CN106584141A - Flexible clamping mechanism for automatic milling of aircraft large part robot - Google Patents
Flexible clamping mechanism for automatic milling of aircraft large part robot Download PDFInfo
- Publication number
- CN106584141A CN106584141A CN201710056547.7A CN201710056547A CN106584141A CN 106584141 A CN106584141 A CN 106584141A CN 201710056547 A CN201710056547 A CN 201710056547A CN 106584141 A CN106584141 A CN 106584141A
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- China
- Prior art keywords
- vacuum
- clamping mechanism
- flexible clamping
- workpiece
- flange plate
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q2703/00—Work clamping
- B23Q2703/02—Work clamping means
- B23Q2703/10—Devices for clamping workpieces of a particular form or made from a particular material
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The invention discloses a flexible clamping mechanism for automatic milling of an aircraft large part robot. The flexible clamping mechanism for automatic milling is characterized in that the flexible clamping mechanism is directly connected with a flange plate on a robot mechanical arm, and structurally comprises a connecting flange plate, a linear primer, a servo motor, a movable connecting plate, a vacuum sucker, a vacuum generator and a vacuum degree detector; the connecting flange plate consists of two connecting surfaces; one connecting surface is provided with a flange plate directly connected with the flange plate on the robot mechanical arm; the other connecting surface is provided with six sets of telescopic vacuum adsorbing devices; the two connecting surfaces of the connecting flange plate form an included angle of 45 degrees to prevent interference with workpieces during clamping; the telescopic vacuum adsorbing devices include linear primers, servo motors, movable connecting plates and vacuum suckers; the six sets of telescopic vacuum absorbing devices are uniformly distributed on the connecting flange plate; the vacuum suckers are special suckers; and eight elastic rods are arranged around the vacuum suckers.
Description
Technical field
The present invention relates to a kind of flexible holding device of robot milling automatic processing unit (plant), particularly disclosing one kind is used for
The flexible clamping mechanism of Large Aircraft Components robot milling automatic, is applied in aviation field Large-Scale Equipment assembling process to freedom
The auxiliary flexible clamping of the thin wall work-piece of curved surface fitting allowance.
Background technology
At present, aviation field aircraft assembling line is boarded a plane big part（Such as covering）During Butt Assembling, frequently with artificial
Polishing fitting allowance, workpiece accuracy has high demands, and workman's working strength is high, inefficiency, particularly when composite is polished also
Noxious material can be produced affects workman physically and mentally healthy；In order to meet the demand and occupational health demand of production, we devise one
Kind adapt to the milling automatic mechanism of robot of Large Aircraft Components free curve surface work pieces to replace manpower, improve production efficiency is reduced
Human cost, ensures that workman's occupational health is required.But in the big part of thin wall（Generally thickness≤6mm）During Milling Process, workpiece
Vibratory output is big, and stress deformation is big, has a strong impact on the machining accuracy grade and machined surface quality of workpiece.
The content of the invention
Present invention aim to address the defect of prior art, open a kind of for Large Aircraft Components robot milling automatic
Flexible clamping mechanism, the vibration that thin wall work-piece stress during robot milling automatic is produced is reduced by the present invention
Amount, improves the accuracy class and surface quality of workpiece.
What the present invention was realized in：A kind of flexible clamping mechanism for Large Aircraft Components robot milling automatic, its
It is characterised by：Described milling automatic flexible clamping mechanism is directly connected with the ring flange on robot arm, its structure bag
Include adpting flange plate（1）, linear actuator（2）, servomotor（3）, mobile link plate（4）, vacuum cup（5）, vacuum occur
Device（6）And vacuum inspective meter（8）；Described adpting flange plate（1）It is made up of two joint faces, a joint face is provided with and machine
The ring flange that ring flange on people's mechanical arm is directly connected to, another joint face is provided with six sets of extension type vacuum absorption devices,
The adpting flange plate（1）Two joint faces be in 45 degree of angles, it is to avoid interfere with workpiece during clamping, described extension type
Vacuum absorption device often covers and include linear actuator（2）, servomotor（3）, mobile link plate（4）And vacuum cup（5）, institute
The extension type vacuum absorption device stated is by servomotor（3）Drive linear actuator（2）In leading screw rotate, so as to drive spiral shell
Mother moves along a straight line, and slide, slide and mobile link plate are fixed with nut（4）Link together, vacuum cup（5）It is arranged on
Mobile link plate（4）On, realize regulation vacuum cup（5）The distance between with workpiece, described vacuum cup（5）For special
Sucker, vacuum cup（5）Surrounding carries eight elastic rods, and eight elastic rods are controlled by two-way compressed air, compresses empty all the way
The locking of gas control elastic rod and unblock, all the way compressed air control elastic rod is flexible.Six sets of described extension type vacuum
Adsorbent equipment is distributed on adpting flange plate（1）On.
During work, when described flexible clamping mechanism moves to setting position point, flexible clamping mechanism is according to workpiece
The parameter of curve form and setting position point, calculates each vacuum cup（5）Apart from the distance of curve surface of workpiece, servomotor
（3）Drive linear actuator（2）, so that six vacuum cups（5）The curved surface consistent with workpiece free form surface is formed, then is moved
Described flexible clamping mechanism is with absorption surface and adsorbs firm；Or described flexible clamping mechanism moves to setting position point
When, servomotor（3）Drive linear actuator（2）, drive vacuum cup（5）With absorption surface and adsorb, until vacuum degree
Servomotor is fed back to when reaching setting value（3）, servomotor（3）Quit work；When compressed air is connected, vacuum cup
（5）The unblock of eight elastic rods, eight elastic rods can freely stretch, and eight elastic rods arbitrarily become according to the shape of free form surface
Change, after adsorbing vacuum values and reaching requirement feedback signal, cut off compressed air, eight elastic rods are pinned, make eight elastic rods with
Curve surface of workpiece rigid contact, the vibratory output produced when reducing workpiece by cutting force.Described adpting flange plate connection clamping machine
The flanged plate of people, by the adjustment of robot difference angle, realizes any free form surface in the range of the artificial work of clamping machine
Clamping.
The invention has the beneficial effects as follows：The present invention is oneself of the thin wall work-piece of Large Aircraft Components free form surface fitting allowance
Auxiliary flexible clamping device indispensable in dynamic Milling Process, present invention decreases thin wall work-piece is received during milling automatic
The vibratory output that power is produced, improves the accuracy class and surface quality of workpiece.It is can also be applied to the big portion of common aircraft
In the fitting allowance of part free form surface, compared with the workpiece that the milling automatic mechanism for being provided without the present invention processes, using this
The workpiece overall precision grade that milling automatic mechanism after bright flexible clamping mechanism processes is significantly improved, and surface quality is carried significantly
Rise, and the controllability to whole process is greatly improved.
Description of the drawings
Fig. 1 is a kind of axonometric drawing of the flexible clamping mechanism for Large Aircraft Components robot milling automatic of the present invention.
Fig. 2 is that a kind of front view structure of the flexible clamping mechanism for Large Aircraft Components robot milling automatic of the present invention is shown
It is intended to.
Fig. 3 is that a kind of left view structure of the flexible clamping mechanism for Large Aircraft Components robot milling automatic of the present invention is shown
It is intended to.
Fig. 4 is that a kind of plan structure of the flexible clamping mechanism for Large Aircraft Components robot milling automatic of the present invention is shown
It is intended to.
In figure：1st, adpting flange plate；2nd, linear actuator；3rd, servomotor；4th, mobile link plate；5th, vacuum is inhaled
Disk；6th, vacuum generator；8th, vacuum inspective meter；9th, reinforcement.
Specific embodiment
With reference to the accompanying drawings 1～4, a kind of flexible clamping mechanism for Large Aircraft Components robot milling automatic of the present invention, institute
The milling automatic flexible clamping mechanism for stating directly is connected with the ring flange on robot arm, and its structure includes adpting flange plate
1st, linear actuator 2, servomotor 3, mobile link plate 4, vacuum cup 5, vacuum generator 6 and vacuum inspective meter 8.It is described
Adpting flange plate 1 be made up of two joint faces, a joint face is provided with and is directly connected to ring flange on robot arm
Ring flange, another joint face is provided with six sets of extension type vacuum absorption devices, and two joint faces of the adpting flange plate 1 are in 45
Degree angle, it is to avoid interfere with workpiece during clamping.Described extension type vacuum absorption device often covers and include straight line priming
Device 2, servomotor 3, mobile link plate 4 and vacuum cup 5, described extension type vacuum absorption device is driven by servomotor 3
Leading screw in dynamic linear actuator 2 is rotated, and so as to drive nut to move along a straight line, slide, slide and movement is fixed with nut
Connecting plate 4 links together, and vacuum cup 5 is arranged on mobile link plate 4, realizes between regulation vacuum cup 5 and workpiece
Distance, described vacuum cup 5 is Special sucking disc, and eight elastic rods are carried around vacuum cup 5, and eight elastic rods are by two
Road compressed air is controlled, all the way the locking of compressed air control elastic rod and unblock, and all the way compressed air controls stretching for elastic rod
Contracting.Six sets of described extension type vacuum absorption devices are distributed on adpting flange plate 1.
During work, when described flexible clamping mechanism moves to setting position point, flexible clamping mechanism is according to workpiece
The parameter of curve form and setting position point, calculates distance of each vacuum cup 5 apart from curve surface of workpiece, and servomotor 3 drives
Dynamic linear actuator 2, so that six vacuum cups 5 form the curved surface consistent with workpiece free form surface, then it is soft described in moving
Property clamping device and absorption surface and adsorb firmly；Or described flexible clamping mechanism is when moving to setting position point, servo
Motor 3 drive linear actuator 2, drive vacuum cup 5 is with absorption surface and adsorbs, until vacuum degree reach it is anti-during setting value
Feed servomotor 3, servomotor 3 quits work.When compressed air is connected, eight elastic rods unblock of vacuum cup 5, eight
Individual elastic rod can freely stretch, and eight elastic rods arbitrarily change according to the shape of free form surface, want when absorption vacuum values reach
Negate after feedback signal, cut off compressed air, eight elastic rods are pinned, and make eight elastic rods and curve surface of workpiece rigid contact, are reduced
The vibratory output produced when workpiece is by cutting force, ensures the machining accuracy of workpiece.
Ring flange on the adpting flange plate 1 is directly connected to the ring flange on robot arm, by robot not
With the adjustment of angle, the clamping of any free form surface in robot working range is realized.After the present invention, robot is certainly
Dynamic milling mechanism starts to process until completing the Milling Process of the area segments, then robot milling automatic mechanism is moved to next
Individual machining area section continues Milling Process, until completing the processing of whole workpiece.
The present invention be the thin wall work-piece of Large Aircraft Components free form surface fitting allowance milling automatic processing in can not or
Scarce auxiliary flexible clamping device, present invention decreases the vibratory output that thin wall work-piece stress is produced during milling automatic, carries
The accuracy class and surface quality of high workpiece.It is can also be applied to more than the assembling of common Large Aircraft Components free form surface
In amount, compared with the workpiece that the milling automatic mechanism for being provided without the present invention processes, added using the milling automatic mechanism of the present invention
The workpiece overall precision grade that work goes out is significantly improved, and surface quality is greatly promoted, and big to the controllability of whole process
It is big to improve.
Claims (3)
1. a kind of flexible clamping mechanism for Large Aircraft Components robot milling automatic, it is characterised in that：Described automatic milling
Cut flexible clamping mechanism to be directly connected with the ring flange on robot arm, its structure includes adpting flange plate（1）, straight line draws
Dynamic device（2）, servomotor（3）, mobile link plate（4）, vacuum cup（5）, vacuum generator（6）And vacuum inspective meter（8）；
Described adpting flange plate（1）It is made up of two joint faces, a joint face is provided with direct with the ring flange on robot arm
The ring flange of connection, another joint face is provided with six sets of extension type vacuum absorption devices, the adpting flange plate（1）Two companies
Junction is in 45 degree of angles, it is to avoid interfered with workpiece during clamping, described extension type vacuum absorption device often covers and includes
Linear actuator（2）, servomotor（3）, mobile link plate（4）And vacuum cup（5）, described extension type vacuum suction dress
Put by servomotor（3）Drive linear actuator（2）In leading screw rotate, it is solid on nut so as to drive nut to move along a straight line
Surely there are slide, slide and mobile link plate（4）Link together, vacuum cup（5）Installed in mobile link plate（4）On, realize
Regulation vacuum cup（5）The distance between with workpiece, described vacuum cup（5）For Special sucking disc, vacuum cup（5）Around
With eight elastic rods, eight elastic rods are controlled by two-way compressed air, all the way the locking of compressed air control elastic rod with
Unblock, all the way compressed air control elastic rod is flexible.
2. a kind of flexible clamping mechanism for Large Aircraft Components robot milling automatic according to claim 1, it is special
Levy and be：Six sets of described extension type vacuum absorption devices are distributed on adpting flange plate（1）On.
3. a kind of flexible clamping mechanism for Large Aircraft Components robot milling automatic according to claim 1, it is special
Levy and be：During work, when described flexible clamping mechanism moves to setting position point, song of the flexible clamping mechanism according to workpiece
The parameter of face shape and setting position point, calculates each vacuum cup（5）Apart from the distance of curve surface of workpiece, servomotor（3）
Drive linear actuator（2）, so that six vacuum cups（5）The curved surface consistent with workpiece free form surface is formed, then moves institute
The flexible clamping mechanism for stating is with absorption surface and adsorbs firm；Or described flexible clamping mechanism moves to setting position point
When, servomotor（3）Drive linear actuator（2）, drive vacuum cup（5）With absorption surface and adsorb, until vacuum degree
Servomotor is fed back to when reaching setting value（3）, servomotor（3）Quit work；When compressed air is connected, vacuum cup
（5）The unblock of eight elastic rods, eight elastic rods can freely stretch, and eight elastic rods arbitrarily become according to the shape of free form surface
Change, after adsorbing vacuum values and reaching requirement feedback signal, cut off compressed air, eight elastic rods are pinned, make eight elastic rods with
Curve surface of workpiece rigid contact, the vibratory output produced when reducing workpiece by cutting force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710056547.7A CN106584141B (en) | 2017-01-25 | 2017-01-25 | A kind of flexible clamping mechanism for Large Aircraft Components robot milling automatic |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710056547.7A CN106584141B (en) | 2017-01-25 | 2017-01-25 | A kind of flexible clamping mechanism for Large Aircraft Components robot milling automatic |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106584141A true CN106584141A (en) | 2017-04-26 |
| CN106584141B CN106584141B (en) | 2018-07-24 |
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ID=58586357
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710056547.7A Active CN106584141B (en) | 2017-01-25 | 2017-01-25 | A kind of flexible clamping mechanism for Large Aircraft Components robot milling automatic |
Country Status (1)
| Country | Link |
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| CN (1) | CN106584141B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107253084A (en) * | 2017-07-03 | 2017-10-17 | 上海昂恒航空自动化装备有限公司 | Efficient high-precision robot milling automatic system in aircraft digital assembling |
Citations (6)
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|---|---|---|---|---|
| DE4305969A1 (en) * | 1993-02-26 | 1994-09-01 | Wilfried Buerkle | Method for the precise location of sanitary connections, heating connections and electric connections |
| CN102765088A (en) * | 2012-07-16 | 2012-11-07 | 上海飞机制造有限公司 | Single side soft absorption type automatic drilling robot |
| CN104400086A (en) * | 2014-10-10 | 2015-03-11 | 南京航空航天大学 | Aircraft skin mirror milling method and aircraft skin mirror milling device |
| CN104647111A (en) * | 2015-02-15 | 2015-05-27 | 南京航空航天大学 | Electric and spring coupling pressure pin of automatic hole manufacturing tail end actuator and control method |
| CN104816761A (en) * | 2015-02-15 | 2015-08-05 | 南京航空航天大学 | Walking mechanism and walking method of crawling robot |
| CN105058109A (en) * | 2015-07-17 | 2015-11-18 | 大连四达高技术发展有限公司 | Flexible tool unit and flexible lattice tool system |
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2017
- 2017-01-25 CN CN201710056547.7A patent/CN106584141B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4305969A1 (en) * | 1993-02-26 | 1994-09-01 | Wilfried Buerkle | Method for the precise location of sanitary connections, heating connections and electric connections |
| CN102765088A (en) * | 2012-07-16 | 2012-11-07 | 上海飞机制造有限公司 | Single side soft absorption type automatic drilling robot |
| CN104400086A (en) * | 2014-10-10 | 2015-03-11 | 南京航空航天大学 | Aircraft skin mirror milling method and aircraft skin mirror milling device |
| CN104647111A (en) * | 2015-02-15 | 2015-05-27 | 南京航空航天大学 | Electric and spring coupling pressure pin of automatic hole manufacturing tail end actuator and control method |
| CN104816761A (en) * | 2015-02-15 | 2015-08-05 | 南京航空航天大学 | Walking mechanism and walking method of crawling robot |
| CN105058109A (en) * | 2015-07-17 | 2015-11-18 | 大连四达高技术发展有限公司 | Flexible tool unit and flexible lattice tool system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107253084A (en) * | 2017-07-03 | 2017-10-17 | 上海昂恒航空自动化装备有限公司 | Efficient high-precision robot milling automatic system in aircraft digital assembling |
| CN107253084B (en) * | 2017-07-03 | 2019-09-20 | 上海昂恒航空自动化装备有限公司 | Efficient high-precision robot milling automatic system in aircraft digital assembly |
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| Publication number | Publication date |
|---|---|
| CN106584141B (en) | 2018-07-24 |
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