Intelligent jig frame system for assembling large flexible sheet and operation method thereof

Abstract

The application provides an intelligent jig frame system for assembling large flexible thin plates and a running method thereof. The assembling system comprises a workbench, movable clamps and an upper computer. The workbench is used for bearing and placing the movable clamps. A plurality of movable clamps are moved on the workbench and support the large flexible thin plates. The upper computer distributes target position information and support height information to the plurality of movable intelligent jigs through calculation. The application realizes intelligent optimization of the jig frame position and automatic adjustment of the jig frame, can efficiently form an assembling system suitable for assembling large thin plates of various shapes and curvatures, saves manpower and improves work efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of flexible sheet assembly auxiliary tool, in particular to an intelligent jig frame system for large flexible sheet assembly and a running method thereof. BACKGROUND

[0002] The jig frame plays a role of positioning and limiting deformation in the assembly process of large curved sheets. At present, the jig frames in the fields of shipbuilding and aircraft body assembly in China are mostly fixed, and generally adopt uniform distribution. When such jig frames are used for the assembly of sheets of different sizes and curvatures, it is difficult to adjust, the assembly precision is difficult to guarantee, and the adjustment process is time-consuming and laborious. In view of the above problems and needs, an intelligent jig frame for sheet assembly is designed, which can improve the efficiency of sheet assembly in the shipbuilding, aircraft and other industries, and reduce the labor intensity of workers, which has become an urgent task for the technical personnel in the field. SUMMARY

[0003] The purpose of the present application is to provide an intelligent jig frame system for large flexible sheet assembly and a running method thereof, so as to overcome the defects of difficult movement of jig frame support, low positioning precision, low automation and intelligence degree in the assembly process of large flexible sheets such as ships and aircraft.

[0004] In order to achieve the above purpose, the present application provides an intelligent jig frame system for large flexible sheet assembly, which comprises an upper computer, a workbench and a movable clamp.

[0005] The surface of the workbench is uniformly provided with a plurality of bosses and pin holes, the movable clamp is operated on the workbench, the bottom of the movable clamp is provided with a pin matched with the pin hole, and an auxiliary positioning mechanism matched with the boss is arranged to realize the fine positioning of the movable clamp; the upper computer is signal connected with the movable clamp.

[0006] Further, the movable clamp comprises a moving mechanism, an auxiliary positioning mechanism and a support height adjusting mechanism.

[0007] The moving mechanism is provided with a support base, and the support height adjusting mechanism is arranged on the support base and used for supporting the flexible sheet.

[0008] The auxiliary positioning mechanism comprises two concave slides, and the two concave slides are respectively arranged on the front and rear sides of the moving mechanism; the two concave slides are fixed below the support base through a driving mechanism; the concave slides realize the extension and contraction and the vertical displacement relative to the two sides of the moving mechanism under the driving of the driving mechanism; and the contact surface of the concave slide and the workbench is provided with the pin.

[0009] Further, a plurality of sensors connected with the upper computer are arranged on the movable clamp, the sensors include a clamp position sensor, a support height sensor and a laser radar;

[0010] The clamp position sensor includes a laser ranging sensor and a magnetic compass module arranged on the concave slide;

[0011] The support height sensor is a joint integrated with a laser ranging sensor and a pressure sensor, and is arranged on the support height adjusting mechanism;

[0012] The laser radar is arranged on the movable clamp, and is used for signal transmission with the upper computer, so as to draw a work area map to locate the relative coordinates of the movable clamp in the work area.

[0013] Further, the moving mechanism is a trolley equipped with four Mecanum wheels, and the trolley is driven to move by a motor through signal connection between a single-chip microcomputer and the upper computer.

[0014] Further, the support height adjusting mechanism is an electric cylinder with adjustable telescopic height, and the end of the lead screw of the electric cylinder is a spherical support for supporting the flexible thin plate.

[0015] Further, the upper computer is a Raspberry Pi 3 Model B+.

[0016] The application further provides an operation method of the intelligent jig frame system, and the operation method comprises the following steps:

[0017] Step 1: The upper computer calculates the optimal position of the movable clamp through data model interaction information and thin plate information;

[0018] Step 2: According to the optimal position information, the driving route of the movable clamp on the workbench is planned;

[0019] Step 3: The movable clamp is driven to move to the target position through information interaction between the single-chip microcomputer and the upper computer;

[0020] Step 4: After the movable clamp moves to the target position, the laser radar transmits the positioning information to the upper computer;

[0021] Step 5: The upper computer calculates whether there is a deviation in the position through a 2D laser SLAM algorithm, and determines whether the deviation is a large deviation or a small deviation;

[0022] Step 6: If the deviation is a large deviation, the movable clamp is driven to move to the target position again, and if the deviation is a small deviation, the two concave slides are driven to extend through the driving mechanism, and the movable clamp is pushed to fine-tune the position of the movable clamp by cooperating with the convex boss on the surface of the workbench.

[0023] Step 7: Repeat steps 5 and 6 above until the position deviation is within the allowable range;

[0024] Step 8: After the position of the movable clamp is moved, the two concave slides are driven downward by the driving mechanism, so that the pins on the bottom surface of the concave slides are matched and clamped with the pin holes on the surface of the workbench;

[0025] Step 9: After the position of the movable clamp is fixed, the host computer obtains the vertical height information required for supporting the flexible sheet through the coordinate system adjusting mechanism, and drives the support column to extend to the specified height position through the support column height adjusting mechanism to complete the support of the flexible sheet.

[0026] Compared with the prior art, the advantages of the present application are:

[0027] 1、The present application can conveniently form a jig system suitable for assembling flexible sheets of various shapes through the cooperation between the workbench and the movable clamps, thereby saving manpower and improving work efficiency.

[0028] 2、The present application cooperates between the host computer and the sensor to optimize the position and height of the clamp through feedback adjustment multiple times, thereby reducing errors generated during assembly and effectively improving the quality of the flexible sheet after welding.

[0029] 3、The present application adopts centralized control method between the host computer and the movable intelligent clamp, meets the demand for analyzing simple environmental factors during assembly, reduces unnecessary cost, and is economical and safe.

[0030] 4、The present application uses 2D laser SLAM algorithm to more accurately find the theoretical position of the support column, thereby reducing theoretical assembly errors.

[0031] 5、The present application realizes fine adjustment of the movable clamp and stability of positioning through the structural cooperation between the workbench and the movable clamp, thereby ensuring positioning accuracy, simplifying the steps of adjusting the position of the movable clamp, and effectively improving efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure of the embodiment;

[0033] Figure 2 It is a schematic diagram of the movable intelligent clamp structure in the embodiment;

[0034] Figure 3 It is a schematic diagram of the workbench structure in the embodiment;

[0035] Figure 4 It is a work flow chart in the embodiment;

[0036] Figure 5Workpiece relationship diagram in the embodiment. DETAILED DESCRIPTION

[0037] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be further described below.

[0038] As shown in the figure, Figure 1 the present application proposes an intelligent jig frame system for large flexible sheet assembly, which comprises an upper computer, a workbench 1 and a movable clamp 2.

[0039] As shown in the figure, Figure 3 the surface of the workbench 1 is uniformly arranged with a plurality of bosses 11 and pin holes 12, the movable clamp 2 is used on the workbench 1, the bottom of the movable clamp 2 is provided with a pin 25 matched with the pin hole 12, and an auxiliary positioning mechanism matched with the boss 11 is arranged to realize the fine positioning of the movable clamp 2; the upper computer is signal connected with the movable clamp 2.

[0040] In the embodiment, as shown in the figure, Figure 2 the movable clamp 2 comprises a moving mechanism 21, an auxiliary positioning mechanism and a support height adjusting mechanism 23.

[0041] The moving mechanism 21 is a trolley equipped with four Mecanum wheels, which is driven to displace by a motor through the signal connection between the single-chip microcomputer and the upper computer; the moving mechanism 21 is provided with a support base 22, and the support height adjusting mechanism 23 is arranged on the support base 22 to support the flexible sheet; the support height adjusting mechanism 23 is an electric cylinder with adjustable telescopic height, and the end of the screw rod of the electric cylinder is a spherical support for supporting the flexible sheet.

[0042] The auxiliary positioning mechanism comprises two concave slides 24 arranged on the front and rear sides of the moving mechanism 21 respectively; the two concave slides 24 are fixed below the support base 22 through a driving mechanism; the concave slide 24 is driven by the driving mechanism to realize the telescopic movement and vertical displacement relative to the two sides of the moving mechanism 21; the contact surface of the concave slide 24 and the workbench 1 is provided with a pin 25; the driving mechanism can be a cooperation between multiple push rod motors to realize the telescopic movement and vertical displacement of the concave slide 24; the telescopic movement of the concave slide 24 aims to match the concave part of the concave slide 24 with the boss 11 on the surface of the workbench 1, so as to push the movable clamp 2 to realize the small displacement and angle adjustment; the vertical displacement of the concave slide 24 mainly matches the pin 25 at the bottom with the pin hole 12 on the surface of the workbench 1 to realize the positioning of the pin, so as to ensure the stability of the support.

[0043] In the embodiment, a plurality of sensors signal connected with the upper computer are arranged on the movable clamp 2, and the sensors comprise a clamp position sensor, a support height sensor and a laser radar.

[0044] The fixture position sensor includes a laser rangefinder and a magnetic compass module mounted on the concave slide 24;

[0045] The support height sensor is a connector that integrates laser rangefinder and pressure sensor, and is located on the support height adjustment mechanism 23;

[0046] The lidar is mounted on the movable fixture 2 and is used for signal transmission with the host computer to draw a map of the work area to locate the relative coordinates of the movable fixture 2 within the work area.

[0047] In this embodiment, the host computer is a Raspberry Pi 3 Model B+.

[0048] To further facilitate understanding by those skilled in the art, such as Figure 4 As shown, the system of the present invention is applied to the support assembly between two flexible thin plates, the two thin plates being attached... Figure 1 The two thin plates shown in bid prices 3 and 4 have dimensions of 3000mm × 1600mm × 2mm. The steps for supporting the flexible thin plates using the intelligent jig system of this invention are as follows:

[0049] Step 1: The host computer calculates the optimal position of the movable fixture 2 by using data model interaction information and information about the thin plate;

[0050] Step 2: Based on the optimal position information, plan the travel route of the movable fixture 2 on the workbench 1;

[0051] Step 3: Through information exchange between the microcontroller and the host computer, drive the movable fixture 2 to move to the target position;

[0052] Step 4: After the movable fixture 2 moves to the target position, the lidar transmits the positioning information to the host computer;

[0053] Step 5: The host computer calculates whether there is a positional deviation using the 2D laser SLAM algorithm. If there is a deviation, it determines whether it is a large or small deviation. The 2D laser SLAM algorithm is a common method for processing laser radar output data. It mainly involves collecting sample points through radar and performing positioning and mapping by observing the surrounding environment. The surrounding environment in this system has been given in advance, and the SLAM algorithm can accurately locate the position based on the given environmental parameters.

[0054] Step 6: If there is a large deviation, the movable fixture 2 will be re-driven to move to the target position. If there is a small deviation, the two concave slides 24 will be extended by the drive mechanism and cooperate with the protrusions 11 on the surface of the worktable 1 to push the movable fixture 2 to make a fine adjustment of its own position.

[0055] Step 7: As Figure 5As shown, the above steps 5 and 6 are repeated until the position deviation is within the allowable range;

[0056] Step 8: After the position of the movable clamp 2 is moved, the two concave slides 24 are driven downward by the driving mechanism, so that the pins 25 on the bottom surface of the concave slides 24 are matched and clamped with the pin holes 12 on the surface of the workbench 1 for positioning;

[0057] Step 9: After the position of the movable clamp 2 is fixed, the vertical height information required for supporting the flexible sheet is obtained by the coordinate system adjusting mechanism, and the support column is driven to extend to the specified height position by the support column height adjusting mechanism 23 to complete the support of the flexible sheet.

[0058] The above is only a preferred embodiment of the present application, and does not limit the present application in any way. Any person skilled in the art can make any form of equivalent replacement, modification or change to the technical solutions and technical contents disclosed in the present application without departing from the scope of the technical solutions of the present application, and still falls within the protection scope of the present application.

Claims

1. An intelligent bed system for assembling large flexible sheets, characterized in that, The upper computer, the workbench and the movable clamp are included. The surface of the workbench is uniformly arranged with a plurality of bosses and pin holes, the movable clamp is operated on the workbench, the bottom of the movable clamp is provided with a pin matched with the pin hole, and an auxiliary positioning mechanism matched with the boss is arranged to realize fine positioning of the movable clamp. The movable clamp includes a moving mechanism, an auxiliary positioning mechanism and a support height adjusting mechanism. The moving mechanism is provided with a support base, and the support height adjusting mechanism is arranged on the support base to support the flexible sheet. The auxiliary positioning mechanism includes two concave slides, and the two concave slides are respectively arranged on the front and rear sides of the moving mechanism.

2. The smart bed system for assembly of large flexible sheet metal as claimed in claim 1 wherein, The concave slides are fixed below the support base through a driving mechanism. The concave slides realize extension and vertical displacement relative to the two sides of the moving mechanism under the driving of the driving mechanism. The contact surface of the concave slide and the workbench is provided with the pin. The movable clamp is provided with a plurality of sensors connected with the upper computer, and the sensors include a clamp position sensor, a support height sensor and a laser radar.

3. The smart bed system for assembly of large flexible sheets as claimed in claim 1 wherein, The clamp position sensor includes a laser ranging sensor and a magnetic compass module arranged on the concave slide.

4. The smart bed system for assembly of large flexible sheets as claimed in claim 1 wherein, The support height sensor is a joint integrated with a laser ranging sensor and a pressure sensor and arranged on the support height adjusting mechanism.

5. The smart bed system for assembly of large flexible sheets as claimed in claim 1 wherein, The laser radar is arranged on the movable clamp and is used for signal transmission with the upper computer to draw a work area map to locate the relative coordinates of the movable clamp in the work area.

6. A method of operating an intelligent jig system using the intelligent jig system of any one of claims 1 to 5, characterized in that, The moving mechanism is a trolley equipped with four Mecanum wheels, and the trolley is driven to displace by a single-chip microcomputer and the upper computer. The support height adjusting mechanism is an electric cylinder with adjustable telescopic height, and the end of the screw rod of the electric cylinder is a spherical support for supporting the flexible sheet. The upper computer is a Raspberry Pi 3 Model B+. The method includes the following steps: Step 1: The upper computer calculates the optimal position of the movable clamp through data model interaction information and sheet information. Step 2: The driving route of the movable clamp on the workbench is planned according to the optimal position information. Step 3: The movable clamp is driven to move to the target position through information interaction between the single-chip microcomputer and the upper computer. Step 4: After the movable clamp moves to the target position, the laser radar transmits the positioning information to the upper computer. Step 5: The upper computer calculates whether there is a deviation in the position through a 2D laser SLAM algorithm, and determines whether the deviation is a large deviation or a small deviation. Step 6: If the deviation is a large deviation, the movable clamp is driven to move to the target position again, and if the deviation is a small deviation, the two concave slides are driven to extend out through the driving mechanism to push the movable clamp to fine-tune the position of the movable clamp. Step 7: Steps 5 and 6 are repeated until the position deviation is within the allowable range. Step 8: After the position of the movable clamp is moved, the two concave slides are driven downward by the driving mechanism, so that the pins on the bottom surface of the concave slides are clamped and positioned with the pin holes on the surface of the workbench; Step 9: After the position of the movable clamp is fixed, the host computer obtains the vertical height information required for supporting the flexible sheet through the coordinate system adjusting mechanism, and drives the support column to extend to the specified height position through the support column height adjusting mechanism to complete the support of the flexible sheet.

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