Control surface type product, control surface type product automatic assembly system and assembly method

Abstract

The invention relates to a control surface product and an automatic assembly system and method for the control surface product, which are characterized by comprising a first control surface assembly (1), a second control surface assembly (2), a hollow cylindrical shaft (4) and a solid cylindrical shaft (3), a groove is formed in the upper surface of the first control surface assembly (1), and a boss matched with the groove of the first control surface assembly (1) in shape is arranged on the lower surface of the second control surface assembly (2). The first control surface assembly (1) is provided with a first through hole (101) penetrating through the front surface and the rear surface, the first through hole (101) is communicated with the groove, and the boss of the second control surface assembly (2) is provided with a second through hole (201) penetrating through the front surface and the rear surface; through cooperative work of the three assembly mechanisms and the multiple robots, a set of complete assembly system for the control surface type products is formed, and full-automatic mechanical assembly of the control surface type products is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rudder surface product assembly, in particular to a rudder surface product, a rudder surface product automatic assembly system and an assembly method. BACKGROUND

[0002] In the manufacturing industry of China, especially in the product manufacturing and assembly of the fields of aviation, aerospace, shipbuilding, etc., there is a rudder surface product assembly and manufacturing process. Due to the complex structure of the rudder surface product and the high assembly precision requirement, the assembly process is complex, so at present, most of them are still in the stage of manual assembly, the gap between the parts is extremely small, and manual alignment is required during assembly. In addition, the folding and unfolding performance of the rudder surface needs to be tested manually, which consumes a lot of human resources.

[0003] The excessive dependence on manual operation of the existing assembly process limits the improvement of production capacity. At the same time, during manual operation, the operator mainly relies on experience to judge whether the assembly meets the standard, the assembly quality consistency cannot be guaranteed, the process cannot be dataized, and the production process cannot be traced.

[0004] Therefore, how to provide a rudder surface product automatic assembly system is a problem that needs to be solved by those skilled in the art. SUMMARY

[0005] The purpose of the present application is to provide a rudder surface product, a rudder surface product automatic assembly system and an assembly method to solve the problems existing in the prior art.

[0006] A rudder surface product, characterized in that it comprises a first rudder surface assembly 1, a second rudder surface assembly 2, a hollow cylindrical shaft 4 and a solid cylindrical shaft 3.

[0007] The upper surface of the first rudder surface assembly 1 is provided with a groove, and the lower surface of the second rudder surface assembly 2 is provided with a boss matched with the shape of the groove of the first rudder surface assembly 1. The first rudder surface assembly 1 is provided with a first through hole 101 penetrating the front and rear surfaces, the first through hole 101 is in communication with the groove, and the boss of the second rudder surface assembly 2 is provided with a second through hole 201 penetrating the front and rear surfaces. When the boss is inserted into the groove, the first through hole 101 corresponds to the second through hole 201, and the first rudder surface assembly 1 and the second rudder surface assembly 2 are in close contact.

[0008] The hollow cylindrical shaft 4 penetrates the first through hole 101 and the second through hole 201.

[0009] The first rudder surface assembly 1 is provided with a first screw hole 102 and a first pin hole 103 near the front and rear ends, respectively, the solid cylindrical shaft 3 is provided with a second screw hole 301 and a second pin hole 302 near the front and rear ends, respectively, the solid cylindrical shaft 3 passes through the hollow cylindrical shaft 4, and the first screw hole 102 corresponds to the second screw hole 301, and the first pin hole 103 corresponds to the second pin hole 302.

[0010] The rudder surface product further comprises:

[0011] The feeding and discharging mechanism 5 is used for storing and transporting the first rudder surface assembly 1, the second rudder surface assembly 2, the hollow cylindrical shaft 4 and the solid cylindrical shaft 3.

[0012] The first assembly mechanism is used for milling the second rudder surface assembly 2 and assembling the first rudder surface assembly 1, the second rudder surface assembly 2 and the hollow cylindrical shaft 4.

[0013] The second assembly mechanism is used for passing the solid cylindrical shaft 3 through the hollow cylindrical shaft 4 and screwing the first screw into the first screw hole 102 and the second screw hole 301, and the standard pin into the first pin hole 103 and the second pin hole 302.

[0014] The third assembly mechanism is used for rotating the second rudder surface assembly 2 and angularly fastening the first rudder surface assembly 1 and the second rudder surface assembly 2.

[0015] The first assembly mechanism comprises:

[0016] The first workbench 10;

[0017] The first clamping tool 11 is provided on the three-axis moving mechanism of the first workbench 10 and is used for clamping and moving the first rudder surface assembly 1.

[0018] The second clamping tool 12 has a flexible clamp and a first rotary air cylinder 1201, and the second rudder surface assembly 2 can be placed on the flexible clamp and clamped and fixed by the first rotary air cylinder 1201.

[0019] The main shaft 13 is provided on the three-axis moving mechanism and is used for milling the second rudder surface assembly 2 so that the boss and the groove are shaped to fit and the first rudder surface assembly 1 and the second rudder surface assembly 2 can be attached.

[0020] The first robot 14 is used for taking the first rudder surface assembly 1 and the second rudder surface assembly 2 from the feeding and discharging mechanism 5 and respectively installing them on the first clamping tool 11 and the second clamping tool 12 according to preset trajectories.

[0021] The first assembly mechanism further comprises:

[0022] Lift-feed mechanism 15, provided on the first workbench 10;

[0023] Hollow cylindrical shaft profiling tool 16, which is identical in shape to the hollow cylindrical shaft 4 and is provided on the lift-feed mechanism 15, and the lift-feed mechanism 15 can drive the hollow cylindrical shaft profiling tool 16 to be inserted into the first through hole 101 and the second through hole 201.

[0024] The automatic assembly system for the rudder surface product further comprises:

[0025] Three-jaw chuck 17, provided on the feeding and discharging mechanism 5, used for correcting the hollow cylindrical shaft 4;

[0026] The first robot 14 can insert the hollow cylindrical shaft 4 into the first through hole 101 and the second through hole 201.

[0027] The second assembly mechanism comprises:

[0028] Second workbench 18;

[0029] Third clamping tool 19, provided on the second workbench 18, the first assembly mechanism assembles the first rudder surface assembly 1, the second rudder surface assembly 2 and the hollow cylindrical shaft 4 to form a first assembly body, and the third clamping tool 19 is used for clamping the first assembly body;

[0030] Second robot 21, having a first quick-change clamping jaw 2101 and a second quick-change clamping jaw 2102, the first quick-change clamping jaw 2101 is used for moving the first assembly body from the first assembly mechanism to the third clamping tool 19; the second quick-change clamping jaw 2102 can take out the solid cylindrical shaft 3 from the feeding and discharging mechanism 5, pass the solid cylindrical shaft 3 through the hollow cylindrical shaft 4, and make the first screw hole 102 correspond to the second screw hole 301 and the first pin hole 103 correspond to the second pin hole 302; the second quick-change clamping jaw 2102 can assemble the standard pin into the first pin hole 103 and the second pin hole 302, and screw the first screw into the first screw hole 102 and the second screw hole 301.

[0031] The third assembly mechanism comprises:

[0032] Third workbench 22;

[0033] Left-right feed mechanism 23, provided on the third workbench 22, the second assembly mechanism assembles the first rudder surface assembly 1, the second rudder surface assembly 2, the hollow cylindrical shaft 4 and the solid cylindrical shaft 3 to form a second assembly body, the second robot 21 moves the second assembly body to the left-right feed mechanism 23 through the first quick-change clamping jaw 2101, and clamps the second assembly body on the left-right feed mechanism 23 after being inverted;

[0034] A rotating lever mechanism 24 is arranged on the third workbench 22, and the rotating lever mechanism 24 can drive the second rudder surface assembly 2 to rotate between the unfolded posture and the folded posture with the hollow cylindrical shaft 4 as the center. The first rudder surface assembly 1 is provided with a first connecting threaded hole penetrating the upper and lower surfaces, the second rudder surface assembly 2 is provided with a second connecting threaded hole penetrating the upper and lower surfaces, the second connecting threaded hole is a non-penetrating hole, and the top of the first connecting threaded hole is in communication with the bottom of the second connecting threaded hole. When the second rudder surface assembly 2 is in the unfolded posture, the first rudder surface assembly 1 and the second rudder surface assembly 2 are connected, and the second rudder surface assembly 2 covers the first connecting threaded hole. When the second rudder surface assembly 2 is in the folded posture, the first connecting threaded hole is exposed.

[0035] A gantry motion mechanism 26 is arranged on the third workbench 22, and the gantry motion mechanism 26 is provided with a first actuating mechanism 25 and a second actuating mechanism 33. The first actuating mechanism 25 and the second actuating mechanism 33 can clamp the fixing pin, the spring and the round nut, move to the upper side of the first connecting threaded hole through the gantry motion mechanism 26, and sequentially insert the fixing pin, the spring and the round nut into the first connecting threaded hole. The rotating lever mechanism 24 rotates the second rudder surface assembly 2 from the folded posture to the unfolded posture, the spring pushes the fixing pin into the second connecting threaded hole, and the first rudder surface assembly 1 and the second rudder surface assembly 2 are fixed in the angular direction.

[0036] The automatic assembly system of the rudder surface product further comprises:

[0037] An electric clamp jaw 27 is arranged on the second assembly mechanism. The third assembly mechanism assembles the second assembly body, the round nut, the spring and the fixing pin to form a third assembly body. The second robot 21 moves the third assembly body to the electric clamp jaw 27 through the first quick-change clamp jaw 2101 and fastens the third assembly body through the electric clamp jaw 27.

[0038] A third robot 28 is used to suck the heatproof assembly and place it on the first rudder surface assembly 1, and suck the second screw and fix the heatproof assembly on the first rudder surface assembly 1 through the second screw.

[0039] The automatic assembly system of the rudder surface product further comprises:

[0040] A laser profile scanner 29 is arranged on the second workbench 18. The third assembly body is provided with a heat protection assembly to form a finished product. The laser profile scanner 29 is used to scan the profile data of the finished product and upload the computer. The computer obtains the assembly gap of the first rudder surface assembly 1 and the second rudder surface assembly 2 according to the profile data, compares the assembly gap with the standard gap, and judges whether the assembly of the first rudder surface assembly 1 and the second rudder surface assembly 2 is qualified.

[0041] A weighing mechanism 30 is arranged on the second workbench 18. The weighing mechanism 30 has a fourth clamping tool 31. The second robot 21 moves the finished product to the fourth clamping tool 31 through the first quick-change clamping jaw 2101. The weighing mechanism 30 is used to obtain the weight data of the finished product and upload the computer. The computer compares the weight data with the standard weight and judges whether the weight of the finished product is qualified.

[0042] An automatic assembly method of a rudder surface product is characterized in that the automatic assembly system of the rudder surface product in claim 9 is applied, and the method comprises the following steps:

[0043] Step one, the first robot 14 takes out the first rudder surface assembly 1 and the second rudder surface assembly 2 from the feeding and discharging mechanism 5, and respectively installs them on the first clamping tool 11 and the second clamping tool 12 according to a preset trajectory. The first clamping tool 11 clamps and fixes the first rudder surface assembly 1, and the second rudder surface assembly 2 is placed on a flexible clamp and clamped and fixed by the first rotary cylinder 1201. The main shaft 13 mills the surface of the second rudder surface assembly 2 according to a preset program, so that the convex and the concave are adaptively shaped, and the first rudder surface assembly 1 and the second rudder surface assembly 2 can be attached. After milling, the first rudder surface assembly 1 and the second rudder surface assembly 2 are attached by the three-axis moving platform, and the convex is inserted into the concave, and the first through hole 101 corresponds to the second through hole 201.

[0044] Step two, the hollow cylindrical shaft profiling tool 16 is inserted into the first through hole 101 and the second through hole 201 through the lifting feed mechanism 15. The first clamping tool 11 and the first rotary cylinder 1201 release the first rudder surface assembly 1 and the second rudder surface assembly 2. The first rudder surface assembly 1 and the second rudder surface assembly 2 are limited and adjusted in pose by the hollow cylindrical shaft profiling tool 16, so that the first through hole 101 and the second through hole 201 are coaxial. The first clamping tool 11 and the first rotary cylinder 1201 clamp the first rudder surface assembly 1 and the second rudder surface assembly 2 again. The lifting feed mechanism 15 pulls out the hollow cylindrical shaft profiling tool 16.

[0045] Step three, the first robot 14 grabs the hollow cylindrical shaft 4, moves the hollow cylindrical shaft 4 to the three-jaw chuck 17, the three-jaw chuck 17 clamps the hollow cylindrical shaft 4, the first robot 14 releases the hollow cylindrical shaft 4, and the three-jaw chuck 17 corrects the posture of the hollow cylindrical shaft 4; the first robot 14 grabs the hollow cylindrical shaft 4 again, pushes the hollow cylindrical shaft 4 into the first through hole 101 and the second through hole 201, and obtains the first assembly;

[0046] Step four, the first robot 14 moves the first assembly to the second robot 21, and the second robot 21 moves the first assembly to the third clamping tool 19 through the first quick-change clamp jaw 2101; the second robot 21 takes out the solid cylindrical shaft 3 from the feeding and discharging mechanism 5 through the second quick-change clamp jaw 2102, passes the solid cylindrical shaft 3 through the hollow cylindrical shaft 4, and makes the first screw hole 102 correspond to the second screw hole 301 and the first pin hole 103 correspond to the second pin hole 302; then the second robot 21 inserts the standard pin into the first pin hole 103 and the second pin hole 302 through the second quick-change clamp jaw 2102, and screws the first screw into the first screw hole 102 and the second screw hole 301, to obtain the second assembly;

[0047] Step five, the second robot 21 moves the second assembly to the left and right feeding mechanism 23 through the first quick-change clamp jaw 2101, and clamps it after being inverted; the rotary lever mechanism 24 drives the second rudder surface assembly 2 to rotate from the unfolded posture to the folded posture with the hollow cylindrical shaft 4 as the center; the first execution mechanism 25 clamps the fixing pin, the spring and the round nut, moves to the upper of the first connecting threaded hole through the gantry motion mechanism 26, and inserts the fixing pin, the spring and the round nut into the first connecting threaded hole in sequence; the rotary lever mechanism 24 rotates the second rudder surface assembly 2 from the folded posture to the unfolded posture, and the spring pushes the fixing pin into the second connecting threaded hole, so that the first rudder surface assembly 1 and the second rudder surface assembly 2 are angularly fixed, to obtain the third assembly;

[0048] Step six, the second robot 21 moves the third assembly to the electric clamp jaw 27 through the first quick-change clamp jaw 2101 and tightens it through the electric clamp jaw 27; the third robot 28 sucks the heat-proof assembly and places it on the first rudder surface assembly 1, sucks the second screw and fixes the heat-proof assembly on the first rudder surface assembly 1 through the second screw, to obtain the finished product;

[0049] Step seven, the electric clamp jaw 27 rotates, rotates the finished product into the working area of the laser profile scanner 29, the laser profile scanner 29 scans the profile data of the finished product and uploads it to the computer, the computer obtains the assembly gap of the first rudder surface assembly 1 and the second rudder surface assembly 2 according to the profile data, compares the assembly gap with the standard gap, and judges whether the assembly of the first rudder surface assembly 1 and the second rudder surface assembly 2 is qualified;

[0050] Step eight, the second robot 21 moves the finished product to the fourth clamping tool 31 of the weighing mechanism 30 through the first quick-change clamping jaw 2101, the fourth clamping tool 31 clamps and fixes the finished product, the weighing mechanism 30 obtains the weight data of the finished product and uploads the computer, the computer compares the weight data with the standard weight, and judges whether the weight of the finished product is qualified or not;

[0051] Step nine, the second robot 21 moves the finished product to the feeding and discharging mechanism 5 through the first quick-change clamping jaw 2101, and transports to the outside by the feeding and discharging mechanism 5.

[0052] The present application has the beneficial effects:

[0053] The present application forms a complete assembly system of rudder surface products through the cooperation of three assembly mechanisms and multiple robots, and realizes the full-automatic mechanical assembly of the rudder surface products. Compared with the prior art, manual operation is no longer needed, the consistency of the assembly quality is ensured, and the production capacity is improved. Meanwhile, for the finished product after assembly, the folding and unfolding performance of the rudder surface can be tested by the mechanical structure clamping, and the assembly gap and the weight of the finished product can be completed by the computer cooperating with the laser profile scanner and the weighing mechanism, so that whether the quality of the finished product is qualified or not can be accurately judged. BRIEF DESCRIPTION OF DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0055] Figure 1 The assembly system layout of the present application;

[0056] Figure 2 The material matching mechanism schematic view of the assembly system of the present application;

[0057] Figure 3 The feeding and discharging mechanism schematic view of the assembly system of the present application;

[0058] Figure 4 The production control equipment schematic view of the assembly system of the present application;

[0059] Figure 5 The first assembly mechanism schematic view of the assembly system of the present application;

[0060] Figure 6 The lifting feed mechanism schematic view of the assembly system of the present application;

[0061] Figure 7 The second assembly mechanism schematic view of the assembly system of the present application;

[0062] Figure 8 Figure 3 is a schematic diagram of a third assembly mechanism of the assembly system of the present application;

[0063] Figure 9 Figure 4 is a schematic diagram of a rotating lever mechanism of the assembly system of the present application;

[0064] Figure 10 Figure 5 is a schematic diagram of a first robot of the assembly system of the present application;

[0065] Figure 6 is a schematic diagram of a second robot of the assembly system of the present application;

[0066] Figure 7 is a schematic diagram of a third robot of the assembly system of the present application;

[0067] Figure 11 Figure 8 is a schematic diagram of a first rudder assembly of the product of the present application;

[0068] Figure 12 Figure 9 is a schematic diagram of a second rudder assembly of the product of the present application;

[0069] Figure 10 is a schematic diagram of a solid cylindrical shaft of the product of the present application;

[0070] Figure 11 is a schematic diagram of a hollow cylindrical shaft of the product of the present application;

[0071] Figure 13 Figure 12 is a schematic diagram of an assembly of the product of the present application.

[0072] Figure 14 Figure 13 is a schematic diagram of an assembly of the product of the present application.

[0073] Figure 15 Figure 14 is a schematic diagram of an assembly of the product of the present application.

[0074] Figure 16 Figure 15 is a schematic diagram of an assembly of the product of the present application.

[0075] Figure 17 Figure 16 is a schematic diagram of an assembly of the product of the present application.

[0076] Wherein, 1, the first rudder surface assembly; 101, the first through hole; 102, the first screw hole; 103, the first pin hole; 2, the second rudder surface assembly; 201, the second through hole; 3, the solid cylindrical shaft; 301, the second screw hole; 302, the second pin hole; 4, the hollow cylindrical shaft; 5, the feeding and discharging mechanism; 6, the material aligning mechanism; 7, the tray; 8, the production control equipment; 9, the code scanning equipment; 10, the first workbench; 11, the first clamping tool; 12, the second clamping tool; 1201, the first rotary air cylinder; 13, the main shaft; 14, the first robot; 1401, the second rotary air cylinder; 1402, the first clamp; 1403, the second clamp; 15, the lifting feeding mechanism; 16, the hollow cylindrical shaft profiling tool; 17, the three-jaw chuck; 18, the second workbench; 19, the third clamping tool; 20, the jacking air cylinder; 21, the second robot; 2101, the first quick-change clamp jaw; 2102, the second quick-change clamp jaw; 22, the third workbench; 23, the left-right feeding mechanism; 24, the rotary lever mechanism; 25, the first actuating mechanism; 26, the gantry motion mechanism; 27, the electric clamp jaw; 28, the third robot; 29, the laser profile scanner; 30, the weighing mechanism; 31, the fourth clamping tool; 32, the code scanning gun; 33, the second actuating mechanism. DETAILED DESCRIPTION

[0077] To achieve the above object, the application provides a rudder surface product, comprising a first rudder surface assembly, a second rudder surface assembly, a hollow cylindrical shaft and a solid cylindrical shaft.

[0078] The upper surface of the first rudder surface assembly is provided with a groove, and the lower surface of the second rudder surface assembly is provided with a boss which is shaped to match the groove; the first rudder surface assembly is provided with a first through hole penetrating through the front and back surfaces, the first through hole is in communication with the groove, and the boss is provided with a second through hole penetrating through the front and back surfaces; when the boss is clamped into the groove, the first through hole corresponds to the second through hole, and the first rudder surface assembly and the second rudder surface assembly are in close contact.

[0079] The hollow cylindrical shaft penetrates through the first through hole and the second through hole.

[0080] The first rudder surface assembly is provided with a first screw hole and a first pin hole near the front and back ends respectively, the solid cylindrical shaft is provided with a second screw hole and a second pin hole near the front and back ends respectively, the solid cylindrical shaft penetrates through the hollow cylindrical shaft, and the first screw hole corresponds to the second screw hole, and the first pin hole corresponds to the second pin hole.

[0081] The application further provides an automatic assembly system for the rudder surface product.

[0082] The automatic assembly system comprises:

[0083] A loading and unloading mechanism is used to store and transport the first rudder assembly, the second rudder assembly, the hollow cylindrical shaft and the solid cylindrical shaft.

[0084] A first assembly mechanism is used to mill the second rudder assembly and assemble the first rudder assembly, the second rudder assembly and the hollow cylindrical shaft.

[0085] A second assembly mechanism is used to pass the solid cylindrical shaft through the hollow cylindrical shaft and screw the first screw into the first screw hole and the second screw hole, and assemble the standard pin into the first pin hole and the second pin hole.

[0086] A third assembly mechanism is used to rotate the second rudder assembly and angularly fasten the first rudder assembly and the second rudder assembly.

[0087] Further, the first assembly mechanism comprises:

[0088] A first workbench;

[0089] A first clamping tool, the first workbench is provided with a three-axis moving mechanism, and the first clamping tool is arranged on the three-axis moving mechanism for clamping and moving the first rudder assembly.

[0090] A second clamping tool with a flexible clamp and a first rotary air cylinder, the second rudder assembly can be placed on the flexible clamp and clamped and fixed by the first rotary air cylinder.

[0091] A main shaft arranged on the three-axis moving mechanism for milling the second rudder assembly so that the boss and the groove are shaped to fit, and the first rudder assembly and the second rudder assembly can be attached.

[0092] A first robot for taking the first rudder assembly and the second rudder assembly from the loading and unloading mechanism and installing them on the first clamping tool and the second clamping tool respectively according to the preset trajectory.

[0093] Further, the first assembly mechanism further comprises:

[0094] A lifting feed mechanism arranged on the first workbench;

[0095] A hollow cylindrical shaft profiling tool which is the same shape as the hollow cylindrical shaft and is arranged on the lifting feed mechanism, and the lifting feed mechanism can drive the hollow cylindrical shaft profiling tool to insert into the first through hole and the second through hole.

[0096] Further, it further comprises:

[0097] A three-jaw chuck arranged on the loading and unloading mechanism for correcting the hollow cylindrical shaft;

[0098] The first robot is capable of inserting the hollow cylindrical shaft into the first and second through holes.

[0099] Further, the second assembly mechanism comprises:

[0100] A second workbench;

[0101] A third clamping tool is arranged on the second workbench, the first assembly mechanism assembles the first and second rudder surface assemblies and the hollow cylindrical shaft to form a first assembly body, and the third clamping tool is used for clamping the first assembly body.

[0102] The second robot has a first quick-change clamping jaw and a second quick-change clamping jaw, the first quick-change clamping jaw is used for moving the first assembly body from the first assembly mechanism to the third clamping tool, the second quick-change clamping jaw is capable of taking out the solid cylindrical shaft from the feeding and discharging mechanism, passing the solid cylindrical shaft through the hollow cylindrical shaft, and making the first and second screw holes correspond to each other and the first and second pin holes correspond to each other, the second quick-change clamping jaw is capable of assembling the standard pin into the first and second pin holes and screwing the first screw into the first and second screw holes.

[0103] Further, the third assembly mechanism comprises:

[0104] A third workbench;

[0105] A left-right feeding mechanism is arranged on the third workbench, the second assembly mechanism assembles the first and second rudder surface assemblies, the hollow cylindrical shaft and the solid cylindrical shaft to form a second assembly body, the second robot moves the second assembly body to the left-right feeding mechanism through the first quick-change clamping jaw, and the second assembly body is clamped on the left-right feeding mechanism after being inverted;

[0106] A rotary lever mechanism is arranged on the third workbench, the rotary lever mechanism is capable of rotating the second rudder surface assembly between an unfolded posture and a folded posture with the hollow cylindrical shaft as the center, the first rudder surface assembly is provided with a first connecting threaded hole penetrating through the upper and lower surfaces, the second rudder surface assembly is provided with a second connecting threaded hole penetrating through the upper and lower surfaces, the second connecting threaded hole is a non-penetrating hole, and the top of the first connecting threaded hole is in communication with the bottom of the second connecting threaded hole; when the second rudder surface assembly is in the unfolded posture, the first and second rudder surface assemblies are connected and the second rudder surface assembly covers the first connecting threaded hole, and when the second rudder surface assembly is in the folded posture, the first connecting threaded hole is exposed.

[0107] Gantry motion mechanism, be provided with first actuating mechanism and second actuating mechanism on the third worktable, the first actuating mechanism and second actuating mechanism can be clamped fixed pin, spring and round nut, move to the first connecting threaded hole above through gantry motion mechanism and insert fixed pin, spring and round nut into first connecting threaded hole in turn;Rotary lever mechanism rotates second rudder surface assembly from folding posture to unfolded posture, spring inserts fixed pin into second connecting threaded hole, and first rudder surface assembly and second rudder surface assembly are fixed in angle direction.

[0108] Further, further comprising:

[0109] Electric clamping jaw, be provided with the second assembly mechanism, the third assembly body is assembled to form the third assembly body by the second assembly body, round nut, spring and fixed pin;The second robot moves the third assembly body to the electric clamping jaw through the first quick-change clamping jaw and fastens through the electric clamping jaw;

[0110] Third robot, for sucking heat protection assembly and placing it on first rudder surface assembly, and sucking second screw and fixing heat protection assembly on first rudder surface assembly through second screw.

[0111] Further, further comprising:

[0112] Laser profile scanner, be provided with the second workbench, the third assembly body sets up heat protection assembly and forms finished product, and the laser profile scanner is used for scanning the profile data of the finished product and uploading computer, and computer obtains the assembly gap of first rudder surface assembly and second rudder surface assembly according to profile data, compares assembly gap with standard gap, judges whether first rudder surface assembly and second rudder surface assembly are qualified or not.

[0113] Weighing mechanism, be provided with the second workbench, the weighing mechanism has fourth clamping tooling, and the second robot moves the finished product to fourth clamping tooling through the first quick-change clamping jaw, and weighing mechanism is used for obtaining weight data of finished product and uploading computer, and computer compares weight data and standard weight, judges whether the weight of finished product is qualified or not.

[0114] The application also provides a rudder surface product automatic assembly method, applies the rudder surface product automatic assembly system, and includes the following steps:

[0115] S1: The first robot takes out the first rudder surface assembly and the second rudder surface assembly from the feeding and discharging mechanism, and installs them on the first clamping tool and the second clamping tool respectively according to the preset trajectory. The first clamping tool clamps and fixes the first rudder surface assembly, and the second rudder surface assembly is placed on the flexible clamp and clamped and fixed by the first rotary air cylinder. The main shaft mills the surface of the second rudder surface assembly according to the preset program, so that the boss and the groove are adaptively shaped, and the first rudder surface assembly and the second rudder surface assembly can be attached. After milling, the first rudder surface assembly and the second rudder surface assembly are attached by the three-axis moving platform, and the boss is inserted into the groove, and the first through hole corresponds to the second through hole;

[0116] S2: The hollow cylindrical shaft profiling tool is inserted into the first through hole and the second through hole through the lifting feed mechanism. The first clamping tool and the first rotary air cylinder loosen the first rudder surface assembly and the second rudder surface assembly. The first rudder surface assembly and the second rudder surface assembly are limited and adjusted in position by the hollow cylindrical shaft profiling tool, so that the first through hole and the second through hole are coaxial. The first clamping tool and the first rotary air cylinder clamp the first rudder surface assembly and the second rudder surface assembly again. The lifting feed mechanism pulls out the hollow cylindrical shaft profiling tool;

[0117] S3: The first robot grabs the hollow cylindrical shaft and moves it to the three-jaw chuck. The three-jaw chuck clamps the hollow cylindrical shaft, and the first robot loosens the hollow cylindrical shaft. The three-jaw chuck corrects the attitude of the hollow cylindrical shaft. The first robot grabs the hollow cylindrical shaft again and pushes it into the first through hole and the second through hole to obtain a first assembly;

[0118] S4: The first robot moves the first assembly to the second robot. The second robot moves the first assembly to the third clamping tool through the first quick-change clamp jaw. The second robot takes out the solid cylindrical shaft from the feeding and discharging mechanism through the second quick-change clamp jaw, passes the solid cylindrical shaft through the hollow cylindrical shaft, and makes the first screw hole correspond to the second screw hole and the first pin hole correspond to the second pin hole. Then the second robot installs the standard pin into the first pin hole and the second pin hole through the second quick-change clamp jaw, and screws the first screw into the first screw hole and the second screw hole to obtain a second assembly;

[0119] S5: The second robot moves the second assembly to the left and right feed mechanism through the first quick-change clamp jaw and clamps it after being inverted. The rotary lever mechanism drives the second rudder surface assembly to rotate around the hollow cylindrical shaft from the unfolded attitude to the folded attitude. The first execution mechanism clamps the fixed pin, the spring and the round nut, moves above the first connecting threaded hole through the gantry motion mechanism, and inserts the fixed pin, the spring and the round nut into the first connecting threaded hole in turn. The rotary lever mechanism rotates the second rudder surface assembly from the folded attitude to the unfolded attitude, and the spring pushes the fixed pin into the second connecting threaded hole. The first rudder surface assembly and the second rudder surface assembly are angularly fixed to obtain a third assembly;

[0120] S6: The second robot moves the third assembly to the electric clamp jaw through the first quick-change clamp jaw and fastens it through the electric clamp jaw; the third robot sucks the heatproof assembly and places it on the first control surface assembly, sucks the second screw and fixes the heatproof assembly on the first control surface assembly through the second screw to obtain a finished product;

[0121] S7: The electric clamp jaw rotates to rotate the finished product into the working area of the laser profile scanner, the laser profile scanner scans the profile data of the finished product and uploads it to the computer, the computer obtains the assembly gap of the first control surface assembly and the second control surface assembly according to the profile data, compares the assembly gap with the standard gap, and judges whether the assembly of the first control surface assembly and the second control surface assembly is qualified;

[0122] S8: The second robot moves the finished product to the fourth clamping tool of the weighing mechanism through the first quick-change clamp jaw, the fourth clamping tool clamps and fixes the finished product, the weighing mechanism obtains the weight data of the finished product and uploads it to the computer, and the computer compares the weight data with the standard weight and judges whether the weight of the finished product is qualified;

[0123] S9: The second robot moves the finished product to the feeding and discharging mechanism through the first quick-change clamp jaw, and transports it out by the feeding and discharging mechanism.

[0124] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0125] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0126] Embodiment 1

[0127] The embodiment of the present application provides a control surface product, which comprises: a first control surface assembly 1, a second control surface assembly 2, a hollow cylindrical shaft 4 and a solid cylindrical shaft 3.

[0128] 2, the hollow cylindrical shaft 4 and the solid cylindrical shaft 3;

[0129] The upper surface of the first control surface assembly 1 is provided with a groove, and the lower surface of the second control surface assembly 2 is provided with a boss matched with the shape of the groove; the first control surface assembly 1 is provided with a first through hole 101 penetrating through the front and rear surfaces, the first through hole 101 is communicated with the groove, the boss is provided with a second through hole 201 penetrating through the front and rear surfaces, and when the boss is clamped into the groove, the first through hole 101 corresponds to the second through hole 201 and the first control surface assembly 1 is attached to the second control surface assembly 2;

[0130] The hollow cylindrical shaft 4 passes through the first through hole 101 and the second through hole 201;

[0131] The first rudder assembly 1 has a first screw hole 102 and a first pin hole 103 near its front and rear ends, respectively. The solid cylindrical shaft 3 has a second screw hole 301 and a second pin hole 302 near its front and rear ends, respectively. The solid cylindrical shaft 3 passes through the hollow cylindrical shaft 4, and the first screw hole 102 corresponds to the second screw hole 301, and the first pin hole 103 corresponds to the second pin hole 302.

[0132] Example 2

[0133] This invention provides an automated assembly system for control surface products, used for assembling the control surface products disclosed in Embodiment 1, comprising:

[0134] The loading and unloading mechanism 5 is used to store and transport the first rudder assembly 1, the second rudder assembly 2, the hollow cylindrical shaft 4, and the solid cylindrical shaft 3.

[0135] The first assembly mechanism is used to mill the second control surface assembly 2 and assemble the first control surface assembly 1, the second control surface assembly 2 and the hollow cylindrical shaft 4.

[0136] The second assembly mechanism is used to pass the solid cylindrical shaft 3 through the hollow cylindrical shaft 4 and screw the first screw into the first screw hole 102 and the second screw hole 301, and to install the standard pin into the first pin hole 103 and the second pin hole 302.

[0137] The third assembly mechanism is used to rotate the second control surface assembly 2 and to angularly fasten the first control surface assembly 1 and the second control surface assembly 2.

[0138] In this embodiment, a material kitting mechanism 6 is also included, used for the entry and exit of control surface products and the placement of various assembly parts. The material kitting mechanism 6 can be equipped with feeding devices, such as feeding trolleys, at adjacent positions of each robot according to the actual installation process of each robot. Specifically, the material kitting mechanism 6 is equipped with an industrial camera. The outer surfaces of the first control surface component 1, the second control surface component 2, and the solid cylindrical shaft 3 have metal engraved serial numbers. The industrial camera can capture images, identify the metal engraved serial numbers, and generate corresponding data such as the component number, personnel information, and operation time. A QR code printer is installed on the production control equipment 8. After the industrial camera identifies the serial numbers and generates data, a QR code can be printed through the QR code printer. Simultaneously, the information is automatically sent to the computer of the production control equipment 8 via Ethernet communication, realizing the registration of entry and exit information. Each component is placed on a tray 7, and the QR code is affixed to the tray 7, allowing them to be sent into the warehouse together.

[0139] In this embodiment, the first assembly mechanism includes:

[0140] First workbench 10;

[0141] The first clamping tool 11 is provided with a three-axis moving mechanism on the first workbench 10, and the first clamping tool 11 is arranged on the three-axis moving mechanism for clamping and moving the first control surface assembly 1.

[0142] The second clamping tool 12 is provided with a flexible clamp and a first rotary cylinder 1201, and the second control surface assembly 2 can be placed on the flexible clamp and clamped and fixed by the first rotary cylinder 1201.

[0143] The main shaft 13 is arranged on the three-axis moving mechanism, and is used for milling the second control surface assembly 2, so that the boss and the groove are matched in shape, and the first control surface assembly 1 and the second control surface assembly 2 can be attached.

[0144] The first robot 14 is used for taking out the first control surface assembly 1 and the second control surface assembly 2 from the feeding and discharging mechanism 5, and respectively installing them on the first clamping tool 11 and the second clamping tool 12 according to a preset trajectory.

[0145] In the embodiment, the end effector of the first robot 14 is provided with a second rotary cylinder 1401, a first clamp 1402 and a second clamp 1403, the first clamp 1402 is close to the bottom, and the second clamp 1403 is close to the top and connected with the second rotary cylinder 1401.

[0146] In the embodiment, the first assembly mechanism further comprises:

[0147] The lifting feeding mechanism 15 is arranged on the first workbench 10 and close to the first rotary cylinder 1201.

[0148] The hollow cylindrical shaft profiling tool 16 is the same as the hollow cylindrical shaft 4 in shape and is arranged on the lifting feeding mechanism 15, the lifting feeding mechanism 15 can drive the hollow cylindrical shaft profiling tool 16 to insert into the first through hole 101 and the second through hole 201, and the hollow cylindrical shaft profiling tool 16 is used to ensure the coaxiality of the first through hole 101 and the second through hole 201.

[0149] In the embodiment, further comprising:

[0150] The three-jaw chuck 17 is arranged on the feeding and discharging mechanism 5 and is used for correcting the hollow cylindrical shaft 4.

[0151] The first robot 14 can insert the hollow cylindrical shaft 4 into the first through hole 101 and the second through hole 201.

[0152] In the embodiment, the second assembly mechanism comprises:

[0153] The second workbench 18;

[0154] The third clamping tool 19 is arranged on the second workbench 18, the first assembly mechanism assembles the first rudder surface assembly 1, the second rudder surface assembly 2 and the hollow cylindrical shaft 4 to form a first assembly body, and the third clamping tool 19 is used for clamping the first assembly body; the second workbench 18 is further provided with a jacking cylinder 20, which can be used for jacking against the first assembly body to avoid product shaking when the third clamping tool 19 clamps the first assembly body;

[0155] The second robot 21 is provided with a first quick-change clamping jaw 2101 and a second quick-change clamping jaw 2102, which are arranged on the second workbench 18, and the second robot 21 can be connected to one of them. The first quick-change clamping jaw 2101 is used for moving the first assembly body from the first assembly mechanism to the third clamping tool 19; the second quick-change clamping jaw 2102 can take out the solid cylindrical shaft 3 from the feeding and discharging mechanism 5, pass the solid cylindrical shaft 3 through the hollow cylindrical shaft 4, and make the first screw hole 102 correspond to the second screw hole 301 and the first pin hole 103 correspond to the second pin hole 302; the second quick-change clamping jaw 2102 can assemble the standard pin into the first pin hole 103 and the second pin hole 302, and screw the first screw into the first screw hole 102 and the second screw hole 301.

[0156] In the embodiment, the third assembly mechanism comprises:

[0157] A third workbench 22;

[0158] A left-right feeding mechanism 23 is arranged on the third workbench 22, the second assembly mechanism assembles the first rudder surface assembly 1, the second rudder surface assembly 2, the hollow cylindrical shaft 4 and the solid cylindrical shaft 3 to form a second assembly body, the second robot 21 moves the second assembly body to the left-right feeding mechanism 23 through the first quick-change clamping jaw 2101, and the second assembly body is clamped on the left-right feeding mechanism 23 after being inverted;

[0159] A rotary lever mechanism 24 is arranged on the third workbench 22, and the rotary lever mechanism 24 can drive the second rudder surface assembly 2 to rotate between an unfolded posture and a folded posture with the hollow cylindrical shaft 4 as the center; the first rudder surface assembly 1 is provided with a first connecting threaded hole penetrating through the upper and lower surfaces, the second rudder surface assembly 2 is provided with a second connecting threaded hole penetrating through the upper and lower surfaces, the second connecting threaded hole is a non-penetrating hole, and the top of the first connecting threaded hole is in communication with the bottom of the second connecting threaded hole; when the second rudder surface assembly 2 is in the unfolded posture, the first rudder surface assembly 1 and the second rudder surface assembly 2 are connected and the second rudder surface assembly 2 covers the first connecting threaded hole; when the second rudder surface assembly 2 is in the folded posture, the first connecting threaded hole is exposed;

[0160] Gantry motion mechanism 26 is arranged on the third workbench 22, and the first execution mechanism 25 and the second execution mechanism 33 are arranged on the gantry motion mechanism 26, and the first execution mechanism 25 and the second execution mechanism 33 can clamp the fixing pin, the spring and the round nut; the first execution mechanism 25 is moved to the upper side of the first connecting threaded hole through the gantry motion mechanism 26, and the fixing pin, the spring and the round nut are inserted into the first connecting threaded hole in sequence; the rotary lever mechanism 24 rotates the second control surface assembly 2 from the folded posture to the unfolded posture, the spring pushes the fixing pin into the second connecting threaded hole, and the first control surface assembly 1 and the second control surface assembly 2 are fixed in the angular direction.

[0161] In the embodiment, further comprising:

[0162] The electric clamping jaw 27 is arranged on the second assembly mechanism, and the third assembly mechanism assembles the second assembly body, the round nut, the spring and the fixing pin to form the third assembly body; the second robot 21 moves the third assembly body to the electric clamping jaw 27 through the first quick-change clamping jaw 2101 and fastens the third assembly body through the electric clamping jaw 27;

[0163] The third robot 28 is used for sucking the heat-proof assembly and placing the heat-proof assembly on the first control surface assembly 1, and sucking the second screw and fixing the heat-proof assembly on the first control surface assembly 1 through the second screw.

[0164] In the embodiment, further comprising:

[0165] The laser profile scanner 29 is arranged on the second workbench 18, and the third assembly body is provided with the heat-proof assembly to form a finished product; the laser profile scanner 29 is used for scanning the profile data of the finished product and uploading the computer, and the computer obtains the assembly gap of the first control surface assembly 1 and the second control surface assembly 2 according to the profile data, compares the assembly gap with the standard gap, and judges whether the assembly of the first control surface assembly 1 and the second control surface assembly 2 is qualified.

[0166] The weighing mechanism 30 is arranged on the second workbench 18, and the weighing mechanism 30 has a fourth clamping tool 31; the second robot 21 moves the finished product to the fourth clamping tool 31 through the first quick-change clamping jaw 2101, and the weighing mechanism 30 is used for obtaining the weight data of the finished product and uploading the computer; the computer compares the weight data with the standard weight, and judges whether the weight of the finished product is qualified.

[0167] Embodiment 3

[0168] The embodiment of the application provides an automatic assembly method of a control surface product, and the automatic assembly system of the control surface product disclosed in embodiment 2 is applied, and the method comprises the following steps:

[0169] Inbound: Put the first rudder assembly 1, the second rudder assembly 2, the hollow cylindrical shaft 4 and the solid cylindrical shaft 3 into the tray 7, and put them together into the designated position of the material matching mechanism 6. The operator collects images through an industrial camera and automatically identifies the product number through a software algorithm. At the same time, the identified product number, operator information and operation time are generated into a two-dimensional code. The two-dimensional code is printed through a two-dimensional code printer, and the above information is automatically sent to the computer of the production control equipment 8 through Ethernet communication. At this time, the computer of the production control equipment 8 records the material inbound information. Then the operator pastes the two-dimensional code on the tray 7 and sends the tray 7 to the warehouse to complete the inbound.

[0170] Outbound: When the production control equipment 8 receives a superior task, the operator takes the material tray 7 from the warehouse, first puts it on the workbench of the production control equipment 8, and uses the code scanning device 9 to automatically scan the two-dimensional code on the tray 7. At this time, the computer of the production control equipment 8 extracts the two-dimensional code information, changes the state of the corresponding material from inbound to outbound, and completes the outbound.

[0171] After completing the outbound, the operator puts the tray 7 into the material trolley of the feeding and discharging device. The material trolley has five installation spaces. The material trolley is pushed into the lifting mechanism, the operation control panel is operated, and the running program is started. The conveying guide rail transports each layer of material tray 7 to the designated position and stops. After reaching the position, the code scanning gun 32 automatically scans the code. At this time, the production control equipment 8 receives the start information of the current product and controls the following devices to perform automatic assembly operation.

[0172] S1: The first robot 14 takes the first rudder assembly 1 and the second rudder assembly 2 from the feeding and discharging mechanism 5 through the first clamp 1402, and installs them on the first clamping tool 11 and the second clamping tool 12 respectively according to the preset trajectory. The first clamping tool 11 clamps and fixes the first rudder assembly 1, and the second rudder assembly 2 is placed on the flexible clamp and clamped and fixed by the first rotary cylinder 1201. The main shaft 13 mills the surface of the second rudder assembly 2 according to the preset program, so that the boss and the groove are adaptively shaped, and the first rudder assembly 1 and the second rudder assembly 2 can be attached. After milling, the first rudder assembly 1 is moved to the specified position along the x-axis and z-axis directions in turn by the three-axis moving platform, and the first rudder assembly 1 and the second rudder assembly 2 are attached. At this time, the boss is inserted into the groove, and the first through hole 101 corresponds to the second through hole 201;

[0173] S2: Before assembling the hollow cylindrical shaft 4, in order to ensure the coaxiality of the first through hole 101 and the second through hole 201, the hollow cylindrical shaft profiling tool 16 is assembled with the first through hole 101 and the second through hole 201; the hollow cylindrical shaft profiling tool 16 is inserted into the first through hole 101 and the second through hole 201 through the lifting feed mechanism 15, the first clamping tool 11 and the first rotary air cylinder 1201 loosen the first rudder surface assembly 1 and the second rudder surface assembly 2, the first rudder surface assembly 1 and the second rudder surface assembly 2 are passively adjusted in position under the limiting action of the hollow cylindrical shaft profiling tool 16, so that the first through hole 101 and the second through hole 201 are coaxial; the first clamping tool 11 and the first rotary air cylinder 1201 clasp the first rudder surface assembly 1 and the second rudder surface assembly 2 again, and the lifting feed mechanism 15 slowly extracts the hollow cylindrical shaft profiling tool 16;

[0174] S3: The first robot 14 rotates 90° through the second rotary air cylinder 1401, and grabs the hollow cylindrical shaft 4 through the second clamp 1403; due to the limited positioning accuracy of the robot, in order to ensure the consistency of the loading posture of the hollow cylindrical shaft 4, the hollow cylindrical shaft 4 is first moved to the three-jaw chuck 17, the three-jaw chuck 17 clamps the hollow cylindrical shaft 4 while the first robot 14 loosens the hollow cylindrical shaft 4, at this time the three-jaw chuck 17 corrects the posture of the hollow cylindrical shaft 4; after correction, the three-jaw chuck 17 loosens the hollow cylindrical shaft 4, and the first robot 14 again grabs the hollow cylindrical shaft 4, and pushes the hollow cylindrical shaft 4 into the first through hole 101 and the second through hole 201 according to the preset program and force, to obtain a first assembly;

[0175] S4: The first clamping tool 11 and the first rotary air cylinder 1201 are loosened, the first robot 14 moves the first assembly to the second robot 21 through the first clamp 1402, the second robot 21 moves the first assembly to the third clamping tool 19 through the first quick-change clamp 2101, and the second robot 21 tightens the second rudder surface assembly 2 through the second quick-change clamp 2102, to avoid shaking of the third clamping tool 19 when clamping is not tight; the second robot 21 switches the second quick-change clamp 2102, takes out the solid cylindrical shaft 3 from the feeding and discharging mechanism 5 through the second quick-change clamp 2102, and passes the solid cylindrical shaft 3 through the hollow cylindrical shaft 4 to a specified position; the second workbench 18 is also provided with an industrial camera, the second robot 21 rotates the solid cylindrical shaft 3 in the angular direction, and stops rotating when the first screw hole 102 corresponds to the second screw hole 301 and the first pin hole 103 corresponds to the second pin hole 302 in the image collected by the industrial camera; then the second robot 21 loads a standard pin into the first pin hole 103 and the second pin hole 302 through the second quick-change clamp 2102, and screws a first screw into the first screw hole 102 and the second screw hole 301, to obtain a second assembly, and the first screw and the standard pin can be obtained from the material matching mechanism 6;

[0176] S5: The second robot 21 moves the second assembly body to the left-right feeding mechanism 23 through the first quick-change gripper 2101, and the first rudder surface assembly 1 is clamped on the left-right feeding mechanism 23 upside down above the second rudder surface assembly 2; the second rudder surface assembly 2 is rotated by the rotating lever mechanism 24 to a folding posture with the hollow cylindrical shaft 4 as the center, and the maximum rotation angle is greater than 90°; the first execution mechanism 25 clamps the fixing pin and the spring, moves to the upper side of the first connecting threaded hole through the gantry motion mechanism 26, and inserts the fixing pin and the spring into the first connecting threaded hole in sequence, and the second execution mechanism 33 clamps the round nut, which is also inserted into the first connecting threaded hole through the gantry motion mechanism 26, and the round nut is used to fix the spring. The fixing pin has a characteristic hole, before being inserted, the fixing pin is rotated step by step and the angle is determined by an industrial camera and a computer, and the principle is the same as that of the installation of the solid cylindrical shaft 3. The second rudder surface assembly 2 is rotated from the folding posture to the unfolded posture by the rotating lever mechanism 24, the fixing pin is pushed into the second connecting threaded hole by the spring, and the first rudder surface assembly 1 and the second rudder surface assembly 2 are angularly fixed, thereby obtaining a third assembly body;

[0177] S6: The second robot 21 moves the third assembly body to the electric gripper 27 through the first quick-change gripper 2101 and tightens it through the electric gripper 27; the first rudder surface assembly 1 has three positions that need to be installed with heat-proof assemblies, the third robot 28 sucks the heat-proof assemblies from the material matching mechanism 6 and places them on the first rudder surface assembly 1, sucks the second screw and fixes the heat-proof assemblies on the first rudder surface assembly 1 through the second screw, thereby obtaining a finished product;

[0178] S7: The electric gripper 27 rotates, and the finished product is rotated by 180° into the working area of the laser profile scanner 29, the laser profile scanner 29 scans the profile data of the finished product and uploads it to the computer, the computer obtains the assembly gap of the first rudder surface assembly 1 and the second rudder surface assembly 2 according to the profile data, compares the assembly gap with the standard gap, and judges whether the assembly of the first rudder surface assembly 1 and the second rudder surface assembly 2 is qualified;

[0179] S8: The second robot 21 moves the finished product to the fourth clamping tool 31 of the weighing mechanism 30 through the first quick-change gripper 2101, the fourth clamping tool 31 clamps and fixes the finished product, the weighing mechanism 30 obtains the weight data of the finished product and uploads it to the computer, the computer compares the weight data with the standard weight, and judges whether the weight of the finished product is qualified;

[0180] S9: The second robot 21 moves the finished product to the feeding and discharging mechanism 5 through the first quick-change gripper 2101, and transports it to the outside by the feeding and discharging mechanism 5.

[0181] In the description of the present application, it needs to be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0182] The above-described embodiments are only to describe the preferred modes of the present application, and not to limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements to the technical solutions of the present application made by those skilled in the art shall fall within the protection scope determined by the claims of the present application.

Claims

1. A product of the rudder type, characterized in that, The utility model relates to a kind of first rudder assembly, second rudder assembly, hollow cylindrical shaft and solid cylindrical shaft (3); The upper surface of the first rudder assembly (1) is provided with a groove, the lower surface of the second rudder assembly (2) is provided with a boss matched with the shape of the groove of the first rudder assembly (1);The first through hole (101) is communicated with the groove, and the boss of the second rudder assembly (2) is provided with a through second through hole (201) through the front and back surfaces;When the boss is inserted into the groove, the first through hole (101) corresponds to the second through hole (201), and the first rudder assembly (1) and the second rudder assembly (2) are fitted; The hollow cylindrical shaft (4) penetrates the first through hole (101) and the second through hole (201); The first rudder assembly (1) is provided with a first screw hole (102) and a first pin hole (103) near the front and back ends respectively, the solid cylindrical shaft (3) is provided with a second screw hole (301) and a second pin hole (302) near the front and back ends respectively, the solid cylindrical shaft (3) passes through the hollow cylindrical shaft (4), and the first screw hole (102) corresponds to the second screw hole (301), and the first pin hole (103) corresponds to the second pin hole (302). The utility model relates to a kind of first rudder assembly, second rudder assembly, hollow cylindrical shaft and solid cylindrical shaft (3); 2. An automatic assembly system for aerofoil products for the assembly of an aerofoil product as claimed in claim 1, characterised in that, The upper surface of the first rudder assembly (1) is provided with a groove, the lower surface of the second rudder assembly (2) is provided with a boss matched with the shape of the groove of the first rudder assembly (1);The first through hole (101) is communicated with the groove, and the boss of the second rudder assembly (2) is provided with a through second through hole (201) through the front and back surfaces;When the boss is inserted into the groove, the first through hole (101) corresponds to the second through hole (201), and the first rudder assembly (1) and the second rudder assembly (2) are fitted; The hollow cylindrical shaft (4) penetrates the first through hole (101) and the second through hole (201); The first rudder assembly (1) is provided with a first screw hole (102) and a first pin hole (103) near the front and back ends respectively, the solid cylindrical shaft (3) is provided with a second screw hole (301) and a second pin hole (302) near the front and back ends respectively, the solid cylindrical shaft (3) passes through the hollow cylindrical shaft (4), and the first screw hole (102) corresponds to the second screw hole (301), and the first pin hole (103) corresponds to the second pin hole (302). The utility model relates to a kind of first rudder assembly, second rudder assembly, hollow cylindrical shaft and solid cylindrical shaft (3); The upper surface of the first rudder assembly (1) is provided with a groove, the lower surface of the second rudder assembly (2) is provided with a boss matched with the shape of the groove of the first rudder assembly (1);The first through hole (101) is communicated with the groove, and the boss of the second rudder assembly (2) is provided with a through second through hole (201) through the front and back surfaces;When the boss is inserted into the groove, the first through hole (101) corresponds to the second through hole (201), and the first rudder assembly (1) and the second rudder assembly (2) are fitted; 3. The automatic assembly system for aerofoil products according to claim 2, characterized in that, The hollow cylindrical shaft (4) penetrates the first through hole (101) and the second through hole (201); The first rudder assembly (1) is provided with a first screw hole (102) and a first pin hole (103) near the front and back ends respectively, the solid cylindrical shaft (3) is provided with a second screw hole (301) and a second pin hole (302) near the front and back ends respectively, the solid cylindrical shaft (3) passes through the hollow cylindrical shaft (4), and the first screw hole (102) corresponds to the second screw hole (301), and the first pin hole (103) corresponds to the second pin hole (302). The utility model relates to a kind of first rudder assembly, second rudder assembly, hollow cylindrical shaft and solid cylindrical shaft (3); The upper surface of the first rudder assembly (1) is provided with a groove, the lower surface of the second rudder assembly (2) is provided with a boss matched with the shape of the groove of the first rudder assembly (1);The first through hole (101) is communicated with the groove, and the boss of the second rudder assembly (2) is provided with a through second through hole (201) through the front and back surfaces;When the boss is inserted into the groove, the first through hole (101) corresponds to the second through hole (201), and the first rudder assembly (1) and the second rudder assembly (2) are fitted; The hollow cylindrical shaft (4) penetrates the first through hole (101) and the second through hole (201); The first rudder assembly (1) is provided with a first screw hole (102) and a first pin hole (103) near the front and back ends respectively, the solid cylindrical shaft (3) is provided with a second screw hole (301) and a second pin hole (302) near the front and back ends respectively, the solid cylindrical shaft (3) passes through the hollow cylindrical shaft (4), and the first screw hole (102) corresponds to the second screw hole (301), and the first pin hole (103) corresponds to the second pin hole (302). The utility model relates to a kind of first rudder assembly, second rudder assembly, hollow cylindrical shaft and solid cylindrical shaft (3); The upper surface of the first rudder assembly (1) is provided with a groove, the lower surface of the second rudder assembly (2) is provided with a boss matched with the shape of the groove of the first rudder assembly (1);The first through hole (101) is communicated with the groove, and the boss of the second rudder assembly (2) is provided with a through second through hole (201) through the front and back surfaces;When the boss is inserted into the groove, the first through hole (101) corresponds to the second through hole (201), and the first rudder assembly (1) and the second rudder assembly (2) are fitted; The hollow cylindrical shaft (4) penetrates the first through hole (101) and the second through hole (201); The first rudder assembly (1) is provided with a first screw hole (102) and a first pin hole (103) near the front and back ends respectively, the solid cylindrical shaft (3) is provided with a second screw hole (301) and a second pin hole (302) near the front and back ends respectively, the solid cylindrical shaft (3) passes through the hollow cylindrical shaft (4), and the first screw hole (102) corresponds to the second screw hole (301), and the first pin hole (103) corresponds to the second pin hole (302). The first robot (14) is used to take out the first rudder surface assembly (1) and the second rudder surface assembly (2) from the feeding and discharging mechanism (5) and install them on the first clamping tool (11) and the second clamping tool (12) respectively according to preset trajectories.

4. The automatic assembly system for aerofoil products according to claim 3, characterized in that, The first assembly mechanism further comprises: The lifting feeding mechanism (15) is arranged on the first workbench (10); The hollow cylindrical shaft profiling tool (16) is arranged on the lifting feeding mechanism (15) and has the same shape as the hollow cylindrical shaft (4), and the lifting feeding mechanism (15) can drive the hollow cylindrical shaft profiling tool (16) to be inserted into the first through hole (101) and the second through hole (201).

5. The automatic assembly system for aerofoil products according to claim 4, characterized in that, The first assembly mechanism further comprises: The three-jaw chuck (17) is arranged on the feeding and discharging mechanism (5) and is used to correct the hollow cylindrical shaft (4); The first robot (14) can insert the hollow cylindrical shaft (4) into the first through hole (101) and the second through hole (201).

6. The automatic assembly system for aerofoil products according to claim 2 or 5, characterized in that, The second assembly mechanism comprises: The second workbench (18); The third clamping tool (19) is arranged on the second workbench (18), the first assembly mechanism assembles the first rudder surface assembly (1), the second rudder surface assembly (2) and the hollow cylindrical shaft (4) to form a first assembly body, and the third clamping tool (19) is used to clamp the first assembly body; The second robot (21) has a first quick-change clamping jaw (2101) and a second quick-change clamping jaw (2102), the first quick-change clamping jaw (2101) is used to move the first assembly body from the first assembly mechanism to the third clamping tool (19), the second quick-change clamping jaw (2102) can take out the solid cylindrical shaft (3) from the feeding and discharging mechanism (5), pass the solid cylindrical shaft (3) through the hollow cylindrical shaft (4) and make the first screw hole (102) correspond to the second screw hole (301) and the first pin hole (103) correspond to the second pin hole (302), the second quick-change clamping jaw (2102) can assemble a standard pin into the first pin hole (103) and the second pin hole (302) and screw a first screw into the first screw hole (102) and the second screw hole (301).

7. The automatic assembly system for aerofoil products according to claim 2 or 6, characterized in that, The third assembly mechanism comprises: The third workbench (22); The left-right feeding mechanism (23) is arranged on the third workbench (22), the second assembly mechanism assembles the first rudder surface assembly (1), the second rudder surface assembly (2), the hollow cylindrical shaft (4) and the solid cylindrical shaft (3) to form a second assembly body, the second robot (21) moves the second assembly body to the left-right feeding mechanism (23) through the first quick-change clamping jaw (2101) and clamps the second assembly body on the left-right feeding mechanism (23) after being inverted; A rotating lever mechanism (24) is arranged on the third workbench (22), and the rotating lever mechanism (24) can drive the second rudder surface assembly (2) to rotate between the unfolded posture and the folded posture with the hollow cylindrical shaft (4) as the center, the first rudder surface assembly (1) is provided with a first connecting threaded hole penetrating through the upper and lower surfaces, the second rudder surface assembly (2) is provided with a second connecting threaded hole penetrating through the upper and lower surfaces, the second connecting threaded hole is a non-penetrating hole, and the top of the first connecting threaded hole is in communication with the bottom of the second connecting threaded hole; when the second rudder surface assembly (2) is in the unfolded posture, the first rudder surface assembly (1) and the second rudder surface assembly (2) are connected, and the second rudder surface assembly (2) covers the first connecting threaded hole, and when the second rudder surface assembly (2) is in the folded posture, the first connecting threaded hole is exposed; A gantry motion mechanism (26) is arranged on the third workbench (22), and the gantry motion mechanism (26) is provided with a first executing mechanism (25) and a second executing mechanism (33), the third workbench (22) is provided with the gantry motion mechanism (26), the first executing mechanism (25) of the gantry motion mechanism (26) is provided with the second executing mechanism (33), the first executing mechanism (25) and the second executing mechanism (33) can clamp the fixing pin, the spring and the round nut, move to the upper side of the first connecting threaded hole through the gantry motion mechanism (26), and sequentially insert the fixing pin, the spring and the round nut into the first connecting threaded hole; the rotating lever mechanism (24) rotates the second rudder surface assembly (2) from the folded posture to the unfolded posture, the spring pushes the fixing pin into the second connecting threaded hole, and the first rudder surface assembly (1) and the second rudder surface assembly (2) are angularly fixed.

8. The automatic assembly system for aerofoil products according to claim 7, characterized in that, Further comprising: An electric clamp jaw (27) is arranged on the second assembly mechanism, the third assembly body is assembled by the second assembly mechanism, the round nut, the spring and the fixing pin; the third assembly body is moved to the electric clamp jaw (27) by the first quick-change clamp jaw (2101) of the second robot (21), and is fastened by the electric clamp jaw (27); A third robot (28) is used for sucking the heatproof assembly and placing the heatproof assembly on the first rudder surface assembly (1), and sucking the second screw and fixing the heatproof assembly on the first rudder surface assembly (1) through the second screw.

9. The automatic assembly system for aerofoil products according to claim 8, characterized in that, Further comprising: A laser profile scanner (29) is arranged on the second workbench (18), the third assembly body is provided with the heatproof assembly to form a finished product, and the laser profile scanner (29) is used for scanning the profile data of the finished product and uploading the computer, the computer obtains the assembly gap of the first rudder surface assembly (1) and the second rudder surface assembly (2) according to the profile data, compares the assembly gap with a standard gap, and judges whether the assembly of the first rudder surface assembly (1) and the second rudder surface assembly (2) is qualified or not. A weighing mechanism (30) is arranged on the second workbench (18), the weighing mechanism (30) has a fourth clamping tool (31), the second robot (21) moves the finished product to the fourth clamping tool (31) through the first quick-change clamping jaw (2101), the weighing mechanism (30) is used for obtaining weight data of the finished product and uploading the computer, the computer compares the weight data with the standard weight, and judges whether the weight of the finished product is qualified.

10. An automatic assembly method of a control surface product, characterized by, The rudder surface product automatic assembly system of claim 9 comprises the following steps: Step one, the first robot (14) takes out the first rudder surface assembly (1) and the second rudder surface assembly (2) from the feeding and discharging mechanism (5), and installs them on the first clamping tool (11) and the second clamping tool (12) respectively according to the preset trajectory, the first clamping tool (11) clamps and fixes the first rudder surface assembly (1), the second rudder surface assembly (2) is placed on the flexible clamp and clamped and fixed by the first rotary cylinder (1201), the main shaft (13) mills the surface of the second rudder surface assembly (2) according to the preset program, so that the boss and the groove are shaped to adapt, and the first rudder surface assembly (1) and the second rudder surface assembly (2) can be attached, and after milling, the first rudder surface assembly (1) and the second rudder surface assembly (2) are attached by the three-axis moving platform, and the boss is inserted into the groove, and the first through hole (101) corresponds to the second through hole (201); Step two, the hollow cylindrical shaft profiling tool (16) is inserted into the first through hole (101) and the second through hole (201) through the lifting feed mechanism (15), the first clamping tool (11) and the first rotary cylinder (1201) loosen the first rudder surface assembly (1) and the second rudder surface assembly (2), the first rudder surface assembly (1) and the second rudder surface assembly (2) are limited and adjusted in position by the hollow cylindrical shaft profiling tool (16), so that the first through hole (101) and the second through hole (201) are coaxial, the first clamping tool (11) and the first rotary cylinder (1201) clamp the first rudder surface assembly (1) and the second rudder surface assembly (2) again, and the lifting feed mechanism (15) pulls out the hollow cylindrical shaft profiling tool (16); Step three, the first robot (14) grabs the hollow cylindrical shaft (4), moves the hollow cylindrical shaft (4) to the three-jaw chuck (17), the three-jaw chuck (17) clamps the hollow cylindrical shaft (4), the first robot (14) loosens the hollow cylindrical shaft (4), and the three-jaw chuck (17) corrects the posture of the hollow cylindrical shaft (4); the first robot (14) grabs the hollow cylindrical shaft (4) again, pushes the hollow cylindrical shaft (4) into the first through hole (101) and the second through hole (201), and obtains the first assembly body; Step four, the first robot (14) moves the first assembly to the second robot (21), the second robot (21) moves the first assembly to the third clamping tool (19) through the first quick-change clamp (2101); the second robot (21) takes out the solid cylindrical shaft (3) from the feeding and discharging mechanism (5) through the second quick-change clamp (2102), passes the solid cylindrical shaft (3) through the hollow cylindrical shaft (4), and makes the first screw hole (102) correspond to the second screw hole (301) and the first pin hole (103) correspond to the second pin hole (302); then the second robot (21) installs the standard pin into the first pin hole (103) and the second pin hole (302) through the second quick-change clamp (2102), and screws the first screw into the first screw hole (102) and the second screw hole (301), to obtain the second assembly; Step five, the second robot (21) moves the second assembly to the left and right feeding mechanism (23) through the first quick-change clamp (2101), and clamps it after being inverted; the rotary lever mechanism (24) drives the second rudder surface assembly (2) to rotate around the hollow cylindrical shaft (4) as the center from the unfolded posture to the folded posture; the first execution mechanism (25) clamps the fixing pin, spring and round nut, moves to the upper of the first connecting threaded hole through the gantry motion mechanism (26), and inserts the fixing pin, spring and round nut into the first connecting threaded hole in sequence; the rotary lever mechanism (24) rotates the second rudder surface assembly (2) from the folded posture to the unfolded posture, the spring pushes the fixing pin into the second connecting threaded hole, and the first rudder surface assembly (1) and the second rudder surface assembly (2) are angularly fixed, to obtain the third assembly; Step six, the second robot (21) moves the third assembly to the electric clamp (27) through the first quick-change clamp (2101) and fastens it through the electric clamp (27); the third robot (28) sucks the heatproof assembly and places it on the first rudder surface assembly (1), sucks the second screw and fixes the heatproof assembly on the first rudder surface assembly (1) through the second screw, to obtain the finished product; Step seven, the electric clamp (27) rotates, rotates the finished product into the working area of the laser contour scanner (29), the laser contour scanner (29) scans the contour data of the finished product and uploads it to the computer, the computer obtains the assembly gap of the first rudder surface assembly (1) and the second rudder surface assembly (2) according to the contour data, compares the assembly gap with the standard gap, and judges whether the assembly of the first rudder surface assembly (1) and the second rudder surface assembly (2) is qualified; Step eight, the second robot (21) moves the finished product to the fourth clamping tool (31) of the weighing mechanism (30) through the first quick-change clamp (2101), the fourth clamping tool (31) clamps and fixes the finished product, the weighing mechanism (30) obtains the weight data of the finished product and uploads it to the computer, the computer compares the weight data with the standard weight, and judges whether the weight of the finished product is qualified; Step nine, the second robot (21) moves the finished product to the feeding and discharging mechanism (5) through the first quick-change clamp (2101), and transports it to the outside by the feeding and discharging mechanism (5).

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