Flexible clamping mechanism for automatic milling of aircraft large part robot

Abstract

The invention discloses a flexible clamping mechanism for automatic milling of an aircraft large part robot. The flexible clamping mechanism for automatic milling is characterized in that the flexible clamping mechanism is directly connected with a flange plate on a robot mechanical arm, and structurally comprises a connecting flange plate, a linear primer, a servo motor, a movable connecting plate, a vacuum sucker, a vacuum generator and a vacuum degree detector; the connecting flange plate consists of two connecting surfaces; one connecting surface is provided with a flange plate directly connected with the flange plate on the robot mechanical arm; the other connecting surface is provided with six sets of telescopic vacuum adsorbing devices; the two connecting surfaces of the connecting flange plate form an included angle of 45 degrees to prevent interference with workpieces during clamping; the telescopic vacuum adsorbing devices include linear primers, servo motors, movable connecting plates and vacuum suckers; the six sets of telescopic vacuum absorbing devices are uniformly distributed on the connecting flange plate; the vacuum suckers are special suckers; and eight elastic rods are arranged around the vacuum suckers.

Description

technical field [0001] The invention relates to a flexible clamping device of a robot automatic milling processing device, and in particular discloses a flexible clamping mechanism for robot automatic milling of large aircraft parts, which is applied to the assembly margin of free-form surfaces in the assembly process of large-scale equipment in the aviation field Auxiliary flexible clamping of thin-walled workpieces. Background technique [0002] At present, when large aircraft parts (such as skins) are docked and assembled on the aircraft assembly line in the aviation field, manual grinding and assembly margins are often used, which requires high workpiece precision, high work intensity, and low efficiency, especially when grinding composite materials. The production of toxic substances affects the physical and mental health of workers; in order to meet the needs of production and occupational health, we have designed a robot automatic milling mechanism that is suitable fo...

AI Technical Summary

Problems solved by technology

[0002] At present, when large aircraft parts (such as skins) are docked and assembled on the aircraft assembly line in the aviation field, manual grinding and assembly margins are often used, which requires high workpiece precision, high work intensity, and low efficiency, especially when grinding composite materials. The production of toxic substances affects the physical and mental health of workers; in order to meet the needs of production and occupational health, we have designed a robot automatic milling mechanism that is suitable for free-form surface workpieces of large aircraft parts to replace manpower, improve production efficiency, reduce labor costs, and protect workers. health requirements

However, when milling thin-walled large parts (usually thickness ≤ 6mm), the vibration of the workpiece is large, and the force and deformation are large, which seriously affects the machining accuracy level and surface quality of the workpiece.

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