A flexible tooling

Abstract

The present invention relates to the field of aircraft assembly technology, and provides a flexible tooling, including a main frame, a cardboard assembly, and an adsorption positioning device; the cardboard assembly includes a plurality of cardboards arranged at intervals, the cardboards are movably installed on the main frame in the horizontal direction, a groove is provided on the side of the cardboard close to the skin or wall panel, and an elastic sealing ring is provided in the groove; the adsorption positioning device includes an air path system connected to a vacuum generator at one end and connected to the groove at the other end. The inner profile of the cardboard of the present invention is provided with a groove and an elastic sealing ring connected to the vacuum generator, and during adsorption, the vacuum generator extracts the gas in the groove, so that the elastic sealing ring is compressed and shrinks into the groove and slowly adsorbs the skin or wall panel, and the skin or wall panel is subjected to more uniform force. After the groove reaches a certain vacuum degree, the elastic sealing ring is completely compressed into the inner profile of the cardboard, and the skin or wall panel is directly positioned by the inner profile of the cardboard, and the skin or wall panel is completely fitted with the inner profile of the cardboard, so that the cardboard positioning is more accurate.

Description

Technical Field

[0001] The invention relates to the technical field of aircraft assembly, and further to a flexible tooling. Background Art

[0002] During the aircraft assembly process, it is necessary to adsorb the skin or wall panel through a pallet assembly. The traditional pallet assembly includes a pallet and a vacuum suction cup. The vacuum suction cup is installed on the side of the pallet through a mounting seat. The vacuum suction cup adsorbs the skin or wall panel to the pallet profile, and the pallet profile positions the skin shape. During the adsorption process of the vacuum suction cup, the adsorption force action line of the vacuum suction cup is at a certain distance from the pallet positioning surface, which will cause uneven force on the skin or wall panel on both sides of the pallet. The skin or wall panel tends to lean to one side of the vacuum suction cup, resulting in a decrease in the positioning accuracy of the pallet assembly. If the vacuum suction cups are arranged symmetrically on both sides of the pallet, it will cause a large cost increase, and the adsorption force on both sides of the pallet will also be asymmetrically affected due to the installation deviation of the vacuum suction cup and the speed of the adsorption action. Summary of the invention

[0003] In view of the above technical problems, the purpose of the present invention is to provide a flexible tooling, wherein an elastic sealing ring surrounding the outer edge of the cardboard is provided on one side of the cardboard close to the skin or the wall panel, and an adsorption wall connected to the vacuum generator is provided between the elastic sealing rings, and the second end of the air path system is suitable for connecting to the adsorption wall. During adsorption, the vacuum generator extracts the gas between the elastic sealing rings, so that the elastic sealing rings are compressed and shrink into the groove and the adsorption wall slowly adsorbs the skin or the wall panel. The adsorption wall of the cardboard directly adsorbs and positions the skin or the wall panel, and the skin or the wall panel is completely fitted with the adsorption wall of the cardboard without the influence of eccentric force, so that the positioning of the cardboard is more accurate; the connecting groove connects the second ends of several of the air path systems, so that the second ends of the air path systems are connected to each other, thereby improving the uniformity of the air pressure of the adsorption wall, so that the adsorption wall can adsorb the skin or the wall panel more evenly.

[0004] In order to achieve the above-mentioned object, the present invention provides a flexible tooling, wherein the cardboard assembly comprises a plurality of cardboards arranged at intervals, a groove is provided on one side of the cardboard close to the skin or the wallboard, the groove surrounds the outer edge of the cardboard, an elastic sealing ring is provided in the groove, the elastic sealing ring at least partially protrudes from the groove, the cardboard is provided with an adsorption wall between the portion where the elastic sealing ring protrudes from the groove, and the adsorption wall is further provided with a plurality of connecting grooves;

[0005] The adsorption positioning device includes a plurality of air path systems arranged inside the cardboard, the air path systems include a first end and a second end, the first end is suitable for connecting to a vacuum generator, the second end is suitable for connecting to the adsorption wall, the connecting groove is suitable for connecting to the second ends of the plurality of air path systems, the vacuum generator draws air near the adsorption wall through the air path system, thereby enabling the cardboard to adsorb the skin or wall panel and shrink the elastic sealing ring into the groove.

[0006] In some embodiments, the second ends of the plurality of gas circuit systems are spaced apart along the arc direction of the card board;

[0007] The connecting groove comprises a first groove and a second groove, wherein the first groove is suitable for extending along the width direction of the card board, and the second groove is suitable for extending along the curvature direction of the card board and connecting a plurality of the second ends.

[0008] In some embodiments, the clamping plate is further provided with the abutment wall on the outer side of the elastic sealing ring beyond the groove, and the abutment wall is suitable for abutting against the skin or the wall panel.

[0009] In some embodiments, a preset height difference is provided between the adsorption wall and the abutment wall, so that the adsorption wall is lower than the abutment wall. After the adsorption of the card plate is completed, the elastic sealing ring is completely retracted into the groove, and the abutment wall is suitable for abutting against the skin or wall panel, and an adsorption cavity is left between the adsorption wall and the skin or wall panel.

[0010] In some embodiments, a connecting cavity is further provided inside the card plate, wherein the connecting cavity connects a plurality of the gas path systems and is relatively located between the first end and the second end.

[0011] In some embodiments, a main frame is further included, wherein the main frame has a horizontal direction and a vertical direction; the card plate is movably mounted on the main frame along the horizontal direction.

[0012] In some embodiments, the card plate assembly also includes a moving assembly, which includes a slide rail, a slider, a bevel gear, a rack and a moving drive member, the slider and the moving drive member are installed on the card plate, the bevel gear is connected to the output end of the moving drive member, the slide rail and the rack are installed on the main frame, and the moving drive member is suitable for driving the bevel gear to rotate on the rack to drive the slider to move on the slide rail.

[0013] In some embodiments, the movable assembly also includes a limit assembly, which is arranged on the top of the card board. The limit assembly includes a movable limit driving component, a movable limit block and a movable limit pin. The movable limit driving component is suitable for driving the movable limit pin to insert into or move away from the movable limit block to achieve precise positioning of the card board assembly after the position is converted.

[0014] In some embodiments, the cardboard assembly also includes a rotating assembly, which includes a rotating drive, a rotating limit drive, a rotating limit block and a rotating limit pin, wherein the rotating limit block and the rotating limit pin are arranged at the bottom of the cardboard, the rotating limit drive is suitable for driving the rotating limit pin to insert into or move away from the rotating limit block, and the rotating drive is suitable for driving the bottom of the cardboard to rotate toward the side away from the skin or the wall panel.

[0015] In some embodiments, a driving support assembly is also included, which includes a moving wheel group, a support, a lifting foot device, a ground embedded limit seat and a navigation module. The moving wheel group is installed at the bottom of the main frame through the support. The lifting foot device is suitable for connecting the ground embedded limit seat and the main frame and for lifting the main frame. The navigation module is suitable for determining the moving direction and distance of the driving support assembly.

[0016] Compared with the prior art, the flexible tooling provided by the present invention has at least one of the following beneficial effects:

[0017] 1. An elastic sealing ring surrounding the outer edge of the cardboard is provided on one side of the cardboard close to the skin or wall panel, and an adsorption wall connected to the vacuum generator is provided between the elastic sealing rings. The second end of the air path system is suitable for connecting to the adsorption wall. During adsorption, the vacuum generator extracts the gas between the elastic sealing rings, so that the elastic sealing rings are compressed and shrink into the groove and the adsorption wall slowly adsorbs the skin or wall panel. The adsorption wall of the cardboard directly adsorbs and positions the skin or wall panel, and the skin or wall panel is completely fitted with the adsorption wall of the cardboard without the influence of eccentric force, so that the positioning of the cardboard is more accurate; the connecting groove connects the second ends of several of the air path systems, so that the second ends of the air path systems are connected to each other, thereby improving the uniformity of the air pressure of the adsorption wall, so that the adsorption wall can adsorb the skin or wall panel more evenly.

[0018] 2. The second ends are arranged in sequence along the arc direction of the pallet, and the connecting groove is connected to the external vacuum generator through multiple second ends. During adsorption, the connecting groove simultaneously draws air outward through multiple second ends, and the air pressure in the connecting groove is more uniform. The adsorption force of the connecting groove on the skin or wall panel is more uniform, the skin or wall panel is not easy to deviate to the side, the positioning accuracy is higher, and the time required for adsorption is shorter.

[0019] 3. The mobile driving member is suitable for driving the helical gear to move on the rack, so that the slider of the pallet slides on the slide rail of the main frame, so as to provide a guide for the movement of the pallet assembly and make its horizontal movement more accurate.

[0020] 4. After the card plate releases the skin or wall panel, the rotation limit driving part drives the rotation limit pin away from the rotation limit block, and the rotation driving part drives the bottom of the card plate to rotate toward the side away from the skin or wall panel, so that the card plate is away from the skin or wall panel to prevent the surface of the skin or wall panel from being scratched during movement.

[0021] 5. The two groups of handling robots move in coordination and carry the skin or wall panels to the target position to complete the shelving operation. The skin or wall panels are subjected to more uniform force, and the entire operation process is stable and reliable, effectively avoiding collisions between the skin or wall panels and the main frame.

[0022] 6. The flexible tooling is driven by a mobile wheel group and guided by a navigation module to realize automatic movement between two stations. After reaching the target station, the lifting and supporting legs at the four corners of the bottom of the main frame are extended and inserted into the pre-embedded limit seats on the ground to realize high-precision repeated positioning between the flexible tooling stations. This method can replace fixed assembly tooling at multiple stations, which plays a positive role in saving production line construction costs and pulsating production. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The preferred implementation modes will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of the present invention.

[0024] Figure 1 It is the overall picture of the flexible tooling;

[0025] Figure 2 It is an overall picture of the flexible tooling from another perspective;

[0026] Figure 3 It is the overall picture of the pallet assembly;

[0027] Figure 4 It is a structural diagram of the adsorption positioning device;

[0028] Figure 5 This is a detailed view of the groove;

[0029] Figure 6 It is a structural diagram of the mobile component;

[0030] Figure 7 It is a structural diagram of the rotating assembly;

[0031] Figure 8 It is a structural diagram of the rotating component from another perspective;

[0032] Fig. 9 It is the structural diagram of the main frame;

[0033] Fig.10 It is a structural diagram of the automated racking device;

[0034] Fig.11 It is a structural diagram of the drive support assembly;

[0035] Fig.12 This is the structural diagram before the card board is adsorbed;

[0036] Fig.13 This is the structural diagram after the card board is adsorbed;

[0037] Fig.14 It is the preset drop diagram of the adsorption wall and the abutment wall;

[0038] Fig.15 It is a structural diagram of the connecting groove.

[0039] Description of Figure Numbers:

[0040] Main frame 1, horizontal direction 100, vertical direction 101, frame assembly 11, support and positioning assembly 12, side auxiliary support assembly 13, circuit system 14, bottom auxiliary support assembly 15,

[0041] Card assembly 2, card 21, groove 211, elastic sealing ring 212, adsorption chamber 2121, adsorption wall 2122, abutting wall 2123, connecting groove 213, first groove 2131, second groove 2132, preset drop 214,

[0042] Clamp assembly 22, moving assembly 23, slide rail 231, slider 232, bevel gear 233, rack 234, moving drive 235, limiting assembly 24, moving limit drive 241, moving limit block 242, rotating assembly 25, rotating drive 251, rotating limit drive 252, rotating limit block 253,

[0043] Adsorption positioning device 3, gas path system 31, first end 311, second end 312, vacuum generator 32,

[0044] Automated racking device 4, handling robot 41, hanger 42, vacuum adsorption device 43,

[0045] Driving support assembly 5, moving wheel set 51, support 52, lifting foot support device 53, ground embedded limit seat 54, navigation module 55. DETAILED DESCRIPTION

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0047] In order to simplify the drawings, only the parts related to the invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0048] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0049] In this document, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance. It should be noted that the above embodiments can be freely combined as needed. The above are only preferred implementations 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 principles of the present invention, and these improvements and modifications should also be regarded as the scope of protection of the present invention.

[0051] refer to Figures 1 to 5 and Fig.15The present invention provides a flexible tooling, including a main frame 1, a cardboard assembly 2 and an adsorption positioning device, wherein the main frame 1 has a horizontal direction 100 and a vertical direction 101; the cardboard assembly 2 includes a plurality of cardboards 21 arranged at intervals, a groove 211 is provided on a side of the cardboard 21 close to the skin or the wallboard, the groove 211 surrounds the outer edge of the cardboard 21, an elastic sealing ring 212 is provided in the groove 211, and the elastic sealing ring 212 at least partially protrudes from the groove 211, and the cardboard 21 is provided with an adsorption wall 2122 between the part of the elastic sealing ring 212 protruding from the groove 211, and the adsorption wall 212 2 is also provided with a plurality of connecting grooves 213; the adsorption positioning device 3 includes a plurality of gas circuit systems 31 arranged inside the card plate 21, the gas circuit system 31 includes a first end 311 and a second end 312, the first end 311 is suitable for connecting with the vacuum generator 32, the second end 312 is suitable for connecting with the adsorption wall 2122, the connecting groove 213 is suitable for connecting with the second ends 312 of the plurality of gas circuit systems 31, the vacuum generator 32 extracts the air near the adsorption wall 2122 through the gas circuit system 31, so that the card plate 21 adsorbs the skin or wall panel and shrinks the elastic sealing ring 212 into the groove 211.

[0052] In this embodiment, an elastic sealing ring 212 surrounding the outer edge of the cardboard 21 is provided on one side of the cardboard 21 close to the skin or wall panel, and an adsorption wall 2122 connected to the vacuum generator 32 is provided between the elastic sealing rings 212. The second end 312 of the gas path system 31 is suitable for connecting to the adsorption wall 2122. During adsorption, the vacuum generator 32 extracts the gas between the elastic sealing rings 212, so that the elastic sealing ring 212 is compressed and shrinks into the groove 211 and the adsorption wall 2122 slowly adsorbs the skin or wall panel. The adsorption wall 2122 of the cardboard 21 directly adsorbs and positions the skin or wall panel, and the skin or wall panel is completely fitted with the adsorption wall 2122 of the cardboard 21 without the influence of eccentric force, so that the positioning of the cardboard 21 is more accurate; the connecting groove 213 connects the second ends 312 of several gas path systems 31, so that the second ends 312 of several gas path systems 31 are connected to each other, thereby improving the uniformity of the air pressure of the adsorption wall 2122, so that the adsorption wall 2122 can adsorb the skin or wall panel more evenly.

[0053] Specifically, the main frame 1 is suitable for being set on the ground through the driving support assembly 5, the horizontal direction 100 is the lateral direction of the main frame 1, and the vertical direction 101 is the longitudinal direction of the main frame 1. A plurality of clips 21 are arranged in sequence along the horizontal direction 100 and the clips 21 can move horizontally on the main frame. A groove 211 is provided on the side of the clip 21 close to the skin or the wall panel, and the groove 211 is recessed toward the side of the clip 21 away from the skin or the wall panel, and the groove 211 is an integral part and is provided on the inner surface of the clip 21, and an elastic sealing ring 212 is provided in the groove 211, refer to Fig.12The elastic sealing ring 212 is arranged around the opening of the groove 211, and the elastic sealing ring 212 at least partially exceeds the groove 211. The cardboard 21 is provided with an adsorption wall 2122 between the part of the elastic sealing ring 212 that exceeds the groove 211. The air circuit system 31 is arranged inside the cardboard 21, and the air circuit system 31 includes a first end 311 and a second end 312. The first end 311 is suitable for connecting to the vacuum generator 32, and the second end 312 is suitable for connecting to the adsorption wall 2122. The vacuum generator 32 extracts the air between the adsorption wall 2122 and the skin or wall panel through the air circuit system 31, so that the skin or wall panel is adsorbed to one side of the cardboard 21 and squeezes the elastic sealing ring 212 into the groove 211. When the air path system 31 extracts air near the adsorption wall 2122, the inner surfaces of the skin or wall panel and the cardboard 21 approach each other, the elastic sealing ring 212 is compressed and shrinks into the groove 211, and the adsorption wall 2122 slowly adsorbs the skin or wall panel, and the skin or wall panel is more evenly stressed until a certain vacuum degree is reached near the adsorption wall 2122, and the elastic sealing ring 212 is completely compressed to the inner surface of the cardboard 21, and the side of the cardboard 21 close to the skin or wall panel is in contact with the skin or wall panel, that is, the inner surface of the cardboard 21 directly positions the skin or wall panel, and realizes the sealing and maintaining suction and positioning function. At this time, the skin or wall panel is completely in contact with the inner surface of the cardboard 21, and there is no influence of eccentric force, so that the positioning of the cardboard 21 is more accurate. This application uses the cardboard 21 directly as an adsorption component, which is lower in cost and has a better adsorption effect on the skin or wall panel. It is worth noting that if the skin or the wall panel needs to be adsorbed on the outer surface of the clamping plate 21 , the groove 211 and the elastic sealing ring 212 can also be set on the outer surface of the clamping plate 21 .

[0054] refer to Fig.15 A plurality of connecting grooves 213 are also provided on the adsorption wall 2122 , and the connecting grooves 213 are suitable for connecting the second ends 312 of the plurality of gas path systems 31 , so that the plurality of gas path systems 31 are connected to each other.

[0055] In this embodiment, the connecting groove 213 connects the second ends 312 of several gas circuit systems 31, so that the second ends 312 of the gas circuit systems 31 are interconnected, thereby improving the uniformity of the air pressure of the adsorption wall 2122, so that the adsorption wall 2122 can adsorb the skin or wall panel more evenly.

[0056] Specifically, the connecting groove 213 is similar to the groove 211, and both are recessed toward the side away from the skin or wall panel. The connecting groove 213 can connect the second ends 312 of the plurality of gas path systems 31, so that the air pressure at each position in the adsorption wall 2122 can change evenly, and the adsorption force of the skin or wall panel is more uniform. Moreover, the connecting groove 213 further increases the contact area between the second end 312 and the skin or wall panel, so that the second end 312 can better adsorb the skin and wall panel, and the air pressure at each position in the arc direction of the card plate 21 is more uniform. The adsorption wall 2122 is connected to the external vacuum generator 32 through multiple second ends 312 of the air path system 31. During adsorption, the adsorption wall 2122 simultaneously draws air outward through multiple second ends 312. The air pressure change in the adsorption wall 2122 is more coordinated, the air pressure in the adsorption wall 2122 is more uniform, and the adsorption force of the adsorption wall 2122 on the skin or wall panel is also more uniform. The skin or wall panel is not prone to lateral deviation, the positioning accuracy is higher, the time required for adsorption is shorter, and the adsorption difficulty is low.

[0057] Preferably, the second ends 312 of the plurality of gas path systems 31 are arranged at intervals along the arc direction of the cardboard 21; the connecting groove 213 includes a first groove 2131 and a second groove 2132, the first groove 2131 is suitable for extending along the width direction of the cardboard 21, and the second groove 2132 is suitable for extending along the arc direction of the cardboard 21 and connecting the plurality of second ends 312. In this embodiment, the first groove 2131 extends along the width direction of the cardboard 21, increasing the adsorption force in the width direction of the cardboard 21, so that the skin or wall panel is subjected to more uniform force in the width direction of the cardboard 21. The second groove 2132 is suitable for extending along the arc direction of the cardboard 21 and connecting the plurality of second ends 312, so that the plurality of gas path systems 31 are connected to each other, and all the gas path systems 31 can be controlled by one vacuum generator 32, and the air pressure in the gas path system 31 is more uniform. Moreover, the second groove 2132 can also increase the adsorption force in the arc direction of the cardboard 21, so that the skin or wall panel is subjected to more uniform force in the arc direction of the cardboard 21. It is worth noting that the connecting groove 213 of the present application ensures that there is sufficient contact area between the adsorption wall 2122 and the skin or wall panel, and ensures that the air pressure of the second end 312 is uniform, achieving a balance between uniform adsorption and close contact. The second ends 312 are arranged in sequence along the arc direction of the card plate 21. The connecting groove 213 is connected to the external vacuum generator through multiple second ends 312. During adsorption, the connecting groove 213 simultaneously draws air outward through multiple second ends 312, and the air pressure in the connecting groove 213 is more uniform. The adsorption force of the connecting groove 213 on the skin or wall panel is more uniform, the skin or wall panel is not easy to deviate, the positioning accuracy is higher, and the time required for adsorption is shorter.

[0058] In a modified embodiment, a connecting cavity is further provided inside the card plate 21 , the connecting cavity is connected to a plurality of gas path systems 31 and is relatively located between the first end 311 and the second end 312 . Alternatively, the connecting cavity is located at the first end 311 .

[0059] Further, refer to Fig.12 and Fig.13 The card plate 21 is also provided with an abutting wall 2123 outside the part where the elastic sealing ring 212 exceeds the groove 211, and the abutting wall 2123 is suitable for abutting against the skin or wall plate. A preset drop 214 is provided between the adsorption wall 2122 and the abutting wall, so that the adsorption wall 2122 is lower than the abutting wall. After the card plate 21 is adsorbed, the elastic sealing ring 212 is completely retracted into the groove 211, and the abutting wall 2123 is suitable for abutting against the skin or wall plate, and an adsorption cavity is left between the adsorption wall 2122 and the skin or wall plate.

[0060] In this embodiment, an adsorption chamber 2121 is formed between the adsorption wall 2122, the elastic sealing ring 212 and the skin or wall panel. The adsorption chamber 2121 is connected to the vacuum generator 32 through the air path system 31, so that the inner surface of the card plate 21 is directly adsorbed and positioned on the skin or wall panel. The skin or wall panel is completely fitted with the inner surface of the card plate 21 without the influence of eccentric force, so that the positioning of the card plate 21 is more accurate.

[0061] Specifically, the adsorption wall 2122 is located in the middle of the abutting wall 2123, the elastic sealing ring 212 is in the shape of a square and is arranged between the adsorption wall 2122 and the abutting wall 2123, the part of the elastic sealing ring 212 that exceeds the groove 211 surrounds the adsorption cavity 2121, the second end 312 of the gas path system 31 is suitable for connecting the adsorption cavity 2121, and the second end 312 is arranged on the adsorption wall 2122 at intervals, so that the skin or wallboard is stressed at all positions, and the stress on the skin or wallboard is more uniform, so that the cardboard 21 can more uniformly adsorb the skin or wallboard. When the adsorption is completed, the elastic sealing ring 212 is completely retracted into the groove 211, the abutting wall 2123 is suitable for abutting against the skin or wallboard, and the adsorption wall 2122 is also abutted against the skin or wallboard, so that the skin or wallboard is completely fitted with the inner surface of the cardboard 21 without the influence of eccentric force, so that the positioning of the cardboard 21 is more accurate. It is worth noting that when the adsorption is completed, a gap may be left between the adsorption wall 2122 and the skin or wall panel, and this gap also forms an adsorption chamber 2121. The air pressure of the adsorption chamber 2121 is much lower than the atmospheric pressure, so as to continuously adsorb the skin or wall panel on the card board 21. The cross section of the elastic sealing ring 212 is not further limited in this application. In this embodiment, the cross section of the elastic sealing ring 212 is O-shaped.

[0062] Preferably, reference Fig.14A preset drop 214 is provided between the adsorption wall 2122 and the abutment wall 2123, so that the adsorption wall 2122 is lower than the abutment wall 2123. After the adsorption of the card plate 21 is completed, the elastic sealing ring 212 is completely retracted into the groove 211, and the abutment wall 2123 is suitable for abutting against the skin or wall panel, and an adsorption cavity 2121 is left between the adsorption wall 2122 and the skin or wall panel. In this embodiment, the adsorption wall 2122 is lower than the abutment wall 2123, the area of ​​the adsorption cavity 2121 is larger, the adsorption effect of the adsorption cavity 2121 is better, and it is less likely to fall. Specifically, a preset drop 214 is provided between the adsorption wall 2122 and the abutment wall 2123. The value of the preset drop 214 is not further limited in this application, as long as the adsorption wall 2122 is lower than the abutment wall 2123. The adsorption chamber 2121 includes both the space where the elastic sealing ring 212 exceeds the groove 211 and the space where the adsorption wall 2122 is lower than the abutting wall 2123. At this time, the adsorption chamber 2121 is larger in volume. When the adsorption is completed, the elastic sealing ring 212 is completely retracted into the groove 211, and the abutting wall 2123 is suitable for abutting against the skin or wallboard. An adsorption chamber 2121 is left between the adsorption wall 2122 and the skin or wallboard. The air pressure of this adsorption chamber 2121 is much lower than the atmospheric pressure, and it can also be called an adsorption chamber, which can provide a continuous negative pressure difference for the skin or wallboard to continuously adsorb the skin or wallboard on the card board 21. It is worth noting that the adsorption wall 2122 can also be partially lower than the abutting wall 2123, that is, the adsorption wall 2122 near the second end 312 is lower than the abutting wall 2123, which is within the protection scope of the present application.

[0063] It is worth noting that the connecting groove 213 can be partially equivalent to the preset drop 214 between part of the adsorption wall 2122 and the abutting wall 2123 in the above embodiment, except that the connecting groove 213 is to recess part of the adsorption wall 2122 and connect all the second ends 312. Therefore, the connecting groove 213 and the preset drop 214 between the adsorption wall 2122 and the abutting wall 2123 can exist at the same time or separately, and the present application does not make further restrictions here. When they exist at the same time, the adsorption wall 2122 with the preset drop 214 can be recessed inward again to form the connecting groove 213. When the adsorption wall 2122 abuts against the skin or wall panel, the skin or wall panel can be adsorbed by the card plate 21 with the connecting groove 213.

[0064] Furthermore, a pair of clamp assemblies 22 are provided on the clamp plate 21, and the pair of clamp assemblies 22 are respectively provided at both ends of the clamp plate 21 in the vertical direction 101 and are relatively located at both sides of the groove 211, and the pair of clamp assemblies 22 are suitable for clamping the upper and lower ends of the skin or wall panel and the inner surface of the clamp plate 21. In this embodiment, the clamp assemblies 22 are suitable for pressing the skin or wall panel to one side of the clamp plate 21, thereby achieving the clamping and loosening of the skin or wall panel.

[0065] Further, refer to Figures 6 to 8The card plate assembly 2 also includes a moving assembly 23, which realizes the movement of the card plate 21. The moving assembly 23 includes a slide rail 231, a slider 232, a bevel gear 233, a rack 234 and a moving driver 235. The slider 232 and the moving driver 235 are installed on the card plate 21, the bevel gear 233 is connected to the output end of the moving driver 235, the slide rail 231 and the rack 234 are installed on the main frame 1, and the moving driver 235 is suitable for driving the bevel gear 233 to rotate on the rack 234 to drive the slider 232 to move on the slide rail 231.

[0066] In this embodiment, the mobile driving member 235 is suitable for driving the bevel gear 233 to move on the rack 234, so that the slider 232 of the card plate 21 slides on the slide rail 231 of the main frame 1, thereby providing a guide for the movement of the card plate assembly 2 and making its horizontal movement more precise.

[0067] Specifically, refer to Figure 6 , the horizontal movement of the pallet assembly 2 in the direction of 100 mainly solves the problem that the drilling and riveting robot cannot make holes and rivets due to the interference of the pallet assembly 2. In more detail, during the automatic drilling and riveting of the wall panels, due to the large size of the end of the drilling and riveting robot, the hole making and riveting work within a certain range from the pallet 21 cannot be completed, which will increase the workload of the riveting station after the drilling and riveting station and reduce the efficiency of automatic drilling and riveting. In view of the above problems, the flexible tooling is designed with a pallet assembly 2 that moves in the horizontal direction of 100. When the drilling and riveting hole position causes the end of the drilling and riveting robot to interfere with the pallet 21, the adsorption of the adsorption positioning device 3 can be turned off, so that the pallet 21 loosens the skin or wall panel, and then the pallet 21 is moved away from the drilling and riveting hole position, so that the drilling and riveting robot can work normally. The above method can achieve full coverage of the wall panel drilling and riveting area, increase the number of automatic drilling and riveting holes, reduce the workload of riveting, and improve the efficiency of automatic drilling and riveting.

[0068] The present application drives the card plate 21 to move laterally in the horizontal direction 100 by the moving component 23. When the moving component 23 moves to the predetermined position to avoid the drilling and riveting hole position, the moving component 23 automatically stops and limits the position to achieve high-precision repeated positioning, and then the skin or wall panel is adsorbed again by the adsorption positioning device 3 and the groove 211 to position it. At the same time, the moving component 23 also includes a limiting component 24, which is arranged on the top of the card plate 21. The limiting component 24 includes a movable limiting driving member 241, a movable limiting block 242 and a movable limiting pin. The movable limiting driving member 241 is suitable for driving the movable limiting pin to insert into or move away from the movable limiting block 242 to achieve precise positioning after the position of the card plate assembly 2 is converted. It is worth noting that the limiting component 24 includes but is not limited to a latch structure, and can also be a movable spring, a limiting cap, an electronic induction limiter, etc., all of which are within the scope of protection of the present application.

[0069] Moreover, reference Figure 7 and Figure 8In the present application, after the cardboard 21 releases the skin or wallboard, the cardboard 21 is rotated toward the side away from the skin or wallboard through the rotating assembly 25, so that the cardboard 21 is away from the skin or wallboard, and the cardboard 21 is prevented from scratching the skin or wallboard during the movement. Specifically, the cardboard assembly 2 also includes a rotating assembly 25, and the rotating assembly 25 includes a rotating driving member 251, a rotating limiting driving member 252, a rotating limiting block 253, and a rotating limiting pin. The rotating limiting block 253 and the rotating limiting pin are arranged at the bottom of the cardboard 21, and the rotating limiting driving member 252 is suitable for driving the rotating limiting pin to insert into or move away from the rotating limiting block 253, and the rotating driving member 251 is suitable for driving the bottom of the cardboard 21 to rotate toward the side away from the skin or wallboard. After the cardboard 21 releases the skin or wallboard, the rotation limit driving member 252 drives the rotation limit pin away from the rotation limit block 253, and the rotation driving member 251 drives the bottom of the cardboard 21 to rotate away from the skin or wallboard, so that the cardboard 21 is away from the skin or wallboard to prevent the surface of the skin or wallboard from being scratched during movement. In more detail, a sliding assembly is also provided at the bottom of the cardboard assembly 2, and the bottom of the cardboard 21 can slide along the sliding assembly, so that the rotation driving member 251 drives the bottom of the cardboard 21 to rotate away from the skin or wallboard. After the cardboard 21 moves, the rotation driving member 251 drives the bottom of the cardboard 21 to rotate toward the side close to the skin or wallboard, and then the skin or wallboard is adsorbed by the adsorption positioning device 3 and the groove 211, so that the cardboard 21 and the clamp assembly 22 are both attached to the skin or wallboard for positioning, and at this time, the rotation limit driving member 252 drives the rotation limit pin to insert into the rotation limit block 253, locking the rotational freedom of the cardboard 21. When a single card assembly 2 moves, the rest of the card boards 21 remain stationary. It is worth noting that mounting seats are provided at both ends of the card board 21, and the mounting seats are provided with a moving assembly 23, a limiting assembly 24 and a rotating assembly 25. In order to enable the rotating limiting driving member 252 to drive the card board 21 to rotate, the top of the card board 21 needs to be rotatably connected to the mounting seat, that is, the card board 21 is suitable for rotating around the connection between the card board 21 and the mounting seat, and the connection method of the connection includes but is not limited to a screw, a rotating shaft, etc. The moving driving member 235, the moving limiting driving member 241, the rotating driving member 251, and the rotating limiting driving member 252 are commonly used drive structures, including but not limited to motors, screws, etc., and this application does not make further restrictions here.

[0070] Further, refer to Fig. 9The main frame 1 includes a frame assembly 11, a support positioning assembly 12, a side auxiliary support assembly 13, a circuit system 14 and a bottom auxiliary support assembly 15. The support positioning assembly 12 and the side auxiliary support assembly 13 are both arranged on the inner side wall of the frame assembly 11. The support positioning assembly 12 is suitable for locating the ear holes of the skin or wall panel. The side auxiliary support assembly 13 is suitable for auxiliary positioning of the top edge of the skin or wall panel. The bottom auxiliary support assembly 15 is arranged on the inner bottom wall of the frame assembly 11 and the height of the bottom auxiliary support assembly 15 is adjustable. The bottom auxiliary support assembly 15 is suitable for auxiliary positioning of the bottom edge of the skin or wall panel.

[0071] In this embodiment, multiple groups of side auxiliary support assemblies 13 and bottom auxiliary support assemblies 15 are designed on the main frame 1. The skin or wall panels are restricted by the side auxiliary support assemblies 13 and the bottom auxiliary support assemblies 15, so that the skin or wall panels are always in a positioned state, and the movement of a single group of clamping plates 21 has no effect on the positioning of the skin or wall panels.

[0072] Specifically, the frame assembly 11 is the U-shaped outer contour of the main frame 1, the support positioning assembly 12 and the auxiliary support assembly are screwed to the frame assembly 11, and the bottom auxiliary support assembly 15 is installed on the frame assembly 11 through a lifting device. When the skin or wall panel is mounted, the support positioning assembly 12 is connected to the ear hole of the skin or wall panel for positioning, and the side auxiliary support assembly 13 and the bottom auxiliary support assembly 15 are auxiliary positioned through the edge of the skin or wall panel. The bottom auxiliary support assembly 15 is equipped with a lifting device, and the height of the bottom auxiliary support assembly 15 can be fine-tuned by the lifting device to make its positioning more accurate. The main frame 1 is also provided with a circuit system 14, which mainly supplies power and controls the automatic mounting device 4, the card assembly 2, and the drive support assembly 5.

[0073] It is worth noting that the lifting device includes but is not limited to a screw rod, a telescopic rod, and a telescopic motor, etc. This application does not make any further limitations, as long as it can achieve the up and down lifting of the bottom auxiliary support assembly 15.

[0074] Further, refer to Fig.10 , and also includes an automated racking device 4, which includes two groups of transport robots 41 and two groups of hangers 42 arranged at intervals. The two groups of hangers 42 are respectively arranged at the output ends of the two groups of transport robots 41. The hangers 42 are provided with a plurality of vacuum adsorption devices 43, and the vacuum adsorption devices 43 are suitable for adsorbing the skin or wall panel.

[0075] In this embodiment, two groups of transport robots 41 move in coordination and transport the skin or wall panels to the target position to complete the shelving operation. The skin or wall panels are subjected to more uniform force, the entire operation process is stable and reliable, and collisions between the skin or wall panels and the main frame 1 are effectively avoided.

[0076] Specifically, the automated shelving device 4 mainly solves the problem that the existing lifting of skins or wall panels is unevenly stressed and difficult to control. During the assembly process of existing skins or wall panels, the skins or wall panels are usually put on and taken off the shelves by a manually operated crane lifting method, and the lifting is performed through 3-5 ear holes set on the skins or wall panels. When large wall panels are lifted and transported, the driving speed is difficult to control and the wall panels are unevenly stressed. There are problems such as the skins or wall panels easily colliding with the jigs and being greatly deformed. In view of the above problems, the present application designs an automated shelving device 4, which consists of two groups of handling robots 41 and a vacuum adsorption device 43. The automated shelving device 4 includes two groups of handling robots 41 and two groups of hangers 42 arranged at intervals. The two groups of hangers 42 are respectively arranged at the output ends of the two groups of handling robots 41. The hangers 42 are provided with a number of vacuum adsorption devices 43, and the vacuum adsorption devices 43 are suitable for adsorbing the skins or wall panels.

[0077] In this embodiment, the skin or wall panel is adsorbed by the vacuum adsorption device 43, and the double handling robots 41 move in coordination to carry the skin or wall panel to the designated position to complete the shelving operation. After the skin or wall panel is riveted and assembled, the wall panel is adsorbed by the vacuum adsorption device 43, and the double handling robots 41 move in coordination to carry the skin or wall panel to the target storage position to complete the unloading operation. Compared with the traditional lifting form of 3-5 lifting points, this method makes the skin or wall panel evenly stressed and reduces the deformation during transportation. The two groups of handling robots 41 carry out coordinated transportation on the designated path. The whole operation process is stable and reliable, and collision with the frame is effectively avoided.

[0078] Preferably, the output end of each group of handling robots 41 is suitable for the hanger 42, the hanger 42 is square, and there are four vacuum adsorption devices 43. The four vacuum adsorption devices 43 are respectively arranged at the four corners of the hanger 42, and each vacuum adsorption device 43 includes two suction cups. In this embodiment, the two groups of handling robots 41 move in coordination according to the predetermined path to realize the mounting and unmounting of the skin or wallboard, and accurately transport it to the target position. The hanger 42 is square, and two suction cups are arranged at the four corners of the hanger 42, which has a better adsorption effect on the skin or wallboard, can better adapt to the shape of the skin or wallboard, and the handling process is more reliable and stable. It is worth noting that in the modified embodiment, the hanger 42 can also be provided with an adsorption groove on the side close to the skin or wallboard, and the adsorption groove is suitable for elastic parts, and the adsorption groove is suitable for adsorbing the skin or wallboard. The shape of the adsorption groove can be a circle shape, an L shape, an I shape, etc., and this application will not be further elaborated, as long as it can adsorb the skin or wallboard at the four corners at the same time.

[0079] Further, refer to Fig.11, and also includes a driving support component 5, which includes a moving wheel group 51, a support 52, a lifting foot device 53, a ground embedded limit seat 54 and a navigation module 55. The moving wheel group 51 is installed at the bottom of the main frame 1 through the support 52. The lifting foot device 53 is suitable for connecting the ground embedded limit seat 54 and the main frame 1 and is suitable for lifting the main frame 1. The navigation module 55 is suitable for determining the moving direction and distance of the driving support component 5.

[0080] In this embodiment, the flexible tooling is driven by the mobile wheel group 51 and guided by the navigation module 55 to realize automatic movement between two stations. After reaching the target station, the lifting and lowering support devices 53 at the four corners of the bottom of the main frame 1 extend outward and are inserted into the pre-buried limit seats 54 on the ground to realize high-precision repeated positioning between the flexible tooling stations. This method can replace fixed assembly tooling at multiple stations, which has a positive effect on saving production line construction costs and pulsating production.

[0081] Specifically, the lifting and supporting foot device 53 is arranged at the four corners of the bottom of the main frame 1. When the entire flexible tooling is stationary, all the lifting and supporting foot devices 53 extend out and reach the ground embedded limit seat 54. At this time, the lifting and supporting foot device 53 continues to work until the entire flexible tooling is lifted to the working height and then stops, ensuring stability and accuracy during processing and assembly. The ground embedded limit seat 54 is embedded in the ground, and the horizontality of the four ground embedded limit seats 54 is detected at the same time, so that the four ground embedded limit seats 54 are on the same horizontal plane. When the flexible tooling needs to be moved, the lifting and supporting foot device 53 is folded, and the moving wheel group 51 lands, wherein the steering wheel controls the direction, and the shock-absorbing casters can assist in support and reduce the shaking of the entire tooling. When the driving support assembly 5 moves, the moving distance and direction are mainly confirmed based on the navigation module 55. The navigation module 55 mainly includes a camera and a QR code attached to the ground, and the navigation function is realized by the information fed back to the camera by the ground QR code.

[0082] It should be noted that the above embodiments can be freely combined as needed. The above are only preferred embodiments 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 principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A flexible tooling, characterized in that: Including card board assembly, The card assembly includes a plurality of card plates arranged at intervals, a groove is provided on one side of the card plate close to the skin or the wall plate, the groove surrounds the outer edge of the card plate, an elastic sealing ring is provided in the groove, the elastic sealing ring at least partially protrudes from the groove, the card plate is provided with an adsorption wall between the part where the elastic sealing ring protrudes from the groove, and the adsorption wall is also provided with a plurality of connecting grooves; An adsorption positioning device, the adsorption positioning device comprises a plurality of air path systems arranged inside the cardboard, the air path systems comprise a first end and a second end, the first end is suitable for being connected to a vacuum generator, the second end is suitable for being connected to the adsorption wall, the connecting groove is suitable for being connected to the second ends of a plurality of the air path systems, the vacuum generator extracts air near the adsorption wall through the air path system, thereby enabling the cardboard to adsorb the skin or wall panel and shrink the elastic sealing ring into the groove; The clamping plate is further provided with an abutment wall on the outer side of the elastic sealing ring beyond the groove, and the abutment wall is suitable for abutting against the skin or the wall plate; A preset height difference is provided between the adsorption wall and the abutment wall, so that the adsorption wall is lower than the abutment wall and higher than the bottom of the groove. After the card plate is adsorbed, the elastic sealing ring is completely retracted into the groove, and the abutment wall is suitable for abutting against the skin or wall panel, and an adsorption cavity is left between the adsorption wall and the skin or wall panel.

2. A flexible tooling according to claim 1, characterized in that: The second ends of the plurality of gas path systems are spaced apart along the arc direction of the card plate; The connecting groove comprises a first groove and a second groove, wherein the first groove is suitable for extending along the width direction of the card board, and the second groove is suitable for extending along the curvature direction of the card board and connecting a plurality of the second ends.

3. A flexible tooling according to claim 1, characterized in that: A connecting cavity is also provided inside the card plate, and the connecting cavity is connected to a plurality of the gas path systems and is relatively located between the first end and the second end.

4. A flexible tooling according to claim 1, characterized in that: It also includes a main frame, which has a horizontal direction and a vertical direction; the clamping plate is movably installed on the main frame along the horizontal direction.

5. A flexible tooling according to claim 4, characterized in that: The card plate assembly also includes a moving assembly, which includes a slide rail, a slider, a bevel gear, a rack and a moving drive member. The slider and the moving drive member are installed on the card plate, the bevel gear is connected to the output end of the moving drive member, the slide rail and the rack are installed on the main frame, and the moving drive member is suitable for driving the bevel gear to rotate on the rack to drive the slider to move on the slide rail.

6. A flexible tooling according to claim 5, characterized in that: The movable assembly also includes a limit assembly, which is arranged on the top of the card board. The limit assembly includes a movable limit driving component, a movable limit block and a movable limit pin. The movable limit driving component is suitable for driving the movable limit pin to insert into or move away from the movable limit block to achieve precise positioning of the card board assembly after the position is converted.

7. A flexible tooling according to claim 6, characterized in that: The cardboard assembly also includes a rotating assembly, which includes a rotating drive, a rotating limit drive, a rotating limit block and a rotating limit pin. The rotating limit block and the rotating limit pin are arranged at the bottom of the cardboard. The rotating limit drive is suitable for driving the rotating limit pin to insert into or move away from the rotating limit block. The rotating drive is suitable for driving the bottom of the cardboard to rotate away from the skin or the wall panel.

8. The flexible tooling according to claim 5, characterized in that: It also includes a driving support assembly, which includes a moving wheel group, a support, a lifting foot device, a ground embedded limit seat and a navigation module. The moving wheel group is installed at the bottom of the main frame through the support. The lifting foot device is suitable for connecting the ground embedded limit seat and the main frame and for lifting the main frame. The navigation module is suitable for determining the moving direction and distance of the driving support assembly.

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