Complex surface skin block paving system with controllable drawing force and control method

Abstract

The invention discloses a complex surface skin block paving system with controllable drawing force, comprising: a chassis driving module capable of driving the paving system to move; the supporting and leveling module is arranged above the chassis driving module and connected with the chassis driving module, and the supporting and leveling module can adjust the levelness of the paving system; the lifting module is arranged above the supporting and leveling module and connected with the supporting and leveling module, and the size of the lifting module in the height direction can be adjusted; the flexible clamping module is arranged above the lifting module and connected with the lifting module, and the flexible clamping module is provided with a flexible clamp with the horizontal position and the height position adjustable. And the mechanical arm cooperation module is connected to the lifting module, is matched with the flexible clamp and is configured to pre-stretch and attach the skin. According to the invention, the requirement of complex surface skin paving is met.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft, and in particular to a complex surface skinning block paving system with controllable tensile force and a control method. Background Art

[0002] With the development of aerospace vehicle technology, the surface of the aircraft is usually a complex curved surface with irregular variable curvature geometry. This feature brings great challenges to the laying of aircraft surface skins, requiring the skins to have a certain amount of pre-stretching, no wrinkles, and high fit during the laying process. Traditional laying equipment is mainly used for flat surfaces or simple single-curvature structures. It is difficult to ensure the precise positioning and fit of the skins when processing complex curved surfaces, and it is also impossible to provide pre-stretching force; due to the irregularity of the curved surface, inaccurately positioned skins are prone to wrinkles and bubbles, affecting the appearance and performance of the final product.

[0003] In addition, the existing paving devices have the following problems. The paving device is located at a fixed workstation and cannot be moved flexibly, making it difficult to replace the module to adapt to different workpieces. The paving device requires fixed-point operation, and the ground and base are leveled at multiple points during installation, but such a device cannot adapt to uneven ground, nor can it be re-leveled. It has very high requirements for the installation site, and once leveled, it cannot be moved again. The paving device is difficult to adapt to the flexible paving of workpieces of multiple sizes, the longitudinal paving range is limited, and most of them cannot be adjusted in height; and the center of gravity of the traditional single-sided installation base lifting device is greatly affected by the height, and in order to maintain balance, the base can only be lengthened and widened. The fixtures of the paving device are mostly fixed fixtures, and a set of fixtures can only be used for one workpiece; for multiple types of workpieces to be paved with different shapes and large size variations, it is difficult to achieve effective clamping, and it cannot flexibly adapt to the surfaces of workpieces with different curvatures, which seriously reduces the paving efficiency and paving quality. A certain amount of stretching force needs to be applied during the skin laying process to ensure that it can fit tightly on the complex curved surface without wrinkles. The existing equipment lacks precise control of the stretching force, and the existing laying process requires a lot of manual operation. Manual stretching is not only inefficient, but also easily causes uneven force on the skin, resulting in unstable laying quality.

[0004] Taking into account the process requirements for skinning of aerospace vehicles, automobiles, ships, etc., the paving equipment must meet the following technical points. Multi-curvature adaptability: Complex surfaces usually have multiple curvatures and undulations, requiring the paving equipment to be able to flexibly adapt to surfaces with different curvatures to ensure that the skin can fit evenly on various surfaces. Skin pre-stretching: The skin needs to be subjected to a certain stretching force during the paving process, that is, it has a certain amount of pre-stretching before paving to ensure that it can fit tightly on the complex surface without wrinkles. Flexible clamping and positioning of the model to be paved: In the process of skinning, the clamping and positioning of the model are crucial. Intelligent requirements: With the development of intelligent manufacturing, various types of robotic arm equipment have become important devices for improving production efficiency and quality. In the field of skin paving, there is an urgent need for a device that can realize intelligent control, reduce human intervention, and improve the overall paving quality and efficiency. Existing equipment lacks precise control of stretching force, and the existing paving process requires a lot of manual operation. Manual stretching operation is not only inefficient, but also easily causes uneven force on the skin, resulting in unstable paving quality; traditional rigid clamps are difficult to adapt to complex curved surfaces, which can easily cause unstable clamping or damage the skin. A flexible clamp that can adapt to different curvatures and different volume aspect ratios is needed to achieve stable clamping and precise positioning. Existing paving equipment is difficult to meet the above technical requirements. Therefore, a new paving system is needed to ensure the accuracy and quality of skin paving.

[0005] Therefore, technicians in this field are committed to providing a complex surface skin block paving system and control method with controllable tensile force to meet the urgent needs of aerospace, automobile manufacturing, shipbuilding and other industries for high-quality skin paving. Summary of the invention

[0006] In view of the defects in the prior art, the technical problem to be solved by the present invention is how to provide a paving system and a control method that can meet the needs of skin paving.

[0007] To achieve the above object, the present invention provides a complex surface skinning block paving system with controllable tensile force, comprising:

[0008] A chassis driving module, which can drive the paving system to move;

[0009] A support and leveling module, which is arranged above the chassis driving module and connected to the chassis driving module, and the support and leveling module can adjust the horizontality of the paving system;

[0010] A lifting module is arranged above the supporting and leveling module and connected to the supporting and leveling module, and the dimension of the lifting module in the height direction is adjustable;

[0011] A flexible clamping module, which is arranged above the lifting module and connected to the lifting module, and the flexible clamping module has a flexible clamp with adjustable horizontal and height positions;

[0012] The robot arm cooperation module is connected to the lifting module and cooperates with the flexible clamp to be configured to pre-stretch and attach the skin.

[0013] Furthermore, the chassis driving module includes a first chassis layer, a second chassis layer, a Mecanum wheel, a driving motor, and a support rod, wherein the Mecanum wheel is arranged below the first chassis layer, the Mecanum wheel supports the first chassis layer, and the driving motor drives the Mecanum wheel; the second chassis layer is arranged above the first chassis layer, the second chassis layer is connected to the first chassis layer through the support rod, and the supporting leveling module is connected to the second chassis layer.

[0014] Furthermore, the chassis drive module also includes a main control unit and a motor drive system, the main control unit and the motor drive system are arranged between the first chassis layer and the second chassis layer, the main control unit is electrically connected to the motor drive system, the motor drive system is electrically connected to the Mecanum wheel, and the main control unit and the Mecanum wheel transmit signals through the motor drive system.

[0015] Furthermore, the support and leveling module includes at least three groups of support arms, and the support arms include a supporting upper arm, a supporting middle arm, a supporting lower arm, and a supporting arm base. The supporting upper arm is arranged above the second chassis layer, one end of the supporting upper arm is connected to the second chassis layer, and the supporting upper arm can rotate in a plane parallel to the second chassis layer; one end of the supporting middle arm is connected to the other end of the supporting upper arm, and the supporting middle arm can rotate relative to the supporting upper arm in a plane perpendicular to the second chassis layer; one end of the supporting lower arm is connected to the other end of the supporting middle arm, and the supporting lower arm can be extended and retracted relative to the supporting middle arm; the support arm base is connected to the other end of the supporting lower arm.

[0016] Further, the lifting module includes a first lifting platform layer, a second lifting platform layer, a lifting rod assembly, and a hydraulic rod. The first lifting platform layer is arranged on the upper side of the supporting arm, the first lifting platform layer is connected to the supporting arm, and a spirit level is provided on the first lifting platform layer; the second lifting platform layer is arranged above the first lifting platform layer, the lifting rod assembly is arranged between the first lifting platform layer and the second lifting platform layer, and both ends of the lifting rod assembly are respectively connected to the first lifting platform layer and the second lifting platform layer; one end of the hydraulic rod is rotatably connected to the first lifting platform layer, and the other end of the hydraulic rod is rotatably connected to the lifting rod assembly, and the hydraulic rod can drive the lifting rod assembly to expand or retract.

[0017] Furthermore, the lifting rod assembly includes a lifting support rod, a support rod base, and a fixed slide rail; there are two groups of support rod bases, the two groups of support rod bases are respectively fixed on the upper side of the first lifting platform layer and the lower side of the second lifting platform layer, and each group of support rod bases are diagonally distributed; there are two groups of fixed slide rails, the two groups of fixed slide rails are respectively fixed on the upper side of the first lifting platform layer and the lower side of the second lifting platform layer, and each group of fixed slide rails are rectangularly distributed; there are four groups of lifting support rods, each group of lifting support rods includes two connecting rods, the two connecting rods are connected by a hinge at the center position, the same end of the two connecting rods is rotatably connected to the upper and lower support rod bases, and the other ends of the two connecting rods are respectively connected to the upper and lower fixed slide rails.

[0018] Further, the flexible clamping module includes a driving arm and the flexible clamp, the driving arm includes a screw motor, a screw, a coupling, a screw motor seat, a screw support seat, a motor transmission seat, a flexible clamp support rod, and a flexible clamp base. A slide groove is provided on the second lifting platform layer, and there are two groups of motor transmission seats, and the two groups of motor transmission seats are respectively arranged in the slide groove. The screw motor is connected to one of the motor transmission seats, and the output end of the screw motor is connected to one end of the screw through the coupling, and the other end of the screw is connected to the other motor transmission seat. There are two groups of screw motor seats, which are respectively sleeved on the screw. When the screw motor drives the screw to rotate, the two groups of screw motor seats approach or move away from each other; there are two groups of flexible clamp support rods, one end of which is respectively connected to one of the screw motor seats, and the other end is respectively connected to the flexible clamp base, and the flexible clamp is connected to the flexible clamp base.

[0019] Preferably, the flexible clamp has independently retractable metal rods arranged in an array.

[0020] Further, the robotic arm collaboration module includes a suction cup type clamping and fixing device and a tensioning and attaching device; the suction cup type clamping device includes a first robotic arm, a suction cup base plate, a suction cup, and a first spring, one end of the first robotic arm is connected to the second lifting platform layer, the suction cup base plate is connected to the other end of the first robotic arm, the first spring is connected to the suction cup base plate, and the suction cup is connected to the first spring; the tensioning and attaching device includes a second robotic arm, an attaching device base plate, a pre-stretching roller, a roller motor, an attaching roller, and a second spring, one end of the second robotic arm is connected to the second lifting platform layer, the attaching device base plate is connected to the other end of the second robotic arm, the pre-stretching roller is located at one end of the attaching device base plate, the roller motor drives the pre-stretching roller to rotate, the second spring is located at the other end of the attaching device base plate, the second spring is connected to the attaching device base plate, and the attaching roller is connected to the second spring.

[0021] Preferably, the first robotic arm and the second robotic arm are five-degree-of-freedom robotic arms.

[0022] The present invention has at least the following beneficial technical effects:

[0023] The four Mecanum wheels installed on the chassis drive module have their rollers tilted in a mirrored direction along the horizontal and vertical axes, allowing the device to move horizontally, move in circles, and accurately position on the ground, adapting to complex working environments and achieving flexible movement and accurate positioning. Multiple longitudinal grid structures are arranged on the first chassis layer, and the main control unit and motor drive system can be flexibly arranged on its surface, optimizing the layout space, supporting more customized layouts, and having good scalability and maintainability.

[0024] There are 4 groups of support arms supporting the leveling module, which are evenly distributed at the four corners of the second chassis layer, keeping the center of gravity of the entire device close to the center of the chassis, making it more stable; the base of the support arm increases the force-bearing area and tilt angle during support, and can be used on uneven roads; the 4 groups of support arms can be completely rotated and folded when not in use and stored in the mezzanine space between the second chassis layer and the first lifting platform layer; with the two front and rear spirit levels, the device can be accurately leveled and stably supported on uneven roads.

[0025] The lifting module adopts a diagonally arranged lifting support rod base design, so that during the lifting process, the center of gravity is always maintained at the center of the table, avoiding the center of gravity offset problem caused by unilateral arrangement, ensuring the stability and safety of the lifting process. A lifting support rod is connected to each lifting support rod base in the horizontal and vertical directions. When the lifting platform is raised (lowered), the lifting support rods distributed horizontally and vertically are constantly approaching (moving away) from the support rod base along the fixed slide rails; with the use of two hydraulic rods and fastening pins, the lifting process is labor-saving and the work surface can be kept at a specific height.

[0026] There are 5 groups of driving arms and flexible clamps distributed on the table of the flexible clamping module. The driving arms can move freely in the slide slot to adjust the lateral position of the flexible clamp, and the screw motor drives the motor transmission seat to reciprocate along the screw, so as to freely adjust the longitudinal position and height of the flexible clamp, thereby realizing the clamping and fixation of models of different volumes and curvatures to be laid, and performing alignment and complete limiting.

[0027] The suction cup structure provides flexible adsorption and fixation to avoid over-pressure or non-fitting problems of the skin; the tensioning and attaching device achieves pre-stretching and tight attachment of the skin through the pre-stretching roller and the attachment roller, ensuring that the skin is wrinkle-free and highly fitted.

[0028] The modular design of the present invention provides flexible and diverse configuration possibilities, which can be adjusted and optimized according to specific needs, such as customization of the driving mode, support structure, lifting mechanism, clamping mode and actuator structure, thereby improving the adaptability and application range of the device.

[0029] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is an overall schematic diagram of a complex surface skinning block paving system with controllable tensile force according to an embodiment of the present invention;

[0031] Figure 2 is a structural schematic diagram of a chassis drive module according to an embodiment of the present invention;

[0032] Figure 3 is a structural schematic diagram of a support and leveling module according to an embodiment of the present invention;

[0033] Figure 4 is a structural schematic diagram of a lifting module according to an embodiment of the present invention;

[0034] Figure 5 is a structural schematic diagram of a flexible clamping module according to an embodiment of the present invention;

[0035] Figure 6 is a structural schematic diagram of a suction cup type pressing and fixing device according to an embodiment of the present invention;

[0036] Figure 7 It is a schematic structural diagram of a tensioning and attaching device according to an embodiment of the present invention.

[0037] In the figure, 1-Mecanum wheel, 2-drive motor, 3-motor mounting seat, 4-drive motor bushing, 5-chassis suspension, 6-first chassis layer, 7-support rod, 8-main control unit, 9-motor drive system, 10-second chassis layer, 11-level, 12-support arm, 13-support middle arm, 14-support arm, 15-support arm base, 16-support rod base, 17-lifting support rod, 18-fixed slide rail, 19-hydraulic rod, 20-first lifting platform layer, 21-fastening latch, 22-second lifting platform layer, 23-hinge Chain, 24-mechanical arm running rail, 25-screw motor, 26-screw motor seat, 27-screw, 28-screw support seat, 29-coupling, 30-motor transmission seat, 31-flexible clamp support rod, 32-flexible clamp base, 33-flexible clamp, 34-first mechanical arm, 35-coupling, 36-coupling motor, 37-suction cup bottom plate, 38-suction cup, 39-first spring, 40-attachment device bottom plate, 41-pre-stretching roller, 42-roller motor, 43-attachment roller, 44-second mechanical arm, 45-second spring. DETAILED DESCRIPTION

[0038] The following describes the preferred embodiments of the present invention to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned in the text.

[0039] In the drawings, components with the same structure are indicated by the same numerical reference numerals, and components with similar structures or functions are indicated by similar numerical reference numerals. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of the components is appropriately exaggerated in some places in the drawings.

[0040] The present invention provides a complex surface skin block paving system and control method with controllable tensile force, which realizes wrinkle-free, pre-stretched, and highly conformable paving of skin according to the paving characteristics of skin materials, the actual paving environment of workshops, and the variable curvature characteristics of aircraft surfaces. The mechanism movement of the present invention is clear, and it can excellently complete the pre-stretching paving of complex surface skins.

[0041] like Figure 1As shown, the complex surface skinning block paving system with controllable tensile force of this embodiment adopts a multi-module collaborative design, including a chassis drive module, a support leveling module, a lifting module, a flexible clamping module, and a robotic arm collaboration module. The chassis drive module achieves flexible movement and precise positioning through four Mecanum wheels 1. The support leveling module is connected to the chassis drive module through the second chassis layer 10. The support leveling module is stably supported by four groups of fully foldable support arm structures to achieve operation on uneven ground; the support leveling module uses a spirit level 11 fixed at the front and rear ends of the first lifting platform layer 20 to align the overall posture. The lifting module is connected to the support leveling module through the first lifting platform layer 20. The lifting module adopts two groups of diagonally arranged vertical double "X"-shaped lifting devices to achieve lifting operations, ensure the stability of the center of gravity, and avoid the risk of overturning. The flexible clamping module is connected to the lifting module through the second lifting platform layer 22. The flexible clamping module moves freely in the slide slot through five sets of driving arms composed of motors and lead screws to adjust the position of the flexible clamp 33; the motor transmission seat 30 is driven to move back and forth through the lead screw motor 25 to adjust the height of the flexible clamp 33 to achieve the clamping and fixing of the model. The robot arm cooperation module is installed on the robot arm running rail 24 of the second lifting platform layer 22, and the ends are respectively equipped with a suction cup type clamping and fixing device and a tensioning and attaching device. The two devices are used in coordination to evenly fit the skin on the surface of the variable curvature and undulating model, and provide a certain amount of pre-stretching during the paving process to ensure that the skin is paved without wrinkles.

[0042] Specifically, Figure 2 In the chassis drive module shown, four Mecanum wheels 1 are respectively installed on a rectangular first chassis layer 6 through a chassis suspension 5, and the specific installation positions are front left (FL), front right (FR), rear left (RL), and rear right (RR). Figure 2 From the viewing direction, the inclination directions of the multiple small rollers of the four Mecanum wheels 1 are clockwise, counterclockwise, counterclockwise, and clockwise respectively. The four drive motors 2 are respectively mounted on the first chassis layer 6 through the motor mounting seat 3, and each drive motor 2 drives one of the Mecanum wheels 1; a drive motor sleeve 4 is provided on the output shaft of the drive motor 2. A plurality of support rods 7 are vertically connected to the upper surface of the first chassis layer 6, and the upper ends of the support rods 7 are connected to the second chassis layer 10, so that the second chassis layer 10 is arranged parallel to the first chassis layer 6. The first chassis layer 6 and the second chassis layer 10 are connected by using a plurality of support rods 7 evenly distributed around the plate. This connection structure can more effectively transmit and disperse the load on the device, provide higher structural strength, and withstand greater vertical and lateral loads; compared with the use of a panel to connect the two chassis, the support rod 7 has less deformation, reduces the deformation and displacement between the two chassis, leaves more available space, and leaves operating space for wiring, replacing parts, and replacing modules, making the structure more multifunctional and integrated.

[0043] A main control unit 8 and a motor drive system 9 are arranged in the interlayer between the first chassis layer 6 and the second chassis layer 10. Specifically, the upper surface of the first chassis layer 6 is grooved, and an array of longitudinal grid plates is used to replace the general bolt positioning holes, so that the main control unit 8 and the motor drive system 9 have greater spatial freedom when they are bolted to the first chassis layer 6, and have obvious advantages in terms of processing accuracy tolerance, simplified assembly process, avoidance of stress concentration, bottom plate processing difficulty and weight control. Each motor drive system 9 is electrically connected to one of the Mecanum wheels 1, and the motor drive system 9 is electrically connected to the main control unit 8; through the programming control of the main control unit 8 and the motor drive system 9, the action of each Mecanum wheel 1 is controlled separately, and the forward and backward, sideways, and rotational movement of the entire device can be realized.

[0044] In this embodiment, the drive motor 2 is a brushless motor, which has less wear and tear, longer life, and can reduce maintenance costs.

[0045] For rough and uneven roads, the four Mecanum wheels 1 of the chassis drive module are in contact with the ground at different heights, which will cause the entire paving system to tilt. At this time, the support leveling module is used to adjust the horizontality of the entire paving system after it reaches the target position and adjusts the direction. Figure 3 As shown, the support and leveling module includes 4 groups of support arms located at the four corners of the second chassis layer 10, and the 4 groups of support arms are used in conjunction with a level meter 11 for alignment and stabilization. Each group of support arms includes a support arm 12, a support middle arm 13, a support arm 14 and a support arm base 15. The support arm 12 is located on the upper side of the second chassis layer 10 and can rotate relative to the second chassis layer 10; the support middle arm 13 is connected to one end of the support arm 12 and can rotate relative to the support arm 12; the support arm 14 is connected to the end of the support middle arm 13 and can be telescopic relative to the support middle arm 13; the support arm base 15 is provided at the end of the support arm 14. When the supporting arm 12 is rotated to a certain angle and spread out to the periphery, a structural support point farther than the four Mecanum wheels 1 is obtained, which can lower the center of gravity of the entire device and make it more stable; the supporting middle arm 13 rotates a certain angle around the end of the supporting arm 12, so that the height of the chassis can be kept horizontal, and the margin of the uneven road surface is compensated by the supporting middle arm 13 through different rotation angles; for the road conditions with particularly steep roads on one side or in the opposite direction, compensation can be made by the threaded extension of the supporting small arm 14; the supporting arm base 15 and the supporting small arm 14 are spherically connected, and the supporting arm base 15 can be rotated at a certain angle to contact the road surface. Such surface contact is better than point contact, is more stable and can improve the structural strength.

[0046] The lifting module is used to adjust the workbench to a suitable height for subsequent paving operations and fix it unchanged, such as Figure 4As shown, the lifting module includes a support rod base 16, a lifting support rod 17, a fixed slide rail 18, a hydraulic rod 19, a first lifting platform layer 20, and a second lifting platform layer 22. The first lifting platform layer 20 is located on the upper side of the supporting arm 12 and is connected to the supporting arm 12, so that the supporting arm 12 is sandwiched between the second chassis layer 10 and the first lifting platform layer 20; specifically, the second chassis layer 10 and the first lifting platform layer 20 can be connected to the rotating pin of the supporting arm 12 respectively; the level 11 is arranged on the first lifting platform layer 20. The second lifting platform layer 22 is located above the first lifting platform layer 20 and is parallel to the first lifting platform layer 20. There are four support rod bases 16 in total and are divided into two groups, which are respectively diagonally installed on the upper surface of the first lifting platform layer 20 and the lower surface of the second lifting platform layer 22, and are opposite to each other up and down. There are eight fixed slide rails 18 in total and are divided into two groups, which are respectively fixedly installed on the upper surface of the first lifting platform layer 20 and the lower surface of the second lifting platform layer 22, distributed in a rectangular shape, and opposite to each other up and down. There are 4 groups of lifting support rods 17, each group of lifting support rods 17 includes 2 connecting rods, which are rotatably connected by hinges 23 to form a double "X" shape; the same end of the two connecting rods of each group of lifting support rods 17 is rotatably connected to the support rod base 16 at the upper and lower positions, and the other end is slidably connected to the fixed slide rails 18 at the upper and lower positions, and is locked by the fastening pin 21. Figure 4 As shown, when the lifting platform is lifted, each support rod base 16 is connected to two sets of lifting support rods 17 distributed horizontally and vertically, and the two connecting rods of each set of lifting support rods 17 are continuously moved closer to the support rod base 16 along the fixed slide rail 18; because the two support rod bases 16 are arranged diagonally on the first lifting platform layer 20, the center of gravity is kept in the normal direction of the center position of the platform during the entire lifting process without shifting left, right, or right. Compared with the general one-sided lifting distribution, the diagonal arrangement can better prevent the platform from tilting, and can provide more uniform support for large-area platforms and ensure the horizontal state of the platform.

[0047] In this embodiment, there are two hydraulic rods 19, the tail ends of the two hydraulic rods 19 are rotatably connected to the upper surface of the first lifting platform layer 20, and the top ends are rotatably connected to one group of lifting support rods 17 respectively; when the lifting platform rises, the hydraulic rods 19 can provide an upward thrust; on the contrary, when descending, due to the effect of oil pressure, it can play a buffering role, and a sudden fall will not occur, ensuring that the lifting process is labor-saving and safe.

[0048] In this embodiment, the fastening pin 21 of the lifting module slides along the fixed rail 18 together with the lifting support rod 17 before being locked; when the work surface reaches a suitable height, the fastening pin 21 needs to be locked, and the fastening pin 21, the lifting support rod 17 and the fixed rail 18 are completely fixedly connected, which can ensure the safety of the paving operation and prevent sudden height changes. Each fixed rail 18 is equipped with a fastening pin 21, that is, the number of fastening pins 21 is 8.

[0049] The flexible clamping module is used to clamp and fix the models to be laid with different volumes and curvatures, so that they are level and fully limited. Figure 5 As shown, there are five groups of flexible clamping modules, each group includes a driving arm and a flexible clamp 33, and the flexible clamp 33 is connected to the driving arm, so that the driving arm drives the flexible clamp 33 to move in the horizontal or vertical direction and the height direction to adjust the position. The second lifting platform layer 22 is provided with a slide groove, the direction of the slide groove is horizontal or vertical, and the driving arm can move horizontally or vertically along the slide groove; in this embodiment, there are 4 groups of horizontal slide grooves and 1 group of vertical slide grooves on the second lifting platform layer 22.

[0050] The driving arm includes a screw motor 25, a screw 27, a coupling 29, a screw motor seat 26, a screw support seat 28, a motor transmission seat 30, a flexible clamp support rod 31, and a flexible clamp base 32. There are two groups of motor transmission seats 30, and the two groups of motor transmission seats 30 are respectively arranged in the slide groove. The screw motor 25 is connected to one of the motor transmission seats 30. The output end of the screw motor 25 is connected to one end of the screw 27 through the coupling 29, and the other end of the screw 27 is connected to the other motor transmission seat 30. There are two groups of screw motor seats 26, respectively. It is sleeved on the screw 27. When the screw motor 25 drives the screw 27 to rotate, the two groups of screw motor seats 26 approach or move away from each other. There are two groups of flexible clamp support rods 31, one end of which is connected to one of the screw motor seats 26, and the other end is connected to the flexible clamp base 32. The flexible clamp 33 is connected to the flexible clamp base 32. When the two screw motor seats 26 approach or move away, the angle between the two flexible clamp support rods 31 is reduced or increased, and the flexible clamp base 32 rises or falls, thereby realizing the adjustment of the height of the flexible clamp 33.

[0051] In this embodiment, five groups of driving arms can move freely in the transverse and longitudinal slide grooves of the second lifting platform layer 22 to independently adjust the transverse and longitudinal positions of the five groups of flexible clamps 33 respectively; the screw motor 25 drives the motor transmission seat 30 to reciprocate along the screw 27 through the coupling 29, and the screw 27 is connected to the screw support seat 28, so that the two flexible clamp support rods 31 rotate and drive the flexible clamp base 32 to move, and the longitudinal position and height of the flexible clamp 33 can be freely adjusted; the flexible clamping module realizes flexible clamping and complete positioning of the model when the large model is skinned.

[0052] In this embodiment, the metal rods arranged in an array in the flexible clamp 33 can be independently extended and retracted, and are highly adaptable and flexible. They can be adaptively adjusted according to paving models of different shapes and sizes, reducing the need for special clamps and thus reducing costs, while improving clamping accuracy and paving efficiency.

[0053] The robot arm collaboration module includes a suction cup type pressing and fixing device and a pasting and adsorption device. The suction cup type pressing and fixing device is used to adsorb the skin and fix it in the calibrated position. The pasting and adsorption device is used to stick the skin close to the model and can pre-stretch the unpasted skin.

[0054] like Figure 6 As shown, the suction cup type clamping device includes a first mechanical arm 34, a suction cup bottom plate 37, a suction cup 38, and a first spring 39. One end of the first mechanical arm 34 is connected to the mechanical arm running rail 24 on the second lifting platform layer 22, the suction cup bottom plate 37 is connected to the other end of the first mechanical arm 34, the first spring 39 is connected to the suction cup bottom plate 37, and the suction cup 38 is connected to the first spring 39. The suction cup 38 is used to absorb the skin and fix it at the calibrated position, and the first spring 39 makes the fixing pressure adjustable without damaging the skin characteristics.

[0055] like Figure 7 As shown, the tensioning and attaching device includes a second mechanical arm 44, an attaching device bottom plate 40, a pre-stretching roller 41, a roller motor 42, an attaching roller 43, and a second spring 45. One end of the second mechanical arm 44 is connected to the mechanical arm running rail 24 on the second lifting platform layer 22, the attaching device bottom plate 40 is connected to the other end of the second mechanical arm 44, the pre-stretching roller 41 is located at one end of the attaching device bottom plate 40, the roller motor 42 drives the pre-stretching roller 41 to rotate, the second spring 45 is located at the other end of the attaching device bottom plate 40, the second spring 45 is connected to the attaching device bottom plate 40, and the attaching roller 43 is connected to the second spring 45. The skin is gradually rolled from one end to the model by the attaching roller 43, and the skin that has not been laid is pre-stretched by the pre-stretching roller 41.

[0056] The first robot arm 34 and the second robot arm 44 are both five-degree-of-freedom robots, which are provided with a coupling 35 and a coupling motor 36 to achieve free rotation. The first robot arm 34 and the second robot arm 44 can both slide back and forth on the robot arm running rail 24 to ensure the accessibility of the robot arm end effector in the full three-dimensional space above the work surface. In the suction cup type clamping and fixing device, a first spring 39 is installed on the upper end of the suction cup 38. When the suction cup 38 is pressed and moves toward the base plate 37, it will be subjected to the reaction force of the first spring 39, forming a flexible rectangular pressing array. A row of attachment rollers 43 are arranged at the front end of the base plate 40 of the tensioning and attaching device. These attachment rollers 43 are connected to the base plate 40 through a second spring 45, so that the attachment rollers 43 can tightly attach the skin along the curved model surface.

[0057] In a specific embodiment, the first robot arm 34 and the second robot arm 35 can be equipped with force sensors, which can monitor the force applied during the paving process. Through the closed-loop control system, the robot arm can dynamically adjust the force applied to ensure that a constant stretching force and pressing force are maintained during the paving process, thereby avoiding over-stretching or under-stretching and ensuring the consistency and quality of the skin. The first robot arm 34 and the second robot arm 35 can remain stable during the movement without small displacements and shaking through position encoders and their own joint stiffness, thereby ensuring the accuracy of skin paving. By applying a certain force to the first robot arm 34 and the second robot arm 35, human-machine collaborative operation is achieved, thereby improving paving efficiency and operating experience. The first robot arm 34 and the second robot arm 35 have a torque compensation function, which can automatically slow down the movement when unexpected resistance or interference is detected to prevent damage to the skin material or potential harm to the operator.

[0058] The complex surface skinning block paving system with controllable tensile force of this embodiment can perform block skinning on the curvature surface once the paving model is completely positioned. The suction cup type clamping and fixing device can ensure that the starting end of the skin is subjected to the pressure of the suction cup 38, fixing it on the surface of the model with curvature; the tensioning and attaching device applies a certain amount of pre-stretching to the skin that is not involved in the attachment through the rolling operation of the pre-stretching roller 41 and the tensioning action of the guide rod, and rolls the skin to attach it to the model through a row of flexible attachment rollers 43, ensuring the quality of the skin attachment, so as to meet the process requirements that the skin has a certain amount of pre-stretching, no wrinkles and is highly fitted with the model.

[0059] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A complex surface skinning block paving system with controllable tensile force, characterized in that: include: A chassis driving module, which can drive the paving system to move; A support and leveling module, which is arranged above the chassis driving module and connected to the chassis driving module, and the support and leveling module can adjust the horizontality of the paving system; A lifting module is arranged above the supporting and leveling module and connected to the supporting and leveling module, and the dimension of the lifting module in the height direction is adjustable; A flexible clamping module, which is arranged above the lifting module and connected to the lifting module, and the flexible clamping module has a flexible clamp with adjustable horizontal and height positions; The robot arm cooperation module is connected to the lifting module and cooperates with the flexible clamp to be configured to pre-stretch and attach the skin.

2. The complex surface skinning block paving system with controllable tensile force as claimed in claim 1 is characterized in that: The chassis driving module includes a first chassis layer, a second chassis layer, a Mecanum wheel, a driving motor, and a support rod, wherein the Mecanum wheel is arranged below the first chassis layer, the Mecanum wheel supports the first chassis layer, and the driving motor drives the Mecanum wheel; The second chassis layer is arranged above the first chassis layer, the second chassis layer is connected to the first chassis layer through the support rod, and the support and leveling module is connected to the second chassis layer.

3. The complex surface skinning block paving system with controllable tensile force as claimed in claim 2 is characterized in that: The chassis drive module also includes a main control unit and a motor drive system, wherein the main control unit and the motor drive system are arranged between the first chassis layer and the second chassis layer, the main control unit is electrically connected to the motor drive system, the motor drive system is electrically connected to the Mecanum wheel, and the main control unit and the Mecanum wheel transmit signals through the motor drive system.

4. The complex surface skinning block paving system with controllable tensile force as claimed in claim 2 is characterized in that: The support and leveling module includes at least three groups of support arms, each of which includes a support arm, a support middle arm, a support arm, and a support arm base. The support arm is arranged above the second chassis layer, one end of the support arm is connected to the second chassis layer, and the support arm can rotate in a plane parallel to the second chassis layer. One end of the supporting middle arm is connected to the other end of the supporting large arm, and the supporting middle arm can rotate relative to the supporting large arm in a plane perpendicular to the second chassis layer; One end of the small support arm is connected to the other end of the middle support arm, and the small support arm can be extended and retracted relative to the middle support arm; the support arm base is connected to the other end of the small support arm.

5. The complex surface skinning block paving system with controllable tensile force as claimed in claim 4 is characterized in that: The lifting module includes a first lifting platform layer, a second lifting platform layer, a lifting rod assembly, and a hydraulic rod. The first lifting platform layer is arranged on the upper side of the supporting arm, the first lifting platform layer is connected to the supporting arm, and a spirit level is provided on the first lifting platform layer; the second lifting platform layer is arranged above the first lifting platform layer, the lifting rod assembly is arranged between the first lifting platform layer and the second lifting platform layer, and both ends of the lifting rod assembly are respectively connected to the first lifting platform layer and the second lifting platform layer; one end of the hydraulic rod is rotatably connected to the first lifting platform layer, and the other end of the hydraulic rod is rotatably connected to the lifting rod assembly, and the hydraulic rod can drive the lifting rod assembly to expand or retract.

6. The complex surface skinning block paving system with controllable tensile force as claimed in claim 5 is characterized in that: The lifting rod assembly includes a lifting support rod, a support rod base, and a fixed slide rail; there are two groups of support rod bases, which are respectively fixed on the upper side of the first lifting platform layer and the lower side of the second lifting platform layer, and each group of support rod bases are diagonally distributed; there are two groups of fixed slide rails, which are respectively fixed on the upper side of the first lifting platform layer and the lower side of the second lifting platform layer, and each group of fixed slide rails are rectangularly distributed; there are four groups of lifting support rods, and each group of lifting support rods includes two connecting rods, which are connected by a hinge at the center position, and the same end of the two connecting rods is rotatably connected to the upper and lower support rod bases, and the other ends of the two connecting rods are respectively connected to the upper and lower fixed slide rails.

7. The complex surface skinning block paving system with controllable tensile force as claimed in claim 5 is characterized in that: The flexible clamping module includes a driving arm and the flexible clamp, and the driving arm includes a screw motor, a screw, a coupling, a screw motor seat, a screw support seat, a motor transmission seat, a flexible clamp support rod, and a flexible clamp base. A slide groove is provided on the second lifting platform layer, and there are two groups of motor transmission seats, and the two groups of motor transmission seats are respectively arranged in the slide groove. The screw motor is connected to one of the motor transmission seats, and the output end of the screw motor is connected to one end of the screw through the coupling, and the other end of the screw is connected to the other motor transmission seat. There are two groups of screw motor seats, which are respectively sleeved on the screw. When the screw motor drives the screw to rotate, the two groups of screw motor seats approach or move away from each other; there are two groups of flexible clamp support rods, one end of which is respectively connected to one of the screw motor seats, and the other end is respectively connected to the flexible clamp base, and the flexible clamp is connected to the flexible clamp base.

8. The complex surface skinning block paving system with controllable tensile force as claimed in claim 7 is characterized in that: The flexible clamp has independently retractable metal rods arranged in an array.

9. The complex surface skinning block paving system with controllable tensile force as claimed in claim 7 is characterized in that: The robotic arm collaboration module includes a suction cup type clamping and fixing device and a tensioning and attaching device; the suction cup type clamping device includes a first robotic arm, a suction cup base plate, a suction cup, and a first spring, one end of the first robotic arm is connected to the second lifting platform layer, the suction cup base plate is connected to the other end of the first robotic arm, the first spring is connected to the suction cup base plate, and the suction cup is connected to the first spring; the tensioning and attaching device includes a second robotic arm, an attaching device base plate, a pre-stretching roller, a roller motor, an attaching roller, and a second spring, one end of the second robotic arm is connected to the second lifting platform layer, the attaching device base plate is connected to the other end of the second robotic arm, the pre-stretching roller is located at one end of the attaching device base plate, the roller motor drives the pre-stretching roller to rotate, the second spring is located at the other end of the attaching device base plate, the second spring is connected to the attaching device base plate, and the attaching roller is connected to the second spring.

10. The complex surface skinning block paving system with controllable tensile force as claimed in claim 9, characterized in that: The first robotic arm and the second robotic arm are five-degree-of-freedom robotic arms.

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