations:
10. A first positioning assembly; 11. a base; 12. a multi-degree-of-freedom mechanical arm; 13. a Y-direction telescopic rod; 131. a first pole segment; 132. an elastic section; 133. a second pole segment; 20. a second positioning assembly; 21. a positioning component a; 211. a first positioning platform; 212. a first driving section; 213. a third slide rail; 22. a positioning component b; 221. a second positioning platform; 222. a second driving section; 223. a first slide rail; 224. a second slide rail; 225. a first slider; 226. a second slider; 227. binocular positioning cameras; 100. a drill bit.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
As shown in fig. 1 to 4, in one embodiment of the present invention, the present invention provides a drilling and riveting device suitable for large products, the drilling and riveting device includes a first positioning assembly 10 and a second positioning assembly 20, wherein the first positioning assembly 10 is used for coarse positioning of the second positioning assembly 20 and Y-directional positioning of a drill bit 100, the first positioning assembly 10 includes a base 11, a multiple degree of freedom mechanical arm 12 and a Y-directional telescopic rod 13, the multiple degree of freedom mechanical arm 12 is respectively connected with the base 11 and the Y-directional telescopic rod 13, the multiple degree of freedom mechanical arm 12 can rotate at a plurality of nodes to adjust positions, and the Y-directional telescopic rod 13 can reciprocate along the Y-direction; the second positioning assembly 20 comprises a positioning assembly a21 and a positioning assembly b22, the positioning assembly a21 is detachably connected with the Y-direction telescopic rod 13, the positioning assembly b22 is slidably arranged on the positioning assembly a21, and the positioning assembly b22 can reciprocate along the X direction; the positioning assembly b22 is provided with a first slide rail 223 and a second slide rail 224, the first slide rail 223 and the second slide rail 224 are communicated and are arranged at an included angle, the positioning assembly b22 further comprises a plurality of first slide blocks 225, a plurality of drill bits 100 are arranged in one-to-one correspondence with the plurality of first slide blocks 225, the specifications of the plurality of drill bits 100 are different, the drill bits 100 are arranged on the corresponding first slide blocks 225, the plurality of first slide blocks 225 are arranged on the first slide rail 223 at intervals before drilling and riveting, any of the first slide blocks 225 can reciprocate along the first slide rail 223, and during drilling and riveting, the first slide blocks 225 move to the second slide rail 224 and can reciprocate along the Z direction on the second slide rail 224.
In the embodiment of the present invention, X, Y and the Z direction are shown in fig. 1, where the X and Z directions are described in terms of the precursor after the second positioning assembly 20 is connected to the first positioning assembly 10, that is, the second positioning assembly 20 is disposed on the first positioning assembly 10, so that the accurate positioning of the drill bit 100X and the Z direction can be achieved.
That is, after the position of the large product to be drilled and riveted is determined, the multi-degree-of-freedom mechanical arm 12 starts to move to drive the second positioning assembly 20 to move, so as to move the drill bit 100 on the second positioning assembly 20 to the vicinity of the target point, thereby realizing coarse positioning. Next, the Y-direction telescopic rod 13, the positioning assembly a21 and the positioning assembly b22 cooperate to realize accurate positioning of the drill bit 100 in X, Y and Z directions, and after reaching the target accurate position, drilling and riveting are started. When the drilling requirements are different, drill bits 100 of different specifications can be selected from the first slide rail 223. The process is repeated, so that the drilling and riveting process of the large-scale product can be completed rapidly and effectively, the accuracy is effectively ensured in the riveting process, the drilling and riveting method has universality, and the problem that the machining positioning precision and the drilling and riveting rigidity of the large-scale product in the prior art are contradictory and difficult to ensure simultaneously is solved.
Therefore, the embodiment of the invention can realize coarse positioning through the movement of the mechanical arm, and then realize the accurate positioning of the drill bit X, Y and the Z direction through the matching of the Y-direction telescopic rod, the positioning component a and the positioning component b, wherein the mechanical arm is adopted as a drill riveting movement positioning basis, and the range of adaptable processing parts is wide and the universality is strong; meanwhile, the accurate positioning of drilling and riveting is realized through sliding movement between the positioning assembly a and the positioning assembly b and between the parts of the positioning assembly b, the structure stability is high, the structure is simple and compact, the rigidity is high, the action response is quick, and the problem that the positioning precision of drilling and riveting of large products and the rigidity of drilling and riveting are mutually contradictory and difficult to guarantee simultaneously in the prior art can be solved. In addition, positioning assembly b contains the drill bit storehouse (a plurality of first sliders + drill bits of arranging on first slide rail), can change the drill bit under multiple brill riveting demand circumstances, need not the manual replacement, improves machining efficiency greatly.
In the above embodiment, as shown in fig. 2-4, in order to better ensure the accurate positioning of the drill bit in the X direction, the positioning assembly a21 includes a first positioning platform 211 and a first driving part 212, where the first positioning platform 211 has a third sliding rail 213 thereon, and the first driving part 212 is disposed on the first positioning platform 211; the positioning assembly b22 further includes a second positioning platform 221 and a second sliding block 226, the first sliding rail 223 and the second sliding rail 224 are both disposed on a first side surface of the second positioning platform 221, the second sliding block 226 is fixedly disposed on a second side surface of the second positioning platform 221 opposite to the first side surface, the second sliding block 226 and the third sliding rail 213 are matched, and the first driving portion 212 is used for driving the second sliding block 226 to reciprocate on the third sliding rail 213 along the X direction.
In the above embodiment, as shown in fig. 4, in order to implement the movement of the first slider on the first slide rail and the second slide rail, the positioning assembly b22 further includes a second driving portion 222, where the second driving portion 222 is disposed on the second positioning platform 221, and the second driving portion 222 is used to drive the reciprocal movement of the first slider 225 on the first slide rail 223 and the reciprocal movement of the first slide rail 223 on the second slide rail 224 along the Z direction.
According to an embodiment of the present invention, the first driving part 212 and the second driving part 222 are both motors.
In the above embodiment, in order to better achieve the accurate positioning of the drill bit, the positioning assembly b22 further includes a binocular positioning camera 227, where the binocular positioning camera 227 is disposed on the second positioning platform 221, and the binocular positioning camera 227 is used for identifying and positioning the position of the drill rivet.
That is, after the position of the large product to be drilled and riveted is determined, the multi-degree-of-freedom mechanical arm 12 starts to move to drive the second positioning assembly 20 to move so as to move the drill bit 100 on the second positioning assembly 20 to the vicinity of the target point, thereby realizing coarse positioning, then the binocular positioning camera 227 recognizes the position, and feeds back the result to the action mechanism, and the action mechanism then accurately positions the position of the drill bit 100.
According to one embodiment of the present invention, the multi-degree-of-freedom mechanical arm 12 is a three-degree-of-freedom mechanical arm, and the three-degree-of-freedom mechanical arm can rotate at three nodes to adjust positions.
That is, the three degree of freedom mechanical arm can rotate at three nodes to adjust positions; the Y-direction telescopic rod 13 can move and position in the Y direction, and coarse positioning of the drilling and riveting device is realized together with the three-degree-of-freedom mechanical arm.
In the above embodiment, in order to avoid the impact pressure to the three-degree-of-freedom mechanical arm and the Y-direction telescopic rod during riveting, the Y-direction telescopic rod 13 includes a first rod segment 131, an elastic segment 132 and a second rod segment 133 that are sequentially connected, where the first rod segment 131 is connected with the multiple-degree-of-freedom mechanical arm 12, and the second rod segment 133 is detachably connected with the positioning assembly a 21.
According to one embodiment of the invention, the elastic segment 132 is a spring.
Therefore, the embodiment of the invention can realize coarse positioning through the movement of the mechanical arm, has strong universality, realizes accurate positioning through the adjustment movement of the sliding block and the like, has strong gesture adjustment capability of the parallel mechanism, compact structure and high rigidity and quick action response, can solve the problem that the processing positioning precision and the drilling and riveting rigidity of a large-scale product are difficult to ensure simultaneously in the prior art, and in addition, the device comprises the drill bit library, can replace the drill bit under various drilling and riveting requirements without manual replacement, and greatly improves the processing efficiency.
Spatially relative terms, such as "above … …," "above … …," "upper surface on … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. Drilling and riveting device suitable for large-scale products, characterized in that, it includes first locating component and second locating component to bore the riveting device, wherein:
The first positioning component is used for coarse positioning of the second positioning component and Y-direction positioning of the drill bit, the first positioning component comprises a base, a multi-degree-of-freedom mechanical arm and a Y-direction telescopic rod, the multi-degree-of-freedom mechanical arm is respectively connected with the base and the Y-direction telescopic rod, the multi-degree-of-freedom mechanical arm can rotate at a plurality of nodes to adjust positions, and the Y-direction telescopic rod can reciprocate along the Y direction;
The second positioning assembly comprises a positioning assembly a and a positioning assembly b, the positioning assembly a is detachably connected with the Y-direction telescopic rod, the positioning assembly b is slidably arranged on the positioning assembly a, and the positioning assembly b can reciprocate along the X direction; the positioning assembly b is provided with a first sliding rail and a second sliding rail which are communicated and are arranged at an included angle, the positioning assembly b further comprises a plurality of first sliding blocks, a plurality of drill bits are arranged in one-to-one correspondence with the plurality of first sliding blocks, the specifications of the plurality of drill bits are different, the drill bits are arranged on the corresponding first sliding blocks, before drilling and riveting, the plurality of first sliding blocks are arranged on the first sliding rails at intervals, any first sliding block can reciprocate along the first sliding rail, and when drilling and riveting, the first sliding block moves to the second sliding rail and can reciprocate along the Z direction on the second sliding rail;
The positioning assembly a comprises a first positioning platform and a first driving part, wherein the first positioning platform is provided with a third sliding rail, and the first driving part is arranged on the first positioning platform; the positioning assembly b further comprises a second positioning platform and a second sliding block, the first sliding rail and the second sliding rail are both arranged on the first side face of the second positioning platform, the second sliding block is fixedly arranged on the second side face, opposite to the first side face, of the second positioning platform, the second sliding block is matched with the third sliding rail, and the first driving part is used for driving the second sliding block to reciprocate on the third sliding rail along the X direction.
2. The drilling and riveting device for large products according to claim 1, wherein the positioning assembly b further comprises a second driving part, the second driving part is arranged on the second positioning platform, and the second driving part is used for driving the first sliding block to reciprocate on the first sliding rail and the first sliding rail to reciprocate on the second sliding rail along the Z direction.
3. The drilling and riveting device for large-scale products according to claim 2, wherein the first driving part and the second driving part are motors.
4. A device according to any one of claims 2-3, wherein the positioning assembly b further comprises a binocular positioning camera arranged on the second positioning platform, the binocular positioning camera being used for identifying and positioning the position of the drill and rivet.
5. The drilling and riveting device for large products according to claim 1, wherein the multi-degree-of-freedom mechanical arm is a three-degree-of-freedom mechanical arm, and the three-degree-of-freedom mechanical arm can rotate at three joints to adjust positions.
6. The drilling and riveting device for large products according to claim 1 or 5, wherein the Y-direction telescopic rod comprises a first rod section, an elastic section and a second rod section which are sequentially connected, the first rod section is connected with the multi-degree-of-freedom mechanical arm, and the second rod section is detachably connected with the positioning assembly a.
7. A device for drilling and riveting a large product according to claim 6 wherein the resilient section is a spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210378943.2A CN114833841B (en) | 2022-04-12 | 2022-04-12 | Drilling and riveting device suitable for large-scale products |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210378943.2A CN114833841B (en) | 2022-04-12 | 2022-04-12 | Drilling and riveting device suitable for large-scale products |
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| CN114833841A CN114833841A (en) | 2022-08-02 |
| CN114833841B true CN114833841B (en) | 2024-09-06 |
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| CN202210378943.2A Active CN114833841B (en) | 2022-04-12 | 2022-04-12 | Drilling and riveting device suitable for large-scale products |
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| DE112005002827B4 (en) * | 2004-11-19 | 2014-02-20 | Richard Bergner Verbindungstechnik Gmbh & Co. Kg | Robotic hand and method for automatically setting an element |
| DE102011006679B4 (en) * | 2011-03-16 | 2018-07-12 | Ferrobotics Compliant Robot Technology Gmbh | Active handling device and method for contact tasks |
| JP6491515B2 (en) * | 2015-03-31 | 2019-03-27 | キヤノン株式会社 | Automatic assembly apparatus and automatic assembly method |
| CN205685336U (en) * | 2016-06-16 | 2016-11-16 | 昆山威创自动化科技有限公司 | Large-scale four axis robot |
| FR3056933B1 (en) * | 2016-10-03 | 2019-06-07 | Fives Machining | INSTALLATION COMPRISING AN ARTICULATED ARM AND A MACHINE FOR MACHINING, AND METHOD OF MACHINING IT |
| CN210757771U (en) * | 2019-10-31 | 2020-06-16 | 成都航空职业技术学院 | Drilling and riveting mechanical arm |
| CN212795002U (en) * | 2020-07-14 | 2021-03-26 | 南京航空航天大学 | Reconfigurable mobile robot of end effector |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107932081A (en) * | 2017-11-16 | 2018-04-20 | 上海航天精密机械研究所 | The adaptive automatic Drilling/Riveting system of morpheme and its application method |
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