Flexible positioning device for rapidly clamping cabin section with complex section and using method of flexible positioning device

Abstract

The invention discloses a flexible positioning device for quickly clamping a cabin section with a complex section. The flexible positioning device comprises a supporting platform device, a pin positioning device, an axial pressing positioning device and an electrifying interface device, the lower portion of the supporting platform device is fixedly connected with a numerical control rotary table of the metal cabin section automatic drilling and riveting assembly system, and a positioner is arranged at the bottom of the supporting platform device. The pin positioning device is arranged on the upper end face of the supporting platform device and used for positioning products. The upper end face of the supporting platform device is further provided with an axial pressing and positioning device. After the flexible positioning device uses the pin positioning device to position the cabin section, the cabin section is pressed and fixed through the axial pressing and positioning device; and the electrifying device is arranged at a groove in the bottom of the supporting platform device and is used for electrifying the flexible positioning device. According to the flexible positioning device, a pin positioning device is used for positioning, an axial pressing positioning device is driven through a linear guide rail, the radial position can be adjusted through a replaceable arm, and clamping and fixing of cabin sections with different sizes and complex sections are completed.

Description

Technical Field

[0001] This invention relates to the technical field of automated drilling and riveting assembly of metal compartments, and in particular to a flexible positioning device and method for quickly clamping complex cross-section compartments. Background Technology

[0002] The automated drilling and riveting assembly system for metal compartments is mainly responsible for the automated assembly of metal compartments. The system structure is shown below. Figure 1 A single clamping operation can achieve functions such as compartment profile inspection and analysis, automatic parts assembly and pre-connection, and automatic drilling and riveting. The assembly system mainly includes an external robot system, a multi-functional robot system, a CNC rotary table system, a robot support, a material conveying system, an automatic nail feeding system, a monitoring system, a control system, and auxiliary systems. It has functions such as internal compartment profile scanning, scribing, gripping support positioning, drilling, and riveting.

[0003] The complex cross-section compartments within the metal shell range in diameter from Φ1400mm to 2250mm and in height from 400mm to 700mm, with an overall cylindrical or conical structure. During product manufacturing and assembly, these compartments need to be transferred from the placement station to the processing station. The function of the transfer flexible positioning device is to clamp and transfer the compartments, ensuring their stability during transport. Conventional transfer flexible positioning devices are designed to correspond to the different specifications and dimensions of the compartment structures, resulting in a large number of them, which leads to a large storage space occupation, increased management costs, and potential resource waste. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a flexible positioning device and its method for clamping various complex cross-section modules. It is applied to the automatic clamping and assembly of complex cross-section modules in aerospace products. Its key feature is that a single flexible positioning device can achieve rapid clamping and positioning of modules with different cross-sections and diameters within a certain range. The flexible positioning device utilizes a pin positioning device for positioning, and a linear guide rail drives the axial clamping positioning device, enabling the interchangeable arms to adjust the radial position and complete the clamping and fixing of modules with complex cross-sections of different sizes.

[0005] In the first aspect, a flexible positioning device for quickly clamping complex cross-section compartments is provided, including a support platform device, a pin positioning device, an axial clamping positioning device, and a power interface device.

[0006] The support platform is connected and fixed to the CNC rotary table of the automated drilling and riveting assembly system for metal compartments. A positioner that cooperates with the CNC rotary table is installed at the bottom of the support platform. A pin positioning device is installed on the upper surface of the support platform for positioning the compartment. A groove is also provided on the upper surface of the support platform, where an axial clamping positioning device is installed. After the flexible positioning device uses the pin positioning device to position the compartment, it then uses the axial clamping positioning device to clamp and fix the positioned compartment. A power supply device is installed in the groove at the bottom of the support platform to power the flexible positioning device.

[0007] In conjunction with the first aspect, in some implementations of the first aspect, the support platform device includes a support platform, a zero-point positioner, and a coarse positioning device; the support platform has a ring structure, and the lower end of the support platform is connected and fixed to the CNC rotary table; the zero-point positioner and the coarse positioning device are both located below the support platform; the support platform device uses the coarse positioning device to initially position itself with the CNC rotary table below, and then uses the zero-point positioner for precise positioning to ensure the coaxial accuracy and positioning accuracy of the CNC rotary table and the entire compartment.

[0008] In conjunction with the first aspect, in some implementations of the first aspect, there are four sets of zero-point positioners, evenly distributed circumferentially below the support platform; and two sets of coarse positioning devices, symmetrically arranged below the support platform.

[0009] In conjunction with the first aspect, in some implementations of the first aspect, the pin positioning device includes a mounting base, a replaceable pin, a positioning pin hole, and a connecting plate; the replaceable pin is fixed to the mounting base, and the mounting base is disposed on the connecting plate; the replaceable pin is inserted into the positioning hole on the compartment to position the compartment; the connecting plate is connected and fixed to the upper end face of the support platform device through the positioning pin hole.

[0010] In conjunction with the first aspect, in some implementations of the first aspect, the axial clamping device includes a replaceable arm, a rotary clamping cylinder, a linear guide rail, and a positioning pin; the linear guide rail is arranged in the radial direction; the rotary clamping cylinder is mounted on the linear guide rail via the positioning pin and can move in the radial direction; the replaceable arm is mounted on the rotary clamping cylinder and can follow the axial movement of the rotary clamping cylinder, so that the replaceable arm can be used on the axial positioning surfaces of compartments of different heights to complete the clamping and fixing process of the compartments.

[0011] In conjunction with the first aspect, in some implementations of the first aspect, the power supply device includes a power supply socket, a power supply outlet, and an adapter plate; the power supply socket is mounted on the adapter plate via the power supply outlet; the power supply device is connected to the support platform device via the adapter plate; after the support platform device and the CNC rotary table are positioned, the power supply socket is connected to the power supply interface on the support platform device to power the flexible positioning device, ensuring that the clamping and positioning device on the flexible positioning device performs clamping and fixing actions.

[0012] In conjunction with the first aspect, in some implementations of the first aspect, the support platform device is welded from Q355 carbon structural steel; there are 4 sets of pin positioning devices, evenly distributed circumferentially above the support platform device; and there are 4 to 6 sets of axial clamping positioning devices, evenly distributed circumferentially above the support platform device.

[0013] Secondly, an automatic assembly method for the flexible positioning device as described in any of the implementations of the first aspect above is provided, comprising:

[0014] When placing the compartment, the pin positioning device is inserted into the positioning hole on the compartment, and then the compartment is slowly lowered until it falls onto the support platform, so that the compartment is axially and circumferentially aligned with the flexible positioning device; the motor drives the axial clamping device to move outward to the inner edge of the compartment and then clamps and fixes the compartment.

[0015] The flexible positioning device for the clamping compartment is lifted to the top of the CNC turntable, positioned, and then lowered onto the CNC turntable.

[0016] After the flexible positioning device is positioned, the pressure plate on the CNC turntable is automatically pressed and fixed by a cylinder.

[0017] In conjunction with the second aspect, in some implementations of the second aspect, the support platform device includes a support platform, a zero-point positioner, and a coarse positioning device; the support platform has a ring structure, and its lower end is connected and fixed to the CNC rotary table; the zero-point positioner and the coarse positioning device are both located below the support platform; the positioning and lowering flexible positioning device is located on the CNC rotary table, including:

[0018] The flexible positioning device of the clamping compartment is lifted to the top of the CNC turntable, and the CNC turntable and the coarse positioning device are initially positioned to ensure the accuracy of the quadrant position of the flexible positioning device.

[0019] After initial positioning, the flexible positioning device fixture is lowered. When the flexible positioning device is close to the CNC rotary table, the zero-point positioner on the flexible positioning device is automatically inserted into the CNC rotary table to achieve precise positioning.

[0020] Compared with the prior art, the solution provided by the present invention has at least the following beneficial technical effects:

[0021] (1) The flexible positioning device designed in this invention is designed for complex cross-section compartment products with different diameters and heights. It achieves rapid positioning and clamping of the products through a clamping drive device, thus enabling rapid clamping and transfer of complex cross-section compartment products with various diameters. This improves the utilization rate of the flexible positioning device, reduces the floor space required, saves costs, and avoids resource waste.

[0022] (2) The automatic assembly method for complex cross-section compartments proposed in this invention achieves rapid clamping and assembly of products by using a pin positioning device and an axial clamping positioning device, thereby improving assembly efficiency and reducing the labor intensity of workers.

[0023] (3) The flexible positioning device and automatic assembly method for quick clamping of complex cross-section compartments of the present invention have been successfully applied to a certain type of compartment product. The flexible positioning device can complete the centering and clamping of different types of complex cross-section compartments, and realize the clamping, transfer and automatic positioning of metal compartment products from the under-rack placement station to the processing station and the drilling and riveting station. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of an automated drilling and riveting assembly system for metal compartments.

[0025] Figure 2 This is a schematic diagram of the flexible positioning device provided by the present invention.

[0026] Figure 3 This is a schematic diagram of the support platform device.

[0027] Figure 4 This is a schematic diagram of a pin positioning device.

[0028] Figure 5 This is a schematic diagram of an axial clamping and positioning device.

[0029] Figure 6 This is a schematic diagram of an energized device. Detailed Implementation

[0030] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0031] like Figure 2 As shown, the present invention provides a flexible positioning device for quickly clamping complex cross-section compartments. The flexible positioning device may include a support platform device 1, a pin positioning device 2, an axial clamping positioning device 3, and a power interface device 4.

[0032] The support platform device 1 is connected and fixed to the CNC rotary table of the automated drilling and riveting assembly system for metal compartments. A positioner that cooperates with the CNC rotary table can be installed at the bottom of the support platform device 1. A pin positioning device 2 is installed on the upper surface of the support platform device 1 for positioning the compartments. There can be four sets of pin positioning devices 2, evenly distributed circumferentially above the support platform device 1. A groove is also provided on the upper surface of the support platform device 1, where an axial clamping positioning device 3 is installed. There can be four sets of axial clamping positioning devices 3, evenly distributed circumferentially above the support platform device 1. The flexible positioning device uses the pin positioning devices 2 to position the compartments, and then uses the axial clamping positioning devices 3 to clamp and fix the positioned compartments. An energizing device 4 is installed in the groove at the bottom of the support platform device 1 to energize the flexible positioning device.

[0033] like Figure 3 As shown, the support platform device 1 is welded from high-quality carbon structural steel Q355, possessing good rigidity and strength. The support platform device 1 includes a support platform 1.1, a zero-point locator 1.2, and a coarse positioning device 1.3. The support platform 1.1 has a ring structure, and its lower end is connected and fixed to the CNC rotary table of the automated drilling and riveting assembly system for the metal compartment. There can be four sets of zero-point locators 1.2, evenly distributed circumferentially below the support platform 1.1. There can be two sets of coarse positioning devices 1.3, symmetrically arranged below the support platform 1.1. The support platform device 1 utilizes the coarse positioning device 1.3 for initial positioning with the CNC rotary table below, and then uses the zero-point locator 1.2 for precise positioning, ensuring the coaxiality and positioning accuracy of the CNC rotary table and the entire compartment.

[0034] like Figure 4 As shown, four sets of pin positioning devices 2 are evenly distributed on the upper surface of the support platform for positioning compartment sections. Each pin positioning device 2 includes a mounting base 2.1, a replaceable pin shaft 2.2, a positioning pin hole 2.3, and a connecting plate 2.4. The replaceable pin shaft 2.2 is fixed to the mounting base 2.1, which is mounted on the connecting plate 2.4. The replaceable pin shaft 2.2 is inserted into the positioning hole on the compartment section to position it; the pin shaft length can be changed according to the depth of the hole on the compartment section. The connecting plate 2.4 is connected and fixed to the upper surface of the support platform device 1 through the positioning pin hole 2.3. Different pin positioning devices 2 can be used depending on the product; the radial pin shaft of the pin positioning device 2 aligns with the radial positioning hole on the compartment section.

[0035] like Figure 5As shown, the axial clamping device 3 is used to tighten and fix the positioned compartment. The axial clamping device 3 includes a replaceable arm 3.1, a rotary clamping cylinder 3.2, a linear guide rail 3.3, and a positioning pin 3.4. The linear guide rail 3.3 is arranged radially. The rotary clamping cylinder 3.2 is mounted on the linear guide rail 3.3 via the positioning pin 3.4 and can move radially to accommodate compartments of different diameters. The replaceable arm 3.1 is mounted on the rotary clamping cylinder 3.2 and can follow the axial movement of the rotary clamping cylinder 3.2, allowing the replaceable arm 3.1 to be used on the axial positioning surfaces of compartments of different heights, thus completing the clamping and fixing process of the compartment.

[0036] like Figure 6 As shown, the power supply device 4 includes a power socket 4.1, a power outlet 4.2, and an adapter plate 4.3. The power socket 4.1 is mounted on the adapter plate 4.3 via the power outlet 4.2. The power supply device 4 is connected to the support platform device 1 via the adapter plate 4.3. After the support platform device 1 and the CNC rotary table are positioned, the power socket 4.1 is connected to the power interface on the support platform device 1 to power the flexible positioning device, ensuring that the clamping and positioning device 3 on the flexible positioning device performs clamping and fixing actions.

[0037] The flexible positioning device provided by this invention is used to place various complex cross-section compartments, self-center and clamp them for positioning, and transport them to the processing station, where they are placed on a CNC rotary table. The flexible positioning device works in conjunction with the quick-change interface of the drilling and riveting platform of the automated drilling and riveting assembly system for metal compartments. A linear guide rail drives the clamping device to move synchronously, achieving synchronous adjustment of the radial position of the clamping device. Because the linear guide rail drive is convenient, has a flexible automatic positioning function, a large clamping range, and adapts to different product shapes and sizes, this device is compatible with various complex cross-section compartment specifications, completing the centering and clamping of different models of complex cross-section compartments. It realizes the clamping, transfer, and automatic positioning of various complex cross-section compartment products from the under-rack placement station to the processing station, and their placement at the drilling and riveting station.

[0038] This invention also provides an automatic assembly method for a flexible positioning device, which can be used to achieve automatic assembly of compartments with complex cross-sections. The specific assembly method is as follows.

[0039] Step (1), clamping the compartment.

[0040] When placing the compartment, the four sets of pin positioning devices 2 on the flexible positioning device are inserted into the four positioning holes on the compartment, and then slowly lowered until they fall onto the support platform 1.1, so that the compartment is aligned axially and circumferentially with the flexible positioning device. The motor drives the four sets of axial clamping devices 3 to move outward along the linear guide rail 3.3 to the inner edge of the compartment, and then the rotary clamping cylinder 3.2 clamps and fixes the compartment.

[0041] Step (2), initial positioning of the flexible positioning device.

[0042] The flexible positioning device of the clamping compartment is lifted to the top of the CNC turntable, and the CNC turntable is initially positioned with the two coarse positioning devices 1.3 to ensure the accuracy of the quadrant position of the flexible positioning device.

[0043] Step (3): Descend the flexible positioning device.

[0044] Lower the flexible positioning device fixture after initial positioning. A positioning buffer device can be used to support the slow descent of the flexible positioning device, ensuring a smooth descent.

[0045] Step (4): The flexible positioning device performs precise positioning.

[0046] When the flexible positioning device descends to be close to the CNC rotary table, the zero-point positioner 1.2 on the flexible positioning device automatically inserts into the CNC rotary table to achieve precise positioning.

[0047] Step (5): The flexible positioning device is locked and fixed to the CNC turntable.

[0048] After the flexible positioning device is automatically positioned by the zero-point positioner 1.2, the pressure plate on the CNC turntable is automatically pressed and fixed by the cylinder drive.

[0049] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope defined in the claims of the present invention.

Claims

1. A flexible positioning device for quickly clamping complex cross-section compartment sections, characterized in that, Includes a support platform device (1), a pin positioning device (2), an axial clamping positioning device (3), and a power interface device (4); The support platform device (1) is connected and fixed to the CNC turntable of the automated drilling and riveting assembly system for metal compartments. The bottom of the support platform device (1) is equipped with a locator that cooperates with the CNC turntable. The upper end face of the support platform device (1) is equipped with a pin positioning device (2) for positioning the compartment. The upper end face of the support platform device (1) is also equipped with a groove, and an axial pressing positioning device (3) is installed in the groove. After the flexible positioning device uses the pin positioning device (2) to position the compartment, it then uses the axial pressing positioning device (3) to press and fix the positioned compartment. The power supply device (4) is set in the groove at the bottom of the support platform device (1) for powering the flexible positioning device.

2. The flexible positioning device according to claim 1, characterized in that, The support platform device (1) includes a support platform (1.1), a zero-point positioner (1.2), and a coarse positioning device (1.3). The support platform (1.1) is a ring structure, and the lower end of the support platform (1.1) is connected and fixed to the CNC turntable. The zero-point positioner (1.2) and the coarse positioning device (1.3) are both located below the support platform (1.1). The support platform device (1) uses the coarse positioning device (1.3) to initially position the CNC turntable below, and then uses the zero-point positioner (1.2) for precise positioning to ensure the coaxial accuracy and positioning accuracy of the CNC turntable and the entire compartment.

3. The flexible positioning device according to claim 2, characterized in that, There are 4 sets of zero-point positioners (1.2), which are evenly distributed around the support platform (1.1); there are 2 sets of coarse positioning devices (1.3), which are symmetrically arranged below the support platform (1.1).

4. The flexible positioning device according to claim 1, characterized in that, The pin positioning device (2) includes a mounting base (2.1), a replaceable pin (2.2), a positioning pin hole (2.3), and a connecting plate (2.4); the replaceable pin (2.2) is fixed on the mounting base (2.1), and the mounting base (2.1) is set on the connecting plate (2.4); the replaceable pin (2.2) is inserted into the positioning hole on the compartment to position the compartment; the connecting plate (2.4) is connected and fixed to the upper end face of the support platform device (1) through the positioning pin hole (2.3).

5. The flexible positioning device according to claim 1, characterized in that, The axial clamping device (3) includes a replaceable arm (3.1), a rotary clamping cylinder (3.2), a linear guide rail (3.3), and a positioning pin (3.4); the linear guide rail (3.3) is arranged in the radial direction; the rotary clamping cylinder (3.2) is set on the linear guide rail (3.3) through the positioning pin (3.4) and can move in the radial direction; the replaceable arm (3.1) is set on the rotary clamping cylinder (3.2) and can follow the rotary clamping cylinder (3.2) to move in the axial direction, so that the replaceable arm (3.1) can be used on the axial positioning surface of compartments of different heights to complete the clamping and fixing process of the compartments.

6. The flexible positioning device according to claim 1, characterized in that, The power supply device (4) includes a power supply socket (4.1), a power supply socket (4.2), and an adapter plate (4.3); the power supply socket (4.1) is installed on the adapter plate (4.3) through the power supply socket (4.2); the power supply device (4) is connected to the support platform device (1) through the adapter plate (4.3); after the support platform device (1) and the CNC turntable are positioned, the power supply socket (4.1) is connected to the power supply interface on the support platform device (1) to power the flexible positioning device and ensure that the clamping positioning device (3) on the flexible positioning device achieves clamping and fixing actions.

7. The flexible positioning device according to claim 1, characterized in that, The support platform device (1) is welded from carbon structural steel Q355; there are 4 sets of pin positioning devices (2) evenly distributed around the support platform device (1); there are 4 to 6 sets of axial pressing positioning devices (3) evenly distributed around the support platform device (1).

8. An automatic assembly method for a flexible positioning device as described in any one of claims 1 to 7, characterized in that, include: When placing the compartment, the pin positioning device (2) is inserted into the positioning hole on the compartment, and then the compartment is slowly lowered until it falls onto the support platform (1.1) so that the compartment is aligned axially and circumferentially with the flexible positioning device; the motor drives the axial pressing device (3) to move outward to the inner edge of the compartment and then presses and fixes the compartment. The flexible positioning device for the clamping compartment is lifted to the top of the CNC turntable, positioned, and then lowered onto the CNC turntable. After the flexible positioning device is positioned, the pressure plate on the CNC turntable is automatically pressed and fixed by a cylinder.

9. The automatic assembly method according to claim 8, characterized in that, The support platform device (1) includes a support platform (1.1), a zero-point positioner (1.2), and a coarse positioning device (1.3); the support platform (1.1) has a ring structure, and the lower end of the support platform (1.1) is connected and fixed to the CNC rotary table; the zero-point positioner (1.2) and the coarse positioning device (1.3) are both located below the support platform (1.1); the positioning and lowering flexible positioning device is placed on the CNC rotary table, including: The flexible positioning device of the clamping compartment is lifted to the top of the CNC turntable, and the CNC turntable and the coarse positioning device (1.3) are initially positioned to ensure the accuracy of the quadrant position of the flexible positioning device. After initial positioning, the flexible positioning device fixture is lowered. When the flexible positioning device is close to the CNC rotary table, the zero-point positioner (1.2) on the flexible positioning device is automatically inserted into the CNC rotary table to achieve precise positioning.

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