A multifunctional intelligent telescopic support equipment for aircraft manufacturing

Abstract

The present invention relates to the technical field of airport support equipment, and specifically discloses a multifunctional intelligent telescopic support equipment for aircraft manufacturing, including a column, two working arm modules are arranged on the column, two mounting seats are slidably arranged on the column, a first reduction motor is arranged on the mounting seat, a driving gear is arranged at the output end of the first reduction motor, a rack is axially arranged on the column, the driving gear is meshed with the rack, a limiting platform is arranged at the lower end of the mounting seat, a connecting sleeve is arranged at one end of the working arm module, the connecting sleeve is rotatably sleeved on the mounting seat, a second reduction motor is arranged on the connecting sleeve, an active bevel gear is arranged at the output end of the second reduction motor, a driven bevel gear is arranged on the mounting seat, and the active bevel gear is meshed with the driven bevel gear; the working arm module includes a telescopic arm and an end actuator, and the connecting sleeve is arranged at one end of the telescopic arm. The advantage of the present invention is that the spatial layout of an aircraft manufacturing plant can be more effectively optimized.

Description

Technical Field

[0001] The invention relates to the technical field of airport support equipment, in particular to multifunctional intelligent telescopic support equipment for aircraft manufacturing. Background Art

[0002] The original aircraft air conditioning units, power supply, compressed air supply and other equipment and facilities are all protected by ground well equipment in the ground planning area or below the ground. The following problems arise in this form: 1. The equipment location is relatively fixed, and the required energy interface needs to be close to the ground well or ground device. The aircraft parking position is relatively rigid and cannot be flexibly adjusted, resulting in a certain amount of space waste. 2. The function of the ground well is relatively single, and the degree of integration is not high. A small number of integrated equipment cannot fully meet all energy needs on a single operating surface due to problems such as the spatial layout of the ground well. 3. The function of the ground well equipment is relatively solidified, and all energy terminals or operating equipment are fixed on the ground well equipment. When the function needs to be increased, decreased or changed, the entire equipment needs to be redesigned and installed, and it is impossible to achieve free switching of different models, different interfaces, and different energy needs. 4. The construction of the ground well is large, involving ground and underground excavation, concrete pouring, etc., with high cost and energy consumption. 5. The maintenance of the ground well equipment may be in the underground operating space. The space is more limited during maintenance, maintenance and equipment repair. Environmental factors such as underground lighting and ventilation have a greater impact on maintenance operations, and it is difficult to achieve the best maintenance effect. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a multifunctional intelligent telescopic support device for aircraft manufacturing.

[0004] The object of the present invention is achieved through the following technical solutions: A multifunctional intelligent telescopic support equipment for aircraft manufacturing, comprising a column, two working arm modules are arranged on the column, two mounting seats are slidably arranged on the column, a first reduction motor is arranged on the mounting seat, a driving gear is arranged at the output end of the first reduction motor, a rack is axially arranged on the column, the driving gear is meshed with the rack, a limiting platform is arranged at the lower end of the mounting seat, a connecting sleeve is arranged at one end of the working arm module, the connecting sleeve is rotatably sleeved on the mounting seat, a second reduction motor is arranged on the connecting sleeve, an active bevel gear is arranged at the output end of the second reduction motor, a driven bevel gear is arranged on the mounting seat, and the active bevel gear is meshed with the driven bevel gear; the working arm module comprises a telescopic arm and an end actuator, the connecting sleeve is arranged at one end of the telescopic arm, the end actuator is arranged at the other end of the telescopic arm, a slide rail is arranged on the column, a slider is arranged on the mounting seat, and the slider is slidably connected to the slide rail.

[0005] Specifically, the telescopic arm includes a plurality of telescopic sections, which are sequentially arranged to form the telescopic arm. A driving motor is arranged in the telescopic section of the head section, a telescopic mechanism is arranged at the output end of the driving motor, and the other end of the telescopic mechanism is connected to the telescopic section of the tail section.

[0006] Specifically, an opening is provided on the telescopic joint of the head section, a guide plate is provided at the opening, a plurality of guide rings are provided on the guide plate, a guide wheel is provided on the top of the column, and a wire taking-up device is provided at the lower end of the column.

[0007] Specifically, a fixed gear is sleeved on the top of the column, a turntable is rotatably provided on the column, a connecting rod is provided on the turntable, a ring is provided at one end of the connecting rod, the fixed gear is meshed with a rotating gear, the ring is movably sleeved on the rotating gear, and the guide wheel is provided in the inner hole of the rotating gear.

[0008] Specifically, an electric slip ring is arranged on the connecting sleeve.

[0009] Specifically, the end actuator includes a universal arm, an end actuator claw and a quick-change mechanism, one end of the universal arm is connected to the telescopic arm, the end actuator claw is connected to the universal arm through the quick-change mechanism, the end actuator claw includes a base and a plurality of knuckles, the plurality of knuckles are connected to the base through a servo, the knuckles include a plurality of joints, the plurality of joints are connected in sequence through a servo, and different energy interfaces are arranged on each of the joints.

[0010] Specifically, the universal support arm includes a universal ball joint, a working arm and a wrist ball joint, one end of the working arm is connected to the telescopic arm through the universal ball joint, and the other end of the working arm is connected to the quick-change mechanism through the wrist ball joint.

[0011] Specifically, the quick-change mechanism includes an execution end fixed seat, an arm end fixed seat, a rotating support and a driving seat, the driving seat is arranged on the arm end fixed seat, the execution end fixed seat is hinged to the arm end fixed seat, a driving device is arranged in the driving seat, the output end of the driving device is connected to the base through a universal shaft, a slide groove is arranged on the execution end fixed seat, both ends of the rotating support are slidably arranged in the slide groove, a fixed shaft is arranged on the end execution claw, the end execution claw is connected to the universal shaft through a fixed shaft, a through hole is arranged on the rotating support, the fixed shaft is rotatably connected to the through hole, and an energy interface module is arranged on the arm end fixed seat.

[0012] Specifically, the wire-taking device includes a base, a first drive motor, a winding drum and a winding frame, the column is arranged on the base, the base is provided with an inner cavity, the winding drum is arranged in the inner cavity, the first drive motor is arranged in the winding drum, the winding frame is arranged at the output end of the first drive motor, one end of the winding frame is provided with a winding ring, the winding ring is arranged on the outside of the winding drum, the column is connected to the inner cavity of the base, the top of the base is provided with an outer cylinder, the outer cylinder is sleeved on the column, a second drive motor is arranged in the outer cylinder, the column in the outer cylinder A rotating drum is rotatably arranged on the upper part, an electrical slip ring is arranged at the bottom of the rotating drum, a gear ring is arranged at the bottom of the rotating drum, an output gear is arranged at the output end of the second drive motor, and the output gear is meshed with the gear ring, an electromagnet is arranged on the column above the rotating drum, a connecting ring is rotatably arranged at the output end of the electromagnet, the connecting ring is sleeved on the column, a circular ring is arranged on the connecting ring, and latch teeth are arranged on the upper and lower end surfaces of the connecting ring, a first latching groove is arranged on the upper end surface of the rotating drum, a limiting ring is arranged on the column above the connecting ring, and a second latching groove is arranged on the lower end surface of the limiting ring.

[0013] The present invention has the following advantages:

[0014] The support equipment of the present invention directly provides assistance for aircraft manufacturing. The coordinated operation of rotation and telescopic operation increases the flexibility of the working surface, greatly expands the working space, reduces the parking requirements of aircraft manufacturing stations, and can more effectively optimize the spatial layout of aircraft manufacturing plants. The double telescopic arm design can carry out different operations on a single device platform without moving the aircraft to different stations, which greatly improves work efficiency. The multiple energy interfaces provided have strong adaptability and meet the different energy requirements of the aircraft at a station. From the perspective of energy consumption, it is more energy-efficient. And through its own intelligent control, it can achieve rapid transfer, so that the equipment and facilities of aircraft manufacturing can be efficiently served nearby. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the protection equipment of the present invention;

[0016] Figure 2 It is a schematic diagram of the guide wheel installation structure of the present invention;

[0017] Figure 3 It is a schematic diagram of the connection structure between the end-actuating claw and the quick-change mechanism of the present invention;

[0018] Figure 4 It is a schematic diagram of the explosion structure of the quick-change mechanism of the invention;

[0019] Figure 5 It is a structural schematic diagram of the wire taking-up device of the present invention;

[0020] In the figure: 1-column, 2-telescopic arm, 3-connecting sleeve, 4-end actuator claw, 41-base, 42-joint, 43-energy interface, 44-fixed shaft, 5-universal support arm, 51-universal ball joint, 52-working arm, 6-receiving device, 7-slide rail, 8-rack, 9-mounting seat, 10-drag chain, 11-guide plate, 12-quick change mechanism, 121-arm end fixed seat, 122-driving seat, 123-universal shaft, 124-actuator fixed seat, 125-rotating support, 126 -energy interface module, 13-fixed gear, 14-rotating gear, 15-guide wheel, 16-turntable, 17-connecting rod, 18-ring, 19-base, 20-winding drum, 21-first drive motor, 22-winding frame, 23-winding ring, 24-rotating drum, 25-electric slip ring, 26-tooth ring, 27-second drive motor, 28-output gear, 29-electromagnet, 30-limiting ring, 31-connecting ring, 32-circular ring, 33-guide ring, 34-electric slip ring, 35-outer cylinder. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention, that is, the embodiments described are only part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0022] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0023] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including a..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0024] The present invention is further described below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following description.

[0025] like Figure 1-Figure 5As shown, a multifunctional intelligent telescopic support equipment for aircraft manufacturing includes a column 1, two working arm modules are arranged on the column 1, two mounting seats 9 are slidably arranged on the column 1, a first reduction motor is arranged on the mounting seat 9, and a driving gear is arranged at the output end of the first reduction motor, a rack 8 is axially arranged on the column 1, and the driving gear is meshed with the rack 8, and a limiting platform is arranged at the lower end of the mounting seat 9, a connecting sleeve 3 is arranged at one end of the working arm module, and the connecting sleeve 3 is rotatably sleeved on the mounting seat 9, a second reduction motor is arranged on the connecting sleeve 3, and an active bevel gear is arranged at the output end of the second reduction motor, and a driven bevel gear is arranged on the mounting seat 9, and the active bevel gear is meshed with the driven bevel gear; the working arm module includes a telescopic arm 2 and an end actuator, the connecting sleeve 3 is arranged at one end of the telescopic arm 2, and the end actuator is arranged at the other end of the telescopic arm 2, a slide rail 7 is arranged on the column 1, and a slider is arranged on the mounting seat 9, and the slider is slidably connected with the slide rail 7. In this embodiment, two working arm modules are arranged on the column 1, and the two working arm modules can rise and fall along the column 1 independently, that is, the two working arm modules can respectively carry out different operations in different directions, different heights, and different radii for different areas. An end actuator is arranged at the end of the telescopic arm 2, and an energy interface 43 is arranged on the end actuator, so that the energy interface 43 can be more accurately delivered to the vicinity of the corresponding interface of the aircraft over a large range through the telescopic arm 2, which is more flexible to use, and various energy interfaces 43 can be installed on the end actuator at the same time, which highly integrates liquid supply, air supply, power supply and their different interfaces to meet most of the energy needs of aircraft services. Specifically, the first reduction motor is fixed on the mounting seat 9, and the driving gear is driven to rotate by the first reduction motor, so that the driving gear is meshed with the rack 8, and the first reduction motor The machine can move along the rack 8, thereby driving the mounting seat 9 to move along the rack 8. Since the two mounting seats 9 move independently, in order to avoid collision, limit switches are set on the opposite end faces of the two mounting seats 9. The limit switches are triggered when the two mounting seats 9 contact each other. At this time, the first reduction motor that controls the rise and fall of the mounting seat 9 stops suddenly, which is safe to use. After the connecting sleeve 3 is set on the mounting seat 9, the cover plate is connected on the mounting seat 9 by bolts to limit the connecting sleeve 3 between the cover plate and the limit platform. The connecting sleeve 3 can be rotatably connected to the mounting seat 9 through the bearing, and the second reduction motor is fixed on the connecting sleeve 3. The rotation of the second reduction motor drives the active bevel gear to rotate, and the driven bevel gear is fixed to the mounting seat 9 by bolts. In this way, the meshing of the active bevel gear and the driven bevel gear can make the active bevel gear rotate around the column 1, thereby driving the working arm module to rotate circumferentially.

[0026] Furthermore, the telescopic arm 2 includes a plurality of telescopic joints, which are sequentially sleeved to form the telescopic arm 2. A driving motor is arranged in the telescopic joint of the head section, and a telescopic mechanism is arranged at the output end of the driving motor, and the other end of the telescopic mechanism is connected to the telescopic joint of the tail section. In this embodiment, the telescopic mechanism can be a screw structure, which includes a plurality of threaded rods, which are provided with internal threads and external threads, and the plurality of threaded rods are sequentially threaded together, and a limiting structure is arranged at both ends of the screw, the threaded rod at the head end is connected to the output end of the driving motor, and the threaded rod at the tail end is connected to the telescopic joint at the tail end, so that the rotation of the driving motor can drive the screw structure to extend and retract, and drive the telescopic arm 2 to extend and retract; in addition, the telescopic mechanism can also be a rope arrangement mechanism.

[0027] Furthermore, the telescopic joint of the head section is provided with an opening, and a guide plate 11 is provided at the opening, and a plurality of guide rings 33 are provided on the guide plate 11, a guide wheel 15 is provided at the top of the column 1, and a wire take-up device 6 is provided at the lower end of the column 1. In this embodiment, since the two working arm modules can rotate and lift circumferentially independently, an end actuator is provided on the working arm module, and the end actuator needs to be powered and gas-supplied, etc., so it needs to be connected to an external energy supply device through a pipeline. If the pipeline is exposed to the outside and connected to the energy supply device, when the two working arm modules rotate relative to each other, the working arm module located below will interfere with the pipeline of the working arm module located above, which will limit the circumferential rotation of the working arm module. In this embodiment, in order to avoid interference with the rotation of the working arm modules, an opening is provided on the telescopic joint of the head section, and the pipeline of the end actuator is inserted from the telescopic joint of the last section, and then led out from the opening of the telescopic joint of the head section. An arc-shaped guide plate is provided at the opening to guide the pipeline, and the pipeline of the working arm module located above is led out from the opening of the telescopic joint of the head section. The pipe is introduced into the inner hole of the column 1 from the top, and then led out from the bottom of the column 1 to be connected to the energy supply device, so that no interference will occur when the working arm modules rotate relatively. As the working arm module rises and the telescopic arm 2 extends, the pipe will be stretched or tangled, which will cause damage to the pipe. A plurality of guide rings 33 are arranged on the guide plate, so that each pipe passes through a guide ring 33 to avoid the pipe from being entangled and knotted. At the same time, a guide wheel 15 is arranged on the top of the column 1. After the pipe passes through the guide wheel 15, it is introduced into the inner hole of the column 1. Then, a wire-reeling device 6 is arranged at the lower end of the column 1 for reeling in and releasing the wire. In this way, the wire-reeling device 6 reeling in and releasing the wire during the rising and extending process of the working arm module can keep the pipe in a certain taut state, and the pipe will not be knotted or excessively bent, which can improve the service life of the pipe.

[0028] Furthermore, a fixed gear 13 is sleeved on the top of the column 1, a rotating disk 16 is rotatably provided on the column 1, a connecting rod 17 is provided on the rotating disk 16, a collar 18 is provided on one end of the connecting rod 17, the fixed gear 13 is meshed with a rotating gear 14, the collar 18 is movably sleeved on the rotating gear 14, and the guide wheel 15 is provided in the inner hole of the rotating gear 14. In this embodiment, a countersunk hole is provided on the top of the column 1, a bearing is provided in the countersunk hole, the rotating disk 16 is provided in the inner ring of the bearing and is rotatably connected to the column 1, a central hole for the passage of a pipeline is provided in the middle of the rotating disk 16, one end of the connecting rod 17 is connected to the rotating disk 16, and a collar 18 is provided on the other end, a fixed gear 13 is sleeved on the outside of the column 1, the rotating gear 14 is rotatably connected to the collar 18, the guide wheel 15 is fixed in the inner hole of the rotating gear 14, a plurality of holes are provided on the guide wheel 15, and each pipeline passes through each hole and then penetrates into the inner hole of the column 1. The rotating gear 14 has the same number of teeth as the fixed gear 13. When the working arm module rotates circumferentially, it drives the pipeline to rotate around the column 1. In this process, the pipeline drives the rotating gear 14 to revolve around the fixed gear 13, and rotates while revolving. Since the working arm module may rotate multiple times in one direction around the column 1 during operation, this will cause the pipeline to twist, thereby causing damage to the pipeline. In this embodiment, when the pipeline drives the rotating gear 14 to rotate around the fixed gear 13, the rotating gear 14 can rotate by itself to untwist the pipeline, so that excessive twisting of the pipeline will not cause damage to the pipeline.

[0029] Furthermore, the connection sleeve 3 is provided with an electric slip ring 34. The electric slip ring 34 in this embodiment is used to connect the first reduction motor and the second reduction motor. Since the power line connecting the first reduction motor and the second reduction motor will only relax or stretch when the working arm module is raised or lowered, it cannot be led out together with the pipeline of the end actuator. In this embodiment, it is led out through the electric slip ring 34. The electric slip ring 34 provided on the connection sleeve 3 located above is connected to the drag chain 10. A groove is vertically provided on the column 1. The drag chain 10 is inserted into the groove. The power line connecting the first reduction motor and the second reduction motor is led out through the electric slip ring 34 and then penetrated into the drag chain 10. The power supply is led out from the bottom of the column 1 through the drag chain 10, so that the relative rotation of the two working arm modules will not interfere.

[0030] Furthermore, the end actuator includes a universal arm 5, an end actuator claw 4 and a quick-change mechanism 12, one end of the universal arm 5 is connected to the telescopic arm 2, the end actuator claw 4 is connected to the universal arm 5 through the quick-change mechanism 12, the end actuator claw 4 includes a base 41 and a plurality of finger joints, the plurality of finger joints are connected to the base 41 through a servo, the finger joints include a plurality of joints 42, the plurality of joints 42 are connected in sequence through a servo, and a different energy interface 43 is provided on each of the joints 42. In this embodiment, the universal support arm 5 is connected to the end actuator claw 4 through a quick-change mechanism 12, which can flexibly rotate the end actuator claw 4 to facilitate operations at different angles to adapt to the working environment. In this embodiment, the end actuator claw 4 adopts a finger-type multi-joint 42 transfer structure, and different energy interfaces 43 can be opened separately according to different energy requirements. The remaining energy interfaces 43 remain in a retracted state, which effectively prevents misoperation and protects other energy interfaces 43 from interference, thereby improving safety and service life. Specifically, a plurality of finger joints are arranged on the base 41, each finger joint includes a plurality of joints 42, and the plurality of joints 42 are connected together by a servo, so that relative rotation between the joints 42 can be achieved, and then a joint 42 at the head end is connected to the base 41 through a servo, so that the end actuator claw 4 is formed, and an energy interface 43 can be arranged on each joint 42.

[0031] In addition, the end effector 4 is of modular design, and can be used to meet different operational requirements such as grabbing of small materials, temporary storage, and hoisting. It is easy to replace and will not modify or damage the equipment itself.

[0032] Furthermore, the universal support arm 5 includes a universal ball joint 51, a working arm 52 and a wrist ball joint, one end of the working arm 52 is connected to the telescopic arm 2 through the universal ball joint 51, and the other end of the working arm 52 is connected to the quick-change mechanism 12 through the wrist ball joint. Specifically, a rotating cylinder is arranged on the telescopic arm 2, and the universal ball joint 51 is driven to deflect within a certain angle by the rotating cylinder. A pitch cylinder is connected between the articulated arm of the universal ball joint 51 and the working arm 52, one end of the pitch cylinder is hinged on the articulated arm of the universal ball joint 51, and the other end is hinged on the working arm 52. The articulated arm of the universal ball joint 51 is hinged to the working arm 52, so that the pitch cylinder can drive the working arm 52 to pitch, thereby driving the quick-change mechanism 12 and the end actuator 4 to pitch, so that the end actuator 4 can rotate and pitch within a certain range.

[0033] Furthermore, the quick-change mechanism 12 includes an execution end fixed seat 124, an arm end fixed seat 121, a rotating support 125 and a driving seat 122, the driving seat 122 is arranged on the arm end fixed seat 121, the execution end fixed seat 124 is hinged to the arm end fixed seat 121, a driving device is arranged in the driving seat 122, the output end of the driving device is connected to the base 41 through a universal shaft 123, a slide groove is arranged on the execution end fixed seat 124, both ends of the rotating support 125 are slidably arranged in the slide groove, a fixed shaft 44 is arranged on the end execution claw 4, the end execution claw 4 is connected to the universal shaft 123 through the fixed shaft 44, a through hole is arranged on the rotating support 125, the fixed shaft 44 is rotatably connected to the through hole, and an energy interface 43 module is arranged on the arm end fixed seat 121. In this embodiment, the end-actuating claw 4 is connected to the working arm 52 through a quick-change mechanism 12, so that the end-actuating claw 4 can be easily replaced during use, wherein the arm-end fixing seat 121 is fixed in the telescopic arm 2, and the arm-end fixing seat 121 has an inner cavity, and a driving seat 122 is arranged in the inner cavity of the arm-end fixing seat 121, and the driving device in the driving seat 122 can be a motor, and the output end of the motor is connected to a universal shaft 123, and the other end of the universal shaft 123 is connected to a fixed shaft 44 arranged on the base 41 of the end-actuating claw 4, and a connecting ear is arranged on the fixed shaft 44, and the fixed shaft 44 is hinged to the universal shaft 123 through the connecting ear, and the fixed shaft 44 is rotatably connected to a through hole arranged on a rotating support 125, and slide grooves are arranged on both sides of the execution end fixing seat 124, and the slide grooves are dovetail grooves, and dovetail tenons are arranged on both sides of the rotating support 125, and the rotating support 125 is through The arm end fixing seat 121 is hinged with the execution end fixing seat 124 through the sliding connection of the dovetail tenon and the dovetail groove. The output end of the motor is located at the edge of the driving seat 122 and is eccentrically arranged. In this way, the universal joint 123 is driven to rotate by the motor, and then the fixed shaft 44 is driven to rotate, thereby driving the base 41 to rotate. At this time, due to the eccentric arrangement of the output end of the motor, when the universal joint 123 is driven to rotate, the execution end fixing seat 124 will be driven to swing. While the execution end fixing seat 124 swings, it drives the rotating support 125 to slide along the slide groove. The sliding direction of the rotating support 125 is perpendicular to the swinging surface of the execution end fixing seat 124. In this way, the end execution claw 4 can be driven to rotate within a certain range to meet work requirements. When disassembling, it is only necessary to remove the fixing pin connecting the arm end fixing seat 121 and the execution end fixing seat 124.

[0034] Furthermore, the wire-taking device 6 includes a base 19, a first drive motor 21, a bobbin 20 and a bobbin frame 22, the column 1 is arranged on the base 19, the base 19 is provided with an inner cavity, the bobbin 20 is arranged in the inner cavity, the first drive motor 21 is arranged in the bobbin 20, the bobbin frame 22 is arranged at the output end of the first drive motor 21, a winding ring 23 is arranged at one end of the bobbin 22, the winding ring 23 is arranged on the outside of the bobbin 20, the column 1 is connected to the inner cavity of the base 19, the top of the base 19 is provided with an outer cylinder 35, the outer cylinder 35 is sleeved on the column 1, a second drive motor 27 is arranged in the outer cylinder 35, and the outer cylinder 35 is provided with a A rotating drum 24 is rotatably provided on the column 1, an electrical slip ring 25 is provided at the bottom of the rotating drum 24, a gear ring 26 is provided at the bottom of the rotating drum 24, an output gear 28 is provided at the output end of the second drive motor 27, and the output gear 28 is meshed with the gear ring 26, an electromagnet 29 is provided on the column 1 above the rotating drum 24, a connecting ring 31 is rotatably provided at the output end of the electromagnet 29, the connecting ring 31 is sleeved on the column 1, a circular ring 32 is provided on the connecting ring 31, and latch teeth are provided on the upper and lower end surfaces of the connecting ring 31, a first latching groove is provided on the upper end surface of the rotating drum 24, a limiting ring 30 is provided on the column 1 above the connecting ring 31, and a second latching groove is provided on the lower end surface of the limiting ring 30.In this embodiment, a steel bar embedded part is arranged on the ground, and the steel bar embedded part is cast on a concrete foundation. A shallow concrete pit is made at an appropriate position away from the parking position. After the steel bars are laid, the concrete is poured and solidified. The bottom end of the base 19 is connected to the steel bar embedded part through a ground anchor. The winding drum 20 is arranged just below the column 1. The winding drum 20 is fixed to the base 19 by bolts. The first drive motor 21 is arranged in the winding drum 20. The top of the winding drum 20 is an open structure. A winding frame 22 is arranged at the output end of the first drive motor 21. A winding ring 23 is arranged at one end of the winding frame 22. The pipeline led out from the bottom of the column 1 passes through the winding ring 23 and is wound in the winding drum 20. The first drive motor 21 rotates to drive the winding ring 23 to rotate around the winding drum 20. The pipeline is wound on the winding drum 20, so that the winding drum 20 remains stationary during the process of winding and releasing the wire, and the pipeline is only wound on the winding drum 20 through the ring 23. This method is used to avoid pulling the part of the pipeline connected to the energy station during the winding process; for the working arm module located below, the present embodiment provides an outer cylinder 35 at the top of the bottom, and the outer cylinder 35 is sleeved on the outside of the column 1. There is a gap between the outer cylinder 35 and the column 1 for winding the wire. The rotating drum 24 is rotatably set on the column 1, and a second drive motor 27 is set in the outer cylinder 35 below the rotating drum 24. By providing a gear ring 26 at the bottom of the rotating drum 24, an output gear 28 is provided at the output end of the second drive motor 27, and the output is driven by the second drive motor 27 The gear 28 rotates to drive the rotating drum 24 to rotate. An electrical slip ring 25 is arranged at the bottom of the rotating drum 24. The pipeline of the working arm module located below is led out and connected to the energy station through the electrical slip ring 25. This can prevent the pipeline from being entangled on the column 1 and breaking the pipeline when the working arm module rotates circumferentially. In addition, in this embodiment, an electromagnet 29 is arranged on the column 1 above the rotating drum 24, and a connecting ring 31 is arranged at the output end of the electromagnet 29. The connecting ring 31 is sleeved on the column 1 and is rotatably connected to the output end of the electromagnet 29. Gears are arranged on the upper and lower end surfaces of the connecting ring 31, and a second groove is arranged on the lower end surface of the limit ring 30. The first groove is arranged on the upper end surface of the rotating drum 24. When the working arm module only telescopic arm 2 is telescoped, the electromagnet 29 The connecting ring 31 is driven to move upward so that the teeth of the connecting ring 31 are stuck in the second slot of the limiting ring 30. At this time, the second driving motor 27 drives the rotating drum 24 to rotate to reel in and release the line, while the circular ring 32 arranged on the connecting ring 31 does not rotate with the rotating drum 24. The pipe led out from the telescopic arm 2 passes through the circular ring 32 and is wound around the rotating drum 24. When the working arm module only rotates circumferentially, the electromagnet 29 works to make the connecting ring 31 move downward to get the teeth of the connecting ring 31 stuck in the first slot of the rotating drum 24. In this way, when the working arm module rotates, the second driving motor 27 drives the rotating drum 24 to rotate with the working arm module, and at the same time drives the circular ring 32 on the connecting ring 31 to rotate with it, so as to avoid breaking the pipe when the working arm module rotates circumferentially.

[0035] The above is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the above-mentioned technical content without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any changes, modifications, equivalent changes and modifications made to the above embodiments based on the technology of the present invention without departing from the content of the technical solution of the present invention belong to the protection scope of the present technical solution.

Claims

1. A multifunctional intelligent telescopic support equipment for aircraft manufacturing, characterized in that: The invention comprises a column (1), wherein two working arm modules are arranged on the column (1), two mounting seats (9) are slidably arranged on the column (1), a first reduction motor is arranged on the mounting seat (9), a driving gear is arranged on the output end of the first reduction motor, a rack (8) is axially arranged on the column (1), the driving gear is meshed with the rack (8), a limiting platform is arranged at the lower end of the mounting seat (9), a connecting sleeve (3) is arranged at one end of the working arm module, the connecting sleeve (3) is rotatably sleeved on the mounting seat (9), and the A second reduction motor is arranged on the connecting sleeve (3), an output end of the second reduction motor is arranged with a driving bevel gear, a driven bevel gear is arranged on the mounting seat (9), and the driving bevel gear meshes with the driven bevel gear; the working arm module comprises a telescopic arm (2) and an end actuator, the connecting sleeve (3) is arranged at one end of the telescopic arm (2), the end actuator is arranged at the other end of the telescopic arm (2), a slide rail (7) is arranged on the column (1), a slider is arranged on the mounting seat (9), and the slider is slidably connected to the slide rail (7); A guide wheel (15) is arranged at the top of the column (1), a fixed gear (13) is sleeved on the top of the column (1), a turntable (16) is rotatably arranged on the column (1), a connecting rod (17) is arranged on the turntable (16), a collar (18) is arranged at one end of the connecting rod (17), the fixed gear (13) is meshed with a rotating gear (14), the collar (18) is movably sleeved on the rotating gear (14), and the guide wheel (15) is arranged in the inner hole of the rotating gear (14).

2. The aircraft manufacturing multifunctional intelligent telescopic support equipment according to claim 1, characterized in that: The telescopic arm (2) comprises a plurality of telescopic sections, the telescopic sections being arranged in sequence to form the telescopic arm (2), a driving motor being arranged in the telescopic section of the head section, a telescopic mechanism being arranged at the output end of the driving motor, and the other end of the telescopic mechanism being connected to the telescopic section of the tail section.

3. The aircraft manufacturing multifunctional intelligent telescopic support equipment according to claim 1, characterized in that: An opening is provided on the head section telescopic section, a guide plate (11) is provided at the opening, a plurality of guide rings (33) are provided on the guide plate (11), and a wire take-up device (6) is provided at the lower end of the column (1).

4. The aircraft manufacturing multifunctional intelligent telescopic support equipment according to claim 1, characterized in that: An electric slip ring (34) is provided on the connecting sleeve (3).

5. The aircraft manufacturing multifunctional intelligent telescopic support equipment according to claim 1, characterized in that: The end-actuating mechanism comprises a universal support arm (5), an end-actuating claw (4) and a quick-change mechanism (12); one end of the universal support arm (5) is connected to the telescopic arm (2); the end-actuating claw (4) is connected to the universal support arm (5) via the quick-change mechanism (12); the end-actuating claw (4) comprises a base (41) and a plurality of finger joints; the plurality of finger joints are connected to the base (41) via a steering gear; the finger joints comprise a plurality of joints (42); the plurality of joints (42) are connected in sequence via the steering gear; and each of the joints (42) is provided with a different energy interface (43).

6. The aircraft manufacturing multifunctional intelligent telescopic support equipment according to claim 5, characterized in that: The universal support arm (5) comprises a universal ball joint (51), a working arm (52) and a wrist ball joint; one end of the working arm (52) is connected to the telescopic arm (2) via the universal ball joint (51), and the other end of the working arm (52) is connected to the quick-change mechanism (12) via the wrist ball joint.

7. The aircraft manufacturing multifunctional intelligent telescopic support equipment according to claim 6, characterized in that: The quick-change mechanism (12) comprises an execution end fixing seat (124), an arm end fixing seat (121), a rotating support (125) and a driving seat (122); the driving seat (122) is arranged on the arm end fixing seat (121); the execution end fixing seat (124) is hinged to the arm end fixing seat (121); a driving device is arranged in the driving seat (122); an output end of the driving device is connected to a base (41) via a universal shaft (123); a slide groove is arranged on the execution end fixing seat (124); two ends of the rotating support (125) are slidably arranged in the slide groove; a fixed shaft (44) is arranged on the end execution claw (4); the end execution claw (4) is connected to the universal shaft (123) via the fixed shaft (44); a through hole is arranged on the rotating support (125); the fixed shaft (44) is rotatably connected to the through hole; and an energy interface module (126) is arranged on the arm end fixing seat (121).

8. The aircraft manufacturing multifunctional intelligent telescopic support equipment according to claim 7, characterized in that: The wire-taking device (6) comprises a base (19), a first drive motor (21), a winding drum (20) and a winding frame (22); the column (1) is arranged on the base (19); the base (19) is provided with an inner cavity; the winding drum (20) is arranged in the inner cavity; the first drive motor (21) is arranged in the winding drum (20); the winding frame (22) is arranged at the output end of the first drive motor (21); a winding ring (23) is arranged at one end of the winding frame (22); the winding ring (23) is arranged on the outside of the winding drum (20); the column (1) is connected to the inner cavity of the base (19); an outer cylinder (35) is arranged on the top of the base (19); the outer cylinder (35) is sleeved on the column (1); a second drive motor (27) is arranged in the outer cylinder (35); the column (27) in the outer cylinder (35) A rotating drum (24) is rotatably arranged on the upper side of the rotating drum (24), an electrical slip ring (25) is arranged at the bottom of the rotating drum (24), a gear ring (26) is arranged at the bottom of the rotating drum (24), an output gear (28) is arranged at the output end of the second driving motor (27), the output gear (28) is meshed with the gear ring (26), an electromagnet (29) is arranged on the column (1) above the rotating drum (24), a connecting ring (31) is rotatably arranged at the output end of the electromagnet (29), the connecting ring (31) is sleeved on the column (1), a circular ring (32) is arranged on the connecting ring (31), and latch teeth are arranged on the upper and lower end surfaces of the connecting ring (31), a first latch groove is arranged on the upper end surface of the rotating drum (24), a limiting ring (30) is arranged on the column (1) above the connecting ring (31), and a second latch groove is arranged on the lower end surface of the limiting ring (30).

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