CN115157290A - Flexible self-adaptive clamping manipulator for aircraft finished product assembly and use method - Google Patents

Abstract

The invention belongs to the technical field of mechanical assembly, and relates to a flexible self-adaptive clamping manipulator for aircraft finished product assembly and a use method. The invention has simple operation and strong adaptability, can realize the operations of clamping, fastening, moving and the like on finished equipment with various shapes and different structures, and achieves the aims of improving the working efficiency, lightening the labor intensity, reducing the number of tools and reducing the production preparation period. The invention has novel structure, adopts unique elastic telescopic support column distributed matrix structure design, and realizes flexible self-adaptive clamping of finished equipment with different shapes, sizes or various special structures. The invention avoids the damage to the finished equipment caused by the tool in the clamping process by limiting the clamping force.

Description

Flexible self-adaptive clamping manipulator for aircraft finished product assembly and method of use

technical field

The invention belongs to the technical field of mechanical assembly, and relates to a flexible self-adaptive clamping manipulator for assembling an aircraft finished product and a use method thereof.

Background technique

In the process of assembling finished products in the equipment compartment of the aircraft, the number of finished products involved is large and there are many kinds, and the shapes, structures, sizes and weights of different finished products are different. The traditional assembly method is to move and install each finished product manually, but it is more difficult to manually operate the finished equipment with larger equipment size and heavier weight. It often requires 2-4 people to stand on the plane to cooperate with the operation, which is labor-intensive. large, both inconvenient and dangerous.

After the application of hanging or robotic arms, the assembly of finished equipment with a large weight can be partially solved, but it is necessary to design and use special transfer tooling for each different finished product to fix and move the finished equipment. The frequency of tooling replacement is high and production preparation is required. The cycle is long, and it still needs to be lifted manually when it is fixed. The work efficiency and labor intensity need to be further improved. At present, there is a lack of domestic mechanical inventions that can perform flexible adaptive deformation and are used for the assembly of finished aircraft equipment.

SUMMARY OF THE INVENTION

In order to solve the above problems, a flexible self-adaptive clamping manipulator for the assembly of aircraft finished products was invented. The invention has a novel structure and is easy to operate. A large number of elastic telescopic top columns arranged in a distributed matrix can be used for various shapes, sizes, and specific structures. The finished equipment realizes flexible and adaptive clamping, fastening and moving operations, so as to improve work efficiency, reduce labor intensity, reduce the number of tooling, and reduce the production preparation cycle.

The technical scheme of the present invention is as follows:

Aircraft finished product assembly flexible adaptive clamping manipulator, including adapter panel, servo motor, upper slide rail, ball screw, slide rail, linear bushing, right clamping plate, elastic telescopic top column, left clamping plate, rubber sleeve , bushings, springs and bottom brackets;

The transfer panel is used for fixing the servo motor, the upper slide rail, the ball screw and the lower rail, and has fixing through holes for connecting with the mechanical arm or hanging. The servo motor is fixed on the transfer panel and connected with the ball screw, which can rotate in forward and reverse directions, and has the function of limiting torque.

The upper slide rail and the lower slide rail are respectively fixed on both sides of the ball screw for fixing and guiding the linear movement of the right clamping plate and the left clamping plate. The ball screw has opposite threads on both sides, and when the screw rotates, the right clamping plate and the left clamping plate on both sides run toward or away to realize the function of tightening or loosening. The linear bushing is installed outside the upper slide rail and the lower slide rail, and inside the right clamping plate and the left clamping plate, to ensure the linear movement between them. The right clamping plate and the left clamping plate are fixed on the upper and lower rails facing each other, and the reverse movement is realized by the rotation of the ball screw. There are through holes arranged in a matrix on them, which act as a large number of elastic telescopic top column movements. the chamber. The elastic telescopic top column is installed in the cavity hole of the clamping plate, the top is a hemispherical top, the outer sleeve has a rubber sleeve, which is used for topping and clamping the finished equipment, and the bottom has a blind hole for fixing the spring and holding the spring. The cylindrical structure accommodates the bottom bracket when it is compressed to the bottom, and a certain number of elastically retractable top columns are arranged in a matrix to realize adaptive clamping of different shapes and structures. The rubber sleeve is sleeved on the top end of the elastic telescopic top column, and is used for reducing the contact hardness between the top column and the finished product and increasing the frictional force. The shaft sleeve is fixed to the inner side of the cavity holes of the two clamping plates, and is used to cooperate with the cavity holes and the elastic telescopic top posts respectively, and to limit the excessive extension of the elastic top posts. One end of the spring rests on the bottom bracket, and the other end rests on the elastic telescopic top post. The normal state is to stretch, and the working state is to be compressed. The bottom bracket is composed of two structures, a disc and a cylinder. The disc structure is used to fix the bottom bracket on the outer sides of the two clamping plates, and the cylinder structure is used to fix the spring in the cavity hole.

The use method of the flexible self-adaptive clamping manipulator for the assembly of aircraft finished products, the steps are as follows:

Step 1: First, use the adapter hole on the adapter panel to fix the present invention on the mechanical arm or hang it;

Step 2: Open the two clamping plates so that the right clamping plate and the left clamping plate are at the maximum distance;

The third step: operate the mechanical arm or hang to move the present invention to the finished equipment, so that the finished equipment is located in the middle of the two clamping plates;

Step 4: Tighten the two clamping plates so that the elastic telescopic top column matrix on the clamping plates can make adaptive and flexible adjustments according to the shape of the finished equipment;

Step 5: When the clamping force reaches the limited maximum value, the servo motor stops working, the ball screw is in a self-locking state, and the finished equipment is effectively tightened;

Step 6: Operate the robotic arm or hang it to the designated position, and release the two clamping plates after placing or fixing the operation.

The beneficial effects of the present invention are:

(1) The present invention is easy to operate and has strong adaptability, and can realize operations such as clamping, fastening and moving for various finished equipment with different shapes and structures, so as to improve work efficiency, reduce labor intensity, reduce the number of tooling, and reduce production. The purpose of the preparation cycle.

(2) The present invention has a novel structure and adopts a unique distributed matrix structure design of elastic telescopic top columns, which realizes flexible and adaptive clamping of finished equipment of different shapes, different sizes or various special structures.

(3) The present invention avoids possible damage to the finished equipment caused by the tool during the clamping process by limiting the magnitude of the clamping force.

Description of drawings

Figure 1 is the overall structure diagram;

Fig. 2 is the detailed assembly drawing of the elastic telescopic top column;

Figure 3 is a schematic diagram of clamping finished equipment of different shapes and sizes.

In the picture: transfer panel 1; 2 servo motor; 3 upper slide rail; 4 ball screw; 5 lower rail; 6 linear bushing; 7 right clamping plate; 8 elastic telescopic top column; 9 left clamping plate; 10 Rubber sleeve; 11 axle sleeve; 12 spring; 13 bottom bracket.

Detailed ways

The present invention will now be further described with reference to the accompanying drawings

Example 1:

The finished aircraft is assembled with a flexible and adaptive clamping manipulator, including an adapter panel 1, a servo motor 2, an upper slide rail 3, a ball screw 4, a lower slide rail 5, a linear bushing 6, a right clamping plate 7, and an elastic telescopic top column 8 , Left clamping plate 9, rubber sleeve 10, shaft sleeve 11, spring 12 and bottom bracket 13;

The adapter panel 1 is used for fixing the servo motor 2, the upper slide rail 3, the ball screw 4 and the lower rail 5, and has fixing through holes for connecting with the robot arm or hanging. The servo motor 2 is fixed on the transfer panel 1 and is connected with the ball screw 4, which can rotate in both forward and reverse directions, and has the function of limiting torque.

The upper slide rail 3 and the lower slide rail 5 are respectively fixed on both sides of the ball screw for fixing and guiding the linear movement of the right clamping plate 7 and the left clamping plate 9 . The ball screw 4 has threads with opposite directions on both sides. When the screw rotates, the right clamping plate 7 and the left clamping plate 9 on both sides face toward or away from each other to realize tightening or loosening. Function. The linear bushing 6 is installed outside the upper slide rail 3 and the lower slide rail 5 and inside the right clamping plate 7 and the left clamping plate 9 to ensure the linear movement between them. The right clamping plate 7 and the left clamping plate 9 are fixed on the upper slide rail 3 and the lower rail 5 opposite to each other, and the reverse movement is realized by the rotation of the ball screw 4. The chamber for the movement of the elastic telescopic top column 8. The elastic telescopic top column 8 is installed in the cavity hole of the clamping plate, the top is a hemispherical top, the outer sleeve is provided with a rubber sleeve 10, which is used for pressing and clamping the finished equipment, and the bottom has a blind hole for fixing the spring 12, When the spring is compressed to the bottom, the cylindrical structure of the bottom bracket 13 is accommodated, and a certain number of elastic telescopic top columns 8 are arranged in a matrix to realize adaptive clamping of different shapes and structures. The rubber sleeve 10 is sleeved on the top end of the elastic telescopic top column 8 to reduce the contact hardness between the top column and the finished product and increase the frictional force. The shaft sleeve 11 is fixed to the inner side of the cavity holes of the two clamping plates, and is used to cooperate with the cavity holes and the elastic telescopic top posts respectively, and to limit the excessive extension of the elastic top posts. One end of the spring 12 rests on the bottom bracket 13, and the other end rests on the elastic telescopic top post 8. The normal state is extended, and the working state is compressed. The bottom bracket 13 is composed of two structures, a disc and a cylinder. The disc structure is used to fix the bottom bracket 13 on the outside of the two clamping plates, and the cylinder structure is used to fix the spring 12 in the cavity hole.

Example 2:

The use method of the flexible self-adaptive clamping manipulator for the assembly of aircraft finished products, the steps are as follows:

(1) First, the present invention is fixed on the mechanical arm or hanging by using the transfer hole on the transfer panel 1;

(2) Open the two clamping plates so that the right clamping plate 7 and the left clamping plate 9 are at the maximum distance;

(3) operating the mechanical arm or hanging to move the present invention to the finished equipment, so that the finished equipment is located in the middle of the two clamping plates;

(4) Tighten the two clamping plates, so that the elastic telescopic top column 8 matrix on the clamping plate can make adaptive and flexible adjustment according to the shape of the finished equipment;

(5) When the clamping force reaches the limited maximum value, the servo motor 2 stops working, the ball screw 4 is in a self-locking state, and the finished equipment is effectively tightened;

(6) Operate the mechanical arm or hang it to the designated position, and release the two clamping plates after completing the placing or fixing operations.

The above-mentioned embodiments are only intended to illustrate the technical concept and characteristics of the present invention, and the purpose is to enable those who are familiar with the art to understand the content of the present invention and implement accordingly, and cannot limit the protection scope of the present invention by this. All equivalent changes or modifications made according to the spirit of the present invention should be included within the protection scope of the present invention.

Claims (4)

1. A flexible self-adaptive clamping manipulator for assembling a finished aircraft product, characterized in that it comprises an adapter panel (1), a servo motor (2), an upper slide rail (3), a ball screw (4), a lower slide rail (5), Linear bushing (6), right clamping plate (7), elastic telescopic top column (8), left clamping plate (9), rubber sleeve (10), shaft sleeve (11), spring (12) and bottom bracket (13); The adapter panel (1) is used to fix the servo motor (2), the upper slide rail (3), the ball screw (4) and the lower rail (5), and is used for connecting with the mechanical arm or the hanging rail. A fixed through hole for connection; the servo motor (2) is fixed on the transfer panel (1), and is connected with the ball screw (4), which can rotate in both forward and reverse directions, and has the function of limiting torque; The upper slide rail (3) and the lower slide rail (5) are respectively fixed on both sides of the ball screw for fixing and guiding the linear movement of the right clamping plate (7) and the left clamping plate (9); the The ball screw (4) has threads with opposite directions on both sides. When the screw rotates, the right clamping plate (7) and the left clamping plate (9) on both sides face toward or away from each other. Realize the function of tightening or loosening; the linear bushing (6) is installed outside the upper slide rail (3) and the lower slide rail (5), and inside the right clamping plate (7) and the left clamping plate (9), for To ensure the linear movement between them; the elastic telescopic top column (8) is installed in the cavity hole of the clamping plate, the top is a hemispherical top, and the outer jacket is provided with a rubber sleeve (10), which is used for pressing and clamping the finished equipment. , there is a blind hole at the bottom for fixing the spring (12), and accommodates the cylindrical structure of the bottom bracket (13) when the spring is compressed to the bottom. self-adaptive clamping; the rubber sleeve (10) is sleeved on the top end of the elastic telescopic top column (8) to reduce the contact hardness between the top column and the finished product and play a role in increasing friction; the shaft sleeve (11) It is fixed to the inner side of the cavity holes of the two clamping plates, which are used to cooperate with the cavity holes and the elastic telescopic top posts respectively, and limit the excessive extension of the elastic top posts; one end of the spring (12) is pressed against the bottom bracket (13), the other end rests on the elastic telescopic top column (8), the normal state is elongation, and the working state is compressed. 2. The flexible self-adaptive clamping manipulator for assembling an aircraft finished product as claimed in claim 1, wherein the right clamping plate (7) and the left clamping plate (9) are fixed on the upper slide rail (3) facing each other. And on the lower rail (5), the reverse movement is realized by the rotation of the ball screw (4), and there are through holes arranged in a matrix on it, which serve as a chamber for the movement of a large number of elastically telescopic top columns (8). 3. The flexible self-adaptive clamping manipulator for assembling a finished aircraft product as claimed in claim 1 or 2, wherein the bottom bracket (13) is composed of two structures, a disc and a cylinder, and the disc structure is used to hold the bottom The support (13) is fixed on the outer side of the two clamping plates, and the cylindrical structure is used to fix the spring (12) in the cavity hole. 4. according to the use method of the aircraft finished product assembly flexible self-adaptive clamping manipulator described in any one of claim 1～3, it is characterized in that, step is as follows: The first step: firstly, the present invention is fixed on the mechanical arm or hanging by using the transfer hole on the transfer panel (1); Step 2: Open the two clamping plates so that the right clamping plate (7) and the left clamping plate (9) are at the maximum distance; The third step: operate the mechanical arm or hang to move the present invention to the finished equipment, so that the finished equipment is located in the middle of the two clamping plates; Step 4: Tighten the two clamping plates so that the elastic telescopic top column (8) matrix on the clamping plates can make adaptive and flexible adjustments according to the shape of the finished equipment; Step 5: When the clamping force reaches the limited maximum value, the servo motor (2) stops working, the ball screw (4) is in a self-locking state, and the finished equipment is effectively tightened; Step 6: Operate the robotic arm or hang it to the designated position, and release the two clamping plates after placing or fixing the operation.

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