A grabbing device and grabbing method for aircraft hat-shaped ribs

Abstract

The present invention discloses a grasping device and grasping method for aircraft hat-shaped ribs. The device includes a mounting seat; two suction nozzles connected to the mounting seat, the two suction nozzles are symmetrically arranged, and the two suction nozzles can move closer to or farther away from each other, and the suction nozzles are used to absorb the side panels of the hat-shaped ribs, and the suction nozzles include a plurality of suction nozzle units, the suction nozzle units are arranged longitudinally, and the suction nozzle units can be extended and retracted along their axial directions; a clamping portion connected to the mounting seat, including an upper clamping surface and a lower clamping surface, and the clamping portion is used to clamp the top plate of the hat-shaped ribs, and the upper clamping surface can move closer to or farther away from the lower clamping surface. This device can achieve flexible grasping of the side panels of the hat-shaped ribs, effectively improve grasping efficiency, ensure grasping safety, and reduce labor costs.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft equipment manufacturing, and in particular to a grasping device and a grasping method for aircraft hat-shaped ribs. Background Art

[0002] As traditional aircraft manufacturing methods gradually become out of step with production capacity and process requirements, the concept of automated production, such as robotic drilling and riveting, has gradually emerged in the aircraft manufacturing industry. Traditional aircraft manufacturing and assembly are primarily completed by manpower. However, the assembly of large-span, low-rigidity parts requires high labor costs, carries the risk of assembly damage, and still presents efficiency bottlenecks. The concept of automated aircraft manufacturing is an assembly line-oriented operation method that far exceeds traditional manufacturing methods in terms of assembly efficiency and process precision. However, in the assembly line manufacturing process, ensuring the stable grasping and transfer of low-rigidity, large-span parts with varying curvatures is a problem that needs to be solved urgently.

[0003] Hat-shaped ribs of aircraft wall panels Figure 1 As shown, it is a weak rigid component with high processing precision requirements and complex structure, that is, a component with poor overall rigidity and easy to deform under the action of cutting force, cutting heat, clamping force, etc. The top plate 01 and side plate 02 of the hat-type rib 0 are not flat but curved surfaces with changing curvature. In addition, its structure is slender. Currently, the laying of this component can only be completed by manual laying, and at least two workers are required to cooperate in completing the transportation and laying of the ribs, which undoubtedly increases the labor cost. In addition, during the grasping and transportation process, due to its weak rigidity, it is very easy to cause product safety problems due to deformation, damage, and vibration. Summary of the Invention

[0004] The purpose of the present invention is to overcome the shortcomings of existing weak rigidity hat-shaped ribs that can only be laid manually, which has low work efficiency and is easily deformed by existing grasping equipment, and to provide a grasping device and grasping method for aircraft hat-shaped ribs.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] A device for grasping an aircraft cap-shaped rib, comprising:

[0007] Mounting seat;

[0008] a clamping portion connected to the mounting seat, comprising an upper clamping surface and a lower clamping surface, wherein the clamping portion is used to clamp the top plate of the hat-shaped rib, and the upper clamping surface can be moved close to or away from the lower clamping surface;

[0009] Two suction nozzles are connected to the mounting base and are located on both sides of the clamping portion. The two suction nozzles are arranged opposite to each other and can move closer to or farther away from each other. The suction nozzles are used to adsorb the side panels of the hat-shaped ribs. The suction nozzles include a plurality of suction nozzle units, which are arranged longitudinally and can be extended and retracted along their axial directions.

[0010] The gripping device for the aircraft hat-shaped rib of the present invention is adopted, wherein the clamping part clamps the top plate, and the suction nozzles on both sides of the clamping part adsorb the side plates, so as to facilitate the gripping of the flat hat-shaped rib. The clamping part clamps the top plate of the hat-shaped rib through the upper clamping surface that can move up and down and cooperates with the lower clamping surface to form a main clamping point; a plurality of suction nozzle units arranged along the longitudinal direction of the hat-shaped rib are used to adsorb the side plates of the hat-shaped rib to form an auxiliary clamping of the hat-shaped rib, providing additional gripping power. The suction nozzle units are arranged along the longitudinal direction of the hat-shaped rib, which can effectively increase the gripping range. The suction nozzle unit can be extended and retracted along its axial direction, and can adapt to the side panels of the hat-shaped ribs with changing curvature, thereby realizing adaptive curvature fitting adsorption, further increasing the contact area, improving the safety of adsorption, and avoiding concentrated stress at the main clamping point. It can also buffer and release the vibration energy caused by the weak rigidity characteristics of the hat-shaped ribs. When in use, two grasping devices are used to grasp the two ends of the hat-shaped ribs respectively, and each end realizes flexible grasping of the side panels of the hat-shaped ribs through the cooperation of the clamping part and the suction nozzle part, effectively improving the grasping efficiency and grasping safety, and reducing labor costs.

[0011] Preferably, the lower clamping surface is a spherical surface.

[0012] A spherical structure is used to form point contact with the bottom surface of the top plate, further adapting to the curvature change of the hat-shaped ribs and avoiding crushing and damage caused by hard contact.

[0013] Preferably, the upper clamping surface is connected to the suction nozzle portion via a hinge connecting rod, and the upper clamping surface can drive the two suction nozzle portions to approach each other when it approaches the lower clamping surface.

[0014] Preferably, the mounting seat is connected to the robot via an oblique arm flange.

[0015] The oblique arm is used to provide a certain tilt angle, which makes it easier for the robot to adopt a better grasping posture to grasp the slender hat-shaped rib.

[0016] Preferably, 0.06≤ l 1 / l 2≤0.5, where l 1 is the arrangement length of the nozzle unit, l 2 is the length of the hat-shaped rib.

[0017] Further preferably, a reinforcing rib is connected between the suction nozzle and the mounting seat.

[0018] It effectively resists the bending moment generated when grabbing the load, and further avoids the deformation of the hat-shaped reinforcement.

[0019] Preferably, it further comprises a pressure sensor, and the pressure sensor is used to collect the pressure of the clamping part.

[0020] It is convenient to judge whether the clamping part is grasped in place.

[0021] Preferably, the suction nozzle is connected to the mounting seat via a connecting wing plate.

[0022] Preferably, it further comprises a detection component, which is used to detect whether the hat-shaped rib is in place.

[0023] A method for grasping an aircraft hat-shaped rib, using any of the above-described grasping devices for aircraft hat-shaped ribs, comprises the following steps:

[0024] The clamping part is moved to a preset position, and then the upper clamping surface and the lower clamping surface are brought close to each other. After the clamping part is clamped to the top plate of the hat-shaped rib, the suction nozzle part is opened to allow the suction nozzle unit to absorb the side plate.

[0025] The method for grasping aircraft hat-shaped ribs described in the present invention is used, and the main clamping point is used to clamp the top plate, and the suction nozzle is located at a preset position of the side plate of the hat-shaped rib, that is, the suction nozzle unit can suck the side plate when the vacuum adsorption operation is started, and the adsorption is started after the main clamping point forms the clamping to ensure that each suction nozzle unit forms adsorption, effectively providing additional grasping power, improving the safety of grasping, avoiding the generation of concentrated stress at the main clamping point, and effectively buffering and releasing the vibration energy caused by the weak rigidity characteristics of the hat-shaped rib.

[0026] In summary, compared with the prior art, the present invention has the following beneficial effects:

[0027] 1. The gripping device for the aircraft hat-shaped ribs described in the present invention adopts a clamping portion that clamps the top plate of the hat-shaped rib through an upper clamping surface that can move up and down and cooperates with a lower clamping surface to form a main clamping point; a plurality of suction nozzle units arranged along the longitudinal direction are used to adsorb the side plates of the hat-shaped ribs, thereby forming an auxiliary clamping of the hat-shaped ribs and effectively increasing the gripping range; the suction nozzle units can be extended and retracted along their axial direction and can adapt to the side plates of the hat-shaped ribs with changing curvature to achieve adaptive curvature fitting adsorption, further increase the contact area, improve the safety of adsorption, avoid concentrated stress at the main clamping point, and buffer and release vibration energy caused by the weak rigidity characteristics of the hat-shaped ribs. At the same time, it can also provide additional gripping power, effectively improve gripping efficiency and gripping safety, and reduce labor costs.

[0028] 2. The method for grasping the aircraft hat-shaped ribs of the present invention is used. The main clamping point is used to clamp the top plate. The suction nozzle is located at a preset position on the side plate of the hat-shaped rib. That is, when the vacuum adsorption operation is turned on, the suction nozzle unit can suck the side plate. After the main clamping point forms a clamp, the adsorption is turned on to ensure that each suction nozzle unit forms adsorption, effectively providing additional grasping power, improving the safety of grasping, avoiding the generation of concentrated stress at the main clamping point, and effectively buffering and releasing the vibration energy caused by the weak rigidity characteristics of the hat-shaped rib. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 Schematic diagram of the structure of the aircraft hat-shaped rib in the present invention;

[0030] Figure 2 This is a three-dimensional structural diagram of a gripping device for an aircraft hat-shaped rib in Example 1;

[0031] Figure 3 for Figure 2 A side view of the structure;

[0032] Figure 4 Schematic diagram of the structure of the clamping part and the nozzle part in Example 1;

[0033] Figure 5 This is a schematic diagram of the use of a grabbing device for an aircraft hat-shaped rib in Example 1.

[0034] Markings in the figure: 0-hat-shaped rib, 01-top plate, 02-side plate, 1-nozzle unit, 2-upper clamping surface, 3-lower clamping surface, 41-hinge link, 42-connecting wing plate, 5-mounting seat, 51-reinforcement rib, 6-oblique arm, 7-pressure sensor. DETAILED DESCRIPTION

[0035] The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. However, this should not be construed as limiting the scope of the present invention to the following embodiments, as all technologies implemented based on the present invention fall within the scope of the present invention.

[0036] Example 1

[0037] A gripping device for aircraft hat-shaped ribs, such as Figure 2-4 As shown, including:

[0038] The mounting seat 5 is used to bear the external load generated by grabbing the hat-shaped rib 0;

[0039] Two suction nozzles are connected to the mounting base 5. The two suction nozzles are arranged opposite to each other and can move closer to or farther away from each other. The suction nozzles are used to absorb the side panels 02 of the hat-shaped ribs 0. The suction nozzles include a plurality of suction nozzle units 1. The suction nozzle units 1 are arranged longitudinally, i.e., distributed longitudinally along the side panels 02. The suction nozzle units 1 can be extended and retracted along their axial directions.

[0040] The clamping portion is connected to the mounting seat 5 and includes an upper clamping surface 2 and a lower clamping surface 3. The clamping portion is used to clamp the top plate 01 of the hat-shaped rib 0. The upper clamping surface 2 can be close to or away from the lower clamping surface 3.

[0041] Specifically, the top flange of the mounting seat 5 is connected to an oblique arm 6, which is flange-connected to the robot. The oblique arm 6 is used to provide a certain tilt angle, so that the robot can adopt a better grasping posture to grasp the slender hat-shaped rib 0. The clamping part, as the main grasping structure, adopts a mechanical finger structure. The upper finger is installed with a floating clamp to provide an upper clamping surface 2, and the lower finger provides a lower clamping surface 3. The initial spacing between the upper clamping surface 2 and the lower clamping surface 3 is slightly larger than the wall thickness of the hat-shaped rib 0. The air claw structure can also provide power to enable the upper clamping surface 2 and the lower clamping surface 3 to move closer to or away from each other. Preferably, the lower clamping surface 3 is a spherical surface to form a point contact with the bottom surface of the top plate 01, further adapting to the curvature change of the hat-shaped rib 0, and avoiding the situation where hard contact causes it to be crushed and damaged. Preferably, a detection component can be provided, such as an infrared sensor, a laser sensor, or a proximity switch, to confirm whether the clamping portion has reached the gripping position. A pressure sensor 7 can also be provided to collect the pressure of the clamping portion. Once the value is obtained, the upper clamping surface 2 and the lower clamping surface 3 stop approaching. The suction nozzle is a component that directly contacts the hat-shaped rib 0, providing adsorption force and realizing flexible gripping action. The suction nozzle is connected to the mounting seat 5 through a connecting wing plate 42. The length of the hat-shaped rib 0 is usually 3.5m~5.4m. In order to ensure the gripping stability, the suction nozzle unit 1 should reach a certain arrangement length, such as 0.06≤ l 1 / l 2≤0.5, where l 1 is the layout length of the nozzle unit 1, l2 is the length of the hat-shaped rib 0, which is convenient for auxiliary clamping of the slender hat-shaped rib 0 and effectively resisting the bending moment generated when the slender hat-shaped rib is gripped and loaded. In order to further avoid deformation of the hat-shaped rib 0, a reinforcing rib 51 is also connected between the suction nozzle and the mounting seat 5; each suction nozzle unit 1 can be stretched or compressed, that is, it contains a certain redundant length, which is convenient for adaptive curvature fitting and adsorption with the two side plates 02 with curvature changes of the hat-shaped rib 0, and will not cause deformation of the side plates 02, thereby increasing the contact area and avoiding concentrated stress at the main gripping point (clamping part). It can also buffer and release the vibration energy caused by the weak rigidity characteristics of the hat-shaped rib 0, and can also provide additional gripping power to cooperate in completing the flexible gripping of the hat-shaped rib 0. The upper clamping surface 2 is connected to the suction nozzle through a hinge connecting rod 41. The upper clamping surface 2 is close to the lower clamping surface 3 and can drive the two suction nozzles to approach, such as Figure 5 As shown, the main grasping point and the auxiliary grasping point grasp at the same time, thereby grasping the hat-shaped rib 0, further ensuring the balance and stability of the grasping force on the hat-shaped rib 0, effectively preventing deformation, and improving the grasping efficiency.

[0042] When in use, a grasping device is used to synchronously grasp the two ends of the hat-shaped rib 0. The clamping part grasps the top plate 01, and the suction nozzle part absorbs the side plate 02 of the hat-shaped rib 0, which can not only ensure the stability and safety of grasping, but also improve the grasping efficiency and reduce labor costs.

[0043] The grasping method using the grasping device of the aircraft hat-shaped rib as described above comprises the following steps:

[0044] Move the clamping part to the preset position, and then make the upper clamping surface 2 and the lower clamping surface 3 approach each other. At this time, the suction nozzle part is in the zero position of the hinge mechanism. After the clamping part is clamped to the top plate 01 of the hat-shaped rib 0, open the suction nozzle part so that the suction nozzle unit 1 adsorbs the side panel 02.

[0045] That is, the driving system drives the clamping part to move to the system teaching position, and then drives the upper clamping surface 2 and the lower clamping surface 3 to approach each other. The approach of the upper clamping surface 2 and the lower clamping surface 3 enables the hinge connecting rod 41 to make the suction nozzles on both sides close to the side panel 02, and then start vacuum adsorption. Due to the different curvatures of the side panel 02 in the length direction, suction is generated between the side panel 02 and the suction nozzle unit 1. Under the action of suction, each suction nozzle unit 1 can well suck the side panel 02 to provide additional grasping power, improve the safety of grasping, avoid concentrated stress at the main clamping point, and effectively buffer and release the vibration energy caused by the weak rigidity characteristics of the hat-type ribs.

[0046] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A gripping device for aircraft hat-shaped ribs, characterized in that: The top plate (01) and side plates (02) of the hat-shaped rib (0) both have surfaces with varying curvatures, including: Mounting seat (5); a clamping portion connected to the mounting seat (5), comprising an upper clamping surface (2) and a lower clamping surface (3), wherein the clamping portion is used to clamp the top plate (01) of the hat-shaped rib (0), and the upper clamping surface (2) can be moved closer to or farther from the lower clamping surface (3); Two suction nozzles are connected to the mounting seat (5) and are located on both sides of the clamping portion. The two suction nozzles are symmetrically arranged and can move closer to or farther away from each other. The suction nozzles are used to adsorb the side panels (02) of the hat-shaped ribs (0). The suction nozzles include a plurality of suction nozzle units (1). The suction nozzle units (1) are arranged longitudinally and can be extended and retracted along their axial directions. The lower clamping surface (3) is a spherical surface. The upper clamping surface (2) is connected to the suction nozzles via a hinge connecting rod (41). The upper clamping surface (2) is close to the lower clamping surface (3) and can drive the two suction nozzles to move closer.

2. The gripping device for aircraft hat-shaped ribs according to claim 1, characterized in that: The mounting seat (5) is flange-connected to the robot via an oblique arm (6).

3. The gripping device for aircraft hat-shaped ribs according to claim 1, characterized in that: 0.06≤ l 1 / l 2≤0.5, where l 1 is the arrangement length of the nozzle unit (1), l 2 is the length of the hat-shaped rib (0).

4. The gripping device for aircraft hat-shaped ribs according to claim 1, characterized in that: A reinforcing rib (51) is also connected between the suction nozzle and the mounting seat (5).

5. The gripping device for aircraft hat-shaped ribs according to any one of claims 1 to 4, characterized in that: It also comprises a pressure sensor (7), and the pressure sensor (7) is used to collect the pressure of the clamping part.

6. The gripping device for aircraft hat-shaped ribs according to any one of claims 1 to 4, characterized in that: The suction nozzle is connected to the mounting seat (5) via a connecting wing plate (42).

7. The gripping device for aircraft hat-shaped ribs according to any one of claims 1 to 4, characterized in that: It also comprises a detection component, which is used to detect whether the hat-shaped rib (0) is in place.

8. A method for grabbing aircraft hat-shaped ribs, characterized in that: A device for grasping an aircraft hat-shaped rib according to any one of claims 1 to 7 comprises the following steps: The clamping portion is moved to a preset position, and then the upper clamping surface (2) and the lower clamping surface (3) are brought closer to each other. After the clamping portion is clamped to the top plate (01) of the hat-shaped rib (0), the suction nozzle portion is opened so that the suction nozzle unit (1) adsorbs the side plate (02).

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