Glue scraping and sleeving system for surfaces of closed special-shaped cabin section and protective layer

Abstract

The invention discloses a glue scraping and sleeving system for sealing the surfaces of a special-shaped cabin section and a protective layer, relates to a glue scraping and sleeving system, and aims to solve the problems that the manual glue scraping efficiency of the special-shaped cabin section is not high, the glue amount is not uniform, the labor input cost is high, the glue scraping precision cannot be guaranteed, the glue is wasted by manual sleeving of the special-shaped cabin section, and the glue scraping efficiency is low. A control unit is connected with a glue scraping unit and a sleeving unit and controls the glue scraping unit and the sleeving unit to work, and a cabin section position and posture adjusting platform and a protective layer position and posture adjusting platform are installed on a linear motion platform. The cabin section model is installed on the cabin section position and posture adjusting platform through the cabin section fixing mechanism, the protective layer model is installed on the protective layer position and posture adjusting platform through the protective layer fixing mechanism, the position and posture measuring mechanism is installed on the protective layer position and posture adjusting platform, and glue scraping is conducted on the cabin section model and the protective layer model through the robot glue scraping mechanism. The invention belongs to the technical field of automatic production.

Description

Technical Field

[0001] The present invention relates to a glue scraping and sleeving system, and particularly to a glue scraping and sleeving system for the surfaces of a closed special-shaped cabin section and a protective layer. The present invention belongs to the technical field of industrial automation production. Background Art

[0002] With the continuous development of high-speed aircraft, the heat insulation technology on the surface of special-shaped aircraft has become an important part affecting the flight performance of high-speed aircraft. Therefore, a new automated glue scraping and assembly field for the bonding and sleeving of aircraft cabin sections and protective layers has gradually emerged at home and abroad. The automated glue scraping and sleeving system for the surfaces of a closed special-shaped cabin section and a protective layer has the characteristics of low research and development costs, rapid production, and the process equipment can be replaced and combined at low cost according to requirements. At the same time, digital design, intelligent information acquisition, etc. are integrated into the glue scraping and assembly manufacturing process, and the production efficiency is significantly improved.

[0003] Currently, manual glue scraping is mostly used in the field of glue scraping. For special-shaped cabin sections, the efficiency of manual glue scraping is not high, and there are certain limitations on products and fixing devices. In addition, due to the inability to control the amount of glue, it is easy to produce uneven glue amount during manual glue scraping, and the glue contaminates the product, which cannot meet the high-quality requirements of customers. Moreover, the manual input cost is high, the glue scraping accuracy cannot be guaranteed, the glue waste is large, and the product quality is also difficult to be guaranteed.

[0004] In the field of special-shaped cabin section sleeving, it is mostly manual sleeving and semi-automatic sleeving based on empirical positions. Affected by manual force application, the coaxiality between the cabin section and the protective layer cannot be guaranteed during the manual sleeving process, resulting in a large amount of excess glue being extruded, causing glue waste and affecting the final bonding effect between the cabin section and the protective layer. At the same time, the manual sleeving efficiency is low due to the influence of resistance; the semi-automatic sleeving based on empirical positions cannot be adjusted according to the actual manufacturing errors of the cabin section and the protective layer, and it is easy to generate offsets during the sleeving process, affecting the bonding effect. Summary of the Invention

[0005] The purpose of the present invention is to solve the problems of low efficiency of manual glue scraping for special-shaped cabin sections, uneven glue amount, high manual input cost, inability to guarantee the glue scraping accuracy, glue waste generated by manual sleeving of special-shaped cabin sections, and affecting the bonding effect between the cabin section and the protective layer, and further provide a glue scraping and sleeving system for the surfaces of a closed special-shaped cabin section and a protective layer.

[0006] The technical solution of the present invention is as follows: A glue scraping and sleeving system for the surfaces of a closed special-shaped cabin section and a protective layer, which includes a glue scraping unit, a sleeving unit, and a control unit; The glue scraping unit is arranged close to the sleeving unit, and the control unit is respectively connected to the glue scraping unit and the sleeving unit and controls the operation of the glue scraping unit and the sleeving unit. The socket unit includes a linear motion platform, a cabin pose adjustment platform, a protective layer pose adjustment platform, a cabin fixing mechanism, a protective layer fixing mechanism, and a pose measurement mechanism; The cabin pose adjustment platform and the protective layer pose adjustment platform are slidably installed on the linear motion platform. The cabin model is installed on the cabin pose adjustment platform through the cabin fixing mechanism, and the protective layer model is installed on the protective layer pose adjustment platform through the protective layer fixing mechanism. The pose measurement mechanism is installed on the protective layer pose adjustment platform. The glue scraping unit includes a robot glue scraping mechanism and a glue mixing and supplying mechanism; The inlet end of the robot glue scraping mechanism is connected to the outlet end of the glue mixing and supplying mechanism, and the cabin model and the protective layer model are scraped with glue through the robot glue scraping mechanism.

[0007] Furthermore, the cabin pose adjustment platform is used to carry the cabin fixing mechanism and the cabin model, and provide five-degree-of-freedom position and pose adjustment for the cabin fixing mechanism and the cabin model.

[0008] Furthermore, the protective layer pose adjustment platform is used to carry the protective layer fixing mechanism and the protective layer model, and provide four-degree-of-freedom position and pose adjustment for the protective layer fixing mechanism and the protective layer model.

[0009] Furthermore, the pose measurement mechanism includes a measuring instrument mounting panel, a plurality of measuring instrument mounting brackets, and a plurality of gap measuring instruments; Each gap measuring instrument is installed on the measuring instrument mounting panel through a measuring instrument mounting bracket. Each gap measuring instrument realizes multi-angle opening and closing gap measurement through the measuring instrument mounting bracket. The measuring instrument mounting panel is installed on the carrier of the protective layer fixing mechanism by a telescopic connecting mechanism.

[0010] Furthermore, the protective layer fixing mechanism includes a protective layer fixing frame, two pressure sensors, and a plurality of protective layer positioning devices; A plurality of protective layer positioning devices are evenly distributed and fixedly installed on the protective layer fixing frame in the radial direction. Two pressure sensors are symmetrically installed on the protective layer fixing frame. The protective layer model is fixed on the protective layer fixing frame through a plurality of protective layer positioning devices, and the pressure on the cabin model inserted into the protective layer model is monitored through the pressure sensors.

[0011] Furthermore, the robot glue scraping mechanism includes a collaborative robotic arm, a robotic arm extension tooling, and a glue scraping tooling: The working end of the collaborative robotic arm is connected to the connecting end of the robotic arm extension tooling. The glue scraping tooling is installed on the robotic arm extension tooling. The glue scraping tooling is connected to the glue supply port of the glue mixing and supplying mechanism through a pipeline. The glue mixing and supplying mechanism receives the control instruction of the control unit, completes the specific proportion mixing of the glue liquid through a pressure plate pump and a gear pump, and supplies it to the glue scraping tooling 8-3.

[0012] Furthermore, the glue scraping tooling includes guide rods, a rotary connection support, a rotary connection shaft, a sliding connection inner support frame, a sliding connection outer support frame, and an overall support frame; The guide rods are respectively rotatably connected to the rotary connection support and the sliding connection inner support frame through the rotary connection shaft. The bottoms of the rotary connection support and the sliding connection outer support frame are fixedly connected to the top end face of the overall support frame; The sliding connection inner support frame and the sliding connection outer support frame form a sliding connection support. The sliding connection support and the rotary connection support are in an asymmetric structure. The sliding connection inner support frame is located inside the sliding connection outer support frame and is in a separated structure from the sliding connection outer support frame. The sliding connection inner support frame slides inside the sliding connection outer support frame along the long side direction of the glue scraping tooling. When the whole glue scraping tooling is tilted, it can rotate within a small range around the rotary connection support by a single axis. At the same time, the sliding connection inner support frame slides inside the sliding connection outer support frame. At this time, the two guide rods are in a non-parallel structure.

[0013] Furthermore, the glue mixing and supplying mechanism includes a feeding device, a metering device, and a dynamic mixing device. The feeding device, the metering device, and the dynamic mixing device are sequentially connected through pipelines. The feeding device is fixed on the ground, the metering device is installed on the collaborative robotic arm, and the dynamic mixing device is installed on the robotic arm extension tooling.

[0014] Furthermore, the control unit includes an integrated control mechanism. The integrated control mechanism adopts the TCP / IP communication method and communicates with the linear motion platform, the cabin position and attitude adjustment platform, the protective layer position and attitude adjustment platform, the robotic glue scraping mechanism, and the glue mixing and supplying mechanism through a network switch to achieve functions such as human-machine interaction, control instruction issuance, system status acquisition, and visual display.

[0015] Furthermore, the position and attitude measurement mechanism receives the control instructions of the integrated control mechanism, acquires images of the cabin model and the protective layer model. The image processor of the integrated control mechanism processes the images to obtain the positions and attitudes of the acquired cabin model and the protective layer model, which are used for position and attitude control feedback during the glue scraping and socketing processes.

[0016] The present invention has the following effects compared with the prior art: 1. The glue scraping and socketing system of the present application has strong universality, is applicable to automatic glue scraping on the surfaces of most medium and small-sized closed special-shaped cabins and protective layers, and can complete automatic socketing after glue scraping.

[0017] 2. The glue scraping and socketing system of the present application has a simple structure. This system is built in the form of a robotic arm and a guide rail, and each mechanism works in series. The whole system has strong stability.

[0018] 3. The glue scraping and socketing system of the present application has high glue scraping accuracy. The pose of the cabin section and the protective layer and the thickness of the glue layer are measured by a laser profiler and a high-resolution camera to ensure the glue scraping accuracy.

[0019] 4. The glue scraping and socketing system of the present application can automatically scrape the outer surface of the closed special-shaped cabin section and the inner surface of the closed special-shaped protective layer. In addition, it can complete the automatic socketing of the cabin section and the protective layer after glue scraping through the pose measurement system.

[0020] 5. The socketing accuracy of the glue scraping and socketing system of the present application is high. The movement of the cabin section pose adjustment platform and the protective layer pose adjustment platform is controlled by a servo motor and a pressure sensor to ensure the socketing accuracy.

[0021] 6. The glue scraping and socketing system of the present application has high safety. The relative position relationship between the cabin section pose adjustment platform and the protective layer pose adjustment platform during the socketing process is fed back by a pressure sensor to ensure the safety during the socketing process.

[0022] 7. The glue scraping and socketing system of the present application determines the movement space range of glue scraping and socketing by installing the cabin section pose adjustment platform 2 and the protective layer pose adjustment platform 3 above the linear motion platform 1. The movement space of the cabin section model 4 and the protective layer model 5 is determined by the cabin section fixing mechanism 6 and the protective layer fixing mechanism 7. Then, the initial positions of each movement and measurement system are calibrated through the comprehensive control mechanism 10 and the pose measurement mechanism 11. Under the guidance of the control instruction of the comprehensive control mechanism 10 and the measurement result of the pose measurement mechanism 11, the glue scraping poses of the cabin section model 4 and the protective layer model 5 are determined, and the movement path of the robot glue scraping mechanism 8 is controlled to complete the batch glue scraping and automatic socketing of the cabin section model 4 and the protective layer model 5. Brief Description of the Drawings

[0023] Figure 1 is the schematic diagram of the overall structure of the present application; Figure 2 is the schematic diagram of the pose measurement mechanism 11 installed on the protective layer fixing mechanism 7; Figure 3 is the schematic diagram of the measuring instrument mounting bracket 11-1; Figure 4 is the schematic diagram of the protective layer fixing mechanism 7; Figure 5 is the schematic diagram of the protective layer positioning device 7-3; Figure 6 is the schematic diagram before the installation of the robot glue scraping mechanism 8 and the glue mixing and supplying mechanism 9; Figure 7 is the schematic diagram of the glue scraping tooling 8-3; Figure 8 is the internal structure schematic diagram of the glue scraping tooling 8-3; Figure 9It is a schematic diagram of the internal structure of the rubber scraping tooling 8-3; Figure 10 It is a schematic diagram of the internal structure of the rubber scraping tooling 8-3; Figure 11 It is a block diagram of the work flow of the present application. Specific embodiments

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0025] Specific embodiment one: In combination with Figure 1 To illustrate this embodiment, a rubber scraping and socketing system for the surface of a closed special-shaped cabin section and a protective layer in this embodiment includes a rubber scraping unit, a socketing unit, and a control unit; The rubber scraping unit is arranged close to the socketing unit, and the control unit is respectively connected to the rubber scraping unit and the socketing unit and controls the operation of the rubber scraping unit and the socketing unit. The socketing unit includes a linear motion platform 1, a cabin section pose adjustment platform 2, a protective layer pose adjustment platform 3, a cabin section fixing mechanism 6, a protective layer fixing mechanism 7, and a pose measurement mechanism 11; The cabin section pose adjustment platform 2 and the protective layer pose adjustment platform 3 are slidably installed on the linear motion platform 1. The cabin section model 4 is installed on the cabin section pose adjustment platform 2 through the cabin section fixing mechanism 6, the protective layer model 5 is installed on the protective layer pose adjustment platform 3 through the protective layer fixing mechanism 7, and the pose measurement mechanism 11 is installed on the protective layer pose adjustment platform 3. The rubber scraping unit includes a robot rubber scraping mechanism 8 and a glue mixing and supply mechanism 9; The inlet end of the robot rubber scraping mechanism 8 is connected to the outlet end of the glue mixing and supply mechanism 9, and the cabin section model 4 and the protective layer model 5 are rubber scraped through the robot rubber scraping mechanism 8.

[0026] Specific embodiment two: In combination with Figure 1 To illustrate this embodiment, a rubber scraping and socketing system for the surface of a closed special-shaped cabin section and a protective layer in this embodiment is characterized in that: the cabin section pose adjustment platform 2 is used to carry the cabin section fixing mechanism 6 and the cabin section model 4 and provide five-degree-of-freedom position and pose adjustment for the cabin section fixing mechanism 6 and the cabin section model 4.

[0027] The cabin position and attitude adjustment platform 2 realizes a horizontal movement range of not less than 100 mm, a vertical movement range of not less than 100 mm, a pitching movement range of not less than 5°, a yaw movement range of not less than 30°, and a rolling movement range of not less than 360°. The other components and connection relationships are the same as those in the first specific implementation manner.

[0028] Specific implementation manner three: Combining Figure 1 To illustrate this implementation manner, a glue scraping and socketing system for the surface of a closed special-shaped cabin section and a protective layer. The protective layer position and attitude adjustment platform 3 is used to carry the protective layer fixing mechanism 7 and the protective layer model 5, and provides four-degree-of-freedom position and attitude adjustment for the protective layer fixing mechanism 7 and the protective layer model 5.

[0029] The horizontal movement range of the protective layer position and attitude adjustment platform 3 is not less than 10 mm, the vertical movement range is not less than 10 mm, the pitching movement range is not less than 1°, and the yaw movement range is not less than 1°. The other components and connection relationships are the same as those in the first specific implementation manner.

[0030] Specific implementation manner four: Combining Figure 1 and Figure 3 To illustrate this implementation manner, a glue scraping and socketing system for the surface of a closed special-shaped cabin section and a protective layer. The position and attitude measuring mechanism 11 includes a measuring instrument mounting panel 11-2, a plurality of measuring instrument mounting brackets 11-1, and a plurality of gap measuring instruments 11-3; Each gap measuring instrument 11-3 is installed on the measuring instrument mounting panel 11-2 through a measuring instrument mounting bracket 11-1. Each gap measuring instrument 11-3 realizes multi-angle opening and closing gap measurement through the measuring instrument mounting bracket 11-1. The measuring instrument mounting panel 11-2 is installed on the protective layer fixing mechanism 7 by a telescopic connection mechanism.

[0031] The measuring instrument mounting bracket 11-1 includes a mounting bracket fixed base, a mounting bracket rotating base, and a mounting bracket instrument fixing plate; The mounting bracket fixed base is provided with screw holes adapted to the measuring instrument mounting panel 11-2; The mounting bracket rotating base is provided with an arc-shaped slot and a locking screw. The mounting bracket fixed base is connected to the mounting bracket rotating base through a threaded connection structure. The mounting bracket fixed base and the mounting bracket rotating base can be opened and closed along the arc-shaped slot, and the opening and closing angle is not less than 45 degrees; The instrument fixing plate of the mounting bracket is fixedly connected to the rotating base of the mounting bracket through a threaded connection structure. The instrument fixing plate of the mounting bracket is provided with a mounting interface for carrying the gap measuring instrument 11-3. The gap measuring instrument 11-3 is a laser profiler. A plurality of gap measuring instruments 11-3 are circumferentially arranged in a circular array. After the installation angle and position are coordinately adjusted by the rotating base of the mounting bracket and the instrument fixing plate of the mounting bracket, a covering measurement layout of the circumferential gap between the protection layer model 5 and the cabin section model 4 is formed.

[0032] The method for measuring the socket gap of the closed cabin section is as follows: S1: The host computer sends a synchronization signal, and all gap measuring instruments 11-3 are started simultaneously to scan the socket edge surfaces of the closed thermal protection and the closed cabin section. The end point of the measurement beam emitted by the gap measuring instrument 11-3 is the measurement point. The linear distance between the vertical projection point of the starting point of the measurement beam emitted by the gap measuring instrument 11-3 at each measurement point on the closed cabin section and the vertical projection point of the measurement point on the closed cabin section is collected, as well as the coordinates of the measurement point in the field of view of the gap measuring instrument 11-3. S2: Calculate the difference between the linear distances of every two adjacent measurement points. When the difference is greater than the set threshold, determine that the current two adjacent measurement points are edge points; among the two edge points, the edge point with a relatively smaller connection distance to the gap measuring instrument 11-3 is located on the closed thermal protection, and the other edge point is located on the closed cabin section. S3: Perform linear fitting on all the linear distance data and coordinate data at all measurement points to obtain a fitting result, and then calculate the socket gap of the closed cabin section according to the fitting result and all the edge point data on the closed thermal protection.

[0033] The steps for performing linear fitting on all the linear distance data and coordinate data at all measurement points include: First, respectively obtain the set of the linear distances in step S1 and the coordinate set of each measurement point in the field of view of the gap measuring instrument 11-3 : In the formula, represents the linear distance between the vertical projection point of the starting point of the measurement beam emitted by the gap measuring instrument 5 on the closed cabin section and the vertical projection point of the measurement point end point on the closed cabin section respectively, represents the coordinates of the measurement point in the field of view of the gap measuring instrument 11-3, i represents the measuring instrument number, j represents the serial number of the measurement point, n is the total number of measurement points; Then use the linear least squares fitting method for , Perform a linear fit, and the fitting model is , and the slope and intercept are obtained through fitting calculation. The specific calculation process includes: In the formula, represents the mean value of all elements in the set , and represents the mean value of all elements in the set .

[0034] The specific method for calculating the socket gap of the enclosed cabin section at the position of this edge point according to the fitting result and the data of all edge points on the enclosed thermal protection described in step S3 is as follows: According to the linear distance data, coordinate data, slope and intercept of the upper edge point of the enclosed thermal protection, calculate the enclosed cabin section gap at the current edge point position. The calculation formula is as follows: . Other compositions and connection relationships are the same as those in the third specific implementation manner.

[0035] Specific implementation manner five: Combine Figure 1 , Figure 4 and Figure 5 to illustrate this implementation manner. A glue scraping and socketing system for an enclosed special-shaped cabin section and the surface of the protection layer in this implementation manner. The protection layer fixing mechanism 7 includes a protection layer fixing frame 7-1, two pressure sensors 7-2, and multiple protection layer positioning devices 7-3; Multiple protection layer positioning devices 7-3 are fixedly installed on the protection layer fixing frame 7-1 along the radial direction. Two pressure sensors 7-2 are symmetrically installed on the protection layer fixing frame 7-1. The protection layer model 5 is fixed on the protection layer fixing frame 7-1 through multiple protection layer positioning devices 7-3, and the pressure on the cabin section model 4 inserted into the protection layer model 5 is monitored through the pressure sensors 7-2.

[0036] Fix and position the protection layer model 5 through the protection layer positioning device 7-3; The protection layer positioning device 7-3 consists of a top vacuum suction cup, a top electric push rod, a top fixing bracket, and a top suction cup pressure sensor; The end of the central telescopic rod of the electric push rod is fixedly connected to the top vacuum suction cup. The electric push rod is fixed on the top fixed bracket. The top suction cup pressure sensor is connected between the end of the central telescopic rod of the electric push rod and the top vacuum suction cup.

[0037] After the electric push rod drives the top vacuum suction cup to contact the surface of the protective layer model, the top vacuum suction cup will compress itself. When the top vacuum suction cup is compressed to the limit, a pressure is generated between the base of the top vacuum suction cup and the top suction cup pressure sensor. This pressure will transmit the IO signal back to the control system in real time. When its value reaches the preset upper pressure limit, the control system will send a stop motion signal to the top electric push rod. At this time, it means that the top electric push rod has reached the working position and stops at this position.

[0038] Step 1: Position confirmation step: Send the protective layer model into the protective layer fixing mechanism to position the protective layer model. Step 2: Adsorption and fixation step: Adsorb to the surface of the protective layer model through the vacuum suction cup so that the electric push rod reaches the working position and stops at this position. Step 3: Release fixation step: The vacuum suction cup detaches from the protective layer model and returns to the initial position, and the processing of the protective layer model is completed.

[0039] After the protective layer model 5 in the position confirmation step in Step 1 enters the protective layer fixing frame 7-1, it moves axially until the protective layer model 5 contacts the pressure sensor 7-2 and the pressure sensor 7-2 measures the pressure. At this time, it can be confirmed that the protective layer model 5 is in place axially. The control system sends a motion signal to the protective layer positioning device 7-3 to control the electric push rod in the protective layer positioning device 7-3 to move towards the center. Under the action of the electric push rod, the vacuum suction cup moves towards the protective layer model 5 at the same time and finally contacts the surface of the protective layer model 5. When the electric push rod continues to move and compresses the corresponding vacuum suction cup to the limit, a pressure is generated on the pressure sensor of the electric push rod. This pressure will transmit the IO signal back to the control system in real time. When its value reaches the preset upper pressure limit, the control system will send a stop motion signal to the electric push rod. At this time, it means that the corresponding electric push rod has reached the working position and stops at this position. In the adsorption and fixation step in Step 2, first, turn on the vacuum suction cup in the protective layer positioning device 7-3, and control the external air source of the vacuum suction cup so that the inside of the vacuum suction cup is converted to a vacuum state. At this time, the vacuum suction cup adsorbs to the surface of the protective layer model 5. After the adsorption is firm, control the electric push rod 202 in the protective layer positioning device 7-3 to move in the opposite direction to the center, driving the vacuum suction cup to move in the opposite direction to the center while maintaining the adsorption state. When the positioning device moves to the preset stroke, it stops moving and maintains the state. At this time, the protective layer model 5 is fixed under the action of the three positioning devices. Since the positioning device adopts an outward adsorption fixing method, it will not cause extrusion deformation to the shape of the product; In the step of releasing the fixation in Step 3, control the electric push rod in the protective layer positioning device 7-3 to move towards the center. When it moves to the stop position in Step 1, control the external air source to release the vacuum state inside the vacuum suction cup. At this time, the vacuum suction cup in the protective layer positioning device 7-3 stops adsorbing the protective layer model 5. Thereafter, control the top electric push rod in the protective layer positioning device 7-3 to move in the opposite direction to the center, so that the vacuum suction cup disengages from the protective layer model 5 and returns to the initial position. The other components and connection relationships are the same as those in the third specific embodiment.

[0040] Specific Embodiment Six: Combining Figures 5 - 10 To illustrate this embodiment, a glue scraping and socketing system for the surface of a closed special-shaped cabin section and a protective layer in this embodiment, the robot glue scraping mechanism 8 includes a cooperative robotic arm 8-1, a robotic arm extension tooling 8-2, and a glue scraping tooling 8-3: The working end of the cooperative robotic arm 8-1 is connected to the connecting end of the robotic arm extension tooling 8-2. The glue scraping tooling 8-3 is installed on the robotic arm extension tooling 8-2. The glue scraping tooling 8-3 is connected to the glue supply port of the glue mixing and supply mechanism 9 through a pipeline. The glue mixing and supply mechanism 9 receives the control instructions of the control unit, mixes the glue liquid in a specific proportion through a pressure plate pump and a gear pump, and supplies it to the glue scraping tooling 8-3. The other components and connection relationships are the same as those in the third specific embodiment.

[0041] Specific Embodiment Seven: Combining Figures 6 - 8 To illustrate this embodiment, a glue scraping and socketing system for the surface of a closed special-shaped cabin section and a protective layer in this embodiment, the glue scraping tooling 8-3 includes a guide rod, a rotary connection support, a rotary connection shaft, a sliding connection inner support frame, a sliding connection outer support frame, and an overall support frame; The guide rod is rotatably connected to the rotary connection support and the sliding connection inner support frame through the rotary connection shaft respectively. The bottoms of the rotary connection support and the sliding connection outer support frame are fixedly connected to the top end face of the overall support frame; The sliding connection inner support frame and the sliding connection outer support frame form a sliding connection support. There is an asymmetric structure between the sliding connection support and the rotary connection support. The sliding connection inner support frame is located inside the sliding connection outer support frame and is in a separated structure from the sliding connection outer support frame. The sliding connection inner support frame slides inside the sliding connection outer support frame along the long side direction of the glue scraping tooling, so that when the whole glue scraping tooling 8-3 is tilted, it can rotate in a small range around the rotary connection support uniaxially. At the same time, the sliding connection inner support frame slides inside the sliding connection outer support frame, and at this time the two guide rods are in a non-parallel structure.

[0042] It includes a tooling guide rod, a rotary connection support, a rotary connection shaft, a sliding connection inner support frame, a sliding connection outer support frame, a buffer spring, a cover plate, a general support frame, a glue supply port, a glue storage box, a moving roller, a glue outlet, an anti-overflow glue baffle and a glue scraping plate; The bottom of the guide rod is respectively rotationally connected to the rotary connection support and the sliding connection inner support frame through the rotary connection shaft. The bottoms of the rotary connection support and the sliding connection outer support frame are fixedly connected to the top end face of the general support frame; The sliding connection inner support frame and the sliding connection outer support frame form a sliding connection support. There is an asymmetric structure between the sliding connection support and the rotary connection support. The sliding connection inner support frame is located inside the sliding connection outer support frame and is in a separated structure from the sliding connection outer support frame. The sliding connection inner support frame slides inside the sliding connection outer support frame along the long side direction of the glue scraping tooling, so that when the whole glue scraping tooling is tilted, it can rotate in a small range around the rotary connection support uniaxially. At the same time, the sliding connection inner support frame slides inside the sliding connection outer support frame, and at this time the two guide rods are in a non-parallel structure. The glue supply port passes through the middle position at the top of the general support frame. The bottom of the glue storage box has a glue outlet, and both the glue supply port and the glue outlet are connected to the glue storage box. The general support frame is respectively connected to the moving roller, the anti-overflow glue baffle and the glue scraping plate to form an integral structure. The glue scraping plate is behind the glue outlet. When the glue passes through the glue supply port, it is first stored in the glue storage box. When the glue storage box reaches the volume upper limit, the glue flows out from the glue outlet. According to the specified moving direction, the glue will be smeared by the glue scraping plate after flowing down, and only the glue required for the predetermined glue scraping thickness is retained, and the rest of the glue continues to move forward with the movement. A chute structure is formed between the sliding connection outer support frame and the top end face of the general support frame, so that the bottom plate of the sliding connection inner support frame slides in this chute. The guide rod on this frame is driven to slide by the sliding connection inner support frame. A buffer spring is sleeved on the guide rod, and the top end of the guide rod is connected with a cover plate. The guide rod and the cover plate are connected by screws. The guide rod and the cover plate suspend the glue scraping tooling 8-3 on the working end of the robotic arm extension tooling 8-2. The buffer spring ensures that the whole glue scraping tooling has both rigidity and flexibility when moving up and down, and ensures the uniformity of the glue layer thickness.

[0043] The combined action of the rotary connection support, the sliding connection inner support frame, and the sliding connection outer support frame enables the glue scraping tooling to adapt to the special-shaped surface. The moving rollers on the glue scraping tooling 8-3 always face forward in the glue scraping direction and contact the surface of the workpiece during glue scraping. The glue scraping plate is always behind the glue scraping direction during glue scraping. By adjusting the gap between the glue scraping plate and the workpiece surface to be fixed, the thickness of the glue layer is ensured to be uniform. Other components and connection relationships are the same as those in the fifth specific implementation manner.

[0044] Specific implementation manner eight: Combining Figure 1 and Figure 6 This specific implementation manner is described. A glue scraping and socketing system for the surface of a closed special-shaped cabin section and a protective layer includes a glue dispensing and supplying mechanism 9, which comprises a feeding device 9-1, a metering device 9-2, and a dynamic mixing device 9-3. The feeding device 9-1, the metering device 9-2, and the dynamic mixing device 9-3 are sequentially connected through pipelines. The feeding device 9-1 is fixed on the ground, the metering device 9-2 is installed on the cooperative robotic arm 8-1, and the dynamic mixing device 9-3 is installed on the robotic arm extension tooling 8-2.

[0045] The glue is first provided by the feeding device 9-1, transported through the pipeline to the metering device 9-2 for metering to ensure the correct proportion and weight of each component of the glue. After metering, it is transported through the pipeline to the dynamic mixing device 9-3 for full mixing. The mixed glue passes through the pipeline, passes through the end connection box of the robotic arm extension tooling 8-2, and finally connects to the glue supply port and enters the glue storage box for temporary storage. When the volume of the glue storage box reaches the upper limit, the glue flows out from the glue outlet. The glue scraping trajectory of the cooperative robotic arm 8-1 is jointly determined by the glue scraping tooling 8-3 and the surface shape of the workpiece. First, a theoretical glue scraping path is generated based on the information of the robot base coordinate system, the workpiece surface data, and the size model of the glue scraping tooling. Then, it is manually fine-tuned to form the actual glue scraping. When executing the predetermined glue scraping trajectory movement, the moving rollers of the glue scraping tooling 8-3 first contact the workpiece surface. By adjusting the posture of the cooperative robotic arm 8-1, the gap between the glue scraping plate and the workpiece surface is ensured to meet the glue scraping thickness requirement. According to the specified movement direction, after the glue flows down, it will be smeared by the glue scraping plate, and only the glue meeting the predetermined glue scraping thickness requirement is retained, and the rest of the glue continues to move forward. The combined action of the rotary connection support, the sliding connection inner support frame, and the sliding connection outer support frame enables the glue scraping tooling to adapt to the special-shaped surface. The moving rollers always face forward in the glue scraping direction and contact the workpiece surface during glue scraping. The glue scraping plate is always behind the glue scraping direction during glue scraping. By adjusting the gap between the glue scraping plate and the workpiece surface to be fixed, the thickness of the glue layer is ensured to be uniform. Other components and connection relationships are the same as those in the fourth specific implementation manner.

[0046] Specific implementation manner nine: CombiningFigure 1 and Figure 11 To describe this embodiment, a glue scraping and socketing system for the surface of a closed special-shaped cabin section and a protective layer in this embodiment. The control unit includes an integrated control mechanism 10. The integrated control mechanism 10 uses the TCP / IP communication method and communicates with the linear motion platform 1, the cabin position and attitude adjustment platform 2, the protective layer position and attitude adjustment platform 3, the robot glue scraping mechanism 8, and the glue mixing and supplying mechanism 9 through a network switch to achieve functions such as human-machine interaction, control instruction issuance, system status collection, and visual display. Other compositions and connection relationships are the same as those in the first specific embodiment.

[0047] Specific Embodiment Ten: In combination with Figure 1 and Figure 11 To describe this embodiment, a glue scraping and socketing system for the surface of a closed special-shaped cabin section and a protective layer in this embodiment. It is characterized in that: the position and attitude measurement mechanism 11 receives the control instructions of the integrated control mechanism 10, acquires images of the cabin section model 4 and the protective layer model 5, and the image processor of the integrated control mechanism 10 processes the images to obtain the positions and attitudes of the cabin section model 4 and the protective layer model 5, which are used for position and attitude control feedback during the glue scraping and socketing process. Other compositions and connection relationships are the same as those in the sixth specific embodiment.

[0048] Working Principle Manually install the manually socketed cabin section model (4) and the protective layer model (5) on the cabin position and attitude adjustment platform (2); Automatically operate the cabin position and attitude adjustment platform (2) and the protective layer position and attitude adjustment platform (3) to approach and interpenetrate each other. The protective layer position and attitude adjustment platform (3) fixes the protective layer model (5), and the cabin position and attitude adjustment platform (2) withdraws from the protective layer position and attitude adjustment platform (3) to complete the positioning of the cabin position and attitude adjustment platform (2) and the protective layer position and attitude adjustment platform (3); The robot glue scraping mechanism (8) scans the cabin section model (4) and the protective layer model (5) with a laser profiler; The robot glue scraping mechanism (8) scrapes glue on the cabin section model (4) and the protective layer model (5) respectively with a glue scraping plate; The robot glue scraping mechanism (8) measures the glue scraping thickness with a laser profiler to achieve the glue scraping thickness effect; Automatically operate the cabin position and attitude adjustment platform (2) and the protective layer position and attitude adjustment platform (3) to approach each other, measure the gap between the two with a gap measuring instrument, and adjust the cabin position and attitude adjustment platform (2) according to the result; The cabin position and attitude adjustment platform (2) sends the cabin section model (4) into the protective layer model (5) to complete socketing. The protective layer position and attitude adjustment platform (3) releases the protective layer model (5), and then the cabin position and attitude adjustment platform (2) takes out the socketed cabin section model (4) and the protective layer model (5).

[0049] Note that the above is only the preferred embodiment of the present invention and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A scraping glue and socketing system for a closed special-shaped cabin section and a protective layer surface, characterized in that: It includes a rubber scraping unit, a socketing unit and a control unit; The rubber scraping unit is arranged close to the socketing unit, and the control unit is respectively connected to the rubber scraping unit and the socketing unit and controls the operation of the rubber scraping unit and the socketing unit. The socketing unit includes a linear motion platform (1), a cabin pose adjustment platform (2), a protective layer pose adjustment platform (3), a cabin fixing mechanism (6), a protective layer fixing mechanism (7) and a pose measurement mechanism (11); The cabin pose adjustment platform (2) and the protective layer pose adjustment platform (3) are slidably installed on the linear motion platform (1). The cabin model (4) is installed on the cabin pose adjustment platform (2) through the cabin fixing mechanism (6), and the protective layer model (5) is installed on the protective layer pose adjustment platform (3) through the protective layer fixing mechanism (7). The pose measurement mechanism (11) is installed on the protective layer pose adjustment platform (3). The rubber scraping unit includes a robot rubber scraping mechanism (8) and a glue mixing and supplying mechanism (9); The inlet end of the robot rubber scraping mechanism (8) is connected to the outlet end of the glue mixing and supplying mechanism (9), and the cabin model (4) and the protective layer model (5) are rubber scraped by the robot rubber scraping mechanism (8).

2. The scraping glue and socketing system for a closed special-shaped cabin section and the surface of a protective layer according to claim 1, characterized in that: The cabin pose adjustment platform (2) is used to carry the cabin fixing mechanism (6) and the cabin model (4), and provides five-degree-of-freedom position and attitude adjustment for the cabin fixing mechanism (6) and the cabin model (4).

3. The scraping glue and socketing system for a closed special-shaped cabin section and the surface of a protective layer according to claim 1, characterized in that: The protective layer pose adjustment platform (3) is used to carry the protective layer fixing mechanism (7) and the protective layer model (5), and provides four-degree-of-freedom position and attitude adjustment for the protective layer fixing mechanism (7) and the protective layer model (5).

4. The scraping glue and socketing system for a closed special-shaped cabin section and the surface of a protective layer according to claim 3, characterized in that: The pose measurement mechanism (11) includes a measuring instrument mounting panel (11-2), a plurality of measuring instrument mounting brackets (11-1) and a plurality of gap measuring instruments (11-3); Each gap measuring instrument (11-3) is installed on the measuring instrument mounting panel (11-2) through a measuring instrument mounting bracket (11-1). Each gap measuring instrument (11-3) realizes multi-angle opening and closing gap measurement through the measuring instrument mounting bracket (11-1). The measuring instrument mounting panel (11-2) is installed on the carrier of the protective layer fixing mechanism (7) by a telescopic connecting mechanism.

5. The scraping glue and socketing system for a closed special-shaped cabin section and the surface of a protective layer according to claim 3 or 4, characterized in that: The protective layer fixing mechanism (7) includes a protective layer fixing frame (7-1), two pressure sensors (7-2) and a plurality of protective layer positioning devices (7-3); A plurality of protective layer positioning devices (7-3) are radially and uniformly fixed on the protective layer fixing frame (7-1). Two pressure sensors (7-2) are symmetrically installed on the protective layer fixing frame (7-1). The protective layer model (5) is fixed on the protective layer fixing frame (7-1) through a plurality of protective layer positioning devices (7-3), and the pressure on the cabin model (4) inserted into the protective layer model (5) is monitored by the pressure sensors (7-2).

6. The rubber scraping and socketing system for a closed special-shaped cabin section and the surface of a protective layer according to claim 1, wherein: The robot rubber scraping mechanism (8) includes a collaborative robotic arm (8-1), a robotic arm extension tooling (8-2) and a rubber scraping tooling (8-3): The working end of the collaborative robotic arm (8-1) is connected to the connecting end of the robotic arm extension tooling (8-2). The glue scraping tooling (8-3) is installed on the robotic arm extension tooling (8-2). The glue scraping tooling (8-3) is connected to the glue supply port of the glue mixing and supplying mechanism (9) through a pipeline. The glue mixing and supplying mechanism (9) receives the control instructions from the control unit, completes the specific proportion mixing of the glue liquid through the pressure plate pump and the gear pump, and supplies it to the glue scraping tooling (8-3).

7. The scraping glue and socketing system for a closed special-shaped cabin section and a protective layer surface according to claim 6, characterized in that: The glue scraping tooling (8-3) includes guide rods, a rotary connection support, a rotary connection shaft, a sliding connection inner support frame, a sliding connection outer support frame, and an overall support frame; The guide rods are respectively rotatably connected to the rotary connection support and the sliding connection inner support frame through the rotary connection shaft. The bottoms of the rotary connection support and the sliding connection outer support frame are fixedly connected to the top end face of the overall support frame; The sliding connection inner support frame and the sliding connection outer support frame form a sliding connection support. The sliding connection support and the rotary connection support are in an asymmetric structure. The sliding connection inner support frame is located inside the sliding connection outer support frame and is in a separated structure from the sliding connection outer support frame. The sliding connection inner support frame slides inside the sliding connection outer support frame along the long side direction of the glue scraping tooling, so that when the whole glue scraping tooling (8-3) is tilted, it can rotate within a small range around the rotary connection support uniaxially. At the same time, the sliding connection inner support frame slides inside the sliding connection outer support frame, and at this time, the two guide rods are in a non-parallel structure.

8. The scraping glue and socketing system for a closed special-shaped cabin section and the surface of a protective layer according to claim 6, characterized in that: The glue mixing and supplying mechanism (9) includes a feeding device (9-1), a metering device (9-2), and a dynamic mixing device (9-3). The feeding device (9-1), the metering device (9-2), and the dynamic mixing device (9-3) are sequentially connected through pipelines. The feeding device (9-1) is fixed on the ground, the metering device (9-2) is installed on the collaborative robotic arm (8-1), and the dynamic mixing device (9-3) is installed on the robotic arm extension tooling (8-2).

9. The scraping glue and socketing system for a closed special-shaped cabin section and the surface of a protective layer according to claim 6, wherein: The control unit includes an integrated control mechanism (10). The integrated control mechanism (10) uses the TCP / IP communication method and communicates with the linear motion platform (1), the cabin pose adjustment platform (2), the protective layer pose adjustment platform (3), the robotic arm glue scraping mechanism (8), and the glue mixing and supplying mechanism (9) through a network switch to realize functions such as human-machine interaction, control instruction issuance, system status acquisition, and visual display.

10. The scraping glue and socketing system for a closed special-shaped cabin section and the surface of a protective layer according to claim 6, wherein: The pose measurement mechanism (11) receives the control instructions from the integrated control mechanism (10), acquires the images of the cabin model (4) and the protective layer model (5). The image processor of the integrated control mechanism (10) processes the images to obtain the positions and poses of the cabin model (4) and the protective layer model (5), which are used for pose control feedback during the glue scraping and socketing processes.

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