Man-machine cooperation assembly system for multi-model folding rudder wings

Abstract

The invention relates to a man-machine cooperation assembly system for multi-model folding rudder wings, and belongs to the field of intelligent manufacturing. The device comprises a collaborative robot (1), an electric profiling gripper (2), an infrared monitoring system (3), a spring placing tool (4), an assembly main platform (5), a logic control system and an upper computer. An electric profiling gripper (6) is arranged on the collaborative robot (1), two spring placing tools (4) are symmetrically arranged on an assembling plane in front of the collaborative robot (1), and infrared detection systems (3) are arranged at the four corners of the assembling plane respectively and used for fixing a certain part of a rudder wing assembly through the profiling gripper tools. And meanwhile, the spring is fixed through the spring containing tool, finally, the assembling process is completed through the space action of the robot, and the product assembling quality and assembling efficiency are improved in combination with the flexibility of manual operation and the high reliability of machine operation.

Description

Technical Field

[0001] The invention belongs to the field of intelligent manufacturing, and in particular relates to a human-machine collaborative assembly system for multiple types of folding rudder wings. Background Art

[0002] Guided rockets use rudder and wing assemblies to correct the rocket's attitude, adjust the relative position, and improve the accuracy of the hit. The layout of the rudder and wing assembly has a great influence on the aerodynamic characteristics and correction ability of the missile body. Its windward force surface directly affects the drag, lift, and torque of the canard rudder. Therefore, the assembly quality of the rudder and wing assembly is an important factor in ensuring the combat performance of guided rockets.

[0003] With the development trend of intelligent manufacturing, the production process of products is becoming more and more flexible. Human-robot collaboration with high flexibility and automation has become a research hotspot in the manufacturing industry. In product assembly, assembly with high flexibility requirements and complex operations still needs to be completed by humans, while robots have the advantages of good operation repeatability, high load and high accuracy. In a time and / or space sharing environment, robots are used to assist workers in assembly, reduce ergonomic pressure and worker workload, and achieve complementary advantages. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] The technical problem to be solved by the present invention is how to provide a human-machine collaborative assembly system for multiple models of folding rudder wings, so as to solve the problem that the assembly of existing rudder wing components still needs to be completed manually and has low accuracy and efficiency.

[0006] (II) Technical solution

[0007] In order to solve the above technical problems, the present invention proposes a human-machine collaborative assembly system for multiple models of folding rudder wings, comprising: a collaborative robot 1, an electric contour gripper 2, an infrared monitoring system 3, a spring placement tool 4, an assembly main platform 5, a logic control system, and a host computer;

[0008] An assembly plane is provided on the upper surface of the assembly main platform 5, on which a collaborative robot 1 is arranged, the collaborative robot 1 is connected to a logic control system via a data link, the input end of the logic control system is connected to a host computer, an electric contour-profiling gripper 6 is arranged on the collaborative robot 1, two spring placement fixtures 4 are symmetrically arranged on the assembly plane in front of the collaborative robot 1, and an infrared detection system 3 is respectively arranged at the four corners of the assembly plane;

[0009] When assembling the folding rudder wing, the rudder wing assembly is fixed by the electric contour gripper 2, and the product spring is fixed by the spring placement tool 4. The host computer generates logic control instructions according to the assembly process and transmits them to the logic control system. The logic control system controls the collaborative robot 1 to perform spatial movements to complete the assembly process according to the logic control instructions transmitted by the host computer. During the assembly process, the infrared detection system 3 is used to judge the manual collaborative work and upload the status to the logic control system. The collaborative robot 1 reports its own working status to the logic control system in real time, and the logic control system makes a process rationalization judgment and transmits the collected data to the host computer.

[0010] The electric contour gripper 2 includes: a mechanical joint mounting flange 6, a contour support table 7, a contour positioning pin 8, a zero point device 9, a clamping tool 10, and a driving motor 11;

[0011] The mechanical joint mounting flange 6 is fixed on the end joint of the collaborative robot 1, and a contoured support table 7 is provided below the mechanical joint mounting flange 6, and a contoured positioning pin 8 and an electric roller are provided below the contoured support table 7, and a clamping tool 10 is provided on the electric roller.

[0012] The folding rudder wing component includes: a slider 13, a spring 14, a stopper 15, and a spring core shaft 16;

[0013] Under the condition of no external force, the spring 14 is in an uncompressed state, the overall length of the component is longer than the width of the rudder blade 12, and the component exceeds the installation range;

[0014] The rudder blade 12 is placed on the contoured support table 7, and the folding rudder wing is radially fixed by the contoured positioning pin 8. At the same time, the clamping tool 10 moves forward under the movement of the driving motor 11, and the end surface of the contoured support table 7 is cooperated to compress the spring and complete the axial fixation of the folding rudder wing. At this time, the slider 13, spring 14, stop block 15, spring core shaft 16 and other components reach the assembly position in the folding rudder wing.

[0015] The spring placement tool 4 includes: a spring positioning pin 17, a product spring 18, and a contoured main body base 19;

[0016] The profiling main body base 19 is fixed on the assembly plane, and an inclined plane is provided above the profiling main body base 19, and a groove is provided inwardly on the inclined plane. Two through holes are provided at the end of the inclined plane, and spring positioning pins 17 are passed through the through holes, and the end of the spring positioning pin 17 abuts against the side edge of the groove;

[0017] The product spring 18 is fixed to a hook section on the spring positioning pin 17, and the folding rudder wing is inserted into the product spring 18 according to the spring groove of the stopper 15 to complete the fixed posture assembly of the rudder wing.

[0018] Among them, the host computer is used to accept the instruction feedback uploaded by the logic control system, carry out subsequent planning through the process flow and give the logic control system subsequent work instructions, and at the same time integrate the tables and upload them to the information system according to the assembly process and the actual process data collected, and enter the information of each component and check the product size parameters.

[0019] The logic control system is used to receive external signals and communicate with the collaborative robot 1 to execute the corresponding process. At the same time, the logic control system makes a rational judgment on the current process and reports it to the host computer.

[0020] The electric contour gripper 2 is used for terminal execution during the entire process of placing and assembling the rudder wing parts, and cooperates with the collaborative robot 1 to complete the entire process action.

[0021] (III) Beneficial effects

[0022] The present invention proposes a human-machine collaborative assembly system for multiple models of folding rudder wings, which can perform fine adjustment of tooling according to different models of products and has a certain degree of flexibility;

[0023] This invention is the first to introduce a human-machine collaborative assembly mode in this field, combining the flexibility of manual operation with the high reliability of machine operation to improve product assembly quality and assembly efficiency;

[0024] The digital system of the present invention can collect and analyze data in real time, and automatically generate a process record sheet to achieve full automation and paperless operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 An axonometric view of the assembly system of the present invention;

[0026] Figure 2 It is a schematic diagram of an electric contour gripper;

[0027] Figure 3 It is a schematic diagram of the rudder wing spring component;

[0028] Figure 4 Schematic diagram of spring placement tooling. DETAILED DESCRIPTION

[0029] In order to make the purpose, content and advantages of the present invention more clear, the specific implementation methods of the present invention are further described in detail below in conjunction with the drawings and examples.

[0030] This embodiment provides a human-machine collaborative assembly system for multiple models of folding rudder wings, including: a collaborative robot 1, an electric contour gripper 2, an infrared monitoring system 3, a spring placement tool 4, an assembly main platform 5, a logic control system, and a host computer;

[0031] An assembly plane is provided on the upper surface of the assembly main platform 5, on which a collaborative robot 1 is arranged, the collaborative robot 1 is connected to a logic control system via a data link, the input end of the logic control system is connected to a host computer, an electric contour-profiling gripper 6 is arranged on the collaborative robot 1, two spring placement fixtures 4 are symmetrically arranged on the assembly plane in front of the collaborative robot 1, and an infrared detection system 3 is respectively arranged at the four corners of the assembly plane;

[0032] When assembling the folding rudder wing, the rudder wing assembly is fixed by the electric contour gripper 2, and the product spring is fixed by the spring placement tool 4. The host computer generates logic control instructions according to the assembly process and transmits them to the logic control system. The logic control system controls the collaborative robot 1 to perform spatial movements to complete the assembly process according to the logic control instructions transmitted by the host computer. During the assembly process, the infrared detection system 3 is used to judge the manual collaborative work and upload the status to the logic control system. The collaborative robot 1 reports its own working status to the logic control system in real time, and the logic control system makes a process rationalization judgment and transmits the collected data to the host computer.

[0033] The electric contour gripper 2 includes: a mechanical joint mounting flange 6, a contour support table 7, a contour positioning pin 8, a zero point device 9, a clamping tool 10, and a driving motor 11;

[0034] The mechanical joint mounting flange 6 is fixed on the end joint of the collaborative robot 1, and a contoured support table 7 is provided below the mechanical joint mounting flange 6, and a contoured positioning pin 8 and an electric roller are provided below the contoured support table 7, and a clamping tool 10 is provided on the electric roller.

[0035] The folding rudder wing component includes: a slider 13, a spring 14, a stopper 15, and a spring core shaft 16;

[0036] Under the condition of no external force, the spring 14 is in an uncompressed state, the overall length of the component is longer than the width of the rudder blade 12, and the component exceeds the installation range;

[0037] The rudder blade is placed on the contoured support table 7. Since the slider, spring, pin and other components of the folding rudder wing need to be installed in the holes of the folding rudder wing during the assembly process, but under the condition of no external force, the spring is not compressed, which will cause the components to exceed the installation range. Therefore, during use, the folding rudder wing is radially fixed by the contoured positioning pin 8. At the same time, the clamping tool 10 moves forward under the movement of the driving motor 11, and cooperates with the end face of the contoured support table 7 to compress the spring and complete the axial fixation of the folding rudder wing. At this time, the slider, spring, pin and other components reach the assembly position in the folding rudder wing.

[0038] The spring placement tool 4 includes: a spring positioning pin 17, a product spring 18, and a contoured main body base 19;

[0039] The profiling main body base 19 is fixed on the assembly plane, and an inclined plane is provided above the profiling main body base 19, and a groove is provided inwardly on the inclined plane. Two through holes are provided at the end of the inclined plane, and spring positioning pins 17 are passed through the through holes, and the end of the spring positioning pin 17 abuts against the side edge of the groove;

[0040] During use, the product spring 18 is fixed at a bent hook on the spring locating pin 17. Since the contoured main body base 19 is designed to contour the outer edge of the spring, its curvature is the same as that of the spring. The spring locating pin 17 can be used to fix the product spring 18 on the spring placement tooling 4 in the same posture each time the product spring 18 is placed. At this time, the folding rudder wing with the assembled spring component is aligned with the product spring 18 according to the spring groove of the stop block 15 and inserted into it, so that the fixed posture assembly of the rudder wing can be achieved.

[0041] The robot's spatial movement completes the torsion spring rotation and maintains stability. In this state, the operator performs the subsequent manual assembly process. The host computer collects torque, gluing and other parameter information in real time and reports it to the information system. At the same time, it determines whether the process steps are executed based on the robot's movement.

[0042] Among them, the host computer is used to accept the instruction feedback uploaded by the logic control system, carry out subsequent planning through the process flow and give the logic control system subsequent work instructions, and at the same time integrate the tables and upload them to the information system according to the assembly process and the actual process data collected, and enter the information of each component and check the product size parameters.

[0043] The logic control system is used to receive external signals and communicate with the collaborative robot 1 to execute the corresponding process. At the same time, the logic control system makes a rational judgment on the current process and reports it to the host computer.

[0044] The electric contour gripper 2 is used for terminal execution during the entire process of placing and assembling the rudder wing parts, and cooperates with the collaborative robot 1 to complete the entire process action.

[0045] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A human-machine collaborative assembly system for multiple types of folding rudder wings, characterized in that: include: Collaborative robot (1), electric contour gripper (2), infrared monitoring system (3), spring placement tool (4), main assembly platform (5), logic control system, host computer; An assembly plane is provided on the upper surface of the main assembly platform (5), a collaborative robot (1) is arranged on the assembly plane, the collaborative robot (1) is connected to a logic control system via a data link, an input end of the logic control system is connected to a host computer, an electric contour-copying gripper (6) is arranged on the collaborative robot (1), two spring placement fixtures (4) are symmetrically arranged on the assembly plane in front of the collaborative robot (1), and an infrared detection system (3) is respectively arranged at the four corners of the assembly plane; When assembling the folding rudder wing parts, the rudder wing parts are fixed by an electric contour gripper (2), and the product spring is fixed by a spring placement tool (4). The host computer generates a logic control instruction according to the assembly process and transmits it to the logic control system. The logic control system controls the collaborative robot (1) to perform spatial movements to complete the assembly process according to the logic control instruction transmitted by the host computer. During the assembly process, the infrared detection system (3) is used to determine the manual collaborative operation, and the status is uploaded to the logic control system. The collaborative robot (1) reports its own working status to the logic control system in real time, and the logic control system performs process rationalization determination and transmits the collected data to the host computer.

2. The human-machine collaborative assembly system for multiple types of folding rudder wings according to claim 1, characterized in that: The electric contour-profiling gripper (2) comprises: a mechanical joint mounting flange (6), a contour-profiling support table (7), a contour-profiling positioning pin (8), a zero-point device (9), a clamping tool (10), and a driving motor (11); The mechanical joint mounting flange (6) is fixed on the end joint of the collaborative robot (1), a contoured support table (7) is provided below the mechanical joint mounting flange (6), a contoured positioning pin (8) and an electric roller are provided below the contoured support table (7), and a clamping tool (10) is provided on the electric roller.

3. The human-machine collaborative assembly system for multiple types of folding rudder wings according to claim 1, characterized in that: The foldable rudder wing component comprises: a slider (13), a spring (14), a stopper (15), and a spring core shaft (16); Under the condition of no external force, the spring (14) is in an uncompressed state, the overall length of the component is longer than the width of the rudder sheet (12), and the component exceeds the installation range; The rudder blade (12) is placed on the contoured support table (7), and the folding rudder wing is radially fixed by the contoured positioning pin (8). At the same time, the clamping tool (10) moves forward under the movement of the driving motor (11), and the end surface of the contoured support table (7) is cooperated to compress the spring and complete the axial fixation of the folding rudder wing. At this time, the slider (13), the spring (14), the stopper (15), and the spring core shaft (16) reach the assembly position in the folding rudder wing.

4. The human-machine collaborative assembly system for multiple types of folding rudder wings according to claim 1, characterized in that: The spring placement tool (4) comprises: a spring positioning pin (17), a product spring (18), and a contoured main body base (19); The profiling main body base (19) is fixed on the assembly plane, an inclined plane is provided above the profiling main body base (19), a groove is provided inwardly on the inclined plane, two through holes are provided at the end of the inclined plane, spring positioning pins (17) are passed through the through holes, and the end of the spring positioning pin (17) abuts against the side edge of the groove; The spring positioning pin (17) is fixed to a bent hook of the product spring (18), and the folding rudder wing is inserted into the product spring (18) according to the spring groove of the stopper (15), thereby completing the fixed posture assembly of the rudder wing.

5. The human-machine collaborative assembly system for multiple types of folding rudder wings as claimed in claim 1, characterized in that: The host computer is used to accept instruction feedback uploaded by the logic control system, perform subsequent planning through the process flow and give subsequent work instructions to the logic control system. At the same time, according to the assembly process and the actual process data collected, the table is integrated and uploaded to the information system, and the information of each component is entered and the product size parameters are checked.

6. The human-machine collaborative assembly system for multiple types of folding rudder wings as claimed in claim 1, characterized in that: The logic control system is used to receive external signals and communicate with the collaborative robot (1) to execute the corresponding process. At the same time, the logic control system makes a rational judgment on the current process and reports it to the host computer.

7. The human-machine collaborative assembly system for multiple types of folding rudder wings as claimed in claim 1, characterized in that: The electric contour-matching gripper (2) is used for terminal execution during the entire process of placing and assembling the rudder wing parts, and cooperates with the collaborative robot (1) to complete the entire process action.

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