A flexible clamping tail cover transfer transition ring and automatic assembly method

Abstract

The present invention relates to a flexible clamping tail cover transfer transition ring, comprising: a supporting platform device, a clamping driving device, a turntable device, a pre-support device, and a swing arm device; three groups of arc guide rails are installed on the upper end surface of the supporting platform device, each group of arc guide rails is provided with a slider, and the turntable device is installed on the arc guide slider; the clamping driving device drives the turntable device to rotate in a circular direction along the arc guide; the pre-support device is installed on the supporting platform device, and is used to support the tail cover; the swing arm device is installed on the linear guide slider on the upper end surface of the turntable device, and three groups of swing arm devices are evenly distributed in the circumferential direction of the upper end surface of the turntable device, and the three groups of swing arm devices swing synchronously to achieve clamping and fixing of the tail cover. The present invention also provides an automatic assembly method for a flexible clamping tail cover transfer transition ring. It can be compatible with the clamping and transfer of tail cover products of various diameters, improve the utilization rate of the transfer transition ring, reduce the floor space, save costs, and avoid waste of resources.

Description

Technical Field

[0001] The invention relates to a flexible clamping tail cover transfer transition ring and an automatic assembly method, which are applied to the automatic clamping and assembly of the tail cover in aerospace products. Background Art

[0002] The metal cabin automatic drilling and riveting assembly system is mainly responsible for the automatic assembly of metal shell cabins. One-time clamping of cabins can realize cabin surface detection and analysis, automatic assembly and pre-connection of parts, automatic drilling and riveting, etc. The system structure is shown in Figure 1 The equipment is mainly composed of an external robot system, a multifunctional robot system, a CNC turntable system, a robot bracket, a material conveying system, an automatic nail feeding system, a monitoring system, a control system and an auxiliary system. It has the functions of scanning the internal surface of the cabin, marking, grabbing the bracket and positioning, and drilling and riveting.

[0003] The diameter of the tail hood products in the metal shell section ranges from Φ1400mm to 2000mm, and the height covers 400mm to 700mm, with an overall hemispherical structure. During the production and assembly process, the tail hood needs to be transported from the placement station to the processing station. The function of the transfer transition ring is to clamp and transfer the tail hood during transportation and ensure the stability of the tail hood during processing. Due to the particularity of the tail hood structure, conventional transition rings cannot meet the fixed clamping requirements of the tail hood products, and conventional transfer transition rings are designed according to tail hoods of different specifications, with a large number, occupying a large storage space, increasing management costs, and wasting resources. Summary of the invention

[0004] The technical problem solved by the invention is to overcome the deficiencies of the prior art and to provide a flexible clamping tail cover transfer transition ring and an automatic assembly method.

[0005] The solution of the present invention is:

[0006] A flexible clamping tail cover transfer transition ring, comprising: a supporting platform device, a clamping drive device, a turntable device, a pre-support device, and a swing arm device;

[0007] A group of arc guide rails are installed on the upper end surface of the supporting platform device, each group of arc guide rails is provided with a slider, and the turntable device is installed on the arc guide slider; the clamping drive device drives the turntable device to rotate in a circular direction along the arc guide rail; the pre-support device is installed on the supporting platform device, and is used to support the tail cover; the swing arm device is installed on the linear guide slider on the upper end surface of the turntable device, and 3 groups of swing arm devices are evenly distributed in the circumferential direction of the upper end surface of the turntable device, and the 3 groups of swing arm devices swing synchronously to achieve clamping and fixation of the tail cover.

[0008] Preferably, the support platform device includes a support platform, a zero point locator and a positioning pin sleeve; the support platform is an annular structure, and a quadrant line is drawn on the upper end surface of the support platform to facilitate the alignment of the position reference when placing the tail cover; 4 sets of lifting rings are installed on the support platform for overall lifting; 4 zero point locators are arranged on the support platform at an interval of 90°, and 2 positioning pin sleeves are arranged on the support platform at an interval of 180°;

[0009] Three groups of circular arc guide rails are evenly distributed on the upper surface of the supporting platform, and each group of circular arc guide rails is provided with a sliding block.

[0010] Preferably, the support platform is welded from high-quality carbon structural steel Q355.

[0011] Preferably, the turntable device includes a turntable, an arc guide rail, and a proximity switch; the turntable is an annular structure, and three sets of arc guide rails are installed on the lower end surface of the turntable to support the turntable to run smoothly in a circle; two proximity switches are installed on the turntable to detect the rotation position;

[0012] The turntable device is installed on the circular arc guide rail slider of the supporting platform device through its circular arc guide rail.

[0013] Preferably, the clamping drive device includes a pneumatic motor, a bearing chamber, a trapezoidal lead screw, a nut seat, a turntable connecting plate, and a limit sleeve;

[0014] The pneumatic motor main shaft is connected to one end of the trapezoidal screw through the bearing chamber, the other end of the trapezoidal screw passes through the nut seat, and a limiting sleeve is sleeved on the end passing through. The trapezoidal screw is threadedly connected to the nut seat, and a turntable connecting plate is screwed on the upper end surface of the nut seat, and the turntable is connected to the turntable connecting plate.

[0015] Preferably, the pre-support device comprises a nylon support plate, an inclined block assembly, a nylon pad, and a cylinder;

[0016] The cylinder is installed on the supporting platform device, one end of the nylon pad is also installed on the supporting platform device, the inclined block assembly is slidably installed on the nylon pad, the actuating rod of the cylinder is connected to the inclined block assembly, the upper surface of the inclined block assembly is an inclined surface, the thickness of the inclined block assembly close to the actuating rod is greater than the thickness on the side away from the actuating rod, the lower surface of the nylon support plate is an inclined surface, the thickness of the side close to the actuating rod is less than the thickness on the side away from the actuating rod; the nylon support plate is installed on the upper surface of the inclined block assembly, and the upper surface of the inclined block assembly is processed with a guide groove, and under the action of the cylinder, the nylon support plate can slide along the guide groove.

[0017] Preferably, the nylon support plate is used to support the tail cover.

[0018] Preferably, the swing arm device includes a linear guide rail locking assembly, a swing arm, a rotating shaft, and a clamping plate; the linear guide rail locking assembly includes a linear guide rail and a slider;

[0019] The linear guide is installed on the turntable device and makes circular motion with the turntable device; the rotating shaft passes through the threaded hole in the middle of the swing arm and is fixed on the supporting platform device, and the rotating shaft is threadedly connected to the swing arm; one end of the swing arm is fixed on the slider of the linear guide locking assembly, and the other end is integrally processed with a clamping structure. The swing arm rotates around the rotating shaft under the combined force of the rotating shaft and the slider of the linear guide locking assembly.

[0020] Preferably, the slider of the linear guide rail locking assembly can be locked manually, which protects the stability of the clamping.

[0021] A method for automatically assembling a flexible clamping tail cover transfer transition ring, comprising:

[0022] Before the tail cover compartment section is placed, the pre-support device is raised to be higher than the support platform surface, and the nylon support plate of the pre-support device contacts the tail cover receiving surface, and then the pre-support device slowly descends, and the tail cover falls to the same plane as the support platform; the clamping drive device drives the turntable device to rotate, driving the swing arm to rotate around the rotating shaft, and the three groups of swing arms in the circumferential direction radially correct the tail cover to a concentric position with the transition ring and clamp it;

[0023] Lift the transition ring of the clamped tail cover to the top of the CNC turntable, align the positioning pin sleeve on the supporting platform device with the initial positioning pin on the CNC turntable for initial positioning to ensure the accuracy of the quadrant position of the transition ring;

[0024] The transition ring after initial positioning is lowered, and the positioning buffer is used to support the transition ring to slowly descend;

[0025] When the transition ring drops close to the upper surface of the CNC turntable, the zero point positioning pin on the transition ring automatically inserts into the zero point locator on the CNC turntable to achieve precise positioning;

[0026] After the transition ring is automatically positioned, the pressure plate on the CNC turntable drives the tail cover to automatically press and fix the transition ring through the turntable cylinder.

[0027] The beneficial effects of the present invention compared with the prior art are:

[0028] (1) The flexible clamping transition ring designed by the present invention can realize the rotation of the turntable through the clamping drive device for tail cover products of different diameters and heights, and complete the self-centering adjustment of the swing arm clamping circle, so that it can be compatible with the clamping and transportation of tail cover products of various diameters. The utilization rate of the transportation transition ring is improved, the floor space is reduced, the cost is saved, and the waste of resources is avoided.

[0029] (2) The automatic assembly method of the tail cover proposed in the present invention simplifies the centering, clamping and positioning process of the tail cover transition ring by means of zero-point quick change and step-by-step positioning and clamping, thereby avoiding the problem of inaccurate positioning of the transition ring and the platform and reducing the labor intensity of workers.

[0030] (3) The flexible clamping tail cover transfer transition ring and automatic assembly method of the present invention have been successfully applied to a certain type of tail cover product. The transition ring can complete the centering clamping of tail covers of different types, and realize the clamping, transfer and automatic positioning of the metal cabin tail cover product from the under-rack placement station to the processing station. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 Automated drilling and riveting assembly system for metal compartments;

[0032] Figure 2 It is a schematic diagram of the transport transition ring;

[0033] Figure 3 It is a schematic diagram of the supporting platform device;

[0034] Figure 4 It is a schematic diagram of the clamping drive device;

[0035] Figure 5 is a schematic diagram of a turntable device;

[0036] Figure 6 is a schematic diagram of a pre-support device;

[0037] Figure 7 Schematic diagram of the swing arm device. DETAILED DESCRIPTION

[0038] The present invention will be further described below in conjunction with the embodiments.

[0039] In order to solve the above problems, the present invention designs a transfer transition ring that is compatible with a variety of tail hood specifications, which is characterized in that a set of transfer transition rings can realize the support and fixation of tail hoods of different specifications and diameters within a certain range, and self-centering positioning in the circumferential direction. The transfer transition ring is driven by a trapezoidal screw to drive the turntable to rotate in a circle, and the swing arm is driven to move synchronously through a linear guide rail to achieve synchronous adjustment of the radial position of the end of the swing arm, and complete the centering clamping of tail hoods of different models.

[0040] 1. Transport transition ring structure

[0041] The transport transition ring of the present invention is composed of multiple parts, such as Figure 2 As shown, there are a supporting platform device 1, a clamping drive device 2, a turntable device 3, a pre-support device 4, and a swing arm device 5.

[0042] There are 4 groups of zero point locators evenly distributed on the circumference of the bottom of the supporting platform device 1, and 3 groups of arc guide rails are installed on the upper end face. The turntable device 3 is installed on the arc guide rail slider and rotates in the circumferential direction. The power for the rotation of the turntable device is provided by the clamping drive device (composed of an air motor, a bearing chamber, a trapezoidal screw, a rotating shaft, etc.); the swing arm device 5 is installed on the linear guide rail slider on the upper end face of the turntable device, and there are 3 groups evenly distributed in the circumferential direction, which swing synchronously around the rotating shaft to achieve clamping and fixation of the tail cover; in the process of placing the tail cover, the pre-support device 4 pre-supports the tail cover 6.

[0043] like Figure 3 As shown, the support platform device 1 includes a support platform 1.1, a zero point locator 1.2 and a positioning pin sleeve 1.3. The support platform 1.1 is an annular structure, welded with high-quality carbon structural steel Q355, and has good rigidity and strength; quadrant lines are drawn on the upper end surface of the support platform to facilitate the alignment of the position reference when placing the tail cover. Four sets of lifting rings are installed on the support platform for overall lifting. The support platform device uses two sets of positioning pin sleeves 1.3 for rough positioning to complete the precise positioning of the four sets of zero point positioning devices 1.2, ensuring the overall coaxial accuracy and positioning accuracy of the transition ring and the cabin section. Three sets of arc guide rails are evenly distributed on the upper end surface of the support platform 1.1, and a slider is provided on each set of arc guide rails.

[0044] like Figure 4 As shown, the clamping drive device 2 includes an air motor 2.1, a bearing chamber 2.2, a trapezoidal screw 2.3, a nut seat 2.4, a turntable connecting plate 2.5, and a limit sleeve 2.6. The main shaft of the air motor 2.1 is connected to one end of the trapezoidal screw 2.3 through the bearing chamber 2.2, and the other end of the trapezoidal screw 2.3 passes through the nut seat 2.4, and a limit sleeve 2.6 is sleeved on the end that passes through, and the trapezoidal screw 2.3 is threadedly connected to the nut seat 2.4, and the turntable connecting plate 2.5 is screwed on the upper end surface of the nut seat 2.4, and the turntable 3.1 is connected to the turntable connecting plate 2.5. The device drives the trapezoidal screw 2.3 to perform spiral motion by the air motor 2.1, and is supported by the bearing chamber 2.2 and connected to the nut seat 2.4, converting the spiral motion into linear motion. Since the bearing chamber 2.2 and the nut seat 2.4 both have a rotating shaft structure, the turntable connecting plate 2.5 can drive the turntable to move in a circular motion. The trapezoidal lead screw 2.3 has a self-locking function to ensure reliable positioning and clamping, and there is no relative displacement between the cabin section and the transfer transition ring during the processing. The limit sleeve 2.6 is the limit position that the nut seat needs to move.

[0045] like Figure 5As shown, the turntable device 3 includes a turntable 3.1, an arc guide rail 3.2, and a proximity switch 3.3. The turntable 3.1 is an annular structure, welded with high-quality carbon structural steel Q355, and has good rigidity and strength. Three groups of arc guide rails 3.2 installed on the lower end surface of the turntable support the turntable to run smoothly in a circular circle; two proximity switches 3.3 are used to detect the rotation position, thereby determining the limit position of the swing arm. The turntable device 3 is installed on the arc guide rail slider of the support platform device 1 through its arc guide rail 3.2.

[0046] like Figure 6 As shown, the pre-support device 4 includes a nylon support plate 4.1, an inclined block assembly 4.2, a nylon pad 4.3, and a cylinder 4.4. The cylinder 4.4 is mounted on the support platform device 1, one end of the nylon pad 4.3 is also mounted on the support platform device 1, the inclined block assembly 4.2 is slidably mounted on the nylon pad 4.3, the actuating rod of the cylinder 4.4 is connected to the inclined block assembly 4.2, the upper surface of the inclined block assembly 4.2 is an inclined surface, the thickness of the inclined block assembly 4.2 close to the actuating rod is greater than the thickness of the side away from the actuating rod, the lower surface of the nylon support plate 4.1 is an inclined surface, the thickness of the side close to the actuating rod is less than the thickness of the side away from the actuating rod; the nylon support plate 4.1 is mounted on the upper surface of the inclined block assembly 4.2, and the upper surface of the inclined block assembly 4.2 is processed with a guide groove, and under the action of the cylinder, the nylon support plate 4.1 can slide along the guide groove. The cylinder 4.4 pushes the lower inclined block of the inclined block group 4.2 to deflect, and the upper inclined block moves upward in the guide groove; the nylon pad 4.3 plays a supporting role and reduces the friction with the inclined block; the nylon support plate 4.1 supports the tail cover compartment section, and the nylon material prevents scratches when contacting the tail cover compartment section.

[0047] like Figure 7 As shown, the swing arm device 5 includes a linear guide locking assembly 5.1, a swing arm 5.2, a rotating shaft 5.3, and a clamping plate 5.4. The linear guide is installed on the turntable device and moves in a circle with the turntable device; the rotating shaft 5.3 passes through the threaded hole in the middle of the swing arm 5.2 and is fixed on the supporting platform device 1, and the rotating shaft 5.3 is threadedly connected to the swing arm 5.2; one end of the swing arm 5.2 is fixed on the slider of the linear guide locking assembly 5.1, and the other end is integrally processed with a clamping structure 4. The swing arm 5.2 rotates around the rotating shaft 5.3 under the combined force of the rotating shaft 5.3 and the slider of the linear guide locking assembly 5.1. The clamping 4 is installed at the front end of the swing arm, and there are 3 sets of swing arm devices in the circumferential direction to complete the flexible automatic positioning clamping of the tail cover cabin section. At this time, the slider of the linear guide 5.1 is manually locked, which plays a double protection role for the stability of the clamping.

[0048] 2. Automatic assembly method of tail cover

[0049] The tail cover transition ring is used to place the tail cover compartment section, and self-centers and clamps it for positioning, and then transfers it to the processing station and places it on the CNC turntable as a whole. Due to the convenient swing arm drive mode, flexible automatic positioning function, large opening and closing range, and adaptability to different product shapes, this equipment is compatible with the clamping and transportation of various tail cover specifications. The specific assembly method is as follows:

[0050] (1) Tail cover clamping: Before placing the tail cover compartment, the pre-support device is raised above the placement table, and the nylon plate on the upper surface of the pre-support contacts the tail cover receiving surface, and then slowly descends, and the tail cover falls to the support platform. The trapezoidal screw drives the turntable to rotate, driving the swing arm to rotate around the shaft as the center. The three groups of swing arms in the circumferential direction radially correct the tail cover to the concentric position of the transition ring and clamp it;

[0051] (2) Initial positioning of the transition ring: lift the transition ring with the tail cover clamped to the top of the CNC turntable, align the positioning pin sleeve on the support platform device with the four initial positioning pins on the CNC turntable for initial positioning to ensure the accuracy of the quadrant position of the transition ring;

[0052] (3) Positioning buffer: After the initial positioning, the transition ring tooling falls down, and the positioning buffer supports the transition ring to slowly descend to ensure that the transition ring descends smoothly;

[0053] (4) Zero point positioning pin: When the transition ring is lowered to be close to the CNC turntable, the zero point positioning pin on the transition ring is automatically inserted into the zero point locator on the CNC turntable to achieve precise positioning;

[0054] (5) Cylinder clamping: After the transition ring is automatically positioned through the zero-point quick-change structure, the pressure plate on the CNC turntable is automatically clamped and fixed by the cylinder drive.

[0055] Figure 1 Automated drilling and riveting assembly system for metal cabin sections.

[0056] The present invention designs a transfer transition ring suitable for automatic clamping of various tail covers, which is used in conjunction with a drilling and riveting platform quick-change interface of an automated drilling and riveting assembly system for metal cabin sections. A linear guide rail drives a swing arm to move synchronously, thereby achieving synchronous adjustment of the radial position of the end of the swing arm, completing the centering clamping of tail covers of different types, and realizing the clamping, transfer and automatic positioning of the metal cabin section tail cover product from a placement station under a rack to a processing station.

[0057] The contents not described in detail in the specification of the present invention belong to the common knowledge of the professionals in this field.

Claims

1. A flexible clamping tail cover transfer transition ring, characterized in that: include: Support platform device (1), clamping drive device (2), turntable device (3), pre-support device (4), swing arm device (5); The upper end surface of the support platform device (1) is equipped with three groups of circular arc guide rails, each group of circular arc guide rails is provided with a slider, and the turntable device (3) is installed on the circular arc guide rail slider; the clamping drive device drives the turntable device (3) to rotate in a circumferential direction along the circular arc guide rail; The pre-support device (4) is installed on the support platform device (1) and is used to support the tail cover; the swing arm device (5) is installed on the linear guide slider on the upper end surface of the turntable device, and three groups of swing arm devices (5) are evenly distributed in the circumferential direction of the upper end surface of the turntable device. The three groups of swing arm devices (5) swing synchronously to achieve clamping and fixing of the tail cover; The support platform device (1) comprises a support platform (1.1), a zero point positioner (1.2) and a positioning pin sleeve (1.3); the support platform (1.1) is an annular structure, and a quadrant line is drawn on the upper end surface of the support platform (1.1) to facilitate the alignment of the position reference when placing the tail cover; four sets of lifting rings are installed on the support platform (1.1) for overall lifting; four zero point positioners (1.2) are arranged on the support platform (1.1) at intervals of 90 degrees, and two positioning pin sleeves (1.3) are arranged on the support platform (1.1) at intervals of 180 degrees; The upper end surface of the support platform (1.1) is evenly distributed with three groups of circular arc guide rails, and each group of circular arc guide rails is provided with a sliding block; The turntable device (3) comprises a turntable (3.1), an arc guide rail (3.2), and a proximity switch (3.3); the turntable (3.1) is an annular structure, and three groups of arc guide rails (3.2) are installed on the lower end surface of the turntable (3.1) to support the turntable to run smoothly in a circular motion; two proximity switches (3.3) are installed on the turntable (3.1) to detect the rotation position; The turntable device (3) is mounted on the slider of the supporting platform device (1) via its arc guide rail (3.2); The clamping drive device (2) comprises a pneumatic motor (2.1), a bearing chamber (2.2), a trapezoidal lead screw (2.3), a nut seat (2.4), a turntable connecting plate (2.5), and a limit sleeve (2.6); The main shaft of the pneumatic motor (2.1) is connected to one end of the trapezoidal screw (2.3) through the bearing chamber (2.2); the other end of the trapezoidal screw (2.3) passes through the nut seat (2.4); a limit sleeve (2.6) is sleeved on the end passing through; the trapezoidal screw (2.3) is threadedly connected to the nut seat (2.4); a turntable connecting plate (2.5) is threadedly connected to the upper end surface of the nut seat (2.4); and the turntable (3.1) is connected to the turntable connecting plate (2.5); The pre-support device (4) comprises a nylon support plate (4.1), an inclined block assembly (4.2), a nylon pad (4.3), and a cylinder (4.4); The cylinder (4.4) is mounted on the support platform device (1), one end of the nylon pad (4.3) is also mounted on the support platform device (1), the inclined block assembly (4.2) is slidably mounted on the nylon pad (4.3), the actuating rod of the cylinder (4.4) is connected to the inclined block assembly (4.2), the upper surface of the inclined block assembly (4.2) is an inclined surface, the thickness of the inclined block assembly (4.2) on the side close to the actuating rod is greater than the thickness on the side away from the actuating rod, the lower surface of the nylon support plate (4.1) is an inclined surface, the thickness of the side close to the actuating rod is less than the thickness on the side away from the actuating rod; the nylon support plate (4.1) is mounted on the upper surface of the inclined block assembly (4.2), and the upper surface of the inclined block assembly (4.2) is processed with a guide groove, and under the action of the cylinder, the nylon support plate (4.1) can slide along the guide groove.

2. A flexible clamping tail cover transfer transition ring according to claim 1, characterized in that: The supporting platform (1.1) is welded from carbon structural steel Q355.

3. The flexible clamping tail cover transfer transition ring according to claim 1 is characterized in that: The nylon support plate (4.1) is used to support the tail cover.

4. A flexible clamping tail cover transfer transition ring according to claim 1, characterized in that: The swing arm device (5) comprises a linear guide rail locking assembly (5.1), a swing arm (5.2), a rotating shaft (5.3), and a clamping plate (5.4); the linear guide rail locking assembly (5.1) comprises a linear guide rail and a sliding block; The linear guide rail is mounted on the turntable device and moves in a circle with the turntable device; the rotating shaft (5.3) passes through the threaded hole in the middle of the swing arm (5.2) and is fixed on the supporting platform device (1); the rotating shaft (5.3) and the swing arm (5.2) are threadedly connected; one end of the swing arm (5.2) is fixed on the slider of the linear guide rail locking assembly (5.1), and the other end is integrally processed with a clamping structure; the swing arm (5.2) rotates around the rotating shaft (5.3) under the combined force of the rotating shaft (5.3) and the slider of the linear guide rail locking assembly (5.1).

5. A flexible clamping tail cover transfer transition ring according to claim 4, characterized in that: The slide block of the linear guide locking assembly (5.1) can be locked manually, which plays a protective role in the stability of the clamping.

6. The automatic assembly method of the flexible clamping tail cover transfer transition ring according to any one of claims 1 to 5, characterized in that: include: Before the tail cover compartment section is placed, the pre-support device is raised to be higher than the support platform surface, and the nylon support plate of the pre-support device contacts the tail cover receiving surface, and then the pre-support device slowly descends, and the tail cover falls to the same plane as the support platform; the clamping drive device drives the turntable device to rotate, driving the swing arm to rotate around the rotating shaft, and the three groups of swing arms in the circumferential direction radially correct the tail cover to a concentric position with the transition ring and clamp it; Lift the transition ring of the clamped tail cover to the top of the CNC turntable, align the positioning pin sleeve on the supporting platform device with the initial positioning pin on the CNC turntable for initial positioning to ensure the accuracy of the quadrant position of the transition ring; The transition ring after initial positioning is lowered, and the positioning buffer is used to support the transition ring to slowly descend; When the transition ring drops close to the upper surface of the CNC turntable, the zero point positioning pin on the transition ring automatically inserts into the zero point locator on the CNC turntable to achieve precise positioning; After the transition ring is automatically positioned, the pressure plate on the CNC turntable drives the tail cover to automatically press and fix the transition ring through the turntable cylinder.

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