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Manipulator and composite material large-scale shell automatic profile modeling system

A profiling system, manipulator technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc.

Active Publication Date: 2014-07-23
WUHAN ZHONGKE INNOVATION TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] At present, ultrasonic flaw detection of large composite shells can only be carried out manually. If automatic flaw detection is carried out, the shell curve must be known, and two motion trajectories of the inner surface and the outer surface of the shell must be generated, so that the manipulator can move synchronously from the inside and outside for flaw detection.

Method used

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  • Manipulator and composite material large-scale shell automatic profile modeling system
  • Manipulator and composite material large-scale shell automatic profile modeling system
  • Manipulator and composite material large-scale shell automatic profile modeling system

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Embodiment Construction

[0027] The present invention will be further described in conjunction with the accompanying drawings.

[0028] Such as figure 1 , figure 2 As shown, the manipulator includes a walking trolley 11, a large arm base 8, a large arm 3, a small arm 2, a probe 1, a rotating shaft 10, a connecting plate 4, a probe servo motor and a harmonic reducer 5, and a small arm servo motor. Wave reducer 12, boom servo motor and harmonic reducer 13, boom base servo motor and harmonic reducer 14, walking servo motor and harmonic reducer 15, ball screw 7, linear slide rail and slider 9. Gear 17, fixed gear 18, synchronous belt 16, the output end of each servo motor is connected with a harmonic reducer, and the small arm servo motor and harmonic reducer 12 are installed on the connecting plate 4 to control the rotation of the small arm 2; Arm servo motor and harmonic reducer 13 The harmonic reducer is installed at the root of the boom to control the rotation of the boom 3, and a gear 17 is instal...

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Abstract

The invention relates to a manipulator and a composite material large-scale shell automatic profile modeling system. The system is formed by the manipulator, a motion controller, a sensor and an industrial computer. The sensor is mounted at the top end of a probe of the manipulator, the industrial computer is connected with the motion controller, the motion controller respectively controls five servo motors of the manipulator, and the sensor is connected with the motion controller. When the sensor on the manipulator is in contact with a shell, the motion controller records positional information of the five servo motors of the manipulator and transmits the positional information to the industrial computer, fitting is carried out on the corresponding positional information through the industrial computer so that corresponding curves can be formed, and the appearance contour of the composite material large-scale shell is formed. The system can automatically conduct profile modeling of the contour curve of the shell, fitting is carried out on all collected point coordinates to form the corresponding curves, motion trails are generated, and the manipulator can operate along the surface of the shell.

Description

technical field [0001] The invention relates to an automatic profiling system for a manipulator and a large composite material shell, which belongs to motion control and servo positioning. Background technique [0002] At present, ultrasonic flaw detection of large-scale composite shells can only be carried out manually. If automatic flaw detection is carried out, the shell curve must be known, and two motion trajectories of the inner surface and the outer surface of the shell must be generated, so that the manipulator can move synchronously from the inside and outside for flaw detection. How to obtain the shell curve and ensure that the mechanical equipment does not touch the shell during flaw detection must rely on high-precision automation equipment for shell profiling. Contents of the invention [0003] The object of the present invention is to provide an automatic profiling system for a large-scale composite material shell in order to change the manual flaw detection ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00B25J9/18B25J19/02
Inventor 王子成林光辉桂琳琳韩冬
Owner WUHAN ZHONGKE INNOVATION TECH
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