Robot intelligent tooling system

Abstract

The invention discloses a robot intelligent tooling system characterized in that the whole system comprises base parts, moving beam parts, sliding saddle parts, telescopic units, universal vacuum suction heads, left and right robots, and control computers. Under the control of the computers, the robots realize accurate abut jointing of the moving beam parts through abut jointing mechanism, do synchronous movement together in X direction for adjustment in place, and then realize locking of the moving beam parts to the base parts through locking mechanism; meanwhile, after big arms of robot master manipulators are rotated to horizontal positions, small arms are stretched out sequentially, palm are moved, fingers are stretched out to hold telescopic units fixed on the sliding saddle parts to enable the movement in Y direction to be adjusted in place, then Z direction movement of the telescopic units are adjusted, and finally the universal vacuum suction heads fixed on telescopic columns form curved shapes for supporting thin-walled curved parts. The robot intelligent tooling system is used for processing of different parts, so as to greatly improve the manufacturing flexibility.

Description

technical field [0001] The invention relates to a robot intelligent tooling system for processing aircraft thin-walled curved surface parts, belongs to the technical field of manufacturing engineering, and in particular relates to the flexible process equipment technology for aircraft skin manufacturing. Background technique [0002] A major problem in aviation and aerospace manufacturing is: when the large skin of an aircraft adopts the "forming first and then processing" process, the semi-finished product after forming is an elastic thin-walled part with extremely poor stiffness and its surface contour is a free-form surface. The six-point positioning principle and corresponding process equipment technology can no longer be applied to the efficient and high-precision machining of such parts, which seriously affects the quality and efficiency of product assembly. Facing this problem, it is necessary to further study new surface positioning methods for elastic bodies and the...

AI Technical Summary

Problems solved by technology

[0005] Although the existing combined tooling can obtain the corresponding tooling positioning / supporting surface through manual adjustment according to the design and process requirements of the skin surface contour, which has certain flexibility, but this kind of tooling requires manual operation, which not only is cumbersome to debug, but also has poor precision and low efficiency. Low, labor-intensive, and requires high technical level of staff

These defects make it difficult for combined tooling to meet the requirements of high-efficiency and high-finish machining of aircraft thin-walled curved parts

[0006] On the other hand, although an automated flexible tooling can be formed through an all-electric point-by-point drive scheme, due to the large number of positioning and supports (tens to hundreds) required for the machining of aircraft thin-walled curved parts, it is necessary to carry out There will be more than hundreds of driving and control links, which makes the realization of flexible tooling according to the all-electric drive scheme will make the structure of the entire tooling system too complicated, not only difficult to design, manufacture, drive, and control, but also too expensive to Meet the actual needs of aerospace vehicle manufacturing enterprises

In addition, this solution also has a large volume of positioning and supporting links, and it is difficult to ensure that more positioning and supporting points are arranged within the effective range to increase the support density and support stiffness of thin-walled curved workpieces, thereby reducing workpiece deformation and improving processing. Accuracy and other issues

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