CN108931933B - Automatic equipment of implanting of honeycomb holes filler - Google Patents
Automatic equipment of implanting of honeycomb holes filler Download PDFInfo
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- CN108931933B CN108931933B CN201711339135.0A CN201711339135A CN108931933B CN 108931933 B CN108931933 B CN 108931933B CN 201711339135 A CN201711339135 A CN 201711339135A CN 108931933 B CN108931933 B CN 108931933B
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- filler
- filling
- honeycomb
- axis motion
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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 an automatic honeycomb hole filler implanting device. The device comprises a bracket, an adsorption platform, an X \ Y \ Z axis motion system, a filler unreeling system, a visual detection device, a filler implantation system and a control system; according to the invention, coiled fillers can be filled into honeycomb cells after being subjected to visual positioning treatment, an implantation path is set, the positions of the honeycomb cells are detected by using vision in the operation process, the data of the detected positions are transmitted to the filling execution mechanism, and the filling is filled into the honeycomb cells by the execution mechanism according to the data information feedback acquired by the vision. The invention has the advantages of short time for automatically implanting the functional filling unit, high precision control, reduced labor cost, simple operation and high automation degree, fully integrates related mature technologies, and can meet the requirements of high precision and batch rapid filling.
Description
Technical Field
The invention belongs to the field of honeycomb hole filling, and particularly relates to automatic honeycomb hole filler implanting equipment.
Background
The honeycomb has light weight, high strength, flame retardance and good dielectric property, and can be used as a light core material interlayer material. In some special application fields (for example, in heat insulation and sound insulation application environments), the hexagonal cavity can not meet the application requirements. The selection of the currently commonly used heat-insulating or sound-insulating materials (rubber, glass felt and the like) has the defects of low strength, heavy weight and the like. The requirements of high strength and light weight design in the current aerospace industry cannot be met. Therefore, the honeycomb core material needs to be modified, and the main technical mode at present is to use the cavity space of the honeycomb to perform in-situ filling. However, in the in-situ filling process, the dosage precision of the filler is difficult to control. During the filling process, the filler can extrude the inner cavity of the honeycomb to cause the shape deformation of the honeycomb. In addition, the original position filling basically uses a manual method, consumes manpower, has long configuration time and can not meet the requirements of industrial batch production.
Disclosure of Invention
The invention aims to provide equipment for automatically implanting honeycomb hole fillers, aiming at the defect that the existing equipment cannot implant the fillers, and the equipment can position the center position of an inner cavity of a honeycomb through a visual recognition system, implant the fillers, improve the working efficiency and finally achieve the aims of quick filling and accurate implantation.
In order to achieve the technical purpose, the technical solution of the invention is as follows:
an automatic honeycomb hole filler implantation device comprises a support, an adsorption platform, an X \ Y \ Z axis motion system, a filler unwinding system, a visual detection device, a filler implantation system and a control system; wherein
The X \ Y \ Z-axis motion system comprises an X-axis motion system, a Y-axis motion system and a Z-axis motion system;
the bracket provides rigid support for other equipment;
the adsorption platform is used for adsorbing the honeycomb core material to be filled, so that the honeycomb does not deviate in position in the filling process;
the X-axis motion system is a cross beam distributed along the X-axis direction and is used for driving the visual detection device and the filler implantation system to move transversely during processing;
the Y-axis motion system is used for driving the whole cross beam to move longitudinally during working;
the Z-axis motion system is used for driving the visual detection device, the filler implantation system and moving up and down during working, is suitable for honeycomb core materials with different thicknesses, and adjusts the filling depth by controlling the Z axis through a program;
the visual detection device is used for carrying out image acquisition and analysis processing on the honeycomb cells in a scanning mode, calculating the center position of an actual honeycomb hole, feeding back the calculation result to the control system and automatically positioning the filling head;
the filler unreeling system is used for placing coiled fillers at the filling head one by one through a traction device;
the control system is used for realizing continuous track control by three-axis linkage and can realize the positioning control function of an X \ Y \ Z-axis motion system;
the filler implantation system is used for setting the filling depth, the filler is pushed into the inner cavity of the honeycomb core material under the pushing action of the air cylinder, and the filling speed is realized by adjusting the air pressure.
Preferably, the automatic honeycomb hole filler implanting device further comprises a filler waste rolling system, and the filler waste rolling system is used for collecting residual waste into a roll after the filler is implanted.
Preferably, the filler implantation system comprises: the filling device comprises an implantation frame, a filling traction device, a filling head and a filling preforming device, wherein the filling is dragged to the position below the filling head under the action of the filling traction device, the filling below the filling head is driven to pass through the filling preforming device in the downward movement process of the filling head, the filling is pushed into a honeycomb inner cavity, and the filling depth is set through a control system.
Preferably, the filler-presetting device is a ring having an inner hole of the same shape as the honeycomb holes, so that the filler is changed into a shape suitable for filling the honeycomb holes when passing through the filler-presetting device.
The invention has the beneficial effects that: according to the functional requirements of sound absorption, heat insulation and the like of the light sandwich material of the honeycomb core material in the prior art. The above performance requirements can only be achieved by reasonable filling of the honeycomb cavities. The visual identification system can accurately identify the central position of each honeycomb inner cavity, and the generated data parameters are fed back to the equipment control system, so that the accurate positioning of the filling head in the processing engineering can be ensured, and meanwhile, the control system can strictly control the implantation depth and the implantation amount, and the good implantation depth is ensured. The filling materials are designed into coils, the filling material winding and unwinding device and the traction device are designed, the filling materials are placed on the appointed honeycomb cavity one by one, and the filling operation of the filling materials is completed by matching with the filling heads. The invention has the advantages of short time required by visual identification and automatic implantation functions, high efficiency, capability of effectively reducing the labor cost, more simple and convenient operation, high automation degree, capability of automatically controlling the filling implantation depth and the filling amount precision compared with manual preparation, greatly improved precision and capability of meeting the batch preparation requirement of the functional honeycomb core materials.
Drawings
Fig. 1 is a schematic view of the overall structure of an automated honeycomb-hole filler implanting apparatus according to the present invention.
Fig. 2 is a schematic structural diagram of the Z-axis motion system and its carrying assembly of the present invention.
FIG. 3 is a schematic view of the filler implant system of the present invention in a Z-axis motion system.
Detailed Description
In order that the invention may be more clearly understood, the following detailed description of the embodiments of the invention is given with reference to the accompanying drawings and examples.
The invention relates to an automatic honeycomb hole filler implantation device, which integrally comprises: the device comprises an X-axis motion system 1, a Y-axis motion system 2, a Z-axis motion system 3, a filler rolling system 4, a filler unreeling system 5, a support 6, a control system 8, a filler implanting system and an adsorption platform 10.
The Z-axis motion system 3 is provided with: the device comprises a filler rolling system 4, a filler unreeling system 5, an implantation frame 9, a filler traction device 11, a visual recognition system 12 and a filler 13.
Wherein the filler implantation system comprises: implant frame 9, filler traction device 11, filler 13, filling head 14, filler preforming device 15 and air cylinder.
The adsorption platform 10 can adsorb the honeycomb by some methods in the prior art, such as providing a sticky or adsorptive cushion on the surface of the adsorption platform 10.
The automatic honeycomb hole filler implanting equipment works as follows:
the honeycomb core material 7 to be filled is placed on the adsorption platform 10 and fixed, the filler 13 is placed on the unreeling system 5, and the other end of the filler 13 is connected with the reeling system 4 through the filler traction device 11. After a manual control X/Y/Z axis motion system (comprising an X axis motion system 1, a Y axis motion system 2 and a Z axis motion system 3) operates to the position of a reference cell (the first cell positioned by visual photographing) of a honeycomb core material 7 to be filled, the position of the reference cell is set, a visual recognition system 12 is executed, the visual recognition system 12 automatically captures central coordinate data of the cell, the data is stored in a control system 8, then the coordinate data parameters are automatically fed back to a control program 8, the X/Y/Z axis motion system drives an implantation system to perform positioning adjustment, and the filling head 14 is ensured to coincide with the center of an inner cavity of the honeycomb to be filled. The filler 13 is drawn under the filler head 14 by the filler drawing device 11. During the downward movement of the filling head 14, the filler 13 below the filling head is driven to pass through the filler pre-shaping device 15, and the filler 13 is pushed into the honeycomb cavity, and the filling depth can be set by the control system 8. After the filling operation is completed, the X/Y/Z axis motion system drives the implantation system 9 to move to the position near the next honeycomb inner cavity, the vision and implantation programs are operated circularly and continuously, and when the vision recognition device 12 cannot recognize the cells, the whole filling operation is finished.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (4)
1. The utility model provides an equipment is implanted to honeycomb holes filler automation which characterized in that: the device comprises a bracket (6), an adsorption platform (10), an X \ Y \ Z-axis motion system, a filler unreeling system (5), a visual detection device (12), a filler implantation system and a control system (8); wherein
The X \ Y \ Z-axis motion system comprises an X-axis motion system (1), a Y-axis motion system (2) and a Z-axis motion system (3);
the bracket (6) provides rigid support for other equipment;
the adsorption platform (10) is used for adsorbing a honeycomb core material (7) to be filled, so that the honeycomb in the filling process is not subjected to position deviation;
the X-axis motion system (1) is a cross beam distributed along the X axis and is used for driving the visual detection device (12) and the filler implantation system to move transversely during processing;
the Y-axis motion system (2) is used for driving the whole cross beam to move longitudinally during working;
the Z-axis motion system (3) is used for driving the visual detection device (12), the filler implantation system to move up and down during working, is suitable for honeycomb core materials (7) with different thicknesses, and adjusts the filling depth by controlling the Z-axis (3) through a program;
the visual detection device (12) is used for carrying out image acquisition and analysis processing on the honeycomb cells in a scanning mode, calculating the center position of the actual honeycomb cell, feeding back the calculation result to the control system (8) and automatically positioning the filling head (14);
the filler unreeling system (5) is used for placing coiled fillers (13) at a filling head (14) one by one through a traction device (11);
the control system (8) is used for realizing continuous track control by three-axis linkage and can realize the positioning control function of an X \ Y \ Z-axis motion system;
the filler implantation system is used for setting the filling depth, the filler (13) is pushed into the inner cavity of the honeycomb core material (7) by the aid of the filling head (14) under the pushing action of the air cylinder, and the filling speed is realized by adjusting air pressure.
2. The automated honeycomb cell filler implanting device of claim 1, further comprising a filler scrap rolling system (4), wherein the filler scrap rolling system (4) is used for collecting residual scrap into a roll after the filler (13) is implanted.
3. The automated honeycomb cell filler implantation apparatus of claim 1, wherein the filler implantation system comprises: the device comprises an implantation frame (9), a filler traction device (11), a filler (13), a filling head (14) and a filler preforming device (15), wherein the filler (13) is pulled to the position below the filling head (14) under the action of the filler traction device (11), the filler (13) below the filling head is driven to pass through the filler preforming device (15) in the downward movement process of the filling head (14), the filler (13) is pushed into a honeycomb inner cavity, and the filling depth is set through a control system (8).
4. Automatic implantation equipment of honeycomb cell fillers according to claim 3, characterized in that the filler presetting device (15) is a ring whose inner cell shape is the same as the honeycomb cell, so that the filler (13) becomes a shape suitable for filling the honeycomb cell by the filler presetting device (15).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711339135.0A CN108931933B (en) | 2017-12-14 | 2017-12-14 | Automatic equipment of implanting of honeycomb holes filler |
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| CN201711339135.0A CN108931933B (en) | 2017-12-14 | 2017-12-14 | Automatic equipment of implanting of honeycomb holes filler |
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| CN108931933A CN108931933A (en) | 2018-12-04 |
| CN108931933B true CN108931933B (en) | 2020-09-08 |
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| CN111559086B (en) * | 2019-12-24 | 2022-06-10 | 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 |
| 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 |
| 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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