Automatic fin mounting device

Abstract

The utility model discloses an automatic fin mounting device which comprises a base (1) and is characterized in that a working table (3) is rotatably supported on the base (1) through a first rotary table (2), the first rotary table (2) is driven by a first servo motor (4), a supporting frame (5) is arranged in the middle of the working table (3), and a positioning mounting mechanism (6) is arranged on the working table (3) on each of two sides of the supporting frame (5). The two positioning installation mechanisms (6) are symmetrically distributed, the two sides of the supporting frame (5) are each provided with an auxiliary limiting mechanism, each auxiliary limiting mechanism comprises a pair of longitudinal sliding rails (7) connected to the side face of the supporting frame (5), the longitudinal sliding rails (7) are connected with a limiting support (8) in a sliding mode, and the limiting supports (8) are connected with the working end of a lifting cylinder arranged on the workbench (3). And a limiting sleeve (9) is also arranged on the limiting bracket (8).

Description

Technical Field

[0001] The utility model relates to the field of automatic assembly, in particular to an automatic wing installation device. Background Art

[0002] Devices such as missiles or fish that need to travel at high speed in a medium need to be equipped with fins at the tail to ensure the smoothness of their movement. At the same time, there are very strict requirements for the installation accuracy between the fins and the main body. Traditional fin installation requires the collaboration of multiple people to manually install multiple fins separately. The entire process, whether it is the preliminary calibration and alignment, or the assembly, positioning, tightening and other operations during the installation process, are all completed manually by the operator. The entire operation process is time-consuming and labor-intensive, and the work efficiency is very low. At the same time, the guarantee of installation accuracy depends to a large extent on the level of the operator, which has great limitations. Therefore, a method or device that can solve the above problems is now needed. Summary of the invention

[0003] The utility model aims to solve the above-mentioned deficiencies in the prior art and proposes an automatic wing installation device with simple structure, ingenious design and reasonable layout, which can effectively improve work efficiency and reduce manual labor while ensuring installation accuracy.

[0004] The technical solution of the utility model is: an automatic wing installation device, including a base 1, characterized in that: a workbench 3 is rotatably supported on the base 1 through a first turntable 2, the first turntable 2 is driven by a first servo motor 4, a support frame 5 is provided in the middle of the workbench 3, a set of positioning and installation mechanisms 6 are respectively provided on the workbench 3 on both sides of the support frame 5, and the two positioning and installation mechanisms 6 are symmetrically distributed, and a set of auxiliary limiting mechanisms are respectively provided on both sides of the support frame 5.

[0005] The auxiliary limiting mechanism includes a pair of longitudinal slide rails 7 connected to the side of the support frame 5, and a limiting bracket 8 is slidably connected to the longitudinal slide rails 7. The limiting bracket 8 is connected to the working end of the lifting cylinder arranged on the workbench 3, and a limiting sleeve 9 is also arranged on the limiting bracket 8.

[0006] The positioning and mounting mechanism 6 includes a second turntable 10 rotatably supported on the workbench 3, a gear ring is arranged at the bottom of the second turntable 10, and an active tooth meshing with the gear ring is arranged on the working end of the second servo motor 11, and the second servo motor 11 is supported on the workbench 3, 2n limit card seats 12 are arranged on the bottom end surface of the second turntable 10, the 2n limit card seats 12 are evenly distributed in the circumferential direction and numbered in clockwise order, and a card slot 13 is arranged at the outer end of the limit card seat 12, n cylinder brackets 14 evenly distributed in the circumferential direction and n sensor brackets 15 evenly distributed in the circumferential direction are arranged on the top end surface of the second turntable 10, a swing cylinder 16 is arranged on the cylinder bracket 14, and a sensor 17 is arranged on the sensor bracket 15, the n cylinder brackets 14 correspond one-to-one to the limit card seats 12 numbered as odd numbers, and the n sensor brackets 15 correspond one-to-one to the limit card seats 12 numbered as even numbers,

[0007] A positioning sleeve 18 is also arranged in the middle of the second turntable 10, and the positioning installation mechanism 6 also includes a positioning cylinder 19 arranged on the workbench 3, and a positioning block 20 is arranged at the working end of the positioning cylinder 19, and the positioning block 20 matches the card slot 13 on the limit card seat 12.

[0008] The center axis of the limiting sleeve 9 is collinear with the center axis of the positioning sleeve 18 .

[0009] Compared with the prior art, the utility model has the following advantages:

[0010] The automatic wing installation device of this structural form has a simple structure, ingenious design, and reasonable layout. It designs a special structure to solve various problems existing in the traditional manual installation of wing. It can efficiently, conveniently and accurately complete the positioning of the relative position relationship between the cylindrical body and the wing, and realize the connection and fixation of the wing in one process, which can not only improve work efficiency, but also ensure the installation accuracy requirements, and save manpower. And its manufacturing process is simple and the manufacturing cost is low, so it can be said that it has many advantages, and is particularly suitable for promotion and application in this field, and its market prospects are very broad. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a three-dimensional structural schematic diagram of an embodiment of the utility model.

[0012] Figure 2 It is a front view (section view) of the positioning and installation mechanism part in the embodiment of the utility model.

[0013] Figure 3 It is a bottom view of the positioning and installation mechanism part in the embodiment of the utility model.

[0014] Figure 4 It is a schematic diagram of the working state of the positioning and installation mechanism part in the embodiment of the utility model.

[0015] Base 1, first turntable 2, workbench 3, first servo motor 4, support frame 5, positioning and mounting mechanism 6, longitudinal slide rail 7, limit bracket 8, limit sleeve 9, second turntable 10, second servo motor 11, limit card seat 12, card slot 13, cylinder bracket 14, sensor bracket 15, swing cylinder 16, sensor 17, positioning sleeve 18, positioning cylinder 19, positioning block 20. DETAILED DESCRIPTION

[0016] The specific implementation of the present utility model will be described below in conjunction with the accompanying drawings. Figures 1 to 4 As shown: an automatic wing installation device includes a base 1 as a basis, a workbench 3 is rotatably supported on the base 1 through a first turntable 2, the first turntable 2 is driven by a first servo motor 4, a support frame 5 is arranged in the middle of the workbench 3, and a set of positioning and installation mechanisms 6 are respectively arranged on the workbench 3 on both sides of the support frame 5, and the two positioning and installation mechanisms 6 are symmetrically distributed, and a set of auxiliary limiting mechanisms are respectively arranged on both sides of the support frame 5.

[0017] The auxiliary limiting mechanism includes a pair of longitudinal slide rails 7 connected to the side of the support frame 5, and a limiting bracket 8 is slidably connected to the longitudinal slide rails 7. The limiting bracket 8 is connected to the working end of the lifting cylinder arranged on the workbench 3, and a limiting sleeve 9 is also arranged on the limiting bracket 8.

[0018] The positioning and mounting mechanism 6 includes a second turntable 10 rotatably supported on the workbench 3, a gear ring is arranged at the bottom of the second turntable 10, and an active tooth meshing with the gear ring is arranged on the working end of the second servo motor 11, and the second servo motor 11 is supported on the workbench 3, 2n limit card seats 12 are arranged on the bottom end surface of the second turntable 10, the 2n limit card seats 12 are evenly distributed in the circumferential direction and numbered in clockwise order, and a card slot 13 is arranged at the outer end of the limit card seat 12, n cylinder brackets 14 evenly distributed in the circumferential direction and n sensor brackets 15 evenly distributed in the circumferential direction are arranged on the top end surface of the second turntable 10, a swing cylinder 16 is arranged on the cylinder bracket 14, and a sensor 17 is arranged on the sensor bracket 15, the n cylinder brackets 14 correspond one-to-one to the limit card seats 12 numbered as odd numbers, and the n sensor brackets 15 correspond one-to-one to the limit card seats 12 numbered as even numbers,

[0019] A positioning sleeve 18 is also arranged in the middle of the second turntable 10, and the positioning installation mechanism 6 also includes a positioning cylinder 19 arranged on the workbench 3, and a positioning block 20 is arranged at the working end of the positioning cylinder 19, and the positioning block 20 matches the card slot 13 on the limit card seat 12.

[0020] The center axis of the limiting sleeve 9 is collinear with the center axis of the positioning sleeve 18 .

[0021] The working process of the wing automatic installation device of the embodiment of the utility model is as follows: in this device, the left side is the loading assembly position, and the right side is the tightening position; in the initial state, the support frame 5 in the auxiliary limiting mechanism is in a high position, at which time the support frame 5 is in a yielding state, and the manipulator takes a cylindrical body and places it in the positioning and installation mechanism 6 on the loading assembly position, specifically, it is placed in the positioning sleeve 18 in the positioning and installation mechanism 6. After the manipulator moves away, the control system sends a signal to the lifting cylinder in the auxiliary limiting mechanism corresponding to this side, and the lifting cylinder drives the support frame 5 downward, and the limiting sleeve 9 is sleeved on the upper half of the cylindrical body. At this time, the bottom of the cylindrical body is positioned by the positioning sleeve 18, and the upper half is positioned by the limiting sleeve 9, so that it can be ensured that the central axis of the cylindrical body is strictly kept vertical to the horizontal plane;

[0022] The manipulator will take a wing and move it toward the direction of the cylindrical body. The visual detection system on the manipulator will guide the manipulator to move, so that the connecting shaft on the wing is inserted into the connecting hole on the cylindrical body. After plugging in, the sensor 17 corresponding to the wing detects that the wing is in place, and the control system will control the swing cylinder 16 corresponding to the wing to move. The pressure block at the end of the swing arm of the swing cylinder 16 presses on the wing to temporarily fix the wing. After a wing is installed in place, the control system drives the second servo motor 11 to work, and the second servo motor 11 drives the second rotary After the table 10 rotates to a certain angle, it stops. Then the positioning cylinder 19 works to drive the positioning block 20 to extend. The front end of the positioning block 20 matches the shape of the slot 13 on the limit clamping seat 12. Therefore, the positioning block 20 will be inserted into the slot 13, thereby limiting the second turntable 10 in the circumferential direction. At this time, the second group of mounting holes on the cylindrical body rotates to the mounting position, and the manipulator mounts the next wing on the cylindrical body. The operation is performed in the above manner until all the wing pieces are mounted on the cylindrical body and all the wing pieces are pressed by the corresponding swing cylinders 16.

[0023] When all sensors 17 in the positioning and installation mechanism 6 at the loading and assembly position detect the wing, it means that the assembly work is completed. At this time, the control system will send a signal to the first servo motor 4, and the first servo motor 4 will drive the first turntable 2 to rotate 180° and then stop. At this time, the cylindrical body with the wing installed is switched to the tightening position, and the empty positioning and installation mechanism 6 is switched to the loading and assembly position. The manipulator matched with the loading and assembly position repeats the previous operation to assemble all n winglets to the new cylindrical body;

[0024] The manipulator matched with the tightening position will drive the tightening gun to the connecting bolt between the wing piece and the cylindrical body, and tighten the connecting bolt, so as to realize the fixed connection between the wing piece and the cylindrical body. During the tightening operation, the second turntable 10 will also make a step-by-step rotation action to cooperate with the action of the tightening gun; when all the wing pieces have completed the bolt tightening operation, the lifting cylinder drives the support frame 5 upward, the limiting sleeve 9 leaves the cylindrical body, and the material taking manipulator takes the cylindrical body with the wing piece installed from the positioning sleeve 18 and moves it to the next station;

[0025] When the wing and cylindrical body of the loading assembly position are connected and the tightening position is empty, the first turntable 2 rotates 180° again.

[0026] Repeat the above operation to continuously carry out the positioning, connection and tightening operations of the wing and the cylinder.

Claims

1. A wing automatic installation device, comprising a base (1), characterized in that: A workbench (3) is rotatably supported on the base (1) via a first turntable (2), the first turntable (2) being driven by a first servo motor (4), a support frame (5) being arranged in the middle of the workbench (3), a set of positioning and mounting mechanisms (6) being arranged on the workbench (3) on both sides of the support frame (5), and the two positioning and mounting mechanisms (6) being symmetrically distributed, and a set of auxiliary limiting mechanisms being arranged on both sides of the support frame (5), The auxiliary limiting mechanism comprises a pair of longitudinal slide rails (7) connected to the side of the support frame (5), a limiting bracket (8) is slidably connected to the longitudinal slide rails (7), the limiting bracket (8) is connected to the working end of the lifting cylinder arranged on the workbench (3), and a limiting sleeve (9) is also arranged on the limiting bracket (8). The positioning and mounting mechanism (6) comprises a second turntable (10) rotatably supported on the workbench (3), a gear ring is arranged at the bottom of the second turntable (10), an active tooth meshing with the gear ring is arranged on the working end of a second servo motor (11), and the second servo motor (11) is supported on the workbench (3), and 2n limit clamping seats (12) are arranged on the bottom end surface of the second turntable (10), the 2n limit clamping seats (12) are evenly distributed in the circumferential direction and are numbered in clockwise order, and the limit clamping seats (12) are arranged on the bottom end surface of the second turntable (10). A card slot (13) is provided at the outer end, and n cylinder brackets (14) and n sensor brackets (15) are provided on the top end surface of the second turntable (10), which are evenly distributed in the circumferential direction. A swing cylinder (16) is provided on the cylinder bracket (14), and a sensor (17) is provided on the sensor bracket (15). The n cylinder brackets (14) correspond one-to-one to the odd-numbered limit card seats (12), and the n sensor brackets (15) correspond one-to-one to the even-numbered limit card seats (12). A positioning sleeve (18) is also arranged in the middle of the second turntable (10), the positioning installation mechanism (6) further comprises a positioning cylinder (19) arranged on the workbench (3), a positioning block (20) is arranged at the working end of the positioning cylinder (19), and the positioning block (20) matches the slot (13) on the limit clamping seat (12). The central axis of the limiting sleeve (9) is colinear with the central axis of the positioning sleeve (18).

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