CN108237395A - A kind of aircraft passenger compartment floor board screw teardown of engine people - Google Patents
A kind of aircraft passenger compartment floor board screw teardown of engine people Download PDFInfo
- Publication number
- CN108237395A CN108237395A CN201810171135.2A CN201810171135A CN108237395A CN 108237395 A CN108237395 A CN 108237395A CN 201810171135 A CN201810171135 A CN 201810171135A CN 108237395 A CN108237395 A CN 108237395A
- Authority
- CN
- China
- Prior art keywords
- screw
- passenger compartment
- aircraft passenger
- floor board
- compartment floor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 238000012544 monitoring process Methods 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 3
- 206010050031 Muscle strain Diseases 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/006—Holding or positioning the article in front of the applying tool
Abstract
A kind of aircraft passenger compartment floor board screw teardown of engine people, including：One walking mechanism (1)；One multiple degrees of freedom robotic arm (2), is fixed in walking mechanism；One image automatic identification and positioning screw system (3), are located at robotic arm end；One screw disassembling mechanism (4), is located at robotic arm end, including：One servo motor, output shaft are connected with the spiral shell cutter head corresponding to aircraft passenger compartment floor board screw；One screw clamp laying mechanism (5), is located at robotic arm end, including：One folds up motor, and output shaft connects the reversed double threaded screw of a both ends screw thread, and double threaded screw is equipped with two parallel fixture blocks；Fold up be further fixed on motor fixture block limit bracket prevent two parallel fixture blocks from rotate can only towards or away from clamp or releasing screw bar portion；One controller (6) controls with above-mentioned each mechanism, mechanical arm and system connect respectively.The present invention can dismantle to high efficiency smart aircraft passenger compartment floor board screw.
Description
Technical field
The present invention relates to a kind of robot, more particularly, to a kind of aircraft passenger compartment floor board screw teardown of engine people.
Background technology
At present at home, during aircraft regular inspection, floor level is dismounted by manpower using easy pneumatic drill or electric drill, is not had
It is dedicated to tear floor board screw automation equipment open.It is above-mentioned artificial generally more than 20,000 since the quantity of floor level screw is very big
Mode efficiencies are low, and long-term semi-crouch work easily makes worker's lumbar muscle strain.
Invention content
The technical problems to be solved by the invention are just to provide a kind of aircraft passenger compartment floor board screw demountor of high efficiency smart
Device people.
Above-mentioned technical problem is solved, the technical solution adopted in the present invention is as follows：
A kind of aircraft passenger compartment floor board screw teardown of engine people, it is characterized in that including：
One walking mechanism；
One multiple degrees of freedom robotic arm is fixedly mounted in the walking mechanism；
One image automatic identification and positioning screw system are located at the robotic arm end；
One screw disassembling mechanism is located at the robotic arm end, including：One servo motor, output shaft are connected with pair
It should be in the spiral shell cutter head of aircraft passenger compartment floor board screw；
One screw clamp laying mechanism is located at the robotic arm end, including：One folds up motor, and output shaft connects a both ends
The reversed double threaded screw of screw thread, sets that there are two parallel fixture blocks on double threaded screw；It folds up and fixture block limit bracket is further fixed on motor
Prevent two parallel fixture blocks can only be towards or away from clamping or releasing screw bar portion from rotating；Two parallel fixture blocks towards or away from
Direction perpendicular to the servo motor output shaft；
One controller controls with above-mentioned each mechanism, mechanical arm and system connect respectively.
Preferably, the servo motor peak torque is 45NM, and stops return origin, in walking rail equipped with super square
The position (prior art) of current screw position is marked on mark.
The walking mechanism is additionally provided with automated navigation system, can identify aircraft passenger compartment region, autonomous or artificial planning row
Route is walked, collision main cabin inside panel is prevented using laser ranging.(prior art)
The walking mechanism uses quick-detachable battery powered, is more than 8 hours cruise duration.
The robot is additionally provided with monitoring and communication system, monitoring trolley battery temperature, electricity, failure, disassembling bolts
Quantity records, and passes through Internet of Things and communicated with extraneous.(prior art)
Advantageous effect：Robot uses self-navigation walking dolly as walking mechanism, and one is installed in walking mechanism
Multivariant robotic arm, robotic arm end is equipped with automatic image recognition system and screw disassembling mechanism, robot lead to the external world
It crosses Internet of Things to be communicated, automatic dismantling floor board screw, without manual intervention.
Description of the drawings
Fig. 1 is the composition and connection diagram of the present invention；
Fig. 2 is the line A-A schematic cross-sectional view along Fig. 1.
In figure：1- walking mechanisms；2- multiple degrees of freedom robotic arms；3- image automatic identifications and positioning screw system；4- screws
Disassembly mechanism, 41- servo motors, 42- spiral shell cutter heads；5- screw clamp laying mechanisms, 51- fold up motor, 52- double threaded screws, and 53- is parallel
Fixture block, 54- limit brackets, 6- controllers.
Specific embodiment
Referring to aircraft passenger compartment floor board screw teardown of engine people's embodiment of Fig. 1 and Fig. 2 present invention, including：
AGV walking dollies 1, multiple degrees of freedom robotic arm 2, are fixedly mounted on walking dolly, automatic image recognition system
3, it is located at the end of robotic arm 2.
Also screw disassembling mechanism 4 is also provided in the end of robotic arm 2, including：One servo motor 41, output shaft connect
It is connected to the spiral shell cutter head 42 corresponding to aircraft passenger compartment floor board screw；One screw clamp laying mechanism 5 is likewise provided at the end of robotic arm 2,
Including：One folds up motor 51, and output shaft connects the reversed double threaded screw 52 of a both ends screw thread, is set on double threaded screw there are two parallel
Fixture block 53；It folds up and fixture block limit bracket 54 is further fixed on motor prevents two parallel fixture blocks can only be towards or away from folder from rotating
Tight or releasing screw bar portion；Two parallel fixture blocks towards or away from direction perpendicular to servo motor 41 output shaft.So
The rivet nut for the screw for back-outing half can be clamped.
Also screw identification and alignment system 6 are used to identify Special Eccentric cross aviation screw mounted on robotic arm end
Image；
One controller 6 controls with above-mentioned each mechanism, mechanical arm and system connect respectively.
The peak torque of servo motor is 45NM, and stops returning to origin equipped with super square, marks current bolt location
Control circuit；Walking dolly is additionally provided with automated navigation system, can identify aircraft passenger compartment region, autonomous or artificial planning walking road
Line prevents collision main cabin inside panel using laser ranging, and trolley uses quick-detachable battery powered, is more than 8 cruise duration
Hour.
Robot is additionally provided with monitoring and communication system, and monitoring trolley battery temperature, electricity, failure, screw remove quantity note
Record, and pass through Internet of Things and communicated with extraneous.
Claims (5)
1. a kind of aircraft passenger compartment floor board screw teardown of engine people, it is characterized in that including：One walking mechanism (1)；One multiple degrees of freedom machine
Device arm (2) is fixedly mounted in the walking mechanism；One image automatic identification and positioning screw system (3), are located at the machine
Device arm end；One screw disassembling mechanism (4), is located at the robotic arm end, including：One servo motor (41), output shaft
It is connected with the spiral shell cutter head (42) corresponding to aircraft passenger compartment floor board screw；One screw clamp laying mechanism (5) is located at the robotic arm end
End, including：One folds up motor (51), and output shaft connects the reversed double threaded screw (52) of a both ends screw thread, set on double threaded screw
There are two parallel fixture blocks (53)；Fold up be further fixed on motor fixture block limit bracket (54) prevent two parallel fixture blocks from rotate only
It can be towards or away from clamping or releasing screw bar portion；Two parallel fixture blocks towards or away from the direction of motion perpendicular to the servo
Motor output shaft；One controller (6) controls with above-mentioned each mechanism, mechanical arm and system connect respectively.
2. aircraft passenger compartment floor board screw teardown of engine people according to claim 1, it is characterized in that：The servo motor is most
Large torque is 45NM, and the control circuit of current screw position is marked equipped with super square stopping return origin, in run trace.
3. aircraft passenger compartment floor board screw teardown of engine people according to claim 1, it is characterized in that：The walking mechanism is also
Equipped with automated navigation system, aircraft passenger compartment region can be identified, plan independently or artificially track route, prevent from touching using laser ranging
Hit main cabin inside panel.
4. aircraft passenger compartment floor board screw teardown of engine people according to claim 1, it is characterized in that：The walking mechanism is adopted
With quick-detachable battery powered, cruise duration is more than 8 hours.
5. aircraft passenger compartment floor board screw teardown of engine people according to claim 1, it is characterized in that：The robot is also set
Have monitoring and a communication system, monitoring trolley battery temperature, electricity, failure, screw remove quantity record, and pass through Internet of Things with it is outer
Boundary communicates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810171135.2A CN108237395A (en) | 2018-03-01 | 2018-03-01 | A kind of aircraft passenger compartment floor board screw teardown of engine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810171135.2A CN108237395A (en) | 2018-03-01 | 2018-03-01 | A kind of aircraft passenger compartment floor board screw teardown of engine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108237395A true CN108237395A (en) | 2018-07-03 |
Family
ID=62699979
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810171135.2A Withdrawn CN108237395A (en) | 2018-03-01 | 2018-03-01 | A kind of aircraft passenger compartment floor board screw teardown of engine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108237395A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114310856A (en) * | 2022-01-25 | 2022-04-12 | 中建八局装饰工程有限公司 | Robot for disassembling overhead floor screws |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6494120B1 (en) * | 1999-09-29 | 2002-12-17 | Centre De Recherche Industrielle Du Quebec | Bolt and nut disassembling apparatus |
| CN203031218U (en) * | 2012-12-07 | 2013-07-03 | 青岛海尔模具有限公司 | Injection mould automatic detaching device |
| CN104786051A (en) * | 2015-05-06 | 2015-07-22 | 福建农林大学 | Steel furnace door assembling and disassembling system and method |
| CN205552501U (en) * | 2016-01-22 | 2016-09-07 | 马鞍山远荣机器人智能装备有限公司 | Automatic twist screw robot |
| CN105921990A (en) * | 2016-06-28 | 2016-09-07 | 江苏捷帝机器人股份有限公司 | High-precision mechanical arm for quick screw installation and working method thereof |
| CN105945561A (en) * | 2016-05-20 | 2016-09-21 | 上海航天控制技术研究所 | Mechanical arm-electromagnetic replaceable screw screwing system based on wrist eye stereo vision |
| CN107263073A (en) * | 2017-08-09 | 2017-10-20 | 苏州阿甘机器人有限公司 | A kind of AGV dollies of automatic assembling |
| CN207953119U (en) * | 2018-03-01 | 2018-10-12 | 广州飞机维修工程有限公司 | A kind of aircraft passenger compartment floor board screw teardown of engine people |
-
2018
- 2018-03-01 CN CN201810171135.2A patent/CN108237395A/en not_active Withdrawn
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6494120B1 (en) * | 1999-09-29 | 2002-12-17 | Centre De Recherche Industrielle Du Quebec | Bolt and nut disassembling apparatus |
| CN203031218U (en) * | 2012-12-07 | 2013-07-03 | 青岛海尔模具有限公司 | Injection mould automatic detaching device |
| CN104786051A (en) * | 2015-05-06 | 2015-07-22 | 福建农林大学 | Steel furnace door assembling and disassembling system and method |
| CN205552501U (en) * | 2016-01-22 | 2016-09-07 | 马鞍山远荣机器人智能装备有限公司 | Automatic twist screw robot |
| CN105945561A (en) * | 2016-05-20 | 2016-09-21 | 上海航天控制技术研究所 | Mechanical arm-electromagnetic replaceable screw screwing system based on wrist eye stereo vision |
| CN105921990A (en) * | 2016-06-28 | 2016-09-07 | 江苏捷帝机器人股份有限公司 | High-precision mechanical arm for quick screw installation and working method thereof |
| CN107263073A (en) * | 2017-08-09 | 2017-10-20 | 苏州阿甘机器人有限公司 | A kind of AGV dollies of automatic assembling |
| CN207953119U (en) * | 2018-03-01 | 2018-10-12 | 广州飞机维修工程有限公司 | A kind of aircraft passenger compartment floor board screw teardown of engine people |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114310856A (en) * | 2022-01-25 | 2022-04-12 | 中建八局装饰工程有限公司 | Robot for disassembling overhead floor screws |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180703 |
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| WW01 | Invention patent application withdrawn after publication |