CN113858081A - Array type multi-point flexible positioning tool capable of being split, moved and recombined and positioning method - Google Patents
Array type multi-point flexible positioning tool capable of being split, moved and recombined and positioning method Download PDFInfo
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- CN113858081A CN113858081A CN202111276031.6A CN202111276031A CN113858081A CN 113858081 A CN113858081 A CN 113858081A CN 202111276031 A CN202111276031 A CN 202111276031A CN 113858081 A CN113858081 A CN 113858081A
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- 230000006798 recombination Effects 0.000 claims description 4
- 238000005215 recombination Methods 0.000 claims description 4
- 238000003466 welding Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
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Abstract
The invention discloses an array type multi-point flexible positioning tool capable of being moved and recombined in a split manner and a positioning method, wherein the flexible positioning tool comprises a control unit and at least one autonomous moving support unit connected with the control unit, and the autonomous moving support unit comprises a moving device and a plurality of vertical positioning support devices arranged on the upper surface of the moving device at intervals; the vertical positioning and supporting device is vertically arranged on the upper surface of the moving device, and the vertical positioning and supporting device can move up and down in a telescopic mode on the upper surface of the moving device. The advantages are that: the autonomous mobile supporting unit can be moved to a corresponding position at any time and any place according to actual requirements, and can be moved and recombined in a split mode according to the position and the size of the thin-wall member, so that the reconfiguration flexibility of the production line is improved.
Description
Technical Field
The invention relates to the technical field of flexible positioning tools, in particular to a split type movable and reconfigurable array type multi-point flexible positioning tool and a positioning method.
Background
At present, in a working system of a thin-wall component manufacturing machine (such as welding, assembling, cutting, hole making and the like of an airplane wall plate), a fixing tool of a supporting surface with the same profile as that of the thin-wall component is still largely adopted for supporting and positioning the thin-wall component. Due to the characteristic of small-batch diversification of the aircraft manufacturing system, corresponding fixed tools need to be specially produced aiming at parts with different molded surfaces. The fixed tooling has the disadvantages of multiple varieties, large quantity and long production preparation period, and the production and manufacturing periods of various new machine types are seriously influenced. Therefore, in recent years, a batch of multi-point flexible positioning tools for large thin-wall components are developed, the multi-point flexible positioning tools adopt a supporting structure capable of automatically adjusting and controlling the supporting position and direction to fit the thin-wall components in various shapes, and the flexibility of the tools is greatly improved.
However, the multi-point flexible positioning tool is large in occupied area and poor in maneuverability, and is lack of flexibility when thin-wall components with different sizes, lengths and widths are produced simultaneously. At present, for the requirements of automation and reconfiguration of a production and manufacturing system, a multi-point flexible positioning tool is expected to be further improved, so that the flexible tool is easier to reconfigure.
Disclosure of Invention
The invention aims to provide a split type movable and recombined array type multi-point flexible positioning tool and a positioning method, so that the technical problems that the positioning tool is poor in flexibility and is difficult to adapt to thin-wall components of different sizes in the prior art are solved.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an array type multi-point flexible positioning tool capable of being moved and recombined in a split mode comprises a control unit and at least one autonomous moving supporting unit connected with the control unit, wherein the autonomous moving supporting unit comprises a moving device and a plurality of vertical positioning supporting devices arranged on the upper surface of the moving device at intervals; the vertical positioning and supporting device is vertically arranged on the upper surface of the moving device, and the vertical positioning and supporting device can move up and down in a telescopic mode on the upper surface of the moving device.
Preferably, vertical positioning strutting arrangement includes vertical reference column and vertical flexible subassembly, vertical reference column bottom mounting is at mobile device's upper surface, the inside cavity of vertical reference column and the open setting in top, vertical flexible subassembly is on a parallel with vertical reference column sets up the inside of vertical reference column, vertical flexible subassembly can partially stretch out the open end of vertical reference column or accomodate inside vertical reference column completely.
Preferably, the vertical telescopic assembly comprises a vertical electric push rod and a first controller connected with the vertical electric push rod; the first controller is wirelessly connected with the control unit.
Preferably, a control chip for controlling the movement of the mobile device is arranged in the mobile device, and the control chip is wirelessly connected with the control unit.
Preferably, the moving device is an AGV cart.
Preferably, the autonomous mobile supporting unit further comprises a horizontal positioning supporting device, the horizontal positioning supporting device comprises a horizontal positioning column and a horizontal telescopic assembly, one end of the horizontal positioning column is fixed at the top end of the vertical telescopic assembly, and the other end of the horizontal positioning column protrudes and extends outwards along a direction perpendicular to the vertical positioning column; the inside cavity of horizontal reference column and its extension end are uncovered and are set up, horizontal flexible subassembly is on a parallel with horizontal reference column sets up horizontal reference column's inside, horizontal flexible subassembly can partially stretch out horizontal reference column's opening end or accomodate the inside at horizontal reference column completely.
Preferably, the horizontal telescopic assembly comprises a horizontal electric push rod and a second controller connected with the horizontal electric push rod, and the second controller is wirelessly connected with the control unit.
The invention also aims to provide a split mobile recombination array type multi-point flexible positioning method, which is realized by using the positioning tool; the positioning method comprises the following steps of,
s1, the control unit calls a corresponding number of autonomous mobile supporting units to move to corresponding positions according to the size of the thin-wall component, and the plurality of autonomous mobile supporting units are arranged in an array form;
s2, placing the thin-wall component above the autonomous mobile supporting unit; the control unit sends an instruction to the autonomous mobile supporting units at corresponding positions according to the actual shape of the thin-wall member, the vertical telescopic assemblies at corresponding positions on the autonomous mobile supporting units extend out of the vertical positioning columns to be in contact with the lower surface of the thin-wall member, the corresponding positions of the thin-wall member are supported, and the extending lengths of the vertical telescopic assemblies are equal or unequal, so that the thin-wall member keeps the original shape, and then the corresponding manufacturing process is carried out; and/or the horizontal telescopic assemblies at corresponding positions on the independent moving support units extend out of the horizontal positioning columns to be in contact with the side walls of the thin-wall components to support the corresponding positions of the thin-wall components, the extending lengths of the horizontal telescopic assemblies are equal or unequal, so that the thin-wall components keep the original shapes, and then the corresponding manufacturing process is carried out.
The invention has the beneficial effects that: the autonomous mobile supporting unit can be moved to a corresponding position at any time and any place according to actual requirements, and can be moved and recombined in a split mode according to the position and the size of the thin-wall member, so that the reconfiguration flexibility of the production line is improved.
Drawings
FIG. 1 is a schematic diagram of a flexible positioning tool supporting a thin-walled component according to an embodiment of the invention;
FIG. 2 is another schematic diagram of the flexible positioning tool supporting the thin-walled component in the embodiment of the invention
FIG. 3 is a schematic structural diagram of an autonomous mobile support unit according to an embodiment of the present invention;
FIG. 4 is a top view of an autonomous mobile support unit in an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of another autonomous mobile support unit in an embodiment of the present invention;
in the figure: 1. a thin-walled member; 2. an autonomous mobile support unit; 3. an AGV trolley; 4. a vertical positioning column; 5. a vertical telescopic assembly; 6. a horizontal positioning column; 7. horizontal telescoping assembly.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1 to 5, in the present embodiment, an array-type multi-point flexible positioning tool capable of being moved and recombined in a split manner is provided, which includes a control unit and at least one autonomous moving support unit 2 connected to the control unit, where the autonomous moving support unit 2 includes a moving device and a plurality of vertical positioning support devices disposed on an upper surface of the moving device at intervals; the vertical positioning and supporting device is vertically arranged on the upper surface of the moving device, and the vertical positioning and supporting device can move up and down in a telescopic mode on the upper surface of the moving device.
As shown in fig. 3 and 4, in this embodiment, the vertical positioning and supporting device includes a vertical positioning column 4 and a vertical telescopic assembly 5, the bottom end of the vertical positioning column 4 is fixed on the upper surface of the mobile device, the inside of the vertical positioning column 4 is hollow, and the top end of the vertical positioning column is open, the vertical telescopic assembly 5 is parallel to the vertical positioning column 4 and is disposed inside the vertical positioning column 4, and the vertical telescopic assembly 5 can partially extend out of the open end of the vertical positioning column 4 or be completely accommodated inside the vertical positioning column 4.
In this embodiment, the vertical telescopic assembly 5 includes a vertical electric push rod and a first controller connected to the vertical electric push rod; the first controller is wirelessly connected with the control unit.
In this embodiment, a control chip for controlling the movement of the mobile device is disposed inside the mobile device, and the control chip is wirelessly connected to the control unit.
In this embodiment, the moving device is an AGV cart 3.
As shown in fig. 5, in this embodiment, the autonomous mobile supporting unit 2 further includes a horizontal positioning supporting device, the horizontal positioning supporting device includes a horizontal positioning column 6 and a horizontal telescopic assembly 7, one end of the horizontal positioning column 6 is fixed on the top end of the vertical telescopic assembly 5, and the other end of the horizontal positioning column 6 protrudes and extends outward in a direction perpendicular to the vertical positioning column 4; horizontal reference column 6 inside cavity and its extension end are uncovered and are set up, horizontal flexible subassembly 7 is on a parallel with horizontal reference column 6 sets up horizontal reference column 6's inside, horizontal flexible subassembly 7 can partially stretch out horizontal reference column 6's opening end or accomodate the inside at horizontal reference column 6 completely.
In this embodiment, the horizontal telescopic assembly 7 includes a horizontal electric push rod and a second controller connected to the horizontal electric push rod, and the second controller is wirelessly connected to the control unit.
In the present embodiment, referring to fig. 3, the autonomous mobile support unit 2 includes a vertical positioning support means and a moving means. The number of the vertical positioning support devices on the upper surface of the mobile device can be selected according to actual conditions so as to better meet actual requirements. As shown in fig. 4, the upper surface of the mobile device is arranged with four vertical positioning support devices.
As shown in fig. 1 and 2, when a flexible positioning tool is used for welding and other operations, firstly, a control unit calls a corresponding number of autonomous mobile support units 2 to move to corresponding positions according to the size of a thin-wall member 1, and a plurality of autonomous mobile support units 2 are arranged in an array form; thereafter placing the thin-walled member 1 over the autonomous mobile support unit 2; the control unit sends an instruction to the autonomous mobile supporting units 2 at corresponding positions according to the actual shape of the thin-wall member 1, the vertical telescopic assemblies 5 at corresponding positions on the autonomous mobile supporting units 2 extend out of the vertical positioning columns 4 to be in contact with the lower surface of the thin-wall member 1, the corresponding positions of the thin-wall member 1 are supported, the extending lengths of the vertical telescopic assemblies 5 are equal or unequal, so that the thin-wall member 1 keeps the original shape, and then the corresponding manufacturing process is carried out.
The calling number of the autonomous mobile supporting units 2 and the target positions to which the autonomous mobile supporting units 2 move are set according to specific conditions, the number and the arrangement modes of a large number of mobile devices required by the thin-wall components 1 in different shapes are stored in the control unit, the control unit can be directly called and issues instructions to the autonomous mobile supporting units 2 in corresponding number to enable the autonomous mobile supporting units to move to corresponding positions, and vertical positioning supporting devices on the corresponding autonomous mobile supporting units 2 are controlled to stretch and retract to realize supporting, so that the thin-wall components 1 which need to be welded and other works can be supported to be in original shapes by the autonomous mobile supporting units 2, and subsequent welding and other works can be smoothly carried out.
In the present embodiment, as shown in fig. 5, the autonomous moving support unit 2 includes a vertical positioning support device, a horizontal positioning support device, and a moving device. The number of the vertical positioning and supporting devices and the number of the horizontal positioning and supporting devices on the upper surface of the mobile device can be selected according to actual conditions, so that actual requirements can be better met. Four vertical positioning and supporting devices are arranged on the upper surface of the mobile device in an array mode, and horizontal positioning and supporting devices are arranged on the two vertical positioning and supporting devices.
When a flexible positioning tool is used for welding and other works, firstly, the control unit calls a corresponding number of autonomous mobile supporting units 2 to move to corresponding positions according to the size of the thin-wall component 1, and the plurality of autonomous mobile supporting units 2 are arranged in an array form; thereafter placing the thin-walled member 1 over the autonomous mobile support unit 2; the control unit sends an instruction to the autonomous moving support units 2 at corresponding positions according to the actual shape of the thin-wall member 1, the vertical telescopic assemblies 5 at corresponding positions on the autonomous moving support units 2 extend out of the vertical positioning columns 4 to be in contact with the lower surface of the thin-wall member 1, the corresponding positions of the thin-wall member 1 are supported, and the extending lengths of the vertical telescopic assemblies 5 are equal or unequal; the horizontal telescopic components 7 at the corresponding positions on the autonomous mobile supporting unit 2 extend out of the horizontal positioning columns 6 to be in contact with the side walls of the thin-wall components 1, the corresponding positions of the side walls of the thin-wall components 1 are supported, the extending lengths of the horizontal telescopic components 7 are equal or unequal, so that the thin-wall components 1 keep the original shapes, and then the corresponding manufacturing process is carried out.
The calling number of the autonomous mobile supporting units 2 and the target positions to which the autonomous mobile supporting units 2 move are set according to specific conditions, the number and the arrangement modes of a large number of mobile devices required by the thin-wall components 1 in different shapes are stored in the control unit, the control unit can be directly called and issues instructions to the autonomous mobile supporting units 2 in corresponding number to enable the autonomous mobile supporting units to move to corresponding positions, the vertical positioning supporting devices and the horizontal positioning supporting devices on the corresponding autonomous mobile supporting units 2 are controlled to stretch and retract to realize supporting, it is guaranteed that the thin-wall components 1 which need to be welded and the like can be supported into original shapes by the autonomous mobile supporting units 2, and subsequent welding and the like can be smoothly carried out.
In this embodiment, when a plurality of autonomous mobile supporting units 2 are called, the relative position relationship of each autonomous mobile supporting unit 2 and the telescopic length relationship of each vertical positioning supporting device and/or horizontal positioning supporting device on each autonomous mobile supporting unit 2 may be measured by the robot line laser measurement system, and the mobile position of the corresponding autonomous mobile supporting unit 2 and the telescopic length of the vertical positioning supporting device and/or horizontal positioning supporting device may be adjusted according to the shape of the thin-walled member 1 by combining the measurement result, so that the supporting position of the autonomous mobile supporting unit 2 is fitted to the actual shape of the thin-walled member 1, and the positioning and supporting accuracy of the autonomous mobile supporting unit 2 is improved.
The invention also aims to provide a split mobile recombination array type multi-point flexible positioning method, which is realized by using a positioning tool; the positioning method comprises the following steps of,
s1, the control unit calls a corresponding number of autonomous mobile supporting units 2 to move to corresponding positions according to the size of the thin-wall component 1, and the autonomous mobile supporting units 2 are arranged in an array form;
s2, placing the thin-walled member 1 above the autonomous mobile supporting unit 2; the control unit sends an instruction to the autonomous mobile supporting units 2 at corresponding positions according to the actual shape of the thin-wall member 1, the vertical telescopic assemblies 5 at corresponding positions on the autonomous mobile supporting units 2 extend out of the vertical positioning columns 4 to be in contact with the lower surface of the thin-wall member 1, the corresponding positions of the thin-wall member 1 are supported, the extending lengths of the vertical telescopic assemblies 5 are equal or unequal, so that the thin-wall member 1 keeps the original shape, and then the corresponding manufacturing process is carried out; and/or the horizontal telescopic assemblies 7 at the corresponding positions on the independent moving support units 2 extend out of the horizontal positioning columns 6 to be in contact with the side walls of the thin-wall components 1 to support the corresponding positions of the thin-wall components 1, and the extending lengths of the horizontal telescopic assemblies 7 are equal or different, so that the thin-wall components 1 keep the original shapes, and then the corresponding manufacturing process is carried out.
By adopting the technical scheme disclosed by the invention, the following beneficial effects are obtained:
the invention provides a split type movable and reconfigurable array type multi-point flexible positioning tool and a positioning method.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements should also be considered within the scope of the present invention.
Claims (8)
1. But array multiple spot flexible positioning frock of split mobile recombination, its characterized in that: the device comprises a control unit and at least one autonomous mobile supporting unit connected with the control unit, wherein the autonomous mobile supporting unit comprises a mobile device and a plurality of vertical positioning supporting devices arranged on the upper surface of the mobile device at intervals; the vertical positioning and supporting device is vertically arranged on the upper surface of the moving device, and the vertical positioning and supporting device can move up and down in a telescopic mode on the upper surface of the moving device.
2. The array type multi-point flexible positioning tool capable of being moved and recombined in a split manner according to claim 1, wherein: vertical location strutting arrangement includes vertical reference column and vertical flexible subassembly, vertical reference column bottom mounting is at mobile device's upper surface, the inside cavity of vertical reference column and the uncovered setting in top, vertical flexible subassembly is on a parallel with vertical reference column sets up the inside of vertical reference column, vertical flexible subassembly can partially stretch out the opening end of vertical reference column or accomodate inside vertical reference column completely.
3. The array type multi-point flexible positioning tool capable of being moved and recombined in a split manner according to claim 2, wherein: the vertical telescopic assembly comprises a vertical electric push rod and a first controller connected with the vertical electric push rod; the first controller is wirelessly connected with the control unit.
4. The array type multi-point flexible positioning tool capable of being moved and recombined in a split manner according to claim 3, wherein: the mobile device is internally provided with a control chip for controlling the mobile device to move, and the control chip is in wireless connection with the control unit.
5. The array type multi-point flexible positioning tool capable of being moved and recombined in a split manner according to claim 4, wherein: the moving device is an AGV.
6. The array type multi-point flexible positioning tool capable of being moved and recombined in a split manner according to claim 5, wherein: the automatic moving support unit further comprises a horizontal positioning support device, the horizontal positioning support device comprises a horizontal positioning column and a horizontal telescopic component, one end of the horizontal positioning column is fixed at the top end of the vertical telescopic component, and the other end of the horizontal positioning column protrudes and extends outwards along the direction perpendicular to the vertical positioning column; the inside cavity of horizontal reference column and its extension end are uncovered and are set up, horizontal flexible subassembly is on a parallel with horizontal reference column sets up horizontal reference column's inside, horizontal flexible subassembly can partially stretch out horizontal reference column's opening end or accomodate the inside at horizontal reference column completely.
7. The array type multi-point flexible positioning tool capable of being moved and recombined in a split manner according to claim 6, wherein: the horizontal telescopic assembly comprises a horizontal electric push rod and a second controller connected with the horizontal electric push rod, and the second controller is in wireless connection with the control unit.
8. A split mobile recombination array type multi-point flexible positioning method is characterized in that: the positioning method is realized by using the positioning tool in the claim 7; the positioning method comprises the following steps of,
s1, the control unit calls a corresponding number of autonomous mobile supporting units to move to corresponding positions according to the size of the thin-wall component, and the plurality of autonomous mobile supporting units are arranged in an array form;
s2, placing the thin-wall component above the autonomous mobile supporting unit; the control unit sends an instruction to the autonomous mobile supporting units at corresponding positions according to the actual shape of the thin-wall member, the vertical telescopic assemblies at corresponding positions on the autonomous mobile supporting units extend out of the vertical positioning columns to be in contact with the lower surface of the thin-wall member, the corresponding positions of the thin-wall member are supported, and the extending lengths of the vertical telescopic assemblies are equal or unequal, so that the thin-wall member keeps the original shape, and then the corresponding manufacturing process is carried out; and/or the horizontal telescopic assemblies at corresponding positions on the independent moving support units extend out of the horizontal positioning columns to be in contact with the side walls of the thin-wall components to support the corresponding positions of the thin-wall components, the extending lengths of the horizontal telescopic assemblies are equal or unequal, so that the thin-wall components keep the original shapes, and then the corresponding manufacturing process is carried out.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111276031.6A CN113858081A (en) | 2021-10-29 | 2021-10-29 | Array type multi-point flexible positioning tool capable of being split, moved and recombined and positioning method |
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Application publication date: 20211231 |