CN112938288A - Mobile aircraft engine blade storing and taking system and method - Google Patents
Mobile aircraft engine blade storing and taking system and method Download PDFInfo
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- CN112938288A CN112938288A CN202110220382.9A CN202110220382A CN112938288A CN 112938288 A CN112938288 A CN 112938288A CN 202110220382 A CN202110220382 A CN 202110220382A CN 112938288 A CN112938288 A CN 112938288A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000003860 storage Methods 0.000 claims abstract description 120
- 230000008569 process Effects 0.000 claims abstract description 20
- 230000006978 adaptation Effects 0.000 claims abstract description 4
- 230000006855 networking Effects 0.000 claims abstract description 4
- 238000007726 management method Methods 0.000 claims description 53
- 230000005540 biological transmission Effects 0.000 claims description 42
- 230000007246 mechanism Effects 0.000 claims description 24
- 239000002131 composite material Substances 0.000 claims description 21
- 238000004519 manufacturing process Methods 0.000 claims description 19
- 230000008859 change Effects 0.000 claims description 9
- 230000015654 memory Effects 0.000 claims description 9
- 230000007306 turnover Effects 0.000 claims description 6
- 238000007792 addition Methods 0.000 claims description 3
- 238000013523 data management Methods 0.000 claims description 3
- 238000012217 deletion Methods 0.000 claims description 3
- 230000037430 deletion Effects 0.000 claims description 3
- 238000011161 development Methods 0.000 claims description 3
- 230000004048 modification Effects 0.000 claims description 3
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- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
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- 238000007689 inspection Methods 0.000 description 1
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- 230000007774 longterm Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Abstract
The invention discloses a mobile aircraft engine blade access system and a method thereof, wherein the access system comprises: the clamping and moving machine group is communicated with the storage management system; the storage management system includes: the electronic goods shelf assembly comprises a moving part, a chassis fixedly arranged on the moving part, an electronic goods shelf assembly fixedly arranged on the chassis, and a plurality of groups of locking vehicle piles fixedly arranged on the edge of the chassis. The gripping mobile machine group includes: the clamping manipulator, the mobile device of fixed mounting in clamping manipulator bottom, positioner and the work piece information scanning device of setting on the clamping manipulator, fixed mounting on the mobile device and with the retaining member of locking car stake adaptation and through the clamping control ware of thing networking and server intercommunication. According to the invention, the storage management system is communicated with the clamping mobile machine group through the Internet of things, so that the whole clamping and storage processes are monitored on line; the blade clamping device is convenient for common storage and clamping of blades of various types of aircraft engines.
Description
Technical Field
The invention belongs to the field of airplane assembly line equipment, and particularly relates to a movable airplane engine blade storing and taking system and method.
Background
Engines of multiple models need to be assembled on an aircraft assembly line at the same time, so that the sizes of the types of blades of the aircraft engines needing to be matched are different in the process of assembling or disassembling the engines of multiple models at the same time, and the situation that the types of the aircraft blades are mixed easily occurs when the blades of multiple models are placed on the existing shelf at the same time in the clamping process of the clamping robot is adopted, so that the assembly efficiency is reduced and the assembly error is caused; secondly, the clamping robot cannot meet the parallel requirement of a plurality of production lines simultaneously when clamping, so that the blade can be rapidly supplied by replacing the clamping robot with a transmission belt connected with the production lines in series, but the aircraft blade can only move along the transmission belt and is not as flexible as the clamping robot, so that the movable clamping robot working in parallel with a plurality of groups of production lines or disassembly and assembly lines can flexibly meet various requirements of actual use and reduce the occupied area in a production workshop.
Disclosure of Invention
The purpose of the invention is as follows: a mobile aircraft engine blade access system and method are provided to solve the above problems in the prior art.
The technical scheme is as follows: a mobile aircraft engine blade access system comprising: the clamping and moving machine group is communicated with the storage management system.
In a further embodiment, the deposit management system comprises: the electronic goods shelf assembly comprises a moving part, a chassis fixedly arranged on the moving part, an electronic goods shelf assembly fixedly arranged on the chassis, and a plurality of groups of locking vehicle piles fixedly arranged on the edge of the chassis.
In a further embodiment, the group of gripping mobile machines comprises: the clamping manipulator, the mobile device of fixed mounting in clamping manipulator bottom, positioner and the work piece information scanning device of setting on the clamping manipulator, fixed mounting on the mobile device and with the retaining member of locking car stake adaptation and through the clamping control ware of thing networking and server intercommunication.
In a further embodiment, the electronic shelf assembly comprises: four groups of fan-shaped goods shelves which are arranged back to back; the intelligent storage system comprises a plurality of movable storage units arranged in a fan-shaped shelf, an intelligent terminal arranged on the fan-shaped shelf and shelf management application software communicated with a server through a network; a laser sensor and an RFID reader for scanning the diameter of an article are embedded in the movable storage unit, and a weight sensor is also embedded in the bottom of the movable storage unit; the laser sensor, the RFID reader and the weight sensor are electrically connected with a memory in the movable storage unit, and unique physical addresses are arranged in the memories; the memory is electrically connected with a microprocessor in the intelligent terminal through a lead; the laser sensor can directly scan the size of the workpiece; the RFID reader identifies the electronic tags on the workpieces, so that the database can perform data addition, deletion, modification and query operations according to the information of the workpieces, thereby facilitating the real-time information binding of the storage and the taking of the workpieces; the weight sensor can detect the placing position and placing stability of the workpiece.
In a further embodiment, turning devices are arranged on two sides of the movable storage unit; the turning device comprises: the fan-shaped goods shelf comprises a plurality of electric cylinders fixedly arranged in the fan-shaped goods shelf, a transmission assembly fixedly arranged at the output rod end of each electric cylinder, and a connecting frame which is arranged at the other end of the transmission assembly in a transmission manner;
the transmission assembly includes: the device comprises a chute fixedly arranged on a connecting frame, a slide block clamped in the chute and fixedly connected with an output rod of an electric cylinder, a rack arranged in the slide block, a driven gear screwed on the rack and a rotating shaft inserted on the driven gear; one side of the rotating shaft is fixedly connected with the storage unit supporting plate, and then the power of the electric cylinder drives the sliding block to move up and down in the sliding groove, so that the driven gear rotates on the rack to drive the rotating shaft and the storage unit supporting plate to turn over; and a plurality of blade placing cavities with different sizes are fixedly arranged on the storage unit supporting plate.
In a further embodiment, a system management module is arranged in the shelf management application software; the system management module comprises:
a data flow management system: the Access background database is used as a development platform, the compatibility is strong, and a visual data management change table can be generated according to the change of the data stream;
a blade access module: comparing, judging and updating the model of the blade stored in the movable storage unit of the blade, and recording the time, updating the storage information and iterating the storage state of the movable storage unit of the taken blade;
a task cooperation module: and the clamping mobile machine group is communicated with and is responsible for two-way inquiry of the clamping mobile machine group and generation of assignment information of the storage management system.
In a further embodiment, the mobile device comprises: the three composite traveling wheels are fixedly arranged at the edges of the triangular mounting rack, and the steering mechanism is fixedly arranged at the center of the triangular mounting rack; the triangular mounting rack is an equilateral triangle; the three composite traveling wheels are in transmission connection with three driving motors, and a plurality of rotating wheels are rotatably arranged on the surfaces of the three composite traveling wheels; the axis line when the rotating wheel rotates is vertical to the axis line when the three composite traveling wheels rotate; thereby providing transitional assistance when the three composite travelling wheels steer; the steering mechanism includes: the steering wheel assembly comprises a rotating motor fixedly arranged on a triangular mounting frame, a transmission mechanism fixedly arranged on the triangular mounting frame and in transmission connection with the rotating motor, and a steering wheel set in transmission connection with the bottom of the transmission mechanism; the rotating motor drives the transmission mechanism to transmit, and the power drives the steering wheel set to rotate in the direction through the transmission mechanism.
In a further embodiment, the retaining member includes: the hydraulic clamping device comprises a connecting base plate fixedly arranged at the edge of a triangular mounting frame, a plug limiting block fixedly arranged on the connecting base plate, and a hydraulic clamping piece fixedly arranged on the connecting base plate; the other end of the hydraulic clamping piece is matched with the locking vehicle pile.
In a further embodiment, a battery assembly is fixedly mounted on the chassis, and a slot adapted to the plug-in limiting block is formed in the top of the locking vehicle pile; a conducting strip is embedded in the slot; the conducting strip is electrically connected with the battery pack through a wire; one end of the plug limiting block is provided with a protruding portion matched with the slot, and one side of the protruding portion is provided with a conductive connector, so that charging operation can be provided when the plug limiting block is locked.
In a further embodiment, the working steps are as follows:
firstly, the storage management system and the clamping mobile machine group are communicated with a server through a network, and then the server can acquire the storage dynamic state of blades on an electronic shelf in the storage management system and the number of clamping manipulators in the clamping mobile machine group;
in the storage process, the server is communicated with an intelligent terminal in an assembly workshop, and the server controls the clamping and moving of multiple groups of moving devices in the machine group to be fixed with the locking vehicle piles through the hydraulic clamping pieces and further fixed with the chassis by acquiring the storage requirement;
the locking pile is separated from the hydraulic clamping piece, and the clamping mechanical arm is driven by the multiple groups of moving devices to move in a workshop; the storage management system distributes storage requirements forwarded by the server to a plurality of groups of specified mobile devices for parallel processes, and workpieces on an assembly production line can be clamped efficiently;
in the process from a workshop production line to the storage of an electronic shelf, after blades are clamped from the production line, the clamping manipulator acquires the size of the blades according to the workpiece information scanning device and sends the size of the blades to a storage management system so as to inquire storage units in the electronic shelf;
in the electronic shelf transferring stage, the server is communicated with the storage management system and the clamping mobile machine group, and is responsible for two-way query clamping of the storage state and the clamping state in the storage management system, and the generation assignment information clamping manipulator positions the storage position of the blade to be transferred, so that the overturning device of the storage unit at the drive position drives the storage unit supporting plate to overturn to facilitate clamping of the blade on the clamping manipulator.
Has the advantages that: compared with the prior art, the invention has the following advantages:
1. the storage management system is communicated with the clamping mobile machine group through the Internet of things, so that the whole clamping and storage process is monitored; the blades of the airplane engines of various models can be stored and clamped together conveniently;
2. the storage management module meets the requirement of simultaneously storing various blades through a plurality of fan-shaped shelves and simultaneously reduces the occupied area;
3. the clamping manipulator moves along with the moving device, and can flexibly move in various moving states such as walking, turning, retreating and the like through the linkage of the composite walking wheels and the steering mechanism.
Drawings
FIG. 1 is a schematic diagram of a mobile aircraft engine blade access system according to the present invention.
Fig. 2 is a schematic structural diagram of the deposit management system of the present invention.
Fig. 3 is a schematic structural view of the electronic shelf assembly of the present invention.
Fig. 4 is an assembly schematic of the electronic shelf assembly and the gripping and moving device of the present invention.
Fig. 5 is a schematic structural view of the power fan-shaped shelf of the invention.
Fig. 6 is a schematic structural view of the movable storage unit of the present invention.
Fig. 7 is a schematic structural view of the turning device of the present invention.
Fig. 8 is a schematic structural diagram of the group executing part of the gripping and moving machine of the present invention.
Fig. 9 is a schematic structural diagram of the mobile device of the present invention.
Fig. 10 is a schematic view of the construction of the retaining piles and retaining members of the present invention.
Reference numerals: the device comprises a moving component 10, a chassis 11, an electronic shelf assembly 12, a fan-shaped shelf 120, a movable storage unit 121, a turnover device 122, an electric cylinder 123, a transmission assembly 124, a sliding chute 1240, a sliding block 1241, a rack 1242, a driven gear 1243, a rotating shaft 1244, a storage unit supporting plate 1245, a connecting frame 125, a locking stub 13, a clamping manipulator 20, a moving device 21, a triangular mounting frame 210, a composite traveling wheel 211, a steering mechanism 212, a rotating motor 2120, a transmission mechanism 2121, a steering wheel group 2122, a driving motor 213, a rotating wheel 214, a locking piece 22, a connecting base plate 220, a plugging limiting block 221 and a hydraulic clamping piece 222.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
The applicant finds that engines of multiple models need to be assembled on an aircraft assembly line at the same time, so that the sizes of the types of blades of the aircraft engines needing to be matched are different in the process of assembling or disassembling the engines of multiple models at the same time, and the situation that the types of the aircraft blades are mixed easily occurs when the blades of multiple models are placed on the existing shelf at the same time in the clamping process of a clamping robot is adopted, so that the assembly efficiency is reduced and the assembly error is caused; secondly, the clamping robot cannot meet the parallel requirement of a plurality of production lines simultaneously when clamping, so that the blade can be rapidly supplied by replacing the clamping robot with a transmission belt connected with the production lines in series, but the aircraft blade can only move along the transmission belt and is not as flexible as the clamping robot, so that the movable clamping robot working in parallel with a plurality of groups of production lines or disassembly and assembly lines can flexibly meet various requirements of actual use and reduce the occupied area in a production workshop.
A mobile aircraft engine blade access system as shown in figures 1 to 10 comprises: the clamping and moving machine group is communicated with the storage management system.
Wherein the execution unit of the deposit management system comprises: the movable part 10, the chassis 11, the electronic shelf assembly 12, the fan-shaped shelf 120, the movable storage unit 121, the turnover device 122, the electric cylinder 123, the transmission assembly 124, the chute 1240, the slider 1241, the rack 1242, the driven gear 1243, the rotating shaft 1244, the storage unit supporting plate 1245, the connecting frame 125 and the locking stub 13.
The execution unit for gripping the group of mobile machines includes: the device comprises a clamping manipulator 20, a moving device 21, a triangular mounting frame 210, a composite traveling wheel 211, a steering mechanism 212, a rotating motor 2120, a transmission mechanism 2121, a steering wheel set 2122, a driving motor 213, a rotating wheel 214, a locking member 22, a connecting base plate 220, a plugging limiting block 221 and a hydraulic clamping member 222.
The management system is stored and the clamping mobile machine group software part is communicated with management software in a server through a network, then the storage management system and the clamping mobile machine group software part are enabled to control an execution part to be linked, the clamping manipulator 20 is driven to move through the mobile device 21, the flexible adjustment of the position of the clamping manipulator 20 is achieved to replace static conveying of a transmission line, meanwhile, the plurality of mobile devices 21 can drive the chassis 11 to move together through the matching of the locking vehicle piles 13 and the locking pieces 22, finally, flexible movement of the electronic shelf components 12 on the chassis 11 is achieved, and the requirements of actual production and dismounting procedures are met.
The storage management system comprises execution components in the storage management system, wherein the moving components 10 are a plurality of moving wheels arranged at the bottom of a chassis 11, the moving wheels are not provided with power components, and are pushed by external force, so that the chassis 11 or electronic shelf components 12 on the chassis 11 can be applied more frequently; a plurality of groups of locking vehicle piles 13 are fixedly arranged on the edge of the chassis 11 and can be assembled according to the number of the mobile devices 21 which are put into use, so that the number of the locking vehicle piles 13 corresponds to the number of the mobile devices 21; a battery assembly is fixedly mounted on the chassis 11, and a slot communicated with the battery assembly is formed in the top of the locking vehicle pile 13; can lock mobile device 21 in the time to carry out the operation of charging mobile device 21, the operation closes the process, saves the charge time and improves and get efficiency of pressing from both sides.
The execution component in the clamping mobile machine group is further that the clamping manipulator 20 is used for clamping aircraft blades, and the clamping manipulator 20 can be a clamping mechanical arm with a multi-axis function in the prior art, so the clamping manipulator 20 will not be described in detail in the present invention, and the clamping jaw in the clamping manipulator 20 can be adjusted and moved in multiple axes when being driven by the clamping mechanical arm with the multi-axis function to clamp aircraft blades; the base fixed mounting of centre gripping arm is at the top of mobile device 21, positioner and work piece information scanning device set up on centre gripping manipulator 20, can press from both sides to get the aircraft blade of getting before getting and fix a position and size, information scanning such as model, whether suitable clamp is got and is paired with the demand, retaining member 22 fixed mounting on mobile device 21 and with locking car stake 13 adaptation, clamp controller fixed mounting on mobile device 21 and through thing networking and server communication, the server with deposit management system and press from both sides and get mobile machine group intercommunication, it gets the mobile machine group and deposit the state and press from both sides the state of getting among the management system to be responsible for two-way inquiry.
The electronic shelf assembly 12 of the present invention is designed as four sets of fan-shaped shelves 120 and arranged back to back such that the other ends of the four sets of fan-shaped shelves 120 are abutted against each other such that the cross-sections of the four sets of fan-shaped shelves 120 form a circle; each group of the fan-shaped shelves 120 is provided with a plurality of movable storage units 121, each group of the fan-shaped shelves 120 is also provided with an intelligent terminal, and the intelligent terminal is communicated with a network and shelf management application software in a server through the network; a laser sensor and an RFID reader for scanning the diameter of an article are embedded in the movable storage unit 121, and a weight sensor is also embedded in the bottom of the movable storage unit 121; the laser sensor, the RFID reader and the weight sensor are electrically connected with a memory in the movable storage unit 121, and unique physical addresses are arranged in the memories; the memory is electrically connected with a microprocessor in the intelligent terminal through a lead; the laser sensor can directly scan the size of the workpiece; the RFID reader identifies the electronic tags on the workpieces, so that the database can perform data addition, deletion, modification and query operations according to the information of the workpieces, thereby facilitating the real-time information binding of the storage and the taking of the workpieces; the weight sensor can detect the position and the stability of the workpiece placement, so that the fan-shaped shelf 120 can realize intelligent operation and data control.
When the existing multilayer shelf is used for storing airplane blades, because of the limitation of the layer height, the clamping jaws cannot clamp workpieces inside the shelf quickly, or the clamping jaws touch the shelf many times in the clamping process, so that the clamping jaws of the shelf are collided, the clamping blades slide down, the workpiece clamping efficiency is affected, and the deformation of the shelf can be caused after long-term use; therefore, the turning devices 122 are arranged on two sides of the movable storage unit 121; the clamping jaw is used for overturning the placing layer to change the angle of the clamping jaw target layer, so that the clamping jaws can clamp the airplane blade placed inside conveniently without colliding with a goods shelf when clamping, and the clamping success rate and speed are improved; the turning device 122 includes: a plurality of electric cylinders 123 fixedly arranged in the fan-shaped shelf 120, a transmission assembly 124 fixedly arranged at the output rod end of the electric cylinders 123, and a connecting frame 125 which is arranged at the other end of the transmission assembly 124 in a transmission manner; the transmission assembly 124 includes: a chute 1240 fixedly installed on the connecting frame 125, a slide block 1241 clamped in the chute 1240 and fixedly connected with the output rod of the electric cylinder 123, a rack 1242 arranged in the slide block 1241, a driven gear 1243 screwed on the rack 1242, and a rotating shaft 1244 inserted on the driven gear 1243; one side of the rotating shaft 1244 is fixedly connected with the storage unit supporting plate 1245, and then the power of the electric cylinder 123 drives the sliding block 1241 to move up and down in the sliding slot 1240, so that the driven gear 1243 rotates on the rack 1242 to drive the rotating shaft 1244 and the storage unit supporting plate 1245 to turn over; a plurality of blade placing cavities with different sizes are fixedly arranged on the storage unit supporting plate 1245; when the storage unit supporting plates 1245 are turned over, the airplane blades in the blade placing cavities are driven to change the angle, the distance between the multiple groups of storage unit supporting plates 1245 placed on the blades is larger than the radius of the fan-shaped goods shelf 120, and the angle change of the storage unit supporting plates 1245 in the turning process is 0-90 degrees; deposit unit backup pad 1245 and be parallel with fan-shaped goods shelves 120 when overturning to 90 degrees, and then make inside blade be located fan-shaped goods shelves 120's the outside, need not the arm and carry out multiaxis's adjustment and go deep into inside the goods shelves and get, improve and get efficiency of getting.
The shelf management application software is internally provided with a system management module; the system management module comprises:
a data flow management system: the Access background database is used as a development platform, the compatibility is strong, and a visual data management change table can be generated according to the change of the data stream; the statistics of the demolition data in the later period is facilitated, and the mass coefficients of different batches of airplane blades are analyzed.
A blade access module: comparing, judging and updating the model of the blade stored in the movable storage unit 121 of the blade, and recording time, updating storage information and iterating storage state of the movable storage unit 121 of the taken blade; avoiding the inequality of the gripping requirements when cooperating with the gripping manipulator 20
A task cooperation module: the clamping mobile machine group is communicated with and responsible for two-way query of the clamping mobile machine group and generation of assignment information of the storage management system; and further monitors the operating states of the drive components in the moving device 21 and the electronic shelf.
Considering that the invention is applied to a many-to-many working mode production line, the clamping robot is irregular in path division, and adopts a composite wheel set meeting multi-bidirectional flexible switching to move in the actual use process, three further composite traveling wheels 211 are respectively and fixedly installed at the edge of the triangular mounting rack 210, the triangular mounting rack 210 is an equilateral triangle at the external circle center of the triangular mounting rack 210, so that the triangular mounting rack 210 is prevented from inclining in steering; the three composite traveling wheels 211 are in transmission connection with three driving motors 213, and a plurality of rotating wheels 214 are rotatably arranged on the surfaces of the three composite traveling wheels 211; the inside of the rotating wheel 214 is provided with a bearing, so that the rotating wheel 214 can rotate when the three composite traveling wheels 211 steer, and a rotating shaft core line is vertical to a rotating shaft core line of the three composite traveling wheels 211 during traveling; the three composite traveling wheels 211 can be assisted to perform early transition when the triangular mounting rack 210 makes a sharp turn, and the stability of the triangular mounting rack 210 during the sharp turn is ensured; the steering mechanism 212 includes: a rotating motor 2120 fixedly installed on the triangular mounting bracket 210, a transmission mechanism 2121 fixedly installed on the triangular mounting bracket 210 and in transmission connection with the rotating motor 2120, and a steering wheel set 2122 in transmission connection with the bottom of the transmission mechanism 2121; the rotating motor 2120 drives the transmission mechanism 2121 to transmit power, and the power further drives the steering wheel set 2122 to rotate in the direction through the transmission mechanism 2121.
According to the invention, a plurality of groups of moving devices 21 are connected with a chassis 11, so that the goods shelf and the clamping mechanical arm can synchronously move, the goods shelf can be used as a transfer mechanism and temporarily used for clamping a moving machine group, and the replacement rate of the blades of the engine aircraft is high and the replacement types are various through a small storage function, for example, on a large quality inspection maintenance base, so that a plurality of electronic goods shelf components 12 need to be put in a plurality of replacement points in a workshop to meet the requirement of actual use, and the requirement of the replacement points is comprehensively covered; therefore, the locking vehicle piles 13 are arranged on the chassis 11, the locking parts 22 matched with the locking vehicle piles 13 are fixedly arranged on the moving devices 21, and then the plurality of moving devices 21 can be assembled with the electronic shelf components 12, so that external force with a moving function is provided for the electronic shelf, and a storage function is provided for the clamping robot. The locking member 22 is fixedly arranged on the triangular mounting frame 210 through the connecting base plate 220, the plugging limiting block 221 is fixedly arranged on the connecting base plate 220, and the other end of the plugging limiting block 221 is fixedly connected with a protruding part matched with the locking vehicle pile 13; the hydraulic clamping member 222 is fixedly mounted on the connection substrate 220; after the locking pile 13 is abutted to the insertion block, the other end of the hydraulic clamping piece 222 is clamped with the locking pile 13, so that the locking piece 22 and the locking pile 13 are firmly fixed. The plugging limiting block 221 is internally provided with a conducting strip electrically connected with the slot, so that the charging operation can be provided when the locking piece 22 is locked with the locking vehicle pile 13.
The working principle is as follows:
firstly, the storage management system and the clamping mobile machine group are communicated with a server through a network, and then the server can acquire the storage dynamic state of the blades on the electronic shelf in the storage management system and the number of clamping manipulators 20 in the clamping mobile machine group;
in the storage process, the server is communicated with the intelligent terminal in the assembly workshop, and the server controls the plurality of groups of mobile devices 21 in the clamping mobile machine group to be fixed with the locking vehicle piles 13 through the hydraulic clamping pieces 222 and further fixed with the chassis 11 by acquiring the storage requirement, the plurality of groups of mobile devices 21 further drive the chassis 11 and the electronic goods shelves on the chassis 11 to move in the moving process, and the electronic goods shelves on the chassis 11 are parked at the designated positions according to the execution route of the server;
the locking pile 13 is separated from the hydraulic clamping piece 222, and the plurality of groups of moving devices 21 drive the clamping manipulator 20 to move in the workshop; the storage management system distributes the storage requirements forwarded by the server to designate a plurality of groups of mobile devices 21 for parallel working procedures, so that workpieces on an assembly production line can be quickly and efficiently clamped;
in the process from a workshop production line to the storage of the electronic shelf, after clamping the blades from the production line, the clamping manipulator 20 acquires the sizes of the blades according to the workpiece information scanning device, and sends the sizes of the blades to the storage management system so as to inquire the storage units in the electronic shelf;
in the electronic shelf transferring stage, the server is communicated with the storage management system and the clamping mobile machine group, and is responsible for two-way query to clamp the storage state and the clamping state in the clamping mobile machine group and the storage management system, so as to generate assignment information, the clamping manipulator 20 positions the storage position of the blade to be transferred, and then the turning device 122 of the storage unit at the drive position drives the storage unit supporting plate 1245 to turn over so as to facilitate the clamping manipulator 20 to clamp the blade.
According to the invention, the storage management system is communicated with the clamping mobile machine group through the Internet of things, so that the whole clamping and storage processes are monitored on line; the blades of the airplane engines of various models can be stored and clamped together conveniently; the storage management module meets the requirement of simultaneously storing various blades through a plurality of fan-shaped shelves 120 and simultaneously reduces the occupied area; the clamping manipulator 20 moves along with the moving device 21, and can flexibly move in various moving states such as walking, turning, retreating and the like through the linkage of the composite walking wheels 211 and the directional mechanism.
It should be noted that, in the above embodiments, the parameters can be freely selected according to different situations without contradiction. The present invention is not further described with respect to various possible parameter schemes in order to avoid unnecessary repetition.
Claims (10)
1. A mobile aircraft engine blade access system, comprising:
the clamping and moving machine group is communicated with the storage management system.
2. A mobile aircraft engine blade access system as recited in claim 1, wherein said storage management system comprises: the electronic goods shelf assembly comprises a moving part, a chassis fixedly arranged on the moving part, an electronic goods shelf assembly fixedly arranged on the chassis, and a plurality of groups of locking vehicle piles fixedly arranged on the edge of the chassis.
3. A mobile aircraft engine blade access system as recited in claim 1, wherein said gripping mobile machine group comprises: the clamping manipulator, the mobile device of fixed mounting in clamping manipulator bottom, positioner and the work piece information scanning device of setting on the clamping manipulator, fixed mounting on the mobile device and with the retaining member of locking car stake adaptation and through the clamping control ware of thing networking and server intercommunication.
4. The mobile aircraft engine blade access system and method of claim 2, wherein the electronic shelf assembly comprises: four groups of fan-shaped goods shelves which are arranged back to back; the intelligent storage system comprises a plurality of movable storage units arranged in a fan-shaped shelf, an intelligent terminal arranged on the fan-shaped shelf and shelf management application software communicated with a server through a network; a laser sensor and an RFID reader for scanning the diameter of an article are embedded in the movable storage unit, and a weight sensor is also embedded in the bottom of the movable storage unit; the laser sensor, the RFID reader and the weight sensor are electrically connected with a memory in the movable storage unit, and unique physical addresses are arranged in the memories; the memory is electrically connected with a microprocessor in the intelligent terminal through a lead; the laser sensor can directly scan the size of the workpiece; the RFID reader identifies the electronic tags on the workpieces, so that the database can perform data addition, deletion, modification and query operations according to the information of the workpieces, thereby facilitating the real-time information binding of the storage and the taking of the workpieces; the weight sensor can detect the placing position and placing stability of the workpiece.
5. The system and method for accessing mobile aircraft engine blades according to claim 4, wherein the two sides of the movable storage unit are provided with turning devices; the turning device comprises: the fan-shaped goods shelf comprises a plurality of electric cylinders fixedly arranged in the fan-shaped goods shelf, a transmission assembly fixedly arranged at the output rod end of each electric cylinder, and a connecting frame which is arranged at the other end of the transmission assembly in a transmission manner;
the transmission assembly includes: the device comprises a chute fixedly arranged on a connecting frame, a slide block clamped in the chute and fixedly connected with an output rod of an electric cylinder, a rack arranged in the slide block, a driven gear screwed on the rack and a rotating shaft inserted on the driven gear; one side of the rotating shaft is fixedly connected with the storage unit supporting plate, and then the power of the electric cylinder drives the sliding block to move up and down in the sliding groove, so that the driven gear rotates on the rack to drive the rotating shaft and the storage unit supporting plate to turn over; and a plurality of blade placing cavities with different sizes are fixedly arranged on the storage unit supporting plate.
6. The system and method for accessing mobile aircraft engine blades according to claim 4, wherein the shelf management application software is provided with a system management module; the system management module comprises:
a data flow management system: the Access background database is used as a development platform, the compatibility is strong, and a visual data management change table can be generated according to the change of the data stream;
a blade access module: comparing, judging and updating the model of the blade stored in the movable storage unit of the blade, and recording the time, updating the storage information and iterating the storage state of the movable storage unit of the taken blade;
a task cooperation module: and the clamping mobile machine group is communicated with and is responsible for two-way inquiry of the clamping mobile machine group and generation of assignment information of the storage management system.
7. A mobile aircraft engine blade access system according to claim 3, wherein the mobile device comprises: the three composite traveling wheels are fixedly arranged at the edges of the triangular mounting rack, and the steering mechanism is fixedly arranged at the center of the triangular mounting rack; the triangular mounting rack is an equilateral triangle; the three composite traveling wheels are in transmission connection with three driving motors, and a plurality of rotating wheels are rotatably arranged on the surfaces of the three composite traveling wheels; the axis line when the rotating wheel rotates is vertical to the axis line when the three composite traveling wheels rotate; thereby providing transitional assistance when the three composite travelling wheels steer; the steering mechanism includes: the steering wheel assembly comprises a rotating motor fixedly arranged on a triangular mounting frame, a transmission mechanism fixedly arranged on the triangular mounting frame and in transmission connection with the rotating motor, and a steering wheel set in transmission connection with the bottom of the transmission mechanism; the rotating motor drives the transmission mechanism to transmit, and the power drives the steering wheel set to rotate in the direction through the transmission mechanism.
8. A mobile aircraft engine blade access system as recited in claim 3, wherein said retaining member comprises: the hydraulic clamping device comprises a connecting base plate fixedly arranged at the edge of a triangular mounting frame, a plug limiting block fixedly arranged on the connecting base plate, and a hydraulic clamping piece fixedly arranged on the connecting base plate; the other end of the hydraulic clamping piece is matched with the locking vehicle pile.
9. The mobile aircraft engine blade storing and taking system as claimed in claim 2, wherein a battery assembly is further fixedly mounted on the chassis, and a slot adapted to the plug-in limiting block is formed in the top of the locking vehicle pile; a conducting strip is embedded in the slot; the conducting strip is electrically connected with the battery pack through a wire; one end of the plug limiting block is provided with a protruding portion matched with the slot, and one side of the protruding portion is provided with a conductive connector, so that charging operation can be provided when the plug limiting block is locked.
10. The method for accessing the mobile aircraft engine blade access system according to claim 1, wherein the method comprises the following steps:
firstly, the storage management system and the clamping mobile machine group are communicated with a server through a network, and then the server can acquire the storage dynamic state of blades on an electronic shelf in the storage management system and the number and working state of the clamping mobile machine group;
in the storage process, the server is communicated with an intelligent terminal in an assembly workshop, and the server controls the clamping and moving of multiple groups of moving devices in the machine group to be fixed with the locking vehicle piles through the hydraulic clamping pieces and further fixed with the chassis by acquiring the storage requirement;
the locking pile is separated from the hydraulic clamping piece, and the clamping mechanical arm is driven by the multiple groups of moving devices to move in a workshop; the storage management system distributes storage requirements forwarded by the server to a plurality of groups of specified mobile devices for parallel processes, and workpieces on an assembly production line can be clamped efficiently;
in the process from a workshop production line to the storage of an electronic shelf, after blades are clamped from the production line, the clamping manipulator acquires the size of the blades according to the workpiece information scanning device and sends the size of the blades to a storage management system so as to inquire storage units in the electronic shelf;
in the electronic shelf transferring stage, the server is communicated with the storage management system and the clamping mobile machine group, and is responsible for two-way query clamping of the storage state and the clamping state in the storage management system, and the generation assignment information clamping manipulator positions the storage position of the blade to be transferred, so that the overturning device of the storage unit at the drive position drives the storage unit supporting plate to overturn to facilitate clamping of the blade on the clamping manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110220382.9A CN112938288B (en) | 2021-02-26 | 2021-02-26 | Mobile aircraft engine blade storing and taking system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110220382.9A CN112938288B (en) | 2021-02-26 | 2021-02-26 | Mobile aircraft engine blade storing and taking system and method |
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| Publication Number | Publication Date |
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| CN112938288A true CN112938288A (en) | 2021-06-11 |
| CN112938288B CN112938288B (en) | 2022-06-03 |
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| CN202110220382.9A Expired - Fee Related CN112938288B (en) | 2021-02-26 | 2021-02-26 | Mobile aircraft engine blade storing and taking system and method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1406802A (en) * | 2001-08-24 | 2003-04-02 | 任治国 | All directional trolley |
| DE102004013353A1 (en) * | 2004-03-17 | 2005-10-20 | Kht Kommissionier & Handhabung | Method for transferring goods, especially medicine packages, from a goods delivery unit to a serving unit comprises opening gripping jaws of a gripping device after gripping goods on the goods delivery unit |
| CN108438692A (en) * | 2018-04-10 | 2018-08-24 | 昆山齐腾智能科技有限公司 | A kind of controllable counter |
| CN109775218A (en) * | 2019-03-01 | 2019-05-21 | 云机工业设计(义乌)有限公司 | A kind of picking robot |
| CN111498355A (en) * | 2019-01-31 | 2020-08-07 | 青岛海尔生物医疗股份有限公司 | Turntable type automatic blood storage device and access method |
-
2021
- 2021-02-26 CN CN202110220382.9A patent/CN112938288B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1406802A (en) * | 2001-08-24 | 2003-04-02 | 任治国 | All directional trolley |
| DE102004013353A1 (en) * | 2004-03-17 | 2005-10-20 | Kht Kommissionier & Handhabung | Method for transferring goods, especially medicine packages, from a goods delivery unit to a serving unit comprises opening gripping jaws of a gripping device after gripping goods on the goods delivery unit |
| CN108438692A (en) * | 2018-04-10 | 2018-08-24 | 昆山齐腾智能科技有限公司 | A kind of controllable counter |
| CN111498355A (en) * | 2019-01-31 | 2020-08-07 | 青岛海尔生物医疗股份有限公司 | Turntable type automatic blood storage device and access method |
| CN109775218A (en) * | 2019-03-01 | 2019-05-21 | 云机工业设计(义乌)有限公司 | A kind of picking robot |
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| Publication number | Publication date |
|---|---|
| CN112938288B (en) | 2022-06-03 |
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