CN115157290A - Flexible self-adaptive clamping manipulator for aircraft finished product assembly and use method - Google Patents
Flexible self-adaptive clamping manipulator for aircraft finished product assembly and use method Download PDFInfo
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- CN115157290A CN115157290A CN202210712014.0A CN202210712014A CN115157290A CN 115157290 A CN115157290 A CN 115157290A CN 202210712014 A CN202210712014 A CN 202210712014A CN 115157290 A CN115157290 A CN 115157290A
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- clamping plate
- elastic telescopic
- clamping
- finished product
- sliding rail
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
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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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- Manufacturing & Machinery (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
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
Technical Field
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.
Background
In the process of assembling finished products in the equipment compartment of the airplane, the number of related finished product equipment is large, the types of the finished product equipment are various, and different finished products are different in shape, structure, size and weight. The traditional assembly method is to move and install each finished product in a manual mode, but the manual operation of finished product equipment with larger equipment size and heavier weight is more difficult, 2-4 persons are often needed to stand on an airplane for matching operation, the labor intensity is high, and certain danger is not convenient and exists.
The problem of assembly of finished product equipment with heavy weight can be partially solved after a hanger or a mechanical arm is applied, the finished product equipment needs to be fixed and moved by using a special switching tool aiming at each different finished product, the tool replacement frequency is high, the production preparation period is long, manual carrying is still needed during fixing, and the working efficiency and the labor intensity need to be further improved. At present, the related mechanical invention which can carry out flexible self-adaptive deformation and is used for assembling airplane finished equipment is lacked in China.
Disclosure of Invention
In order to solve the problems, the invention provides a flexible self-adaptive clamping manipulator for assembling aircraft finished products, the manipulator is novel in structure and convenient to operate, and the operations of flexible self-adaptive clamping, fastening, moving and the like can be realized on finished product equipment with various shapes, different sizes and specific structures through a large number of elastic telescopic support pillars arranged in a distributed matrix, so that the aims of improving the working efficiency, reducing the labor intensity, reducing the number of tools and shortening the production preparation period are fulfilled.
The technical scheme of the invention is as follows:
the flexible self-adaptive clamping manipulator for assembling the finished airplane comprises a switching panel, a servo motor, an upper slide rail, a ball screw, a lower slide rail, a linear bushing, a right clamping plate, an elastic telescopic jacking column, a left clamping plate, a rubber sleeve, a shaft sleeve, a spring and a bottom support;
the switching panel is used for fixing the servo motor, the upper slide rail, the ball screw and the lower slide rail, and is provided with a fixing through hole for switching with the mechanical arm or the hanger. The servo motor is fixed on the switching panel and connected with the ball screw, can rotate in the positive direction and the negative direction, and has the function of limiting torque.
The upper sliding rail and the lower sliding rail are respectively fixed on two sides of the ball screw and used for fixing and guiding the right clamping plate and the left clamping plate to linearly move. The ball screw is provided with threads in opposite directions on two sides, and when the ball screw rotates, the right clamping plate and the left clamping plate on the two sides face to the front or back to the back to realize the function of tightening or loosening. The linear bushing is installed outside the upper sliding rail and the lower sliding rail, and in the right clamping plate and the left clamping plate, and is used for guaranteeing linear motion between the right clamping plate and the left clamping plate. The right clamping plate and the left clamping plate are fixed on the upper sliding rail and the lower sliding rail in opposite directions, reverse movement is achieved through rotation of the ball screw, and through holes arranged according to a matrix are formed in the ball screw and serve as chambers for movement of a large number of elastic telescopic top columns. In the accent of the flexible fore-set installation of elasticity and grip block, the top is the hemisphere top, and the overcoat has the rubber sleeve for tight, centre gripping finished product equipment in top, there is the blind hole bottom, is used for fixed spring, and holds the cylinder structure of collet when the spring is compressed on the end, the flexible fore-set of a certain amount realizes the self-adaptation centre gripping to different shapes, structure according to the matrix arrangement. The rubber sleeve is sleeved at the top end of the elastic telescopic ejection column and used for reducing the contact hardness between the ejection column and a finished product and playing a role in increasing friction force. The shaft sleeve is fixed on the inner sides of the cavity holes of the two clamping plates and is used for being matched with the cavity holes and the elastic telescopic top columns respectively and limiting the overlarge extending amount of the elastic top columns. One end of the spring is propped against the bottom support, the other end of the spring is propped against the elastic telescopic top column, the spring is extended in a normal state, and the spring is compressed in a working state. The collet is composed of a disc and a cylinder, the disc is used for fixing the collet on the outer sides of the two clamping plates, and the cylinder is used for fixing the spring in the cavity.
The use method of the flexible self-adaptive clamping manipulator for assembling the finished airplane comprises the following steps:
the first step is as follows: firstly, the invention is fixed on a mechanical arm or a hanger by utilizing a switching hole on a switching panel;
the second step: opening the two clamping plates to enable the right clamping plate and the left clamping plate to be located at the maximum distance position;
the third step: the mechanical arm or the hanger is operated to move the invention to the finished product equipment, so that the finished product equipment is positioned between the two clamping plates;
the fourth step: tightening the two clamping plates to make the elastic telescopic support pillar matrix on the clamping plates perform self-adaptive flexible adjustment according to the appearance of the finished product equipment;
the fifth step: when the clamping force reaches a limited maximum value, the servo motor stops working, the ball screw is in a self-locking state, and the finished equipment is effectively clamped;
and a sixth step: and operating the mechanical arm or hanging to move to a specified position, and loosening the two clamping plates after finishing operations such as placing or fixing.
The invention has the beneficial effects that:
(1) 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.
(2) 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.
(3) The invention avoids the damage to the finished equipment caused by the tool in the clamping process by limiting the clamping force.
Drawings
FIG. 1 is an overall structural view;
FIG. 2 is a detail assembly view of the elastically telescoping top post;
fig. 3 is a schematic view of the clamping of the finished device with different shapes and sizes.
In the figure: a transit panel 1;2, a servo motor; 3, an upper slide rail; 4, a ball screw; 5, a lower sliding rail; 6, linear bushing; 7, a right clamping plate; 8, elastically stretching the top column; 9 left clamping plate; 10, a rubber sleeve; 11, a shaft sleeve; 12 springs; 13 collet.
Detailed Description
The invention will now be further described with reference to the accompanying drawings
Example 1:
the flexible self-adaptive clamping manipulator for assembling the finished airplane comprises a switching panel 1, a servo motor 2, an upper sliding rail 3, a ball screw 4, a lower sliding rail 5, a linear bushing 6, a right clamping plate 7, an elastic telescopic support pillar 8, a left clamping plate 9, a rubber sleeve 10, a shaft sleeve 11, a spring 12 and a bottom support 13;
the switching panel 1 is used for fixing the servo motor 2, the upper sliding rail 3, the ball screw 4 and the lower sliding rail 5, and is provided with a fixing through hole for switching with a mechanical arm or a hanger. The servo motor 2 is fixed on the switching panel 1 and connected with the ball screw 4, can realize rotation in a positive direction and a negative direction, and has a torque limiting function.
The upper slide rail 3 and the lower slide rail 5 are respectively fixed on two sides of the ball screw and used for fixing and guiding the straight line movement of the right clamping plate 7 and the left clamping plate 9. The ball screw 4 has opposite direction threads on both sides, and when the screw rotates, the right clamping plate 7 and the left clamping plate 9 on both sides face to the side or back to the side, so that the function of tightening or loosening is realized. 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, and is used for guaranteeing linear motion between the two clamping plates. The right clamping plate 7 and the left clamping plate 9 are oppositely fixed on the upper slide rail 3 and the lower slide rail 5, reverse movement is realized through rotation of the ball screw 4, and through holes arranged in a matrix form are formed in the through holes and are used as chambers for movement of a large number of elastic telescopic top pillars 8. In the flexible fore-set 8 installation of elasticity and the accent of grip block, the top is the hemisphere top, and the overcoat has rubber sleeve 10 for push up tightly, centre gripping finished product equipment, there is the blind hole bottom, is used for fixed spring 12, and hold the cylinder structure of collet 13 when the spring is compressed to the end, the flexible fore-set 8 of a certain amount realizes the self-adaptation centre gripping to different shapes, structure according to the matrix arrangement. The rubber sleeve 10 is sleeved at the top end of the elastic telescopic top column 8 and used for reducing the contact hardness between the top column and a finished product and playing a role in increasing friction force. The shaft sleeve 11 is fixed on the inner sides of the cavity holes of the two clamping plates and is used for being matched with the cavity holes and the elastic telescopic support pillars respectively and limiting the overlarge extension amount of the elastic support pillars. One end of the spring 12 is supported on the bottom support 13, the other end of the spring is supported on the elastic telescopic support pillar 8, the spring is extended in a normal state, and the spring is compressed in a working state. The collet 13 is composed of a disc structure and a cylinder structure, the disc structure is used for fixing the collet 13 on the outer sides of the two clamping plates, and the cylinder structure is used for fixing the spring 12 in the cavity hole.
Example 2:
the use method of the flexible self-adaptive clamping manipulator for assembling the finished airplane comprises the following steps:
(1) Firstly, the invention is fixed on a mechanical arm or a hanger by utilizing a switching hole on a switching panel 1;
(2) Opening the two clamping plates to enable the right clamping plate 7 and the left clamping plate 9 to be located at the maximum distance position;
(3) The mechanical arm or the hanger is operated to move the invention to the finished product equipment, so that the finished product equipment is positioned between the two clamping plates;
(4) Tightening the two clamping plates to make the elastic telescopic support pillar 8 matrix on the clamping plates make self-adaptive flexible adjustment according to the appearance of the finished product equipment;
(5) When the clamping force reaches a 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 clamped;
(6) And operating the mechanical arm or hanging to move to a specified position, and loosening the two clamping plates after finishing operations such as placing or fixing.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (4)
1. The flexible self-adaptive clamping manipulator for aircraft finished product assembly is characterized by comprising a switching panel (1), a servo motor (2), an upper sliding rail (3), a ball screw (4), a lower sliding rail (5), a linear bushing (6), a right clamping plate (7), an elastic telescopic ejection column (8), a left clamping plate (9), a rubber sleeve (10), a shaft sleeve (11), a spring (12) and a bottom support (13);
the switching panel (1) is used for fixing the servo motor (2), the upper sliding rail (3), the ball screw (4) and the lower sliding rail (5), and is provided with a fixing through hole for switching with a mechanical arm or a hanger; the servo motor (2) is fixed on the switching panel (1) and connected with the ball screw (4), can rotate in the positive and negative directions and has the function of limiting torque;
the upper sliding rail (3) and the lower sliding rail (5) are respectively fixed on two sides of the ball screw and used for fixing and guiding the right clamping plate (7) and the left clamping plate (9) to linearly move; the ball screw (4) is provided with threads with opposite directions on two sides, and when the ball screw rotates, the right clamping plate (7) and the left clamping plate (9) on the two sides face to the front or back to the back, so that the function of tightening or loosening is realized; the linear bushing (6) is arranged outside the upper sliding rail (3) and the lower sliding rail (5), and in the right clamping plate (7) and the left clamping plate (9), and is used for guaranteeing linear motion between the two clamping plates; the elastic telescopic support pillars (8) are arranged in cavity holes of the clamping plate, the top of the elastic telescopic support pillars is a hemispherical top, a rubber sleeve (10) is sleeved outside the elastic telescopic support pillars and used for tightly supporting and clamping finished equipment, a blind hole is formed in the bottom of the elastic telescopic support pillars and used for fixing a spring (12) and accommodating a cylindrical structure of a bottom support (13) when the spring is compressed to the bottom, and the elastic telescopic support pillars (8) of a certain number realize self-adaptive clamping on different shapes and structures according to matrix arrangement; the rubber sleeve (10) is sleeved at the top end of the elastic telescopic top column (8) and used for reducing the contact hardness between the top column and a finished product and playing a role in increasing friction force; the shaft sleeve (11) is fixed on the inner sides of the cavity holes of the two clamping plates and is used for being matched with the cavity holes and the elastic telescopic prop respectively and limiting the overlarge extending amount of the elastic prop; one end of the spring (12) is supported on the bottom support (13), the other end of the spring is supported on the elastic telescopic support pillar (8), the spring is extended in a normal state, and the spring is compressed in a working state.
2. The aircraft finished product assembly flexible self-adaptive clamping manipulator as claimed in claim 1, wherein the right clamping plate (7) and the left clamping plate (9) are fixed on the upper sliding rail (3) and the lower sliding rail (5) in an opposite direction, reverse movement is realized through rotation of the ball screw (4), and through holes arranged in a matrix are formed in the through holes and used as chambers for movement of a large number of elastic telescopic jacking columns (8).
3. The aircraft finished product assembly flexible self-adaptive clamping manipulator as claimed in claim 1 or 2, characterized in that the bottom support (13) is composed of a disk structure and a cylinder structure, the disk structure is used for fixing the bottom support (13) at the outer sides of the two clamping plates, and the cylinder structure is used for fixing the spring (12) in the cavity.
4. The use method of the flexible self-adaptive clamping mechanical arm for assembling the finished airplane according to any one of claims 1 to 3, is characterized by comprising the following steps:
the first step is as follows: firstly, the invention is fixed on a mechanical arm or a hanger by utilizing a switching hole on a switching panel (1);
the second step: opening the two clamping plates to enable the right clamping plate (7) and the left clamping plate (9) to be located at the maximum distance position;
the third step: the mechanical arm or the hanger is operated to move the invention to the finished product equipment, so that the finished product equipment is positioned between the two clamping plates;
the fourth step: tightening the two clamping plates to enable the elastic telescopic support pillar (8) matrix on the clamping plates to make self-adaptive flexible adjustment according to the appearance of the finished product equipment;
the fifth step: when the clamping force reaches a 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 clamped;
and a sixth step: and operating the mechanical arm or hanging to move to a specified position, and loosening the two clamping plates after finishing operations such as placing or fixing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210712014.0A CN115157290A (en) | 2022-06-22 | 2022-06-22 | Flexible self-adaptive clamping manipulator for aircraft finished product assembly and use method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210712014.0A CN115157290A (en) | 2022-06-22 | 2022-06-22 | Flexible self-adaptive clamping manipulator for aircraft finished product assembly and use method |
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| Publication Number | Publication Date |
|---|---|
| CN115157290A true CN115157290A (en) | 2022-10-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210712014.0A Pending CN115157290A (en) | 2022-06-22 | 2022-06-22 | Flexible self-adaptive clamping manipulator for aircraft finished product assembly and use method |
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| CN (1) | CN115157290A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115780342A (en) * | 2022-11-30 | 2023-03-14 | 成都航飞航空机械设备制造有限公司 | Device and method for cleaning wing structural part |
-
2022
- 2022-06-22 CN CN202210712014.0A patent/CN115157290A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115780342A (en) * | 2022-11-30 | 2023-03-14 | 成都航飞航空机械设备制造有限公司 | Device and method for cleaning wing structural part |
| CN115780342B (en) * | 2022-11-30 | 2024-05-07 | 成都航飞航空机械设备制造有限公司 | Cleaning device and cleaning method for wing structural part |
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