Design And Research Of Automatic Rivets Feeding System Based On Industry Robots Platform

With the fast development of digital assemble technology in aviation manufacturing industry at home and abroad, as one important key- technology of them, the research and application of automatic drilling & riveting technology has also increasingly matured. At present, external automatic drilling & riveting technology has already developed to a certain high level, and develops towards to the direction that multifunctional integration and to the robot drilling & riveting system which is more flexible. Compared with that, internal automatic drilling & riveting technology is still at a backward stage, the automatic drilling & riveting machines used mostly are the obsolete products which were imported from foreign counties, the application area is also very limited. Against this situation, Zhejiang University has built a dual-robot synergy drilling & riveting test system based on linking and assembly of aircraft wainscot, and produced some automatic drilling & riveting terminal performers which apply to robot drilling & riveting system independently, including a multifunctional terminal performer which gathers drilling, glue daubing, rivets feeding & inserting and riveting together, the rivet inserting device and the automatic rivet feeding system which provides and sends rivets for this inserting device are the main targets studied in the paper.At first, the development and application situation, researching direction of the automatic drilling & riveting technology and automatic rivet feeding devices in the aircraft assembly of internal and external aviation manufacturing industry are expounded in this article, the total form of the dual-robot synergy drilling & riveting test system and the mechanism structure of the automatic rivet feeding machine and the rivet inserting device are introduced. The total process flow and the process flow of the automatic rivet feeding machine and the rivet inserting device is established.Then, the electrical control system of mechanism structure of the dual-robot synergy drilling & riveting test system and the automatic rivet feeding system are designed after the precondition that the process flow is fulfilled. Design the system by two parts which are motor-driving and pneumatic-driving. the function and operational principle of the elements and components is introduced detailed. The making of electrical control cabinets is introduced.Finally, by researching the whole rivet feeding flow of the automatic rivet feeding system, some problems existent:the rivets are easily to drop down because of the inertia when the translation air cylinder start to move and stop suddenly, the rivets are easily stuck in the pipe because the air pressure is too low, if the sustain air cylinder could bear the wallop of the riveting gun when the robots are riveting, and so on. Against the problems mentioned, analyze and calculate based on the mechanics principle and hydromechanics principle, obtain the lowest air supply pressure that make rivets drop down and stink impossible, the size of the pipe which is suitable for different type of rivets, and the necessary conditions that the sustain air cylinder of the inserting device could bear the wallop of the riveting gun, the improved schemes are advanced, and test them by experiments. The results indicate that the air supply pressure between 0.6MPa and 0.7MPa could ensure the dependability of the seeding of the rivets, according with the results of calculate.