CN202753052U - Blind hole butting and positioning system for non-magnetic workpiece assembly - Google Patents
Blind hole butting and positioning system for non-magnetic workpiece assembly Download PDFInfo
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- CN202753052U CN202753052U CN 201220300203 CN201220300203U CN202753052U CN 202753052 U CN202753052 U CN 202753052U CN 201220300203 CN201220300203 CN 201220300203 CN 201220300203 U CN201220300203 U CN 201220300203U CN 202753052 U CN202753052 U CN 202753052U
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- blind hole
- marking device
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Abstract
The utility model discloses a blind hole butting and positioning system for non-magnetic workpiece assembly, and belongs to the technical field of nondestructive testing positioning. The system mainly comprises a transporting mechanism which is installed on the surface of an external workpiece through longitudinal flexible guide components, a marking device on which a plurality of pillar shape magnetic sensors are mounted, and a system controller. The method of the blind hole butting and positioning system is characterized in that in the process of blind hole butting and positioning, firstly, the blind hole butting and positioning system is mounted on the surface of the external workpiece through the longitudinal flexible guide components; secondly, the controller actively controls the transporting mechanism to drive the marking device towards permanent magnets arranged in blind holes of an internal workpiece; thirdly, when the magnetic sensors capture magnetic signals, the transporting mechanism changes into a self-control state through the controller; then, motion control instructions of the transporting mechanism are generated through conversion by the controller according to the magnetic field information obtained by the magnetic sensors; and finally, the coaxial butting of the marking device and the blind holes of the internal workpiece is achieved.
Description
Technical field
The utility model discloses a kind of blind hole docking navigation system for the non-magnetic workpiece assembling, especially be fit to the efficient docking location of non magnetic large-scale workpiece multi-blind hole hole system, belong to the Non-Destructive Testing field of locating technology.
Background technology
Along with improving constantly that present generation aircraft high speed, high maneuverability can require, the non magnetic lightweight materials such as titanium alloy, aluminium alloy, carbon fibre composite are more and more wider in the application of Field of Aviation Manufacturing.As the connection tie of frame assembly, the quality requirement of assembling drilling is also more and more higher.Go towards till the present, the assembling hole fabrication techniques of the large-scale wallboard of fuselage has experienced the development course that is assembled to flexible assembly from hand assembled, half machinery/semi-automatic assembling, machinery/automation.
At present, the robotize drilling becomes the Developing mainstream of aircraft large-scale workpiece assembling hole fabrication techniques with advantages such as its automation, flexibility, high accuracy.Owing to add and be subject to the impact that the involutory posture adjustment of workpiece, drilling hole burst, bracket deformation and self weak rigidity cause the factors such as strain man-hour, wallboard drilling position (gauge point in hole) is difficult to pre-determine, must be before drilling the real-time spatial pose of measurements and calculations point to be processed.To this, current mainly taking made the gauge point in hole by hand by processing personnel scene, and this makes the operating efficiency of drilling be subject to having a strong impact on.Therefore, how determining rapidly the gauge point in panel surfaces hole, is the technical problem that realizes that the flexible drilling of robotize must primarily solve, and especially the docking location of blind hole is all the more so in the wallboard assembling drilling.
The utility model content
There was the deficiency of the aspects such as operating efficiency is low, labour intensity large, poor working environment in hole gauge point manufacturing technology when the utility model was assembled drilling for existing non magnetic large-scale workpiece, propose a kind of blind hole docking navigation system for non magnetic large-scale workpiece assembling drilling, be particularly useful for the automatic butt location of non-magnetic workpiece multi-blind hole hole system.
A kind of blind hole docking navigation system for the non-magnetic workpiece assembling, it is characterized in that: this system comprises carrying mechanism, is installed on the marking device of carrying mechanism, and system controller;
Above-mentioned carrying mechanism is comprised of longitudinal translation mechanism, laterial translation mechanism, vertical micro-adjusting mechanism;
Wherein longitudinal translation mechanism is comprised of longitudinal flexible guide assembly and straight skidding assembly; The longitudinal flexible guide assembly comprises a pair of I shape guide rail, and vacuum cup is equipped with in I shape guide rail bottom, and the top is embedded with tooth bar, and inside is provided with the air flue with above-mentioned vacuum cup intercommunication, and both sides are provided with vertical chute; The straight skidding assembly by the first connecting plate, be installed on the first drive motors on the first connecting plate, link to each other with the first drive motors and the gear that cooperates with tooth bar, be installed on the first connecting plate and form with the pulley that vertical chute of I shape guide rail side cooperates through deceleration device;
Wherein laterial translation mechanism comprises the cross lead screw that is installed on the first connecting plate, be installed on second drive motors that links to each other with cross lead screw one end of the first connecting plate, also comprise a pair of cross slide way that is installed on the first connecting plate, the second connecting plate that cooperates with cross slide way by the second slide block; The nut that matches with screw mandrel is installed on the second connecting plate;
Wherein vertically micro-adjusting mechanism comprises the vertical screw mandrel that is installed on the second connecting plate, is installed on the second connecting plate and the 3rd drive motors that vertical screw mandrel one end links to each other, and is installed on the bar shaped nut on vertical screw mandrel; Also comprise the vertical slide rail that is installed on the second connecting plate, the composite slider that cooperates with slide rail;
Above-mentioned marking device is fixed in bar shaped nut and composite slider lower end, it is positioned at the marking mechanism of marking device center, is uniformly distributed in marking mechanism column type magnetic sensor composition all around centered by marking mechanism by marking device housing, marking device end cap;
The said system controller comprises magnetic information processing module, driver module, is used for showing in real time the video module of marking device and workpiece blind hole internal permanent magnet mutual alignment; Above-mentioned the first drive motors, the second drive motors, the 3rd drive motors link to each other with described driver module; Above-mentioned column type magnetic sensor links to each other with the magnetic information processing module.
Vertical chute lower edge of above-mentioned I shape guide rail (1111) side can be provided with through hole, in order to increase the flexibility of I shape guide rail.
A kind of blind hole docking localization method that utilizes described blind hole for the non-magnetic workpiece assembling to dock the navigation system realization is characterized in that comprising following process:
A) at first by the longitudinal flexible guide assembly blind hole is docked navigation system and be installed on outside outer surface of workpiece, and permanent magnet is placed in the blind hole to be positioned of inboard workpiece;
B) secondly, by the first drive motors and second drive motors of controller control carrying mechanism, drive marking device and tend to fast place the blind hole internal permanent magnet, until the column type magnetic sensor can detect till the magnetic signal;
C) when the column type magnetic sensor detects magnetic signal, controller changes automatic control state over to the first drive motors of carrying mechanism and the control of the second drive motors, be the controller Magnetic Field measured according to the column type magnetic sensor, conversion generates the first drive motors of carrying mechanism and the motion control instruction of the second drive motors;
D) when the measured magnetic field value of column type magnetic sensor group during greater than setting value, controller enters the micro-control state to carrying mechanism, namely utilizes the second drive motors and vertical the 3rd drive motors that marking device is carried out the position accurate adjustment;
E) when each column type magnetic sensor records the mutual difference of field strength values less than setting value, just finish being coaxial docking of marking device and inboard workpiece blind hole, finally by marking device gauge point under outside outer surface of workpiece is done.
The utlity model has following effect: 1, utilize the magnetic field penetration function, efficiently solve the docking location of non magnetic entity workpiece blind hole, also can not have a negative impact to the serviceability of workpieces in subsequent simultaneously; 2, the design of three free carrying mechanisms can realize coarse adjustment, two kinds of regulatory functions of fine setting of marking device helping soon and the accurately location of realizing the workpiece blind hole; 3, the setting of flexible guide rail assembly, the hole gauge point that makes blind hole docking navigation system of the present utility model can adapt to different cambered surface workpiece is made; 4, device and method of the present utility model can greatly improve the hole gauge point of non magnetic large-scale workpiece multi-blind hole hole system and make, and has reduced labour intensity, has improved working environment.
Description of drawings
Fig. 1 is the model schematic diagram according to the unified better case study on implementation of blind hole docking positioning systems of non magnetic large-scale workpiece assembling drilling of the present utility model;
Fig. 2 is the unified engineering application case schematic diagram of blind hole docking positioning systems of the present utility model;
Fig. 3 is the model schematic diagram of flexible guide rail assembly of the present utility model;
Fig. 4 is the model schematic diagram of longitudinal translation of the present utility model mechanism;
Fig. 5 is marking device sensor group scheme of installation of the present utility model;
Fig. 6 is laterial translation mechanism of the present utility model and marking device scheme of installation;
Fig. 7 is a workflow diagram of blind hole docking navigation system of the present utility model;
Label title among Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6: 1000, carrying mechanism, 2000, marking device, 3000, system controller;
10, blind hole docking navigation system, 11, outside workpiece, 12, inboard workpiece, 13, blind hole, 14, permanent magnet;
1100, longitudinal translation mechanism, 1110, the longitudinal flexible guide assembly, 1111, the I shape guide rail, 1112, vacuum cup, 1113, tooth bar, 1114, through hole; 1120, straight skidding assembly, the 1121, first connecting plate, the 1122, first drive motors, 1123, deceleration device, 1124, gear; 1125, pulley, 1126, gear shaft, 1127, fixed support, 1128, longitudinal sliding block;
1200, laterial translation mechanism, 1201, cross lead screw, the 1202, second drive motors, 1203, cross slide way, the 1204, second slide block, the 1205, second connecting plate, 1206, nut, 1207, bearing spider one, 1208, bearing spider two;
1300, vertical micro-adjusting mechanism, 1301, vertical screw mandrel, the 1302, the 3rd drive motors, 1303, the bar shaped nut, 1304, vertical slide rail, 1305, composite slider, 1306, bearing spider three, 1307, bearing spider four;
2001, housing, 2002, end cap, 2003, marking mechanism, 2004, the column type magnetic sensor;
3100, magnetic information processing module, 3200, driver module, 3300, video module;
Label title among Fig. 7: 701-709, method implementation step.
The specific embodiment
Below in conjunction with accompanying drawing and implementation example blind hole docking navigation system of the present utility model and method are described in detail.
Fig. 1 is the disclosed a kind of blind hole docking navigation system for non magnetic large-scale workpiece assembling drilling of the utility model, and this system mainly comprises carrying mechanism 1000, is installed on the marking device 2000 of carrying mechanism 1000, and system controller 3000.
Above-mentioned carrying mechanism 1000 is comprised of longitudinal translation mechanism 1100, laterial translation mechanism 1200, vertical micro-adjusting mechanism 1,300 three parts, wherein:
Laterial translation mechanism 1200 comprises the cross lead screw 1201 that is installed on the first connecting plate 1121, be installed on the first connecting plate 1121 link to each other with cross lead screw 1,201 one ends the 2 1202, also comprise a pair of cross slide way 1203 that is installed on the first connecting plate 1121, the second connecting plate 1205 that cooperates with cross slide way 1203 by the second slide block 1204; The nut 1206 that matches with drive motors screw mandrel 1201 is installed on the second connecting plate 1205;
Vertically micro-adjusting mechanism 1300 comprises the vertical screw mandrel 1301 that is installed on the second connecting plate 1205, is installed on the second connecting plate 1205 and the 3rd drive motors 1302 that vertical screw mandrel 1,301 one ends link to each other, and is installed on the bar shaped nut 1303 on vertical screw mandrel 1301; Also comprise the vertical slide rail 1304 that is installed on the second connecting plate 1205, the composite slider 1305 that cooperates with slide rail;
Above-mentioned marking device 2000 is installed on bar shaped nut 1303 and composite slider 1305 lower ends, its marking mechanism 2003 is installed on housing 2001 and the end cap 2002, column type magnetic sensor 2004 is laid on the end face of end cap 2002, and respectively on the circle centered by marking mechanism 2003;
Above-mentioned system controller 3000 mainly comprises magnetic information processing module 3100, driver module 3200, is used for showing in real time the video module 3400 of marking device 3300 and blind hole internal permanent magnet 14 mutual alignments; Its driver module 3200 all is electrical connected with the first drive motors 1122, the second drive motors 1202, the 3rd drive motors 1302 of carrying mechanism 1000; Magnetic information processing module 3400 receives, processes the detection signal of column type magnetic sensor 2004, and inputs to drive control module 3200.
The operation principle of the utility model system is as follows: at first by flexible guide rail assembly 1110 blind hole is docked navigation system 10 and be installed on workpiece 11 surfaces, the outside.Secondly, initiatively and automatically control successively carrying structure 1000 by controller 3000, drive the permanent magnet 14 that marking device 2000 trends place inboard workpiece 12 blind holes 13, finally finish being coaxial docking of marking device and inboard workpiece blind hole, utilize marking device 2000 gauge point under outside workpiece 11 surface works.Fig. 7 is a workflow diagram of blind hole docking navigation system of the present utility model.
Before the blind hole docking location, utilize flexible guide rail assembly 1110, by vacuum cup 1112 blind hole is docked navigation system 10 and be installed on workpiece 11 surfaces, the outside.
During blind hole docking location, the first drive motors 1122 of carrying mechanism 1000 is by deceleration device 1123 driven wheels 1124, under the common constraint of two tooth bars 1113 of flexible guide rail assembly 1110 and I shape guide rail 1111 and roller 1125, carrying mechanism 1000 drives marking devices 2000 and together vertically moves along flexible guide rail assembly 1110.The second drive motors 1202 of laterial translation mechanism 1200 drives the second connecting plate 1205, micro-adjusting mechanism 1300 and marking device 2000 and carries out transverse shifting by cross lead screw 1201 and nut 1206 and guideway 1203,1204.When column type magnetic sensor 2004 on the marking device 2000 captured the field signal of inboard workpiece 12 blind holes 13 internal permanent magnets 14, the control of 3000 pairs of the first drive motors 1122 of system controller and the second drive motors 1202 entered automatic control state.The field strength values that detects when marking device 2000 end column type magnetic sensors 2004 is during greater than setting value, and the position adjustment of marking device 2000 is entered the fine setting state.The 3rd drive motors 1302 by vertical micro-adjusting mechanism 1300 drives vertical screw mandrel 1301 and bar shaped nut 1303, under guideway 1304,1305 constraints, drives marking device 2000 and vertically finely tunes.The horizontal fine setting of marking device 2000 is finished by laterial translation mechanism 1200.Detect the magnetic field intensity error less than setting value when column type magnetic sensor 2004 front and back, namely finished being coaxial docking of marking device 2000 and inboard workpiece 11 blind holes 13, hole gauge point under being done in outside workpiece 11 surperficial corresponding positions by marking mechanism 2003.
The above only docks a better case study on implementation of navigation system and method for the blind hole that the utility model relates to, but practical range of the present utility model is not limited to this example.
Claims (2)
1. a blind hole that is used for the non-magnetic workpiece assembling is docked navigation system, it is characterized in that:
This system comprises carrying mechanism (1000), is installed on the marking device (2000) of carrying mechanism (1000), and system controller (3000);
Above-mentioned carrying mechanism is comprised of longitudinal translation mechanism (1100), laterial translation mechanism (1200), vertical micro-adjusting mechanism (1300);
Wherein longitudinal translation mechanism (1100) is comprised of longitudinal flexible guide assembly (1110) and straight skidding assembly (1120); The longitudinal flexible guide assembly comprises a pair of I shape guide rail (1111), vacuum cup (1112) is equipped with in I shape guide rail (1111) bottom, the top is embedded with tooth bar (1113), and inside is provided with the air flue with above-mentioned vacuum cup (1112) intercommunication, and both sides are provided with vertical chute; Straight skidding assembly (1120) by the first connecting plate (1121), be installed on the first drive motors (1122) on the first connecting plate (1121), link to each other with the first drive motors and the gear (1124) that cooperates with tooth bar (1113), be installed on the first connecting plate (1121) and form with the pulley (1125) that vertical chute of I shape guide rail (1111) side cooperates through deceleration device (1123);
Wherein laterial translation mechanism (1200) comprises the cross lead screw (1201) that is installed on the first connecting plate (1121), be installed on second drive motors (1202) that links to each other with cross lead screw (1201) one ends of the first connecting plate (1121), also comprise a pair of cross slide way (1203) that is installed on the first connecting plate (1121), the second connecting plate (1205) that cooperates with cross slide way (1203) by the second slide block (1204); The nut (1206) that matches with screw mandrel (1201) is installed on the second connecting plate (1205);
Wherein vertically micro-adjusting mechanism (1300) comprises the vertical screw mandrel (1301) that is installed on the second connecting plate (1205), be installed on the second connecting plate (1205) and the 3rd drive motors (1302) that vertical screw mandrel (1301) one ends link to each other, be installed on the bar shaped nut (1303) on vertical screw mandrel (1301); Also comprise the vertical slide rail (1304) that is installed on the second connecting plate (1205), the composite slider (1305) that cooperates with vertical slide rail (1304);
Above-mentioned marking device (2000) is fixed in bar shaped nut (1303) and composite slider (1305) lower end, it by marking device housing (2001), marking device end cap (2002), be positioned at the marking mechanism (2003) of marking device center, centered by marking mechanism (2003), be uniformly distributed in marking mechanism (2003) column type magnetic sensor (2004) all around and form;
Said system controller (3000) comprises magnetic information processing module (3100), driver module (3200), is used for showing in real time the video module (3400) of marking device (3300) and workpiece blind hole internal permanent magnet (14) mutual alignment; Above-mentioned the first drive motors (1122), the second drive motors (1202), the 3rd drive motors (1302) link to each other with described driver module (3200); Above-mentioned column type magnetic sensor (2004) links to each other with magnetic information processing module (3400).
2. the blind hole for the non-magnetic workpiece assembling according to claim 1 is docked navigation system, and it is characterized in that: vertical chute lower edge of above-mentioned I shape guide rail (1111) side is provided with through hole (1114).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220300203 CN202753052U (en) | 2012-06-26 | 2012-06-26 | Blind hole butting and positioning system for non-magnetic workpiece assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220300203 CN202753052U (en) | 2012-06-26 | 2012-06-26 | Blind hole butting and positioning system for non-magnetic workpiece assembly |
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| Publication Number | Publication Date |
|---|---|
| CN202753052U true CN202753052U (en) | 2013-02-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220300203 Withdrawn - After Issue CN202753052U (en) | 2012-06-26 | 2012-06-26 | Blind hole butting and positioning system for non-magnetic workpiece assembly |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102765063A (en) * | 2012-06-26 | 2012-11-07 | 南京工程学院 | Blind hole docking and positioning system and method for non-magnetic workpiece assembly |
| CN111267016A (en) * | 2020-03-16 | 2020-06-12 | 安徽大地熊新材料股份有限公司 | Magnetic material butt joint tool and butt joint method |
-
2012
- 2012-06-26 CN CN 201220300203 patent/CN202753052U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102765063A (en) * | 2012-06-26 | 2012-11-07 | 南京工程学院 | Blind hole docking and positioning system and method for non-magnetic workpiece assembly |
| CN111267016A (en) * | 2020-03-16 | 2020-06-12 | 安徽大地熊新材料股份有限公司 | Magnetic material butt joint tool and butt joint method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130227 Effective date of abandoning: 20140813 |
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| RGAV | Abandon patent right to avoid regrant |