Adsorption grabbing tool for transferring aircraft skin

Abstract

The utility model relates to an absorbing and grabbing tool for transferring an aircraft skin, which comprises a movable rack capable of driving a workpiece to carry out station transfer, and a lifting placement frame capable of driving a plurality of absorbing and grabbing components to synchronously lift is arranged on a movable plate of the movable rack in an aligned manner; the multiple adsorption grabbing assemblies are installed on the placement plate of the same lifting placement frame at intervals through hydraulic positioning rods. An adsorption head of the adsorption grabbing assembly is further provided with an elastic positioning assembly capable of adaptively adjusting the inclination amplitude of the adsorption head according to the surface profile of an adsorbed area of a workpiece, and the surface, making contact with the workpiece, of the adsorption head is further provided with a margin compensation module. According to the utility model, cambered surface multi-point inclined adsorption can be carried out in a self-adaptive manner, so that the dimensional hoisting and transferring of the aircraft skin are realized.

Description

Technical Field

[0001] This utility model relates to the technical field of aircraft skin transfer equipment, and in particular to an adsorption and gripping tool for aircraft skin transfer. Background Technology

[0002] Aircraft skin refers to the shaped components that surround the aircraft's frame structure and are fixed to the frame with adhesives or rivets, forming the aircraft's aerodynamic shape. Aircraft skin is characterized by its large size, high rigidity, variety of types, and complex shapes. During the manufacturing process, to achieve superior aerodynamic performance, aircraft skin typically undergoes processing steps such as cutting, grinding, and surface coating. When processing large-sized skins, hoisting and transfer equipment is needed for transporting and adjusting the aircraft skin's workstation, allowing it to undergo different processing steps at different locations. Traditional hoisting equipment typically uses cables threaded through positioning holes in the aircraft skin to lift it, enabling the equipment to move the suspended aircraft skin.

[0003] However, due to the poor rigidity and thinness of the skin, the concentrated tension during cable hoisting easily deforms the curved surface of the aircraft skin, altering its shape and affecting the final product's appearance quality. Furthermore, existing suction cup hoisting equipment typically only effectively grips workpieces with flat surfaces, failing to adequately adapt to the curved surfaces of aircraft skin. The suction ports cannot meet the skin's surface without gaps, and the multi-suction cup structure designed to distribute hoisting tension cannot flexibly adjust to independent positions, making it impossible to ensure multiple suction cups can simultaneously and effectively adhere to the skin surface in different working postures. This hinders the achievement of high-dimensional and stable gripping and transfer of aircraft skin. Utility Model Content

[0004] The purpose of this invention is to provide an adsorption and gripping fixture for aircraft skin transfer that can adaptively perform multi-point tilted adsorption on curved surfaces to achieve state-of-the-art lifting and transfer of aircraft skin. This solves the problems of existing cable lifting equipment being unable to effectively maintain the initial deformation of the aircraft skin, which easily causes deformation of the aircraft skin during the lifting and transfer process and affects the processing quality, and existing suction cup lifting equipment being unable to effectively adapt to the curved contour of the aircraft skin, which makes it impossible for multiple suction cups to be effectively adsorbed on the surface of the aircraft skin at the same time in different postures, resulting in poor gripping stability.

[0005] The technical solution adopted by this utility model is as follows: an adsorption gripping fixture for aircraft skin transfer, including a mobile frame capable of moving the workpiece to a workstation, a lifting mounting frame capable of synchronously raising and lowering multiple adsorption gripping components is arranged on the moving plate of the mobile frame, and the multiple adsorption gripping components are installed at intervals on the mounting plate of the same lifting mounting frame by hydraulic positioning rods; the adsorption head of the adsorption gripping component is also provided with an elastic positioning component that can adaptively adjust its tilt amplitude according to the surface contour of the adsorption area of ​​the workpiece, and a margin compensation module is also provided on the surface of the adsorption head in contact with the workpiece.

[0006] According to a preferred embodiment, the adsorption gripping assembly includes an adsorption head, a vacuum generating unit, a connecting tube seat, and a bellows. The connecting tube seat is connected to the suction port of the vacuum generating unit, and the bellows, which can be bent, is connected to the end of the connecting tube seat away from the vacuum generating unit. The adsorption head is also connected to the end of the bellows away from the connecting tube seat, so that the connecting tube seat is connected to the adsorption head in a variable angle with the axis of the adsorption head.

[0007] According to a preferred embodiment, the adsorption head includes a base, a sealing plug, a guide rod, a guide sleeve, and a cross-shaped positioning frame. A sealing plug capable of cutting off the cavity is movably embedded within the through cavity of the base. The top surface of the sealing plug is coaxially connected to the guide rod. The guide sleeve, which defines the direction of movement, is sleeved on the rod body. The guide sleeve is installed in the through cavity of the base via the cross-shaped positioning frame.

[0008] According to a preferred embodiment, a limiting ring plate sleeved on the guide rod is further provided in the through cavity of the seat, and the limiting ring plate is limited to its initial position relative to the sealing block by a limiting elastic member that is simultaneously connected to its lower plate surface and the inner bottom surface of the through cavity.

[0009] According to a preferred embodiment, the elastic positioning assembly includes an upper positioning ring plate, a lower positioning ring plate, and telescopic connecting rods, wherein the upper positioning ring plate and the lower positioning ring plate are respectively sleeved on the connecting tube seat and the seat body, and a plurality of telescopic connecting rods that can limit the distance between the upper positioning ring plate and the lower positioning ring plate and the included angle of the plate surfaces are arranged circumferentially between the upper positioning ring plate and the lower positioning ring plate.

[0010] According to a preferred embodiment, the two ends of the telescopic connecting rod are rotatably hinged to the lower surface of the upper positioning ring plate and the upper surface of the lower positioning ring plate, respectively.

[0011] According to a preferred embodiment, the telescopic connecting rod includes a sleeve hinged to the lower plate surface of the upper positioning ring plate and a connecting core rod coaxially inserted into the sleeve. The insertion front end of the connecting core rod is provided with a limiting spring that can limit the length of its insertion into the sleeve. The axial lower end of the connecting core rod is hinged to the upper plate surface of the lower positioning ring plate.

[0012] According to a preferred embodiment, the margin compensation module includes an outer ring filling airbag and an elastic sealing gasket embedded in the bottom surface of the seat.

[0013] According to a preferred embodiment, the mobile frame includes a mobile plate, an intermittent deflection motor, a stabilizing circular plate, a stabilizing sliding rod, and a support frame. The support frame is mounted in a movable manner in the working area. The stabilizing circular plate is disposed on the support frame, and the intermittent deflection motor is mounted on the facing position of the stabilizing circular plate. The mobile plate is disposed on the deflection shaft of the intermittent deflection motor, and a stabilizing sliding rod capable of slidingly engaging with the stabilizing circular plate is connected to the top surface of the mobile plate.

[0014] According to a preferred embodiment, the mounting plate of the lifting mounting frame is connected to the movable plate through an array of hydraulic lifting columns.

[0015] The beneficial effects of this utility model are:

[0016] The adsorption and gripping components described in this application can be reconfigurably formed into a dot matrix profile that adapts to the surface shape of the aircraft skin under the drive of the hydraulic positioning rod. This allows multiple adsorption and gripping components to simultaneously abut against the surface of the aircraft skin under the drive of the lifting mounting frame. Furthermore, with the limited support of the elastic positioning components, the adsorption and gripping components can be precisely and obliquely pressed against the surface of the aircraft skin, ensuring the attitude matching between the adsorption head and the adsorption area of ​​the aircraft skin, thus improving the stability and effectiveness of the adsorption. In addition, the margin compensation module can fully compensate for and fill the gap between the adsorption head and the aircraft skin, ensuring the sealing of the negative pressure cavity formed by the abutment. This allows the negative pressure suction to effectively act on the surface of the aircraft skin, ensuring the stability of the adsorption and gripping process and reducing the risk of unreliable gripping leading to drop or damage due to uneven force. The adsorption and gripping component provided in this application can cooperate with the hydraulic positioning rod, elastic positioning component, and margin compensation module to enable the multi-suction cup structure to effectively adsorb onto the surface of the aircraft skin at multiple points simultaneously in different working postures. This effectively ensures the effectiveness of adsorption and gripping while dispersing the lifting and pulling force, avoiding tensile deformation caused by concentrated force, ensuring the stability of adsorption and pulling during lifting and transfer, and maintaining the efficient state of the aircraft skin. It also effectively maintains the shape of the aircraft skin, avoids irreversible deformation and damage during transfer, and improves the quality of lifting. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a preferred adsorption and gripping tool for aircraft skin transfer proposed in this utility model.

[0018] Figure 2 This is a schematic diagram of the structure of an adsorption gripping component of a preferred adsorption gripping tool for aircraft skin transfer proposed in this utility model.

[0019] Figure 3 This is a schematic diagram of the structure of an elastic positioning component of a preferred adsorption gripping tool for aircraft skin transfer proposed in this utility model when tilted and supported.

[0020] List of reference numerals

[0021] 1: Mobile frame; 2: Lifting and mounting frame; 3: Adsorption and gripping assembly; 4: Hydraulic positioning rod; 5: Elastic positioning assembly; 6: Margin compensation module; 11: Moving plate; 12: Intermittent deflection motor; 13: Stabilizing circular plate; 14: Stabilizing sliding tie rod; 15: Support frame; 21: Hydraulic lifting column; 22: Mounting plate; 31: Adsorption head; 32: Vacuum generating unit; 33: Connecting pipe seat; 34: Corrugated pipe; 311: Sealing body; 312: Sealing plug; 313: Guide rod; 314: Guide sleeve; 315: Cross positioning frame; 316: Limiting ring plate; 317: Limiting elastic element; 51: Upper positioning ring plate; 52: Lower positioning ring plate; 53: Telescopic connecting rod; 531: Sleeve; 532: Connecting core rod; 533: Limiting spring; 61: Outer ring filling airbag; 62: Elastic sealing gasket. Detailed Implementation

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the present utility model will be briefly introduced below in conjunction with the accompanying drawings and descriptions of the embodiments or the prior art. Obviously, the following description of the structure of the drawings is only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] The technical solution provided by this utility model will be described in detail below with reference to the accompanying drawings and through embodiments. It should be noted that the description of these embodiments is intended to aid in understanding this utility model, but does not constitute a limitation thereof. In some examples, because some implementation methods belong to existing or conventional technology, they are not described or are not described in detail.

[0024] The following is a detailed explanation with reference to the accompanying drawings.

[0025] Example 1

[0026] This application provides an adsorption gripping fixture for aircraft skin transfer, which includes a mobile frame 1, a lifting and mounting frame 2, an adsorption gripping component 3, a hydraulic positioning rod 4, an elastic positioning component 5, and a margin compensation module 6.

[0027] according to Figure 1-3 In one specific embodiment, the mobile frame 1 can be repositioned to mount the lifting structure above the aircraft skin processing equipment, enabling the transfer of aircraft skin workpieces between workstations and allowing large-sized skins to undergo multiple processing steps continuously in the workshop. A lifting platform 2, capable of synchronously raising and lowering multiple adsorption gripping components 3, is positioned on the moving plate 11 of the mobile frame 1. Multiple adsorption gripping components 3 are spaced apart on the mounting plate 22 of the same lifting platform 2 via hydraulic positioning rods 4. An elastic positioning component 5 is also provided on the adsorption head 31 of the adsorption gripping component 3, capable of adaptively adjusting its tilt amplitude according to the surface contour of the adsorption area of ​​the workpiece. A margin compensation module 6 is also provided on the surface of the adsorption head 31 that contacts the workpiece. The adsorption and gripping component 3 provided in this application can be reconfigurably formed into a dot matrix profile surface adapted to the surface shape of the aircraft skin under the drive of the hydraulic positioning rod 4. Thus, several adsorption and gripping components 3 can simultaneously abut against the surface of the aircraft skin under the drive of the lifting mounting frame 2. Furthermore, under the limited support of the elastic positioning component 5, the adsorption and gripping components 3 can be precisely and obliquely pressed against the surface of the aircraft skin, ensuring the attitude matching degree between the adsorption head 31 and the adsorption area of ​​the aircraft skin, and improving the stability and effectiveness of the adsorption. In addition, the margin compensation module 6 can fully compensate for and fill the gap between the adsorption head 31 and the aircraft skin, ensuring the sealing of the negative pressure cavity formed by the abutment. This allows the negative pressure suction to effectively act on the surface of the aircraft skin, ensuring the stability of the adsorption and gripping, and reducing the risk of unreliable gripping leading to drop or damage due to uneven force. The adsorption and gripping component 3 provided in this application can cooperate with the hydraulic positioning rod 4, the elastic positioning component 5, and the margin compensation module 6 to enable the multi-suction cup structure to effectively adsorb onto the surface of the aircraft skin at multiple points in different working postures. This effectively ensures the effectiveness of adsorption and gripping while dispersing the lifting and pulling force, avoiding tensile deformation caused by concentrated force, ensuring the adsorption and pulling stability during lifting and transfer, and maintaining the efficient state of the aircraft skin. It also effectively maintains the shape of the aircraft skin, avoids irreversible deformation and damage during transfer, and improves the quality of lifting.

[0028] Preferably, the movable frame 1 includes a movable plate 11, an intermittent deflection motor 12, a stabilizing circular plate 13, a stabilizing sliding tie rod 14, and a support frame 15. Specifically, the support frame 15 is mounted in a movable manner and supported in the working area. Preferably, the stabilizing circular plate 13 is provided on the support frame 15. More preferably, the intermittent deflection motor 12 is mounted on the facing position of the stabilizing circular plate 13. The intermittent deflection motor 12 is preferably a RAYLASE AXIALSCAN series intermittent deflection device. Preferably, the movable plate 11 is provided on the deflection shaft of the intermittent deflection motor 12. More preferably, a stabilizing sliding rod 14, which can slide along the stabilizing circular plate 13, is detachably or fixedly connected to the top surface of the movable plate 11. This ensures that the distance between any point on the movable plate 11 and the stabilizing circular plate 13 remains constant. Therefore, when a large aircraft skin is being lifted from one side of the movable plate 11, it remains stable due to the limiting force of the stabilizing sliding rod 14, guaranteeing the movement accuracy of the entire mechanism during deflection and lifting. Preferably, the top roller 141 of the stabilizing sliding rod 14 is connected to the ring track 131 of the stabilizing circular plate 13, providing a stable upward lifting force to the movable plate 11, ensuring its stability during deflection and preventing it from swaying up and down. The support frame 15 provided in this application can be a portal frame structure with stable support at four corners. The stabilizing circular plate 13 is installed on the lower surface of the horizontal top of the portal frame structure. More preferably, a roller assembly or other mechanism can be provided on the base of the support frame 15 to assist in its adjustment during operation.

[0029] Preferably, the lifting mounting frame 2 includes hydraulic lifting columns 21 and a mounting plate 22. More preferably, the mounting plate 22 is connected to the moving plate 11 via an array of hydraulic lifting columns 21. Preferably, the lower surface of the mounting plate 22 is also arrayed with several hydraulic positioning rods 4, each corresponding to and independently driving the adsorption and gripping components 3 to move up and down, so that the adsorption and gripping components 3 can construct an arc-shaped dot matrix profile surface adapted to the surface contour of the aircraft skin under the drive of the hydraulic positioning rods 4. Preferably, four hydraulic lifting columns 21 are supported on the edge of the mounting plate 22, and the axial upper ends of a group of hydraulic lifting columns 21 connected to the same mounting plate 22 are connected to the same side surface of the moving plate 11. More preferably, two sets of hydraulic lifting columns 21 are aligned on both sides of the moving plate 11, so that at least two aircraft skins can be transferred in one rotation cycle by means of work position switching, thereby improving transfer efficiency and speed. Preferably, the hydraulic lifting column 21 can be an electro-hydraulic actuator such as DYTZ1750 or IPR35. Specifically, the hydraulic lifting column 21 can move up and down as needed, so that several suction heads 31 arranged in an arc-shaped point cloud array can simultaneously and accurately press against the surface of the aircraft skin.

[0030] Preferably, the adsorption and gripping component 3 includes an adsorption head 31, a vacuum generating unit 32, a connecting tube seat 33, and a corrugated tube 34. Preferably, the connecting tube seat 33 is connected to the suction port of the vacuum generating unit 32. Preferably, the end of the connecting tube seat 33 away from the vacuum generating unit 32 is connected to the bendable corrugated tube 34. More preferably, the end of the corrugated tube 34 away from the connecting tube seat 33 is also connected to the adsorption head 31, so that the connecting tube seat 33 is connected to the adsorption head 31 in a variable angle with the axis of the adsorption head 31. Specifically, the corrugated tube 34 can be made of a composite material with a certain shape retention capability and is capable of expansion, contraction, and bending. Specifically, multiple vacuum generating units 32 are installed at the lower axial end of the hydraulic positioning rod 4 in a one-to-one correspondence with the hydraulic positioning rod 4, so that several adsorption and gripping components 3 can move independently under the drive of the hydraulic positioning rod 4, thereby positioning the adsorption head 31 at different height positions, so that the center points of several dot-matrix adsorption heads 31 jointly mark a point cloud array contour surface adapted to the surface morphology of the aircraft skin. Preferably, the vacuum generating unit 32 can be a vacuum generator of model ZR115L1-K15GB-EL. The vacuum generating unit 32 provided in this application can be connected to the adsorption head 31 through the series connecting pipe seat 33 and the bellows 34, so that the air suction can be controlled to make the adsorption head 31 against the surface of the aircraft skin effectively adsorb onto the surface of the aircraft skin, thereby enabling the adsorption head 31 to adsorb and grip the aircraft skin for lifting and transfer. The adsorption heads 31 provided in this application can simultaneously adsorb onto the surface of the aircraft skin in a dot matrix distribution, thereby effectively maintaining the initial shape of the aircraft skin. This allows the tensile force on the aircraft skin during hoisting to be effectively dispersed, avoiding force concentration, thus ensuring uniform force and shape stability during the transfer of the aircraft skin and reducing the risk of deformation.

[0031] Preferably, the adsorption head 31 includes a base 311, a sealing plug 312, a guide rod 313, a guide sleeve 314, and a cross-shaped positioning frame 315. Preferably, a sealing plug 312 capable of cutting off the cavity is movably embedded in the through cavity of the base 311. Specifically, a lifting protrusion is provided on the bottom surface of the sealing plug 312, so that when the base 311 abuts against the surface of the aircraft skin, the sealing plug 312 can be lifted and driven upward to open the through cavity, thereby the negative pressure adsorption force pulls the aircraft skin to stably abut against the lower surface of the base 311, so that it can move with the base 311. More preferably, the top surface of the sealing plug 312 is coaxially connected to the guide rod 313, which is also located in the through cavity of the base 311. Preferably, a guide sleeve 314 limiting its movement direction is sleeved on the rod body of the guide rod 313. More preferably, the guide sleeve 314 is centrally installed in the through cavity of the base 311 via a cross-shaped positioning bracket 315. Preferably, the center of the inner bottom surface of the through cavity of the base 311 has an inverted frustum-shaped chamber opening adapted to the sealing plug 312. More preferably, multiple sealing gaskets are spaced and embedded on the side surface of the sealing plug 312 to ensure the sealing effect of the sealing plug on the inverted frustum-shaped chamber opening. Preferably, a limiting ring plate 316 sleeved on the guide rod 313 is also provided in the through cavity of the base 311. Preferably, the limiting ring plate 316 is limited in its initial position relative to the sealing plug 312 by a limiting elastic member 317 connected to both its lower plate surface and the inner bottom surface of the through cavity, so that the sealing plug 312, when no external force is applied, is pulled down by the stretched limiting elastic member 317 to seal the through cavity. The adsorption head 31 provided in this application is in a closed state in the initial state, which can maintain the negative pressure stability of the inner cavity. When it comes into contact with the surface of the aircraft skin, the sealing plug 312 moves upward, so that the through cavity and the aircraft skin cooperate to form a negative pressure environment, thereby realizing the effective adsorption and gripping of the aircraft skin.

[0032] The hydraulic positioning rod 4 provided in this application can pre-adjust the positions of several adsorption and gripping components 3 to construct an arc-shaped dot matrix pattern adapted to the aircraft skin based on the surface contour parameters required for batch transfer of aircraft skin. Thus, when the hydraulic lifting column 21 extends downwards, the adsorption heads 31 of the adsorption and gripping components 3, which have height differences, can simultaneously and effectively abut against different surface points of the aircraft skin, thereby adsorbing and connecting different areas. Preferably, the hydraulic positioning rod 4 can be a precision control type hydraulic rod from the STABILUS POWERISE series.

[0033] Preferably, the elastic positioning component 5 includes an upper positioning ring plate 51, a lower positioning ring plate 52, and a telescopic connecting rod 53. Preferably, the upper positioning ring plate 51 and the lower positioning ring plate 52 are respectively sleeved on the connecting tube seat 33 and the seat body 311. More preferably, a plurality of telescopic connecting rods 53 are arranged circumferentially between the upper positioning ring plate 51 and the lower positioning ring plate 52, which can limit the distance between them and the included angle between the plate surfaces. Specifically, the two ends of the telescopic connecting rod 53 are rotatably hinged to the lower plate surface of the upper positioning ring plate 51 and the upper plate surface of the lower positioning ring plate 52, respectively. Preferably, the telescopic connecting rod 53 includes a sleeve 531 hinged to the lower plate surface of the upper positioning ring plate 51 and a connecting core rod 532 coaxially inserted into the sleeve 531. Preferably, the insertion front end of the connecting core rod 532 is provided with a limiting spring 533 that can limit its insertion length into the sleeve 531. Preferably, the lower axial end of the connecting core rod 532 is hinged to the upper plate surface of the lower positioning ring plate 52. The telescopic connecting rod 53 provided in this application can cooperate with the upper positioning ring plate 51 and the lower positioning ring plate 52 to limit the structural stability and morphological stability of the bellows 34 during bending, and ensure the adaptability of the bending change to the curvature of the skin surface, thereby ensuring the tightness of the adhesion and improving the adsorption stability and effectiveness. The telescopic connecting rod 53 provided in this application can also retract and reset when the adsorption head 31 is in a non-abutting state, so that the adsorption head 31 returns to its initial coaxial posture, so that the adsorption head 31 can adaptably adhere to the surface of the aircraft skin during secondary adsorption and hoisting, improving the self-adaptability and adjustability of the adhesion, thereby improving the applicability and tightness of the adsorption gripping. In addition, the telescopic connecting rod 53 can also eliminate the excessive extension and extension impact of the hydraulic rod through telescopic deformation, avoid the defect of excessive pressure of the suction head 31 against the surface of the aircraft skin causing deformation of the aircraft skin, and improve the stability and contact safety of multi-point contact suction gripping.

[0034] Preferably, the margin compensation module 6 includes an outer ring filling airbag 61 and an elastic sealing gasket 62 embedded in the bottom surface of the seat 311. More preferably, the outer ring filling airbag 61 can correct and supplement the movement margin of the seat 311 by compression deformation to ensure the tightness of the contact. Preferably, the outer ring filling airbag 61 is a rubber airbag with a sealing gasket layer attached to its lower surface. Preferably, the elastic sealing gasket and the sealing gasket layer are made of silicone or rubber materials that can fill gaps by deformation. The thickness of the outer ring filling airbag 61 provided in this application is greater than that of the elastic sealing gasket 62, so that the outer ring filling airbag 61 can deform to achieve effective primary filling and sealing, and the elastic sealing gasket 62 can abut against the surface of the aircraft skin to ensure the precision of the connection between the through cavity and the aircraft skin to form a sealed negative pressure cavity, ensuring the effectiveness of negative pressure traction and avoiding the defect of air leakage and ineffective adsorption.

[0035] The intermittent deflection motor 12, hydraulic lifting column 21, vacuum generating unit 32, and hydraulic positioning rod 4 involved in this application are all electrically connected to the controller and power supply. The control method of this application is controlled by the controller. The control circuit of the controller can be implemented by simple programming by those skilled in the art. The power supply is also common knowledge in the art. Furthermore, this utility model is only used to protect the mechanical device and its mechanical structural features. Therefore, this utility model will not explain the control method and circuit connection in detail.

[0036] This utility model is not limited to the above-described optional embodiments. Anyone can derive other various forms of products under the guidance of this utility model. However, regardless of any changes in shape or structure, any technical solution falling within the scope of the claims of this utility model is within the protection scope of this utility model. Those skilled in the art should understand that this utility model specification and its drawings are illustrative and do not constitute a limitation on the claims. The protection scope of this utility model is defined by the claims and their equivalents. Throughout the text, features introduced by "preferred" are merely optional and should not be construed as mandatory. Therefore, the applicant reserves the right to abandon or delete relevant preferred features at any time.

Claims

1. An adsorption gripping fixture for aircraft skin transfer, comprising a movable frame (1) capable of moving the workpiece to a workstation, characterized in that, A lifting mounting frame (2) capable of driving multiple adsorption and gripping components (3) to move synchronously is arranged on the moving plate (11) of the mobile frame (1), and multiple adsorption and gripping components (3) are installed at intervals on the mounting plate (22) of the same lifting mounting frame (2) by hydraulic positioning rods (4). An elastic positioning component (5) is provided on the adsorption head (31) of the adsorption gripping component (3) so as to adaptively adjust its tilt amplitude according to the surface contour of the adsorption area of ​​the workpiece, and a margin compensation module (6) is provided on the surface of the adsorption head (31) in contact with the workpiece.

2. The adsorption gripping fixture for aircraft skin transfer as described in claim 1, characterized in that, The adsorption and gripping assembly (3) includes an adsorption head (31), a vacuum generating unit (32), a connecting tube seat (33), and a bellows (34), wherein, The vacuum generating unit (32) is connected to the suction port of the vacuum generating unit (32), and the end of the connecting tube (33) away from the vacuum generating unit (32) is connected to the corrugated tube (34) that can be bent. The end of the corrugated tube (34) away from the connecting tube (33) is also connected to the suction head (31), so that the connecting tube (33) is connected to the suction head (31) in a variable manner according to the angle between its axis and the axis of the suction head (31).

3. The adsorption gripping fixture for aircraft skin transfer as described in claim 2, characterized in that, The adsorption head (31) includes a base (311), a sealing plug (312), a guide rod (313), a guide sleeve (314), and a cross positioning frame (315), wherein... A sealing plug (312) capable of cutting off the cavity is movably installed in the through cavity of the seat (311), and the top surface of the sealing plug (312) is coaxially connected to the guide rod (313). The guide rod (313) has a guide sleeve (314) fitted on its rod body to limit its movement direction, and the guide sleeve (314) is installed in the through cavity of the seat (311) through the cross positioning frame (315).

4. The adsorption gripping fixture for aircraft skin transfer as described in claim 3, characterized in that, A limiting ring plate (316) is also provided in the through cavity of the seat (311) and sleeved on the guide rod (313). The limiting ring plate (316) is limited to its initial position relative to the sealing plug (312) by a limiting elastic member (317) that is connected to both its lower plate surface and the inner bottom surface of the through cavity.

5. The adsorption gripping fixture for aircraft skin transfer as described in claim 4, characterized in that, The elastic positioning component (5) includes an upper positioning ring plate (51), a lower positioning ring plate (52), and a telescopic connecting rod (53), wherein, The upper positioning ring plate (51) and the lower positioning ring plate (52) are respectively sleeved on the connecting pipe seat (33) and the seat body (311). Multiple telescopic connecting rods (53) are arranged circumferentially between the upper positioning ring plate (51) and the lower positioning ring plate (52) to limit the distance between the two and the included angle between the plate surfaces.

6. The adsorption gripping fixture for aircraft skin transfer as described in claim 5, characterized in that, The two ends of the telescopic connecting rod (53) are rotatably hinged to the lower plate surface of the upper positioning ring plate (51) and the upper plate surface of the lower positioning ring plate (52).

7. The adsorption gripping fixture for aircraft skin transfer as described in claim 6, characterized in that, The telescopic connecting rod (53) includes a sleeve (531) hinged to the lower plate surface of the upper positioning ring plate (51) and a connecting core rod (532) coaxially inserted in the sleeve (531). The front end of the connecting core rod (532) is provided with a limiting spring (533) that can limit its insertion length into the sleeve (531). The axial lower end of the connecting core rod (532) is hinged to the upper plate surface of the lower positioning ring plate (52).

8. The adsorption gripping fixture for aircraft skin transfer as described in claim 7, characterized in that, The margin compensation module (6) includes an outer ring filling airbag (61) and an elastic sealing gasket (62) embedded in the bottom surface of the seat (311).

9. The adsorption gripping fixture for aircraft skin transfer as described in claim 8, characterized in that, The mobile frame (1) includes a moving plate (11), an intermittent deflection motor (12), a stabilizing circular plate (13), a stabilizing sliding tie rod (14), and a support frame (15), wherein, The support frame (15) is mounted in a movable manner in the working area. The stabilizing circular plate (13) is provided on the support frame (15), and the intermittent deflection motor (12) is installed on the facing position of the stabilizing circular plate (13). The moving plate (11) is provided on the deflection shaft of the intermittent deflection motor (12), and a stabilizing sliding rod (14) that can slide along the stabilizing circular plate (13) is connected to the top surface of the moving plate (11).

10. The adsorption gripping fixture for aircraft skin transfer as described in claim 9, characterized in that, The mounting plate (22) of the lifting mounting frame (2) is connected to the moving plate (11) through an array of hydraulic lifting columns (21).

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