CN113458783A - Full-automatic assembly equipment of aircraft hatch door - Google Patents
Full-automatic assembly equipment of aircraft hatch door Download PDFInfo
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- CN113458783A CN113458783A CN202110822190.5A CN202110822190A CN113458783A CN 113458783 A CN113458783 A CN 113458783A CN 202110822190 A CN202110822190 A CN 202110822190A CN 113458783 A CN113458783 A CN 113458783A
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- Prior art keywords
- adhesive tape
- accessory
- cabin door
- feeding
- manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
- B23P19/027—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same using hydraulic or pneumatic means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
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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
Abstract
The invention discloses full-automatic assembly equipment for an airplane cabin door, which comprises a main supporting frame body, wherein one end of the main supporting frame body is provided with a feeding end, one side of the feeding end is provided with an adhesive tape installation end, one side of the adhesive tape installation end is provided with an accessory assembly end, one end of the accessory assembly end is provided with a detection end, one side of the detection end is provided with a finished product table, two sides of the feeding end are respectively and fixedly provided with a main conveying guide rail in parallel, one side of the feeding end is movably provided with a feeding end manipulator through the guide rails, and the lower end of the feeding end manipulator is fixedly provided with a driving motor. Wholly adopt the automation technology to carry out the modularization equipment to aircraft hatch door is whole, and the equipment technical efficiency among the traditional mode is faster relatively, can in time carry out quick and a lot of detection to holistic equipment effect after the equipment operation is accomplished simultaneously, has strengthened the quality of whole equipment, has improved the holistic packaging efficiency of hatch door simultaneously.
Description
Technical Field
The invention relates to the field of airplane cabin door automation sets, in particular to full-automatic airplane cabin door assembling equipment.
Background
The aircraft cabin door integrally comprises a guide mechanism, a hinge mechanism, a handle mechanism, a translation mechanism, a lifting mechanism and other various combined mechanisms, the internal structure is relatively complex, and the internal structure is modularly installed in the prior art for simplifying the complex installation of the internal structure, so that the cabin door internal space can be reasonably used, and meanwhile, the operations of the whole installation and subsequent maintenance of the cabin door are facilitated. Accomplish the timely detection to hatch door assembling process simultaneously in holistic installation in order to accelerate the holistic installation effectiveness of aircraft hatch door on prior art's basis, improve the loaded down with trivial details scheduling problem of whole assembling process to current whole assembling efficiency of prior art hatch door slowly. Therefore, the full-automatic assembly equipment for the airplane cabin door is provided to solve the problems in the prior art.
Disclosure of Invention
The present invention aims at providing a fully automatic assembling device for airplane doors, which solves the problems of the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: a full-automatic assembly device of an airplane cabin door comprises a main supporting frame body, wherein one end of the main supporting frame body is provided with a feeding end, one side of the feeding end is provided with an adhesive tape installation end, one side of the adhesive tape installation end is provided with an accessory assembly end, one end of the accessory assembly end is provided with a detection end, one side of the detection end is provided with a finished product platform, two sides of the feeding end are respectively and fixedly provided with a main conveying guide rail in parallel, one side of the feeding end is movably provided with a feeding end manipulator through a guide rail, the lower end of the feeding end manipulator is fixedly provided with a driving motor, one side of the adhesive tape installation end is provided with an adhesive tape rolling platform, one side of the adhesive tape rolling platform is provided with a wire harness conveying limiting mechanism, one side of the adhesive tape installation end is a wire harness arrangement end, the upper side end of the wire harness arrangement end is movably provided with a wire arrangement manipulator through a connecting rod, the outer side end of the main supporting frame body and one side of the main supporting frame body, which is positioned at the wiring harness arrangement end, are provided with a control operation terminal, one side of the accessory assembly end is provided with a small-sized fastening accessory automatic discharging box, the middle position of the accessory assembly end is provided with a rotating platform, one end of the rotating platform, which is far away from the small-sized fastening accessory automatic discharging box, is provided with an assembling mechanical arm, the upper side end of the rotating platform is provided with an accessory mounting and clamping mechanical arm, the upper side end of the rotating platform is movably provided with a mounting and fixing mechanical arm through a double-shaft moving connecting rod, two ends of the detection end are respectively provided with a lifting mechanism, two sides of the lifting mechanism are provided with chains, the lifting mechanism is integrally driven through a motor driving shaft connecting chain, the accessory mounting and clamping mechanical arm is mounted on a fixed connecting rod guide rail, and two sides of the lower end of the lifting mechanism are provided with angle adjusting cylinders, the utility model discloses a quick-witted structure, including main braced frame body, elevating system, pencil adjusting cylinder, vibration dish, total supporting framework, lead frame, elevating system, bracket, pencil, guide rail, connecting block, guide fixed axle piece, pencil adjusting cylinder, manual switching handle, slider movable mounting has the frame of holding up, the vibrations dish is installed to the back side of small-size fastening accessory automatic discharge box, the one end fixedly connected with play tablet of vibrations dish, the internally mounted of small-size fastening accessory automatic discharge box has the ejection of compact platform, the upper end position department of ejection of compact platform installs feeding cylinder.
As a preferred technical solution of the present invention, the bottom side end mounting platforms in the feed end of the main support frame and the fitting assembling end are both arc-shaped platforms.
As a preferred technical scheme of the invention, the flat cable mounting manipulator, the accessory mounting and clamping manipulator and the mounting and fixing manipulator which are supported and mounted by the sectional material at the upper end of the main supporting frame body are vertically mounted and run by a servo drive motor.
As a preferable technical scheme of the invention, the inside of the automatic discharging box of the small fastening fittings is classified and divided into 5-10 fastening bolts with different specifications, and all the fastening bolts are separately stored in a specified vibration disc.
As a preferable technical scheme of the invention, the whole discharging piece is inclined, the upper end of the discharging piece is connected with the vibration disc, the bottom of the lower end of the discharging piece is additionally provided with a magnet, and the magnet in the feeding block connected with one end of the feeding cylinder generates an interaction force.
As a preferred technical scheme of the invention, the whole supporting frame is formed by combining and connecting two groups of supporting rods and an air cylinder, the two groups of supporting rods are integrally formed by bending, and the whole supporting frame is in an L-shaped structure.
As a preferable technical scheme of the invention, the adhesive tape rolling platform is integrally disc-shaped, sealing adhesive tapes are uniformly wound inside the adhesive tape rolling platform, and a rotating motor is additionally arranged at the bottom of the adhesive tape rolling platform.
As a preferred technical scheme of the invention, photosensitive sensors are respectively arranged at the feeding end, the adhesive tape mounting end, the accessory assembling end and the detection end, the sensors are electrically connected with a conveying motor on a main conveying guide rail, and an adhesive tape limiter matched with an adhesive tape rolling table is arranged at one side of the wire harness conveying limiting mechanism.
As a preferred technical scheme of the invention, the assembly equipment comprises the following specific operation steps:
the method comprises the following steps: the method comprises the following steps that feeding is carried out on an airplane cabin door before automatic assembly, a manipulator at a feeding end positions a basal body shell of the cabin door, and then conveying is carried out sequentially and step by step through a conveying mechanism on a main conveying guide rail;
step two: after the installation process of arranging the adhesive tape and the wire harness is completed, the cabin door base body is conveyed to the accessory assembling end through the main conveying guide rail again, the rotating table at the bottom of the accessory assembling end, the accessory installing and clamping mechanical arm at the upper end, the fixing mechanical arm and the assembling mechanical arm at one side of the accessory assembling end are installed under the control of a designated program of a control operation terminal, in the process of locking and fixing installation, feeding is carried out under the matching of a small-sized fastening accessory automatic discharging box, accessories in the cabin door base body are fixed through the mechanical arm, after the accessories are installed, a lifting mechanism in the detection end works, the support rod is controlled through the action of a servo motor and an air cylinder to drag and convey the semi-finished cabin door base body which is just installed to the detection end, related detection such as material leakage, material shortage, staggered installation and the like is carried out, and whether the adhesive tape and the wire harness are installed in the cabin door in a staggered mode is detected at the same time, after the detection is finished, the semi-finished cabin door base body is transported to an accessory assembling end, then the rotating platform is integrally sunk under the action of an internal cylinder, then a conveying mechanism in the main conveying guide rail returns to the feeding end to convey the other half of the outer shell body of the cabin door to the accessory assembling end, and the fastener is installed at the corresponding position in the cabin door combined base body through the manipulator again;
step three: after the cabin door is assembled and installed, the supporting frame on the main conveying guide rail is matched with the air cylinder to convey the assembled cabin door base body to the detection end for secondary appearance detection and weight detection of the whole cabin door, so that the cabin door with large integral weight deviation is screened out and finally conveyed to a finished product platform to complete the assembling and installing steps of the cabin door.
The invention has the beneficial effects that:
1. the invention provides full-automatic assembly equipment for an airplane cabin door, which is characterized in that the whole airplane cabin door is assembled in a modularized manner by adopting an automatic technology, so that the efficiency is higher compared with that of the assembly technology in the traditional mode, and meanwhile, the whole assembly effect can be rapidly and repeatedly detected in time after the assembly operation is finished, so that the quality of the whole assembly is enhanced, and the whole assembly efficiency of the cabin door is improved;
2. the rotary table capable of rotating and lifting is additionally arranged in the accessory assembling end, and the idle stroke in the operation process of the mechanical hand can be reduced to a greater extent through the integral lifting and rotating action of the rotary table in the assembling operation process of a series of related mechanical hands at the upper end, so that the integral installation efficiency is further accelerated, and in addition, the assembly of the integral cabin door shell can be rapidly matched through the integral lifting action of the rotary table in the assembling process of the shells at two sides of the cabin door;
3. the overall assembly step of the invention adopts the cooperation of the overall conveying guide rail of the whole equipment and the supporting frame with the cylinder, so that the overall installation operation can be operated in a one-way stroke, and the complexity of multi-stroke operation is avoided. Through adding in one side of accessory equipment end and establishing the automatic ejection of compact case of small-size fastening fitting, can be categorised with the fastener of different models to the effect through inside vibrations dish carries out single ejection of compact with inside single fastener through ejection of compact piece, thereby can be convenient for assemble manipulator and fixed manipulator get the material fast.
Drawings
FIG. 1 is a schematic view of the overall axial side structure of the present invention;
FIG. 2 is a schematic view of a strand transport defining mechanism of the present invention;
FIG. 3 is a schematic view of the compact fastener fitting automatic discharge bin of the present invention;
FIG. 4 is a schematic side view of the two-axis movable connecting rod of the present invention;
FIG. 5 is a schematic cross-sectional view of a turntable according to the present invention;
FIG. 6 is a schematic view of a partial structure of the feed end of the present invention;
FIG. 7 is a schematic view of a partial structure of the finishing station of the present invention;
FIG. 8 is a schematic structural view of a feed end robot of the present invention;
fig. 9 is a partially enlarged view of the elevating mechanism of the present invention.
In the figure: 1. a total support frame body; 2. a feeding end; 3. an adhesive tape mounting end; 4. an accessory assembly end; 5. a detection end; 6. a finished product table; 7. a total transport rail; 8. a feed end manipulator; 9. a drive motor; 10. a rubber strip rolling table; 11. a wire harness conveyance limiting mechanism; 12. a harness arranging end; 13. arranging a manipulator; 14. controlling the operation terminal; 15. the small fastening fittings automatically discharge the material box; 16. a rotating table; 17. assembling a mechanical arm; 18. the accessory is provided with a clamping manipulator; 19. a biaxial movement link; 20. fixing the manipulator; 21. a lifting mechanism; 22. a chain; 23. a drive shaft; 24. an angle adjusting cylinder; 25. an electric cabinet; 26. a support rod; 27. a base; 28. a guide fixing shaft; 29. a wire harness adjusting cylinder; 30. a manual switching handle; 31. a support frame; 32. a vibration plate; 33. discharging the material sheet; 34. a discharging table; 35. and a feeding cylinder.
Detailed Description
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention more readily understood by those skilled in the art, and thus will more clearly and distinctly define the scope of the invention.
Example (b): referring to fig. 1-9, the present invention provides a technical solution: a full-automatic assembly device of an airplane cabin door comprises a general supporting frame body 1, one end of the general supporting frame body 1 is provided with a feeding end 2, one side of the feeding end 2 is provided with a rubber strip installation end 3, one side of the rubber strip installation end 3 is provided with an accessory assembly end 4, one end of the accessory assembly end 4 is provided with a detection end 5, one side of the detection end 5 is provided with a finished product platform 6, two sides of the feeding end 2 are respectively and fixedly provided with a general conveying guide rail 7 in parallel, one side of the feeding end 2 is movably provided with a feeding end manipulator 8 through a guide rail, the lower end of the feeding end manipulator 8 is fixedly provided with a driving motor 9, one side of the rubber strip installation end 3 is provided with a rubber strip rolling platform 10, one side of the rubber strip rolling platform 10 is provided with a wire harness conveying limiting mechanism 11, one side of the rubber strip installation end 3 is provided with a wire harness arrangement end 12, and the upper side end of the wire harness arrangement end 12 is movably provided with a wire arrangement manipulator 13 through a connecting rod, a control operation terminal 14 is arranged at one side of the wire harness arranging end 12 of the outer side end of the main supporting frame body 1, a small fastening accessory automatic discharging box 15 is arranged at one side of the accessory assembling end 4, a rotary table 16 is arranged at the middle position of the accessory assembling end 4, an assembling mechanical arm 17 is arranged at one end of the rotary table 16 far away from the small fastening accessory automatic discharging box 15, an accessory mounting and clamping mechanical arm 18 is arranged at the upper side end of the rotary table 16, a mounting and fixing mechanical arm 20 is movably arranged at the upper side end of the rotary table 16 through a double-shaft moving connecting rod 19, lifting mechanisms 21 are respectively arranged at two ends of the detection end 5, chains 22 are arranged at two sides of the lifting mechanisms 21, the lifting mechanisms 21 are integrally driven by a motor driving shaft 23 connecting chain 22, the accessory mounting and clamping mechanical arm 18 is arranged on a fixed connecting rod guide rail, and angle adjusting cylinders 24 are arranged at two sides of the lower end of the lifting mechanisms 21, the electric cabinet 25 is installed to one side that is located detection end 5 outside general braced frame 1, die-pin 26 is installed to the downside end of elevating system 21, the bottom fixed mounting of pencil transport defining mechanism 11 has base 27, there is fixed axle spare 28 at the upside end of base 27 through connecting block fixed mounting, pencil adjusting cylinder 29 is installed to one side of fixed axle spare 28 that leads, manual switching handle 30 is installed to one side of pencil adjusting cylinder 29, there is a support frame 31 at the upside end of total transport guide rail 7 through slider movable mounting, vibration dish 32 is installed to the rear side end of small-size fastening accessory automatic discharging box 15, the one end fixedly connected with of vibration dish 32 goes out the tablet 33, the internally mounted of small-size fastening accessory automatic discharging box 15 has ejection of compact platform 34, the upper end position department of ejection of compact platform 34 installs feeding cylinder 35.
Further, the feeding end 2 of the main supporting frame body 1 and the bottom side end mounting platform of the accessory assembling end 4 are both arc-shaped platforms.
The size of the integral cambered surface-shaped platform is the same as that of the integral cambered surface of the airplane cabin door, and the outer surface of the cambered surface is fixedly attached with a layer of soft rubber pad, so that the damage generated in the integral installation process can be avoided.
Further, the flat cable mounting manipulator 13, the accessory mounting and clamping manipulator 18 and the mounting and fixing manipulator 20, which are mounted on the upper end of the main support frame 1 through the profile support, are vertically mounted and run through the servo drive motor 9.
Wherein, the winding displacement installation manipulator 13 and the accessory installation clamping manipulator 18 and the installation fixing manipulator 20 are connected with telescopic cylinders at one end, and the clamping manipulator at the lower end of the whole body is matched with the cylinder to perform clamping, installation and other operations.
Further, the inside of the small-sized automatic discharge box for fastening accessories 15 is classified into 5 to 10 kinds of fastening bolts of different specifications, and each kind of fastening bolts is individually stored in a prescribed vibration plate 32.
The vibration disc 32 conveys related parts and fasteners inside to the material discharging sheet 33 through the vibration effect, wherein the material discharging sheet 33 is divided into two types, one type is provided with a magnet for matching with a metal part capable of being adsorbed, the other type is provided with a notch, the parts are conveyed into the notch through the vibration effect of the vibration disc 32, the middle position of the material discharging sheet 33 is provided with an inclined slope, so that the parts can automatically slide into the bottom side end of the material discharging sheet 33, and the bottom side of the material discharging sheet 33 is provided with a certain inclined upward slope to prevent the parts from falling.
In the process of discharging the parts, the parts falling at the bottom end of the material discharging sheet 33 are matched with the interaction of the groove sheet and the magnet under the action of the lower end feeding cylinder 35 to convey the parts and the fasteners to the designated positions, and the clamping manipulator 18 is installed in a matched manner to clamp the parts.
Furthermore, the material outlet sheet 33 is integrally inclined, the upper end of the material outlet sheet is connected with the vibration disc 32, and the bottom position of the lower end of the material outlet sheet is additionally provided with a magnet which is connected with a magnet inside a feeding block connected with one end of the feeding cylinder 35 to generate an interaction force.
Further, the whole of the supporting frame 31 is formed by connecting two groups of supporting rods 26 together with the cylinder in a combined manner, and the two groups of supporting rods 26 are integrally formed by bending and are of an L-shaped structure.
Further, the adhesive tape rolling table 10 is integrally disc-shaped, and sealing adhesive tapes are uniformly wound on the inner portion of the adhesive tape rolling table 10, and a rotating motor is additionally arranged at the bottom of the adhesive tape rolling table 10.
Further, photosensitive sensor is all installed to feed end 2 and adhesive tape installation end 3 and accessory equipment end 4 and sense terminal 5, and the sensor links to each other with the conveying motor electrical property on the total conveying guide 7. One side of the wire harness conveying limiting mechanism 11 is provided with a rubber strip stopper matched with the rubber strip rolling platform 10 for use.
The method comprises the following specific steps:
the method comprises the following steps: the method comprises the following steps that feeding is carried out on an airplane cabin door before automatic assembly is carried out on the airplane cabin door, a manipulator at the feeding end 2 positions a basal body shell of the cabin door, and then conveying is carried out sequentially and step by step through a conveying mechanism on a main conveying guide rail 7, firstly, a cabin door basal body is conveyed into an adhesive tape mounting end 3, a rotary motor at the bottom of an adhesive tape rolling platform 10 works to limit an adhesive tape through a limiting device at one side of a wire harness conveying limiting mechanism 11, adhesive tape arrangement of a specified route is carried out through the manipulator, and meanwhile, installation and arrangement of related internal wire harnesses are carried out on the same workbench through a wire arrangement mounting manipulator 13;
step two: after the installation process of adhesive tape and wire harness arrangement is completed, the cabin door base body is conveyed to the accessory assembling end 4 through the main conveying guide rail 7 again, the rotating platform 16 at the bottom of the accessory assembling end 4, the accessory installing and clamping mechanical arm 18 and the fixing mechanical arm 20 at the upper end and the assembling mechanical arm 17 at one side of the accessory assembling end 4 are installed under the control of a designated program of the control operation terminal 14, in the related locking and fixing installation process, the conveying is carried out under the coordination of the small-sized fastening accessory automatic discharging box 15, related parts in the cabin door base body are fixed through the mechanical arms, after the related accessories are installed, the lifting mechanism 21 in the detection end 5 works, the support rod 26 is controlled through the action of the servo motor and the air cylinder to drag and convey the semi-finished cabin door base body which is just installed into the detection end 5, and related detection such as material leakage, material shortage, dislocation installation and the like is carried out, and simultaneously detecting whether the adhesive tape inside the cabin door and the wire harness are installed in a staggered mode, and transporting the semi-finished cabin door base body to the accessory assembling end 4 after detection is completed. The rotary table 16 is then lowered to a certain depth by the internal cylinder as a whole, and the transport mechanism in the main transport rail 7 is then returned to the feed end 2 to transport the other half of the outer shell of the door to the fitment assembly end 4, again by robot arm to install the relevant fasteners at the relevant positions in the door assembly base.
Step three: after the cabin door is assembled and installed, the assembled cabin door base body is conveyed to the detection end 5 through the matching of the supporting frame 31 on the main conveying guide rail 7 and the air cylinder to perform appearance detection once again and the weight detection of the whole cabin door, so that the cabin door with large integral weight deviation is screened out and finally conveyed to the finished product platform 6 to complete the assembling and installing steps of the cabin door.
The invention has the structural characteristics and the working principle thereof; the integral general supporting frame body 1 is formed by combining, building and fixing square pipe sectional materials, and the device is integrally provided with a feeding end 2, an adhesive tape mounting end 3, an accessory assembling end 4, a detection end 5 and a finished product table 6; the feeding operation mode of the feeding end 2 is mainly that a main conveying guide rail 7 is matched with a feeding end mechanical arm 8 for feeding, the lower ends of the feeding end mechanical arm 8 and an assembling mechanical arm 17 are both conveyed through a driving motor 9 matched with a guide rail, after accurate feeding, the cabin door base body is conveyed to the adhesive tape mounting end 3 through the action of the main conveying guide rail 7 again, the bottom of the adhesive tape mounting end 3 is an operation table with a cambered surface, the integral cambered surface of the operation table with the cambered surface is the same as that of the cabin door base body shell, meanwhile, soft rubber is attached to the outer surface of the cambered surface table, the cabin door outer shell can be protected from abrasion and impact of the outer surface, during the adhesive tape assembling process, a plurality of strands of cabin door adhesive tapes and sealing strips are regularly wound in an adhesive tape winding table 10, under the action of the mechanical arm, a guide fixing shaft 28 at one end of a limiting mechanism 11 is matched with a wire harness, and the problem of adhesive tapes in the winding direction during the assembling process can be avoided through the action of the guide shaft piece, after the adhesive tape is installed, by performing the wire arranging operation inside the cabin door base body, the wire arranging installation manipulator 13 elongates and clamps the wire harness from one end of the wire harness conveying limiting mechanism 11 in a specified wire groove inside the cabin door, the wire arranging installation manipulator 13 is provided with two sets, and the two sets are arranged at the upper side end of the wire harness arranging end 12 in a parallel structure and move through a motor matched guide rail. After the wiring harness and the adhesive tape are installed, the cabin door base body is conveyed to the accessory assembling end 4 again for the next installation of partial parts and the assembly of fasteners.
Wherein the lower end of the accessory assembling end 4 is provided with a rotating platform 16, the shape of the upper end face of the rotating platform 16 is the same as the platform cambered surface at the bottom of the adhesive tape installing end 3, the middle position of the lower end is fixedly connected with a sleeve shaft which is connected with a rotating shaft of a motor in a plug-in mode, and a key pin is additionally arranged at the connecting position of the rotating platform and the rotating platform, the sleeve shaft and the rotating platform can coaxially rotate under the action of the key pin so as to drive the rotating platform 16 to rotate, the motor at the position can only perform reciprocating rotation within the range of 0-180 degrees, in addition, two groups of air cylinders are arranged at the lower side end of the rotating platform 16, the lifting action of the rotating platform 16 is achieved through the action of the air cylinders, an accessory installing and clamping manipulator 18 arranged at the upper end of the accessory assembling end 4 moves on a double-shaft moving connecting rod 19 under the action of a servo motor, and clamps appointed installation accessories and fasteners in the small-type fastening accessory automatic discharging box 15 and places the appointed positions of the cabin door basal body, and simultaneously, the rotation of the rotating platform 16 and the assembly manipulator 17 are matched to sequentially assemble the modules, the whole operating platform is descended to a certain distance under the action of the air cylinder at the lower end of the rotating platform 16 after the assembly of related components is finished, then the conveying platform on the main conveying guide rail 7 works again to convey the other part of the cabin door shell from the feeding end 2 to the accessory assembly end 4, and the other part of the cabin door shell is placed at the upper end of the cabin door base body assembled in the previous step and is assembled again under the action of the manipulator. After the assembly is finished, the product is conveyed to the detection end 5 to be detected in the whole appearance, and the material shortage of relevant parts and the detection of wrong accessory installation are carried out. In the detection process, the lower side end of the whole cabin door base body which is lifted to a certain height through the lifting mechanism 21 in the detection end 5 is additionally provided with a gravity sensor for detecting the weight of the whole cabin door base body. The inside of the lifting mechanism 21 drives the shaft to rotate through the motor, so that the chain 22 is forced to drive the support rod 26 at the lower end to ascend, and the two ends of the lifting mechanism 21 are additionally provided with the angle adjusting cylinders 24 for adjusting the angles of the support rods 26 of the whole lifting mechanism 21. After the integral detection is finished, the assembled cabin door is conveyed to the finished product table 6 through the matching of the support rod 26 and the conveying mechanism, and the integral modular assembly is finished. Wholly through adopting the automation technology to carry out the modularization equipment to aircraft hatch door wholly, the equipment technical efficiency among the traditional mode is faster relatively, can in time carry out quick and a lot of detection to holistic equipment effect after the equipment operation is accomplished simultaneously, has strengthened the quality of whole equipment, has improved the holistic packaging efficiency of hatch door simultaneously.
The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (9)
1. The full-automatic assembling equipment for the airplane cabin door comprises a general supporting frame body (1) and is characterized in that a feeding end (2) is arranged at one end of the general supporting frame body (1), an adhesive tape mounting end (3) is arranged at one side of the feeding end (2), an accessory assembling end (4) is installed at one side of the adhesive tape mounting end (3), a detection end (5) is arranged at one end of the accessory assembling end (4), a finished product table (6) is built at one side of the detection end (5), a general conveying guide rail (7) is respectively and fixedly installed on two sides of the feeding end (2) in parallel, a feeding end manipulator (8) is movably installed at one side of the feeding end (2) through a guide rail, a driving motor (9) is fixedly installed at the lower end of the feeding end manipulator (8), an adhesive tape rolling table (10) is installed at one side of the adhesive tape mounting end (3), the adhesive tape coiling table is characterized in that a wire harness conveying limiting mechanism (11) is installed on one side of an adhesive tape coiling table (10), one side of an adhesive tape installing end (3) is a wire harness arranging end (12), a flat cable installing mechanical arm (13) is movably installed on the upper side end of the wire harness arranging end (12), a control operation terminal (14) is installed on one side of the outer side end of a main supporting frame body (1) and located on the wire harness arranging end (12), a small fastening fitting automatic discharging box (15) is installed on one side of an accessory assembling end (4), a rotating table (16) is installed at the middle position of the accessory assembling end (4), an assembling mechanical arm (17) is installed at one end, far away from the small fastening fitting automatic discharging box (15), of the rotating table (16), an accessory installing clamping mechanical arm (18) is installed at the upper side end of the rotating table (16), and an installing fixing mechanical arm (20) is movably installed at the upper side end of the rotating table (16) through a double-shaft moving connecting rod (19), elevating system (21) are installed respectively at the both ends of sense terminal (5), chain (22) are installed to the both sides of elevating system (21), elevating system (21) are whole to drive shaft (23) through the motor and connect chain (22) and drive, manipulator (18) are got through installing on fixed connecting rod (23) guide rail to the accessory installation clamp, angle modulation cylinder (24) are installed to the lower extreme both sides of elevating system (21), electric cabinet (25) are installed to one side that is located sense terminal (5) in the total braced frame body (1) outside, die-pin (26) are installed to the lower extreme of elevating system (21), the bottom fixed mounting of pencil transport defining mechanism (11) has base (27), the upside end of base (27) has direction fixed axle (28) through connecting block fixed mounting, adjustment cylinder (29) are installed to one side of direction fixed axle (28), manual switching handle (30) are installed to one side of pencil adjust cylinder (29), there is a support frame (31) total side end of carrying guide rail (7) through slider movable mounting, vibrations dish (32) are installed to the back side of the automatic ejection of compact case of small-size fastening accessory (15), tablet (33) are gone out to the one end fixedly connected with of vibrations dish (32), the internally mounted of the automatic ejection of compact case of small-size fastening accessory (15) has ejection of compact platform (34), pay-off cylinder (35) are installed to the upper end position department of ejection of compact platform (34).
2. The fully automatic aircraft door assembly device according to claim 1, characterized in that: the feeding end (2) in the general supporting frame body (1) and the bottom side end mounting platform in the accessory assembling end (4) are both arc-shaped platforms.
3. The fully automatic aircraft door assembly device according to claim 1, characterized in that: the upper end of the general supporting frame body (1) is vertically installed through a flat cable installation manipulator (13) and an accessory installation clamping manipulator (18) which are supported and installed through sectional materials and an installation fixing manipulator (20), and the general supporting frame body and the accessory installation clamping manipulator all run through a servo driving motor (9).
4. The fully automatic aircraft door assembly device according to claim 1, characterized in that: the interior of the small-sized automatic discharging box (15) for fastening fittings is classified into 5-10 fastening bolts with different specifications, and all the fastening bolts are separately stored in a specified vibration disc (32).
5. The fully automatic aircraft door assembly device according to claim 1, characterized in that: the material discharging sheet (33) is integrally inclined, the upper end of the material discharging sheet is connected with the vibration disc (32), a magnet is additionally arranged at the bottom of the lower end of the material discharging sheet, and the magnet inside the material feeding block connected with one end of the material feeding cylinder (35) generates an interaction force.
6. The fully automatic aircraft door assembly device according to claim 1, characterized in that: the whole supporting frame (31) is formed by connecting two groups of supporting rods together with an air cylinder in a combined mode, the two groups of supporting rods are integrally formed by bending, and the whole supporting frame is of an L-shaped structure.
7. The fully automatic aircraft door assembly device according to claim 1, characterized in that: the adhesive tape rolling platform (10) is integrally disc-shaped, sealing adhesive tapes are uniformly wound inside the adhesive tape rolling platform, and a rotating motor is additionally arranged at the bottom of the adhesive tape rolling platform (10).
8. The fully automatic aircraft door assembly device according to claim 1, characterized in that: photosensitive sensors are installed on the feeding end (2), the adhesive tape installing end (3), the accessory assembling end (4) and the detection end (5), the sensors are electrically connected with a conveying motor on the main conveying guide rail (7), and an adhesive tape limiting stopper matched with the adhesive tape rolling table (10) and used is installed on one side of the wire harness conveying limiting mechanism (11).
9. The fully automatic aircraft door assembly device according to claim 1, characterized in that: the specific operation steps of the assembly equipment are as follows:
the method comprises the following steps: the method comprises the following steps that feeding is carried out on an airplane cabin door before automatic assembly is carried out, a manipulator at the feeding end (2) positions a basal body shell of the cabin door, and then conveying is carried out sequentially and step by step through a conveying mechanism on a main conveying guide rail (7), firstly, the cabin door basal body is conveyed in an adhesive tape mounting end (3), a rotating motor at the bottom of an adhesive tape rolling platform (10) works to limit an adhesive tape through a limiting device at one side of a wire harness conveying limiting mechanism (11) and arrange the adhesive tape in a specified route through the manipulator, and meanwhile, installation and arrangement of related wire harnesses inside the cabin door are carried out on the same workbench through a wire arranging installation manipulator (13);
step two: after the installation process of arranging the adhesive tape and the wiring harness is finished, the cabin door base body is conveyed to the accessory assembling end (4) through the main conveying guide rail (7) again, the rotating table (16) at the bottom of the accessory assembling end (4), the accessory installing and clamping mechanical arm (18) and the fixing mechanical arm (20) at the upper end and the assembling mechanical arm (17) at one side of the accessory assembling end (4) carry out installation operation under the control of a designated program of the control operation terminal (14), in the process of locking and fixing installation, feeding is carried out under the matching of the small-sized fastening accessory automatic discharging box (15) and accessories in the cabin door base body are fixed through the mechanical arms, after the accessories are installed, the lifting mechanism (21) in the detection end (5) works, the support rod (26) is controlled through the action of a servo motor and an air cylinder to drag the just-installed semi-finished product cabin door base body and convey the semi-finished product cabin door base body to the detection end (5), carrying out related detection such as material leakage, material shortage, dislocation installation and the like, simultaneously detecting whether the rubber strips and the wire harnesses in the cabin door are installed in a dislocation mode, transporting the semi-finished cabin door base body to the accessory assembling end (4) after the detection is finished, then sinking the whole rotating platform (16) under the action of the internal cylinder, then returning a conveying mechanism in the main conveying guide rail (7) to the feeding end (2) to convey the other half of the outer shell body of the cabin door to the accessory assembling end (4), and installing the fastener at the corresponding position in the cabin door combined base body through the manipulator;
step three: after the cabin door is assembled and installed, the supporting frame (31) on the main conveying guide rail (7) is matched with the air cylinder to convey the assembled cabin door base body to the detection end (5) for secondary appearance detection and weight detection of the whole cabin door, so that the cabin door with large integral weight deviation is screened out and finally conveyed to a finished product platform (6) to complete the step of assembling and installing the cabin door.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110822190.5A CN113458783A (en) | 2021-07-16 | 2021-07-16 | Full-automatic assembly equipment of aircraft hatch door |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110822190.5A CN113458783A (en) | 2021-07-16 | 2021-07-16 | Full-automatic assembly equipment of aircraft hatch door |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113458783A true CN113458783A (en) | 2021-10-01 |
Family
ID=77881756
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110822190.5A Withdrawn CN113458783A (en) | 2021-07-16 | 2021-07-16 | Full-automatic assembly equipment of aircraft hatch door |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113458783A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114738360A (en) * | 2022-03-08 | 2022-07-12 | 日善电脑配件(嘉善)有限公司 | Semi-automatic equipment and method for assembling 3C auxiliary materials |
| CN115338611A (en) * | 2022-07-26 | 2022-11-15 | 武汉市科迈机械制造有限责任公司 | Auxiliary device and auxiliary method for installing vehicle door for rail wagon |
| CN116197629A (en) * | 2023-01-17 | 2023-06-02 | 嘉兴敏华汽车零部件有限公司 | Automatic assembling device and method for grid product production line |
-
2021
- 2021-07-16 CN CN202110822190.5A patent/CN113458783A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114738360A (en) * | 2022-03-08 | 2022-07-12 | 日善电脑配件(嘉善)有限公司 | Semi-automatic equipment and method for assembling 3C auxiliary materials |
| CN114738360B (en) * | 2022-03-08 | 2023-09-12 | 日善电脑配件(嘉善)有限公司 | Semi-automatic equipment and method for assembling 3C piece auxiliary materials |
| CN115338611A (en) * | 2022-07-26 | 2022-11-15 | 武汉市科迈机械制造有限责任公司 | Auxiliary device and auxiliary method for installing vehicle door for rail wagon |
| CN116197629A (en) * | 2023-01-17 | 2023-06-02 | 嘉兴敏华汽车零部件有限公司 | Automatic assembling device and method for grid product production line |
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Application publication date: 20211001 |