JP2548958Y2 - Automatic driving machine - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic driving machine that automatically performs a series of operations such as clamping, punching, inserting rivets, and setting a rivet, and particularly to a driving device in which the thickness of a workpiece changes. The present invention relates to an automatic driving machine suitable for the present invention.

[0002]

2. Description of the Related Art Large-sized sheet materials such as main wing skins of aircraft are formed by laminating a plurality of sheet materials such as fiber-reinforced composite materials and driving. Since such a driving operation requires high precision, high efficiency and labor saving, an automatic driving machine that automatically performs a series of operations such as clamping of a plate material, punching of a plate material, insertion of a rivet, and caulking of a rivet is required. Various proposals have been made so far (see, for example, JP-A-61-216829).

[0003]

[Problems to be Solved by the Invention] When the thickness of the work is constant, it is sufficient to drive a rivet of a fixed length. The rivet length and the amount of rivet setting must be changed accordingly. In the case of a conventional automatic driving machine, when the work plate thickness changes, the rivet length and the rivet caulking amount must be changed by the operator, resulting in a problem that the working efficiency is reduced and sufficient labor saving cannot be achieved. was there.

Accordingly, an object of the present invention is to provide an automatic rivet driving machine that can automatically change rivets and change the amount of rivet setting in response to a change in the thickness of a workpiece.

[0005]

According to the present invention, there is provided a hollow upper clamp head, a hollow lower clamp head for clamping a work together with the upper clamp head, the upper and lower clamp heads. Clamp head moving means for moving at least one of the clamp heads to clamp the work between the upper and lower clamp heads, and detecting the amount of movement of at least one of the upper and lower clamp heads to indicate the thickness of the work. A moving amount detecting means for generating a detection output, a drill penetrating through the upper clamp head, drilling a hole in the work clamped by the upper and lower clamp heads, and holding a rivet; And a rivet finger of different length to insert the rivet into the hole. A plurality of rivet storage units respectively storing rivets, a rivet supply unit configured to supply a rivet having a length corresponding to a detection output of the movement amount detection unit to the rivet finger from the rivet storage unit, and a rivet insertion unit inserted through the upper clamp head. Then, an upper anvil that presses the head of the rivet inserted into the hole, a lower anvil that penetrates the inside of the lower clamp head, and the lower anvil that is swaged in accordance with the detection output of the movement amount detection means. And lower anvil moving means for moving the lower anvil upward so as to caulk the rivet and pressing the lower end of the rivet.

In such a configuration, each of the plurality of rivet storage units has a rivet alignment rail, and the rivet supply unit includes a plurality of popper sides respectively communicating with corresponding ones of the plurality of rivet alignment rails. A hose, one common hose communicating with the rivet finger, and a switch for selectively communicating one of the plurality of popper-side hoses with the common hose in accordance with a detection output of the movement amount detecting means. It is preferable to have a mechanism.

Preferably, the clamp head moving means moves only the lower clamp head, and the moving amount detecting means detects a moving amount of the lower clamp head.

[0008]

The clamp head moving means moves at least one of the upper and lower clamp heads to clamp the work between them. At this time, the moving amount detecting means detects the moving amount and generates a detection output corresponding to the work plate thickness. The drill drills holes in the work clamped and clamped by the upper and lower clamp heads.

The rivet supply means supplies a rivet having a length corresponding to the work plate thickness from the rivet accommodating section to the rivet finger according to the detection output of the movement amount detection means. The rivet finger inserts the supplied rivet into a hole in the workpiece, after which the upper anvil presses the rivet head. The lower anvil is raised and moved by the lower anvil moving means and presses the lower end of the rivet to caulk the rivet with a caulking amount according to the detection output of the moving amount detecting means.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the automatic driving machine according to the present invention will be described below with reference to the drawings.

FIGS. 1 and 2 are a front view and a side view, respectively, showing the overall appearance of the automatic driving machine.

FIG. 3 shows a main part of an automatic driving tool. A hollow upper clamp head 1 and a hollow lower clamp head 2 formed as foot cylinders can hold a work W therebetween. Are arranged facing each other.
A lower anvil 3 is slidably fitted in the lower clamp head 2. The lower end 2a of the lower clamp head 2 and the lower end 3a of the lower anvil 3 are both formed in a large diameter, and a pair of slots 4 extending in the axial direction are pierced in the lower end 3a of the large diameter lower anvil. Have been. The lower end 3a of the lower anvil is connected to the lower anvil moving cylinder 5, and the tip of the piston rod 6 of the lower anvil moving cylinder 5 is inserted into the inner space of the lower anvil lower end 3a. A lower anvil moving amount detecting potentiometer 7 is attached to the lower anvil moving cylinder 5, and the potentiometer 7 detects a relative moving amount between the cylinder 5 and the piston rod 6.

A bolt 8 penetrates the lower end 2a of the lower clamp head, the slot 4 of the lower anvil, and the tip of the piston rod 6, and the lower clamp head 2 and the piston rod 6 are integrally connected by the bolt 8. ing. Further, since the lower anvil 3 is in frictional contact with the lower clamp head 2 and the piston rod 6, respectively, the three members are frictionally connected at light load and move integrally, and at high load, they can move relative to each other.

The lower anvil moving cylinder 5 includes a piston rod 1 of a lower clamp head moving cylinder 9.
0 is linked. A lower clamp head moving amount detecting potentiometer 11 is attached to the lower clamp head moving cylinder 9, and the potentiometer 11 detects a relative moving amount between the cylinder 9 and the piston rod 10.

The outputs of the potentiometers 7 and 11 are input to a controller 12 for controlling the sequence of the entire automatic driving tool.

When pressure oil is supplied from the port 9a to the lower clamp head moving cylinder 9 shown in FIG. 3, the piston rod 10 moves upward, and this movement causes the lower anvil moving cylinder 5, piston rod 6 and lower clamp head 2 to move. The lower clamp head 2 comes into contact with the workpiece W as shown in FIG.

A drill 13, a rivet finger 14, and an upper anvil 15 are inserted into the upper clamp head 1 as shown in FIGS. 5, 6, 7, and 8. The rivet finger 14 grips the rivet R,
The length of the gripped rivet R is measured by a rivet length detection sensor 16 composed of, for example, a photocoupler.

In FIG. 9, a plurality of hoppers 17,
18 accommodates rivets R of different lengths, respectively. For example, the hopper 17 accommodates long rivets, and the hopper 18 accommodates short rivets. Each hopper 17, 18 is the first
The rivet aligning rails 19 shown in FIG. 0 are provided, and these rivet aligning rails 19 align the rivets R from the hopper in a line and supply the rivets R to the corresponding hopper side hoses 20, 21 in FIG. Send. These hopper side hoses 20 and 21 are held by a movable block 23 driven by an air cylinder 22. A fixed block 24 is disposed below the movable block 23. The fixed block 24 holds a common hose 25, which communicates with the rivet finger 14 shown in FIG.

Next, the operation of this embodiment will be described. An operator presses a work W such as a fiber-reinforced composite plate against the upper clamp head 1 as shown in FIG. After the positioning is completed, when the pressure oil is supplied to the port 9a of the lower clamp head moving cylinder 9, the piston 10 moves up, whereby the lower clamp head 2 and the lower anvil 3 move upward integrally.
The lower clamp head 2 contacts the work W, and the upper and lower clamp heads 1 and 2 hold and clamp the work W as shown in FIG. At this time, the lower clamp head moving amount detecting potentiometer 11 detects the moving amount of the piston 10 as the moving amount of the lower clamp head 2,
This detection output is supplied to the controller 12. Since the position of the upper clamp head 1 is always constant, the amount of movement of the lower clamp head 2 corresponds to the plate thickness d of the work W, and thus the detection output of the potentiometer 11 is related to the work plate thickness d.

After the work W is clamped, the drill 13 is inserted through the upper clamp head 1 to drill a hole in the work W as shown in FIG. The controller 12 calculates the thickness d of the work W from the detection output of the potentiometer 11 and supplies a rivet R having a length corresponding to the work thickness d to the rivet finger 14. Specifically, the controller 12 controls the air cylinder 22 so that the hopper-side hose 20 or 21 that communicates with the hopper 17 or 18 that accommodates the rivet R having a length corresponding to the workpiece plate thickness d communicates with the common hose 25. Control. Thereby, the rivet R having a length corresponding to the work plate thickness d is fed from the hopper to the rivet finger 14 via the hopper side hose and the common hose. Rivet length detection sensor 16
Is the rivet R held by the rivet finger 14
Is measured, and it is confirmed that this corresponds to the work plate thickness d. The rivet finger 14 descends in the upper clamp head 1 and inserts the rivet R into the hole of the work W. Next, as shown in FIG. 7, the upper anvil 15 is inserted into the rivet finger 14 and presses the head of the rivet R.

Next, when the pressure oil is supplied to the port 5b of the lower anvil moving cylinder 5, the lower anvil moving cylinder 5 moves upward relative to the piston 6 as shown in FIG. This allows the lower anvil 3
Rises and presses the lower end of the rivet R to caulk the rivet R. At this time, the lower anvil moving amount detecting potentiometer 7 detects the moving amount of the lower anvil 3 and sends a detection output to the controller 12. When the amount of upward movement of the lower anvil 3 reaches a predetermined amount determined by the workpiece thickness d, the controller 12 stops the upward movement of the lower anvil 3 based on the detection output of the potentiometer 7. Thereby, the swage amount of the rivet R is controlled to an appropriate amount according to the work plate thickness d.

The amount of rivet setting in accordance with the work plate thickness d can also be controlled by adjusting the pressure of the pressure oil supplied to the lower anvil moving cylinder 5. Specifically, the optimum pressing force for the rivet R having a length corresponding to the work plate thickness d is calculated from the detected work plate thickness d, and the lower anvil 3 is configured to apply the optimum pressing force to the lower end of the rivet. The moving cylinder 5 is controlled. When one set is completed in this manner, the state is returned to the state shown in FIG. 3 by refueling the port 5a of the cylinder 5 and the port 9b of the cylinder 9, and the operation proceeds to the next set.

In the above-described embodiment, the rivet R is checked by the rivet length detecting sensor 16 to confirm that the length of the rivet R matches the work plate thickness d. Alternatively, as shown in FIG. 10, the photoelectric sensor 26 can be arranged below the rivet alignment rail 19, and the length of the rivet R moving on the rivet alignment rail 19 can be detected.

In the above embodiment, the workpiece W is clamped by the upward movement of the lower clamp head 2. However, the present invention is not limited to this, and it is also possible to clamp only the upper clamp head 1 or by moving both the upper and lower clamp heads 1 and 2.

Further, when it is desirable to change not only the length of the rivet R but also the diameter of the rivet R in accordance with the change in the work plate thickness d, a plurality of drills 13 are prepared in advance, and an optimum one is prepared from these drills. Can be selected according to the detection output of the work plate thickness d.

[0026]

As is apparent from the above description, according to the present invention, the moving amount detecting means detects the workpiece plate thickness from the moving amount of at least one of the upper and lower clamp heads, and the rivet supplying means detects the moving amount. A rivet having a length corresponding to the workpiece thickness is supplied to the rivet finger in accordance with the detection output of the means, and the lower anvil moving means moves the lower anvil and controls the amount of caulking by the lower anvil in accordance with the detection output. Even when the thickness of the workpiece changes, the optimum driving force for the thickness can be automatically performed. Therefore, even for a work having a relatively complicated shape in which the plate thickness locally changes, the automatic driving tool can be automatically operated by combining the robot with the robot.

[Brief description of the drawings]

FIG. 1 is a front view showing an embodiment of the automatic driving machine according to the present invention.

FIG. 2 is a side view showing the automatic driving machine according to the present invention.

FIG. 3 is a cross-sectional view of a main part of the automatic tacking machine according to the present invention.

FIG. 4 is a partial cross-sectional view similar to FIG. 3, illustrating a clamped state of a work.

FIG. 5 is a cross-sectional view showing a state in which a workpiece is perforated.

FIG. 6 is a sectional view of the rivet finger gripping the rivet.

FIG. 7 is a cross-sectional view showing a state where the upper anvil is pressing the rivet head.

FIG. 8 is a partial sectional view showing a state where the automatic rivet machine is caulking a rivet.

FIG. 9 is a front view in which a part of the automatic driving machine is cut away.

FIG. 10 is a side view showing a part of the automatic driving tool.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Upper clamp head 2 Lower clamp head 3 Lower anvil 5 Lower anvil moving cylinder 6 Piston rod 7 Lower anvil moving amount detecting potentiometer 9 Lower clamp head moving cylinder 10 Piston rod 11 Lower clamp head moving amount detecting potentiometer 12 Controller 13 Drill 14 Rivet finger 15 Upper clamp head 17 Hopper 18 Hopper 20 Hopper side hose 21 Hopper side hose 22 Air cylinder 23 Block 22 Switching mechanism 23 Switching mechanism 25 Common hose

Claims (3)

(57) [Scope of request for utility model registration] A hollow upper clamp head, a hollow lower clamp head for clamping a workpiece together with the upper clamp head, and moving the at least one of the upper and lower clamp heads to move the upper and lower clamp heads. A clamping head moving means for clamping the work, a moving amount detecting means for detecting a moving amount of at least one of the upper and lower clamp heads and generating a detection output indicating a plate thickness of the work, and an upper clamp head And a rivet finger that grips a rivet, inserts the inside of the upper clamp head and inserts the rivet into the hole, and a drill that penetrates the inside and drills a hole in the work held by the upper and lower clamp heads. A plurality of rivet storage units each storing rivets of different lengths, Rivet supply means for supplying a rivet of a length corresponding to the detection output of the ejecting means to the rivet finger from the rivet accommodating portion, and a rivet head inserted through the upper clamp head and inserted into the hole. The upper anvil to be pressed, the lower anvil inserted through the inside of the lower clamp head, and the lower anvil ascending and moving so that the lower anvil crimps a rivet with a swage amount according to the detection output of the movement amount detecting means. An automatic driving tool, comprising: lower anvil moving means for pressing a lower end of the rivet. 2. A method according to claim 1, wherein each of said plurality of rivet storage sections has a rivet alignment rail, and said rivet supply section includes a plurality of popper side hoses respectively communicating with corresponding ones of said plurality of rivet alignment rails. A common hose communicating with the rivet finger, and a switching mechanism for selectively communicating one of the plurality of popper-side hoses with the common hose in accordance with a detection output of the movement amount detecting means. The automatic driving tool according to claim 1, wherein: 3. The automatic driving tool according to claim 1, wherein said clamp head moving means moves only said lower clamp head, and said movement amount detecting means detects an amount of upward movement of said lower clamp head. Machine.