Automatic gluing device for integral fuel tank of aircraft wing

Abstract

The invention relates to an aircraft wing integral fuel tank automatic gluing device which comprises a walking trolley, a gluing robot and a glue cap feeding and glue injection mechanism are arranged on the walking trolley, a posture adjusting swing arm assembly is arranged at the tail end of the gluing robot, a glue mixing assembly is arranged on the posture adjusting swing arm assembly, and a displacement assembly is arranged at the tail end of the posture adjusting swing arm assembly. The shifting assembly comprises a movable shifting seat, the shifting seat is connected with the intra-cavity gluing mechanical arm, and a gluing actuator is arranged at the tail end of the intra-cavity gluing mechanical arm; the gluing actuator comprises an actuator rotating seat, a corner filling gluing nozzle is arranged on one side of the actuator rotating seat, a glue cap suction seat is arranged on the other side of the actuator rotating seat, and the corner filling gluing nozzle is connected with the glue mixing assembly through a pipeline; a rubber cap positioning tool is arranged on one side of the rubber cap feeding and glue injection mechanism, and the rubber cap suction seat sucks the glued rubber caps from the rubber cap positioning tool. The device can automatically complete corner filling and glue coating operation and glue cap packaging operation in the whole fuel tank cavity of the wing.

Description

Technical Field

[0001] This invention relates to the field of aircraft wing assembly and manufacturing, specifically to an automatic adhesive application device for an integral fuel tank of an aircraft wing. Background Technology

[0002] The integral fuel tank of an aircraft wing is a semi-enclosed cavity structure, with only a maintenance port measuring approximately 250mm × 280mm for adhesive application. In existing technology, adhesive application for integral fuel tanks is primarily done manually. Operators must carry adhesive application tools and enter the tank cavity through the maintenance port to apply adhesive to the corresponding gaps. Because the integral fuel tank is divided into multiple compartments by ribs, each corresponding to a maintenance port, operators must frequently climb in and out of the tank, resulting in low efficiency and high labor intensity. Furthermore, adhesive application for integral fuel tanks also includes sealing the internal caps, i.e., applying adhesive and installing the caps in the corresponding structures within the cavity. In existing technology, this process is also done manually, typically by operators within the confined space of the tank, further increasing the labor intensity. Summary of the Invention

[0003] The purpose of this invention is to provide an automatic adhesive application device for an integral fuel tank of an aircraft wing. The device can automatically move to the adhesive application station corresponding to the maintenance port on the integral fuel tank of the wing using a traveling trolley. Then, it can automatically adjust the position of the shifting component and the cavity adhesive application robot arm to be aligned using an attitude adjustment swing arm assembly. The shifting component automatically drives the cavity adhesive application robot arm to insert into the maintenance port and complete the corner filling adhesive application. After the corner filling adhesive application is completed, this invention can also automatically pick up the glued glue caps from the glue cap feeding and dispensing mechanism and automatically complete the glue cap sealing operation.

[0004] The objective of this invention is achieved through the following technical solution: An automatic adhesive application device for an integral fuel tank of an aircraft wing includes a traveling trolley, on which an adhesive application robot and a glue cap feeding and dispensing mechanism are mounted. The adhesive application robot has an attitude-adjusting swing arm assembly at its end, and an adhesive mixing component on the attitude-adjusting swing arm assembly. The attitude-adjusting swing arm assembly also has a displacement component at its end, which includes a movable displacement seat connected to an in-cavity adhesive application robotic arm. The in-cavity adhesive application robotic arm has an adhesive application actuator at its end. The adhesive application actuator includes an actuator rotating seat, with a corner-filling adhesive nozzle on one side and a glue cap suction seat on the other side. The corner-filling adhesive nozzle is connected to the adhesive mixing component via a pipeline. The glue cap feeding and dispensing mechanism has a glue cap positioning fixture on one side, and the glue cap suction seat picks up the glue-filled glue cap from the glue cap positioning fixture.

[0005] The attitude adjustment swing arm assembly includes a glue-mounted swing arm, a first rotating device, a rotating arm, a second rotating device, a swing base, and a third rotating device. The front end of the glue-mounted swing arm is connected to the robot body, and the rear end is provided with the first rotating device. The rotating arm is driven to rotate by the first rotating device. The end of the rotating arm is provided with a drive shaft, and the drive shaft is driven to rotate by the second rotating device located on one side of the end of the rotating arm. The upper end of the swing base is connected to the drive shaft and is driven to swing by the drive shaft. The lower end of the swing base is connected to the third rotating device, and the third rotating device is connected to the displacement assembly.

[0006] The adhesive mixing assembly includes an adhesive mixing mounting base disposed on the adhesive mixing mounting arm. The adhesive mixing mounting base is provided with an adhesive mixer, and the adhesive mixer is provided with multiple adhesive pumps on one side and an adhesive outlet pipe on the other side. The adhesive outlet pipe is connected to the filler adhesive nozzle through a pipeline.

[0007] The shifting assembly includes a shifting drive device, and the shifting drive device is provided with an adapter seat that is connected to the end of the attitude adjustment swing arm assembly. The power shaft end of the shifting drive device is connected to the shifting seat. The cylinder head end of the shifting drive device is provided with a fixing plate, and the fixing plate is provided with a guide sleeve. The rear side of the shifting seat is provided with a guide shaft, and the guide shaft passes through the corresponding guide sleeve. A control box is provided on one side of the shifting drive device.

[0008] The actuator rotating base of the glue applicator includes a middle plate, and a first side plate is provided on one side of the middle plate and a second side plate is provided on the other side. The corner filling glue nozzle is provided on the first side plate and the corner filling glue nozzle is provided with a control valve for controlling the on and off. The second side plate is provided with multiple suction seat driving devices, and the power shaft end of the suction seat driving device is provided with a glue cap suction seat.

[0009] The actuator rotary table has a laser tracker target ball base and multiple first ranging sensors on its middle plate. The actuator rotary table also has a second ranging sensor on its first and second side plates. Additionally, a contour detection sensor is provided on the outer side of the first side plate.

[0010] The cap feeding and dispensing mechanism includes a worktable, on which a longitudinal moving component is provided. The longitudinal moving component has a longitudinal moving seat, which in turn has a transverse moving component. The transverse moving component has a transverse moving seat, which in turn has a cap feeding component and a cap dispensing component. The cap feeding component has a liftable cap feeding nozzle, and the cap dispensing component has a liftable cap dispensing nozzle. A cap positioning fixture is located on one side of the worktable, and a material box conveying component is located on the other side. The material box conveying component has a material box for holding caps, and the caps in the material box are sucked up by the cap feeding nozzle. A scraping component is located at one end of the worktable, and after the cap dispensing nozzle completes dispensing, the scraping component cleans up any remaining adhesive at the bottom.

[0011] The cap feeding assembly includes a feeding lifting cylinder mounted on the transverse moving seat, a feeding lifting seat is provided at the lower power shaft end of the feeding lifting cylinder, and a cap feeding suction nozzle is provided at the lower side of the feeding lifting seat; The glue cap injection assembly includes a glue cap injection pump and an injection lifting cylinder mounted on the transverse moving seat. The injection lifting cylinder is provided with an injection lifting seat, and a glue cap injection nozzle is provided on the lower side of the injection lifting seat. The glue cap injection nozzle is connected to the glue cap injection pump through a glue cap injection tube.

[0012] The cap positioning fixture includes a gripper cylinder and cap grippers. The two cap grippers are opened and closed by the gripper cylinder, and the inner side of each cap gripper is provided with a gripping notch that matches the shape of the cap.

[0013] The glue scraping assembly includes a glue scraping support, which is mounted on the workbench. The glue scraping support has a glue scraping line and a glue cleaning block inside. The glue cleaning block is rotatably located below the glue scraping line and has a scraping groove. A residual glue box is located below the glue scraping support.

[0014] The advantages and positive effects of this invention are as follows: This invention enables a traveling trolley to automatically move to the gluing station corresponding to the maintenance port on the integral fuel tank of the wing. Then, the attitude adjustment swing arm assembly automatically adjusts the position and posture of the shift assembly and the cavity gluing robot arm. The shift assembly automatically drives the cavity gluing robot arm to insert into the maintenance port and complete the corner gluing operation.

[0015] When the posture adjustment arm assembly of the present invention is working, the intracavity adhesive application robotic arm and the displacement assembly are in the same straight line position, while the adhesive mixing and installation arm is adjusted to a horizontal state by the robot body. Then, the first rotating device drives the rotating arm to rotate around the X-axis, the second rotating device drives the swing base to rotate around the Y-axis, and the third rotating device drives the displacement assembly to rotate around the Z-axis. This makes the displacement assembly and the intracavity adhesive application robotic arm, which are in a straight line, parallel to the adhesive mixing and installation arm and aligned with the relatively small maintenance port. In this way, the subsequent displacement assembly can directly drive the intracavity adhesive application robotic arm to move forward and insert it into the maintenance port. At the same time, the present invention also facilitates the control of posture adjustment accuracy through the above-mentioned rotations around the X, Y, and Z axes respectively.

[0016] This invention integrates the glue mixing component and the attitude adjustment swing arm component into one unit. At the same time, the displacement component is equipped with a control box to control the relevant components of the second half of the glue application robot, including the displacement component, the cavity glue application robotic arm, the glue application actuator, etc. The overall structure is compact and can ensure the control needs of the glue application operation in the cavity of the entire wing fuel tank.

[0017] The actuator of this invention has a corner-filling glue nozzle on one side of the actuator rotor and a suction seat drive device and a glue cap suction seat on the other side. This allows the invention to complete corner-filling glue operations at multiple points within the wing's overall fuel tank cavity in one operation, as well as glue cap sealing operations at multiple points within the wing's overall fuel tank cavity in one operation. The suction seat drive device can both drive the corresponding glue cap suction seat to move and press it onto the corresponding glue cap sealing position, and also keep the glue cap in a pressed state for a certain period of time. It also facilitates the adsorption and pickup of glue caps that have been glued from the glue cap feeding and dispensing mechanism. In addition, the glue cap suction seat has a suction port with sufficient depth to be suitable for the suction operation of glue caps of various sizes, which improves the applicability and flexibility of the invention.

[0018] This invention incorporates multiple detection elements, such as a distance sensor, a contour detection sensor, and a laser tracker target ball, on the actuator rotating base of the adhesive applicator to detect the distance between the adhesive applicator and the workpiece and environment in real time. This allows the adhesive applicator to guide its movement path to avoid mechanical interference and to perform end-effector motion performance testing and adhesive quality evaluation. Furthermore, the actuator rotating base can be equipped with visual monitoring tools such as endoscopes as needed, which further protects the accuracy of operation control and operational safety.

[0019] The glue cap feeding and dispensing mechanism of the present invention can automatically coordinate with the working rhythm of the dispensing robot to complete the feeding work of transferring the glue cap from the material box to the glue cap positioning fixture and the dispensing work inside the glue cap. At the same time, the glue cap feeding and dispensing mechanism is also equipped with a glue scraping component, which can promptly clean the stringy (similar to toothpaste stringing) residual glue left at the end of the glue dispensing nozzle of the glue cap after dispensing, thereby ensuring the glue dispensing quality of the glue cap. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 2 for Figure 1 Enlarged view of point A in the image. Figure 3 This is the front view of the present invention. Figure 4 for Figure 3 Enlarged view of point B in the image. Figure 5 This is a top view of the present invention. Figure 6 for Figure 5 Enlarged view of point C in the image. Figure 7 for Figure 6 Enlarged schematic diagram of the positioning fixture for the rubber cap. Figure 8 for Figure 6 Schematic diagram of the middle scraper assembly. Figure 9 for Figure 1 A schematic diagram of the intermediate adhesive coating robot. Figure 10 for Figure 9 Schematic diagram of the structure of the medium-mix rubber assembly. Figure 11 for Figure 9 A schematic diagram of the structure of the intermediate shifting component. Figure 12 for Figure 9 Schematic diagram of the intermediate adhesive application actuator. Figure 13 for Figure 12 Another structural diagram of the intermediate coating adhesive actuator. Figure 14 This is a schematic diagram of the working state of the present invention. Figure 15 for Figure 14 A schematic diagram of the structure of a single section of the integral fuel tank in the mid-wing. Figure 16 This is a schematic diagram of a cap structure that can be used in this invention. Figure 17 This is a schematic diagram of another cap structure that can be used in this invention. Figure 18 This is a schematic diagram illustrating the filling and gluing process inside the integral fuel tank cavity of the wing according to the present invention.

[0021] Among them, 1 is the cap feeding and dispensing mechanism, 101 is the cap feeding assembly, 1011 is the feeding lifting cylinder, 1012 is the feeding lifting seat, 1013 is the cap feeding nozzle, 102 is the cap dispensing assembly, 1021 is the cap dispensing pump, 1022 is the dispensing lifting cylinder, 1023 is the dispensing lifting seat, 1024 is the cap dispensing nozzle, 1025 is the cap dispensing tube, 103 is the lateral movement assembly, 1031 is the lateral movement seat, 1032 is the lateral movement drive module, 104 is the longitudinal movement assembly, 1041 is the longitudinal movement motor, and 1042 is... The transmission components include: 1043 longitudinal moving seat, 105 material box, 106 worktable, 107 material box transmission component, 108 glue cap positioning fixture, 1081 gripper cylinder, 1082 glue cap gripper, 1083 gripping notch, 109 glue scraping component, 1091 glue scraping support, 1092 residual glue box, 1093 cleaning block, 10931 scraping groove, and 1094 glue scraping line; 2 is the glue coating robot, 201 robot rotary table, 202 robot body, 203 glue mixing component, 2031 glue mixing mounting base, and 203... 2 is the glue pump, 2033 is the glue outlet pipe, 2034 is the glue mixer, 204 is the posture adjustment swing arm assembly, 2041 is the glue mixing and mounting swing arm, 2042 is the first rotating device, 2043 is the rotating arm, 2044 is the second rotating device, 2045 is the swing base, 2046 is the third rotating device, 205 is the shifting assembly, 2051 is the adapter, 2052 is the shifting drive device, 2053 is the control box, 20531 is the fixing plate, 20532 is the guide sleeve, 2054 is the shifting seat, 20541 is the guide shaft, 206 is the glue applicator. 061 is the actuator rotating base, 20611 is the intermediate plate, 20612 is the first side plate, 20613 is the second side plate, 2062 is the first ranging sensor, 2063 is the second ranging sensor, 2064 is the filler glue nozzle, 20641 is the control valve, 2065 is the suction seat drive device, 2066 is the glue cap suction seat, 2067 is the contour detection sensor, 2068 is the laser tracker target ball base, 207 is the cavity glue application robotic arm; 3 is the traveling trolley; 4 is the wing integral fuel tank, 401 is the maintenance port, 402 is the rib plate compartment, and 6 is the gap. Detailed Implementation

[0022] The invention will now be described in further detail with reference to the accompanying drawings.

[0023] like Figures 1-18 As shown, the present invention includes a traveling trolley 3, and the traveling trolley 3 is equipped with a glue-applying robot 2 and a glue cap feeding and dispensing mechanism 1, wherein, as... Figures 9-11As shown, the adhesive application robot 2 has an attitude adjustment swing arm assembly 204 at its end, and the attitude adjustment swing arm assembly 204 has an adhesive mixing assembly 203. The attitude adjustment swing arm assembly 204 has a displacement assembly 205 at its end, the displacement assembly 205 including a movable displacement seat 2054, and the displacement seat 2054 is connected to a smaller diameter intracavity adhesive application robotic arm 207. The intracavity adhesive application robotic arm 207 has an adhesive application actuator 206 at its end. Figures 12-13 As shown, the glue applicator 206 includes an actuator rotating base 2061, and the actuator rotating base 2061 has a corner-filling glue applicator nozzle 2064 on one side and a glue cap suction seat 2066 on the other side. The corner-filling glue applicator nozzle 2064 is connected to the glue mixing assembly 203 through a pipeline, as shown. Figure 6 As shown, a glue cap feeding and dispensing mechanism 1 has a glue cap positioning fixture 108 on one side, and a glue cap suction seat 2066 picks up the glue cap that has been dispensed after dispensing from the glue cap positioning fixture 108. In this embodiment, the pipeline between the glue mixing component 20 and the corner filling glue nozzle 2064 can be fixed to the corresponding structure of the glue dispensing robot 2 by a pipe clamp to avoid affecting the operation of the glue dispensing robot 2.

[0024] like Figures 14-15 As shown, since the integral wing fuel tank 4 targeted by this invention is relatively long, and the interior of the integral wing fuel tank 4 is divided into multiple rib compartments 402 by ribs, each rib compartment 402 corresponding to a maintenance port 401, when this invention is working, the traveling trolley 3 first moves to the set glue application position corresponding to the corresponding maintenance port 401, and then the glue application robot 2 drives the end-effector attitude adjustment arm assembly 204, the displacement assembly 205 and the cavity glue application robotic arm 207 to move towards the maintenance port 401 until they move to the set position. At this point, the intracavity adhesive application robotic arm 207 maintains a straight line position with the displacement component 205. The posture adjustment swing arm component 204 then adjusts the posture of the displacement component 205 so that the straight-lined displacement component 205 and the intracavity adhesive application robotic arm 207 are aligned with the maintenance port 401. Then, the displacement component 205 drives the intracavity adhesive application robotic arm 207 to move forward and insert into the maintenance port 401. The intracavity adhesive application robotic arm 207 then swings within the corresponding rib compartment 402 and drives the adhesive application actuator 206 to move to the structure within the cavity to be adhesive applied. Figure 18As shown, the glue mixing component 203 supplies glue to the corner-filling glue nozzle 2064, which is driven by the in-cavity glue-applying robotic arm 207 to complete the corner-filling glue application at the gap 6. During the in-cavity cap sealing operation, the glue-applying robot 2 first moves the glue-applying actuator 206 to one side of the cap feeding and glue-injection mechanism 1, and uses the cap suction seat 2066 to pick up the glue-injected cap from the cap positioning fixture 108. This process is repeated so that the in-cavity glue-applying robotic arm 207 re-inserts into the corresponding rib compartment 402 and drives the cap suction seat 2066 to deliver the cap to the sealing target position. In this embodiment, the traveling trolley 3 can be an AGV (Automated Guided Vehicle), which is a commercially available product.

[0025] like Figure 9 As shown, in this embodiment, the glue-applying robot 2 includes a robot rotating base 201 and a robot body 202. All of the above parts are commercially available products. The posture adjustment swing arm assembly 204 is connected to the end of the robot body 202.

[0026] like Figure 11 As shown, in this embodiment, the attitude adjustment swing arm assembly 204 includes a glue-mounted swing arm 2041, a first rotating device 2042, a rotating arm 2043, a second rotating device 2044, a swing base 2045, and a third rotating device 2046. The front end of the glue-mounted swing arm 2041 is connected to the robot body 202, and the rear end is provided with the first rotating device 2042. The rotating arm 2043 is driven to rotate by the first rotating device 2042. The end of the rotating arm 2043 is provided with a driving shaft, and the driving shaft is driven to rotate by the second rotating device 2044 located on one side of the end of the rotating arm 2043. The upper end of the swing base 2045 is connected to the driving shaft and is driven to swing by the driving shaft. The lower end of the swing base 2045 is connected to the third rotating device 2046, and the third rotating device 2046 is connected to the displacement assembly 205. In operation, this invention first aligns the displacement component 205 and the intracavity adhesive application robotic arm 207 in a straight line, and then adjusts the adhesive mixing and installation swing arm 2041 to a horizontal position via the robot body 202. Then... Figure 11As shown, the first rotating device 2042 drives the rotating arm 2043 to rotate around the X-axis, the second rotating device 2044 drives the swing base 2045 to rotate around the Y-axis, and the third rotating device 2046 drives the shifting component 205 to rotate around the Z-axis. Thus, through the above-mentioned rotational adjustment, the present invention enables the shifting component 205 and the intracavity adhesive-applying robotic arm 207, which are aligned in a straight line, to be parallel to and aligned with the relatively small maintenance port 401. This allows the shifting component 205 to directly drive the intracavity adhesive-applying robotic arm 207 forward to be inserted into the maintenance port 401. Furthermore, the above-mentioned rotations around the X, Y, and Z axes facilitate control over the accuracy of the pose adjustment. In this embodiment, the above-mentioned rotating devices are all commercially available products, such as rotary motors.

[0027] like Figure 10 As shown, in this embodiment, the adhesive mixing assembly 203 is mounted on the adhesive mixing mounting arm 2041. The adhesive mixing assembly 203 includes an adhesive mixing mounting base 2031 mounted on the adhesive mixing mounting arm 2041. The adhesive mixing mounting base 2031 is equipped with an adhesive mixer 2034. The adhesive mixer 2034 has multiple adhesive pumps 2032 on one side and an adhesive outlet pipe 2033 on the other side. The adhesive outlet pipe 2033 is connected to the filler applicator nozzle 2064 via a pipeline. In this embodiment, both the adhesive mixer 2034 and the adhesive pumps 2032 are commercially available products. This invention allows adhesives of different components to be pumped into the adhesive mixer 2034 through the corresponding adhesive pumps 2032 according to the application requirements, thoroughly mixed, and then output.

[0028] like Figure 11 As shown, in this embodiment, the shifting assembly 205 includes a shifting drive device 2052, and the shifting drive device 2052 is provided with an adapter 2051 connected to the third rotating device 2046. The power shaft end of the shifting drive device 2052 is connected to the shifting seat 2054. The cylinder head end of the shifting drive device 2052 is provided with a fixing plate 20531, and the fixing plate 20531 is provided with a guide sleeve 20532. The rear side of the shifting seat 2054 is provided with a guide shaft 20541, and the guide shaft 20541 passes through the corresponding guide sleeve 20532, thereby ensuring the linear movement of the shifting seat 2054. In addition, a control box 2053 is provided on one side of the shifting drive device 2052. The control system of the relevant components in the latter half of the present invention can be integrated into the control box 2053, including the shifting assembly 205, the intracavity glue-applying robotic arm 207, the glue-applying actuator 206, etc. In this embodiment, the displacement driving device 2052 may be a linear driving device such as a displacement electric cylinder.

[0029] like Figure 9As shown, in this embodiment, the intracavity adhesive coating robotic arm 207 is an industrial robotic arm with multiple rotational degrees of freedom. It is a commercially available product. The main requirement for the intracavity adhesive coating robotic arm 207 is to have a sufficiently small diameter and flexible movement so that it can be flexibly driven in the narrow rib compartment 402.

[0030] like Figures 12-13 As shown, in this embodiment, the actuator rotating base 2061 of the glue applicator 206 includes an intermediate plate 20611, and the intermediate plate 20611 has a first side plate 20612 on one side and a second side plate 20613 on the other side. The corner-filling glue nozzle 2064 is disposed on the first side plate 20612, and the corner-filling glue nozzle 2064 is provided with a control valve 20641 for controlling the on / off state and connected to the glue supply pipeline. The second side plate 20613 is provided with a plurality of suction seat driving devices 2065, and the power shaft end of the suction seat driving device 2065 is provided with a glue cap suction seat 2066. When the glue-applying robot 2 moves the cap suction holder 2066 to the cap-collecting position, the cap suction holder 2066 is driven to rise and fall by the suction holder driving device 2065 to complete the cap-collecting operation. When the glue-applying robot 2 moves the cap suction holder 2066 to the cap-sealing position, the suction holder driving device 2065 drives the corresponding cap suction holder 2066 to move and press it onto the corresponding cap-sealing position, and maintains the pressing state for a set time to ensure complete adhesive adhesion. In addition, this invention can collect multiple caps at once, thereby completing the cap-sealing operation at multiple points within the rib compartment 402 in one go. Furthermore, when one cap suction holder 2066 extends, the others do not extend, thus preventing mutual interference. This invention automatically reverses the orientation of the two side glue cap suction seats 2066 and the corner glue applicator nozzles 2064 through the actuator rotary seat 2061. This can further facilitate the switching of operating modes and the fine-tuning of angles to complete related tasks. Simultaneously, it allows the glue cap suction seats 2066 and the corner glue applicator nozzles 2064 to enter and exit the wing's integral fuel tank via the same path, reducing control complexity. In this embodiment, the suction seat drive device 2065 can be a linear drive device such as a cylinder.

[0031] In this embodiment, the cap suction base 2066 is provided with a suction port of sufficient depth, so that... Figures 16-17 As shown, the present invention can be applied to various sizes of caps. In addition, in this embodiment, the bottom of the adsorption port is connected to a vacuum pipeline through a pipe to achieve the adsorption function.

[0032] like Figures 12-13As shown in this embodiment, the middle plate 20611 of the actuator rotary base 2061 is provided with a laser tracker target ball base 2068 and a plurality of first ranging sensors 2062. The first side plate 20612 and the second side plate 20613 of the actuator rotary base 2061 are both provided with second ranging sensors 2063. In addition, a contour detection sensor 2067 is provided on the outer side of the first side plate 20612. The contour detection sensor 2067 and various distance sensors work together to monitor the distance between the adhesive applicator 206 and the workpiece and environment, guiding the adhesive applicator robot 2 to avoid mechanical interference. The contour detection sensor 2067 can also detect the contour of the adhesive application pattern and evaluate the application quality. The laser tracker target ball base 2068 is used to mount the laser tracker test target ball and perform end-effector motion performance tests (e.g., pose accuracy, pose repeatability, trajectory accuracy, trajectory repeatability, speed accuracy, speed repeatability, etc.). Furthermore, the actuator mount 2061 can be equipped with visual monitoring tools such as endoscopes as needed to further ensure operational safety. The contour detection sensor 2067, distance sensors, laser tracker, endoscope, etc., are all technologies in the field and are commercially available products.

[0033] like Figure 2 , Figure 4 and Figure 6 As shown, in this embodiment, the cap feeding and dispensing mechanism 1 includes a worktable 106, and the worktable 106 is provided with a longitudinal moving component 104. The longitudinal moving component 104 is provided with a longitudinal moving seat 1043, the longitudinal moving seat 1043 is provided with a transverse moving component 103, the transverse moving component 103 is provided with a transverse moving seat 1031, the transverse moving seat 1031 is provided with a cap feeding component 101 and a cap dispensing component 102, and the cap feeding component 101 is provided with a liftable cap feeding mechanism. The nozzle 1013 and the cap dispensing assembly 102 are equipped with a liftable cap dispensing nozzle 1024; the workbench 106 has a cap positioning fixture 108 on one side and a material box conveying assembly 107 on the other side. The material box conveying assembly 107 is equipped with a material box 105 for holding caps, and the caps in the material box 105 are sucked up by the cap feeding nozzle 1013; the workbench 106 is equipped with a scraping assembly 109 at one end, and after the cap dispensing nozzle 1024 completes dispensing, the scraping assembly 109 cleans the residual glue at the lower end.

[0034] In operation, the transverse moving seat 1031 first moves the cap feeding assembly 101 to the material box 105 on one side of the workbench 106 (i.e., the cap feeding station) and picks up the caps from the material box 105. Then, the transverse moving seat 1031 moves the cap feeding assembly 101 and the cap dispensing assembly 102 to the other side of the workbench 106, and is driven by the longitudinal moving assembly 104 to move above the cap positioning fixture 108. At this time, the cap feeding assembly 101 first places the caps sequentially at the corresponding cap positioning fixture 108, and then the caps are dispensed. The glue assembly 102 sequentially injects glue into each glue cap. After injection, the glue cap feeding assembly 101 and the glue cap injection assembly 102 are first driven by the longitudinal movement assembly 104 to the glue scraping assembly 109 to clean the residual glue at the lower end of the glue cap injection nozzle 1024. Then, driven by the longitudinal movement assembly 104 and the lateral movement assembly 103, they return to the material box 105 to continue picking up material. At the same time, the glue cap suction seat 2066 at the end of the glue coating robot 2 picks up the glue-injected glue cap from the glue cap positioning fixture 108 and sends it into the rib compartment 402 corresponding to the wing integral fuel tank 4. When a material box 105 is emptied, the material box transfer assembly 107 rotates to drive the next material box 105 to the picking position, and the empty material box 105 falls into the material box recycling bin in the workbench 106. The material box transfer assembly 107 is a technology known in the art, such as a transmission belt device.

[0035] like Figure 2 , Figure 4 and Figure 6 As shown, in this embodiment, the cap feeding assembly 101 includes a feeding lifting cylinder 1011 disposed on the transverse moving seat 1031, a feeding lifting seat 1012 disposed on the lower power shaft end of the feeding lifting cylinder 1011, and a cap feeding suction nozzle 1013 disposed on the lower side of the feeding lifting seat 1012.

[0036] like Figure 2 , Figure 4 and Figure 6 As shown, in this embodiment, the glue cap injection assembly 102 includes a glue cap injection pump 1021 and an injection lifting cylinder 1022 mounted on the transverse moving seat 1031. The injection lifting cylinder 1022 (in this embodiment, it is a rodless cylinder) is provided with an injection lifting seat 1023, and a glue cap injection nozzle 1024 is provided on the lower side of the injection lifting seat 1023. The glue cap injection nozzle 1024 is connected to the glue cap injection pump 1021 through a glue cap injection tube 1025. The glue cap injection tube 1025 is a flexible tube with sufficient length to avoid affecting the lifting of the glue cap injection nozzle 1024. In this embodiment, the glue cap injection pump 1021 is a commercially available product.

[0037] like Figure 2 , Figure 4 and Figure 6As shown, in this embodiment, the lateral movement component 103 includes a lateral movement drive module 1032, and the lateral movement seat 1031 is driven to move by the lateral movement drive module 1032. In this embodiment, the lateral movement drive module 1032 includes a motor lead screw and a lead screw nut. The lead screw is driven to rotate by a motor, and the lead screw nut is sleeved on the lead screw and connected to the lateral movement seat 1031.

[0038] like Figure 2 , Figure 4 and Figure 6 As shown, in this embodiment, the longitudinal moving component 104 includes a longitudinal moving motor 1041, a transmission component 1042, a longitudinal lead screw, and a longitudinal lead screw nut. The longitudinal lead screw is driven to rotate by the longitudinal moving motor 1041, and the longitudinal moving motor 1041 transmits torque through the transmission component 1042. The longitudinal lead screw nut is fitted onto the longitudinal lead screw, and the lower side of the longitudinal moving seat 1043 is fixedly connected to the longitudinal lead screw nut.

[0039] like Figures 6-7 As shown, in this embodiment, the cap positioning fixture 108 includes a gripper cylinder 1081 and cap grippers 1082. The two cap grippers 1082 are driven to open and close by the gripper cylinder 1081. The inner side of each cap gripper 1082 is provided with a gripping recess 1083 that matches the shape of the cap.

[0040] like Figure 6 and Figure 8 As shown, after the glue is injected into the cap, due to the high viscosity of the glue, the end of the glue injection nozzle 1024 of the cap often has stringy residue (similar to toothpaste stringing), which affects the glue injection quality. In order to clean the residual glue at the end of the glue injection nozzle 1024 of the cap in a timely manner, the present invention provides a glue scraping assembly 109 on the side of the workbench 106 away from the cap loading station. The glue scraping assembly 109 includes a glue scraping support 1091, and the glue scraping support 1091 is installed on the workbench 106. The glue scraping support 1091 is provided with a glue scraping line 1094 and a glue cleaning block 1093 inside. The glue cleaning block 1093 is rotatably located below the glue scraping line 1094. The glue cleaning block 1093 is provided with a scraping groove 10931. A residual glue box 1092 is provided below the glue scraping support 1091.

[0041] In operation, after the glue injection operation is completed, the glue injection nozzle 1024 can be driven forward by the longitudinal movement component 104, and its lower end passes through the scraper line 1094 to remove residual glue. Then, the glue injection component 102, together with the glue loading component 101, is driven longitudinally by the longitudinal movement component 104, and then laterally by the lateral movement component 103 to return to the glue loading station. The cleaning block 1093 can swing upward and use the scraper groove 10931 to engage with the scraper line 1094 to scrape off the residual glue on the scraper line 1094, thus not affecting the cleaning of the glue injection nozzle 1024 in the next operation. Then, the cleaning block 1093 rotates downward, so that the residual glue in the scraper groove 10931 can be thrown into the residual glue box 1092 below. In this embodiment, the workbench 106 is equipped with a rotary electric cylinder or other rotary drive device to drive the cleaning block 1093 to rotate.

[0042] The working principle of this invention is as follows: The present invention includes the following steps in operation: Step 1: The traveling trolley 3 drives the glue-applying robot 2 and the glue cap feeding and dispensing mechanism 1 to move to the set glue-applying position corresponding to any maintenance port 401.

[0043] Step 2: The robot body 202 in the glue-applying robot 2 starts to drive the attitude adjustment swing arm assembly 204 to move to the set position near the corresponding maintenance port 401. Then, the glue-applying robotic arm 207 inside the cavity is adjusted to be on the same straight line as the displacement assembly 205.

[0044] Step 3: As Figure 11 As shown, in the attitude adjustment arm assembly 204, the first rotating device 2042 drives the rotating arm 2043 to rotate around the X-axis, the second rotating device 2044 drives the swing base 2045 to rotate around the Y-axis, and the third rotating device 2046 drives the shifting assembly 205 to rotate around the Z-axis. In this way, the present invention can make the shifting assembly 205 and the cavity adhesive application robot arm 207, which are in a straight line, parallel to the adhesive mixing and mounting swing arm 2041 and aligned with the relatively small maintenance port 401 through the above-mentioned rotation adjustment. In addition, the present invention can also facilitate the control of the attitude adjustment accuracy through the above-mentioned rotation around the X, Y, and Z axes respectively.

[0045] Step Four: As Figure 14As shown, the shifting seat 2054 in the shifting assembly 205 moves forward, driving the intracavity adhesive application robotic arm 207, which is aligned with the shifting assembly 205, to insert into the wing integral fuel tank 4 through the corresponding maintenance port 401. During insertion, the attitude adjustment arm assembly 204 can fine-tune the attitude of the shifting assembly 205 based on feedback from corresponding sensors or detection elements to avoid interference or collision with the sidewall of the maintenance port 401. Additionally, during the insertion process, the intracavity adhesive application robotic arm 207 also automatically controls its bending motion based on the pre-taught path and feedback from corresponding sensors or detection elements to avoid collision with related structures within the wing integral fuel tank 4. Simultaneously, it begins to drive the adhesive application actuator 206 to move towards the set initial intracavity adhesive application position.

[0046] Step 5: After the glue applicator 206 reaches the initial glue applicator position, the glue mixing assembly 203 starts mixing and supplies glue to the glue applicator 206. Meanwhile, the control valve 20641 at the rear end of the filler glue nozzle 2064 on the glue applicator 206 opens to dispense glue, and as... Figure 18 As shown, the corner filling adhesive nozzle 2064 is driven and cooperates with the in-cavity adhesive application robot arm 207 to complete the corner filling adhesive application operation.

[0047] Step Six: After completing the filler and adhesive application for all structures, as follows: Figure 12 As shown, the actuator rotating seat 2061 in the glue applicator 206 rotates to reverse the direction of the glue cap suction seat 2066 and the corner filling glue nozzle 2064. Then, the glue applicator 206 is first driven back to the set initial glue applicator position by the cavity glue applicator robot arm 207. Then, the cavity glue applicator robot arm 207 and the shifting component 205 control the wing integral fuel tank 4 to exit along the original path through the maintenance port 401. At this time, since the glue cap suction seat 2066 is already facing downward, it will not affect the exit path of the glue applicator robot 2 and can be controlled to return along the original path. On the other hand, it can also be directly moved to the glue cap positioning fixture 108 of the glue cap feeding and glue injection mechanism 1 to complete the glue cap suction.

[0048] Step 7: After the glue applicator 206 has completely retracted to the set position outside the wing integral fuel tank 4, the glue applicator robot 2 drives the glue applicator 206 to move according to the robot teaching set path, and moves to the glue cap positioning fixture 108 above the glue cap feeding and glue injection mechanism 1 to pick up the glue cap that has been glued.

[0049] In this step, the process of feeding and injecting glue into the cap is as follows: Step 7.1: The cap feeding assembly 101 and the cap dispensing assembly 102 are moved by the transverse moving seat 1031 to the cap feeding station at one end of the worktable 106, that is, to the material box 105 at the end of the material box conveying assembly 107 that holds the caps.

[0050] Step 7.2: The loading lifting cylinder 1011 in the cap loading assembly 101 starts and drives the cap loading suction nozzle 1013 to first descend to the set height to adsorb the cap, and then rise to the set height.

[0051] Step 7.3: The cap feeding assembly 101 and the cap dispensing assembly 102 are first moved to the other side of the worktable 106 by the transverse moving seat 1031. Then, the entire transverse moving assembly 103, together with the cap feeding assembly 101 and the cap dispensing assembly 102, are moved to the cap positioning fixture 108 on one side of the worktable 106 by the longitudinal moving assembly 104.

[0052] Step 7.4: The cap feeding assembly 101 is driven by the transverse moving seat 1031 to align with the cap positioning fixture 108. Then, the feeding lifting cylinder 1011 in the cap feeding assembly 101 is activated to drive the cap feeding suction nozzle 1013 to descend and place the cap in the corresponding cap positioning fixture 108. In this embodiment, each group of caps has four caps. The feeding lifting seat 1012 of the cap feeding assembly 101 can be equipped with four cap feeding suction nozzles 1013 with the same spacing as the cap positioning fixture 108, so that all caps can be put down at once.

[0053] Step 7.5: The glue injection assembly 102 is driven by the transverse moving seat 1031 to align with the glue cap positioning fixture 108. Then, the glue injection lifting cylinder 1022 in the glue injection assembly 102 drives the glue injection nozzle 1024 of the glue cap to descend to the set height and inject glue into the glue cap. After the glue injection of the glue cap is completed, the glue injection nozzle 1024 of the glue cap first rises to the set height, and then is driven by the longitudinal moving assembly 104 to move to the top of the next glue cap to continue injecting glue, until the glue injection operation of all glue caps is completed.

[0054] Step 7.6: The entire transverse moving assembly 103, together with the cap feeding assembly 101 and the cap dispensing assembly 102, continues to move via the longitudinal moving assembly 104 until it reaches the scraper assembly 109 at the other end of the worktable 106. Then, the cap dispensing nozzle 1024 descends to a set height so that its lower end is in close contact with the scraper line 1094 in the scraper assembly 109. Driven by the longitudinal moving assembly 104, it moves a set distance along the scraper line 1094 to clean up any remaining stringy glue residue at the lower end. Then, the cap dispensing nozzle... The nozzle 1024 returns to its original position. The cap feeding assembly 101 and the cap dispensing assembly 102 are driven back to the worktable 106 near the cap feeding station by the longitudinal movement assembly 104. Then, they are driven back to the cap feeding station by the lateral movement assembly 103. At the same time, the cleaning block 1093 in the scraping assembly 109 first swings upward to scrape off the residual glue on the scraping line 1094 using the scraping groove 10931, and then swings downward to throw the residual glue into the residual glue box 1092 on the lower side. This can keep the scraping line 1094 clean during the next cleaning.

[0055] Step 8: After the glue applicator 206 completes the glue cap removal operation, it returns to the set position in Step 2 and repeats Steps 3 and 4 to move the glue cap suction seat 2066 to the glue cap sealing position inside the cavity.

[0056] Step Nine: The suction cup drive device 2065 drives the cap suction cup 2066 to move so that the cap is pressed into the target position of the package. After maintaining the pressed state for a set time, the cap suction cup 2066 releases the cap. Figure 12 As shown, in this embodiment, four glue cap suction seats 2066 are provided in the glue application actuator 206, so that the glue cap sealing operation of the four sealing target positions can be completed in sequence.

Claims

1. An automatic adhesive application device for an integral fuel tank on an aircraft wing, characterized in that: The system includes a traveling trolley (3), on which a glue-applying robot (2) and a glue cap feeding and dispensing mechanism (1) are mounted. The glue-applying robot (2) has an attitude-adjusting swing arm assembly (204) at its end, and the attitude-adjusting swing arm assembly (204) has a glue mixing assembly (203). The attitude-adjusting swing arm assembly (204) has a displacement assembly (205) at its end. The displacement assembly (205) includes a movable displacement seat (2054), and the displacement seat (2054) is connected to an intracavitary glue-applying robotic arm (207). (207) An adhesive applicator (206) is provided at the end; the adhesive applicator (206) includes an actuator rotating seat (2061), and the actuator rotating seat (2061) is provided with a corner filling adhesive nozzle (2064) on one side and a glue cap suction seat (2066) on the other side. The corner filling adhesive nozzle (2064) is connected to the adhesive mixing component (203) through a pipeline; the glue cap feeding and dispensing mechanism (1) is provided with a glue cap positioning fixture (108) on one side, and the glue cap suction seat (2066) picks up the glue cap that has been dispensed after dispensing from the glue cap positioning fixture (108).

2. The automatic adhesive application device for integral fuel tanks on aircraft wings according to claim 1, characterized in that: The posture adjustment swing arm assembly (204) includes a glue-mounted swing arm (2041), a first rotating device (2042), a rotating arm (2043), a second rotating device (2044), a swing base (2045), and a third rotating device (2046). The front end of the glue-mounted swing arm (2041) is connected to the robot body (202), and the rear end is provided with the first rotating device (2042). The rotating arm (2043) is driven to rotate by the first rotating device (2042). The end of the rotating arm (2043) is provided with a drive shaft, and the drive shaft is driven to rotate by the second rotating device (2044) located on one side of the end of the rotating arm (2043). The upper end of the swing base (2045) is connected to the drive shaft and is driven to swing by the drive shaft. The lower end of the swing base (2045) is connected to the third rotating device (2046), and the third rotating device (2046) is connected to the displacement assembly (205).

3. The automatic adhesive application device for integral fuel tanks on aircraft wings according to claim 2, characterized in that: The mixing assembly (203) includes a mixing mounting base (2031) on the mixing mounting arm (2041), a mixing device (2034) on the mixing mounting base (2031), and a plurality of glue pumps (2032) on one side of the mixing device (2034) and a glue outlet pipe (2033) on the other side. The glue outlet pipe (2033) is connected to the filler glue nozzle (2064) through a pipeline.

4. The automatic adhesive application device for integral fuel tanks on aircraft wings according to claim 1, characterized in that: The shifting assembly (205) includes a shifting drive device (2052), and the shifting drive device (2052) is provided with an adapter (2051) connected to the end of the attitude adjustment swing arm assembly (204). The power shaft end of the shifting drive device (2052) is connected to the shifting seat (2054). The cylinder head end of the shifting drive device (2052) is provided with a fixing plate (20531), and the fixing plate (20531) is provided with a guide sleeve (20532). The rear side of the shifting seat (2054) is provided with a guide shaft (20541), and the guide shaft (20541) passes through the corresponding guide sleeve (20532). A control box (2053) is provided on one side of the shifting drive device (2052).

5. The automatic adhesive application device for integral fuel tanks on aircraft wings according to claim 1, characterized in that: The actuator rotating base (2061) of the glue applicator (206) includes an intermediate plate (20611), and the intermediate plate (20611) has a first side plate (20612) on one side and a second side plate (20613) on the other side. The corner-filling glue nozzle (2064) is provided on the first side plate (20612), and the corner-filling glue nozzle (2064) is provided with a control valve (20641) for controlling the on and off. The second side plate (20613) is provided with a plurality of suction seat driving devices (2065), and the power shaft end of the suction seat driving device (2065) is provided with a glue cap suction seat (2066).

6. The automatic adhesive application device for integral fuel tanks of aircraft wings according to claim 5, characterized in that: The actuator rotary table (2061) has a laser tracker target ball base (2068) and a plurality of first ranging sensors (2062) on its middle plate (20611). The actuator rotary table (2061) has a second ranging sensor (2063) on its first side plate (20612) and second side plate (20613). In addition, a contour detection sensor (2067) is provided on the outside of the first side plate (20612).

7. The automatic adhesive application device for integral fuel tanks on aircraft wings according to claim 1, characterized in that: The cap feeding and dispensing mechanism (1) includes a worktable (106), and the worktable (106) is provided with a longitudinal moving component (104), the longitudinal moving component (104) is provided with a longitudinal moving seat (1043), the longitudinal moving seat (1043) is provided with a transverse moving component (103), the transverse moving component (103) is provided with a transverse moving seat (1031), the transverse moving seat (1031) is provided with a cap feeding component (101) and a cap dispensing component (102), and the cap feeding component (101) is provided with a liftable cap feeding nozzle (102). 13) The glue cap injection assembly (102) is equipped with a liftable glue cap injection nozzle (1024); the workbench (106) is equipped with a glue cap positioning fixture (108) on one side and a material box transmission assembly (107) on the other side. The material box transmission assembly (107) is equipped with a material box (105) for holding glue caps, and the glue caps in the material box (105) are sucked up by the glue cap feeding nozzle (1013); the workbench (106) is equipped with a glue scraping assembly (109) at one end, and the glue cap injection nozzle (1024) cleans the residual glue at the lower end by the glue scraping assembly (109) after completing the glue injection.

8. The automatic adhesive application device for integral fuel tanks on aircraft wings according to claim 7, characterized in that: The cap feeding assembly (101) includes a feeding lifting cylinder (1011) disposed on the transverse moving seat (1031), a feeding lifting seat (1012) is provided at the lower power shaft end of the feeding lifting cylinder (1011), and a cap feeding suction nozzle (1013) is provided at the lower side of the feeding lifting seat (1012). The glue cap injection assembly (102) includes a glue cap injection pump (1021) and an injection lifting cylinder (1022) disposed on the transverse moving seat (1031). The injection lifting cylinder (1022) is provided with an injection lifting seat (1023), and a glue cap injection nozzle (1024) is provided on the lower side of the injection lifting seat (1023). The glue cap injection nozzle (1024) is connected to the glue cap injection pump (1021) through a glue cap injection tube (1025).

9. The automatic adhesive application device for integral fuel tanks on aircraft wings according to claim 1 or 7, characterized in that: The cap positioning fixture (108) includes a gripper cylinder (1081) and cap grippers (1082), wherein the two cap grippers (1082) are driven to open and close by the gripper cylinder (1081), and the inner side of the two cap grippers (1082) is provided with a gripping notch (1083) that matches the shape of the cap.

10. The automatic adhesive application device for integral fuel tanks on aircraft wings according to claim 7, characterized in that: The glue scraping assembly (109) includes a glue scraping support (1091), and the glue scraping support (1091) is mounted on the workbench (106). The glue scraping support (1091) is provided with a glue scraping line (1094) and a glue cleaning block (1093) inside. The glue cleaning block (1093) is rotatably located below the glue scraping line (1094). The glue cleaning block (1093) is provided with a scraping groove (10931). The glue scraping support (1091) is provided with a residual glue box (1092) below it.

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