Flexible self-adaptive tightening device with optical indication

Abstract

The invention discloses a flexible self-adaptive tightening device with an optical indication function, and relates to the technical field of automatic assembly of projectile products, the flexible self-adaptive tightening device comprises a flexible tightening mechanism, a positioning and clamping mechanism and a high-precision indication positioning system, the flexible tightening mechanism can adjust the value of tightening torque within a certain range, and the positioning and clamping mechanism is used for positioning the high-precision indication positioning system. An air pressure shock absorber with a spring is adopted to press an assembled object, and the air pressure shock absorber is automatically matched with a positioning groove of the assembled object to achieve tightening in the rotating process. The clamping tool can adapt to matched tightening of products with different shapes and sizes. A clamping power source is provided in a pneumatic mode, and a mechanical transmission mechanism is innovatively designed to achieve clamping and positioning. A high-precision laser projector is selected to provide automatic judgment of tightening start indication positioning and tightening completion indication positioning of different products, and finally self-adaptive flexible tightening of different types of projectile products is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of automated assembly of missile products, and in particular to a flexible adaptive tightening device with optical indication. Background Art

[0002] In recent years, with the changes in assembly technology and assembly methods of missile products, missile products usually require screw-type parts for fixed assembly during the cabin docking process or the explosive assembly process. Taking the assembly of screw-type parts of M-type series missile products as the background, the traditional manual process is to use a torque wrench combined with a special tooling to tighten the screws. The tightening process requires manual adjustment of the tooling position and the torque wrench. The labor intensity is high, the tightening control accuracy is poor, and the operators need to operate in a dangerous working environment, which has certain safety hazards. Summary of the invention

[0003] The purpose of the present invention is to provide a flexible adaptive tightening device with optical indication to solve the problems existing in the above-mentioned prior art. It can replace dangerous workers to automatically position and tighten with fixed torque according to products of different sizes, and can adapt to the tightening and assembly of screw-type parts of various types of missile products, eliminating the problems of poor control precision of manual operation and personnel safety. By designing a flexible and controllable automatic tightening mechanism, human-machine isolation operation of various types of products can be realized, thereby improving the inherent safety of the tightening process of missile products.

[0004] To achieve the above object, the present invention provides the following solution: The present invention provides a flexible adaptive tightening device with optical indication, comprising:

[0005] A flexible tightening mechanism, the flexible tightening mechanism comprising a frame, an upper slide, a pneumatic shock absorber and a tightening tool, the upper slide is vertically slidably arranged in the upper slide rail of the frame, a tightening machine and a tightening tool are mounted on the upper slide, the tightening machine is used to provide rotational power for the tightening tool, and the pneumatic shock absorber is arranged between the tightening machine and the tightening tool; the tightening tool is combined with the keyway of the assembly object to tighten the upper part of the assembly object;

[0006] A positioning and clamping mechanism, the positioning and clamping mechanism comprises a base platform, a positioning base and a clamping tool, the frame is installed on one side of the top of the base platform, the clamping tool is also slidably mounted on the bottom of the flexible tightening mechanism on the frame, and the clamping tool is used for circumferential clamping of the assembly object; the positioning base is installed on the top surface of the base platform, and the bottom of the assembly object is assembled at the clamping station on the positioning base;

[0007] A high-precision indicating and positioning system, the high-precision indicating and positioning system includes a laser projector and a calibration plate. The laser projector is arranged on one side of the base platform, the laser projector is used to provide photoelectric indications of the tightening starting position and the tightening completion position, and the calibration plate arranged on the other side of the base platform is used to assist in calibrating the optical path of the laser projector.

[0008] The high-precision indication and positioning system has laser indication and visual monitoring functions. The laser indication function can provide tightening start indication and tightening completion indication for different products. The visual monitoring function can determine whether the indicated laser is blocked by the tightening mechanism. It can automatically determine whether the laser indication mark is blocked, and finally realize adaptive flexible tightening of different types of missile products.

[0009] Preferably, an explosion-proof electric cylinder drives the upper slide to move up and down along the upper slide rail.

[0010] Preferably, the clamping tooling comprises a lifting back plate, a clamping arm, a clamping slide rail, a front rack, a front gear, a rear rack, a rear gear and a clamping cylinder, the lifting back plate is slidably assembled on the frame, the front side of the lifting back plate is equipped with two transverse clamping slide rails, the two transverse clamping slide rails are correspondingly arranged up and down, and two sliding plates are slidably assembled between the two transverse clamping slide rails, the clamping arms are respectively installed on the two sliding plates, and the two clamping arms are respectively located on both sides of the outer periphery of the assembly object; the lifting back plate is rotatably assembled with a key shaft, the key shaft end located on the front side of the lifting back plate is equipped with a front gear, the two sliding plates are fixed with front racks, and the two front racks are respectively meshed with the upper and lower sides of the front gear; the key shaft end located on the back side of the lifting back plate is equipped with a rear gear, and the back side of the lifting back plate is equipped with a vertical clamping slide rail, and the sliding seat equipped with the rear rack is slidably assembled on the vertical clamping slide rail, and the clamping cylinder assembled on the lifting back plate is used to drive the sliding seat to move up and down.

[0011] Preferably, the positioning and clamping mechanism further includes a lower cylinder, and the lower cylinder is used to drive the lifting back plate to move up and down on the frame.

[0012] Preferably, the frame is further provided with a lower sliding rail, and the lower cylinder is used to drive the lifting back plate to move up and down along the lower sliding rail.

[0013] Preferably, the laser projector is fixed to one side of the base platform via a cantilever, and the laser projector is also provided with an explosion-proof casing.

[0014] Preferably, the calibration plate is mounted on the other side of the base platform via a foldable bracket, and the foldable bracket is assembled on the base platform via a fixing seat.

[0015] Compared with the prior art, the present invention has achieved the following beneficial technical effects:

[0016] The flexible adaptive tightening device with optical indication in the present invention includes a flexible tightening mechanism, a positioning clamping mechanism and a high-precision indicating and positioning system. The flexible tightening mechanism can adjust the value of the tightening torque within a certain range, and uses a pneumatic shock absorber with a spring to press the assembly object, and automatically cooperates with the positioning groove of the assembly object during rotation to achieve tightening; the clamping tooling can adapt to the tightening of products with different external dimensions. The clamping power source is provided pneumatically and the mechanical transmission mechanism is innovatively designed to achieve clamping positioning. A high-precision laser projector is used to provide automatic determination of the tightening start indication positioning and tightening completion indication positioning of different products, and finally realizes adaptive flexible tightening of different types of missile products. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a schematic diagram of the overall structure of a flexible adaptive tightening device with optical indication;

[0019] Figure 2 A front view of a flexible adaptive tightening device with optical indication;

[0020] Figure 3 A rear view of a flexible adaptive tightening device with optical indication;

[0021] Figure 4 is a structural diagram of a foldable bracket;

[0022] Figure 5 It is the clamping detail drawing of the clamping fixture and the assembly object;

[0023] Among them, 1. frame; 2. upper slide rail; 3. explosion-proof electric cylinder; 4. upper slide table; 5. tightening machine; 6. pneumatic shock absorber; 7. tightening tool; 8. base platform; 9. positioning base; 10. clamping tool; 11. clamping slide rail; 12. front rack; 13. front gear; 14. clamping cylinder; 15. rear rack; 16. rear gear; 17. lifting back plate; 18. lower cylinder; 19. lower slide rail; 20. high-precision laser projector; 21. explosion-proof shell; 22. cantilever; 23. calibration plate; 24. foldable bracket; 25. fixed seat; 26. assembly object. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] The purpose of the present invention is to provide a flexible adaptive tightening device with optical indication to solve the problems existing in the above-mentioned prior art. It can replace dangerous workers to automatically position and tighten with fixed torque according to products of different sizes, and can adapt to the tightening and assembly of screw-type parts of various types of missile products, eliminating the problems of poor control precision of manual operation and personnel safety. By designing a flexible and controllable automatic tightening mechanism, human-machine isolation operation of various types of products can be realized, thereby improving the inherent safety of the tightening process of missile products.

[0026] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] like Figure 1-Figure 5 As shown, the present invention provides a flexible adaptive tightening device with optical indication, comprising:

[0028] Flexible tightening mechanism, the flexible tightening mechanism includes a frame 1, an upper slide 4, a pneumatic shock absorber 6 and a tightening tool 7. The upper slide 4 is vertically slidably arranged in the upper slide rail 2 of the frame 1. The upper slide 4 is equipped with a tightening machine 5 and a tightening tool 7. The tightening machine 5 is used to provide rotational power for the tightening tool 7. A pneumatic shock absorber 6 is arranged between the tightening machine 5 and the tightening tool 7. The tightening machine 5 can use a servo motor; the tightening tool 7 is combined with the keyway of the workpiece to tighten the upper part of the workpiece;

[0029] The positioning and clamping mechanism includes a base platform 8, a positioning base 9 and a clamping tool 10. The frame 1 is installed on one side of the top of the base platform 8, the positioning base 9 is installed on the top surface of the base platform 8, and a clamping station is provided on the positioning base 9 at the bottom of the tightening tool 7. The clamping tool 10 is assembled at the clamping station and is used to clamp the workpiece;

[0030] High-precision indication and positioning system, the high-precision indication and positioning system includes a laser projector and a calibration plate 23. A laser projector is arranged on one side of the base platform 8. The laser projector is used to provide photoelectric indications of the tightening starting position and the tightening completion position. The calibration plate 23 arranged on the other side of the base platform 8 is used to assist in calibrating the optical path of the laser projector.

[0031] In one embodiment, the explosion-proof electric cylinder 3 drives the upper slide 4 to move up and down along the upper slide rail 2; the upper slide rail 2 is installed on the frame 1, so that the upper slide 4 can move up and down smoothly in the longitudinal direction; the tightening machine 5 is fastened to the upper slide 4, and the tightening machine 5 provides tightening power, drives the tightening device to rotate, and meets the assembly tightening torque requirements. The pneumatic shock absorber 6 enables the tightening tool 7 to pre-press the assembly object 26. The tightening tool 7 directly contacts the assembly object 26, and tightens the upper part of the assembly object 26 after the keyway is engaged.

[0032] In one embodiment, if Figure 2 , Figure 3 and Figure 5 As shown, the clamping fixture 10 includes a lifting back plate 17, a clamping arm, a clamping slide rail 11, a front rack 12, a front gear 13, a rear rack 15, a rear gear 16 and a clamping cylinder 14. The lifting back plate 17 is slidably assembled on the frame 1. Two transverse clamping slide rails 11 are assembled on the front of the lifting back plate 17. The two transverse clamping slide rails 11 are arranged correspondingly up and down. Two sliding plates are slidably assembled between the two transverse clamping slide rails 11. The two sliding plates are respectively installed with clamping arms. The two clamping arms are respectively located on both sides of the periphery of the assembly object 26; A key shaft is rotatably mounted on the back plate 17, and a front gear 13 is mounted on the key shaft end located on the front side of the lifting back plate 17. Front racks 12 are fixed on both sliding plates, and the two front racks 12 are respectively meshed with the upper and lower sides of the front gear 13; a rear gear 16 is mounted on the key shaft end located on the back side of the lifting back plate 17, and a vertical clamping rail 11 is mounted on the back side of the lifting back plate 17. A sliding seat equipped with a rear rack 15 is slidably mounted on the vertical clamping rail 11, and a clamping cylinder 14 mounted on the lifting back plate 17 is used to drive the sliding seat to move up and down.

[0033] During the clamping process of the clamping tool 10, the assembly object 26 is first installed on the positioning base 9, and the clamping cylinder 14 is used as the driving part. The clamping cylinder 14 extends out to drive the sliding seat to move downward, so that the rear rack 15 drives the rear gear 16 to rotate clockwise, and the front gear 13 coaxial with the rear gear 16 also rotates clockwise, and the front racks 12 on both sides move in the direction close to the key shaft, driving the sliding plates and clamping arms on both sides to approach each other, thereby clamping the assembly object 26. After clamping, the explosion-proof electric cylinder 3 pushes the upper slide 4 to move downward along the upper slide rail 2, and moves the tightening tool 7 into place, so that the tightening tool 7 pre-presses the assembly object 26, and the tightening tool 7 directly contacts the assembly object 26. After the keyway is engaged, the tightening machine 5 is started to tighten the upper part of the assembly object 26; when the assembly object 26 completes the tightening operation, the explosion-proof electric cylinder 3 drives the tightening tool 7 to retract, and the clamping cylinder 14 retracts, driving the clamping arms on both sides to release the assembly object 26.

[0034] Each key part is connected by bolts. The base platform 8 is used to support the whole mechanism and is connected to the automated production line conveying equipment. The positioning base 9 is used to carry the assembly object 26 and pre-fix the lower position of the assembly object 26. The clamping tool 10 is used to accurately contact the non-functional surface of the assembly object 26, automatically correct the position of the assembly object 26 on the positioning base 9, and realize positioning clamping.

[0035] In one embodiment, the lower cylinder 18 is used to drive the lifting back plate 17 to move up and down on the frame 1. The lifting back plate 17 installs the entire clamping tool 10 on the frame 1. The lower cylinder 18 is connected to the lifting back plate 17 and is used to lift the lifting back plate 17. The lowered position can make the clamping tool 10 at the level of the assembly, and the raised position can make the clamping tool 10 higher than the height of the assembly object 26, so as to realize the feeding or unloading of the assembly object 26.

[0036] In one embodiment, a lower slide rail 19 is further provided on the column of the base platform 8, and the lower cylinder 18 is used to drive the lifting back plate 17 to move up and down along the lower slide rail 19. The lower slide rail 19 is installed on the frame 1, so that the lifting back plate 17 can move up and down smoothly in the longitudinal direction.

[0037] In one embodiment, the laser projector is fixed on one side of the base platform 8 by a cantilever 22, and the laser projector is also provided with an explosion-proof housing 21, and a calibration plate 23 is installed on the other side of the base platform 8 by a foldable bracket 24, and the foldable bracket 24 is assembled on the base platform 8 by a fixing seat 25. The laser projector uses a high-precision laser projector 20, and the high-precision laser projector 20 is used to provide a photoelectric indication to indicate the tightening start position and the tightening completion position. The explosion-proof housing 21 is used to protect the high-precision laser projector 20 from being exposed to an explosion-proof working environment; the cantilever 22 is fixed on the base platform 8, and is used to fix the high-precision laser projector 20; the calibration plate 23 is used for auxiliary calibration of the optical path of the high-precision laser projector 20; the foldable bracket 24 is used to support the calibration plate 23; the fixing seat 25 is used to fix the foldable bracket 24.

[0038] The flexible self-adaptive tightening device with optical indication of the present invention has a vertical support explosion-proof frame 1 which is the base of the threaded tightening device and is used to support and install the entire system. The frame 1 is made of steel and then finely processed after welding.

[0039] The positioning clamping mechanism is a tightening execution unit, providing tightening motion and torque control. The explosion-proof housing 21 is designed to perform explosion-proof treatment on the tightening machine to meet the explosion-proof requirements of the system. The tightening machine uses a German Bosch Rexroth electric tightening machine with a tightening torque of 30-100Nm (adjustable) and a tightening accuracy better than ±5%.

[0040] The tightening tool 7 is designed according to the tightening interface of the assembly object, and a pneumatic shock absorber structure with a spring is used to pre-tighten the assembly object 26. The tightening machine 5 drives the tightening tool 7 to tighten the upper and lower parts of the assembly object 26. The explosion-proof electric cylinder 3 drives the tightening mechanism to descend and contact the assembly object 26. At this time, the pneumatic shock absorber 6 is in a compressed state to achieve pre-tightening. The small clamping force will not affect the structure and surface of the assembly object 26. The tightening machine 5 drives the tightening tool 7 to slide into the groove and tighten according to the set torque, effectively ensuring the tightening consistency.

[0041] The pneumatically driven positioning and clamping mechanism is composed of a bottom positioning device, a clamping device, and a clamping device driving device. The bottom positioning device is placed on the base platform 8 based on the positioning base 9, and the positioning base 9 is drilled with four centrally symmetrical holes, such as Figure 5 As shown in , clearance fit is used between the bottom positioning pin of the assembly object 26 for pre-positioning to prevent the assembly object 26 from axial rotation.

[0042] The positioning clamping mechanism is composed of a cylinder drive, a mechanism driven by gears and racks on both sides, and other components. The clamping force can overcome the friction torque, and the contact part between the clamping arm and the elastic body is padded with a non-metallic cushion. The clamping cylinder 14 is used to provide rotational power, and the gear and rack transmission mechanism on both sides is used to transmit torque. The gear converts the rotational motion into linear motion in the clamping direction through the double racks, thereby driving the clamping tool 10 to clamp the assembly object 26. The positioning clamping mechanism can achieve precise positioning, and has sufficient clamping stroke and reliable self-locking. The assembly object 26 should not produce clamping deformation, relative rotation, deflection and vibration when clamping. The fixture is easy to replace. The contact surface between the fixture and the assembly object 26 is made of soft material to prevent scratches on the outer surface of the product. The assembly object 26 is a cylindrical structure, and the clamping position can be adjusted at any time according to the diameter and height of the assembly object 26, generally in the middle of the assembly object 26.

[0043] The clamping cylinder 14 controls its position accuracy through an explosion-proof position detection switch; when the assembly object 26 enters the assembly station, it is clamped into the positioning base 9 for pre-positioning. When the clamping cylinder 14 acts, the rack transmission pair of the rear gear 16 connected to the clamping cylinder 14 drives the rack transmission pair of the front gear 13 to move horizontally in opposite directions, thereby realizing the precise positioning of the assembly object 26.

[0044] The high-precision indication and positioning system is an important means for indicating the tightening start position and tightening completion position of different models of products, including a high-precision laser projector 20 (with an integrated visual camera) and a matching calibration plate 23. The high-precision indication and positioning system is installed in the explosion-proof housing 21 according to the on-site explosion-proof environment. The high-precision laser projector projects a laser positioning mark (starting point) to indicate that the explosion-proof electric cylinder 3 drives the flexible tightening mechanism to descend to the specified position. The high-precision laser projector 20 has an integrated visual camera for monitoring and taking pictures. When the laser positioning mark is blocked by the flexible tightening mechanism, a judgment instruction is issued. The positioning system issues a tightening instruction to the flexible tightening mechanism and selects a suitable torque output. Subsequently, the high-precision laser projector 20 projects a laser positioning mark (end point) at the end position. As the flexible tightening mechanism gradually moves down to the tightening completion position indicated by the light spot at the end point, the visual camera detects that the mark is not blocked, and the system issues a stop command to complete the tightening. The calibration plate 23 is used for the optical path calibration of the laser projector to ensure the accurate position of the projected mark.

[0045] It should be noted that it is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any figure mark in the claims should not be regarded as limiting the claims involved.

[0046] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A flexible adaptive tightening device with optical indication, characterized in that: include: A flexible tightening mechanism, the flexible tightening mechanism comprising a frame, an upper slide, a pneumatic shock absorber and a tightening tool, the upper slide is vertically slidably arranged in the upper slide rail of the frame, a tightening machine and a tightening tool are mounted on the upper slide, the tightening machine is used to provide rotational power for the tightening tool, and the pneumatic shock absorber is arranged between the tightening machine and the tightening tool; the tightening tool is combined with the keyway of the assembly object to tighten the upper part of the assembly object; A positioning and clamping mechanism, the positioning and clamping mechanism comprises a base platform, a positioning base and a clamping tool, the frame is installed on one side of the top of the base platform, the clamping tool is also slidably mounted on the bottom of the flexible tightening mechanism on the frame, and the clamping tool is used for circumferential clamping of the assembly object; the positioning base is installed on the top surface of the base platform, and the bottom of the assembly object is assembled at the clamping station on the positioning base; A high-precision indicating and positioning system, the high-precision indicating and positioning system includes a laser projector and a calibration plate. The laser projector is arranged on one side of the base platform, the laser projector is used to provide photoelectric indications of the tightening starting position and the tightening completion position, and the calibration plate arranged on the other side of the base platform is used to assist in calibrating the optical path of the laser projector.

2. The flexible adaptive tightening device with optical indication according to claim 1, characterized in that: The explosion-proof electric cylinder drives the upper slide table to move up and down along the upper slide rail.

3. The flexible adaptive tightening device with optical indication according to claim 1, characterized in that: The clamping tooling comprises a lifting back plate, a clamping arm, a clamping slide rail, a front rack, a front gear, a rear rack, a rear gear and a clamping cylinder. The lifting back plate is slidably assembled on the frame body, and two horizontal clamping slide rails are assembled on the front of the lifting back plate, and the two horizontal clamping slide rails are arranged correspondingly up and down. Two sliding plates are slidably assembled between the two horizontal clamping slide rails, and the clamping arms are respectively installed on the two sliding plates, and the two clamping arms are respectively located on both sides of the outer periphery of the assembly object; a key shaft is rotatably assembled on the lifting back plate, and the key shaft end located on the front side of the lifting back plate is equipped with a front gear, and the front racks are fixed on the two sliding plates, and the two front racks are respectively meshed with the upper and lower sides of the front gear; the key shaft end located on the back side of the lifting back plate is equipped with a rear gear, and a vertical clamping slide rail is assembled on the back of the lifting back plate, and a sliding seat equipped with a rear rack is slidably assembled on the vertical clamping slide rail, and the clamping cylinder assembled on the lifting back plate is used to drive the sliding seat to move up and down.

4. The flexible adaptive tightening device with optical indication according to claim 3, characterized in that: The positioning and clamping mechanism also includes a lower cylinder, which is used to drive the lifting back plate to move up and down on the frame.

5. The flexible adaptive tightening device with optical indication according to claim 4, characterized in that: The frame is also provided with a lower sliding rail, and the lower cylinder is used to drive the lifting back plate to move up and down along the lower sliding rail.

6. The flexible adaptive tightening device with optical indication according to claim 1, characterized in that: The laser projector is fixed on one side of the base platform through a cantilever, and the laser projector is also provided with an explosion-proof casing.

7. The flexible adaptive tightening device with optical indication according to claim 1, characterized in that: The calibration plate is installed on the other side of the base platform through a foldable bracket, and the foldable bracket is assembled on the base platform through a fixing seat.

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