CN110774201B - A clamping device for fixing the horizontal and vertical tail of an aircraft - Google Patents
A clamping device for fixing the horizontal and vertical tail of an aircraft Download PDFInfo
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- CN110774201B CN110774201B CN201911081218.3A CN201911081218A CN110774201B CN 110774201 B CN110774201 B CN 110774201B CN 201911081218 A CN201911081218 A CN 201911081218A CN 110774201 B CN110774201 B CN 110774201B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING, OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
- B25B11/02—Assembly jigs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING, OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
- B25B11/005—Vacuum work holders
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Abstract
本发明公开了一种用于飞机平垂尾固定的夹持装置，包括盘形基座组件和卡爪组件，其中：所述盘形基座组件包括盘形基座本体和设置于所述盘形基座本体一端的吸盘；所述卡爪组件设置于所述盘形基座本体上且远离所述吸盘的一端；所述卡爪组件包括滑板、与所述滑板铰接的关节臂以及可拆卸的安装于所述关节臂上且远离所述滑板一端的夹持部，所述滑板与所述盘形基座本体连接且可绕所述盘形基座本体的中轴线作圆周运动。本公开的方案，用于飞机平垂尾固定的夹持装置可以达到提高装配精度的目的。
The invention discloses a clamping device for fixing a horizontal and vertical tail of an aircraft, comprising a disc-shaped base assembly and a clamping claw assembly, wherein: the disc-shaped base assembly comprises a disc-shaped base body and a the suction cup at one end of the base body; the jaw assembly is disposed on the disc-shaped base body and away from one end of the suction cup; the jaw assembly includes a sliding plate, an articulated arm hinged with the sliding plate, and a detachable The clamping part is installed on the joint arm and is away from one end of the slide plate, the slide plate is connected with the disc-shaped base body and can move in a circle around the central axis of the disc-shaped base body. With the solution of the present disclosure, the clamping device used for fixing the horizontal and vertical tail of an aircraft can achieve the purpose of improving the assembly accuracy.
Description
Technical Field
The invention relates to the technical field of aviation, in particular to a clamping device for fixing a horizontal vertical tail of an airplane.
Background
In the aerospace field, the butt joint assembly of the horizontal tail, the vertical tail and the fuselage of the airplane is mostly shaft hole butt joint assembly or single and double lug splicing assembly, and the assembly precision requirement is high. The current assembly mode mostly adopts manual hoisting and clamping. The manual hoisting and clamping operation method comprises the following steps: firstly, mounting lifting point connectors on the surfaces of the horizontal tail and the vertical tail by an assembler; one end of the special lifting appliance is connected with a factory crane hook, the other end of the special lifting appliance is connected with a horizontal tail and vertical tail lifting point joint of the airplane, and the horizontal tail and the vertical tail of the airplane are lifted to a part to be assembled of the airplane body by the factory crane; and then the space postures of the horizontal tail and the vertical tail are adjusted through manual supporting, and the installation shafts of the horizontal tail and the vertical tail are inserted into the installation holes of the machine body or the single-lug and double-lug inserting and matching are completed through the matching of an assembler and a crane worker.
The traditional clamping method adopts an operation mode of manual hoisting, and has the following disadvantages: firstly, the hoisting point joint is rigidly connected with the horizontal tail and the vertical tail, and cannot be adjusted after installation, so that the hoisting point joint needs to be specially designed and the position of the hoisting point needs to be calculated for each aircraft product, and the design and calculation workload is large; secondly, the hanging point joint is connected with the horizontal tail and the vertical tail through connecting holes of the airplane framework and the skin, so that riveting of the horizontal tail and the vertical tail cannot be completed completely, a process hole is reserved for installing the hanging point, and after the final assembly is completed, the riveting is supplemented, so that the assembly workload is increased; then, in the hoisting process of the horizontal tail and the vertical tail, the soft connection mode of the lifting rope is adopted, in the assembling process, the inevitable random swing of the product can be caused by the movement of the crane, the reliability is low, the high-precision involutive assembling operation is not facilitated, the assembling difficulty is increased, and meanwhile, the collision between aircraft products is easy to occur, and the quality safety hidden trouble is brought.
In conclusion, the traditional hoisting clamping mode cannot meet the high-precision assembly requirements of horizontal tails and vertical tails, and an assembly worker needs to complete shaft hole matching or single-lug and double-lug inserting assembly in a repeated trial and error mode. Meanwhile, the traditional hoisting clamping method cannot meet the clamping and fixing requirements of different products, and when the size of the product changes or the product is changed, the lifting point joint needs to be redesigned and the lifting point position needs to be calculated, so that the production efficiency is influenced.
Disclosure of Invention
Technical problem to be solved
The invention aims to solve the technical problem of how to improve the high-precision assembly requirement of horizontal tails and vertical tails of airplanes.
(II) technical scheme
In order to solve the above technical problem, the present invention provides a clamping device for fixing a horizontal vertical fin of an aircraft, comprising: a disc-shaped base assembly and a jaw assembly, wherein:
the disc-shaped base assembly comprises a disc-shaped base body and a sucker arranged at one end of the disc-shaped base body;
the claw assembly is arranged on one end, far away from the sucker, of the disc-shaped base body;
the claw assembly comprises a sliding plate, a joint arm hinged with the sliding plate and a clamping part detachably mounted on the joint arm and far away from one end of the sliding plate, and the sliding plate is connected with the disc-shaped base body and can do circular motion around the central axis of the disc-shaped base body.
The disc-shaped base body comprises a gear ring and an annular slide which is coaxially arranged with the gear ring and located on the outer side of the gear ring, two side faces of the annular slide are both concavely provided with track grooves, one side of the gear ring is provided with the track grooves, and the other side of the gear ring is provided with a rack.
The sliding plate is provided with a plurality of eccentric first rolling bearings, the outer rings of the first rolling bearings are connected with the track grooves in a matched mode, at least one first rolling bearing is located on one side of the rack, and the first rolling bearings are arranged on two sides of the annular slide way.
At least two concentric second rolling bearings are arranged on the sliding plate, and outer rings of the second rolling bearings are connected with the track grooves in a matched mode.
The sliding plate is further provided with at least one gear, and the gear is meshed with the rack of the gear ring to drive the sliding plate to do circular motion around the central axis of the disc-shaped base body.
The sliding plate is hinged with the joint arm through a pin shaft.
The claw assembly further comprises a driving assembly which drives the joint arm to rotate around the pin shaft so as to be close to or far away from the sliding plate, the driving assembly comprises a driver, the fixed end of the driver is connected with the sliding plate, and the movable end of the driver is connected with the joint arm.
The clamping part comprises a U-shaped claw body connected with the joint arm, an upper presser and a lower presser which are respectively arranged at two end parts of the U-shaped claw body, a clamping space is formed between the upper presser and the lower presser in a relatively arranged mode, and the distance of the clamping space is adjustable.
The U-shaped claw body is provided with a stroke adjusting groove which is arranged along the radial direction, the stroke adjusting groove is fixedly connected to the joint arm through a fastener, and the fastener can slide in the stroke adjusting groove to enable the clamping part to be far away from or close to the disc-shaped base assembly.
Wherein, the disk base subassembly still includes mounting flange, mounting flange set up in the center of disk base body just keeps away from one side of sucking disc, clamping device passes through mounting flange with the robot is connected.
(III) advantageous effects
The technical scheme of the invention has the following advantages:
the disk-shaped base body is adsorbed on the surface of one side of the horizontal tail and the vertical tail of the airplane through a plurality of suckers on the disk-shaped base body. The modularized integrated clamping jaw assembly extends out along the edge of the horizontal tail and the vertical tail and is buckled on the other side surface far away from the sucking disc in a reverse mode, so that the modularized integrated clamping jaw assembly is matched with the sucking disc to clamp and fix the horizontal tail and the vertical tail of the airplane together. The slide plate of the jaw component can do circular motion around the central axis of the disc-shaped base body, so that the joint arm and the clamping part are driven to do circular motion around the central axis of the disc-shaped base body synchronously, the clamping requirements of horizontal tails and vertical tails of airplanes in different shapes and sizes can be met, and the high-precision assembling requirement is met.
Drawings
FIG. 1 is a schematic structural diagram of a clamping device for fixing horizontal and vertical tails of an airplane according to the invention;
FIG. 2 is a schematic view of the assembly of the jaw assembly of the present invention with a disk-shaped base assembly;
FIG. 3 is a schematic view of the assembly of the slide plate with the annular slide and the ring gear of the present invention;
FIG. 4 is a schematic view of the installation of the jaw assembly of the present invention;
FIG. 5 is a schematic cross-sectional view of the slider of the present invention in cooperation with a first rolling bearing and a second rolling bearing;
FIG. 6 is a schematic view of the working process of the first rolling bearing and the second rolling bearing of the present invention;
fig. 7 is a schematic cross-sectional view of the disk-shaped base assembly of the present invention mated with a jaw assembly.
In the figure: 1. a disc-shaped base assembly; 2. a jaw assembly; 3. a disc-shaped base body; 4. a suction cup; 5. a slide plate; 6. an articulated arm; 7. a clamping portion; 8. a first rolling bearing; 9. a second rolling bearing; 10. a gear; 11. a pin shaft; 12. a drive assembly; 13. installing a flange; 31. a ring gear; 32. an annular chute; 33. a track groove; 34. a rack; 71. a U-shaped claw body; 72. an upper compactor; 73. pressing down a tightener; 101. a motor; 102. a speed reducer; 710. a stroke adjusting groove.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus are not to be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, the present invention provides a clamping device for fixing a horizontal vertical tail of an airplane, comprising: a disc-shaped base assembly 1 and a jaw assembly 2, wherein:
the disc-shaped base assembly 1 comprises a disc-shaped base body 3 and a suction cup 4 arranged at one end of the disc-shaped base body 3;
the jaw assembly 2 is arranged on one end of the disc-shaped base body 3 away from the sucker 4;
the jaw assembly 2 comprises a sliding plate 5, a joint arm 6 hinged with the sliding plate 5 and a clamping part 7 detachably mounted on the joint arm 6 and far away from one end of the sliding plate 5, wherein the sliding plate 5 is connected with the disc-shaped base body 3 and can do circular motion around the central axis of the disc-shaped base body 3.
Specifically, the disk-shaped base assembly 1 is based on a disk-shaped base body 3, and a plurality of suction cups 4 are arranged on one end surface of the disk-shaped base body 3. The jaw assembly 2 is located on the other end face of the disc-shaped base body 3. A plurality of sucking discs 4 adsorb in aircraft horizontal tail, vertical tail side surface, and jack catch assembly 2 stretches out and left the opposite side surface of keeping away from sucking disc 4 along horizontal tail, vertical tail edge, and the cooperation through sucking disc 4 and jack catch assembly 2 is fixed with aircraft horizontal tail, vertical tail centre gripping. In this embodiment, the suction cup 4 is a vacuum cup. The plurality of vacuum chucks are layered along the central axis of the disc-shaped base body 3 and are evenly arranged in at least two layers. The adjacent two layers of vacuum chucks are arranged in a staggered mode, so that the overall adsorption capacity of the vacuum chucks is improved, and the overall fixed clamping capacity of the clamping device is enhanced.
In this embodiment, the disk-shaped susceptor body 3 has a disk-shaped structure made of an aluminum alloy material. One side of the vacuum cup is provided with 15 groups of vacuum suction cups with the diameter of 80mm, and the clamping device can be attached to the surface of a product by matching the negative pressure generated by a vacuum generator. The connecting rod of the vacuum chuck is provided with an angle compensation joint, and the orientation of the vacuum chuck can be adjusted within +/-15 degrees, so that the surface of the vacuum chuck is attached to the profile curved surfaces of the horizontal tail and the vertical tail of the airplane.
Further, the jaw assembly 2 includes a slide plate 5, an articulated arm 6, and a grip portion 7. The sliding plate 5 is slidably connected to the disc-shaped base body 3 and can move circumferentially around the central axis of the disc-shaped base body 3, so as to drive the joint arm 6 and the clamping portion 7 to synchronously move circumferentially around the central axis of the disc-shaped base body 3. The articulated arm 6 is hinged with the sliding plate 5 and can deflect at a certain angle relative to the disc-shaped base body 3 so as to adapt to the shape curve change of horizontal-tail and vertical-tail products of airplanes in different shapes. The grip portion 7 is translatable and fixable on the articulated arm 6 in the radial direction of the disc-shaped base body 3 to meet different sizes of aircraft product gripping requirements.
In this embodiment, jaw assembly 2 adopts the integrated design of modularization, can follow quick installation and dismantlement on disk base body 3, and can make circular motion along the axis of disk base body 3 to reach the purpose of increase and decrease the grip point number fast and realize multiple centre gripping gesture.
The clamping device for fixing the horizontal and vertical tails of the airplane provided by the embodiment of the disclosure is adsorbed on the surface of one side of the horizontal and vertical tails of the airplane through the plurality of suckers 4 on the disc-shaped base body 3. The modularized integrated clamping jaw assembly 2 extends out along the edge of the horizontal tail and the vertical tail and is buckled on the other side surface far away from the sucking disc 4 in a reverse mode, so that the modularized integrated clamping jaw assembly is matched with the sucking disc 4 to clamp and fix the horizontal tail and the vertical tail of the airplane. The sliding plate 5 of the jaw component 2 can do circular motion around the central axis of the disc-shaped base body 3, so that the joint arm 6 and the clamping part 7 are driven to synchronously do circular motion around the central axis of the disc-shaped base body 3, the clamping requirements of horizontal tails and vertical tails of airplanes in different shapes and sizes can be met, and the high-precision assembly requirement can be met.
According to a specific implementation manner of the embodiment of the present disclosure, as shown in fig. 2, the disk-shaped base body 3 includes a gear ring 31 and an annular slide way 32 that is coaxially disposed with the gear ring 31 and located outside the gear ring 31, two side surfaces of the annular slide way 32 are both provided with a track groove 33 in a concave manner, one side of the gear ring 31 is provided with a track groove 33, and the other side is provided with a rack 34.
In particular, the disk-shaped susceptor body 3 has a disk-shaped configuration on which a ring gear 31 and an annular slide 32 are coaxially arranged. Wherein, annular slide 32 sets up in the outside of ring gear 31, and when jack catch subassembly 2 made circular motion around the axis of disk shape base body 3, annular slide 32 played the effect of direction.
Two side surfaces of the annular slide way 32 are both concavely provided with track grooves 33 for matching connection. The track groove 33 is disposed on a side surface of the annular slide 32, and forms a guide ring relative to the central axis of the disk-shaped base body 3, so that the chuck assembly 2 can perform a circular motion relative to the central axis of the disk-shaped base body 3, and the rotation accuracy of the chuck assembly 2 is improved. Accordingly, one side of the ring gear 31 is provided with a rail groove 33 for fitting connection. The track groove 33 is disposed on a side surface of the ring gear 31, and forms a guide ring with respect to the central axis of the disk-shaped base body 3, so that the chuck assembly 2 can perform a circular motion with respect to the central axis of the disk-shaped base body 3, and the rotation accuracy of the chuck assembly 2 is further improved. In this embodiment, the inside and the outside of the track groove 33 of the annular slide 32 are both V-shaped slides.
It should be noted that the track groove 33 on the ring gear 31 may be disposed on the inner ring of the ring gear 31, far from the annular slide way 32; and the rack 34 is provided on the outer ring of the ring gear 31, adjacent to the annular slide 32. Alternatively, the track groove 33 is provided on the inner ring of the ring gear 31, and the rack 34 is provided on the outer ring of the ring gear 31. When the sizes of the gear ring 31 and the sliding plate 5 are larger, the rack 34 is preferably arranged on the outer ring of the gear ring 31; when the sizes of the ring gear 31 and the slide 5 are small, the rack 34 is preferably provided on the inner ring of the ring gear 31. Specifically, the arrangement is not limited to the size of the ring gear 31 and the slide plate 5.
According to a specific implementation manner of the embodiment of the present disclosure, as shown in fig. 3 to 6, a plurality of eccentric first rolling bearings 8 are disposed on the sliding plate 5, an outer ring of the first rolling bearing 8 is connected to the track groove 33 in a matching manner, at least one of the first rolling bearings 8 is located on one side of the rack 34, and the plurality of first rolling bearings 8 are disposed on two sides of the annular slide way 32. In the present embodiment, the first rolling bearing 8 is an eccentric bearing.
Specifically, the sliding plate 5 is provided with a plurality of mounting holes corresponding to the eccentric bearings one to one. One end of the eccentric bearing is fixedly arranged on the sliding plate 5 through a fixing screw, the other end of the eccentric bearing penetrates through the mounting hole and then extends upwards, and a convex ring which is connected with the track groove 33 in a matched mode is arranged on the outer ring of the extending end. When the track groove 33 is a V-shaped slideway attachment surface, the cross section of the convex ring is of a V-shaped structure and is used for attaching to the V-shaped slideway.
In this embodiment, the slide plate 5 is attached to the lower end surfaces of the ring gear 31 and the annular slide 32. 5 sets of eccentric bearings are provided. Wherein, 4 sets of eccentric bearings are distributed on two sides of the annular slide way 32 in pairs and are jointed and connected with the track grooves 33 on the annular slide way 32. The 1 group of eccentric bearings are positioned at the front end of the sliding plate 5 and abut against the inner side of the gear ring 31.
When the clamping jaw assembly works, the number and the positions of the clamping points of the clamping jaw assembly 2 are roughly determined according to the size and the clamping requirements of products to be clamped by horizontal tails and vertical tails of an airplane. By screwing the fixing screw of the eccentric bearing, the eccentric bearing can be separated from the inner V-shaped slide way binding surface of the annular slide way 32, so that the sliding plate 5 is separated from the disc-shaped base body 3, and the existing jaw assembly 2 and other jaw assemblies which are installed, replaced and newly added can be quickly disassembled. After confirming the centre gripping point quantity and the position of jack catch subassembly 2, industrial robot is close to the product surface of aircraft horizontal tail, vertical tail one side with clamping device, and is a plurality of vacuum chuck passes through vacuum generator and produces local vacuum, makes clamping device adsorb on the product surface.
According to a specific implementation manner of the embodiment of the present disclosure, at least two concentric second rolling bearings 9 are disposed on the sliding plate 5, and an outer ring of the second rolling bearing 9 is connected to the track groove 33 in a matching manner. In the present embodiment, the second rolling bearing 9 is a concentric bearing.
Specifically, the concentric bearing is mounted in the same manner as the eccentric bearing. The concentric bearing and the slide 5 are attached to the outside of the annular slide 32. The sliding plate 5 is provided with at least two mounting holes which correspond to the concentric bearings one by one. One end of the concentric bearing is fixedly arranged on the sliding plate 5 through a fixing screw, the other end of the concentric bearing penetrates through the mounting hole and then extends upwards, and a convex ring which is matched and connected with the track groove 33 of the annular slide way 32 is arranged on the outer ring of the extending end. When the track groove 33 is a V-shaped slideway attachment surface, the cross section of the convex ring is of a V-shaped structure and is used for attaching to the V-shaped slideway.
In detail, referring to fig. 3 and 4, the sliding plate 5 is further provided with at least one gear 10, and the gear 10 is engaged with the rack 34 of the gear ring 31 to drive the sliding plate 5 to move circularly around the central axis of the disc-shaped base body 3. In this embodiment, the gear 10 is disposed within the reduction assembly. The speed reduction assembly includes a motor 101, a speed reducer mounting base, and a speed reducer 102 mounted on the speed reducer mounting base and driven by the motor 101. Wherein the reducer 102 comprises a gear 10. During mounting or dismounting, the radial clearance between the gear 10 and the gear ring 31 is adjusted by moving the reducer mounting base in the radial direction, so that the gear 10 is disengaged or engaged with the rack 34 of the gear ring 31.
Alternatively, when the track groove 33 of the ring gear 31 is located on the inner side of the ring gear 31, the rack 34 of the ring gear 31 is located on the outer side of the ring gear 31. The rack 34 is externally engaged with the gear 10 to drive the sliding plate 5 to make circular motion around the central axis of the disc-shaped base body 3, and synchronously drive the joint arm 6 and the clamping part 7 to make circular motion. When the track groove 33 of the ring gear 31 is located on the outer side of the ring gear 31, the rack 34 of the ring gear 31 is located on the inner side of the ring gear 31. The rack 34 is engaged with the gear 10 to drive the sliding plate 5 to move circularly around the central axis of the disc-shaped base body 3, and synchronously drive the joint arm 6 and the clamping part 7 to move circularly.
Specifically, the gear 10 is mounted in the same manner as an eccentric bearing or a concentric bearing. The slide plate 5 is provided with a mounting hole corresponding to the gear 10. One end of the gear 10 is fixedly arranged on the sliding plate 5 through a fixing screw, the other end of the gear penetrates through the mounting hole and then extends upwards, and a gear ring meshed with the rack 34 is arranged on the outer ring of the extending end.
When the jaw assembly 2 is disassembled, the eccentric screw of the eccentric bearing is screwed to separate the V-shaped groove of the eccentric bearing from the annular slideway 32 and the V-shaped slideway of the gear ring 31, and the reducer mounting seat is radially moved to separate the gear 10 from the gear ring 31, so that the jaw assembly 2 can be separated from the disc-shaped base assembly 3. Correspondingly, when the jaw assembly 2 is installed, the V-shaped groove of the concentric bearing is clamped into the slideway of the track groove 33 to complete centering; then the eccentric screw is tightened to make the V-shaped grooves of the 4 groups of eccentric bearings clamped into the slideway of the track groove 33 to complete the fixation. The installation of the claw and claw component 2 can be completed by moving the speed reducer installation seat in the radial direction to enable the gear 10 to be close to the gear ring 31 to be meshed with the gear ring.
According to a specific implementation manner of the embodiment of the present disclosure, the sliding plate 5 is hinged to the joint arm 6 through a pin 11.
The sliding plate 5 is fixedly connected to the disc-shaped base body 3, and an included angle adjustable swing angle is formed between the sliding plate 5 and the joint arm 6. The sliding plate 5 is fixed, the joint arm 6 rotates around the pin shaft 11, and the swing angle is adjusted to adapt to different application scenes.
In this embodiment, the jaw assembly 2 further includes a driving assembly 12 for driving the joint arm 6 to rotate around the pin 11 so as to be close to or far from the sliding plate 5, the driving assembly 12 includes a driver, a fixed end of the driver is connected with the sliding plate 5, and a movable end of the driver is connected with the joint arm 6.
Optionally, the actuator is an electric cylinder. The articulated arm 6 is hinged with the sliding plate 5 through a pin shaft 11, the fixed end of the electric cylinder is connected with the sliding plate 5, and the piston rod at the movable end is connected with the articulated arm 6. The electric cylinder is started, and the articulated arm 6 is driven to rotate around the pin shaft 11 through the telescopic motion of the piston rod at the movable end, so that an angle-adjustable swing angle is formed between the articulated arm 6 and the sliding plate 5, and the adaptability is good.
In the embodiment, the articulated arm 6 can generate a deflection angle of-10 degrees to +15 degrees relative to the pin shaft 11 through the telescopic motion of the piston rod at the movable end of the electric cylinder, and the angle is adjustable so as to adapt to the curved surface appearance of horizontal-tail and vertical-tail products of an airplane.
According to a specific implementation manner of the embodiment of the present disclosure, as shown in fig. 7, the clamping portion 7 includes a U-shaped claw body 71 connected to the joint arm 6, and an upper presser 72 and a lower presser 73 respectively disposed at two end portions of the U-shaped claw body 71, and the upper presser 72 and the lower presser 73 are disposed opposite to each other to form a clamping gap, and a distance of the clamping gap is adjustable.
Specifically, the upper presser 72 and the lower presser 73 are both plate-shaped structures, one end face of the upper presser 72 faces the end face of the lower presser 73, the other end face of the upper presser 72 is detachably connected to the U-shaped claw body 71 through a fastener, and a clamping space is formed between the two plate-shaped structures of the upper presser 72 and the lower presser 73. The upper presser 72 and the lower presser 73 together clamp both sides of the aircraft horizontal tail and vertical tail products. When the size of the product to be clamped is large, the fastener on the upper pressing device 72 can be unscrewed to adjust the clamping distance between the upper pressing device 72 and the lower pressing device 73 so as to adapt to clamping requirements of different sizes.
In this embodiment, 4 auxiliary vacuum suction cups are additionally installed on the lower pressing device 73, so that the articulated arm 6 can be attached to the surface of the product to achieve the effect of auxiliary fixation.
In this embodiment, the U-shaped claw body 71 is provided with a radially arranged stroke adjustment groove 710, and the stroke adjustment groove 710 is fixedly connected to the articulated arm 6 by a fastener, and the fastener can slide in the stroke adjustment groove 710 to move the clamping portion 7 away from or close to the disc-shaped base assembly 1.
In this embodiment, the stroke adjusting groove 710 is a long circular hole formed along the radial direction, the radial distance of the long circular hole is 300mm, and the clamping device can clamp the product within the size range of 2200mm to 2800 mm. If the clamping size range needs to be changed, the U-shaped claw bodies 71 with different lengths can be replaced. The fastener is a screw and a nut which is matched and connected with the screw. When the lower presser 73 is mounted, the lower presser 73 is placed on the knuckle arm 6, the screw rod passes through the slot hole of the stroke adjusting groove 710, and the lower presser 73 is mounted and fixed on the knuckle arm 6 by the nut. When the nut is loosened, the U-shaped claw bodies 71 can linearly slide along the direction of the long round hole; when the nut is tightened, the U-shaped claw body 71 is fixed to the target position of the articulated arm 6 by the fastener.
When the clamping device works, after the number and the positions of the clamping points of a product to be clamped are confirmed, the clamping device is close to the surface of the product on one side of the horizontal tail and the vertical tail of the airplane. The vacuum chuck generates local vacuum through the vacuum generator, so that the clamping device is adsorbed on the surface of the product. The motor driving gear 10 is meshed with the rack 34 of the gear ring 31, and the annular slide way 32 guides the gear ring to drive the sliding plate 5 to do circular motion along the central axis of the disc-shaped base body 3. And adjusting the position of the jaw assembly 2, and when the sliding plate 5 moves to a target position, locking the motor brake, and stopping the circular motion of the jaw assembly 2. The U-shaped claw body 71 is adjusted to the farthest position of the stroke along the radial direction, the movable end of the driver 120 is pushed out to drive the articulated arm 6 to rotate around the pin shaft 11, so that the articulated arm 6 and the sliding plate 5 form a certain angle to adapt to the surface curve change of different products. Then, the position of the U-shaped claw body 71 is adjusted in the radial direction, so that the upper presser 72 and the lower presser 73 are positioned at the clamping positions on two sides of the edge of the horizontal tail and vertical tail products of the airplane, and the upper presser 72 and the lower presser 73 on the two sides are screwed tightly, so that the horizontal tail and vertical tail products of the airplane are clamped and fixed.
According to a specific implementation manner of the embodiment of the present disclosure, the disc-shaped base assembly 1 further includes a mounting flange 13, the mounting flange 13 is disposed at the center of the disc-shaped base body 3 and far away from one side of the suction cup 4, and the clamping device passes through the mounting flange 13 and the robot is connected. After the clamping and fixing of the plane horizontal and vertical tail products are finished, the robot finishes the butt-joint assembly or the single-lug and double-lug inserting assembly of the shaft holes of the horizontal and vertical tails, and the automation degree and the assembly precision of the whole process are high.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
The invention aims to provide a clamping device for fixing a horizontal vertical tail of an airplane aiming at the defects in the prior art so as to achieve the purpose of improving the assembly precision.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911081218.3A CN110774201B (en) | 2019-11-07 | 2019-11-07 | A clamping device for fixing the horizontal and vertical tail of an aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911081218.3A CN110774201B (en) | 2019-11-07 | 2019-11-07 | A clamping device for fixing the horizontal and vertical tail of an aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110774201A CN110774201A (en) | 2020-02-11 |
| CN110774201B true CN110774201B (en) | 2021-07-27 |
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| CN112222484B (en) * | 2020-11-04 | 2025-04-25 | 西安爱生技术集团有限公司 | A drilling fixture for the tail support and vertical tail assembly of a UAV |
| CN112722318B (en) * | 2021-01-18 | 2023-06-23 | 成都纵横鹏飞科技有限公司 | Unmanned aerial vehicle assembly debugging rack |
| CN114233740B (en) * | 2021-12-29 | 2023-12-19 | 吉林大学 | An adaptive vacuum suction cup |
| CN115258192B (en) * | 2022-09-30 | 2023-07-21 | 成都市鸿侠科技有限责任公司 | Clamping device for wing arc-shaped skin gluing |
| CN120038690B (en) * | 2025-04-23 | 2025-07-18 | 常州市荣江机电有限公司 | Intelligent positioning equipment for processing winch accessories |
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