CN111203492A

CN111203492A - Novel manipulator is transferred in punching press of unmanned aerial vehicle fuselage

Info

Publication number: CN111203492A
Application number: CN202010309216.1A
Authority: CN
Inventors: 李柏霖
Original assignee: Aerouav Co ltd
Current assignee: Shandong sky eye Intelligent Technology Co., Ltd
Priority date: 2020-04-20
Filing date: 2020-04-20
Publication date: 2020-05-29
Anticipated expiration: 2040-04-20
Also published as: CN111203492B

Abstract

The invention relates to the technical field of unmanned aerial vehicle production, in particular to a novel unmanned aerial vehicle body stamping and transferring manipulator, wherein a support column is rotatably connected above a pile seat, a cross beam is fixed above the support column, a guide rail is fixed on the upper surface of the cross beam, a cylinder mounting plate is arranged on the front side of the cross beam, the cross beam is connected with the cylinder mounting plate through a translation mechanism, a cylinder is mounted on the front side of the cylinder mounting plate, and a connecting plate is fixed above the cylinder mounting plate. The invention has novel design and simple structure, adopts the self-adaptive adjusting mechanism to ensure that the sucker can carry out angle adjustment according to the radian of the surface of the machine body while pressing down, further can be completely attached to the surface of the machine body, meets the adsorption and transfer of the machine bodies with different radians, improves the working efficiency, increases the practicability, can play a role of pressing down and buffering by the pressing down buffering mechanism, avoids the problem of deformation and damage of the machine body caused by rigid impact, and effectively reduces the cost waste brought by defective products.

Description

Novel manipulator is transferred in punching press of unmanned aerial vehicle fuselage

Technical Field

The invention relates to the technical field of unmanned aerial vehicle production, in particular to a novel unmanned aerial vehicle body stamping and transferring manipulator.

Background

An unmanned plane is called as an unmanned plane for short, and is an unmanned plane operated by utilizing radio remote control equipment and a self-contained program control device, a cockpit is arranged on the unmanned plane, but an autopilot, a program control device and other equipment are installed on the unmanned plane, and personnel on the ground, a naval vessel or a mother machine remote control station can track, position, remotely control, telemeter and digitally transmit the unmanned plane through radar and other equipment, can take off like a common plane under radio remote control or launch and lift off by using a boosting rocket, can also be carried to the air by the mother machine to launch and fly, and can automatically land in the same way as the landing process of the common plane and can also be recovered by using a parachute or a barrier net through remote control when being recovered. Can use repeatedly many times, extensively be used for aerial reconnaissance, keep watch on, communication, anti-dive, electronic interference etc. unmanned aerial vehicle need carry out the punching press to the fuselage in process of production, generally all adopt the manipulator to transfer the fuselage for improving work efficiency and safety.

But the unmanned aerial vehicle fuselage after the punching press is not the surfacing, and radian can be some in some places, therefore traditional sucking disc manipulator is limited great when transferring, also can appear transferring unstable problem simultaneously, consequently, the technical personnel in the field provide a manipulator is transferred in novel unmanned aerial vehicle fuselage punching press to solve the problem that proposes in the above-mentioned background art.

Disclosure of Invention

The invention aims to provide a novel stamping and transferring manipulator for a fuselage of an unmanned aerial vehicle, which aims to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: a novel unmanned aerial vehicle fuselage stamping and transferring manipulator comprises a pile seat, wherein a support column is rotatably connected above the pile seat, a cross beam is fixed above the support column, a guide rail is fixed on the upper surface of the cross beam, a cylinder mounting plate is arranged on the front side of the cross beam, the cross beam is connected with the cylinder mounting plate through a translation mechanism, a cylinder is mounted on the front side of the cylinder mounting plate, a connecting plate is fixed above the cylinder mounting plate, a guide groove matched with the connecting plate is arranged below one end of the connecting plate and corresponding to the guide rail, a pressing plate is fixed downwards at the telescopic end of the cylinder, a pressing buffer mechanism connected with the cylinder mounting plate is arranged on the rear side of the pressing plate, a support plate is fixed at the bottom of the pressing plate, through holes are formed in the surface of the support plate and corresponding to four corners, and air guide pipes are arranged inside the four through, and the through hole is connected with the air duct through a self-adaptive adjusting mechanism, the lower end of the air duct is communicated with a sucker, and the other end of the air duct is connected with an air suction pump through an air pipe.

As a further aspect of the invention: translation mechanism includes the bottom plate that links to each other with the crossbeam front side, the front side of bottom plate is located both ends position department and all is fixed with the bearing frame, two it is connected with the lead screw to rotate between the bearing frame, the thread bush that links to each other with cylinder mounting panel rear side has been cup jointed on the surface of lead screw, servo motor is installed to the one end of bottom plate, servo motor's transmission end runs through one of them the bearing frame links to each other with the tip of lead screw.

As a further aspect of the invention: the internally mounted of pile seat has step motor, and step motor's transmission end runs through the pile seat and links to each other with the support column is fixed, and the upper surface of pile seat and the lower surface of support column lie in border position department and all have the symmetry and seted up the arc wall, and the arc wall intussuseption is filled with the steel ball.

As a further aspect of the invention: self-adaptation adjustment mechanism includes solid fixed ring and four symmetric distribution's dustcoat, gu fixed ring cup joints the outside that is fixed in the air duct, and gu fixed ring's the outside corresponds four the position department of dustcoat all is fixed with the connection piece, four the dustcoat all imbeds and sets up in the inboard of through-hole, and the inside of four dustcoats all is provided with the barrel, four side equal symmetries are fixed with the extension spring who links to each other with the dustcoat about the barrel about, and the inside of barrel is provided with buffer spring, the inside of barrel is located one side position department of buffer spring and is provided with the briquetting, one side of briquetting is fixed with the application of force pole that runs through the barrel and rotate the.

As a further aspect of the invention: the outer side of the pressing block is symmetrically provided with limiting bulges, and the inner side of the cylinder body is provided with limiting grooves matched with the limiting bulges at the positions corresponding to the limiting bulges.

As a further aspect of the invention: push down buffer gear including the connecting plate that is fixed in cylinder mounting panel bottom, the rectangle leads to the groove has been seted up on the surface of connecting plate, and the front side of connecting plate is located both sides edge and all sets up the spout of perpendicular setting, the inboard that the rectangle led to the groove is located upper segment position department and transversely is fixed with the guide arm, and the inboard that the rectangle led to the groove is located bottom middle section position department and vertically fixes with the slide bar, the sliding sleeve has been cup jointed on the surface of slide bar, the reset spring who leads to inslot wall looks fixed with the rectangle has all been cup jointed at the both ends of guide arm, and the outside of guide arm cup joint two respectively with two the movable sleeve that the reset spring other end links to each other, two the below of movable sleeve all rotates and is connected with the pulling force pole, two the other end of pulling force pole all rotates with the outside of sliding sleeve and links.

As a further aspect of the invention: the rear side of the pressing plate is provided with sliding rails corresponding to the sliding grooves, and the sliding rails are matched with the sliding grooves.

As a further aspect of the invention: the two tension rods are in an inverted splayed structure when not stressed, and the included angle of the two tension rods is gradually decreased when stressed.

Compared with the prior art, the invention has the beneficial effects that: the invention has novel design and simple structure, adopts the self-adaptive adjusting mechanism to ensure that the sucker can carry out angle adjustment according to the radian of the surface of the machine body while pressing down, further can be completely attached to the surface of the machine body, meets the adsorption and transfer of the machine bodies with different radians, improves the working efficiency, increases the practicability, can play a role of pressing down and buffering by the pressing down buffering mechanism, avoids the problem of deformation and damage of the machine body caused by rigid impact, and effectively reduces the cost waste brought by defective products.

Drawings

Fig. 1 is a schematic structural view of a novel unmanned aerial vehicle body stamping and transferring manipulator;

fig. 2 is a schematic structural diagram of a self-adaptive adjusting mechanism in a novel unmanned aerial vehicle fuselage stamping and transferring manipulator;

fig. 3 is an enlarged schematic structural view of a novel unmanned aerial vehicle fuselage stamping transfer manipulator at a position a in fig. 2;

fig. 4 is a schematic diagram of the internal structure of a cylinder in a novel unmanned aerial vehicle fuselage stamping and transferring manipulator;

fig. 5 is a schematic structural view of a novel pressing buffer mechanism in an unmanned aerial vehicle fuselage stamping transfer manipulator.

In the figure: 1. a pile base; 2. a support pillar; 3. a screw rod; 4. a bearing seat; 5. a base plate; 6. a cross beam; 7. a guide rail; 8. a connecting plate; 9. a threaded sleeve; 10. a guide groove; 11. a cylinder mounting plate; 12. a connector tile; 13. a servo motor; 14. a cylinder; 15. pressing a plate; 16. a support plate; 17. a suction cup; 18. an air duct; 19. a through hole; 20. a fixing ring; 21. a housing; 22. a barrel; 23. connecting sheets; 24. a force application rod; 25. an extension spring; 26. briquetting; 27. a buffer spring; 28. a movable sleeve; 29. a guide bar; 30. a chute; 31. a tension bar; 32. a sliding sleeve; 33. a rectangular through groove; 34. a slide bar; 35. a connecting rod; 36. a return spring.

Detailed Description

Referring to fig. 1 to 5, in the embodiment of the invention, a novel unmanned aerial vehicle fuselage stamping and transferring manipulator comprises a pile base 1, a support pillar 2 is rotatably connected above the pile base 1, a stepping motor is installed inside the pile base 1, a transmission end of the stepping motor penetrates through the pile base 1 and is fixedly connected with the support pillar 2, arc-shaped grooves are symmetrically formed in the edge positions of the upper surface of the pile base 1 and the lower surface of the support pillar 2, steel balls are filled in the arc-shaped grooves, the support pillar 2 can be driven to rotate through the operation of the stepping motor, and the steel balls can increase the rotating stability.

A cross beam 6 is fixed above the supporting column 2, a guide rail 7 is fixed on the upper surface of the cross beam 6, a cylinder mounting plate 11 is arranged on the front side of the cross beam 6, the cross beam 6 is connected with the cylinder mounting plate 11 through a translation mechanism, a cylinder 14 is installed on the front side of the cylinder mounting plate 11, a connecting plate 12 is fixed on the upper side of the cylinder mounting plate 11, a guide groove 10 matched with the connecting plate is arranged at the position corresponding to the guide rail 7 below one end of the connecting plate 12, the translation mechanism comprises a bottom plate 5 connected with the front side of the cross beam 6, bearing seats 4 are fixed at the positions of the two ends of the front side of the bottom plate 5, a screw rod 3 is rotatably connected between the two bearing seats 4, a threaded sleeve 9 connected with the rear side of the cylinder mounting plate 11 is sleeved on the surface of the screw rod 3, a servo motor 13 is installed at one end of the bottom plate 5, a, during the translation, servo motor 13 functions to it is rotatory to drive lead screw 3, and the thread bush 9 that its outside cup jointed when lead screw 3 is rotatory can remove along the screw thread direction through the screw thread characteristic, thereby can drive 11 displacements of cylinder mounting panel.

A pressing plate 15 is fixed downwards at the telescopic end of the air cylinder 14, a downward-pressing buffer mechanism connected with the air cylinder mounting plate 11 is arranged at the rear side of the pressing plate 15, the downward-pressing buffer mechanism comprises a connecting plate 8 fixed at the bottom end of the air cylinder mounting plate 11, a rectangular through groove 33 is formed in the surface of the connecting plate 8, vertically-arranged sliding grooves 30 are formed in the edges of the two sides of the front side of the connecting plate 8, a guide rod 29 is transversely fixed at the upper section of the inner side of the rectangular through groove 33, a sliding rod 34 is vertically fixed at the middle section of the bottom of the inner side of the rectangular through groove 33, a sliding sleeve 32 is sleeved on the surface of the sliding rod 34, two return springs 36 fixed with the inner wall of the rectangular through groove 33 are sleeved at the two ends of the guide rod 29, two movable sleeves 28 respectively connected with the other ends of the two return springs 36 are sleeved outside the guide rod 29, a tension rod 31 is rotatably connected below the two movable sleeves 28, the front side of the sliding sleeve 32 is connected with a connecting rod 35 fixed with the rear side of the pressure plate 15, the rear side of the pressure plate 15 corresponding to the position of the sliding slot 30 is provided with a sliding rail, the sliding rail is matched with the sliding slot 30, the pressure plate 15 is driven to move downwards when the air cylinder 14 is pressed downwards, the sliding sleeve 32 is driven to move downwards along the direction of the sliding rod 34 when the pressure plate 15 moves downwards, the sliding sleeve 32 drives the two tension rods 31 to move along the inner side of the guide rod 29 when moving, and the two tension rods 31 are in an inverted splayed structure when not stressed, and the included angle of the two tension rods 31 is gradually decreased when the two tension rods 31 are stressed, the two tension rods 31 can stretch the return spring 36 when moving, the higher the tension force applied to the return spring 36, the larger the resilience force of the return spring is, thereby can play the buffering of certain degree to the speed that descends, avoid the rigidity striking to lead to the problem of fuselage deformation damage, the effectual cost waste that brings that has reduced the defective products.

The bottom of the pressure plate 15 is fixed with a support plate 16, the surface of the support plate 16 is provided with through holes 19 corresponding to four corners, the inner sides of the four through holes 19 are all provided with air ducts 18 in a penetrating way, the through holes 19 are connected with the air ducts 18 through a self-adaptive adjusting mechanism, the lower end of the air duct 18 is communicated with a sucker 17, the other end of the air duct 18 is connected with an air pump through an air duct, the self-adaptive adjusting mechanism comprises a fixing ring 20 and four symmetrically distributed outer covers 21, the fixing ring 20 is fixedly sleeved on the outer part of the air duct 18, connecting pieces 23 are fixed on the outer side of the fixing ring 20 corresponding to the positions of the four outer covers 21, the four outer covers 21 are embedded in the inner sides of the through holes 19, the four outer covers 21 are internally provided with a cylinder body 22, extension springs 25 connected with the outer covers 21 are symmetrically fixed, a pressing block 26 is arranged at one side position of the buffer spring 27 in the cylinder 22, a force application rod 24 which penetrates through the cylinder 22 and is connected with the connecting sheet 23 in a rotating manner is fixed at one side of the pressing block 26, limiting protrusions are symmetrically arranged at the outer side of the pressing block 26, limiting grooves matched with the limiting protrusions are arranged at positions corresponding to the limiting protrusions on the inner side of the cylinder 22, when one corner of the sucking disc 17 touches the arc surface of the machine body, under the action of continuous descending, one side, touching the arc surface of the machine body, of the sucking disc 7 is subjected to upward reaction force, under the action of continuous descending, the suspended side, influenced by the arc surface of the machine body, of the sucking disc 7 deflects along a touch point to the inclined side, the air guide tube 18 is further influenced by the deflection of the sucking disc 7 to be integrally inclined, when the air guide tube 18 deflects, the cylinder 22 is driven by the fixing ring 20 to be changed to the inclined direction under the action, retraction provides the displacement space for application of force pole 24 after buffer spring 27 pressurized, and then can laminate in the fuselage surface completely, satisfies the absorption of different radian fuselages and transfers, has improved work efficiency, has increased the practicality, and the fuselage is transferred the back, makes sucking disc 17 reset under the effect of buffer spring 27 characteristic, can transfer unprocessed plate body this moment.

The working principle of the invention is as follows: firstly, the stepping motor operates to drive the supporting column 2 to rotate, when the beam 6 moves to the position above the material, the stepping motor stops operating, the further air cylinder 14 operates, when the beam is pressed down, the pressing plate 15 is driven to move downwards until the sucking disc 17 is attached to the surface of the workpiece, when the pressing plate 15 moves downwards, the sliding sleeve 32 is driven to move downwards along the direction of the sliding rod 34, the sliding sleeve 32 drives the two tension rods 31 to move along the inner side of the guide rod 29 while moving, when the two tension rods 31 are not stressed, the two tension rods 31 are in an inverted V-shaped structure, the included angle of the two tension rods 31 is gradually reduced when the two tension rods 31 are stressed, when the two tension rods 31 move, the two tension rods 31 stretch the return spring 36, the stronger the tension force borne by the return spring 36 is larger, the buffer effect on the descending speed can be achieved to a certain degree, the problem that the body is deformed and damaged due to rigid impact is avoided, and the cost waste, further, the cylinder 14 is contracted to drive the adsorbed workpiece to move upwards, when the workpiece moves to a certain distance, the stepping motor operates again to drive the beam 6 to rotate to the upper part of the punch press, the servo motor 13 operates to drive the screw rod 3 to rotate, the screw rod 3 rotates, meanwhile, the threaded sleeve 9 sleeved outside the screw rod 3 moves along the thread direction through the thread characteristic, so that the workpiece can be driven to move to the position of the die, the cylinder 14 operates downwards again to place the workpiece on the die, the stepping motor operates to drive the beam 6 to move out of the range of the punch press, the punch press punches the workpiece to form a machine body, the sucker 17 moves above the machine body again, the cylinder 14 moves downwards, when one corner of the sucker 17 touches the arc surface of the machine body, under the action of continuous descending, the sucker 17 drives the air guide tube 18 to deviate along the arc surface direction, and when the air guide tube 18 deviates, the pressure block 26 is driven by the force application rod, the buffer spring 27 retracts after being pressed to provide a displacement space for the force application rod 24, and then can be completely laminated on the surface of the machine body, the adsorption and transfer of the machine bodies with different radians are met, the working efficiency is improved, and the practicability is increased.

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 are equivalent to or changed within the technical scope of the present invention.

Claims

1. The utility model provides a manipulator is transferred in punching press of novel unmanned aerial vehicle fuselage, includes pile seat (1), its characterized in that, the top of pile seat (1) is rotated and is connected with support column (2), the top of support column (2) is fixed with crossbeam (6), the last fixed surface of crossbeam (6) has guide rail (7), and the front side of crossbeam (6) is provided with cylinder mounting panel (11), link to each other through translation mechanism between crossbeam (6) and cylinder mounting panel (11), cylinder (14) are installed to the front side of cylinder mounting panel (11), and the top of cylinder mounting panel (11) is fixed with linking plate (12), the position department that corresponds guide rail (7) below one end of linking plate (12) is provided with rather than supporting guide slot (10), the flexible end downwardly fixed of cylinder (14) has clamp plate (15), the rear side of clamp plate (15) is provided with the buffering mechanism that pushes down that links to each other with cylinder mounting panel (11), and the bottom of clamp plate (15) is fixed with backup pad (16), through-hole (19) have all been seted up to four edges on the surface correspondence of backup pad (16), four the inboard of through-hole (19) all runs through and is provided with air duct (18), and links to each other through self-adaptation adjustment mechanism between through-hole (19) and air duct (18), the lower extreme intercommunication of air duct (18) is provided with sucking disc (17), and the other end of air duct (18) passes through the trachea and connects the aspiration pump.

2. The novel unmanned aerial vehicle fuselage punching press transfer manipulator of claim 1, characterized in that, translation mechanism includes bottom plate (5) that links to each other with crossbeam (6) front side, the front side of bottom plate (5) is located both ends position and all is fixed with bearing frame (4), two lead screw (3) are connected with in the rotation between bearing frame (4), the threaded bush (9) that link to each other with cylinder mounting panel (11) rear side is cup jointed on the surface of lead screw (3), servo motor (13) is installed to one end of bottom plate (5), the drive end of servo motor (13) runs through one of them bearing frame (4) links to each other with the tip of lead screw (3).

3. The novel unmanned aerial vehicle fuselage punching press transfer manipulator of claim 1, characterized in that, the internally mounted of pile seat (1) has step motor, and step motor's transmission end runs through pile seat (1) and links to each other with support column (2) is fixed, and the upper surface of pile seat (1) and the lower surface of support column (2) are located the border position department and have all symmetrically seted up the arc wall, and the arc wall intussuseption is filled with the steel ball.

4. The novel unmanned aerial vehicle fuselage stamping and transferring manipulator as claimed in claim 1, wherein the adaptive adjustment mechanism comprises a fixing ring (20) and four symmetrically distributed outer covers (21), the fixing ring (20) is fixedly sleeved on the outer portion of the air guide tube (18), connecting pieces (23) are fixed on the outer side of the fixing ring (20) at positions corresponding to the four outer covers (21), the four outer covers (21) are embedded in the through hole (19), cylinders (22) are arranged in the four outer covers (21), extension springs (25) connected with the outer covers (21) are symmetrically fixed on the upper side, the lower side, the left side and the right side of the cylinder (22), buffer springs (27) are arranged in the cylinder (22), and pressing blocks (26) are arranged on the positions, located on one side of the buffer springs (27), in the cylinder (22), one side of the pressing block (26) is fixed with a force application rod (24) which penetrates through the cylinder body (22) and is rotationally connected with the connecting piece (23).

5. The novel unmanned aerial vehicle fuselage punching transfer manipulator of claim 4, characterized in that the outside of briquetting (26) is provided with spacing arch symmetrically, the inboard of barrel (22) is equipped with the identical spacing groove of spacing arch position corresponding thereto.

6. The novel unmanned aerial vehicle fuselage punching transfer manipulator of claim 1, characterized in that the push-down buffering mechanism comprises a connecting plate (8) fixed at the bottom end of the cylinder mounting plate (11), a rectangular through groove (33) is formed in the surface of the connecting plate (8), vertically arranged sliding grooves (30) are formed in the edges of the two sides of the front side of the connecting plate (8), a guide rod (29) is transversely fixed at the upper section of the inner side of the rectangular through groove (33), a sliding rod (34) is vertically fixed at the middle section of the bottom of the inner side of the rectangular through groove (33), a sliding sleeve (32) is sleeved on the surface of the sliding rod (34), return springs (36) fixed with the inner wall of the rectangular through groove (33) are sleeved at the two ends of the guide rod (29), two movable sleeves (28) respectively connected with the other ends of the two return springs (36) are sleeved outside the guide rod (29), two the below of uide bushing (28) is all rotated and is connected with pull rod (31), two the other end of pull rod (31) all rotates with the outside of sliding sleeve (32) and links to each other, the front side of sliding sleeve (32) is connected with connecting rod (35) fixed mutually with clamp plate (15) rear side.

7. The novel unmanned aerial vehicle fuselage stamping and transferring manipulator as claimed in claim 6, wherein slide rails are arranged on the rear side of the pressure plate (15) at positions corresponding to the slide grooves (30), and the slide rails are matched with the slide grooves (30).

8. The novel unmanned aerial vehicle fuselage stamping and transferring manipulator as claimed in claim 6, wherein the two tension rods (31) are in an inverted splayed structure when not stressed, and the included angle between the two tension rods (31) is gradually decreased when stressed.