Self-adaptive flexible clamping system for aviation composite material processing

Abstract

The invention belongs to the field of mechanical assembly, and discloses a self-adaptive flexible clamping system for aviation composite material processing, which comprises a mechanical structure module, the mechanical structure module comprises a base and an adapter panel, the adapter panel is connected with an adjusting cylinder, the adjusting cylinder is connected with a moving block, the moving block is connected with a flexible clamping assembly, the flexible clamping assembly comprises a clamping piece, and the clamping piece is connected with a clamping rod; the clamping piece comprises an upper mounting plate, a lower mounting plate and a micro air cylinder, an output shaft of the micro air cylinder is provided with an auxiliary groove, the inner side of the auxiliary groove is connected with an auxiliary block, the inner side wall of the auxiliary groove is connected with a pressure sensor, the auxiliary block is connected with a clamping head, and the device further comprises a monitoring module, a central processing module and a far-end interaction module. According to the technical scheme, flexible adjustment can be conducted according to the shape, the size and the machining working condition of the aviation composite material to complete stable clamping, meanwhile, monitoring and self-adaptive adjustment can be conducted on the clamping force of a single micro air cylinder, the problems of deformation, damage and the like of the aviation composite material are avoided, and the machining efficiency and quality are improved.

Description

Technical Field

[0001] The invention relates to the field of mechanical assembly, in particular to a self-adaptive flexible clamping system for processing aviation composite materials. Background Art

[0002] With the rapid development of aerospace equipment, aviation composite materials have been increasingly used in the aerospace field due to their excellent properties such as high strength, light weight, and corrosion resistance. Many large-sized and complex-shaped metal components have also been gradually replaced with composite components. When processing aviation composite materials, it is inevitable to use a clamping device to clamp them and then complete the processing of aviation composite materials. During the processing of aviation composite materials, due to the material characteristics of aviation composite materials, the requirements for clamping force are also extremely strict. Excessive or insufficient clamping force will affect the final processing effect of aviation composite materials. In addition, during the processing of aviation composite materials, the shape of aviation composite materials is also different, and as the processing environment and conditions change, the shape of aviation composite materials will also change. Traditional clamping systems mostly use rigid clamping methods, which are difficult to flexibly adjust according to the shape, size and processing conditions of the composite materials, which can easily lead to deformation, damage and other problems in the composite materials, seriously affecting the processing accuracy and quality of the product.

[0003] In order to solve the above problems, the present invention proposes an adaptive flexible clamping system for aviation composite material processing, which can achieve accurate, flexible and stable clamping of aviation composite materials, thereby improving processing efficiency and quality. Summary of the Invention

[0004] The present invention aims to provide an adaptive flexible clamping system for processing aviation composite materials to solve the problems raised in the above background technology.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] Adaptive flexible clamping system for aviation composite material processing, including,

[0007] The mechanical structure module includes a base, the base is rotatably connected to the first mechanical arm, the first mechanical arm is rotatably connected to the second mechanical arm, the second mechanical arm is connected to an adjusting motor, the adjusting motor output shaft is connected to an adapter panel, the adapter panel is connected to an adjusting cylinder, the adjusting cylinder is provided with two groups, the adjusting cylinder is connected to a moving block, the moving block is connected to a flexible clamping assembly, the flexible clamping assembly includes multiple groups of clamping parts, the clamping parts include an upper mounting plate, a lower mounting plate and a micro cylinder, the upper mounting plate and the lower mounting plate are connected The mounting plates are detachably connected, the upper mounting plate and the lower mounting plate are respectively provided with mounting grooves, the micro cylinder cooperates with the mounting grooves, the micro cylinder is provided with several groups, the side walls of the mounting grooves are provided with positioning grooves, the micro cylinder is connected with a positioning block, the positioning block cooperates with the positioning grooves, the output shaft of the micro cylinder is provided with an auxiliary groove, the inner side of the auxiliary groove is connected with an auxiliary block, the inner side wall of the auxiliary groove is connected with a pressure sensor, the auxiliary block conflicts with the pressure sensor, the auxiliary block is connected with a clamping head, and several groups of the clamping members are detachably connected to each other;

[0008] A monitoring module, which is used to detect the status of the material during processing;

[0009] A central processing module, which is used to receive, process and send signals;

[0010] The remote interaction module is electrically connected to the central processing module and is used for the user to input setting data and start and close the system.

[0011] Preferably, the clamping head is connected to a clamping pad.

[0012] Preferably, the auxiliary groove has a T-shaped longitudinal section, and the auxiliary block has a rectangular longitudinal section.

[0013] Preferably, the length of the mounting groove is greater than the length of the micro cylinder.

[0014] Preferably, any one of the clamping members is detachably connected to the moving block.

[0015] Preferably, the base is connected to a first drive motor assembly, the output shaft of the first drive motor assembly is connected to the first robotic arm, the first robotic arm is connected to a second drive motor assembly, and the output shaft of the second drive motor assembly is connected to the second robotic arm.

[0016] Preferably, the adapter panel is detachably connected to the output shaft of the regulating motor.

[0017] Preferably, the monitoring module includes an industrial CCD camera connected to the adapter panel. The industrial CCD camera is used to collect shape and position information of the aviation composite material and transmit the collected image information to the central processing module.

[0018] Preferably, the two groups of moving blocks are respectively connected to an infrared ranging generator and an infrared ranging receiver.

[0019] Preferably, an emergency brake button is also included, and the emergency brake button is used to shut down the system with one button.

[0020] Compared with the existing technology, this technical solution has the following beneficial effects:

[0021] (1) This technical solution can realize the automatic clamping processing of the clamping system through the cooperation of the mechanical structure module and the central processing module, improve the use effect of the system, and optimize the mechanical structure module. The aviation composite materials are clamped by the flexible clamping component, which can be flexibly adjusted according to the shape, size and processing conditions of the aviation composite materials to achieve stable clamping, improve the clamping effect, and avoid deformation, damage and other problems of the aviation composite materials. The clamping is completed by multiple groups of micro cylinders. At the same time, a pressure sensor is set on the output shaft of the micro cylinder, which can monitor and adjust the clamping force of a single micro cylinder, so that the clamping force of each clamping point is in the set state, further improving the clamping stability. The clamping force of each micro cylinder can also be adjusted in real time through real-time monitoring to adapt to the shape and state changes of the aviation composite materials during the processing process, so that the clamping system can complete the clamping with a stable clamping force during the entire processing process, greatly improving the clamping and processing effects, and making significant progress.

[0022] (2) This technical solution also optimizes the connection between the micro cylinder and the clamping frame. The micro cylinder is clamped by the upper mounting plate and the lower mounting plate, so that a single micro cylinder can be quickly disassembled and replaced, thereby improving the efficiency of subsequent maintenance and reducing maintenance costs. At the same time, the flexible clamping assembly is also composed of multiple groups of clamping parts, and the corresponding number of clamping parts can be installed according to the actual processing conditions, further improving the applicability of the system.

[0023] (3) This technical solution is equipped with an industrial CCD camera, which can be used to photograph and monitor the situation during the processing of aviation composite materials, so that users can quickly understand the processing situation and the central processing module can adjust the clamping position to further improve the processing efficiency and quality. The length of the installation slot is greater than the length of the micro cylinder, which makes it easier to set the micro cylinder air pipe and control valve. The infrared ranging generator and infrared ranging receiver are used to facilitate the adjustment and monitoring of the distance between the two moving plates, thereby improving the clamping accuracy. The emergency brake button can be used to quickly shut down the system operation, thereby improving the safety of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the present invention;

[0025] Figure 2 A schematic structural diagram of the flexible clamping assembly provided by the present invention;

[0026] Figure 3 A schematic diagram of a front view of a flexible clamping assembly provided by the present invention;

[0027] Figure 4 A front partial cross-sectional view of the clamping member provided by the present invention;

[0028] Figure 5 A side partial cross-sectional view of the clamping member provided by the present invention;

[0029] Figure 6 A schematic structural diagram of the auxiliary block provided by the present invention;

[0030] Figure numerals: adapter panel 1, adjusting cylinder 2, moving block 3, infrared ranging generator 4, industrial CCD camera 5, infrared ranging receiver 6, upper mounting plate 7, lower mounting plate 8, micro cylinder 9, clamping head 10, clamping pad 11, clamping member 12, positioning groove 13, positioning block 14, auxiliary groove 15, pressure sensor 16, auxiliary block 17, mounting groove 18, emergency brake button 19, base 21, first robotic arm 22, second robotic arm 23, adjusting motor 24, first drive motor assembly 25, second drive motor assembly 26. DETAILED DESCRIPTION

[0031] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments:

[0032] like Figures 1 to 6 The adaptive flexible clamping system for aviation composite material processing shown includes:

[0033] The mechanical structure module includes a base 21, which is cast from a high-strength alloy material and has good stability and rigidity. The base 21 is rotatably connected to a first robotic arm 22, and the first robotic arm 22 is rotatably connected to a second robotic arm 23. The base 21 is connected to a first drive motor assembly 25, and the output shaft of the first drive motor assembly 25 is connected to the first robotic arm 22. The angle between the first robotic arm 22 and the base 21 is adjusted by the first drive motor assembly 25. The first robotic arm 22 is connected to a second drive motor assembly 26, and the output shaft of the second drive motor assembly 26 is connected to the second robotic arm 23. Then, the angle between the second mechanical arm 23 and the first mechanical arm 22 is adjusted by the second drive motor assembly 26. The first drive motor assembly 25 and the second drive motor assembly 26 mainly include a drive motor and a reducer. The drive motor drives and the reducer decelerates, so that the adjustment of the corresponding mechanical arm can be more precise. The second mechanical arm 23 is connected to the adjustment motor 24. The output shaft of the adjustment motor 24 is detachably connected to the adapter panel 1. The output shaft of the adjustment motor 24 is connected to a flange. The adapter panel is detachably connected to the flange by bolts, thereby completing the detachable connection between the adapter panel 1 and the output shaft of the adjustment motor 24.

[0034] The adapter panel 1 is connected to an adjusting cylinder 2, and the adjusting cylinder 2 is provided with two groups. The two groups of adjusting cylinders 2 are respectively located on the left and right sides of the adapter panel 1. The adjusting cylinder 2 is connected to a moving block 3, and the moving block 3 is connected to a flexible clamping assembly, and then the flexible clamping of the aviation material is completed by the two groups of flexible clamping assemblies; the flexible clamping assembly includes multiple groups of clamping parts 12, and the clamping parts 12 include an upper mounting plate 7, a lower mounting plate 8 and a micro cylinder 9. The upper mounting plate 7 and the lower mounting plate 8 are detachably connected by bolts. The upper mounting plate 7 and the lower mounting plate 8 are respectively provided with a mounting groove 18, and the mounting groove 18 is provided with several groups. The micro cylinder 9 cooperates with the mounting groove 18, that is, the micro cylinder 9 can be placed in the mounting groove 18. A group of clamping parts 12 is provided with multiple groups of micro cylinders 9, and the multiple groups of micro cylinders 9 are respectively located in the corresponding mounting grooves 18. The length of the mounting groove 18 is greater than the length of the micro cylinder 9. Figure 4 As shown, when the micro cylinder 9 is placed in the installation groove 18, there is still a certain amount of space on the right side of the installation groove 18, which is convenient for accommodating other structures of the micro cylinder 9 and is convenient for disassembly and assembly; the side wall of the installation groove 18 is provided with a positioning groove 13, and the micro cylinder 9 is connected with a positioning block 14, the positioning block 14 cooperates with the positioning groove 13, and the positioning block 14 can be inserted into the positioning groove 13, so that the micro cylinder 9 will not rotate or move relative to the installation groove 18, thereby improving the installation stability of the micro cylinder 9, and the output shaft of the micro cylinder 9 is provided with an auxiliary groove 15, the inner side of the auxiliary groove 15 is connected to the auxiliary block 17, the inner side wall of the auxiliary groove 15 is connected to the pressure sensor 16, the auxiliary block 17 conflicts with the pressure sensor 16, and the longitudinal section of the auxiliary groove 15 is T-shaped, as shown in FIG. Figure 4As shown, this arrangement prevents the auxiliary block 17 from moving relative to the auxiliary groove 15. The pressure on the clamping head 10 can be directly transmitted to the pressure sensor 16 through the auxiliary block 17, which facilitates the pressure sensor 16 to monitor the clamping force in real time. The auxiliary block 17 has a rectangular longitudinal section, which prevents the auxiliary block 17 from rotating relative to the output shaft of the micro cylinder 9, thereby improving the clamping effect. The auxiliary block 17 is connected to the clamping head 10, and the clamping head 10 is connected to the clamping pad 11. The two adjacent groups of clamping parts 12 are detachably connected by bolts; the two groups of moving blocks 3 are respectively connected to the infrared ranging generator 4 and the infrared ranging receiver 6;

[0035] The uppermost clamping member 12 is detachably connected to the moving block 3 by bolts;

[0036] The monitoring module is used to detect the status of the material during processing; the monitoring module includes an industrial CCD camera, which is connected to the adapter panel 1. The industrial CCD camera is used to collect the shape and position information of the aviation composite material and transmit the collected image information to the central processing module.

[0037] The central processing module is used to receive, process and send signals; the pressure sensor 16, the first motor drive component, the second motor drive component, the adjustment motor 24 and the micro cylinder 9 are all electrically connected to the central processing module.

[0038] The micro cylinder 9 is connected to the external air source through an air pipe. The operating principle of the micro cylinder 9 is an existing technology well known to practitioners in this field and will not be repeated here; and each micro cylinder 9 is provided with a control switch, and the central processing module adjusts the clamping force by controlling the opening and closing of the micro cylinder 9.

[0039] The remote interaction module and the remote switching module are remote operating systems such as computers. The remote interaction module establishes an electrical connection with the central control module. The remote interaction module can also transmit signals to the central processing module using wireless signals. The remote interaction module is used for users to input setting data and start and close the system, so that the central processing module can control the clamping system to complete clamping according to the set requirements.

[0040] It also includes an emergency brake button 19, which is used to shut down the system with one click; when an emergency occurs, pressing the emergency brake button 19 can cut off the power to the system.

[0041] During actual setting, the base 21 can be rotatably connected to the mounting seat below, the base 21 is connected to the servo motor, the servo motor output shaft is connected to the mounting seat, and the system is connected to the processing platform through the mounting seat, so that starting the servo motor can drive the base 21 to rotate relative to the mounting seat to complete the horizontal angle adjustment.

[0042] The following is a detailed description of how the flexible clamping assembly completes the clamping of the aviation composite material. The central control module adjusts the first mechanical arm 22, the second mechanical arm 23 and the adjustment motor 24 to make the adapter panel 1 reach the appropriate position, and then the aviation composite material to be clamped is located between the two sets of flexible clamping assemblies. The two sets of adjustment cylinders 2 are started, so that the adjustment cylinders 2 drive the two sets of moving blocks 3 to move in the direction of approaching each other, thereby driving the clamping member 12 below to move. Figure 3 For example, at this time, the aviation composite material to be clamped is located between two groups of flexible clamping components, the moving block 3 on the left moves to the right, and the moving block 3 on the right moves to the left, and the distance between the two groups of moving blocks 3 is determined in real time through the cooperation of the infrared ranging generator 4 and the infrared ranging receiver 6. When the distance between the two groups of moving blocks 3 is adjusted to a suitable position, the movement of the moving block 3 is stopped. At this time, the output shaft of the micro cylinder 9 has not extended, that is, the aviation composite material has not been clamped. Then all the micro cylinders 9 are started to extend the output shafts of all the micro cylinders 9. As the output shafts of the micro cylinders 9 are extended, the corresponding clamping pads 11 gradually contact the corresponding positions of the aviation composite materials. The aviation composite materials are clamped by the output shafts of the micro cylinders 9 on the left and right sides. When the output shafts of the micro cylinders 9 contact the aviation composite material, the aviation composite material will also apply pressure to the output shafts of the micro cylinders 9 due to the action of the output shafts of the micro cylinders 9 on the other side. Figure 4 For example, the aviation composite material will exert a rightward pressure on the clamping pad 11, and this pressure is directly transmitted to the pressure sensor 16 through the clamping head 10 and the auxiliary rod, thereby completing the monitoring of the clamping force of the output shaft of the micro cylinder 9. The pressure sensor 16 sends the monitored pressure data to the central processing module. When the central processing module detects that the clamping force of the output shaft of the micro cylinder 9 reaches the set value, the corresponding micro cylinder 9 is closed, thereby enabling all the output shafts of the micro cylinder 9 to complete the clamping of the aviation composite material with the set clamping force; and then the first robot arm 22 can be driven to adjust the aviation composite material to a suitable position to complete the processing;

[0043] The following is a detailed description of the disassembly and assembly of the micro cylinder 9 with the upper mounting plate 7 and the lower mounting plate 8. During installation, align the positioning block 14 on the lower side of the micro cylinder 9 with the positioning groove 13 of the lower mounting plate 8, and then place the micro cylinder 9 into the mounting groove 18 of the lower mounting plate 8. At this time, the positioning block 14 is inserted into the positioning groove 13 of the lower mounting plate 8, and the side wall of the micro cylinder 9 also conflicts with the side wall of the mounting groove 18 of the lower mounting plate 8. All micro cylinders 9 are placed in several groups of mounting grooves 18 of the lower mounting plate 8 in turn, and then the mounting groove 18 of the upper mounting plate 7 is aligned with the micro cylinder 9. , align the positioning groove 13 of the upper mounting plate 7 with the positioning block 14 on the upper side of the micro cylinder 9, buckle the upper mounting plate 7 on the lower mounting plate 8, and then complete the buckling of the upper mounting plate 7 and the lower mounting plate 8 by bolts, and then complete the clamping and fixation of the micro cylinder 9 by the upper mounting plate 7 and the lower mounting plate 8, and then complete the assembly of a set of clamping parts 12; the upper mounting plate 7 and the lower mounting plate 8 are provided with openings on the rear side to facilitate the air path of the micro cylinder 9 to pass through the mounting groove 18. During installation, align the air path of the micro cylinder 9 with the opening, and the reverse operation can be performed for subsequent disassembly.

[0044] During the processing, the pressure sensor 16 can monitor the clamping force of the output shaft of the micro cylinder 9 in real time. When a change in the clamping force of the output shaft of the micro cylinder 9 is detected, the central processing module can control the re-start of the micro cylinder 9 at the corresponding position, and then adjust the clamping force of the output shaft of the micro cylinder 9, so that the clamping force can be adaptively adjusted as the aviation composite material is processed, and the clamping stability is also guaranteed.

[0045] Before the system clamps, setting data can be input through the remote interaction module, including the setting value of the clamping force and the placement position information of the aviation composite material, so that the central processing module can accurately drive the mechanical structure module to complete the clamping of the aviation composite material; when in use, the aviation composite material is clamped and processed in the above manner. When the system clamps the material and processes the material, the position and shape of the processed aviation composite material are collected in real time through the industrial CCD camera, and the signal is transmitted to the central processing module. The central processing module can transmit the signal to the remote interaction module to facilitate the user to quickly understand the processing status. The central processing module can also start the first robotic arm 22, the second robotic arm 23 or the adjustment motor 24 according to the processing status of the aviation composite material to complete the position adjustment of the aviation composite material.

[0046] Before use, a clamping part 12 can be added according to the shape of the aviation composite material to be clamped, and the clamping part 12 to be added can be connected to the clamping part 12 at the lowest end that has been connected, and then the micro cylinder 9 in the added clamping part 12 can be connected to the central control module by signal connection; during subsequent maintenance, the clamping parts 12 can also be removed in turn, and then the connection between the upper mounting plate 7 and the lower mounting plate 8 can be touched, and the micro cylinder 9 can be directly taken out from the mounting groove 18.

[0047] For the sake of clarity, the drawings in the specification Figure 1 Only one side of the flexible clamping assembly is shown in the figure. The two sets of flexible clamping assemblies are mirror images, which does not affect the understanding of the structure. This is specially explained here.

[0048] The foregoing is merely an embodiment of the present invention, and the commonly known specific technical solutions and / or features of the solutions are not described in detail herein. It should be noted that those skilled in the art may make various modifications and improvements without departing from the technical solution of the present invention, and such modifications and improvements should also be considered within the scope of protection of the present invention and will not affect the effectiveness of the implementation of the present invention or the practical application of the patent.

Claims

1. Adaptive flexible clamping system for aviation composite material processing, characterized by: include, A mechanical structure module, the mechanical structure module includes a base (21), the base (21) is rotatably connected to a first mechanical arm (22), the first mechanical arm (22) is rotatably connected to a second mechanical arm (23), the second mechanical arm (23) is connected to an adjusting motor (24), the output shaft of the adjusting motor (24) is connected to a transfer panel (1), the transfer panel (1) is connected to an adjusting cylinder (2), the adjusting cylinder (2) is provided with two groups, the adjusting cylinder (2) is connected to a moving block (3), the moving block (3) is connected to a flexible clamping assembly, the flexible clamping assembly includes multiple groups of clamping members (12), the clamping member (12) includes an upper mounting plate (7), a lower mounting plate (8) and a micro cylinder (9), the upper mounting plate (7) and the lower mounting plate (8) are detachable The upper mounting plate (7) and the lower mounting plate (8) are respectively provided with mounting grooves (18), the micro cylinder (9) and the mounting grooves (18) cooperate with each other, the micro cylinder (9) is provided with several groups, the side wall of the mounting groove (18) is provided with a positioning groove (13), the micro cylinder (9) is connected with a positioning block (14), the positioning block (14) and the positioning groove (13) cooperate with each other, the output shaft of the micro cylinder (9) is provided with an auxiliary groove (15), the inner side of the auxiliary groove (15) is connected with an auxiliary block (17), the inner side wall of the auxiliary groove (15) is connected with a pressure sensor (16), the auxiliary block (17) is in conflict with the pressure sensor (16), the auxiliary block (17) is connected with a clamping head (10), and several groups of the clamping members (12) are detachably connected to each other; A monitoring module, which is used to detect the status of the material during processing; A central processing module, which is used to receive, process and send signals; The remote interaction module is electrically connected to the central processing module and is used for the user to input setting data and start and close the system.

2. The adaptive flexible clamping system for machining aviation composite materials according to claim 1, characterized in that: The clamping head (10) is connected to a clamping pad (11).

3. The adaptive flexible clamping system for machining aviation composite materials according to claim 1, characterized in that: The auxiliary groove (15) has a T-shaped longitudinal section, and the auxiliary block (17) has a rectangular longitudinal section.

4. The adaptive flexible clamping system for machining aviation composite materials according to claim 1, wherein: The length of the mounting groove (18) is greater than the length of the micro cylinder (9).

5. The adaptive flexible clamping system for machining aviation composite materials according to claim 1, wherein: Any one of the clamping members (12) is detachably connected to the moving block (3).

6. The adaptive flexible clamping system for machining aviation composite materials according to claim 1, wherein: The base (21) is connected to a first drive motor assembly (25), an output shaft of the first drive motor assembly (25) is connected to a first mechanical arm (22), the first mechanical arm (22) is connected to a second drive motor assembly (26), and an output shaft of the second drive motor assembly (26) is connected to a second mechanical arm (23).

7. The adaptive flexible clamping system for machining aviation composite materials according to claim 1, characterized in that: The adapter panel (1) is detachably connected to the output shaft of the regulating motor (24).

8. The adaptive flexible clamping system for machining aviation composite materials according to claim 1, wherein: The monitoring module comprises an industrial CCD camera (5), which is connected to the adapter panel (1). The industrial CCD camera (5) is used to collect shape and position information of the aviation composite material and transmit the collected image information to the central processing module.

9. The adaptive flexible clamping system for machining aviation composite materials according to claim 1, wherein: The two groups of moving blocks (3) are respectively connected to an infrared distance measurement generator (4) and an infrared distance measurement receiver (6).

10. The adaptive flexible clamping system for aviation composite material processing according to claim 1, characterized in that: The system also includes an emergency brake button (19), which is used to shut down the system with one button.

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