Auxiliary device for automatic assembly of aerospace parts

Abstract

The invention discloses an auxiliary device for automatic assembly of aerospace parts in the technical field of automatic assembly, and the auxiliary device comprises a conveying frame, fixing frames are fixedly connected to the two sides of the front end of the conveying frame correspondingly, feeding plates are slidably connected to the interiors of the two fixing frames correspondingly, and material distributing and conveying assemblies are arranged on the feeding plates; by the adoption of the material distributing and transporting assembly, when parts installed in trays are transported, the stacked trays do not need to be manually placed on a conveying frame in sequence for transportation, the multiple trays are directly placed above a feeding plate, conveying is conducted in sequence under driving of the material distributing and transporting assembly, and no matter the bottommost tray is transported by the feeding plate, the conveying efficiency is greatly improved. According to the tray conveying device, the tray slowly slides down along the inclined wall, and the tray at the top is conveyed by the inserting plate, so that stability is always kept in the conveying process, automatic tray conveying is achieved, and the stability of the tray in the conveying process can be guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of automated assembly, in particular to an auxiliary device for automated assembly of aerospace parts. Background Art

[0002] Automated assembly refers to an assembly technology that replaces manual labor with automated machinery. Automated assembly technology uses robots as assembly machinery and requires flexible peripheral equipment. During the assembly process, automated assembly can complete the following operations: parts transmission, positioning and connection; fixing parts to each other by pressing or by fastening screws and nuts; assembly size control and ensuring the quality of part connection or fixation; conveying assembled parts or products and packaging or stacking them in containers, etc.

[0003] When aerospace parts are automatically assembled, the total number of parts is large and the assembly is complex. When assembling small parts, in order to ensure the uniform orientation of the parts, a pallet fixing method is often used, that is, multiple identical parts are placed inside a pallet and installed by clamping with a robotic arm. The pallets are stacked when placed to save space. Therefore, multiple pallets need to be manually placed on the transport equipment in sequence for transportation during installation. This placement method lacks automated auxiliary devices.

[0004] Based on this, the present invention designs an auxiliary device for automated assembly of aerospace parts to solve the above-mentioned problem of lack of auxiliary devices for automated placement of transport pallets for parts placed on pallets. Summary of the invention

[0005] The object of the present invention is to provide an auxiliary device for automated assembly of aerospace parts to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solution: an auxiliary device for the automated assembly of aerospace parts, comprising a conveying frame, both sides of the front end of the conveying frame are fixedly connected to fixed frames, and the two fixed frames are slidably connected inside with feeding plates, and the feeding plates are provided with material dividing and transporting components, which are used to separate multi-layer parts into layers for single-layer transportation.

[0007] As a further solution of the present invention, the material distribution and transportation assembly includes a plug-in plate, which is slidably arranged inside a fixed frame, a first rack is embedded in the top of the feed plate, a connecting plate is fixedly connected to the inside of the fixed frame, the right end of the connecting plate is rotatably connected to a transmission gear for meshing with the first rack, and the bottom end of the plug-in plate is fixedly connected to a third rack that meshes with the transmission gear from above.

[0008] As a further solution of the present invention, a second rack is provided at the left end of the third rack, the top of the second rack is fixedly connected to a sliding block, the plug-in plate is fixedly connected to a sliding rod, the sliding rod is slidably sleeved on the outside of the sliding rod, and a second spring for returning the sliding block is sleeved on the sliding rod. The right side of the bottom of the plug-in plate is rotatably connected to a feeding turn plate, the front end of the feeding turn plate is fixedly connected to a ratchet, the plug-in plate is slidably connected to a pawl docking with the ratchet, and the plug-in plate is fixedly connected to a first spring for returning the pawl. A transmission frame is provided at the bottom of the plug-in plate, and a sliding block for sliding connection with the plug-in plate is fixedly connected on the transmission frame, the rear end of the transmission frame is fixedly connected to the side wall of the second rack, and the right end of the transmission frame is rotatably connected to a rotating block capable of contacting the ratchet, and a torsion spring for its reset is fixedly connected inside the rotating block.

[0009] As a further solution of the present invention, a support plate is fixedly connected to the front end of the fixed frame, a second driving cylinder is fixedly connected to the fixed frame, an output end of the second driving cylinder is fixedly connected to a fixed plate, a third driving cylinder is fixedly connected to the fixed plate, a clamping plate is provided on the right side of the fixed plate, and the output end of the third driving cylinder is fixedly connected to the clamping plate.

[0010] As a further solution of the present invention, a first driving cylinder is fixedly connected to the left end of the fixing frame, and an output end of the first driving cylinder is fixedly connected to the side wall of the feeding plate.

[0011] As a further solution of the present invention, the feed plate is provided with a groove for docking with the feed rotating plate, and the right side wall of the plug plate and the feed plate are both smooth inclined walls.

[0012] As a further solution of the present invention, the plane where the upper end surface of the support plate is located is in the same horizontal plane as the upper end surface of the feeding plate, and a notch is provided at the rear end of the support plate.

[0013] As a further solution of the present invention, the front end of the pawl is fixedly connected to a connecting strip, the front end of the connecting strip passes through the plug board and is arranged in front of the plug board, and the interior of the fixing frame is fixedly connected to an inclined convex plate.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. The present invention adopts a material dividing and transporting assembly. When transporting parts installed inside the pallet, there is no need to manually place the stacked pallets on the conveyor frame for transportation in turn. Instead, multiple pallets are directly placed on top of the feeding plate and transported in turn under the drive of the material dividing and transporting assembly. No matter whether the feeding plate is transporting the bottom pallet or the plug-in plate is transporting the top pallet, the pallets are slowly slid down along the inclined wall and remain stable during transportation to prevent the pallets from falling from the feeding plate to the top of the conveyor frame, or the pallets from falling directly from the upper end of the plug-in plate to the upper end of the feeding plate. The impact force of the collision changes the orientation of the parts inside the pallet, so that the parts will not be easily docked when the subsequent robot arm is clamped. By transporting in this way, the problem of direct falling of the pallet can be fundamentally solved, that is, automatic transportation of the pallet is realized, and the stability of the pallet during transportation can be guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0017] Figure 2 It is a schematic diagram of the structure of the clamping plate, the second driving cylinder, the fixing plate and the third driving cylinder;

[0018] Figure 3 is a schematic diagram of the fixed frame structure;

[0019] Figure 4 It is a schematic diagram of the structure of the material distribution and transportation components;

[0020] Figure 5 It is a schematic diagram of the feeding plate structure;

[0021] Figure 6 It is a schematic diagram of the bottom structure of the plug board;

[0022] Figure 7 This is a test question on the partial cross-section structure of the front side of the plug-in board;

[0023] Figure 8 for Figure 7 The enlarged structural diagram at A in the middle;

[0024] Fig. 9 It is a schematic diagram of the partial cross-section structure of the left side of the plug board;

[0025] Fig.10 for Fig. 9 Enlarged structural diagram at B in the middle.

[0026] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0027] 1. Conveying frame; 2. Support plate; 3. Fixed frame; 4. Feeding plate; 5. Clamp; 6. First driving cylinder; 7. Second driving cylinder; 8. Fixed plate; 9. Third driving cylinder; 10. Plug-in plate; 11. Connecting plate; 12. Groove; 13. Transmission gear; 14. First rack; 15. Transmission frame; 16. Sliding block; 17. Second rack; 18. Third rack; 19. Feeding turn plate; 20. First spring; 21. Ratchet; 22. Connecting strip; 23. Rotating block; 24. Ratchet; 25. Sliding block; 26. Sliding rod; 27. Second spring. DETAILED DESCRIPTION

[0028] See also Figure 1-10 The present invention provides a technical solution: an auxiliary device for automated assembly of aerospace parts, comprising a conveyor frame 1, both sides of the front end of the conveyor frame 1 are fixedly connected to fixed frames 3, and the insides of the two fixed frames 3 are respectively slidably connected to feed plates 4, and the feed plates 4 are provided with a material separation and transportation component, and the material separation and transportation component is used to separate and transport multi-layer parts into single layers;

[0029] The load plate 4 is then moved back to the loading platform 3 and the load plate 4 is moved back to the loading platform 3. The load plate 4 is moved back to the loading platform 3 and the load plate 4 is moved back to the loading platform 3.

[0030] As a further solution of the present invention, the material distribution and transportation assembly includes a plug-in plate 10, which is slidably arranged inside the fixed frame 3, and a first rack 14 is embedded in the top of the feed plate 4. A connecting plate 11 is fixedly connected inside the fixed frame 3, and a transmission gear 13 for meshing with the first rack 14 is rotatably connected to the right end of the connecting plate 11. A third rack 18 that meshes with the transmission gear 13 from above is fixedly connected to the bottom end of the plug-in plate 10, and a second rack 17 is arranged on the left end of the third rack 18. A slider 25 is fixedly connected to the top of the second rack 17, and a slide bar 26 is fixedly connected inside the plug-in plate 10. The slider 25 is slidably sleeved on the outside of the slide bar 26, and a second spring 27 for resetting the slider 25 is sleeved on the slide bar 26. A feeding rotary plate 19 is rotatably connected to the right side of the bottom of the plug-in plate 10, and a ratchet 24 is fixedly connected to the front end of the feeding rotary plate 19. A ratchet 21 that docks with the ratchet 24 is slidably connected inside the plug-in plate 10. , a first spring 20 for resetting the ratchet 21 is fixedly connected inside the plug board 10, a transmission frame 15 is provided at the bottom of the plug board 10, and a sliding block 16 for sliding connection with the plug board 10 is fixedly connected on the transmission frame 15, and the rear end of the transmission frame 15 is fixedly connected to the side wall of the second rack 17, and the right end of the transmission frame 15 is rotatably connected to a rotating block 23 that can contact the ratchet 24, and a torsion spring for resetting the rotating block 23 is fixedly connected inside the rotating block 23, and a first driving cylinder 6 is fixedly connected to the left end of the fixed frame 3, and the output end of the first driving cylinder 6 is fixedly connected to the side wall of the feeding plate 4, and a groove 12 for docking with the feeding rotating plate 19 is provided on the feeding plate 4, and the right side walls of the plug board 10 and the feeding plate 4 are smooth inclined walls, and the front end of the ratchet 21 is fixedly connected to a connecting strip 22, and the front end of the connecting strip 22 passes through the plug board 10 and is arranged in front of the plug board 10, and an inclined convex plate is fixedly connected inside the fixed frame 3;

[0031] When the above scheme is put into practical use, when the first driving cylinder 6 drives the feeding plate 4 to retract into the fixed frame 3, the first rack 14 inside the top of the feeding plate 4 drives the transmission gear 13 to rotate, and the rotation of the transmission gear 13 drives the third rack 18 to rotate, and the third rack 18 drives the plug-in board 10 to slide toward the outside of the fixed frame 3, so that when the feeding plate 4 retreats into the fixed frame 3, the plug-in board 10 gradually extends outward, and the spacing between the plug-in board 10 and the top of the feeding plate 4 is just the thickness of the tray, and the tray is generally made of soft plastic, so that the plug-in board 10 can be directly inserted from the tray, so that the bottom tray is supported by the feeding plate 4, and the upper trays are all supported by the plug-in board 10;

[0032] As the feeding plate 4 continues to slide, the tray gradually contacts the inclined surface of the feeding plate 4, causing the tray to gradually slide down along the inclined surface until the tray is completely out of contact with the feeding plate 4, causing the feeding plate 4 to fall above the conveying frame 1 and be transported along with the conveying frame 1;

[0033] During the sliding process, the feeding plate 4 drives the plug-in plate 10 to slide through the meshing of the transmission gear 13 and the third rack 18. When the plug-in plate 10 slides to the position where the third rack 18 is out of meshing with the transmission gear 13, that is, the second rack 17 is meshed with the transmission gear 13, since the second rack 17 is slidably arranged at the bottom of the plug-in plate 10, and there is a gap between the second rack 17 and the third rack 18, when the transmission gear 13 drives the second rack 17 to slide, the second rack 17 will compress the second spring 27 and drive the transmission frame 15 to slide. The transmission frame 15 drives the ratchet 24 to rotate through the rotating block 23 at the right end. When the second rack 17 slides to the position where the third rack 18 is out of meshing with the transmission gear 13, that is, the second rack 17 is meshed with the transmission gear 13, When the movable gear 13 is in the disengaged position, the second rack 17 is driven to reset under the elastic force of the second spring 27, and then the transmission gear 13 continues to rotate and meshes with the second rack 17, so that the second rack 17 drives the feeding rotating plate 19 to reciprocate, and the ratchet 24 is gradually rotated by the rotating block 23. Due to the limiting effect of the pawl 21, the feeding rotating plate 19 gradually rotates with the ratchet 24 and will not reset. The feeding rotating plate 19 gradually rotates along the groove 12 to a position horizontal to the inclined surface of the feeding plate 4. When the feeding rotating plate 19 rotates to a position horizontal to the plane where the inclined surface of the feeding plate 4 is located, the feeding plate 4 also completes the transportation of the pallet;

[0034] At this time, the feeding plate 4 is driven to reset by the first driving cylinder 6, and the feeding plate 4 slides toward the outside of the fixing frame 3, and the transmission gear 13 is driven to rotate by the first rack 14, and the rotation of the transmission gear 13 drives the second rack 17 to slide. Due to the sliding in the opposite direction, the second rack 17 can no longer slide at the bottom of the plug-in board 10, so that the second rack 17 drives the plug-in board 10 to slide together. When the transmission gear 13 is out of contact with the second rack 17 and engages with the third rack 18, it also drives the plug-in board 10 to slide, so that the tray on the plug-in board 10 will gradually slide along the inclined wall of the feeding rotating plate 19 to the top of the feeding plate 4;

[0035] When the plug board 10 gradually slides toward the inside of the fixing frame 3 and the pallet has been moved to the feeding plate 4, the connecting strip 22 on the plug board 10 will gradually slide to the position in contact with the protrusion inside the fixing frame 3, and gradually slide upward along the protrusion as it slides, so that the connecting strip 22 drives the pawl 21 to slide up synchronously. A strong spring for resetting the feeding rotating plate 19 is fixedly connected to the bottom of the plug board 10. When the pawl 21 is separated from the limit of the ratchet wheel 24, the feeding rotating plate 19 is driven to reset under the action of the strong spring. At this time, a pallet transfer cycle is completed. The advantage of this is that no matter whether the feeding plate 4 is The transportation of the bottom pallet and the transportation of the top pallet by the plug board 10 are both carried out by the pallet slowly sliding down along the inclined wall. The pallet remains stable during the transportation process to prevent the pallets from falling from the feed plate 4 to the top of the conveyor frame 1, or the pallet falls directly from the upper end of the plug board 10 to the upper end of the feed plate 4. The impact force of the collision changes the orientation of the parts inside the pallet, so that the parts will not be easily docked when the subsequent robot arm clamps them. However, transporting in this way can fundamentally solve the problem of direct pallet falling, thereby realizing automatic pallet transportation and ensuring the stability of the pallet during transportation.

[0036] As a further solution of the present invention, the front end of the fixing frame 3 is fixedly connected to the support plate 2, the fixing frame 3 is fixedly connected to the second driving cylinder 7, the output end of the second driving cylinder 7 is fixedly connected to the fixing plate 8, the fixing plate 8 is fixedly connected to the third driving cylinder 9, a clamping plate 5 is provided on the right side of the fixing plate 8, and the output end of the third driving cylinder 9 is fixedly connected to the clamping plate 5;

[0037] When the above scheme is put into actual use, when placing the stacked pallets on the feed plate 4, the pallets are first placed on the support plate 2, and the third driving cylinder 9 is started to clamp the pallets through the clamps 5 on both sides, and then the second driving cylinder 7 is started to drive the clamps 5 to slide, and the pallets are slid from the support plate 2 to the top of the feed plate 4, so as to complete the loading of the pallets.

[0038] As a further solution of the present invention, the plane where the upper end surface of the support plate 2 is located is in the same horizontal plane as the upper end surface of the feeding plate 4, and a notch is provided at the rear end of the support plate 2;

[0039] When the above solution is put into actual use, they are in the same plane so that they can be directly transported horizontally during transportation. The groove on the rear side of the support plate 2 allows a certain gap to exist between the support plate 2 and the feed plate 4, so that the pallet can be completely detached from the support plate 2 after pushing the material.

[0040] Working principle: Place the pallet on the support plate 2, start the third driving cylinder 9 to clamp the pallet through the clamping plates 5 on both sides, and then start the second driving cylinder 7 to drive the clamping plates 5 to slide, and slide the pallet from the support plate 2 to the top of the feeding plate 4. When the first driving cylinder 6 drives the feeding plate 4 to retract into the fixed frame 3, the first rack 14 inside the top of the feeding plate 4 will drive the transmission gear 13 to rotate, and the rotation of the transmission gear 13 will drive the third rack 18 to rotate. The third rack 18 will drive the plug-in plate 10 to slide toward the outside of the fixed frame 3, so that when the feeding plate 4 retreats into the fixed frame 3, the plug-in plate 10 gradually extends outward, and the distance between the plug-in plate 10 and the top of the feeding plate 4 is just the thickness of the pallet, and the pallet is generally made of soft plastic. The material is made so that the plug board 10 can be directly inserted from the pallet, so that the bottom pallet is supported by the feed plate 4, and the upper pallets are all supported by the plug board 10. As the feed plate 4 continues to slide, the pallet gradually contacts the inclined surface of the feed plate 4, so that the pallet gradually slides down along the inclined surface until the pallet is completely out of contact with the feed plate 4, so that the feed plate 4 falls on the top of the conveyor frame 1 and is transported with the conveyor frame 1. During the sliding process, the feed plate 4 drives the plug board 10 to slide through the meshing of the transmission gear 13 and the third rack 18. When the plug board 10 slides to the position where the third rack 18 is out of meshing with the transmission gear 13, that is, the second rack 17 is meshed with the transmission gear 13, since the second rack 17 is slidably arranged at the bottom of the plug board 10, and There is a gap between the second rack 17 and the third rack 18. When the transmission gear 13 drives the second rack 17 to slide, the second rack 17 compresses the second spring 27 and drives the transmission frame 15 to slide. The transmission frame 15 drives the ratchet 24 to rotate through the rotating block 23 at the right end. When the second rack 17 slides to a position disengaged from the transmission gear 13, the second rack 17 is reset under the elastic force of the second spring 27. Then the transmission gear 13 continues to rotate and meshes with the second rack 17, so that the second rack 17 drives the feeding rotary plate 19 to reciprocate. The ratchet 24 is gradually rotated by the rotating block 23. Due to the limiting effect of the pawl 21, the feeding rotary plate 19 gradually rotates with the ratchet 24 and will not reset. The feeding rotary plate 19 is moved along The groove 12 gradually rotates to a position horizontal with the inclined surface of the feed plate 4. When the feed rotating plate 19 rotates to a position horizontal with the plane where the inclined surface of the feed plate 4 is located, the feed plate 4 also completes the transportation of the pallet. At this time, the feed plate 4 is driven to reset by the first driving cylinder 6. At this time, the feed plate 4 slides to the outside of the fixed frame 3, and the transmission gear 13 is driven to rotate by the first rack 14. The rotation of the transmission gear 13 drives the second rack 17 to slide. Due to the sliding in the opposite direction, the second rack 17 can no longer slide at the bottom of the plug-in board 10, so that the second rack 17 drives the plug-in board 10 to slide together. When the transmission gear 13 disengages from the contact with the second rack 17 and engages with the third rack 18, it also drives the plug-in board 10 to slide. In this way, the tray on the plug-in board 10,It will gradually slide along the inclined wall of the feeding rotating plate 19 to the top of the feeding plate 4. When the plug-in board 10 gradually slides into the interior of the fixing frame 3 and the tray has moved onto the feeding plate 4, the connecting strip 22 on the plug-in board 10 will gradually slide to the position in contact with the protrusion inside the fixing frame 3, and gradually slide upward along the protrusion as it slides, so that the connecting strip 22 drives the pawl 21 to slide up synchronously. A strong spring for resetting the feeding rotating plate 19 is fixedly connected to the bottom of the plug-in board 10. When the pawl 21 is freed from the limit of the ratchet 24, the feeding rotating plate 19 will be driven to reset under the action of the strong spring.

Claims

1. An auxiliary device for automated assembly of aerospace parts, comprising a conveyor frame (1), characterized in that: Both sides of the front end of the conveying frame (1) are respectively fixedly connected to fixed frames (3), and the insides of the two fixed frames (3) are respectively slidably connected to feeding plates (4), and the feeding plates (4) are provided with material separation and transportation components, and the material separation and transportation components are used to separate and transport multi-layer parts into layers for single-layer transportation.

2. The auxiliary device for automated assembly of aerospace parts according to claim 1, characterized in that: The material distribution and transportation component comprises a plug-in plate (10), the plug-in plate (10) is slidably arranged inside a fixed frame (3), a first rack (14) is embedded in the top of the feeding plate (4), a connecting plate (11) is fixedly connected inside the fixed frame (3), a transmission gear (13) for meshing with the first rack (14) is rotatably connected to the right end of the connecting plate (11), and a third rack (18) meshing with the transmission gear (13) from above is fixedly connected to the bottom end of the plug-in plate (10).

3. The auxiliary device for automated assembly of aerospace parts according to claim 2, characterized in that: A second rack (17) is arranged at the left end of the third rack (18), a slider (25) is fixedly connected to the top of the second rack (17), a slide bar (26) is fixedly connected inside the plug board (10), the slide bar (25) is slidably sleeved on the outside of the slide bar (26), a second spring (27) for resetting the slide bar (25) is sleeved on the slide bar (26), a feeding rotating plate (19) is rotatably connected to the right side of the bottom of the plug board (10), a ratchet (24) is fixedly connected to the front end of the feeding rotating plate (19), and a ratchet (24) is slidably connected to the inside of the plug board (10). The plug board (10) is provided with a transmission frame (15) at the bottom, a sliding block (16) is fixedly connected to the transmission frame (15) for sliding connection with the plug board (10), a rear end of the transmission frame (15) is fixedly connected to the side wall of the second rack (17), a right end of the transmission frame (15) is rotatably connected to a rotating block (23) capable of contacting the ratchet (24), and a torsion spring is fixedly connected to the rotating block (23) for its reset.

4. The auxiliary device for automated assembly of aerospace parts according to claim 1, characterized in that: The front end of the fixed frame (3) is fixedly connected to a support plate (2), the fixed frame (3) is fixedly connected to a second driving cylinder (7), the output end of the second driving cylinder (7) is fixedly connected to a fixed plate (8), the fixed plate (8) is fixedly connected to a third driving cylinder (9), a clamping plate (5) is arranged on the right side of the fixed plate (8), and the output end of the third driving cylinder (9) is fixedly connected to the clamping plate (5).

5. The auxiliary device for automated assembly of aerospace parts according to claim 2, characterized in that: A first driving cylinder (6) is fixedly connected to the left end of the fixed frame (3), and an output end of the first driving cylinder (6) is fixedly connected to the side wall of the feeding plate (4).

6. The auxiliary device for automated assembly of aerospace parts according to claim 3, characterized in that: The feeding plate (4) is provided with a groove (12) for docking with the feeding rotating plate (19), and the right side wall of the plug-in plate (10) and the feeding plate (4) are both smooth inclined walls.

7. The auxiliary device for automated assembly of aerospace parts according to claim 4, characterized in that: The plane where the upper end surface of the support plate (2) is located is in the same horizontal plane as the upper end surface of the feeding plate (4), and a notch is provided at the rear end of the support plate (2).

8. The auxiliary device for automated assembly of aerospace parts according to claim 3, characterized in that: The front end of the ratchet (21) is fixedly connected to a connecting strip (22), the front end of the connecting strip (22) passes through the plug board (10) and is arranged in front of the plug board (10), and the interior of the fixing frame (3) is fixedly connected to an inclined convex plate.

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