CN110695975A - Pneumatic power-assisted flexible assembly equipment for airplane cabin door - Google Patents
Pneumatic power-assisted flexible assembly equipment for airplane cabin door Download PDFInfo
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- CN110695975A CN110695975A CN201910896437.0A CN201910896437A CN110695975A CN 110695975 A CN110695975 A CN 110695975A CN 201910896437 A CN201910896437 A CN 201910896437A CN 110695975 A CN110695975 A CN 110695975A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
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- 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
- B23P19/007—Picking-up and placing mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
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- 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
- B23P2700/00—Indexing scheme relating to the articles being treated, e.g. manufactured, repaired, assembled, connected or other operations covered in the subgroups
- B23P2700/01—Aircraft parts
Abstract
The application discloses flexible assembly equipment of aircraft hatch door pneumatic power assistance, including the electric traction car platform, the stand, rotary mechanism, terminal flexible tongs, control system, the stand is installed perpendicularly on the electric traction car platform, rotary mechanism one end is installed on the stand top, the other end links to each other with terminal flexible tongs, terminal flexible tongs adsorbs the aircraft hatch door of different size of a dimension, the appointed mounted position is transported with the device on it to the electric traction car platform, control system control rotary mechanism drives terminal flexible tongs vertical motion and 180 rotations of horizontal direction and adjusts the aircraft hatch door to final mounted position. The invention can be suitable for various hatches with different sizes and has universality for adsorption of different hatches.
Description
Technical Field
The application relates to the field of aviation manufacturing, in particular to an airplane cabin door pneumatic power-assisted flexible assembling device.
Background
The pneumatic power-assisted flexible assembly technology has strong applicability in the fields of engineering construction, production lines, excavation and mining, aircraft product part assembly, electronic welding and the like.
In the aircraft manufacturing process, the hatch door installation is wherein important link, and each weight and overall dimension of certain model aircraft emergency door, preceding cargo hold door, right service door and back cargo hold door are all different, and the current hatch door assembly methods in workshop are manual hoist and mount, and when carrying out the hatch door assembly, the installation location is difficult, and the security is not high to operating personnel number is more, wastes time and energy, and the installation accuracy is poor, and production efficiency is low. In addition, the crane in the workshop is frequently used, and the use frequency of the installed cabin door cannot be met.
At present, a domestic host factory never designs a power-assisted balance principle, a structural design and a pneumatic control principle of the flexible assembly unit completely and independently, most of the flexible assembly units depend on external purchasing, the pneumatic assembly units on the market cannot be simultaneously suitable for flexible installation of various hatches, and the price is high.
Therefore, the flexible assembly equipment for the pneumatic power assistance of the airplane cabin door is urgently needed to be developed, independently researched and designed, can adapt to lifting, lowering and moving of the cabin doors with five different sizes, and fills the blank of flexible assembly of the host factory in the power assistance.
Disclosure of Invention
The object of the present application is to provide an aircraft door pneumatically assisted flexible assembly rig that can be adapted for lifting, lowering and moving of five different sizes of doors.
In order to achieve the above purpose, the following technical scheme is adopted to realize the purpose:
the flexible assembly equipment of aircraft hatch door pneumatic power assistance, including the electric traction car platform, the stand, rotary mechanism, terminal flexible tongs, control system, the stand is installed perpendicularly on the electric traction car platform, rotary mechanism one end is installed on the stand top, the other end links to each other with terminal flexible tongs, terminal flexible tongs adsorbs the aircraft hatch door of different sizes, the device on it is transported appointed mounted position to the electric traction car platform, control system control rotary mechanism drives terminal flexible tongs vertical motion and 180 rotations of horizontal direction and adjusts the aircraft hatch door to final mounted position, control system is pneumatic control system. .
The rotating mechanism comprises an upright post rotating mechanism, a double four-bar mechanism and a small arm mechanism, the upright post rotating mechanism is arranged at the top end of the upright post and can rotate 180 degrees in the horizontal direction, one end of the double four-bar mechanism is connected with the upright post rotating mechanism, the other end of the double four-bar mechanism is connected with the small arm mechanism, the double four-bar mechanism can drive the small arm mechanism to move up and down in the vertical direction, and the small arm mechanism is connected with the tail end flexible gripper and drives the tail end flexible gripper to move in the horizontal and vertical directions. The upright post rotating mechanism comprises a rotating supporting seat, a rotating bearing and a rotating shaft, wherein the rotating supporting seat is fixed on the upright post, and the rotating shaft is arranged on the supporting seat through the rotating bearing.
The double four-bar mechanism consists of a large arm rotating mechanism, an upper arm, a lower arm, an air cylinder connecting block and a main air cylinder, wherein the upper arm and the lower arm are arranged in parallel and are connected with the large arm rotating mechanism and the upright post rotating mechanism to form the four-bar mechanism, and the main air cylinder is arranged in parallel with the upper arm and the lower arm through the air cylinder connecting block to form the double four-bar mechanism. The large arm rotating mechanism is composed of a hollow cylindrical structure, through hole connecting plates, a square plate, side vertical plates and a large arm rotating shaft, wherein the upper end and the lower end of the hollow cylindrical structure are respectively provided with a tapered roller bearing, the through hole connecting plates are rectangular plates with through round holes on the upper surface and the lower surface, the two through hole connecting plates are symmetrically sleeved on the hollow cylindrical structure and welded, the cubic plates are vertically welded on the bottom surfaces of the two through hole connecting plates, the surfaces of the side vertical plates are uniformly provided with two rotating shaft through holes, the large arm rotating shaft penetrates through the rotating shaft through holes, and the two side vertical plates are; the upper arm is composed of a rectangular tube structure and a sliding shaft of a cylinder connecting block, two ends of the rectangular tube structure are welded with cubic blocks with symmetrical step holes, the sliding shaft of the cylinder connecting block is vertically welded at the position, close to the end face, of the rectangular tube structure, ball bearings are symmetrically assembled in the step holes, one end of the sliding shaft is connected with a rotating shaft in the upright post rotating mechanism, and the other end of the sliding shaft is connected with a rotating shaft of the large arm; the lower arms are of a long square tube structure, the two ends of each lower arm are welded with cubic blocks with step holes, ball bearings are symmetrically assembled in the step holes, the two lower arms are placed in parallel, one end of each lower arm is connected with a rotating shaft in the upright post rotating mechanism, and the other end of each lower arm is connected with a rotating shaft of the large arm; the cylinder connecting block is a cubic block with symmetrical step through holes on the upper end surface and the lower end surface and bolt holes on four corners of the end surface, and is connected with the main cylinder through bolts.
The small arm mechanism consists of a small arm supporting mechanism and a small arm rotating mechanism; one end of the small arm supporting mechanism is connected with the large arm rotating mechanism, and the other end of the small arm supporting mechanism is connected with the small arm rotating mechanism through a bolt; the small arm supporting mechanism consists of a long arm, a connecting barrel and a small arm main shaft, wherein the long arm is in a long square tube structure, one end of the long arm is welded with the connecting barrel, and the other end of the long arm is welded with the stepped small arm main shaft; the small arm rotating mechanism is composed of an I-shaped hollow cylinder structure, an upper disc, a lower disc and a connecting rotating shaft, wherein the upper disc is welded with the top of the I-shaped hollow cylinder, bolt holes are uniformly distributed in the surface of the upper disc, the lower disc is welded with the bottom of the I-shaped hollow cylinder, through holes are uniformly distributed in the surface of the lower disc, the connecting rotating shaft is a T-shaped stepped shaft, threaded holes are uniformly distributed in the surface of the lower disc, and the end of the connecting rotating shaft is arranged in the I-shaped hollow cylinder through a tapered roller bearing and is in tight fit connection.
The tail end flexible gripper comprises a sucker frame, sucker components, a control frame, a connecting mechanism and a bending moment cylinder, wherein the control frame is connected with the sucker frame, the sucker components are uniformly distributed on two sides of the sucker frame, and the connecting mechanism is connected with the sucker frame through the bending moment cylinder. The suction disc frame is composed of a main frame, a rotary joint and a rotary shaft, wherein the main frame is of a 'well' -shaped structure formed by welding hollow square pipes, a square plate is welded in the middle of the main frame, connecting holes are distributed in the surface of the square plate, a round inserting lug structure is arranged at the upper end and the lower end of the 'well' -shaped structure in a welding mode, a circle of positioning through holes and a shaft hole are uniformly distributed in the surface of an inserting lug, the rotary joint is of a hollow square pipe structure, a round small inserting lug structure is welded at the end part of the rotary joint, a circle of positioning through holes and a shaft hole are uniformly distributed in the surface of the inserting lug, the end of the small inserting lug is inserted into; the sucker assembly consists of a universal ball joint adjustable fixing clamp, a spring buffering support rod and a flat sucker, is distributed on two sides of the main control frame and is fixed by bolts; the control frame is a three-dimensional control frame structure formed by combining a U-shaped aluminum pipe and four straight aluminum pipes through rotary joints, and is connected with the main frame through a connecting plate; the connecting mechanism comprises a connecting disc, a connecting pipe, a connecting plate, a stepped shaft and a connecting body, wherein a circle of connecting threaded holes are distributed in the connecting disc, the connecting pipe is an L-shaped square pipe, one end of the connecting pipe is welded to the bottom of the connecting disc, the other end of the connecting pipe is welded to the connecting body, the connecting plate is an L-shaped structure formed by two square plates, a threaded hole is drilled in the upper plate, a stepped shaft through hole is formed in the lower plate, the stepped shaft penetrates through the stepped shaft through hole in the lower plate of the connecting plate and penetrates through the interior.
The advantage of this application lies in having utilized the principle of the similar triangle-shaped of machinery and pneumatic balance, through independently developing helping hand balance principle, structural design, pneumatic control principle, realized the promotion of different sizes, shape hatch door, reduction and removal. The application of this application structure changes traditional hatch door manual installation mode, by many people installation mode change for alone operation can, the cost of labor that significantly reduces improves the installation effectiveness. The auxiliary power flexible installation device has universal applicability to auxiliary power flexible installation of similar airplane door structures with small curvature change range and similar sizes, all airplanes are installed in factories and installed in outsides and need corresponding installation equipment, the auxiliary power flexible installation device related to the application adapts to different types and different configurations, is universal, cheap, efficient and accurate assembly equipment, and has great technical value and market popularization and application value.
The present application will be described in further detail with reference to the following drawings and examples.
Drawings
FIG. 1 is an overall structure diagram of an airplane cabin door pneumatic power-assisted flexible assembly device;
FIG. 2 is a view showing a structure of a column rotating mechanism;
FIG. 3 is a view showing a structure of a rotation mechanism of the boom;
FIG. 4 is a cross-sectional view of the forearm rotating mechanism;
fig. 5 is a diagram of a distal flexible grip.
The numbering in the figures illustrates: 1. an electric tractor platform; 2. a column; 3. a rotation mechanism; 4. the tail end of the flexible gripper is provided with a flexible gripper; 5. a control system; 6. a column rotating mechanism; 7. a double four-bar linkage; 8. a small arm mechanism; 9. rotating the supporting seat; 10. a rotating bearing; 11. a rotating shaft; 12. a large arm rotating mechanism; 13. an upper arm; 14. a lower arm; 15. a cylinder connecting block; 16. a master cylinder; 17. a hollow cylindrical structure; 18. a through hole connecting plate; 19. a cubic plate; 20. a side vertical plate; 21. a large arm rotating shaft; 22. a tapered roller bearing; 23. a rectangular tube structure; 24. a cylinder connecting block sliding shaft; 25. a cube; 26. a forearm support mechanism; 27. a small arm rotating mechanism; 28. a long arm; 29. a connecting barrel; 30. a small arm main shaft; 31. an upper disc; 32. a cover plate; 33. a bearing; 34. connecting the rotating shaft; 35. a suction cup holder; 36. a sucker component; 37. a control frame; 38. a connecting mechanism; 39. a bending moment cylinder; 40. a main frame; 41. a rotary joint; 42. a suction cup holder rotating shaft; 43. a circular insert lug structure; 44. a hollow square tube structure 45 and a small insert lug structure; 46. a stop positioning pin; 47. the universal ball is connected with an adjustable fixing clamp; 48. a spring buffer strut; 49. a flat suction cup; 50. a connecting disc; 51. a connecting pipe; 52. a connecting plate; 53. a stepped shaft; 54. connecting body
Detailed Description
Referring to fig. 1-5, the flexible assembly equipment with pneumatic assistance for the airplane cabin door comprises an electric tractor platform 1, an upright post 2, a rotating mechanism 3, a tail end flexible gripper 4 and a control system 5, wherein the upright post 2 is vertically installed on the electric tractor platform 1, one end of the rotating mechanism 3 is installed at the top end of the upright post 2, the other end of the rotating mechanism is connected with the tail end flexible gripper 4, the tail end flexible gripper 4 adsorbs airplane cabin doors with different sizes, the electric tractor platform 1 conveys devices on the electric tractor platform to a specified pre-installation position, the control system 5 controls the rotating mechanism 3 to drive the tail end flexible gripper 4 to vertically move and horizontally rotate 180 degrees to adjust the airplane cabin door to a final installation position, and the control system 5 is.
The rotating mechanism 3 comprises an upright post rotating mechanism 6, a double four-bar mechanism 7 and a small arm mechanism 8, the upright post rotating mechanism 6 is installed at the top end of the upright post 2 and can rotate 180 degrees in the horizontal direction, one end of the double four-bar mechanism 7 is connected with the upright post rotating mechanism 6, the other end of the double four-bar mechanism 7 is connected with the small arm mechanism 8, the double four-bar mechanism 7 can drive the small arm mechanism 8 to move up and down in the vertical direction, and the small arm mechanism 8 is connected with the tail end flexible gripper 4 and drives the tail end flexible gripper 4 to move in the horizontal and vertical directions. The upright post rotating mechanism 6 comprises a rotating support seat 9, a rotating bearing 10 and a rotating shaft 11, wherein the rotating support seat 9 is fixed on the upright post 2, and the rotating shaft 11 is arranged on the rotating support seat 9 through the rotating bearing 10.
The double four-bar linkage mechanism 7 is composed of a large arm rotating mechanism 12, an upper arm 13, a lower arm 14, an air cylinder connecting block 15 and a main air cylinder 16, wherein the upper arm 13 and the lower arm 14 are arranged in parallel and are connected with the large arm rotating mechanism 12 and the upright post rotating mechanism 6 to form the four-bar linkage mechanism, and the main air cylinder 16, the upper arm 13 and the lower arm 14 are arranged in parallel through the air cylinder connecting block 15 to form the double four-bar linkage mechanism 7.
The large arm rotating mechanism 12 is composed of a hollow cylinder structure 17, through hole connecting plates 18, a cubic plate 19, side vertical plates 20, a large arm rotating shaft 21 and tapered roller bearings 22, the tapered roller bearings 22 are respectively assembled at the upper end and the lower end of the hollow cylinder structure 17, the through hole connecting plates 18 are rectangular plates with through round holes on the upper surface and the lower surface, the two through hole connecting plates 18 are symmetrically sleeved on the hollow cylinder structure 17 and welded, the cubic plate 19 is vertically welded on the bottom surfaces of the two through hole connecting plates 18, the surfaces of the side vertical plates 20 are uniformly provided with two rotating shaft through holes, the large arm rotating shaft 12 penetrates through the rotating shaft through holes, and the two side vertical plates 20 are vertically welded along; the upper arm 13 consists of a rectangular pipe structure 23, a cylinder connecting block sliding shaft 24 and a cubic block 25, wherein the cubic block 25 with symmetrical stepped holes is welded at the two ends of the rectangular pipe structure 23, the cylinder connecting block sliding shaft 24 is vertically welded at the position, close to the end face, of the rectangular pipe structure 23, ball bearings are symmetrically assembled in the stepped holes of the cubic block 25, one end of each ball bearing is connected with the rotating shaft 11 in the upright column rotating mechanism 6, and the other end of each ball bearing is connected with the large arm rotating shaft 21; the lower arms 14 are of a square tube structure, two ends of each lower arm are welded with a square block with step holes, ball bearings are symmetrically assembled in the step holes, the two lower arms are placed in parallel, one end of each lower arm is connected with the rotating shaft 11 in the upright post rotating mechanism 6, and the other end of each lower arm is connected with the large arm rotating shaft 21; the cylinder connecting block 15 is a cube whose upper and lower end faces are provided with symmetrical step through holes and four corners of the end face are provided with bolt holes, and is connected with the main cylinder 16 through bolts.
The small arm mechanism 8 consists of a small arm supporting mechanism 26 and a small arm rotating mechanism 27; one end of the small arm supporting mechanism 26 is connected with the large arm rotating mechanism 12, and the other end is connected with the small arm rotating mechanism 27 through a bolt; the small arm supporting mechanism 26 consists of a long arm 28, a connecting barrel 29 and a small arm main shaft 30, wherein the long arm 28 is of a long pipe structure, one end of the long arm is welded with the connecting barrel 29, and the other end of the long arm is welded with the stepped small arm main shaft 30; the small arm rotating mechanism 27 is an I-shaped hollow cylinder structure and comprises an upper disc 31, a cover plate 32, a bearing 33 and a connecting rotating shaft 34, bolt holes are uniformly distributed on the surface of the upper disc 31, the connecting rotating shaft 34 is an I-shaped stepped shaft, threaded holes are uniformly distributed on the surface of the lower disc, and the end of the connecting rotating shaft 34 is arranged in the I-shaped hollow cylinder through the bearing 33 and is fixed through the cover plate 32.
The tail end flexible hand grip 4 comprises a suction disc frame 35, suction disc assemblies 36, a control frame 37, a connecting mechanism 38 and a bending moment cylinder 39, wherein the control frame 37 is connected with the suction disc frame 35, the suction disc assemblies 36 are uniformly distributed on two sides of the suction disc frame 35, and the connecting mechanism 38 is connected with the suction disc frame 35 through the bending moment cylinder 39. The suction cup frame 35 is composed of a main frame 40, a rotary joint 41, a suction cup frame rotating shaft 42 and a circular lug inserting structure 43, wherein the main frame 40 is a 'well' -shaped structure formed by welding hollow square pipes, a square plate is welded in the middle, connecting holes are distributed in the surface of the square plate, the circular lug inserting structure 43 is arranged at the upper end and the lower end of the 'well' -shaped structure in a welding mode, a circle of positioning through holes and a shaft hole are uniformly distributed in the surface of a lug, the rotary joint 41 is composed of a hollow square pipe structure 44, a small lug inserting structure 45 and a locking positioning pin 46, the end of the hollow square pipe structure 44 is welded with the circular small lug inserting structure 45, a circle of positioning through holes and a shaft hole are uniformly distributed in the surface of the lug inserting structure 45, the end of the small lug inserting structure is inserted into the circular lug inserting 43 of the main frame; the sucker assembly 36 consists of a universal ball joint adjustable fixing clamp 47, a spring buffer supporting rod 48 and a flat sucker 49, is distributed on two sides of the main frame 40 and is fixed by bolts; the control frame 37 is a three-dimensional frame structure formed by combining a U-shaped aluminum tube and four straight aluminum tubes through rotary joints, and the control frame 37 is connected with the main frame 40; the connecting mechanism 38 comprises a connecting disc 50, a connecting pipe 51, a connecting plate 52, a stepped shaft 53 and a connecting body 54, a circle of connecting threaded holes are distributed on the connecting disc 50, the connecting pipe 51 is an L-shaped square pipe, one end of the connecting pipe is welded to the bottom of the connecting disc 50, the other end of the connecting pipe is welded to the connecting body 54, the connecting plate 52 is an L-shaped structure formed by two square plates, threaded holes are drilled in the upper plate, a stepped shaft through hole is formed in the lower plate, and the stepped shaft 53 penetrates through the stepped shaft through hole in the lower plate of the connecting plate 52 and penetrates through the interior of.
Claims (9)
1. The aircraft cabin door pneumatic power-assisted flexible assembly equipment is characterized by comprising an electric tractor platform, an upright post, a rotating mechanism, a tail end flexible gripper and a control system, wherein the upright post is vertically installed on the electric tractor platform, one end of the rotating mechanism is installed at the top end of the upright post, the other end of the rotating mechanism is connected with the tail end flexible gripper, the tail end flexible gripper adsorbs aircraft cabin doors with different sizes, the electric tractor platform conveys devices on the electric tractor platform to an appointed installation position, and the control system controls the rotating mechanism to drive the tail end flexible gripper to vertically move and rotate 180 degrees in the horizontal direction so as to adjust the aircraft cabin doors to the final.
2. The aircraft door pneumatic power-assisted flexible assembling equipment of claim 1, wherein the rotating mechanism comprises a vertical column rotating mechanism, a double four-bar linkage mechanism and a small arm mechanism, the vertical column rotating mechanism is installed at the top end of the vertical column and can rotate 180 degrees in the horizontal direction, one end of the double four-bar linkage mechanism is connected with the vertical column rotating mechanism, the other end of the double four-bar linkage mechanism is connected with the small arm mechanism, the double four-bar linkage mechanism can drive the small arm mechanism to move up and down in the vertical direction, and the small arm mechanism is connected with the tail end flexible hand grip and drives the tail end flexible hand grip to move in the horizontal direction and.
3. The aircraft door pneumatic power-assisted flexible assembly rig according to claim 2, wherein the pillar rotation mechanism includes a rotation support base, a rotation bearing, and a rotation shaft, the rotation support base is fixed on the pillar, and the rotation shaft is mounted on the support base through the rotation bearing.
4. The aircraft door pneumatic power-assisted flexible assembling equipment of claim 2, wherein the double four-bar linkage mechanism comprises a large arm rotating mechanism, an upper arm, a lower arm, a cylinder connecting block and a main cylinder, the upper arm and the lower arm are arranged in parallel, the upper arm rotating mechanism and the upright post rotating mechanism are connected to form the four-bar linkage mechanism, and the main cylinder is arranged in parallel with the upper arm and the lower arm through the cylinder connecting block to form the double four-bar linkage mechanism.
5. The aircraft cabin door pneumatic power-assisted flexible assembly equipment of claim 4, characterized in that the large arm rotating mechanism is composed of a hollow cylinder structure, through hole connecting plates, a cubic plate, side plates and a large arm rotating shaft, wherein the upper end and the lower end of the hollow cylinder structure are respectively provided with a tapered roller bearing, the through hole connecting plates are rectangular plates with through round holes on the upper surface and the lower surface, the two through hole connecting plates are symmetrically sleeved on the hollow cylinder structure and welded, the cubic plate is vertically welded on the bottom surfaces of the two through hole connecting plates, the surfaces of the side plates are uniformly provided with two rotating shaft through holes, the large arm rotating shaft penetrates through the rotating shaft through holes, and the two side plates are vertically welded along the boundary; the upper arm is composed of a rectangular tube structure and a sliding shaft of a cylinder connecting block, two ends of the rectangular tube structure are welded with cubic blocks with symmetrical step holes, the sliding shaft of the cylinder connecting block is vertically welded at the position, close to the end face, of the rectangular tube structure, ball bearings are symmetrically assembled in the step holes, one end of the sliding shaft is connected with a rotating shaft in the upright post rotating mechanism, and the other end of the sliding shaft is connected with a rotating shaft of the large arm; the lower arms are of a long square tube structure, the two ends of each lower arm are welded with cubic blocks with step holes, ball bearings are symmetrically assembled in the step holes, the two lower arms are placed in parallel, one end of each lower arm is connected with a rotating shaft in the upright post rotating mechanism, and the other end of each lower arm is connected with a rotating shaft of the large arm; the cylinder connecting block is a cubic block with symmetrical step through holes on the upper end surface and the lower end surface and bolt holes on four corners of the end surface, and is connected with the main cylinder through bolts.
6. The aircraft door pneumatic power-assisted flexible assembly rig of claim 2, wherein said forearm mechanism is comprised of a forearm support mechanism, a forearm rotation mechanism; one end of the small arm supporting mechanism is connected with the large arm rotating mechanism, and the other end of the small arm supporting mechanism is connected with the small arm rotating mechanism through a bolt; the small arm supporting mechanism consists of a long arm, a connecting barrel and a small arm main shaft, wherein the long arm is in a long square tube structure, one end of the long arm is welded with the connecting barrel, and the other end of the long arm is welded with the stepped small arm main shaft; the small arm rotating mechanism is composed of an I-shaped hollow cylinder structure, an upper disc, a lower disc and a connecting rotating shaft, wherein the upper disc is welded with the top of the I-shaped hollow cylinder, bolt holes are uniformly distributed in the surface of the upper disc, the lower disc is welded with the bottom of the I-shaped hollow cylinder, through holes are uniformly distributed in the surface of the lower disc, the connecting rotating shaft is a T-shaped stepped shaft, threaded holes are uniformly distributed in the surface of the lower disc, and the end of the connecting rotating shaft is arranged in the I-shaped hollow cylinder through a tapered roller bearing and is in tight fit connection.
7. The aircraft door pneumatic power-assisted flexible assembly rig of claim 2, wherein the terminal flexible gripper comprises a suction cup frame, suction cup assemblies, a control frame, a connecting mechanism and a bending moment cylinder, wherein the control frame is connected with the suction cup frame, the suction cup assemblies are uniformly distributed on two sides of the suction cup frame, and the connecting mechanism is connected with the suction cup frame through the bending moment cylinder.
8. The aircraft cabin door pneumatic power-assisted flexible assembly equipment of claim 7, characterized in that the suction cup frame is composed of a main frame, a rotary joint and a rotary shaft, wherein the main frame is a well-shaped structure formed by welding hollow square tubes, a square plate is welded in the middle, connecting holes are distributed on the surface of the square plate, a circular insert lug structure is arranged at the upper end and the lower end of the well-shaped structure by welding, a circle of positioning through holes and a shaft hole are uniformly distributed on the surface of an insert lug, the rotary joint is a hollow square tube structure, a small round insert lug structure is welded at the end part, a circle of positioning through holes and a shaft hole are uniformly distributed on the surface of the insert lug, the end of the small insert lug is inserted into the circular insert lug of the main frame to form an encircling structure, the small; the sucker assembly consists of a universal ball joint adjustable fixing clamp, a spring buffering support rod and a flat sucker, is distributed on two sides of the main control frame and is fixed by bolts; the control frame is a three-dimensional control frame structure formed by combining a U-shaped aluminum pipe and four straight aluminum pipes through rotary joints, and is connected with the main frame through a connecting plate; the connecting mechanism comprises a connecting disc, a connecting pipe, a connecting plate, a stepped shaft and a connecting body, wherein a circle of connecting threaded holes are distributed in the connecting disc, the connecting pipe is an L-shaped square pipe, one end of the connecting pipe is welded to the bottom of the connecting disc, the other end of the connecting pipe is welded to the connecting body, the connecting plate is an L-shaped structure formed by two square plates, a threaded hole is drilled in the upper plate, a stepped shaft through hole is formed in the lower plate, the stepped shaft penetrates through the stepped shaft through hole in the lower plate of the connecting plate and penetrates through the interior.
9. The control system of claim 1 being a pneumatic control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910896437.0A CN110695975A (en) | 2019-09-20 | 2019-09-20 | Pneumatic power-assisted flexible assembly equipment for airplane cabin door |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910896437.0A CN110695975A (en) | 2019-09-20 | 2019-09-20 | Pneumatic power-assisted flexible assembly equipment for airplane cabin door |
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| CN110695975A true CN110695975A (en) | 2020-01-17 |
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| CN201910896437.0A Pending CN110695975A (en) | 2019-09-20 | 2019-09-20 | Pneumatic power-assisted flexible assembly equipment for airplane cabin door |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022041999A1 (en) * | 2020-08-31 | 2022-03-03 | 常州工学院 | Housing mounting device for aerospace |
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| CN103302675A (en) * | 2013-06-17 | 2013-09-18 | 沈阳飞机工业（集团）有限公司 | Flexible manipulator for upper parts of wallboard |
| CN205600734U (en) * | 2016-04-19 | 2016-09-28 | 朝阳浪马轮胎有限责任公司 | Gluey manipulator device is grabbed in pneumatics |
| CN206011091U (en) * | 2016-08-11 | 2017-03-15 | 汕头大学 | A kind of loading and unloading manipulator |
| CN106671055A (en) * | 2016-12-14 | 2017-05-17 | 中航飞机股份有限公司西安飞机分公司 | Assistance manipulator and control system thereof |
| CN208514491U (en) * | 2018-07-04 | 2019-02-19 | 湖南金刚玻璃节能科技有限公司 | It is a kind of can 360 degree rotation glass grasping mechanism |
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2019
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| DE2852821B1 (en) * | 1978-12-07 | 1980-04-30 | Walter Reis Maschinenbau, 8753 Obernburg | manipulator |
| CN102672450A (en) * | 2012-05-17 | 2012-09-19 | 山东拓普液压气动有限公司 | Device for dismounting and carrying end cover of deep sea ultrahigh-pressure sealing cabin |
| CN103302675A (en) * | 2013-06-17 | 2013-09-18 | 沈阳飞机工业（集团）有限公司 | Flexible manipulator for upper parts of wallboard |
| CN205600734U (en) * | 2016-04-19 | 2016-09-28 | 朝阳浪马轮胎有限责任公司 | Gluey manipulator device is grabbed in pneumatics |
| CN206011091U (en) * | 2016-08-11 | 2017-03-15 | 汕头大学 | A kind of loading and unloading manipulator |
| CN106671055A (en) * | 2016-12-14 | 2017-05-17 | 中航飞机股份有限公司西安飞机分公司 | Assistance manipulator and control system thereof |
| CN208514491U (en) * | 2018-07-04 | 2019-02-19 | 湖南金刚玻璃节能科技有限公司 | It is a kind of can 360 degree rotation glass grasping mechanism |
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| WO2022041999A1 (en) * | 2020-08-31 | 2022-03-03 | 常州工学院 | Housing mounting device for aerospace |
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