CN108931933A - A kind of honeycomb hole filler automation implantation equipment - Google Patents
A kind of honeycomb hole filler automation implantation equipment Download PDFInfo
- Publication number
- CN108931933A CN108931933A CN201711339135.0A CN201711339135A CN108931933A CN 108931933 A CN108931933 A CN 108931933A CN 201711339135 A CN201711339135 A CN 201711339135A CN 108931933 A CN108931933 A CN 108931933A
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- Prior art keywords
- filler
- honeycomb
- filling
- honeycomb hole
- axis kinematic
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The invention discloses a kind of honeycomb hole fillers to automate implantation equipment.It include bracket, absorption platform, X Y Z axis kinematic system, filler unwinding system, vision inspection apparatus, filler implant system and control system；The present invention fills filler to setting implantation path in honeycomb cell after can handling coiled filler by vision positioning, it is set in operational process using vision-based detection honeycomb hole case, it will test position data and be transmitted to filling executing agency, executing agency feeds back according to the data information of vision collecting, and filler is filled to honeycomb cell.The present invention is short the time required to being implanted into functional fills unit automatically, and precision controlling is high, reduces cost of labor, and easy to operate, high degree of automation, sufficiently incorporates relevant mature technology, and can meeting high-precision, batch, quickly filling requires.
Description
Technical field
The invention belongs to honeycomb hole padding field, specifically a kind of honeycomb hole filler automation implantation equipment.
Background technique
Honeycomb is light, high-strength, fire-retardant, dielectric properties are good, as light-weight filler sandwich material.In some special application necks
Domain（Such as there is heat-insulated and sound insulation application environment）, the cavity of hexagon cannot achieve these application demands.Selection is common at present
Heat-insulated or sound insulating material（Rubber, glass felt etc.）The disadvantages of low, quality that there are intensity weighs.It is unable to satisfy current aerospace row
The demand of industry high intensity and light-weight design.Therefore it needs to be modified honeycomb core material processing, current main technical approach
It is to carry out filling in situ using honeycomb intracavity space.However in situ in filling process, filler is difficult to control with accuracy of measurement.
In filling process, filler, which can carry out honeycomb inner cavity to squeeze, causes honeycomb shape to deform.Furthermore filling in situ makes substantially at present
In manual methods, labor intensive, setup time is long, is not able to satisfy industrialized mass production requirement.
Summary of the invention
The purpose of the present invention is cannot achieve the deficiency of filler implantation for existing equipment, propose a kind of for honeycomb hole
The equipment of filler automation implantation, can be by visual identifying system positioning honeycomb lumen centers position, and realizes filler
Implantation improves working efficiency, is finally reached Fast Filling, the purpose being precisely implanted into.
To realize the above technical purpose, the technical solution of the invention is as follows：
A kind of honeycomb hole filler automation implantation equipment, including bracket, absorption platform, X Y Z axis kinematic system, filler put
Volume system, vision inspection apparatus, filler implant system and control system；Wherein
The X Y Z axis kinematic system include X-axis kinematic system, Y-axis kinematic system, Z axis kinematic system；
The bracket provides rigid support to other equipment；
The absorption platform makes the honeycomb in filling process that positional shift not occur for adsorbing honeycomb core material to be filled；
The X-axis kinematic system is a crossbeam along X axis distribution, and vision inspection apparatus and filler are driven when for processing
Implant system transverse shifting；
The Y-axis kinematic system is used to drive entire crossbeam longitudinal movement when work；
The Z axis kinematic system is used to drive vision inspection apparatus, filler implant system and up and down motion when work, and adapts to
The honeycomb core material of different-thickness adjusts depth of cracking closure by process control Z axis；
The vision inspection apparatus carries out Image Acquisition to honeycomb cell using scanning mode, analysis is handled and calculates practical bee
Calculated result is fed back to control system, and is used for the automatic positioning of filling head by the center of socket bore；
The filler unwinding system is for coiled filler to be placed at filling head one by one via traction device；
The control system for three-shaft linkage realize continuous path control, it can be achieved that X Y Z axis kinematic system location control
Function；
Filler is pushed into honeycomb core by cylinder impetus by the depth that the filler implant system is used to set filling
Material inner cavity, filling speed can be realized by adjusting atmospheric pressure.
Preferably, the honeycomb hole filler automation implantation equipment further includes filler waste material winding system, it should
Filler waste material winding system is used for after filler is completed to be implanted into, and remaining garbage collection is coiled.
Preferably, the filler implant system includes：Be implanted into frame, filler traction device, filler, implant head,
Filler pre-shaping device, the filler under the effect of filler traction device, traction to below implant head, implant head to
In lower motion process, filler passes through filler presetting device below for drive, and filler is pushed into honeycomb inner cavity, filling
Depth is set by control system.
Preferably, the filler presetting device is ring, internal via shape is identical as honeycomb hole, so that filling
Object is by becoming eligible for the shape in filled honeycomb hole when filler presetting device.
The beneficial effects of the invention are as follows：It is proposed according to the sandwich material of current aerospace lightweight this for honeycomb core material
Sound absorption and heat-insulated equal functional requirements.It needs to carry out honeycomb inner cavity rationally filling and is just able to achieve above-mentioned performance requirement.This hair
Bright visual identifying system can precisely identify each honeycomb lumen centers position, and by the data parameters of generation, feedback is in setting
Standby control system, so as to guarantee in process engineering, the precise positioning of implant head, while control system can be to implantation depth
And implantation amount carries out stringent control, guarantees good implantation depth.Filler design is coiled, it designs filler retractable volume and leads
Filler is placed on designated cell cavity by leading-in device one by one, and cooperation implant head completes the filling operation of filler.This hair
It is short the time required to photopic vision identification and automatic implantation function, it is high-efficient, it can be effectively reduced cost of labor, the operation is more convenient,
High degree of automation can be automatically controled compared with than preparing filling implantation depth and loading precision controlling by hand, and precision greatly improves,
Functional cellular core material batch can be met and prepare needs.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of honeycomb hole filler automation implantation equipment of the present invention.
Fig. 2 is the structural schematic diagram of Z axis kinematic system and its portable unit in the present invention.
Fig. 3 is the filler implant system structural schematic diagram in the present invention in Z axis kinematic system.
Specific embodiment
In order to make the present invention be easier to be understood, technical solution of the present invention is made below in conjunction with drawings and examples
To be described in detail.
A kind of honeycomb hole filler automation of the present invention is implanted into equipment and integrally includes：X-axis kinematic system 1, Y-axis kinematic system
2, Z axis kinematic system 3, filler winding system 4, filler unwinding system 5, bracket 6, control system 8, filler implantation system
System, absorption platform 10.
It is equipped in Z axis kinematic system 3：Filler winding system 4, filler unwinding system 5, implantation frame 9, filler are led
Leading-in device 11, visual identifying system 12, filler 13.
Wherein, filler implant system includes：Implantation frame 9, filler 13, implant head 14, is filled out filler traction device 11
Fill object pre-shaping device 15, cylinder.
Absorption platform 10 can adsorb honeycomb using some modes in the prior art, such as in absorption platform 10
The bed course of toughness or adsorptivity is arranged in surface.
The course of work of honeycomb hole filler automation implantation equipment is as follows：
Honeycomb core material 7 to be filled is placed on absorption platform 10 and fixed, filler 13 is placed in unwinding system 5, via filling out
Object traction device 11 is filled, 13 other end of filler is connect with winding system 4.Manually control X/Y/Z axis motion system（Including X-axis
Kinematic system 1, Y-axis kinematic system 2, Z axis kinematic system 3）It runs to 7 benchmark cell of honeycomb core material to be filled（Vision is taken pictures fixed
First cell of position）Behind position, setting datum hole case is set, and executes visual identifying system 12, and visual identifying system 12 is automatic
Cell centre coordinate data are captured, after storing data in control system 8, later by coordinate data parameter automatic feedback to control
Program 8, X/Y/Z axis motion system drive implant system to carry out positioning adjustment, guarantee in implant head 14 and honeycomb inner cavity to be filled
The heart is overlapped.Filler 13 is under the effect of filler traction device 11, traction to 14 lower section of implant head.It is moved downward in implant head 14
In the process, filler 13 passes through filler presetting device 15 below for drive, and filler 13 is pushed into honeycomb inner cavity, filling
Depth can be set by control system 8.After operation to be filled is completed, X/Y/Z axis motion system drives implant system 9
It is moved near next honeycomb inner cavity, circulation continuous runs vision and implantation program, can not identify to device for visual identification 12
When cell, entire filling operation terminates.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (4)
1. a kind of honeycomb hole filler automation implantation equipment, it is characterised in that：Including bracket（6）, absorption platform（10）,X\Y\
Z axis kinematic system, filler unwinding system（5）, vision inspection apparatus（12）, filler implant system and control system（8）；Its
In
The X Y Z axis kinematic system include X-axis kinematic system（1）, Y-axis kinematic system（2）, Z axis kinematic system（3）；
The bracket（6）Rigid support is provided to other equipment；
The absorption platform（10）For adsorbing honeycomb core material to be filled（7）, make the honeycomb in filling process that position not occur
Offset；
The X-axis movement（1）System is a crossbeam along X axis distribution, and vision inspection apparatus is driven when for processing（12）
And filler implant system transverse shifting；
The Y-axis kinematic system（2）Entire crossbeam longitudinal movement is driven when for working；
The Z axis kinematic system（3）Vision inspection apparatus is driven when for working（12）, filler implant system and up and down fortune
It is dynamic, and adapt to the honeycomb core material of different-thickness（7）, pass through process control Z axis（3）To adjust depth of cracking closure；
The vision inspection apparatus（12）, Image Acquisition is carried out to honeycomb cell using scanning mode, analysis is handled and calculates reality
Calculated result is fed back to control system by the center of border honeycomb hole（8）, and it is used for filling head（14）Automatic positioning；
The filler unwinding system（5）For by coiled filler（13）Via traction device（11）It is placed in filling one by one
Head（14）Place；
The control system（8）For three-shaft linkage realize continuous path control, it can be achieved that X Y Z axis kinematic system positioning control
Function processed；
The depth that the filler implant system is used to set filling utilizes filling head by cylinder impetus（14）It will fill out
Fill object（13）It is pushed into honeycomb core material（7）Inner cavity, filling speed can be realized by adjusting atmospheric pressure.
2. honeycomb hole filler automation implantation equipment according to claim 1, which is characterized in that further include that filler is useless
Expect winding system（4）, the filler waste material winding system（4）For working as filler（13）After completing implantation, remaining waste material is received
Integrated rolled.
3. honeycomb hole filler automation implantation equipment according to claim 1, it is characterised in that the filler implantation
System includes：It is implanted into frame（9）, filler traction device（11）, filler（13）, implant head（14）, filler pre-shaping device
（15）, the filler（13）In filler traction device（11）Under effect, traction to implant head（14）Lower section, in implant head
（14）During moving downward, filler below is driven（13）By filler presetting device（15）, and by filler
（13）It is pushed into honeycomb inner cavity, depth of cracking closure passes through control system（8）It is set.
4. honeycomb hole filler automation implantation equipment according to claim 3, it is characterised in that the filler is predetermined
Type device（15）For ring, internal via shape is identical as honeycomb hole, so that filler（13）Pass through filler presetting device
（15）When become eligible for the shape in filled honeycomb hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711339135.0A CN108931933B (en) | 2017-12-14 | 2017-12-14 | Automatic equipment of implanting of honeycomb holes filler |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711339135.0A CN108931933B (en) | 2017-12-14 | 2017-12-14 | Automatic equipment of implanting of honeycomb holes filler |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108931933A true CN108931933A (en) | 2018-12-04 |
| CN108931933B CN108931933B (en) | 2020-09-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711339135.0A Active CN108931933B (en) | 2017-12-14 | 2017-12-14 | Automatic equipment of implanting of honeycomb holes filler |
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| CN (1) | CN108931933B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111559086A (en) * | 2019-12-24 | 2020-08-21 | 中国航空工业集团公司北京航空精密机械研究所 | Composite implanting device for composite material honeycomb silencing cap |
| CN111923420A (en) * | 2019-12-24 | 2020-11-13 | 中国航空工业集团公司北京航空精密机械研究所 | Preparation method of composite material honeycomb silencing cap based on umbrella-shaped structure |
| CN112606418A (en) * | 2020-12-16 | 2021-04-06 | 中航复合材料有限责任公司 | Automatic preparation method of composite material honeycomb silencing cap |
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| CN111559086A (en) * | 2019-12-24 | 2020-08-21 | 中国航空工业集团公司北京航空精密机械研究所 | Composite implanting device for composite material honeycomb silencing cap |
| CN111923420A (en) * | 2019-12-24 | 2020-11-13 | 中国航空工业集团公司北京航空精密机械研究所 | Preparation method of composite material honeycomb silencing cap based on umbrella-shaped structure |
| CN111923420B (en) * | 2019-12-24 | 2022-04-29 | 中国航空工业集团公司北京航空精密机械研究所 | Preparation method of composite material honeycomb silencing cap based on umbrella-shaped structure |
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| CN112606418A (en) * | 2020-12-16 | 2021-04-06 | 中航复合材料有限责任公司 | Automatic preparation method of composite material honeycomb silencing cap |
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| CN108931933B (en) | 2020-09-08 |
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