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

Abstract

The invention relates to a glue scraping and sleeving system, in particular to a glue scraping and sleeving system for the surfaces of an open special-shaped cabin section and a protective layer. The invention aims to solve the problems of low glue scraping efficiency, non-uniform glue amount, high labor input cost, incapability of ensuring the glue scraping precision, waste of glue caused by manual sleeving of the special-shaped cabin section and influence on the bonding effect between the cabin section and a protective layer due to the adoption of manual or semi-automatic sleeving of the existing open special-shaped cabin section. The device comprises a glue scraping unit, a sleeving unit and a control unit, the sleeving unit comprises a linear motion platform, a cabin section fixing mechanism, a protective layer openness adjusting mechanism and a pose measuring mechanism, and a cabin section pose adjusting platform and a protective layer pose adjusting platform are arranged on the linear motion platform in a sliding mode; the cabin section model is arranged on the cabin section pose adjusting platform through the cabin section fixing mechanism, and the protective layer openness adjusting mechanism can adjust the openness of the protective layer model. The device is used for glue scraping and sleeving of the surfaces of the open special-shaped cabin section and the protective layer.

Description

Technical Field

[0001] The present invention relates to a rubber scraping and socketing system, specifically to a rubber scraping and socketing system for the surface of an open-shaped cabin section and a protective layer, belonging 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 rubber 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 rubber scraping and socketing system for the surface of an open-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 rubber scraping and assembly manufacturing process, and the production efficiency is significantly improved.

[0003] Currently, most of the rubber scraping methods in the rubber scraping field are manual rubber scraping. For open-shaped cabin sections, the efficiency of manual rubber scraping is not high, and there are certain limitations on products and fixing mechanisms. Due to the particularity of the open-shaped cabin section and the protective layer, problems such as deformation and displacement of the protective layer caused by stress are likely to occur during the rubber scraping process. In addition, due to the inability to control the amount of glue, the amount of glue is prone to be uneven during manual rubber scraping, and the glue contaminates the product, unable to meet the high-quality requirements of customers. Moreover, the labor input cost is high, the rubber 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 socketing of open-shaped cabin sections, it is mostly manual socketing and semi-automatic socketing based on empirical positions. Manual socketing is affected by manual force application. Since there is a large space for relative movement between the open-shaped cabin section and the protective layer, the assembly accuracy between the cabin section and the protective layer cannot be guaranteed during the socketing process, resulting in a large amount of excess glue being extruded, causing glue waste, and it is also easier to generate misalignment between the two, affecting the final bonding effect between the cabin section and the protective layer. The semi-automatic socketing based on empirical positions cannot be adjusted according to the actual manufacturing errors of the cabin section and the protective layer, and is prone to deviation during the socketing process, affecting the bonding effect. Summary of the Invention

[0005] The present invention aims to solve the problems that the existing socketing of open-shaped cabin sections adopts manual or semi-automatic socketing, with low rubber scraping efficiency, uneven glue amount, high labor input cost, unable to guarantee the rubber scraping accuracy, waste of glue caused by manual socketing of special-shaped cabin sections, and affecting the bonding effect between the cabin section and the protective layer. Furthermore, a rubber scraping and socketing system for the surface of an open-shaped cabin section and a protective layer is proposed.

[0006] The technical solutions adopted by the present invention to solve the above technical problems are as follows: An adhesive scraping and socketing system for an open-shaped cabin section and a protective layer surface includes an adhesive scraping unit, a socketing unit, and a control unit. The adhesive scraping unit is arranged on one side of the socketing unit, and the control unit controls the operations of the adhesive scraping unit and the socketing unit respectively; The socketing unit includes a linear motion platform, a cabin section pose adjustment platform, a protective layer pose adjustment platform, a cabin section fixing mechanism, a protective layer opening degree adjustment mechanism, and a pose measurement mechanism. The linear motion platform is horizontally arranged, the cabin section pose adjustment platform and the protective layer pose adjustment platform are respectively slidably installed on the linear motion platform. The cabin section model is arranged on the cabin section pose adjustment platform through the cabin section fixing mechanism, and the protective layer model is arranged on the protective layer pose adjustment platform through the protective layer opening degree adjustment mechanism. The protective layer opening degree adjustment mechanism can adjust the opening degree of the protective layer model, and the pose measurement mechanism is arranged on the protective layer pose adjustment platform; The adhesive scraping unit includes a robot adhesive scraping mechanism and a glue mixing and supply mechanism. The glue mixing and supply mechanism can mix the glue liquid and the curing agent in proportion and supply them to the robot adhesive scraping mechanism. The robot adhesive scraping mechanism can scrape the outer surface of the cabin section model and the inner surface of the protective layer model.

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

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

[0009] Further, the protective layer opening degree adjustment mechanism includes a protective layer fixing mechanism, a top positioning mechanism, a side positioning mechanism, an end face positioning mechanism, a pressure sensor, and an electric claw mechanism; The protective layer fixing mechanism includes a rectangular frame, and the rectangular frame includes a top plate, a left side plate, a right side plate, and a rear side plate; The top positioning mechanism is fixedly installed in the middle of the inner wall of the top plate. The two side positioning mechanisms are respectively fixedly installed in the middle of the inner wall of the left side plate and the middle of the inner wall of the right side plate. The two side positioning mechanisms can adjust the opening degree of the external protective layer model; The pressure sensor is fixedly installed in the middle of the inner wall of the rear side plate. The two end face positioning mechanisms are respectively fixedly installed in the front part of the inner wall of the left side plate and the front part of the inner wall of the right side plate; The two electric claw mechanisms are respectively fixedly installed in the front part of the left side plate and the front part of the right side plate.

[0010] Further, the top positioning mechanism includes a top vacuum suction cup and a top positioning cylinder, and the end of the central expansion rod of the top positioning cylinder is installed with a top vacuum suction cup; The side positioning mechanism includes a side vacuum chuck and a side positioning cylinder, and a side vacuum chuck is installed at the end of the central telescopic rod of the side positioning cylinder; The end face positioning mechanism includes an end face claw and an end face rotating cylinder, and an end face claw is installed at the end of the rotating telescopic rod of the end face rotating cylinder.

[0011] Further, the electric claw mechanism includes an electric push rod, a large claw arm and a small claw arm. A claw is provided on the upper end surface of one end of the small claw arm. The other end of the small claw arm is hinged to one end of the large claw arm, and the other end of the large claw arm is fixedly connected to a rectangular frame. The end of the electric push rod is respectively hinged to the upper end surfaces of the middle parts of the large claw arm and the small claw arm.

[0012] Further, the robot glue scraping mechanism includes a cooperative robotic arm, a robotic arm extension tooling and a glue scraping tooling; The working end of the cooperative 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 supply mechanism through a pipeline. The glue mixing and supply mechanism receives the control instruction of the control unit, completes the mixing and preparation of the glue liquid through a pressure plate pump and a gear pump, and supplies it to the glue scraping tooling.

[0013] Further, the glue scraping tooling 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 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 is tilted, it can rotate in a small range around the rotary connection support uniaxially, and 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.

[0014] Further, the glue mixing and supply mechanism includes a feeding mechanism, a metering mechanism and a dynamic mixing mechanism. The feeding mechanism, the metering mechanism and the dynamic mixing mechanism are connected in sequence through pipelines. The feeding mechanism is fixed on the ground, the metering mechanism is installed on the cooperative robotic arm, and the dynamic mixing mechanism is installed on the robotic arm extension tooling.

[0015] Furthermore, the pose measurement mechanism includes a measurement instrument mounting panel, a plurality of measurement instrument mounting brackets, and a plurality of clearance measurement instruments. Each clearance measurement instrument is mounted on the measurement instrument mounting panel through a measurement instrument mounting bracket. Each clearance measurement instrument can perform multi-angle opening and closing clearance measurement through the measurement instrument mounting bracket. The measurement instrument mounting panel is mounted on the protection layer openness adjustment mechanism through a telescopic connection mechanism.

[0016] The beneficial effects included in the present invention compared with the prior art are as follows: 1. The glue scraping and socketing system of the present invention has strong universality, is applicable to automatic glue scraping on the surfaces of most medium and small open-shaped cabin sections and protection layers, and can complete automatic socketing after glue scraping.

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

[0018] 3. The glue scraping and socketing system of the present invention has high glue scraping accuracy. The pose of the cabin section and the protection layer as well as 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 invention can realize automatic glue scraping on the outer surface of the open-shaped cabin section and the inner surface of the protection layer. In addition, it can complete the automatic socketing of the cabin section and the protection layer after glue scraping through the pose measurement mechanism.

[0020] 5. The glue scraping and socketing system of the present invention can adjust the openness of the protection layer model, and at the same time can realize the permanent maintenance of the openness, ensuring the pose accuracy of the protection layer model during the glue scraping and socketing process.

[0021] 6. The socketing accuracy of the glue scraping and socketing system of the present invention is high. The movement of the cabin section pose adjustment platform and the protection layer pose adjustment platform is controlled by a servo motor and a pressure sensor to ensure the socketing accuracy.

[0022] 7. The glue scraping and socketing system of the present invention has high safety. The relative position relationship between the cabin section pose adjustment platform and the protection layer pose adjustment platform during the socketing process is fed back by a pressure sensor to ensure the safety during the socketing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is the overall structural schematic diagram of the present invention; Figure 2 is the structural schematic diagram of the pose measurement mechanism in the present invention; Figure 3 is the structural schematic diagram of the measurement instrument mounting bracket in the present invention; Figure 4 is the structural schematic diagram of the protection layer openness adjustment mechanism in the present invention; Figure 5 is a schematic structural diagram of the top positioning mechanism in the present invention; Figure 6 is a schematic structural diagram of the side positioning mechanism in the present invention; Figure 7 is a schematic structural diagram of the end face positioning mechanism in the present invention; Figure 8 is a schematic diagram of the electric claw mechanism in the present invention; Figure 9 is a schematic diagram of the usage principle of the protective layer openness adjustment mechanism in the present invention; Figure 10 is a schematic structural diagram before the installation of the robot glue scraping mechanism and the glue mixing and supplying mechanism in the present invention; Figure 11 is a schematic structural diagram of the glue scraping tooling in the present invention; Figure 12 is a schematic internal structural diagram of the glue scraping tooling from the first perspective in the present invention; Figure 13 is a schematic internal structural diagram of the glue scraping tooling from the second perspective in the present invention; Figure 14 is a schematic internal structural diagram of the glue scraping tooling from the third perspective in the present invention; Figure 15 is the electrical connection topology diagram of the present invention; Figure 16 is the work flow chart of the present invention. Specific Embodiments

[0024] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention clearer, the following further details the invention in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0025] Specific Embodiment 1: In combination with Figures 1 to 16 This embodiment is described. The glue scraping and socketing system for an open-shaped cabin section and the surface of the protective layer in this embodiment includes a glue scraping unit, a socketing unit and a control unit. The glue scraping unit is arranged on one side of the socketing unit, and the control unit controls the work of the glue scraping unit and the socketing unit respectively; The socket 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 opening degree adjustment mechanism 7, and a pose measurement mechanism 11. The linear motion platform 1 is horizontally arranged. The cabin pose adjustment platform 2 and the protective layer pose adjustment platform 3 are respectively slidably installed on the linear motion platform 1. The cabin model 4 is arranged on the cabin pose adjustment platform 2 through the cabin fixing mechanism 6. The protective layer model 5 is arranged on the protective layer pose adjustment platform 3 through the protective layer opening degree adjustment mechanism 7. The protective layer opening degree adjustment mechanism 7 can adjust the opening degree of the protective layer model 5. The pose measurement mechanism 11 is arranged on the protective layer pose adjustment platform 3; The glue scraping unit includes a robot glue scraping mechanism 8 and a glue mixing and supplying mechanism 9. The glue mixing and supplying mechanism 9 can mix the glue liquid and the curing agent in proportion and supply them to the robot glue scraping mechanism 8. The robot glue scraping mechanism 8 can scrape the outer surface of the cabin model 4 and the inner surface of the protective layer model 5.

[0026] The control unit includes an integrated control mechanism 10. The integrated control mechanism 10 adopts 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 robot 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 state acquisition, and visual display.

[0027] The pose measurement mechanism 11 receives the control instruction of 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 postures 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.

[0028] Specific Embodiment 2: Combine Figures 1 to 16 This embodiment is described. The cabin pose adjustment platform 2 in this embodiment is used to carry the cabin fixing mechanism 6 and the cabin model 4, and provide five-degree-of-freedom position and pose adjustment for the cabin fixing mechanism 6 and the cabin model 4.

[0029] The technical features not disclosed in this embodiment are the same as those in Specific Embodiment 1.

[0030] The cabin pose adjustment platform 2 realizes a horizontal motion range of not less than 100 mm, a vertical motion range of not less than 100 mm, a pitch motion range of not less than 5°, a yaw motion range of not less than 30°, and a roll motion range of not less than 360°.

[0031] Specific Embodiment 3: Combine Figures 1 to 16To describe this embodiment, the pose adjustment platform 3 for the protective layer is used to carry the opening degree adjustment mechanism 7 of the protective layer and the protective layer model 5, and provides four-degree-of-freedom position and pose adjustment for the opening degree adjustment mechanism 7 of the protective layer and the protective layer model 5.

[0032] The technical features not disclosed in this embodiment are the same as those in the first specific embodiment.

[0033] The horizontal movement range of the pose adjustment platform 3 for the protective layer 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°.

[0034] Specific embodiment four: Combined with Figures 1 to 16 To describe this embodiment, the opening degree adjustment mechanism 7 of the protective layer described in this embodiment includes a protective layer fixing mechanism 7-1, a top positioning mechanism 7-2, a side positioning mechanism 7-3, an end face positioning mechanism 7-4, a pressure sensor 7-5, and an electric hook mechanism 7-6; The protective layer fixing mechanism 7-1 includes a rectangular frame, and the rectangular frame includes a top plate, a left side plate, a right side plate, and a rear side plate; The top positioning mechanism 7-2 is fixedly installed in the middle of the inner wall of the top plate, and the two side positioning mechanisms 7-3 are respectively fixedly installed in the middle of the inner wall of the left side plate and the middle of the inner wall of the right side plate. The two side positioning mechanisms 7-3 can adjust the opening degree of the external protective layer model 5; The pressure sensor 7-5 is fixedly installed in the middle of the inner wall of the rear side plate, and the two end face positioning mechanisms 7-4 are respectively fixedly installed in the front of the inner wall of the left side plate and the front of the inner wall of the right side plate; The two electric hook mechanisms 7-6 are respectively fixedly installed in the front of the left side plate and the front of the right side plate.

[0035] The technical features not disclosed in this embodiment are the same as those in the first specific embodiment.

[0036] In traditional technologies, such operations mostly rely on manual intervention or simple mechanical jigs to complete, which have significant limitations: On the one hand, manual adjustment of the opening degree depends on the operator's experience, is easily affected by subjective factors, resulting in low precision, poor repeatability, and difficulty in meeting the requirements of mass production; on the other hand, conventional fixing mechanisms are difficult to adapt to the dynamic adjustment requirements of special-shaped structures due to their high structural rigidity and insufficient degrees of freedom, and are prone to local stress concentration or deformation damage of the protective layer. In addition, although existing automated equipment can achieve basic positioning, it generally lacks a multi-dimensional collaborative positioning and real-time feedback mechanism, resulting in insufficient coupling control precision of the opening degree adjustment and axial positioning, and prone to problems such as slippage or overpressure during the fixing process, affecting product consistency and the yield rate.

[0037] In view of the above problems, the prior art has not proposed an efficient solution. For example, the prior art uses a single-dimensional mechanical limit mechanism, which can achieve basic fixation, but cannot dynamically adapt to the change in the opening degree of the special-shaped protective layer. This makes it easy to have a relative positioning error between the cabin section and the protective layer during the socketing process of different special-shaped protective layers, resulting in low socketing accuracy, socketing misalignment or excess glue extrusion, thus causing product scrapping or glue waste.

[0038] This embodiment is applicable to the opening degree adjustment and fixation of most medium and small-sized open special-shaped protective layers, and can complete subsequent glue coating and socketing work. Through the mutual cooperation of the protective layer fixing mechanism, top positioning mechanism, side positioning mechanism, end face positioning mechanism, pressure sensor and electric claw mechanism, the limiting, opening degree adjustment and auxiliary limiting work of the special-shaped protective layer model are completed, and the control accuracy of the special-shaped protective layer is improved. It is built in the form of electric claws and vacuum suction cups, with a simple structure and strong stability of the whole system. It causes little damage to the protective layer, and uses a pressure sensor to determine the position of the special-shaped protective layer. The electric claw is used to support and position the special-shaped protective layer to ensure accurate positioning during subsequent glue coating and socketing operations.

[0039] The opening degree adjustment mechanism of this embodiment causes little damage to the protective layer, uses a pressure sensor to determine the position of the special-shaped protective layer, uses a soft vacuum suction cup to control the opening degree of the special-shaped protective layer, and uses an electric claw to support and position the special-shaped protective layer to ensure accurate positioning during subsequent glue coating and socketing operations and avoid damage to the special-shaped protective layer.

[0040] The two side positioning mechanisms 7-3 are arranged symmetrically about the center of the rectangular frame, and the two end face positioning mechanisms 7-4 are arranged symmetrically about the center of the rectangular frame.

[0041] This embodiment is applicable to the opening degree adjustment and fixation of most medium and small-sized open special-shaped protective layers, and can complete subsequent glue coating and socketing work. Through the mutual cooperation of the protective layer fixing mechanism, top positioning mechanism, side positioning mechanism, end face positioning mechanism, pressure sensor and electric claw mechanism in the above-mentioned usage method, the limiting, opening degree adjustment and auxiliary limiting work of the special-shaped protective layer model are completed, and the control accuracy of the special-shaped protective layer is improved. It is built in the form of electric claws and vacuum suction cups, with a simple structure and strong stability of the whole system. It causes little damage to the protective layer, and uses a pressure sensor to determine the position of the special-shaped protective layer. The electric claw is used to support and position the special-shaped protective layer to ensure accurate positioning during subsequent glue coating and socketing operations.

[0042] Specific embodiment five: Combine Figures 1 to 16To describe this embodiment, the top positioning mechanism 7-2 in this embodiment includes a top vacuum suction cup 7-2-1 and a top positioning cylinder 7-2-2. The top vacuum suction cup 7-2-1 is installed at the end of the central telescopic rod of the top positioning cylinder 7-2-2; The side positioning mechanism 7-3 includes a side vacuum suction cup 7-3-1 and a side positioning cylinder 7-3-2. The side vacuum suction cup 7-3-1 is installed at the end of the central telescopic rod of the side positioning cylinder 7-3-2; The end face positioning mechanism 7-4 includes an end face claw 7-4-1 and an end face rotating cylinder 7-4-2. The end face claw 7-4-1 is installed at the end of the rotating telescopic rod of the end face rotating cylinder 7-4-2.

[0043] The technical features not disclosed in this embodiment are the same as those in the fourth specific embodiment.

[0044] Specific embodiment six: Combining Figures 1 to 16 To describe this embodiment, the electric claw mechanism 7-6 in this embodiment includes an electric push rod 7-6-1, a claw large arm 7-6-2 and a claw small arm 7-6-3. A claw is provided on the upper end surface of one end of the claw small arm 7-6-3. The other end of the claw small arm 7-6-3 is hinged to one end of the claw large arm 7-6-2. The other end of the claw large arm 7-6-2 is fixedly connected to the rectangular frame. The end parts of the electric push rod 7-6-1 are respectively hinged to the upper end surfaces of the middle parts of the claw large arm 7-6-2 and the claw small arm 7-6-3.

[0045] The technical features not disclosed in this embodiment are the same as those in the fourth specific embodiment.

[0046] The adjustment method of the protection layer opening degree adjustment mechanism includes the following steps: S1. Limit the protection layer model 5 through the top positioning mechanism 7-2, the side positioning mechanism 7-3, the rear side plate and the end face positioning mechanism 7-4; Step S1 includes the following sub-steps: S1-1. Confirm the position of the protection layer model 5 through the pressure sensor 7-5, and cooperate with the pressure sensor 7-5 to control the end face claw 7-4-1 of the end face positioning mechanism 7-4 to contact the end face of the protection layer model 5, so as to perform axial limit on the protection layer model 5; S1-2. Control the top vacuum suction cup 7-2-1 of the top positioning mechanism 7-2 to move downward, contact and press on the protection layer model 5, so as to perform height limit on the protection layer model 5; S1-3. Control the side vacuum suction cup 7-3-1 of the side positioning mechanism 7-3 to move horizontally, contact and press on the protection layer model 5, so as to perform radial limit on the protection layer model 5.

[0047] S2. Adjust the opening degree of the protective layer model 5 through the side positioning mechanism 7-3; Step S2 includes the following sub-steps: S2-1. Start the top vacuum suction cup 7-2-1 and the side vacuum suction cup 7-3-1 to complete the adsorption action on the protective layer model 5; S2-2. Control the side positioning cylinder 7-3-2 of the side positioning mechanism 7-3 to pull the protective layer model 5 apart, thereby changing the opening degree of the protective layer model 5.

[0048] S3. Assist in limiting the protective layer model 5 through the electric claw mechanism 7-6.

[0049] Step S3 includes the following sub-steps: S3-1. Control the telescopic movement of the electric push rod 7-6-1 of the electric claw mechanism 7-6 to change the angle of the claw forearm 7-6-3 until it contacts the protective layer model 5; S3-2. Lock the electric push rod 7-6-1 of the electric claw mechanism 7-6 to complete the auxiliary limiting of the protective layer model 5.

[0050] The specific steps for restoring the opening degree are as follows: Control the electric push rod 7-6-1 in the electric claw mechanism 7-6 to change the angle of the claw forearm 7-6-3 until it disengages from the protective layer model 5. Control the side positioning cylinder 7-3-2 in the side positioning mechanism 7-3 to move towards the center, and close the top vacuum suction cup 2-1 in the top positioning mechanism 7-2 and the side vacuum suction cup 7-3-1 in the side positioning mechanism 7-3 to make them disengage from the protective layer model 5.

[0051] Specific Embodiment Seven: Combined with Figures 1 to 16 Describe this embodiment. The robot glue scraping mechanism 8 in this embodiment 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 connection 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 instruction of the control unit, completes the mixing and preparation of the glue liquid through a pressure plate pump and a gear pump, and supplies it to the glue scraping tooling 8-3.

[0052] The technical features not disclosed in this embodiment are the same as those in Specific Embodiment One.

[0053] Specific Embodiment Eight: Combined with Figures 1 to 16 Describe this embodiment. The glue scraping tooling 8-3 in this embodiment 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 rods are respectively rotatably connected to the rotary connection support and the sliding connection inner support frame through rotary connection shafts, and 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 in 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, and at this time the two guide rods are in a non-parallel structure.

[0054] The technical features not disclosed in this embodiment are the same as those in the seventh specific embodiment.

[0055] The glue scraping tooling 8-3 includes tooling guide rods, a rotary connection support, rotary connection shafts, a sliding connection inner support frame, a sliding connection outer support frame, buffer springs, a cover plate, an overall support frame, a glue supply port, a glue storage box, movement rollers, a glue outlet, an anti-overflow glue baffle, and a glue scraping plate; The bottoms of the guide rods are respectively rotatably connected to the rotary connection support and the sliding connection inner support frame through rotary connection shafts, and 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 is tilted, it can rotate in 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, 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 overall 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 overall support frame is respectively connected to the movement rollers, the anti-overflow glue baffle, and the glue scraping plate to form an integral structure. The glue scraping plate is located 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 movement 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 top end faces of the sliding connection outer support frame and the overall support frame, enabling the bottom plate of the sliding connection inner support frame to slide 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 glue scraping tooling has both rigidity and flexibility during the overall up-and-down movement, guaranteeing a uniform glue layer thickness.

[0056] The rotation connection support, the sliding connection inner support frame, and the sliding connection outer support frame work together to enable the glue scraping tooling to adapt to the irregular surface. The movement rollers on the glue scraping tooling 8-3 always face the front of 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 always fixed, a uniform glue layer thickness is ensured.

[0057] Specific Embodiment Nine: Combining Figures 1 to 16 This embodiment is described. The glue dispensing and supplying mechanism 9 in this embodiment includes a feeding mechanism 9-1, a metering mechanism 9-2, and a dynamic mixing mechanism 9-3. The feeding mechanism 9-1, the metering mechanism 9-2, and the dynamic mixing mechanism 9-3 are sequentially connected by pipelines. The feeding mechanism 9-1 is fixed on the ground, the metering mechanism 9-2 is installed on the collaborative robotic arm 8-1, and the dynamic mixing mechanism 9-3 is installed on the robotic arm extension tooling 8-2.

[0058] The technical features not disclosed in this embodiment are the same as those in Specific Embodiment Seven.

[0059] The glue is first provided by the feeding mechanism 9-1 and transported through the pipeline to the metering mechanism 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 mechanism 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 collaborative 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 robot base coordinate system information, the workpiece surface data, and the glue scraping tooling dimension model, and then the actual glue scraping is formed through manual fine adjustment. When executing the predetermined glue scraping trajectory movement, the moving roller of the glue scraping tooling 8-3 first contacts the workpiece surface, and the attitude of the collaborative robotic arm 8-1 is adjusted to ensure that the gap between the glue scraping plate and the workpiece surface meets 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 with the movement; The rotation connection support, the sliding connection inner support frame, and the sliding connection outer support frame work together to enable the glue scraping tooling to adapt to the irregular surface. The moving roller always faces the front of the glue scraping direction and contacts the workpiece surface during glue scraping, and the glue scraping plate is always at the back of the glue scraping direction during glue scraping. By adjusting the gap between the glue scraping plate and the workpiece surface to be fixed all the time, the glue layer thickness is ensured to be uniform.

[0060] Specific Embodiment Ten: In combination with Figures 1 to 16 Describe this embodiment. The pose measurement mechanism 11 described in this embodiment includes a measurement instrument mounting panel 11-2, a plurality of measurement instrument mounting brackets 11-1, and a plurality of gap measurement instruments 11-3. Each gap measurement instrument 11-3 is mounted on the measurement instrument mounting panel 11-2 through a measurement instrument mounting bracket 11-1. Each gap measurement instrument 11-3 realizes multi-angle opening and closing gap measurement through the measurement instrument mounting bracket 11-1. The measurement instrument mounting panel 11-2 is mounted on the protection layer openness adjustment mechanism 7 through a telescopic connection mechanism.

[0061] The technical features not disclosed in this embodiment are the same as those in Specific Embodiment One.

[0062] The measurement 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 measurement 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 for the full circumferential gap between the thermal protection layer model 5 and the cabin section model 4 is formed.

[0063] The method for measuring the socketing gap of the open cabin section includes the following process: S1: The host computer sends a synchronization signal, and all gap measuring instruments 11-3 are started simultaneously to scan the socketing edge surfaces of the thermal protection and the cabin section. The end point of the measurement beam emitted by the gap measuring instrument 11-3 is the measurement point. The straight-line distance between the vertical projection point of the starting point of the measurement beam emitted by the gap measuring instrument 11-3 on the cabin section and the vertical projection point of the measurement point on the cabin section at each measurement point 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 straight-line distances of every two adjacent measurement points. When the difference is greater than the set threshold, it is determined that the current two adjacent measurement points are edge points. Among the two edge points, the edge point with a relatively smaller connection distance from the gap measuring instrument 11-3 is located on the thermal protection, and the other edge point is located on the cabin section. S3: Perform linear fitting on the straight-line distance data and coordinate data of all measurement points to obtain a fitting result, and then calculate the socketing gap of the cabin section according to the fitting result and all the edge point data on the thermal protection.

[0064] The steps for performing linear fitting on the straight-line distance data and coordinate data of all measurement points include: First, respectively obtain the set of the straight-line distances in step S1 and the set of the coordinates of each measurement point in the field of view of the gap measuring instrument 11-3 : In the formula, represents the straight-line distance between the vertical projection point of the starting point of the measurement beam emitted by the gap measuring instrument 5 on the cabin section and the vertical projection point of the measurement point end point on the 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 measurement 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 linear fitting, and the fitting model is , and the slope and intercept are obtained through fitting calculation. The specific calculation process is as follows: In the formula, represents the mean value of all elements in the set , and represents the mean value of all elements in the set .

[0065] The specific method for calculating the section socket gap at the position of this edge point according to the fitting result and all the edge point data on the thermal protection is as follows: According to the linear distance data, coordinate data, slope and intercept of the upper edge point of the thermal protection, calculate the section gap at the current edge point position. The calculation formula is as follows: .

[0066] Working principle An operation method of a scraping and socketing system for an open-shaped section and the surface of a protective layer includes the following steps: First, build a linear motion platform 1 and a robot scraping mechanism 8 on the ground. Install a section pose adjustment platform 2 and a protective layer pose adjustment platform 3 above the linear motion platform 1 to determine the motion space range of scraping and socketing. Determine the motion space of the section model 4 and the protective layer model 5 through the section fixing mechanism 6 and the protective layer opening degree adjustment mechanism 7. Install a glue mixing and supplying mechanism 9, an integrated control mechanism 10, and a pose measurement mechanism 11, and calibrate the initial positions of each motion and measurement system, and unify them to the global reference coordinate system. Finally, install and replace the section model 4 and the protective layer model 5. Under the control instructions of the integrated control mechanism 10 and the measurement results of the pose measurement mechanism 11, determine the scraping poses of the section model 4 and the protective layer model 5, and control the motion path of the robot scraping mechanism 8 to complete the batch scraping and automatic socketing of the section model 4 and the protective layer model 5.

[0067] The above has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. An adhesive scraping and socketing system for an open-shaped cabin section and the surface of a protective layer, characterized in that: It includes a rubber scraping unit, a sleeving unit and a control unit. The rubber scraping unit is arranged on one side of the sleeving unit, and the control unit controls the operation of the rubber scraping unit and the sleeving unit respectively; The sleeving 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 opening degree adjustment mechanism (7) and a pose measurement mechanism (11). The linear motion platform (1) is horizontally arranged. The cabin pose adjustment platform (2) and the protective layer pose adjustment platform (3) are respectively slidably installed on the linear motion platform (1). The cabin model (4) is arranged on the cabin pose adjustment platform (2) through the cabin fixing mechanism (6). The protective layer model (5) is arranged on the protective layer pose adjustment platform (3) through the protective layer opening degree adjustment mechanism (7). The protective layer opening degree adjustment mechanism (7) can realize the adjustment of the opening degree of the protective layer model (5). The pose measurement mechanism (11) is arranged 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 glue mixing and supplying mechanism (9) can mix the glue liquid and the curing agent in proportion and supply them to the robot rubber scraping mechanism (8). The robot rubber scraping mechanism (8) can scrape the outer surface of the cabin model (4) and the inner surface of the protective layer model (5).

2. The scraping glue and socketing system for an open-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 provide five-degree-of-freedom position and pose adjustment for the cabin fixing mechanism (6) and the cabin model (4).

3. The scraping glue and socketing system for an open-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 opening degree adjustment mechanism (7) and the protective layer model (5), and provide four-degree-of-freedom position and pose adjustment for the protective layer opening degree adjustment mechanism (7) and the protective layer model (5).

4. The scraping glue and socketing system for an open-shaped cabin section and the surface of a protective layer according to claim 1, characterized in that: The protective layer opening degree adjustment mechanism (7) includes a protective layer fixing mechanism (7-1), a top positioning mechanism (7-2), a side positioning mechanism (7-3), an end face positioning mechanism (7-4), a pressure sensor (7-5) and an electric claw mechanism (7-6); The protective layer fixing mechanism (7-1) includes a rectangular frame, and the rectangular frame includes a top plate, a left side plate, a right side plate and a rear side plate; The top positioning mechanism (7-2) is fixedly installed in the middle of the inner wall of the top plate. The two side positioning mechanisms (7-3) are respectively fixedly installed in the middle of the inner wall of the left side plate and the middle of the inner wall of the right side plate. The two side positioning mechanisms (7-3) can realize the adjustment of the opening degree of the external protective layer model (5); The pressure sensor (7-5) is fixedly installed in the middle of the inner wall of the rear side plate. The two end face positioning mechanisms (7-4) are respectively fixedly installed in the front part of the inner wall of the left side plate and the front part of the inner wall of the right side plate; The two electric claw mechanisms (7-6) are respectively fixedly installed in the front part of the left side plate and the front part of the right side plate.

5. An adhesive scraping and socketing system for an open-shaped cabin section and the surface of a protective layer according to claim 4, characterized in that: The top positioning mechanism (7-2) includes a top vacuum suction cup (7-2-1) and a top positioning cylinder (7-2-2). The end of the central expansion rod of the top positioning cylinder (7-2-2) is installed with a top vacuum suction cup (7-2-1); The side positioning mechanism (7-3) includes a side vacuum suction cup (7-3-1) and a side positioning cylinder (7-3-2). The side vacuum suction cup (7-3-1) is installed at the end of the central telescopic rod of the side positioning cylinder (7-3-2). The end face positioning mechanism (7-4) includes an end face claw (7-4-1) and an end face rotary cylinder (7-4-2). The end face claw (7-4-1) is installed at the end of the rotary telescopic rod of the end face rotary cylinder (7-4-2).

6. An adhesive scraping and socketing system for an open-shaped cabin section and a protective layer surface according to claim 4, characterized in that: The electric claw mechanism (7-6) includes an electric push rod (7-6-1), a claw large arm (7-6-2) and a claw small arm (7-6-3). A claw is provided on the upper end face of one end of the claw small arm (7-6-3). The other end of the claw small arm (7-6-3) is hinged to one end of the claw large arm (7-6-2). The other end of the claw large arm (7-6-2) is fixedly connected to the rectangular frame. The end of the electric push rod (7-6-1) is respectively hinged to the upper end faces of the middle parts of the claw large arm (7-6-2) and the claw small arm (7-6-3).

7. A scraping glue and socketing system for an open-shaped cabin section and the surface of a protective layer according to claim 1, characterized in that: 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 supplying mechanism (9) through a pipeline. The glue mixing and supplying mechanism (9) receives the control instruction of the control unit, completes the mixing and preparation of the glue liquid through a pressure plate pump and a gear pump, and supplies it to the glue scraping tooling (8-3).

8. An adhesive scraping and socketing system for an open-shaped cabin section and the surface of a protective layer according to claim 7, characterized in that: 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 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 of the 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.

9. An adhesive scraping and socketing system for an open-shaped cabin section and the surface of a protective layer according to claim 7, characterized in that: The glue mixing and supplying mechanism (9) includes a feeding mechanism (9-1), a metering mechanism (9-2) and a dynamic mixing mechanism (9-3). The feeding mechanism (9-1), the metering mechanism (9-2) and the dynamic mixing mechanism (9-3) are sequentially connected through pipelines. The feeding mechanism (9-1) is fixed on the ground. The metering mechanism (9-2) is installed on the cooperative robotic arm (8-1). The dynamic mixing mechanism (9-3) is installed on the robotic arm extension tooling (8-2).

10. A scraping glue and socketing system for an open-shaped cabin section and the surface of a protective layer according to claim 1, 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 clearance measuring instruments (11-3). Each clearance measuring instrument (11-3) is mounted on the measuring instrument mounting panel (11-2) through a measuring instrument mounting bracket (11-1). Each clearance measuring instrument (11-3) realizes multi-angle opening and closing clearance measurement through the measuring instrument mounting bracket (11-1). The measuring instrument mounting panel (11-2) is mounted on the protection layer openness adjustment mechanism (7) by a telescopic connection mechanism.

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