CN115230985A - Self-adaptive flexible clamping and overturning equipment with independently plugged wings - Google Patents
Self-adaptive flexible clamping and overturning equipment with independently plugged wings Download PDFInfo
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- CN115230985A CN115230985A CN202210830914.5A CN202210830914A CN115230985A CN 115230985 A CN115230985 A CN 115230985A CN 202210830914 A CN202210830914 A CN 202210830914A CN 115230985 A CN115230985 A CN 115230985A
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- 238000005096 rolling process Methods 0.000 claims abstract description 63
- 238000000034 method Methods 0.000 claims abstract description 31
- 230000008569 process Effects 0.000 claims abstract description 30
- 230000003139 buffering effect Effects 0.000 claims abstract description 8
- 238000013519 translation Methods 0.000 claims description 36
- 230000003044 adaptive effect Effects 0.000 claims description 12
- 238000003032 molecular docking Methods 0.000 claims description 12
- 239000003638 chemical reducing agent Substances 0.000 claims description 11
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 8
- 239000000741 silica gel Substances 0.000 claims description 8
- 229910002027 silica gel Inorganic materials 0.000 claims description 8
- 238000012546 transfer Methods 0.000 claims description 5
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 238000013016 damping Methods 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 230000009191 jumping Effects 0.000 claims description 3
- 230000002146 bilateral effect Effects 0.000 claims description 2
- 230000001360 synchronised effect Effects 0.000 claims 1
- 238000012423 maintenance Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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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
- B64F5/40—Maintaining or repairing aircraft
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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
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of airplane assembly, in particular to an autonomous connection self-adaptive flexible clamping and overturning device for wings, which comprises a self-adaptive flexible clamping and overturning device, a left fixed base and a right fixed base which are symmetrically distributed in the left and right directions; the two ends of the C-shaped open type rolling frame are correspondingly arranged on the left fixed base and the right fixed base and are synchronously rolled by the left fixed base and the right fixed base to realize 180-degree overturning; the flexible clamping arm comprises a first flexible clamping arm, a second flexible clamping arm and a third flexible clamping arm which are horizontally distributed on the C-shaped open type rolling frame side by side and have an elastic buffering clamping function. The invention effectively avoids the structural damage of the clamping arm to the surface of the wing. The universal performance of the product is greatly improved, meanwhile, full-automatic operation is realized, less manpower is involved, meanwhile, the safety and reliability of the overturning process are greatly improved, and the maintenance level of the airplane wings is comprehensively improved.
Description
Technical Field
The invention relates to the technical field of airplane assembly, in particular to an autonomous connection self-adaptive flexible clamping and overturning device for wings.
Background
The intelligent aircraft repairing system stands in a globalization angle, the intelligent aircraft repairing equipment is vigorously developed, the aircraft part repairing efficiency is improved, and a huge promotion effect is exerted on the maintenance of the aircraft body structure in the future.
At present, the overturning of large parts (wings, horizontal tails, vertical tails and the like) of aircraft manufacturers and repair shops is mainly completed by means of traveling cranes and lifting appliances by manpower, the whole process occupies more manpower resources (generally, 8 mature field operators are equipped for the overturning operation of the wings at home and abroad), and more hoisting safety risks exist. Aiming at the technical means for researching the automatic clamping and overturning equipment of the airplane wing, the research is still blank in the current scope.
Because the wing has a special structure, the section of the wing is arc-shaped, and the surface of the wing is covered by aluminum skin and composite materials. In the wing clamping process, the traditional fixed clamp cannot meet the requirement of self-adaptive flexible clamping, complete wing self-adaptive flexible clamping equipment does not exist in the current market, and reference technical documents and related technical researches do not exist at the same time, so that the difficulty of scientific research and customs is greatly improved.
Aiming at the existing common hanging tool for turning wings at the present stage, the hanging slings are various in types, the compatibility requirement of various wings cannot be met, meanwhile, the hanging is carried out by means of a double-crane, and special requirements are also provided for the hanging points on the surfaces of the wings; even if some repair units are provided with the hoisting and overturning supports, the rigid package clamp requirements of a small part of wings can only be met, and the hoisting and overturning supports cannot be used universally.
Disclosure of Invention
Aiming at the technical problem, the invention provides self-adaptive flexible clamping and overturning equipment for wing autonomous connection. The wing overturning machine has the advantages that the wing can be clamped and overturned quickly, man-machine coordination operation is realized through intelligent assembly line operation, less manpower is greatly involved, the safety and reliability of the overturning process are improved, and the maintenance level of the wing of the airplane is comprehensively improved.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
the utility model provides a wing is from flexible centre gripping tipping arrangement of adaptation of plugging into, includes:
flexible centre gripping turning device of self-adaptation for realize the flexible centre gripping of self-adaptation and 180 upsets of wing, and compatible centre gripping polytype wing, include:
the left fixed base and the right fixed base are symmetrically distributed in the left and right direction and have a rotation driving function;
the two ends of the C-shaped open type rolling frame are correspondingly arranged on the left fixed base and the right fixed base and are synchronously rotated and driven by the left fixed base and the right fixed base to realize 180-degree overturning;
the flexible clamping arms are used for self-adaptively clamping wings and comprise a first flexible clamping arm, a second flexible clamping arm and a third flexible clamping arm which are horizontally distributed on the C-shaped open type rolling frame side by side from left to right and have an elastic buffering clamping function, and the second flexible clamping arm also has a left-right sliding function;
independently device of plugging into is used for realizing the pay-off process before the wing upset and the process of connecing the material after the wing upset with the cooperation of the flexible centre gripping turning device of self-adaptation, includes:
laser guidance AGV is transported to wing for the top of wing product holds in the palm and transports.
Preferably, the left fixing base and the right fixing base respectively comprise a bottom frame, supporting roller supports arranged on the bottom frame, a rotary driving servo motor and a worm gear speed reducer, the supporting roller supports are symmetrically distributed in the front and back direction, supporting rollers matched and connected with the C-shaped open type rolling frame are arranged on the supporting roller supports, the rotary driving servo motor is connected with the worm gear speed reducer, and the worm gear speed reducer is connected with a rotary driving gear meshed and connected with the C-shaped open type rolling frame.
Preferably, the bottom frame is provided with a guide pressing wheel for preventing the C-shaped open type rolling frame from jumping in the rotation process.
Preferably, the bottom frame is provided with a limit bracket for mechanical hard limit stop protection after the C-shaped open type rolling frame rotates over 180 degrees.
Preferably, the C-shaped open type rolling frame comprises a rolling box beam distributed along the left and right direction, a left C-shaped rolling ring and a right C-shaped rolling ring which are arranged at the left and right ends of the rolling box beam and are correspondingly arranged on the left fixing base and the right fixing base on the supporting roller wheel supports, and the outer annular surfaces of the left C-shaped rolling ring and the right C-shaped rolling ring are respectively provided with a rotating C-shaped tooth meshed with the rotating driving gear and a limit stop matched with the limit support.
Preferably, the C-shaped open type rolling frame further comprises a flexible clamping arm translation adjusting motor (1-5) arranged on the rolling box beam and a translation guide rail parallelly installed on the rolling box beam, the flexible clamping arm translation adjusting motor (1-5) is connected with a translation ball screw, a translation adjusting ball nut is arranged on the translation ball screw and connected with the second flexible clamping arm, and the first flexible clamping arm and the third flexible clamping arm are correspondingly installed on the translation guide rail in a left-right mode.
Preferably, the first flexible clamping arm, the second flexible clamping arm and the third flexible clamping arm respectively comprise a C-shaped clamping arm support, movable supports and a push-pull electric cylinder, the movable supports are symmetrically distributed on the C-shaped clamping arm support from top to bottom, the push-pull electric cylinder is connected with the movable supports, a plurality of universal buffering supporting columns are horizontally arranged on the movable supports side by side, each universal buffering supporting column is provided with a flexible silica gel contact strip, and the push-pull electric cylinder is fixedly mounted on the C-shaped clamping arm support.
Preferably, the first flexible clamping arm, the second flexible clamping arm and the third flexible clamping arm further comprise guide sliding rod assemblies for guiding the movable support in a moving mode.
Preferably, each universal buffering support column consists of a universal ball head, a sliding rod, a sleeve, a spring and a damping adjusting nut.
The beneficial effects of the invention are:
1. the invention analyzes and corrects the bottleneck of the existing wing overturning technology, realizes wing transferring and connection by intelligent pipeline operation and laser guidance AGV transferring wings, realizes flexible self-adaptive clamping and 180-degree overturning requirements of the wings by adopting a C-shaped overturning machine of a flexible clamping arm group, and can realize self-adaptive deformation of a buffer strut and a silica gel flexible contact strip in the wing clamping process by virtue of a plurality of groups of universal buffer struts and silica gel flexible contact strips arranged on the clamping arms, thereby realizing wrapping and clamping of the cambered surface of the wing and effectively avoiding the structural damage of the clamping arms to the wing surface.
2. The flexible clamping arm arranged in the middle of the C-shaped open type rolling frame has a left-right sliding function, and can meet the clamping and overturning requirements of various wings on the premise of not replacing the clamping arm and an auxiliary tool clamp, so that the general performance of the product is greatly improved. Meanwhile, the invention realizes full-automatic operation in the whole transferring, connecting and turning process of the wing, greatly reduces the intervention of manpower, greatly improves the safety and reliability of the turning process and comprehensively improves the maintenance level of the wing of the airplane.
Drawings
The invention is further illustrated with reference to the following figures and examples:
FIG. 1 is a schematic structural diagram of an adaptive flexible clamping and flipping apparatus according to the present invention;
FIG. 2 is a schematic structural diagram of the autonomous docking apparatus of the present invention;
FIG. 3 is a schematic diagram of a side view of the adaptive flexible clamping and flipping device and the wing of the present invention;
FIG. 4 is a rear view of the C-shaped open roll stand of the present invention;
FIG. 5 is a front view of the C-shaped open roll stand of the present invention;
FIG. 6 is a schematic structural view of a first flexible clamping arm according to the present invention;
FIG. 7 is a schematic view of the structure of the universal buffer strut of the present invention;
FIG. 8 is a schematic view of the left stationary base of the present invention;
FIG. 9 is a view showing a feeding process in the present invention;
FIG. 10 is a view of the process of clamping a wing by a clamping arm according to the present invention;
FIG. 11 is a diagram of the flipping process in the present invention;
fig. 12 is a drawing of the material receiving process of the present invention.
In the figure: 1. a C-shaped open type rolling frame; 1-1, a left C-shaped rolling ring; 1-2, right C-shaped rolling ring; 1-3, rotating C-shaped teeth; 1-4, limit stop; 1-5, a flexible clamping arm translation adjusting motor; 1-6, translating and adjusting the ball nut; 1-7, translating a ball screw; 1-8, rolling the box girder; 1-9, a translation guide rail; 2. a first flexible clamping arm; 2-1, a C-shaped clamping arm bracket; 2-2, flexible silica gel touch strips; 2-3, universal buffer strut; 2-4, guiding the sliding rod assembly; 2-5, a movable bracket; 2-6, pushing and pulling the electric cylinder; 3. a second flexible clamping arm; 4. a third flexible clamping arm; 5. a left stationary base; 5-1, supporting a roller bracket; 5-2, supporting rollers; 5-3, guiding a pressing wheel; 5-4, a limiting bracket; 5-5, a bottom frame; 5-6, rotating and driving a servo motor; 5-7, a worm gear speed reducer; 5-8, rotating and driving a gear; 6. a right fixed base; 7. an airfoil; 8. laser guidance AGV is transported to wing.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained in the following by combining the attached drawings and the embodiments.
As shown in fig. 1 to fig. 3, an autonomous docking adaptive flexible clamping and flipping apparatus for a wing is mainly composed of an adaptive flexible clamping and flipping apparatus and an autonomous docking apparatus.
The self-adaptive flexible clamping and overturning device mainly comprises a C-shaped open type rolling frame 1, a first flexible clamping arm 2, a second flexible clamping arm 3, a third flexible clamping arm 4, a left fixing base 5 and a right fixing base 6.
The automatic connection device is composed of a wing transfer laser guidance AGV 8.
Specific, left side unable adjustment base 5, the 6 bilateral symmetry of right unable adjustment base distribute, the uncovered formula of C type roll frame 1 left and right sides both ends correspondence is installed on left unable adjustment base 5, right unable adjustment base 6, no. one flexible centre gripping arm 2, no. two flexible centre gripping arms 3, no. three flexible centre gripping arms 4 distribute side by side on the uncovered formula of C type roll frame 1 along controlling the direction, wherein No. one flexible centre gripping arm 2, no. three flexible centre gripping arms 4 fixed mounting are in uncovered formula of C type roll frame 1 left and right sides, no. two flexible centre gripping arms 3 install on uncovered formula of C type roll frame 1 with the mode of controlling the translation. The function of adjusting the left and right stroke is realized by the left and right translation of the second flexible clamping arm 3, so that the clamping requirements of various wings are met.
As shown in fig. 4 and 5, the C-shaped open type rolling frame 1 comprises a left C-shaped rolling ring 1-1, a right C-shaped rolling ring 1-2, rotary C-shaped teeth 1-3, limit stops 1-4, a flexible clamping arm translation adjusting motor 1-5, translation adjusting ball nuts 1-6, translation ball screws 1-7, a rolling box beam 1-8 and translation guide rails 1-9.
The left C-shaped rolling ring 1-1 and the right C-shaped rolling ring 1-2 are connected to the left end and the right end of the rolling box beam 1-8 through bolts, and the coaxiality requirements of the left C-shaped rolling ring 1-1 and the right C-shaped rolling ring 1-2 are guaranteed in the connection process. The two rotary C-shaped teeth 1-3 are correspondingly and concentrically arranged on the outer side surfaces of the left C-shaped rolling ring 1-1 and the right C-shaped rolling ring 1-2 and connected through bolts, and the two limit stoppers 1-4 are correspondingly arranged on the outer side surfaces of the left C-shaped rolling ring 1-1 and the right C-shaped rolling ring 1-2 and connected through bolts and used for limiting the turning of the rolling rings. The flexible clamping arm translation adjusting motor 1-5 is fixedly connected to the rolling box girder 1-8, the translation adjusting ball screw nut 1-6 is in spiral fit with the translation ball screw 1-7 and is fixedly connected with the second flexible clamping arm 3, one end of the translation ball screw 1-7 is connected with the flexible clamping arm translation adjusting motor 1-5, the other end of the translation ball screw 1-7 is connected with the screw rod seat, the translation ball screw 1-7 is driven to rotate through the flexible clamping arm translation adjusting motor 1-5, the translation adjusting ball screw nut 1-6 moves horizontally, and left and right adjusting movement of the second flexible clamping arm 3 is achieved under the transmission of the translation adjusting ball screw nut 1-6, so that clamping and overturning requirements of the multi-type wing are met, the translation guide rails 1-9 are installed in parallel with the rolling box girder 1-8, and are fastened through bolts, and connection of the first flexible clamping arm 2 and the third flexible clamping arm 4 with the rolling box girder 1-8 is achieved.
In the present invention, the first flexible clamping arm 2, the second flexible clamping arm 3, and the third flexible clamping arm 4 have the same structure, and therefore, the structure of the first flexible clamping arm 2 is taken as an example for description, as shown in fig. 6.
The first flexible clamping arm 2 is composed of a C-shaped clamping arm support 2-1, a flexible silica gel contact strip 2-2, a universal buffer support 2-3, a guide sliding rod assembly 2-4, a movable support 2-5 and a push-pull electric cylinder 2-6.
The C-shaped clamping arm supports 2-1 in the first flexible clamping arm 2 and the C-shaped clamping arm supports in the third flexible clamping arm 4 are fixedly arranged on the translation guide rails 1-9, and the C-shaped clamping arm supports in the second flexible clamping arm 3 are connected with the translation adjusting ball nuts 1-6.
The two push-pull electric cylinders 2-6 are symmetrically and fixedly arranged on the C-shaped clamping arm support 2-1 up and down, the two movable supports 2-5 are symmetrically distributed up and down and are correspondingly connected with the push-pull electric cylinders 2-6, the two guide sliding rod assemblies 2-4 are arranged and correspond to the two upper movable supports 2-5 and the two lower movable supports 2-5, and the two guide sliding rod assemblies are used for moving the movable supports 2-5 down, can realize the up-and-down movement of the movable supports 2-5 under the pushing of the push-pull electric cylinders 2-6 and realize the clamping action. Ten universal buffer struts 2-3 are arranged on each movable support 2-5, one ends of the universal buffer struts 2-3 are fixedly connected with the movable supports 2-5, the other ends of the universal buffer struts 2-3 are fixedly connected with the flexible silica gel contact strips 2-2, the tail end directions of the universal buffer struts 2-3 are adjustable, the universal buffer struts have a spring buffer function, the universal buffer struts 2-3 can deform in a self-adaptive mode in the process of clamping the wings, wrapping and clamping of cambered surfaces of the wings can be achieved, the universal buffer struts 2-3 also have a damping adjustable function, the electric cylinders 2-6 are pushed to be provided with pressure sensors, the clamping force can be detected, an upper limit alarm function is arranged, and clamping damage to the surfaces of the wings can be effectively avoided in the clamping process.
As shown in FIG. 7, the universal buffer strut 2-3 is composed of a universal ball head, a slide rod, a sleeve, a spring and a damping adjusting nut, and has a buffer stroke adjusting function.
In the present invention, the left fixing base 5 and the right fixing base 6 have the same structure and are symmetrically distributed, and therefore, the left fixing base 5 is specifically described in this embodiment, as shown in fig. 8.
The left fixing base 5 is composed of a supporting roller wheel bracket 5-1, a supporting roller wheel 5-2, a guide pinch roller 5-3, a limiting bracket 5-4, a bottom frame 5-5, a rotary driving servo motor 5-6, a worm and gear speed reducer 5-7 and a rotary driving gear 5-8.
The two supporting roller wheel brackets 5-1 are symmetrically distributed at the front end and the rear end of the bottom frame 5-5 and are fastened and connected by bolts; the two supporting rollers 5-2 are correspondingly arranged on the two supporting roller brackets 5-1 and are connected by adopting an optical axis and a bearing so as to realize the free rotation of the supporting rollers 5-2, the left C-shaped rolling ring 1-1 is correspondingly arranged on the two supporting rollers on the left fixed base 5, and the right C-shaped rolling ring 1-2 is correspondingly arranged on the two supporting rollers on the right fixed base 6; the guide pinch roller 5-3 is fixedly connected to the bottom frame 5-5 by bolts and is used for rotary guide in the rotary process of the C-shaped open type rolling frame 1 and preventing the C-shaped open type rolling frame 1 from jumping in the rotary process; the limiting support 5-4 is fixedly connected to the bottom frame 5-5 through bolts and is used for being matched with a limiting stop block 1-4 on the C-shaped open type rolling frame 1 to realize mechanical hard limiting stop protection after the C-shaped open type rolling frame 1 rotates for 180 degrees; the rotary driving servo motor 5-6 and the worm and gear speed reducer 5-7 are arranged on the bottom frame 5-5, an output shaft of the rotary driving servo motor 5-6 is connected with an input shaft of the worm and gear speed reducer 5-7, an output shaft of the worm and gear speed reducer 5-7 is connected with the rotary driving gear 5-8, circumferential limiting is achieved by adopting a flat key, and the output rotating speed and torque of the rotary driving servo motor 5-6 are effectively transmitted to the rotary driving gear 5-8; the rotary driving gear 5-8 is connected with rotary C-shaped teeth 1-3 on the C-shaped open type rolling frame 1, the rotary driving gear 5-8 is in meshing transmission with the rotary C-shaped teeth 1-3 through the driving of a rotary driving servo motor 5-6, and rotary motion within the range of 180 degrees at the maximum is realized under the supporting of a supporting roller 5-2, the guiding direction of a guiding pressing wheel 5-3 and the limiting direction of a limiting bracket 5-4, so that 180-degree overturning of the wing is realized.
The use process of the invention is as follows:
comprises a feeding process, a clamping process, a turning process and a receiving process.
The feeding process comprises the following steps: as shown in fig. 9, the wing 7 is located on the wing transfer laser guidance AGV8 and transferred to the adaptive flexible clamping and overturning device, the three groups of flexible clamping arms synchronously perform clamping work to flexibly clamp the wing 7, and the wing transfer laser guidance AGV8 is evacuated.
A clamping process: as shown in fig. 10, after the wing 7 enters between the two movable supports 2-5, the electric cylinder 2-6 is pushed to push the movable supports 2-5 and move inwards under the guidance of the guide slide rod assembly 2-4, the flexible silica gel tentacles 2-2 are clamped with the surface of the wing 7, the universal buffer struts 2-3 deform in a self-adaptive manner, and the cambered surface of the wing 7 is wrapped and clamped.
And (3) turning: the rotary driving servo motor 5-6 outputs torque, the rotary driving gear 5-8 and the rotary C-shaped teeth 1-3 are meshed for rotation, and the C-shaped open type rolling frame 1 rotates anticlockwise for 180 degrees for overturning, so that the wings 7 are overturned.
The material receiving process comprises the following steps: and guiding the AGV8 to the back of the self-adaptive flexible clamping and overturning device by wing transfer laser, and implementing the connection of the wings 7.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a flexible centre gripping tipping arrangement of self-adaptation of independently plugging into of wing which characterized in that: the method comprises the following steps:
flexible centre gripping turning device of self-adaptation for realize the flexible centre gripping of self-adaptation and 180 upsets of wing, and compatible centre gripping polytype wing, include:
the left fixed base (5) and the right fixed base (6) are distributed in bilateral symmetry and have a rotation driving function;
the two ends of the C-shaped open type rolling frame (1) are correspondingly arranged on the left fixing base (5) and the right fixing base (6) and are driven to overturn for 180 degrees by synchronous rotation of the left fixing base (5) and the right fixing base (6);
the flexible clamping arms are used for self-adaptively clamping wings and comprise a first flexible clamping arm (2), a second flexible clamping arm (3) and a third flexible clamping arm (4) which are horizontally distributed on the C-shaped open type rolling frame (1) side by side from left to right and have an elastic buffering clamping function, and the second flexible clamping arm (3) also has a left-right sliding function;
independently plug into device is used for realizing the pay-off process before the wing upset and the material process that connects after the wing upset with the cooperation of the flexible centre gripping turning device of self-adaptation, include:
and the wing transfer laser guides an AGV (8) for supporting and transferring wing products.
2. The wing autonomous docking adaptive flexible clamping and overturning device of claim 1, wherein: left side unable adjustment base (5), right unable adjustment base (6) all include the underframe frame, the support running roller support of setting on the underframe frame, gyration drive servo motor, worm gear speed reducer machine, symmetric distribution around the support running roller support is equipped with the support running roller of being connected with the uncovered formula roll-over frame of C type (1) cooperation on the support running roller support, gyration drive servo motor is connected with the worm gear speed reducer machine, be connected with the gyration drive gear who is connected with the uncovered formula roll-over frame meshing of C type on the worm gear speed reducer machine.
3. The self-docking self-adaptive flexible clamping and overturning device for wings according to claim 2, characterized in that: the bottom frame is provided with a guide pinch roller for preventing the C-shaped open type rolling frame (1) from jumping in the rotation process.
4. The wing autonomous docking adaptive flexible clamping and overturning device of claim 2, wherein: and a limiting bracket for mechanical hard limiting and stopping protection after the C-shaped open type rolling frame rotates for 180 degrees is arranged on the bottom frame.
5. The wing autonomous docking adaptive flexible clamping and overturning device of claim 4, wherein: the C-shaped open type rolling frame (1) comprises rolling box beams (1-8) distributed in the left and right directions, left C-shaped rolling rings (1-1) and right C-shaped rolling rings (1-2) which are arranged at the left and right ends of the rolling box beams (1-8) and correspondingly installed on a left fixing base (5) and a right fixing base (6) on supporting roller supports, wherein rotary C-shaped teeth (1-3) meshed with a rotary driving gear and limiting stop blocks (1-4) matched with the limiting supports are arranged on the outer annular surfaces of the left C-shaped rolling rings (1-1) and the right C-shaped rolling rings (1-2).
6. The wing autonomous docking adaptive flexible clamping and overturning device of claim 5, wherein: the C-shaped open type rolling frame (1) further comprises flexible clamping arm translation adjusting motors (1-5) arranged on the rolling box beams (1-8) and translation guide rails (1-9) parallelly installed on the rolling box beams (1-8), the flexible clamping arm translation adjusting motors (1-5) are connected with translation ball screws (1-7), translation adjusting ball nuts (1-6) are arranged on the translation ball screws (1-7), the translation adjusting ball nuts (1-6) are connected with the second flexible clamping arm (3), and the first flexible clamping arm (2) and the third flexible clamping arm (4) are correspondingly installed on the translation guide rails (1-9) in a left-right mode.
7. The self-docking self-adaptive flexible clamping and overturning device for wings according to claim 6, characterized in that: the first flexible clamping arm (2), the second flexible clamping arm (3) and the third flexible clamping arm (4) respectively comprise a C-shaped clamping arm support, movable supports which are symmetrically distributed on the C-shaped clamping arm support from top to bottom and a push-pull electric cylinder connected with the movable supports, and the push-pull electric cylinder is fixedly installed on the C-shaped clamping arm support.
8. The wing autonomous docking adaptive flexible clamping and turning device of claim 7, wherein: the first flexible clamping arm (2), the second flexible clamping arm (3) and the third flexible clamping arm (4) further comprise guide sliding rod assemblies for moving and guiding the movable support.
9. The wing autonomous docking adaptive flexible clamping and turning device of claim 7, wherein: a plurality of universal buffering pillars are horizontally arranged on the movable support side by side, and a flexible silica gel touch strip is arranged on each universal buffering pillar.
10. The wing autonomous docking adaptive flexible clamping and turning device of claim 9, wherein: each universal buffer strut consists of a universal ball head, a sliding rod, a sleeve, a spring and a damping adjusting nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210830914.5A CN115230985A (en) | 2022-07-15 | 2022-07-15 | Self-adaptive flexible clamping and overturning equipment with independently plugged wings |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210830914.5A CN115230985A (en) | 2022-07-15 | 2022-07-15 | Self-adaptive flexible clamping and overturning equipment with independently plugged wings |
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| CN115230985A true CN115230985A (en) | 2022-10-25 |
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| CN202210830914.5A Pending CN115230985A (en) | 2022-07-15 | 2022-07-15 | Self-adaptive flexible clamping and overturning equipment with independently plugged wings |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116946723A (en) * | 2022-12-08 | 2023-10-27 | 上海果栗自动化科技有限公司 | Conveying line device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB544693A (en) * | 1941-01-21 | 1942-04-23 | Sankey Joseph & Sons Ltd | Improved means for use in supporting aeroplane wings during their assembly |
| CN102333617A (en) * | 2009-02-27 | 2012-01-25 | 三菱重工业株式会社 | Turnover apparatus |
| CN105382778A (en) * | 2015-11-27 | 2016-03-09 | 中航成飞民用飞机有限责任公司 | Large-component turnover tool and large-component turnover method |
| KR101963239B1 (en) * | 2018-10-11 | 2019-03-28 | (주)티오피에스 | Turn-over jig |
| CN213497517U (en) * | 2020-08-10 | 2021-06-22 | 宁波星箭航天机械有限公司 | Wing overturning and transporting device |
| KR102390436B1 (en) * | 2021-11-23 | 2022-04-25 | 주식회사 율곡 | Autoloader type reversing device |
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2022
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB544693A (en) * | 1941-01-21 | 1942-04-23 | Sankey Joseph & Sons Ltd | Improved means for use in supporting aeroplane wings during their assembly |
| CN102333617A (en) * | 2009-02-27 | 2012-01-25 | 三菱重工业株式会社 | Turnover apparatus |
| CN105382778A (en) * | 2015-11-27 | 2016-03-09 | 中航成飞民用飞机有限责任公司 | Large-component turnover tool and large-component turnover method |
| KR101963239B1 (en) * | 2018-10-11 | 2019-03-28 | (주)티오피에스 | Turn-over jig |
| CN213497517U (en) * | 2020-08-10 | 2021-06-22 | 宁波星箭航天机械有限公司 | Wing overturning and transporting device |
| KR102390436B1 (en) * | 2021-11-23 | 2022-04-25 | 주식회사 율곡 | Autoloader type reversing device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116946723A (en) * | 2022-12-08 | 2023-10-27 | 上海果栗自动化科技有限公司 | Conveying line device |
| CN116946723B (en) * | 2022-12-08 | 2024-04-09 | 果栗智造(上海)技术股份有限公司 | Conveying line device |
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