A method for automated pick-up of an additive manufacturing substrate hoist

Abstract

The application discloses a kind of hoisting automatic clamping methods of additive manufacturing substrate, belong to additive manufacturing technical field;Solve the hoisting clamping method in prior art when hoisting moving surface plate, cannot guarantee the accurate positioning of surface plate and the technical problem of low moving efficiency.The hoisting automatic clamping method of additive manufacturing surface plate of the application includes the following steps: step 1, utilize gear transmission unit to drive clamping unit, utilize the first clamping plate and second clamping plate of clamping unit to clamp the surface plate;Step 2, utilize lifting cylinder drive unit to drive lifting unit, lifting unit is together with surface plate to the clamping unit is lifted.The present application can realize accurate positioning of surface plate and efficient clamping and lifting.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of additive manufacturing, in particular to a kind of automatic clamping method of hoisting additive manufacturing substrate. BACKGROUND

[0002] In automatic production line industry, there are many scenes applying clamping action, and the conventional method is to use cylinder or electric cylinder with clamping function to carry out clamping action, but the workpiece size that clamping cylinder and electric cylinder can clamp is small, and it cannot clamp large workpiece, especially in existing 3D printing industry, since the rudder surface substrate size is large, and there is a certain height of rudder surface above the substrate, the existing conventional clamping cylinder and electric cylinder in the market cannot meet the requirements.

[0003] Now the commonly used method is to fix the substrate by using substrate screw hole, and to carry the rudder surface substrate to a specific position, in 3D printing production line application, use screw hole to hoist and move, the efficiency is low, and the accurate positioning of rudder surface substrate cannot be guaranteed. SUMMARY

[0004] In view of the above analysis, the present application aims to provide a kind of automatic clamping method of hoisting additive manufacturing substrate, to solve the technical problems that the hoisting and clamping method in the prior art cannot guarantee the accurate positioning of rudder surface substrate when hoisting and moving rudder surface substrate and the low moving efficiency.

[0005] The purpose of the present application is mainly realized by the following technical solutions:

[0006] The present application provides a kind of automatic clamping method of hoisting additive manufacturing rudder surface substrate, comprising the following steps:

[0007] Step 1, drive clamping unit by using gear transmission unit, and clamp rudder surface substrate by using first clamping plate and second clamping plate of clamping unit;

[0008] Step 2, drive lifting unit by using lifting cylinder drive unit, and lift clamping unit together with rudder surface substrate by lifting unit.

[0009] Further, in step 1, when clamping rudder surface substrate, first clamping plate and second clamping plate move towards each other under the drive of gear transmission unit, until first positioning pin on first clamping plate and second clamping plate is inserted into second positioning pin hole on rudder surface substrate.

[0010] Further, proximity sensor on first clamping plate and second clamping plate detects whether first positioning pin is successfully inserted into second positioning pin hole.

[0011] Further, in step 2, the process of driving clamping unit by gear transmission unit to clamp rudder surface substrate and workpiece is:

[0012] The first servo motor drives the gear to rotate through the speed reducer, and the gear drives the first rack and the second rack to move relative to each other; the first rack and the second rack drive the first clamping plate and the second clamping plate to move towards each other when moving relative to each other, so that the first positioning pin is inserted into the second positioning pin hole corresponding to the first positioning pin on the rudder surface base plate.

[0013] Further, in step 1, the lifting unit comprises a lifting cylinder, a lifting plate and a hoisting plate, the hoisting plate is arranged below the lifting plate and both are arranged in parallel along the horizontal direction; the lifting cylinder is arranged on the lifting plate;

[0014] The lifting cylinder is provided with a push rod, the lifting plate and the hoisting plate are connected through the push rod, and the lifting cylinder driving unit can drive the push rod in the lifting cylinder to extend and retract, thereby driving the hoisting plate to move in the up-down direction.

[0015] Further, in step 1, the first clamping plate and the second clamping plate are the same structure and are symmetrically arranged about the rudder surface base plate.

[0016] Further, in step 1, the gear transmission unit comprises a first guide rail, a first servo motor and a speed reducer; the first guide rail comprises a first track and a second track, the first servo motor and the speed reducer are both mounted on the lifting plate, the shaft of the first servo motor is inserted into the speed reducer; the first track and the second track are arranged in parallel on the bottom surface of the lifting plate.

[0017] Further, in step 1, the bottom ends of the first track and the second track are respectively slidably connected with the top of the first clamping plate and the top of the second clamping plate, and the first track and the second track and the top of the first clamping plate and the second clamping plate form a rectangular frame.

[0018] Further, in step 1, first rack fixing plates and second rack fixing plates are arranged in parallel between the first top horizontal plate and the second top horizontal plate, the first rack fixing plates are provided with first racks, the second rack fixing plates are provided with second racks, and a gear is arranged between the first racks and the second racks; the shaft of the speed reducer penetrates through the lifting plate and is rotationally connected with the gear;

[0019] When the speed reducer drives the gear to rotate, the first rack and the second rack move in opposite directions, and at the same time, the first clamping plate and the second clamping plate move towards each other to clamp the rudder surface base plate.

[0020] Further, in step 1, the bottom ends of the first track are respectively provided with first and second sliding blocks, and the bottom ends of the second track are respectively provided with third and fourth sliding blocks.

[0021] The first servo motor drives the speed reducer to rotate, the shaft of the speed reducer penetrates through the lifting plate and is fixedly connected with the gear, and when the first servo motor drives the gear to rotate through the speed reducer, the first clamping plate and the second clamping plate move towards each other through the first rack and the second rack to clamp the rudder surface base plate.

[0022] Compared with the prior art, the present application can achieve at least one of the following beneficial effects:

[0023] (1) The present application accurately clamps the rudder surface base plate through the first clamping plate and the second clamping plate, avoiding the defect that the rudder surface base plate cannot be accurately positioned. In addition, the present application drives the clamping unit to clamp the rudder surface base plate by using the gear transmission unit, without the need for manual operation, thereby improving the clamping work efficiency of the rudder surface base plate.

[0024] (2) When clamping the rudder surface base plate, the first clamping plate and the second clamping plate move towards each other under the drive of the gear transmission unit, so that the first positioning pin is completely inserted into the second positioning pin hole. The first positioning pin not only accurately positions the rudder surface base plate, but also provides upward support force to the rudder surface base plate, thereby achieving clamping of the rudder surface base plate.

[0025] (3) The present application uses the first guide rod and the second guide rod to guide the extension and retraction of the push rod in the lifting electric cylinder, avoiding the shaking of the lifting electric cylinder in the working state, ensuring the stable extension and retraction of the push rod in the vertical direction inside the lifting electric cylinder, and achieving the purpose of lifting the clamping unit.

[0026] In the present application, the above-mentioned technical solutions can be combined with each other to achieve more preferred combination schemes. Other features and advantages of the present application will be described in the subsequent specification, and some advantages will become apparent from the specification or be understood by implementing the present application. The purpose and other advantages of the present application can be achieved and obtained by the contents specifically indicated in the specification examples and the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0027] The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification, illustrate embodiments of the present application and together with the description serve to explain the principles of the present application, and should not be necessarily construed as limiting the present application.

[0028] Figure 1 is the overall structure schematic diagram of the hoisting automatic clamping device for additive manufacturing rudder surface base plate of the present application;

[0029] Figure 2 is the exploded view of the hoisting automatic clamping device for additive manufacturing rudder surface base plate of the present application;

[0030] Figure 3 is the structure schematic diagram of the lifting electric cylinder drive unit of the hoisting automatic clamping device of the present application;

[0031] Figure 4 is the structure schematic diagram of the lifting unit and the clamping unit of the hoisting automatic clamping device;

[0032] Figure 5 is the structure schematic diagram of the first clamping plate;

[0033] Figure 6 is a schematic view of the structure of the gear transmission unit and the clamping unit;

[0034] Figure 7 is a schematic view of the structure of the metal additive manufacturing line transfer platform;

[0035] Figure 8 is a flowchart of the hoisting automatic clamping method.

[0036] Reference signs:

[0037] 1-lifting cylinder; 2-first guide rod; 3-first guide rod sleeve; 4-hoisting plate; 5-belt fixing block; 6-lifting plate; 7-gear; 8-first rack; 9-first guide rail; 10-first rack fixing plate; 11-first clamping plate; 12-first positioning pin; 13-proximity sensor; 14-tow chain; 15-tow chain plate moving side; 16-tow chain plate fixed side; 17-reducer; 18-first servo motor; 19-second servo motor; 20-motor fixing frame; 21-coupling; 22-limit sensor support; 23-limit sensor; 24-transfer platform; 25-transfer trolley; 26-printing cylinder body; 27-first top cross plate; 28-first vertical support plate; 29-first bottom cross plate; 30-second positioning pin hole; 31-second rack fixing plate; 32-first rack fixing plate fixed end; 33-first rack fixing plate free end; 34-second rack fixing plate fixed end; 35-second rack fixing plate free end; 36-workpiece. DETAILED DESCRIPTION

[0038] The preferred embodiments of the present application will be described in detail below with reference to the drawings, which form a part of this application, and together with the embodiments of the present application serve to explain the principles of the present application, but are not intended to limit the scope of the present application.

[0039] In one aspect, the present application provides a hoisting automatic clamping method for an additive manufacturing rudder surface substrate, as shown in Figure 8 , comprising the following steps:

[0040] Step 1, driving the clamping unit with the gear transmission unit, and clamping the rudder surface substrate with the first clamping plate and the second clamping plate of the clamping unit;

[0041] Step 2, driving the lifting unit with the lifting cylinder drive unit, and lifting the clamping unit together with the rudder surface substrate.

[0042] In the above step 1, when clamping the rudder surface substrate, the first clamping plate and the second clamping plate move towards each other under the drive of the gear transmission unit until the first positioning pin on the first clamping plate and the second clamping plate is inserted into the second positioning pin hole on the rudder surface substrate.

[0043] In step 1, the proximity sensors on the first and second clamping plates detect whether the first positioning pin is successfully inserted into the second positioning pin hole.

[0044] In step 2, the process of driving the clamping unit to clamp the rudder base plate and the workpiece by the gear unit is as follows: the first servo motor drives the gear to rotate through the reducer, and the gear drives the first and second racks to move relative to each other; when the first and second racks move relative to each other, the first and second clamping plates move towards each other, so that the first positioning pin is inserted into the corresponding second positioning pin hole on the rudder base plate.

[0045] The length, width and height of the workpiece 36 of the present application are all greater than 530mm x 530mm x 500mm. The existing clamping cylinders and electric cylinders can clamp smaller workpieces, and cannot clamp the rudder base plate and the large workpiece thereon of the present application.

[0046] After the rudder base plate is clamped and fixed by the clamping unit, in order to lift the workpiece 36 above the rudder base plate in the vertical direction, the lifting unit of the present application includes a lifting cylinder 1, a hoisting plate 4 and a lifting plate 6, the lifting plate 6 is arranged below the hoisting plate 4 and both are arranged in parallel along the horizontal direction; the lifting cylinder 1 is arranged above the hoisting plate 4; a push rod is arranged in the lifting cylinder 1, the hoisting plate 4 and the lifting plate 6 are connected by the push rod, and the lifting cylinder 1 driving unit can drive the push rod in the lifting cylinder 1 to extend and retract, thereby driving the lifting plate 6 to move in the vertical direction.

[0047] Specifically, as shown in Figure 7 The hoisting automatic clamping device for additive manufacturing rudder base plate of the present application is arranged on the metal additive production line transfer platform 24 and above the printing cylinder body 26, the second guide rail is arranged on the metal additive production line transfer platform 24, the conveying belt is arranged on the second guide rail, in addition, the belt installation groove is arranged at the bottom of the hoisting plate 4, the belt can be placed in the belt installation groove, and the belt is fixed on the hoisting plate 4 by using the belt fixing block 5. When the conveying belt is driven, it can drive the hoisting plate 4 to move in the horizontal direction along the second guide rail, thereby driving the clamping unit below the hoisting plate 4 and the workpiece 36 on the rudder base plate to move, so as to move the workpiece 36 to the working position of the transfer trolley 25.

[0048] In the above step 2, when lifting the rudder surface substrate, the lifting plate 4 is first installed on the second guide rail, and then the lifting cylinder 1 is installed on the lifting plate 4 by bolt connection, wherein the lifting cylinder 1 is provided with a push rod which penetrates the lifting plate 4, the bottom end of the penetrating part of the push rod is provided with a push rod flange, and the lifting plate 6 is installed on the push rod flange and fixed by bolts; when the drive unit of the lifting cylinder 1 drives the push rod in the lifting cylinder 1 to stretch or retract in the vertical direction, the height of the lifting plate 4 remains unchanged, and the height of the lifting plate 6 and the height of the clamping unit increase or decrease with the stretching or retraction of the push rod. When the push rod in the lifting cylinder 1 retracts, the push rod drives the lifting plate 6 to lift, and the clamping unit fixedly connected with the lifting plate 6 drives the rudder surface substrate to lift, so as to finally realize the lifting of the workpiece 36 on the rudder surface substrate.

[0049] In the above step 1, the first clamping plate 11 and the second clamping plate of the present application are the same in structure and are symmetrically arranged with respect to the rudder surface substrate, and both the first clamping plate 11 and the second clamping plate are I-shaped clamping plates; the first clamping plate 11 comprises a first top horizontal plate 27, a first vertical support plate 28 and a first bottom horizontal plate 29, and the second clamping plate comprises a second top horizontal plate, a second vertical support plate and a second bottom horizontal plate; a plurality of first positioning pin 12 holes are arranged on the first bottom horizontal plate 29 and the second bottom horizontal plate, and a first positioning pin 12 is arranged in each first positioning pin 12 hole; a plurality of second positioning pin holes 30 are arranged on both sides of the rudder surface substrate, and the first positioning pin 12 can be inserted into the second positioning pin when the rudder surface substrate is clamped.

[0050] Specifically, as shown in Figure 2 and Figure 5 , a plurality of first positioning pin 12 holes are arranged on the first bottom horizontal plate 29 and the second bottom horizontal plate of the present application, and when the rudder surface substrate needs to be clamped, the first clamping plate 11 and the second clamping plate move towards each other under the drive of the gear 7 transmission unit until the first positioning pin 12 is completely inserted into the second positioning pin hole 30. When the rudder surface substrate is lifted, the first positioning pin 12 not only can accurately position the rudder surface substrate, but also can provide upward supporting force for the rudder surface substrate, so as to realize the clamping of the rudder surface substrate.

[0051] In the above step 1, it is also emphasized that the first positioning pin 12 hole and the second positioning pin hole 30 are arranged in the horizontal direction, the second positioning pin hole 30 is arranged on the bottom side of the rudder surface substrate, the number of the second positioning pin hole 30 is the same as that of the first positioning pin 12 hole and the first positioning pin 12, for example, the number of the first positioning pin 12 hole is four, the four first positioning pin 12 holes are respectively arranged at both ends of the first bottom horizontal plate 29 and the second bottom horizontal plate, and the number of the second positioning pin hole 30 is also four, which are respectively arranged on both sides of the bottom of the rudder surface substrate.

[0052] In order to avoid the deposition of metal powder in the second positioning pin hole 30, the four second positioning pin holes 30 of the present application are provided as inverted U-shaped cavities.

[0053] Compared with the existing transversely arranged threaded holes, the four second positioning pin holes 30 of the present application are provided as inverted U-shaped cavities, which can avoid the deposition of metal powder in the second positioning pin hole 30, thereby avoiding the poor clamping phenomenon caused by the failure of the first positioning pin 12 to be inserted into the second positioning pin hole 30 on the rudder surface substrate.

[0054] In the above step 1, in order to detect whether the first positioning pin 12 is successfully inserted into the second positioning pin hole 30, the present application is provided with a proximity sensor 13 between the two first positioning pin 12 holes on the first bottom cross plate 29 and the second bottom cross plate, respectively, which is used to detect whether the first positioning pin 12 is successfully inserted into the second positioning pin hole 30, thereby preventing the occurrence of danger when the rudder surface substrate is lifted.

[0055] In the above step 1, in order to ensure that the first clamping plate 11 and the second clamping plate successfully complete the clamping action of the rudder surface substrate, the gear 7 transmission unit of the present application includes a first guide rail 9, a first servo motor 18 and a speed reducer 17; the first guide rail 9 includes a first track and a second track, and the first servo motor 18 and the speed reducer 17 are both installed above the lifting plate 6, with the shaft of the first servo motor 18 inserted into the speed reducer 17; the first track and the second track are parallelly arranged on the bottom surface of the lifting plate 6; the bottom ends of the first track and the second track are respectively slidably connected with the first top cross plate 27 and the second top cross plate, and the first track and the second track and the first top cross plate 27 and the second top cross plate form a rectangular frame; a first rack fixed plate 10 and a second rack fixed plate 31 are arranged parallelly between the first top cross plate 27 and the second top cross plate, the first rack fixed plate 10 is provided with a first rack 8, and the second rack fixed plate 31 is provided with a second rack, and a gear 7 is arranged between the first rack 8 and the second rack; the shaft of the speed reducer 17 penetrates through the lifting plate 6 and is rotationally connected with the gear 7; when the speed reducer 17 drives the gear 7 to rotate, the first rack 8 and the second rack move in opposite directions, and at the same time, the first clamping plate 11 and the second clamping plate move towards each other to clamp the rudder surface substrate.

[0056] Specifically, as Figure 6As shown, one end of the first track is slidably connected with the first top cross plate 27, and the other end is slidably connected with the second top cross plate, and similarly, one end of the second track is slidably connected with the first top cross plate 27, and the other end is slidably connected with the second top cross plate; it should be noted that the first top cross plate 27 and the second top cross plate are provided with a first rack fixed plate 10 and a second rack fixed plate 31 which are parallel to each other, wherein the first rack fixed plate 10 and the second rack fixed plate 31 are arranged on the inner side of the first track and the second track, and the first track, the first rack fixed plate 10, the second rack fixed plate 31 and the second track are arranged in sequence and are parallel to each other; the first rack fixed plate 10 is provided with a first rack 8, and the second rack fixed plate 31 is provided with a second rack, and the first rack 8 and the second rack are provided with a gear 7; the gear 7 is arranged directly below the speed reducer 17, the shaft of the speed reducer 17 penetrates the lifting plate 6 in the vertical direction and is connected with the gear 7 below; the first servo motor 18 transmits torque to the gear 7 through the speed reducer 17, while the gear 7 rotates, the first rack 8 and the second rack will move relatively under the action of the gear 7, and the position of the gear 7 does not change; the relative movement of the first rack 8 and the second rack will drive the first clamping plate 11 and the second clamping plate to move towards each other, at this time, each first positioning pin 12 is inserted into the corresponding second positioning pin hole 30 on the rudder surface base plate, realizing the clamping function of the clamping unit.

[0057] Compared with the prior art, the gear 7 transmission assembly drives the gear 7 to rotate, when the gear 7 rotates, the first rack 8 and the second rack drive the first clamping plate 11 and the second clamping plate to automatically clamp the rudder surface base plate, without manual operation, thereby improving the clamping efficiency of the rudder surface base plate.

[0058] In the above step 1, in order to better realize the movement of the first clamping plate 11 and the second clamping plate, the two ends of the first rack fixed plate 10 and the second rack fixed plate 31 of the present application are provided with fixed ends and free ends, the first rack fixed plate fixed end 32 is fixed on the first top cross plate 27, the other end (first rack fixed plate free end 33) is arranged in the sliding groove on the second top cross plate and is slidably connected with the sliding groove, the second rack fixed plate fixed end 34 is fixed on the second top cross plate, and the other end (second rack fixed plate free end 35) is arranged in the sliding groove on the first top cross plate 27 and is slidably connected with the sliding groove.

[0059] It should be noted that the first rack fixed plate free end 33 and the second rack fixed plate free end 35 are embedded in the corresponding sliding grooves, and when the gear 7 drives the first rack 8 and the second rack to move, the sliding length of the free end of the first rack 8 and the second rack is less than the length of the first rack fixed plate 10 and the second rack fixed plate embedded in the corresponding sliding groove, so as to prevent the free end of the first rack fixed plate 10 and the second rack fixed plate 31 from being separated from the corresponding sliding groove.

[0060] In step 1, in order to realize the sliding connection between the first guide rail and the first clamping plate 11 and the second clamping plate, the application is provided with a first sliding block and a second sliding block at the bottom of the first rail respectively, and a third sliding block and a fourth sliding block at the bottom of the second rail respectively; the first sliding block and the third sliding block are arranged at the two ends of the first top horizontal plate 27, and the second sliding block and the fourth sliding block are arranged at the two ends of the second top horizontal plate respectively; the first servo motor 18 drives the reduction machine 17 to rotate, the shaft of the reduction machine 17 penetrates the lifting plate 6 and is fixedly connected with the gear 7, when the first servo motor 18 drives the gear 7 to rotate through the reduction machine 17, the first clamping plate 11 and the second clamping plate move towards each other through the first rack 8 and the second rack to clamp the rudder surface base plate.

[0061] On the other hand, the application also provides a hoisting automatic clamping device for additive manufacturing of rudder surface base plate, which is used to realize the hoisting automatic clamping method described above, the hoisting automatic clamping device comprises a lifting unit, a clamping unit, a lifting electric cylinder 1 driving unit and a gear 7 transmission unit; the clamping unit is arranged below the lifting unit, the clamping unit comprises a first clamping plate 11 and a second clamping plate, the gear 7 transmission unit can drive the first clamping plate 11 and the second clamping plate to move towards each other and clamp the rudder surface base plate; after the clamping unit clamps the rudder surface base plate, the lifting electric cylinder 1 driving unit can drive the lifting unit to lift the clamping unit in the vertical direction.

[0062] Specifically, as shown in Figure 1 、 Figure 2 、 Figure 5 and Figure 6 , the clamping unit of the application comprises a first clamping plate 11 and a second clamping plate, the first clamping plate 11 and the second clamping plate are arranged on the two sides of the rudder surface base plate in the vertical direction and are parallel to each other, the first clamping plate 11 and the second clamping plate can clamp the rudder surface base plate by moving towards each other, and the lifting unit is used to lift the clamping plate and the rudder surface base plate, so that the rudder surface base plate can be lifted in the vertical direction.

[0063] In the existing 3D printing, the commonly used lifting device is to fix the rudder surface base plate by using the base plate thread, and to move the rudder surface base plate by using the base plate thread lifting, when the base plate is fixed by using the base plate thread, the lifting lug needs to be manually installed on the threaded hole, this installation method will cause the clamping work efficiency of the rudder surface base plate to be low, and the accurate positioning of the rudder surface base plate cannot be guaranteed; in addition, in the process of 3D printing, the particle size of the metal powder is micron level, the metal powder is easy to deposit in the threaded hole, so that the positioning pin of the lifting lug cannot be inserted into the positioning pin hole of the rudder surface base plate, resulting in the phenomenon of poor clamping.

[0064] Compared with the prior art, the rudder surface base plate is accurately clamped by the first clamping plate 11 and the second clamping plate, and the defect that the rudder surface base plate cannot be accurately positioned is avoided; in addition, the rudder surface base plate is clamped by the gear 7 transmission unit driving clamping unit, manual operation is not required, and therefore the clamping work efficiency of the rudder surface base plate is improved.

[0065] After the rudder surface base plate is clamped and fixed by the clamping unit, in order to lift the workpiece 36 above the rudder surface base plate in the vertical direction, the lifting unit of the present application comprises a lifting electric cylinder 1, a hoisting plate 4 and a lifting plate 6, the lifting plate 6 is arranged below the hoisting plate 4 and both are arranged in parallel along the horizontal direction; the lifting electric cylinder 1 is arranged above the hoisting plate 4; a push rod is arranged in the lifting electric cylinder 1, the hoisting plate 4 and the lifting plate 6 are connected by the push rod, and the lifting electric cylinder 1 driving unit can drive the push rod in the lifting electric cylinder 1 to extend and retract, thereby driving the lifting plate 6 to move in the up-down direction.

[0066] Specifically, as shown in Figure 7 The hoisting automatic clamping device for additive manufacturing of the rudder surface base plate of the present application is arranged on the metal additive production line transfer platform 24 and above the printing cylinder body 26, the second guide rail is arranged on the metal additive production line transfer platform 24, the conveying belt is arranged on the second guide rail, in addition, the belt installation groove is arranged at the bottom of the hoisting plate 4, the belt can be put into the belt installation groove, and the belt is fixed on the hoisting plate 4 by the belt fixing block 5. When the conveying belt is driven, it can drive the hoisting plate 4 to move in the horizontal direction along the second guide rail, thereby driving the clamping unit below the hoisting plate 4 and the workpiece 36 on the rudder surface base plate to move, so as to move the workpiece 36 to the working position of the transfer trolley 25.

[0067] When lifting the rudder surface base plate, the hoisting plate 4 is first installed on the second guide rail, and then the lifting electric cylinder 1 is installed on the hoisting plate 4 by bolt connection, wherein the push rod is arranged in the lifting electric cylinder 1, the push rod penetrates through the hoisting plate 4, the bottom end of the penetrating part of the push rod is provided with a push rod flange plate, and the lifting plate 6 is installed on the push rod flange plate and fixed by bolts; when the lifting electric cylinder 1 driving unit drives the push rod in the lifting electric cylinder 1 to extend and retract in the vertical direction, the height of the hoisting plate 4 remains unchanged, and the height of the lifting plate 6 and the height of the clamping unit increase or decrease with the extension and retraction of the push rod. When the push rod in the lifting electric cylinder 1 retracts, the push rod drives the lifting plate 6 to lift, and the clamping unit fixedly connected with the lifting plate 6 drives the rudder surface base plate to lift, so as to finally realize the lifting of the workpiece 36 on the rudder surface base plate.

[0068] In order to clamp the rudder plate more accurately, the first clamping plate 11 and the second clamping plate of the present application are symmetrical about the rudder plate and have the same structure, and both of them are I-shaped clamping plates; the first clamping plate 11 comprises a first top horizontal plate 27, a first vertical support plate 28 and a first bottom horizontal plate 29, and the second clamping plate comprises a second top horizontal plate, a second vertical support plate and a second bottom horizontal plate; a plurality of first positioning pin 12 holes are arranged on the first bottom horizontal plate 29 and the second bottom horizontal plate, and a first positioning pin 12 is arranged in each first positioning pin 12 hole; a plurality of second positioning pin holes 30 are arranged on both sides of the rudder plate, and the first positioning pin 12 can be inserted into the second positioning pin hole on the rudder plate when the rudder plate is clamped.

[0069] Specifically, as shown in Figure 2 and Figure 5 the first bottom horizontal plate 29 and the second bottom horizontal plate of the present application are provided with a plurality of first positioning pin 12 holes, when the rudder plate needs to be clamped, the first clamping plate 11 and the second clamping plate move towards each other under the drive of the gear 7 transmission unit until the first positioning pin 12 is completely inserted into the second positioning pin hole 30. When the rudder plate is lifted, the first positioning pin 12 not only accurately positions the rudder plate, but also provides upward support to the rudder plate, thereby achieving clamping of the rudder plate.

[0070] It should be further emphasized that the first positioning pin 12 hole and the second positioning pin hole 30 are arranged in the horizontal direction, the second positioning pin hole 30 is arranged on the bottom side of the rudder plate, the number of the second positioning pin hole 30 is the same as that of the first positioning pin 12 hole and the first positioning pin 12, for example, the number of the first positioning pin 12 hole is four, the four first positioning pin 12 holes are respectively arranged at both ends of the first bottom horizontal plate 29 and the second bottom horizontal plate, and the number of the second positioning pin hole 30 is also four, which are respectively arranged on both sides of the bottom of the rudder plate.

[0071] In order to avoid deposition of metal powder in the second positioning pin hole 30, the four second positioning pin holes 30 of the present application are inverted U-shaped cavities.

[0072] Compared with the existing transversely arranged threaded holes, the four second positioning pin holes 30 of the present application are arranged as inverted U-shaped cavities, which can avoid deposition of metal powder in the second positioning pin hole 30, thereby avoiding the phenomenon of poor clamping caused by the first positioning pin 12 not being inserted into the second positioning pin hole 30 on the rudder plate.

[0073] In order to detect whether the first positioning pin 12 is smoothly inserted into the second positioning pin hole 30, the present application is provided with a proximity sensor 13 between the two first positioning pin 12 holes on the first bottom horizontal plate 29 and the second bottom horizontal plate, which is used to detect whether the first positioning pin 12 is smoothly inserted into the second positioning pin hole 30, thereby preventing danger when the rudder plate is lifted.

[0074] In order to ensure that the first clamping plate 11 and the second clamping plate successfully complete the clamping action of the rudder base plate, the gear 7 transmission unit of the present application includes a first guide rail 9, a first servo motor 18 and a speed reducer 17; the first guide rail 9 includes a first track and a second track, the first servo motor 18 and the speed reducer 17 are both installed above the lifting plate 6, the shaft of the first servo motor 18 is inserted into the speed reducer 17; the first track and the second track are parallelly arranged on the bottom surface of the lifting plate 6; the bottom of the first track and the second track is respectively slidably connected with the first top horizontal plate 27 and the second top horizontal plate, the first track and the second track and the first top horizontal plate 27 and the second top horizontal plate form a rectangular frame; a first rack fixed plate 10 and a second rack fixed plate 31 parallel to each other are arranged between the first top horizontal plate 27 and the second top horizontal plate, the first rack fixed plate 10 is provided with a first rack 8, the second rack fixed plate 31 is provided with a second rack, and the first rack 8 and the second rack are provided with a gear 7; the shaft of the speed reducer 17 penetrates the lifting plate 6 and is rotatably connected with the gear 7; when the speed reducer 17 drives the gear 7 to rotate, the first rack 8 and the second rack move in opposite directions, and at the same time, the first clamping plate 11 and the second clamping plate move towards each other to clamp the rudder base plate.

[0075] Specifically, as shown in Figure 6 one end of the first track is slidably connected with the first top horizontal plate 27, and the other end is slidably connected with the second top horizontal plate, similarly, one end of the second track is slidably connected with the first top horizontal plate 27, and the other end is slidably connected with the second top horizontal plate; it should be noted that the first top horizontal plate 27 and the second top horizontal plate are provided with a first rack fixed plate 10 and a second rack fixed plate 31 parallel to each other, wherein the first rack fixed plate 10 and the second rack fixed plate 31 are both arranged on the inner side of the first track and the second track, the first track, the first rack fixed plate 10, the second rack fixed plate 31 and the second track are arranged in sequence and parallel to each other; the first rack 8 is arranged on the first rack fixed plate 10, the second rack is arranged on the second rack fixed plate 31, and the first rack 8 and the second rack are provided with a gear 7; the gear 7 is arranged directly below the speed reducer 17, the shaft of the speed reducer 17 penetrates the lifting plate 6 in the vertical direction and is connected with the gear 7 below; the first servo motor 18 transmits torque to the gear 7 through the speed reducer 17, while the gear 7 rotates, the gear 7 will drive the first rack 8 and the second rack to move relatively, and the position of the gear 7 does not change; the relative movement of the first rack 8 and the second rack will drive the first clamping plate 11 and the second clamping plate to move towards each other, at this time, each first positioning pin 12 is inserted into the corresponding second positioning pin hole 30 on the rudder base plate, realizing the clamping function of the clamping unit.

[0076] Compared with the prior art, the present application drives the gear 7 to rotate by the gear transmission assembly, when the gear 7 rotates, the first rack 8 and the second rack drive the first clamping plate 11 and the second clamping plate to automatically clamp the rudder surface base plate, without manual operation, so that the clamping work efficiency of the rudder surface base plate is high.

[0077] In order to better realize the movement of the first clamping plate 11 and the second clamping plate, the first rack fixing plate 10 and the second rack fixing plate 31 are both provided with fixed ends and free ends, the first rack fixing plate fixed end 32 is fixed on the first top horizontal plate 27, the other end (the first rack fixing plate free end 33) is arranged in the sliding groove on the second top horizontal plate and is in sliding connection with the sliding groove, the second rack fixing plate fixed end 34 is fixed on the second top horizontal plate, and the other end (the second rack fixing plate free end 35) is arranged in the sliding groove on the first top horizontal plate 27 and is in sliding connection with the sliding groove.

[0078] It should be noted that the first rack fixing plate free end 33 and the second rack fixing plate free end 35 are both embedded in the corresponding sliding grooves, and when the gear 7 drives the first rack 8 and the second rack to move, the sliding length of the free ends of the first rack 8 and the second rack is less than the length of the first rack fixing plate 10 and the second rack fixing plate embedded in the corresponding sliding grooves, so as to prevent the free ends of the first rack fixing plate 10 and the second rack fixing plate 31 from being separated from the corresponding sliding grooves.

[0079] In order to realize the sliding connection between the first guide rail and the first clamping plate 11 and the second clamping plate, the first sliding block and the second sliding block are arranged at the two ends of the bottom of the first rail, and the third sliding block and the fourth sliding block are arranged at the two ends of the bottom of the second rail; the first servo motor 18 drives the speed reducer 17 to rotate, the shaft of the speed reducer 17 penetrates through the lifting plate 6 and is fixedly connected with the gear 7, when the first servo motor 18 drives the gear 7 to rotate through the speed reducer 17, the first clamping plate 11 and the second clamping plate move towards each other through the first rack 8 and the second rack to clamp the rudder surface base plate.

[0080] In order to drive the lifting cylinder to lift the clamping unit, the lifting cylinder 1 driving unit of the present application comprises a second servo motor 19, a motor fixing frame 20 and a shaft coupling 21; the motor fixing frame 20 is fixed on the lifting cylinder 1, the second servo motor 19 is fixed on the motor fixing frame 20, the second servo motor 19 is connected with the lifting cylinder 1 through the shaft coupling 21, and the second servo motor 19 is used to drive the lifting cylinder 1.

[0081] Specifically, as shown in Figure 3As shown, the motor fixing frame 20 is connected to the lifting cylinder 1 by bolts, the second servo motor 19 is installed on the motor fixing frame 20, and the shaft of the second servo motor 19 is connected with the lifting cylinder 1 by the shaft coupling 21, so that the second servo motor 19 drives the lifting cylinder 1 to realize the lifting function.

[0082] In order to guide the clamping unit, the lifting unit of the present application further comprises a first guide rod, a second guide rod, a first guide rod sleeve 3 and a second guide rod sleeve; the first guide rod sleeve 3 and the second guide rod sleeve are arranged on the lifting plate 4, the lower end of the first guide rod penetrates through the first guide rod sleeve 3 and the lifting plate 4 and is fixed on the lifting plate 6, and the lower end of the second guide rod penetrates through the second guide rod sleeve and the lifting plate 4 and is fixed on the lifting plate 6.

[0083] Specifically, as shown in the figure, Figure 2 The first guide rod sleeve 3 and the second guide rod sleeve are both hollow tubes, and the first guide rod sleeve 3 and the second guide rod sleeve are installed on the lifting plate 4 in the vertical direction by bolts, the lower end of the first guide rod 2 penetrates through the first guide rod sleeve 3 and the lifting plate 4 and is fixed in the groove on the lifting plate 6, and similarly, the lower end of the second guide rod penetrates through the second guide rod sleeve and the lifting plate 4 and is fixed in the groove on the lifting plate 6.

[0084] Compared with the prior art, by arranging the first guide rod and the second guide rod, the present application can guide the extension and retraction of the push rod in the lifting cylinder 1, avoid the shaking of the lifting cylinder 1 in the working state, ensure the stable extension and retraction of the push rod in the vertical direction, and achieve the purpose of lifting the clamping unit.

[0085] In order to avoid danger when clamping the rudder surface base plate, the bottom horizontal plate of the first clamping plate 11 and the second clamping plate is provided with a positioning pin detection component, which is used to detect whether the positioning pin is inserted into the corresponding first positioning pin 12 and second positioning pin at the same time.

[0086] Specifically, the positioning pin detection component is arranged at the middle position of the two first positioning pins 12 on the first bottom horizontal plate 29 and the second bottom horizontal plate, and the positioning pin detection component (such as a proximity sensor 13) can timely detect whether the first positioning pin 12 is smoothly inserted into the second positioning pin hole 30 of the rudder surface base plate, and can timely feedback the situation once it is found that the first positioning pin 12 fails to be smoothly inserted into the second positioning pin hole 30 on the rudder surface base plate, so as to avoid danger and accident when lifting the clamping unit.

[0087] It should be noted that the lifting unit of the present application further comprises a safety detection component. Specifically, as shown in the figure, Figure 4As shown, the limit sensor 23 is arranged on the bottom surface of the hoisting plate 4, the limit sensor 23 is arranged on the limit sensor 23 support 22, and the safety detection component (the limit sensor 23) is arranged on the limit sensor 23 support 22, so that the safety of the lifting unit is ensured by the limit sensor 23.

[0088] It should be further emphasized that the hoisting automatic clamping device for the additive manufacturing rudder surface substrate of the present application has simple structure, is convenient to disassemble and maintain, and can improve the production efficiency of the 3D printing whole production line.

[0089] The hoisting automatic clamping device further comprises a drag chain 14, the drag chain 14 is provided with a drag chain plate moving side 15 and a drag chain plate fixed side 16, the drag chain plate fixed side 16 is fixed on the hoisting plate 4, the drag chain plate moving side 15 is fixed on the lifting plate 6, and the drag chain 14 is used for fixing electric wires, so as to conveniently supply power for the lifting unit and the clamping unit.

[0090] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A method for automatically hoisting and clamping a rudder base plate manufactured by additive manufacturing, characterized in that: use The automatic hoisting and clamping device for additively manufactured rudder substrates realizes the automatic hoisting and clamping method. The automatic hoisting and clamping device for additively manufactured rudder substrates is arranged on the transfer platform of the metal additive production line and is arranged above the printing cylinder body; The automatic hoisting clamping device includes a lifting unit, a clamping unit, a lifting electric cylinder drive unit and a gear transmission unit; the clamping unit is arranged below the lifting unit; The lifting unit includes a lifting cylinder, a hanging plate and a lifting plate, wherein the lifting plate is arranged below the hanging plate and the two are arranged horizontally parallel; the lifting cylinder is arranged above the hanging plate; a push rod is provided in the lifting cylinder, and the hanging plate and the lifting plate are connected by the push rod, and the lifting cylinder drive unit can drive the push rod in the lifting cylinder to extend and retract, thereby driving the lifting plate to move in the up and down directions; The metal additive production line transfer platform is provided with a second guide rail, on which a conveyor belt is provided. A belt mounting groove is provided at the bottom of the hoisting plate. The belt is placed in the belt mounting groove and fixed to the hoisting plate using a belt fixing block. When the conveyor belt is driven, it can drive the hoisting plate to move horizontally along the second guide rail, thereby driving the clamping unit below the hoisting plate and the workpiece on the control surface base plate to move, so as to move the workpiece to the working position of the transfer trolley. The clamping unit includes a first clamping plate and a second clamping plate, both of which are I-shaped clamping plates; the first clamping plate includes a first top transverse plate, a first vertical support plate and a first bottom transverse plate, and the second clamping plate includes a second top transverse plate, a second vertical support plate and a second bottom transverse plate; the first bottom transverse plate and the second bottom transverse plate are both provided with a plurality of first positioning pin holes, and the first positioning pin holes are provided with first positioning pins; both sides of the rudder surface base plate are provided with a plurality of second positioning pin holes, and when the rudder surface base plate is clamped, the first positioning pins can be inserted into the second positioning pins on the rudder surface base plate; The gear transmission unit includes a first guide rail, a first servo motor and a reducer; the first guide rail includes a first rail and a second rail, the first servo motor and the reducer are both installed above the lifting plate, and the shaft of the first servo motor is inserted into the reducer; the first rail and the second rail are arranged in parallel on the bottom surface of the lifting plate; the bottom ends of the first rail and the second rail are respectively slidably connected to the first top cross plate and the second top cross plate, and the first rail and the second rail form a rectangular frame with the first top cross plate and the second top cross plate; a first rack fixing plate and a second rack fixing plate are provided between the first top cross plate and the second top cross plate, and the first rack fixing plate is provided with a first rack, and the second rack fixing plate is provided with a second rack, and a gear is provided between the first rack and the second rack; the shaft of the reducer passes through the lifting plate and is rotatably connected to the gear; the first servo motor drives the gear to rotate through the reducer, and the gear will drive the first rack and the second rack to move relative to each other; when the first rack and the second rack move relative to each other, they drive the first clamping plate and the second clamping plate to move toward each other, so that the first positioning pin is inserted into the corresponding second positioning pin hole on the rudder base plate; The automatic hoisting and clamping method comprises the following steps: Step 1: Using a gear transmission unit to drive a clamping unit, and using a first clamping plate and a second clamping plate of the clamping unit to clamp the control surface base plate; When clamping the rudder base plate, the first clamping plate and the second clamping plate move toward each other under the drive of the gear transmission unit until the first positioning pins on the first clamping plate and the second clamping plate are inserted into the second positioning pin holes on the rudder base plate; the proximity sensors on the first clamping plate and the second clamping plate detect whether the first positioning pin is successfully inserted into the second positioning pin hole; The second positioning pin hole is an inverted U-shaped cavity; Step 2: Use the lifting cylinder drive unit to drive the lifting unit, so that the lifting unit lifts the gripping unit together with the control surface base plate; The lifting unit also includes a safety detection component. A limit sensor bracket is provided on the bottom surface of the lifting plate. The safety detection component is installed on the limit sensor bracket to ensure the safety of the lifting unit through the limit sensor. The lifting unit also includes a first guide rod, a second guide rod, a first guide rod sleeve and a second guide rod sleeve, which can guide the extension and retraction of the push rod in the lifting electric cylinder to prevent the lifting electric cylinder from shaking in the working state, and ensure that the push rod inside it can stably extend and retract in the vertical direction to achieve the purpose of lifting the clamping unit; When the rudder surface base plate is lifted, the first positioning pin can not only accurately position the rudder surface base plate, but also provide an upward supporting force for the rudder surface base plate, thereby achieving clamping of the rudder surface base plate.

2. The method for automatically hoisting and clamping a control surface base plate manufactured by additive manufacturing according to claim 1, characterized in that: In step 1, the first clamping plate and the second clamping plate have the same structure and are symmetrically arranged with respect to the rudder base plate.

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