An unmanned aerial vehicle production and processing-based automatic assembly robot

Abstract

This invention discloses an automated assembly robot based on UAV production and processing, relating to the field of UAV wing frame assembly technology. It includes a frame, a transverse carriage assembly, a riveting assembly, and a clamp release assembly. The transverse carriage assembly has a contour positioning seat with a clearance notch for the longitudinal beam to pass through. The carriage frame is equipped with transverse and longitudinal clamps that constrain the transverse and longitudinal beams, respectively. A linkage shaft is installed on the lifting frame of the clamp release assembly. A first and second actuating arm on the linkage shaft are circumferentially phase-shifted along the rotation direction. The second actuating arm acts first on the longitudinal clamp via a push rod, and the first actuating arm then acts on the transverse clamp. This invention can centrally and sequentially release the transverse and longitudinal constraints of the wing frame after riveting, and allow the clamp release assembly to exit the unloading and riveting space, reducing the number of independent drive components and follow-up pipelines on the transverse carriage.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) wing frame assembly technology, and in particular to an automated assembly robot based on UAV production and processing. Background Technology

[0002] The wing frame of a fixed-wing UAV typically consists of longitudinal beams extending along the wingspan and transverse beams distributed along the length of the longitudinal beams. In aeronautical structures, the longitudinal beams can correspond to the front wing spars, rear wing spars, and auxiliary longitudinal beams, while the transverse beams can correspond to wing ribs and other lateral reinforcing components. During assembly, each frame component needs to be supported by a special jig or horizontal assembly fixture, and riveting, fastening, or plugging connections are made at the cross-connection points of the components.

[0003] Existing wing frame assembly equipment typically sets up multiple positioning seats and fixtures along the wingspan direction on a load-bearing platform. After the crossbeams and longitudinal beams are initially assembled, they are held in the assembly position by multiple fixtures. Then, mobile drilling and riveting equipment or automatic riveting actuators are used to process the connection stations one by one. Since there are a large number of fixtures corresponding to a wing frame, if each fixture is equipped with a drive cylinder, valve group and follow-up pipeline, it will increase the load on the moving tooling and the complexity of the pipeline layout, and increase the possibility of pipeline entanglement and structural interference when the tooling enters and exits the workstation.

[0004] When the crossbeams and longitudinal beams are arranged in a cross pattern, the two types of skeleton components are constrained by clamps in different directions. If all clamps are released at the same time after riveting, the release actions of the crossbeams and longitudinal beams are likely to interfere with each other. Local components may also suddenly bounce when subjected to residual assembly stress. If the clamps are opened manually one by one, the operation time increases with the number of clamps, and there is a risk of clamps being missed, which may affect subsequent material cutting.

[0005] The execution end of the existing automatic riveting equipment still needs to enter from the side or top and bottom of the connection node. The centralized clamp drive structure, which is set on the wing frame for a long time, is prone to occupying the moving envelope of the riveting execution end and the material unloading space of the wing frame. Therefore, it is necessary to keep the clamp operation structure separated from the wing frame during riveting and enter the clamp operation position only after all connection stations have been processed.

[0006] Therefore, it is necessary to invent an automated assembly robot based on drone production and processing to solve the above problems. Summary of the Invention

[0007] The purpose of this invention is to provide an automated assembly robot based on unmanned aerial vehicle (UAV) production and processing to solve the problems mentioned in the background art.

[0008] To achieve the above objectives, the present invention provides the following technical solution: an automated assembly robot based on UAV production and processing, comprising a frame, a transverse carriage assembly slidably disposed on the lower part of the frame, a riveting assembly movably disposed on the upper part of the frame, and a clamp release assembly disposed inside the frame above the transverse carriage assembly.

[0009] The transverse carriage assembly includes a carriage frame. Inside the carriage frame, along the extension direction of the wing skeleton, there are multiple contour positioning seats. The contour positioning seats have clearance notches for the longitudinal beams of the wing skeleton to pass through. The carriage frame is provided with multiple lateral clamps and multiple longitudinal clamps corresponding to the transverse beams and longitudinal beams of the wing skeleton. Both the lateral clamps and the longitudinal clamps have operating handles.

[0010] The clamp release assembly includes a lifting frame that is vertically mounted above the carriage frame. A linkage shaft is rotatably mounted on the lifting frame. A first actuating arm corresponding to the transverse clamp and a second actuating arm corresponding to the longitudinal clamp are distributed axially on the linkage shaft. The free end of the second actuating arm extends to form a push rod. The first actuating arm and the second actuating arm are circumferentially phase-shifted along the rotation direction of the linkage shaft. The second actuating arm is located in front of the release rotation of the first actuating arm. When the lifting frame descends to the release position, the free ends of the push rod and the first actuating arm are respectively located above the corresponding operating handles.

[0011] Preferably, a positioning baffle is fixedly provided on the upper part of the contour positioning seat. The positioning baffle is located on the side of the crossbeam of the wing frame and forms a positioning support surface. The clearance notch is formed by the downward recess of the upper edge of the contour positioning seat and opens towards the longitudinal beam extension direction of the wing frame.

[0012] Preferably, both the lateral clamp and the longitudinal clamp include a pressure bar and a toggle link. The pressure bar is movably disposed on the side of the corresponding clamp facing the wing frame. The toggle link is disposed between the control handle and the pressure bar and is hinged to both. The control handle drives the pressure bar to reciprocate relative to the wing frame through the toggle link.

[0013] Preferably, the clamp release assembly further includes multiple lead screw sleeves, multiple lifting lead screws, and multiple lead screw mounting seats. The multiple lead screw sleeves are respectively fixedly disposed on the periphery of the lifting frame. The multiple lifting lead screws are respectively vertically inserted into the corresponding lead screw sleeves and threadedly engaged with them. The multiple lead screw mounting seats are respectively fixedly disposed on the lower part of the frame. The lower ends of the multiple lifting lead screws are respectively rotatably mounted on the corresponding lead screw mounting seats.

[0014] Preferably, the multiple lifting screws have the same lead, and the lower ends of the multiple lifting screws are connected to a mechanical synchronous transmission assembly located at the bottom of the frame. The mechanical synchronous transmission assembly is connected to a lifting drive motor.

[0015] Preferably, the clamp release assembly further includes a linkage drive cylinder and a drive crank. The cylinder body of the linkage drive cylinder is hinged to one side of the lifting frame, the drive crank is fixedly mounted to the end of the linkage shaft, and the output end of the linkage drive cylinder is hinged to the drive crank.

[0016] Preferably, the plurality of first actuating arms are aligned one by one with the operating handles of the plurality of transverse clamps along the axial direction of the linkage shaft, and the plurality of push rods are aligned one by one with the operating handles of the plurality of longitudinal clamps along the axial direction of the linkage shaft. The linkage shaft has a disengaged position in which the first actuating arms and push rods are located above and separated from their respective operating handles.

[0017] Preferably, the riveting assembly includes a main shaft mounting base, a supporting main shaft, and a C-shaped support frame. The main shaft mounting base is located above the transverse carriage assembly. The supporting main shaft is rotatably mounted on the lower part of the main shaft mounting base. The C-shaped support frame is fixedly installed at the lower end of the supporting main shaft. The upper end of the C-shaped support frame is provided with an upper riveting head, and the lower end is provided with a lower riveting die facing the upper riveting head. The upper riveting head and the lower riveting die are respectively facing the upper and lower sides of the connection node of the wing frame.

[0018] Preferably, the riveting assembly further includes a rotary drive motor and a synchronous belt drive component. The rotary drive motor is fixedly mounted above the spindle mounting base, and the synchronous belt drive component is mounted on the lower side of the spindle mounting base and drives the output shaft of the rotary drive motor to the supporting spindle.

[0019] Preferably, the riveting assembly further includes a horizontal moving module and a vertical moving module. The horizontal moving module is fixedly disposed on the upper part of the frame in the horizontal direction, and the vertical moving module is slidably disposed in the extending direction of the horizontal moving module. The spindle mounting seat is fixedly disposed on the lower end of the vertical moving module.

[0020] The technical effects and advantages of this invention are as follows: 1. This invention sets up a contour positioning seat with a clearance notch on the transverse carriage assembly, and arranges the transverse clamp and longitudinal clamp at positions corresponding to the wing frame crossbeam and longitudinal beam respectively. This allows the crossbeam and longitudinal beam to obtain load-bearing space, longitudinal beam passage space and clamping constraints in different directions in the cross-assembly state. After riveting, multiple sets of clamps are centrally operated by the linkage shaft, first actuating arm and second actuating arm carried by the lifting frame. Therefore, it is not necessary to configure a power source and follow-up pipeline for each clamp on the transverse carriage. This helps to reduce the additional load of the moving tooling and the risk of pipeline entanglement, and retains a relatively complete moving space for the transverse carriage to enter and exit the workstation. 2. This invention creates a circumferential phase misalignment between the first and second actuating arms along the rotation direction of the linkage shaft, and positions the second actuating arm in the forward release phase. After the lifting frame descends to the release position and the linkage shaft begins to rotate, the push rod first pushes the operating handle of the longitudinal clamp to release the longitudinal beam constraint. After the linkage shaft continues to rotate, the first actuating arm then pushes the operating handle of the transverse clamp to release the transverse beam constraint. This divides the release process of the two types of clamps into two interconnected stages, reducing the action restraint when the transverse and longitudinal constraints are released simultaneously, and allowing the set of clamps that has not yet been released to continue to hold the skeleton components during the release of the previous set of clamps. 3. The present invention uses multiple equal-lead lifting screws, screw sleeves fixed around the periphery of the lifting frame, and mechanical synchronous transmission components to drive the lifting frame to move up and down in parallel. This allows the first actuating arm and push rod to descend above the control handle only during the release phase after riveting. After the two types of clamps are released, the linkage shaft first returns to the disengagement position that separates the actuating component from the control handle, and then the lifting frame rises as a whole. Therefore, the clamp release component does not bear the weight of the wing frame and the riveting reaction force, and can exit the movement space of the C-shaped support frame and the wing frame during the riveting and unloading phases. 4. This invention adjusts the position and opening direction of the riveting execution end through a horizontal moving module, a vertical moving module, and a C-shaped support frame that can rotate around the main support shaft. This allows the upper riveting head and the lower riveting die, which are set opposite to each other, to enter the upper and lower sides of the wing frame connection node, respectively. The riveting load can form a partially closed force path through the upper riveting head, the connection node, the lower riveting die, and the C-shaped support frame, thereby reducing the degree to which the riveting reaction force is transmitted to the lifting frame and the transverse slide, and making it easier for the transverse slide to send different connection stations into the same assembly area in sequence. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0022] Figure 2 This is a schematic diagram of the clamp release component structure of the present invention.

[0023] Figure 3 This is a schematic diagram of the transverse carriage assembly of the present invention when it supports the wing frame.

[0024] Figure 4 This is a schematic diagram of the transverse carriage assembly structure of the present invention.

[0025] Figure 5 This is a partial structural diagram of the contour positioning seat, the transverse clamp, and the longitudinal clamp of the present invention.

[0026] Figure 6 This is a schematic diagram of the riveting assembly structure of the present invention.

[0027] Figure 7This is a schematic diagram of the C-shaped support frame and its driving structure according to the present invention.

[0028] Figure 8 This is a side view schematic diagram of the lifting frame lifting drive structure of the present invention.

[0029] Figure 9 This is a partial structural diagram of the linkage shaft, the first actuating arm, and the second actuating arm of the present invention.

[0030] In the diagram: 1. Frame; 2. Transverse carriage assembly; 3. Riveting assembly; 4. Fixture release assembly; 5. Wing skeleton; 21. Carriage frame; 22. Contouring positioning seat; 23. Lateral fixture; 24. Longitudinal fixture; 25. Pressing rod; 26. Control handle; 27. Toggle link; 31. Spindle mounting base; 32. Support spindle; 33. C-shaped support frame; 34. Rotary drive motor; 35. Horizontal movement module; 6. Vertical moving module; 41. Lifting frame; 42. Linkage shaft; 43. First actuating arm; 44. Second actuating arm; 221. Positioning baffle; 222. Clearance notch; 331. Upper riveting head; 332. Lower riveting die; 341. Synchronous belt drive component; 411. Screw sleeve; 412. Lifting screw; 413. Screw mounting seat; 421. Linkage drive cylinder; 422. Drive crank; 441. Push rod. Detailed Implementation

[0031] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0032] like Figures 1 to 9 As shown, the automated assembly robot based on UAV production and processing provided by the present invention essentially sets the transverse slide assembly 2, which carries the wing frame 5 and two sets of clamps, as a mobile tooling that can enter and exit the workstation, and sets the clamp release assembly 4, which centrally manipulates the two sets of clamps, as an upper structure that can be raised and lowered relative to the transverse slide assembly 2. The mechanical action sequence of first releasing the longitudinal constraint and then releasing the lateral constraint is formed by the first actuating arm 43 and the second actuating arm 44, which are coaxially arranged and circumferentially phase-displaced.

[0033] In terms of specific structural installation, the structural body can be constructed according to the inventive concept of this embodiment. In this embodiment, there are no special limitations on the profile cross-section, fastening method, or specific model of mature driving component.

[0034] In this embodiment, the direction in which the transverse carriage assembly 2 enters the frame 1 is taken as the feeding direction, the wingspan extension direction of the wing frame 5 is taken as the longitudinal direction, the direction perpendicular to the wingspan direction and located in the plane of the transverse carriage assembly 2 is taken as the lateral direction, and the direction perpendicular to the bearing plane of the transverse carriage assembly 2 is taken as the vertical direction. The terms "above," "below," "lateral," and "longitudinal" in the specification refer to the equipment being positioned... Figure 1 The horizontal installation position shown is the reference.

[0035] The frame 1 is formed by connecting columns, upper beams and bottom load-bearing frames to form a closed workstation frame. The lower part of the frame 1 forms a channel for the horizontal slide assembly 2 to move. The horizontal slide assembly 2 is slidably supported on the existing guide structure at the lower part of the frame 1. The riveting assembly 3 is set on the upper part of the frame 1 and can move above the assembly area of ​​the horizontal slide assembly 2. The clamp release assembly 4 is set inside the frame 1 and located above the horizontal slide assembly 2.

[0036] The transverse carriage assembly 2 includes a carriage frame 21, which is a rectangular support frame extending along the wingspan direction of the wing skeleton 5. The two sides of the carriage frame 21 are slidably engaged with the guide structure at the bottom of the frame 1, so that the transverse carriage assembly 2 can move between the loading position outside the workstation and the assembly position inside the frame 1, and can sequentially send multiple connection stations into the assembly area corresponding to the riveting assembly 3 along the wingspan direction.

[0037] The movement of the transverse carriage assembly 2 can be driven by an existing screw feeding mechanism. The nut seat of the screw feeding mechanism is fixedly connected to the carriage frame 21. The driving screw extends along the moving direction of the carriage frame 21 and is driven to rotate by the feeding motor. The feeding motor controls the carriage frame 21 to move and stop station by station according to the spacing between the connecting stations of each crossbeam or rib. This feeding and positioning structure adopts the publicly disclosed prior art.

[0038] The wing frame 5 includes longitudinal beams extending along the wingspan direction and transverse beams arranged along the length direction of the longitudinal beams. In this embodiment, the longitudinal beams can be front wing spars, rear wing spars and auxiliary longitudinal beams, and the transverse beams can be wing ribs or transverse reinforcing beams. The transverse beams and longitudinal beams have been preliminarily assembled and formed cross connection nodes before entering the frame 1. The transverse slide assembly 2 is used to support the wing frame 5 in this assembled state.

[0039] Multiple contouring positioning seats 22 are arranged inside the skid frame 21 along the wingspan direction of the wing frame 5. Each contouring positioning seat 22 is opposite to the corresponding load-bearing part of the wing frame 5. The upper contour of the contouring positioning seat 22 is set according to the shape of the frame part it supports, so that the weight can be shared by multiple contouring positioning seats 22 after the wing frame 5 is placed, and an open riveting operation space is maintained between adjacent connection stations.

[0040] A positioning baffle 221 is fixedly installed on the upper part of the contour positioning seat 22. The positioning baffle 221 is located on the side of the crossbeam of the wing frame 5 and forms a positioning support surface for the crossbeam to rest on. When the crossbeam is placed on the contour positioning seat 22, it can be restricted to move in the corresponding direction by the positioning baffle 221. The height and outline of the positioning baffle 221 are limited to not obstructing the connection position between the crossbeam and the longitudinal beam and the unloading path of the finished part.

[0041] The upper edge of the contour positioning seat 22 is recessed downward to form a clearance notch 222. The clearance notch 222 is open in the extension direction of the longitudinal beam and corresponds to the position of the longitudinal beam. The longitudinal beam passes through the clearance notches 222 of multiple contour positioning seats 22 continuously, so that the contour positioning seat 22 does not interfere with the longitudinal beam while bearing the adjacent parts of the cross beam or frame. The width and depth of the clearance notch 222 are determined according to the cross-sectional shape and assembly gap of the corresponding longitudinal beam.

[0042] Multiple lateral clamps 23 and multiple longitudinal clamps 24 are provided on the skid frame 21. The lateral clamps 23 are distributed at positions corresponding to the crossbeam and apply lateral constraints to the crossbeam. The longitudinal clamps 24 are distributed at positions corresponding to the longitudinal beam and apply longitudinal constraints to the longitudinal beam. The two sets of clamps are respectively arranged around the corresponding contour positioning seat 22, so that the weight of the wing frame 5 is mainly borne by the contour positioning seat 22, while the lateral clamps 23 and longitudinal clamps 24 mainly bear the directional constraints during assembly.

[0043] Both the lateral clamp 23 and the longitudinal clamp 24 are mechanical toggle clamps with a control handle 26. Each clamp also includes a pressure bar 25 and a toggle link 27. The pressure bar 25 is movably positioned toward the corresponding crossbeam or longitudinal beam. The toggle link 27 is positioned between the control handle 26 and the pressure bar 25. When the control handle 26 swings around its fulcrum, the toggle link 27 drives the pressure bar 25 to reciprocate relative to the wing frame 5, so that the pressure bar 25 holds the corresponding frame component in the clamped state and leaves the corresponding frame component after the control handle 26 is moved to the release state.

[0044] After the wing frame 5 is placed and initially clamped at the loading position outside the workstation, it enters the frame 1 as the input state of this equipment. The initial clamping can be completed by the operator or the existing loading mechanism. The clamp release component 4 only operates the transverse clamp 23 and the longitudinal clamp 24 to enter the release state after all the connection nodes are riveted.

[0045] The clamp release assembly 4 includes a lifting frame 41, which is a frame-shaped carrier arranged around the assembly area above the wing skeleton 5. The lifting frame 41 maintains a vertical distance from the transverse slide assembly 2 and the wing skeleton 5 in the clearance position, so that the riveting assembly 3 can move around the connection nodes of the wing skeleton 5. After all the connection positions are completed, the lifting frame 41 is lowered to the release position, so that the toggle structure it carries is close to each control handle 26.

[0046] Multiple screw sleeves 411 are fixedly installed around the periphery of the lifting frame 41, and multiple screw mounting seats 413 are fixedly installed at corresponding positions on the frame 1. Multiple lifting screws 412 pass through the corresponding screw sleeves 411 vertically and are threadedly engaged with the screw sleeves 411. The lower end of the lifting screw 412 is rotatably supported on the corresponding screw mounting seat 413, so that when the lifting screw 412 rotates, the screw sleeves 411 that cannot rotate with the lifting screw 412 move along the axial direction of the lifting screw 412 and drive the lifting frame 41 to rise and fall.

[0047] Multiple lifting screws 412 have the same lead and are driven by the same mechanical synchronous transmission assembly. The mechanical synchronous transmission assembly is located at the lower part of the frame 1 and is connected to the lifting drive motor. The mechanical synchronous transmission assembly can be a structure in which a closed-loop synchronous belt connects the synchronous pulleys at the lower end of each lifting screw 412, or it can be a structure in which a drive shaft is used in conjunction with an angle gearbox. As long as it can enable multiple lifting screws 412 to rotate synchronously in the same direction and at the same angle, it is acceptable.

[0048] In this embodiment, a lifting drive motor is used in conjunction with a mechanical synchronous transmission assembly to drive multiple lifting lead screws 412. When the lifting drive motor rotates, the multiple lifting lead screws 412 together drive multiple lead screw sleeves 411 distributed around the lifting frame 41 to move synchronously, thereby reducing the possibility of the rigid lifting frame 41 tilting or jamming due to different displacements of each support point. The lifting drive motor and the mechanical synchronous transmission assembly both adopt the publicly disclosed prior art.

[0049] A linkage shaft 42 is rotatably mounted on the lifting frame 41. The linkage shaft 42 extends along one side of the lifting frame 41 and is rotatably supported by a bearing seat mounted on the lifting frame 41. A drive crank 422 is fixedly mounted at one end of the linkage shaft 42. The cylinder body of the linkage drive cylinder 421 is hinged to one side of the lifting frame 41. The output end of the linkage drive cylinder 421 is hinged to the drive crank 422, so that when the linkage drive cylinder 421 extends or retracts, it can drive the linkage shaft 42 to reciprocate within a predetermined angle range through the drive crank 422.

[0050] Multiple first actuating arms 43 and multiple second actuating arms 44 are distributed along the axial direction on the linkage shaft 42. The multiple first actuating arms 43 are aligned with the operating handles 26 of multiple transverse clamps 23 one by one, and the multiple second actuating arms 44 are aligned with the operating handles 26 of multiple longitudinal clamps 24 one by one. Therefore, when a linkage shaft 42 rotates, multiple first actuating arms 43 and second actuating arms 44 can swing together and perform centralized operation on multiple operating handles 26 of the same group of clamps.

[0051] The first actuating arm 43 and the second actuating arm 44 are not only arranged along the axial direction of the linkage shaft 42 at positions corresponding to different clamps, but also form a circumferential phase misalignment along the rotation direction of the linkage shaft 42. The second actuating arm 44 is located in front of the first actuating arm 43 in the unrestricted rotation direction of the linkage shaft 42. When the linkage shaft 42 rotates from the disengaged position to the unrestricted direction, the second actuating arm 44 first reaches the operating position of the longitudinal clamp 24, and the first actuating arm 43 reaches the operating position of the transverse clamp 23 after the linkage shaft 42 continues to rotate through the corresponding phase angle.

[0052] The free end of the second actuating arm 44 extends to form a push rod 441. Multiple push rods 441 are aligned one by one with the operating handles 26 of multiple longitudinal clamps 24 along the axial direction of the linkage shaft 42. When the lifting frame 41 descends to the release position, the push rod 441 is located above the operating handle 26 of the corresponding longitudinal clamp 24, and the free end of the first actuating arm 43 is located above the operating handle 26 of the corresponding transverse clamp 23. After the linkage shaft 42 rotates, the push rod 441 and the first actuating arm 43 respectively move the corresponding operating handle 26 downward along the arc path.

[0053] The linkage shaft 42 has a disengaged position. In this position, the first actuating arm 43 and the push rod 441 are both located above the corresponding operating handle 26 and are spaced apart from the operating handle 26. When the lifting frame 41 descends, the linkage shaft 42 remains in the disengaged position, thereby preventing the actuating element from laterally hooking the operating handle 26 during the descent. After the two sets of clamps are released, the linkage drive cylinder 421 first drives the linkage shaft 42 to rotate in the opposite direction to the disengaged position, and then the mechanical synchronous transmission component drives the lifting frame 41 to rise.

[0054] The riveting assembly 3 includes a horizontal moving module 35 and a vertical moving module 36. The horizontal moving module 35 is fixedly mounted on the upper part of the frame 1 in the horizontal direction, and the vertical moving module 36 is slidably mounted in the extending direction of the horizontal moving module 35. The main shaft mounting seat 31 is fixedly mounted at the lower end of the vertical moving module 36. Therefore, the horizontal moving module 35 can adjust the horizontal position of the main shaft mounting seat 31, and the vertical moving module 36 can adjust the height of the main shaft mounting seat 31 relative to the wing frame 5.

[0055] The spindle mounting base 31 is rotatably equipped with a support spindle 32 at its lower part. The support spindle 32 extends vertically and is used to support a C-shaped support frame 33. The C-shaped support frame 33 is fixedly installed at the lower end of the support spindle 32. The rotary drive motor 34 is fixedly installed above the spindle mounting base 31. The synchronous belt drive component 341 is installed on the lower side of the spindle mounting base 31 and drives the output shaft of the rotary drive motor 34 to the support spindle 32, so that the rotary drive motor 34 can drive the support spindle 32 and the C-shaped support frame 33 to rotate around the vertical axis.

[0056] The C-shaped support frame 33 has an opening facing the side of the connection node of the wing frame 5. The upper end of the C-shaped support frame 33 is provided with an upper riveting head 331, and the lower end is provided with a lower riveting mold 332 facing the upper riveting head 331. The horizontal moving module 35, the vertical moving module 36 and the rotary drive motor 34 cooperate to adjust the position and opening direction of the C-shaped support frame 33, so that the C-shaped support frame 33 can enter from the side of the connection node, and the upper riveting head 331 and the lower riveting mold 332 are located on the upper and lower sides of the connection node, respectively.

[0057] The upper riveting head 331 is equipped with a linear riveting power component used in existing riveting equipment. The riveting power component drives the upper riveting head 331 to move toward the lower riveting die 332 and applies a forming load to the rivet located at the connection node. The lower riveting die 332 bears the opposing reaction force. The riveting reaction force forms a local closed loop through the lower riveting die 332, the C-shaped support frame 33 and the upper riveting head 331. The riveting power component and the rivet supply structure can be selected from mature modules according to the type of rivet used and are not separately labeled in the attached drawings.

[0058] The main support shaft 32 is used to support the slewing bearing and weight of the C-shaped support frame 33. The slewing drive motor 34 is only used to adjust the entry direction of the C-shaped support frame 33. Neither the main support shaft 32 nor the slewing drive motor 34 is used as a power source for riveting loading. Similarly, the lifting frame 41 does not form a riveting reaction force transmission relationship with the C-shaped support frame 33.

[0059] When this equipment is working, the transverse carriage assembly 2 is first moved to the loading position outside the frame 1. The longitudinal beam is passed through the clearance notch 222 of multiple contour positioning seats 22 and the transverse beam is placed on the corresponding contour positioning seat 22. The side of the transverse beam is brought closer to the positioning baffle 221. The initial clamping of the transverse clamp 23 and the longitudinal clamp 24 is completed outside the workstation, so that the transverse beam and the longitudinal beam are kept in the initial assembly state.

[0060] After loading is completed, the transverse carriage assembly 2 enters the workstation along the guide structure at the bottom of the frame 1. At this time, the lifting frame 41 is in the raised clearance position, the linkage shaft 42 is in the disengaged position, the first actuating arm 43 and the push rod 441 are both kept at a distance from the control handle 26 and the wing frame 5, and the riveting assembly 3 is in the standby position away from the transverse carriage assembly 2.

[0061] The transverse carriage assembly 2 is driven by the existing screw feeding mechanism, so that the connection station of the first crossbeam and longitudinal beam reaches the assembly area corresponding to the riveting assembly 3 and stops. The horizontal moving module 35 and the vertical moving module 36 drive the main shaft mounting seat 31 and the C-shaped support frame 33 to approach the connection station. The rotary drive motor 34 drives the support main shaft 32 to rotate through the synchronous belt transmission component 341 to adjust the lateral entry direction of the opening of the C-shaped support frame 33.

[0062] After the C-shaped support frame 33 enters the connection station, the upper riveting head 331 is located on the upper side of the connection node, and the lower riveting die 332 is located on the lower side of the connection node. The riveting power component drives the upper riveting head 331 to move to the lower riveting die 332 and completes the riveting of the corresponding rivets. After completing one connection station, the C-shaped support frame 33 exits, and the transverse slide assembly 2 sends the next connection station into the same assembly area until all the predetermined connection stations of the wing frame 5 are riveted.

[0063] After all the connection positions are completed, the horizontal moving module 35 and the vertical moving module 36 drive the C-shaped support frame 33 to exit the lowering space of the clamp release component 4. The lifting drive motor then drives multiple lifting screws 412 to rotate through the mechanical synchronous transmission component. Multiple screw sleeves 411 drive the lifting frame 41 to descend parallel from the avoidance position to the release position. During this descent, the linkage shaft 42 remains in the disengaged position.

[0064] After the lifting frame 41 reaches the release position, the linkage drive cylinder 421 drives the linkage shaft 42 to rotate in the release direction through the drive crank 422. The second toggle arm 44 located in the front release phase first drives the push rod 441 to push the operating handle 26 of the longitudinal clamp 24 downward. The elbow connecting rod 27 of the longitudinal clamp 24 drives the pressure rod 25 away from the longitudinal beam, so that the longitudinal clamp 24 first releases the restriction on the longitudinal beam. At this time, the transverse clamp 23 still maintains the transverse beam.

[0065] The linkage shaft 42 continues to rotate in the release direction, and the first actuating arm 43 then reaches the operating position of the transverse clamp 23 and moves the corresponding operating handle 26 downward. The toggle linkage 27 of the transverse clamp 23 drives the pressure rod 25 away from the crossbeam, so that the transverse clamp 23 releases the restriction on the crossbeam, thereby completing the time-sharing release process in which the longitudinal clamp 24 is released first and the transverse clamp 23 is released later.

[0066] After both sets of clamps are released, the linkage drive cylinder 421 reverses its action and drives the linkage shaft 42 back to the disengaged position through the drive crank 422, so that the first toggle arm 43 and the push rod 441 move to the top of the corresponding control handle 26 and separate from it. Then, the mechanical synchronous transmission assembly drives multiple lifting screws 412 to rotate in the opposite direction, so that the lifting frame 41 rises in parallel to the avoidance position, so as to prevent the push rod 441 from hooking the control handle 26 when the lifting frame 41 rises.

[0067] After the lifting frame 41 is removed, the transverse carriage assembly 2 moves out of the workstation along the guide structure at the bottom of the frame 1. Since the shape of the positioning baffle 221 and the contour positioning seat 22 is not in the unloading direction of the finished part, and the transverse clamp 23 and the longitudinal clamp 24 have been released, the riveted wing frame 5 can be removed from the transverse carriage assembly 2, thus completing one wing frame assembly cycle.

[0068] During equipment debugging or replacement, the contour positioning seat 22 with the corresponding shape can be replaced according to the beam spacing and longitudinal beam section of the wing frame 5. The installation positions of the transverse clamp 23, longitudinal clamp 24, first actuating arm 43 and second actuating arm 44 along the wingspan direction can be adjusted. After adjustment, the first actuating arm 43 should correspond one-to-one with the transverse clamp 23, the push rod 441 should correspond one-to-one with the longitudinal clamp 24, and the circumferential phase relationship between the two types of actuating arms should be maintained.

[0069] Without changing the time-sharing release main line, the linkage drive cylinder 421 can be a linear drive component that can drive the linkage shaft 42 to reciprocate through the drive crank 422. The mechanical synchronous transmission component can be a synchronous belt, chain drive or transmission shaft structure. The replacement is only an equivalent selection of a mature drive form and does not change the mechanical action relationship of the second lever arm 44 acting first on the longitudinal clamp 24 and the first lever arm 43 acting subsequently on the transverse clamp 23.

[0070] In summary, this invention utilizes the transverse carriage assembly 2 to carry and transport the wing frame 5 in a clamped state station by station, uses the riveting assembly 3 to complete the closed riveting of each connection node, and lowers the clamp release assembly 4 after all riveting is completed. The longitudinal clamp 24 and the transverse clamp 23 are released sequentially by the second actuating arm 44 and the first actuating arm 43 with circumferential phase misalignment. After the linkage shaft 42 returns to the disengaged position, the lifting frame 41 is raised, thereby forming an automated operation chain that connects assembly, time-sharing release, actuation component disengagement and frame exit.

[0071] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automated assembly robot based on unmanned aerial vehicle (UAV) manufacturing, comprising a frame (1), characterized in that: A horizontal slide assembly (2) is slidably provided on the lower part of the frame (1), a riveting assembly (3) is movably provided on the upper part of the frame (1), and a clamp release assembly (4) located above the horizontal slide assembly (2) is provided inside the frame (1). The transverse carriage assembly (2) includes a carriage frame (21). The interior of the carriage frame (21) is provided with multiple contour positioning seats (22) along the extension direction of the wing skeleton. The contour positioning seats (22) are provided with clearance notches (222) for the longitudinal beams of the wing skeleton to pass through. The carriage frame (21) is provided with multiple transverse clamps (23) and multiple longitudinal clamps (24) corresponding to the transverse beams and longitudinal beams of the wing skeleton. Both the transverse clamps (23) and the longitudinal clamps (24) have control handles (26). The clamp release assembly (4) includes a lifting frame (41) that is vertically mounted above the carriage frame (21). A linkage shaft (42) is rotatably mounted on the lifting frame (41). A first actuating arm (43) corresponding to the transverse clamp (23) and a second actuating arm (44) corresponding to the longitudinal clamp (24) are distributed along the axial direction on the linkage shaft (42). The free end of the second actuating arm (44) extends to form a push rod (441). The first actuating arm (43) and the second actuating arm (44) are circumferentially phase-displaced along the rotation direction of the linkage shaft (42). The second actuating arm (44) is located on the front side of the release rotation of the first actuating arm (43). When the lifting frame (41) descends to the release position, the free ends of the push rod (441) and the first actuating arm (43) are respectively located above the corresponding operating handle (26).

2. The automated assembly robot based on UAV production and processing according to claim 1, characterized in that: The upper part of the contour positioning seat (22) is fixedly provided with a positioning baffle (221). The positioning baffle (221) is located on the side of the crossbeam of the wing frame and forms a positioning support surface. The clearance notch (222) is formed by the upper edge of the contour positioning seat (22) being recessed downward and opening towards the longitudinal beam extension direction of the wing frame.

3. The automated assembly robot based on UAV production and processing according to claim 1, characterized in that: Both the lateral clamp (23) and the longitudinal clamp (24) include a pressure bar (25) and a toggle link (27). The pressure bar (25) is movably disposed on the side of the corresponding clamp facing the wing frame. The toggle link (27) is disposed between the control handle (26) and the pressure bar (25) and is hinged to both of them. The control handle (26) drives the pressure bar (25) to reciprocate relative to the wing frame through the toggle link (27).

4. The automated assembly robot based on UAV production and processing according to claim 1, characterized in that: The clamp release assembly (4) further includes multiple lead screw sleeves (411), multiple lifting lead screws (412), and multiple lead screw mounting seats (413). The multiple lead screw sleeves (411) are respectively fixedly arranged on the periphery of the lifting frame (41). The multiple lifting lead screws (412) are respectively vertically inserted into the corresponding lead screw sleeves (411) and threadedly engaged with them. The multiple lead screw mounting seats (413) are respectively fixedly arranged on the lower part of the frame (1). The lower ends of the multiple lifting lead screws (412) are respectively rotatably mounted on the corresponding lead screw mounting seats (413).

5. An automated assembly robot based on UAV production and processing according to claim 4, characterized in that: Multiple lifting screws (412) have the same lead, and the lower ends of the multiple lifting screws (412) are connected to a mechanical synchronous transmission assembly located at the lower part of the frame (1).

6. An automated assembly robot based on UAV production and processing according to claim 1, characterized in that: The clamp release assembly (4) further includes a linkage drive cylinder (421) and a drive crank (422). The cylinder body of the linkage drive cylinder (421) is hinged to one side of the lifting frame (41), and the drive crank (422) is fixedly installed at the end of the linkage shaft (42). The output end of the linkage drive cylinder (421) is hinged to the drive crank (422).

7. An automated assembly robot based on UAV production and processing according to claim 6, characterized in that: Multiple first actuating arms (43) are aligned one by one with the operating handles (26) of multiple transverse clamps (23) along the axial direction of the linkage shaft (42), and multiple push rods (441) are aligned one by one with the operating handles (26) of multiple longitudinal clamps (24) along the axial direction of the linkage shaft (42); the linkage shaft (42) has a disengaged position in which the first actuating arms (43) and push rods (441) are located above and separated from the corresponding operating handles (26).

8. An automated assembly robot based on UAV production and processing according to claim 1, characterized in that: The riveting assembly (3) includes a main shaft mounting base (31), a supporting main shaft (32), and a C-shaped support frame (33). The main shaft mounting base (31) is located above the transverse carriage assembly (2). The supporting main shaft (32) is rotatably mounted on the lower part of the main shaft mounting base (31) in a vertical direction. The C-shaped support frame (33) is fixedly set at the lower end of the supporting main shaft (32). The upper end of the C-shaped support frame (33) is provided with an upper riveting head (331), and the lower end is provided with a lower riveting die (332) facing the upper riveting head (331). The upper riveting head (331) and the lower riveting die (332) face the upper and lower sides of the connection node of the wing frame, respectively.

9. An automated assembly robot based on unmanned aerial vehicle (UAV) production and processing according to claim 8, characterized in that: The riveting assembly (3) also includes a rotary drive motor (34) and a synchronous belt drive component (341). The rotary drive motor (34) is fixedly disposed above the spindle mounting base (31), and the synchronous belt drive component (341) is disposed on the lower side of the spindle mounting base (31) and drives the output shaft of the rotary drive motor (34) to the supporting spindle (32).

10. An automated assembly robot based on UAV production and processing according to claim 8, characterized in that: The riveting assembly (3) further includes a horizontal moving module (35) and a vertical moving module (36). The horizontal moving module (35) is fixedly disposed on the upper part of the frame (1) in the horizontal direction. The vertical moving module (36) is slidably disposed along the extension direction of the horizontal moving module (35). The spindle mounting seat (31) is fixedly disposed on the lower end of the vertical moving module (36).

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