CN103302675A - Flexible manipulator for upper parts of wallboard - Google Patents
Flexible manipulator for upper parts of wallboard Download PDFInfo
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- CN103302675A CN103302675A CN2013102362869A CN201310236286A CN103302675A CN 103302675 A CN103302675 A CN 103302675A CN 2013102362869 A CN2013102362869 A CN 2013102362869A CN 201310236286 A CN201310236286 A CN 201310236286A CN 103302675 A CN103302675 A CN 103302675A
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Abstract
The invention relates to a flexible manipulator for upper parts of a wallboard. The flexible manipulator comprises a movable base, a lifting upright post, a multi-shaft mechanical arm and a wallboard clamp, wherein the lower part of the lifting upright post is located on the upper surface of the movable base, the upper part is connected with the multi-shaft mechanical arm through a flange, the upper part of a flange plate on the multi-shaft mechanical arm is connected with a big manipulator arm through a connecting upright post, one end of the big manipulator arm is connected with a piston rod of a balance cylinder, the other end of the balance cylinder is connected with the bottom of the connecting upright post, the other end of the big manipulator arm is connected with a rotary post, the lower part of the rotary post is connected with a small manipulator arm, and the lower part of the small manipulator arm is connected with the wallboard clamp through a rotary connector; and the rotary connector is arranged on the wallboard clamp, an overturn cylinder and a rotating cylinder are connected onto an operation board connected onto the rotary connector, and a plurality of vacuum chucks are arranged on a clamp main body profile. According to the flexible manipulator for the upper parts of the wallboard, with the reconstruction of vacuum chuck dot matrix, the assembly of upper parts of various large skins and wallboards can be satisfied, simultaneously, the universality is strong, the mounting and dismounting are simple and flexible, and accordingly the production efficiency is improved greatly.
Description
Technical field
The present invention relates to part flexible manipulator on a kind of wallboard, be used for upper assembling of large-scale covering or integral panel, belong to mechanical assembling field.
Background technology
Advanced Aircraft has adopted more large-scale covering and integral panel in design, and this class part uses carbon fibre composite, high-strength aluminum alloy, titanium alloy etc. more.Because large-scale covering and integral panel physical dimension are large, rigidity is relatively poor, very easily deforms in the assembling process, therefore need open auricle, design suspension centre and make special use and hang to guarantee its profile degree of accuracy.Usually, a rigidity is hung and can only be cooperated an aircraft structure, when aircraft type changes, need redesign and make one group of corresponding hanging, this " one to one " pattern has not only increased the Assembling Production cycle of aircraft, and has improved the production cost of complete machine, along with the continuous renewal of product type, have a large amount of special uses and hang displacement, work storage occupation of land problem also can be severe all the more.
Summary of the invention
The technical problem to be solved in the present invention provides part flexible manipulator on a kind of wallboard, the part flexible manipulator is by reconstruct vacuum cup dot matrix on this wallboard, can satisfy upper assembling, simultaneously its highly versatile of multiple large-scale covering, wallboard, the dismounting simple and flexible, thus greatly enhance productivity.
For overcoming the above problems, concrete technical scheme of the present invention is as follows: part flexible manipulator on a kind of wallboard mainly is comprised of mobile foundation, lifting column, multi-axis mechanical arm and wallboard anchor clamps; Wherein the below of lifting column is positioned at the upper surface of mobile foundation, the top of lifting column connects multi-axis mechanical arm by flange, the multi-axis mechanical arm structure is: be provided with the connection column above ring flange, the top that connects column is flexibly connected the large arm of manipulator, large arm one end of manipulator connects the piston rod of balance cylinder, the other end of balance cylinder connects bottom being connected column, the other end of the large arm of manipulator connects rotation pole, the rotation pole underside connects is inverted L-type manipulator forearm, the below of manipulator forearm connects rotary connector, rotary connector connecting wall board clamp; The structure of wallboard anchor clamps is: with connect upset cylinder and rotary cylinder on the operation panel that rotary connector is connected, the upset cylinder is connected the other end and is connected with the jig main body section bar respectively with rotary cylinder, be provided with several vacuum cups at the jig main body section bar.
The structure of described lifting column is, is provided with the air motor reductor below fixed leg, and the air motor reductor is connected with sliding-rail sliding, is provided with slide rail at fixed leg, and sliding-rail sliding cooperates with slide rail.
The structure of described mobile foundation is: the bottom rear at mobile foundation is provided with universal wheel, and the place ahead, bottom is provided with movable pulley, and is provided with locking mechanism at movable pulley; Be provided with bearing between movable pulley and universal wheel, bearing is provided with locking device; Be provided with mobile handgrip at the rear of mobile foundation.
The advantage of part flexible manipulator is on this wallboard: the moment that the anchor clamps that 1) adopt have the weight of manipulator to produce relies on balance cylinder to come balance, makes like this operating physical force of anchor clamps near zero load;
2) the clamp type frame manufactures guide rail form, and the vacuum cup modularized design is with bolts fixing, removes and installs simple and flexible, can be by accessory size reconstruct vacuum cup dot matrix, and opening character is good;
3) vacuum cup is provided with altimetric compensation device and angle compensation device, can regulate the sucker attitude, fits tightly the aerodynamic configuration of large-scale covering, can not cause deformation of products because forcing clamping;
4) this equipment interoperability is strong, can satisfy upper assembling of the large-scale covering of Multiple Type and wallboard, has reduced to a certain extent production cost, has shortened the production preparatory period, and has alleviated the idle problem of taking up an area of special tooling.
In sum, the part flexible manipulator can satisfy upper assembling of the large-scale covering of Multiple Type, wallboard, and it is simple in structure, equipment is light, handling safety is reliable by reconstruct vacuum cup dot matrix on this wallboard.
Description of drawings
Fig. 1 is the three-dimensional structure diagram of part flexible manipulator on the wallboard.
Fig. 2 is the movable base structural representation.
Fig. 3 is the lifting column structural representation.
Fig. 4 is the multi-axis mechanical arm structural representation.
Fig. 5 is wallboard clamp structure schematic diagram.
The specific embodiment
To shown in Figure 5, part flexible manipulator on a kind of wallboard mainly is comprised of mobile foundation 1, lifting column 2, multi-axis mechanical arm 3 and wallboard anchor clamps 4 such as Fig. 1; Wherein the below of lifting column 2 is positioned at the upper surface of mobile foundation 1, the top of lifting column 2 connects multi-axis mechanical arm 3 by flange, multi-axis mechanical arm 3 structures are: be provided with connection column 14 above ring flange, the top that connects column 14 is flexibly connected the large arm 15 of manipulator, large arm 15 1 ends of manipulator connect the piston rod of balance cylinder 16, the other end of balance cylinder 16 be connected column 14 bottoms and connect, the other end of the large arm 15 of manipulator connects rotation pole 17, rotation pole 17 underside connect is inverted L-type manipulator forearm 18, the below of manipulator forearm 18 connects rotary connector 19, rotary connector 19 connecting wall board clamps 4; The structure of wallboard anchor clamps 4 is: with connect upset cylinder 20 and rotary cylinder 21 on the operation panel 24 that rotary connector 19 is connected, the other end that upset cylinder 20 is connected with rotary cylinder is connected with jig main body section bar 23 respectively, is provided with several vacuum cups 22 at jig main body section bar 23.
The structure of described lifting column 2 is, is provided with air motor reductor 13 below fixed leg 12, and air motor reductor 13 is connected with sliding-rail sliding 11, is provided with slide rail 10 at fixed leg 12, and sliding-rail sliding 11 cooperates with slide rail 10.
The structure of described mobile foundation 1 is: the bottom rear at mobile foundation is provided with universal wheel 6, and the place ahead, bottom is provided with movable pulley 9, and is provided with locking mechanism at movable pulley 9; Be provided with bearing 8 between movable pulley 9 and universal wheel 6, bearing 8 is provided with locking device; Be provided with mobile handgrip 5 at the rear of mobile foundation 1.
The course of work of part flexible manipulator is as follows on this wallboard: move to the position of appointment by mobile foundation, and simultaneously that deflecting roller is locked, mention bearing and locking; Start the starter of lifting column bottom, lifting column is mentioned, maximum can realize two meters lifting; The wallboard anchor clamps adsorb large-scale skin part by vacuum cup, and adsorption site can be adjusted according to the center of gravity of part simultaneously, and by the balance cylinder trimming moment, mechanical arm can be realized the lifting of 1500mm and 360 ° rotation simultaneously; Because the wallboard anchor clamps are installed on the operation panel, overturn simultaneously cylinder and deflection cylinder can realize insert row left-handed, dextrorotation, on turn over and under turn over.
Claims (3)
1. part flexible manipulator on the wallboard is characterized in that: mainly be comprised of mobile foundation (1), lifting column (2), multi-axis mechanical arm (3) and wallboard anchor clamps (4); Wherein the below of lifting column (2) is positioned at the upper surface of mobile foundation (1), the top of lifting column (2) connects multi-axis mechanical arm (3) by flange, multi-axis mechanical arm (3) structure is: be provided with connection column (14) above ring flange, the top that connects column (14) is flexibly connected the large arm of manipulator (15), large arm (15) one ends of manipulator connect the piston rod of balance cylinder (16), the other end of balance cylinder (16) connects bottom being connected column (14), the other end of the large arm of manipulator (15) connects rotation pole (17), rotation pole (17) underside connects is inverted L-type manipulator forearm (18), the below of manipulator forearm (18) connects rotary connector (19), rotary connector (19) connecting wall board clamp (4); The structure of wallboard anchor clamps (4) is: upper upset cylinder (20) and the rotary cylinder (21) of connecting of the operation panel (24) that is connected with rotary connector (19), the upset cylinder (20) be connected 21 with rotary cylinder) the other end be connected with jig main body section bar (23) respectively, be provided with several vacuum cups (22) at jig main body section bar (23).
2. part flexible manipulator on the wallboard as claimed in claim 1, it is characterized in that: the structure of described lifting column (2) is, be provided with air motor reductor (13) in the below of fixed leg (12), air motor reductor (13) is connected with sliding-rail sliding (11), be provided with slide rail (10) at fixed leg (12), sliding-rail sliding (11) cooperates with slide rail (10).
3. part flexible manipulator on the wallboard as claimed in claim 1 or 2, it is characterized in that: the structure of described mobile foundation (1) is: the bottom rear at mobile foundation is provided with universal wheel (6), the place ahead, bottom is provided with movable pulley (9), and is provided with locking mechanism at movable pulley (9); Be provided with bearing (8) between movable pulley (9) and universal wheel (6), bearing (8) is provided with locking device; Be provided with mobile handgrip (5) at the rear of mobile foundation (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013102362869A CN103302675A (en) | 2013-06-17 | 2013-06-17 | Flexible manipulator for upper parts of wallboard |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013102362869A CN103302675A (en) | 2013-06-17 | 2013-06-17 | Flexible manipulator for upper parts of wallboard |
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| Publication Number | Publication Date |
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| CN103302675A true CN103302675A (en) | 2013-09-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2013102362869A Pending CN103302675A (en) | 2013-06-17 | 2013-06-17 | Flexible manipulator for upper parts of wallboard |
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| CN (1) | CN103302675A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104476537A (en) * | 2014-12-10 | 2015-04-01 | 广西大学 | Multi-degree-of-freedom parallel mechanism type mobile spot welding robot |
| CN106625738A (en) * | 2017-01-20 | 2017-05-10 | 北京志峰环保设备有限公司 | Intelligent assembling sucker for domestic wastewater treatment system |
| CN107244564A (en) * | 2017-07-25 | 2017-10-13 | 芜湖超源力工业设计有限公司 | A kind of turnover robot palletizer of fixture |
| CN107696012A (en) * | 2017-09-20 | 2018-02-16 | 广东拓斯达科技股份有限公司 | A kind of robot of equilbrium running |
| CN108423427A (en) * | 2018-03-05 | 2018-08-21 | 菲尼克斯(南京)智能制造技术工程有限公司 | Vacuum sucking device and method |
| CN110316543A (en) * | 2019-06-27 | 2019-10-11 | Tcl王牌电器(惠州)有限公司 | A kind of panel tipping arrangement |
| CN110695975A (en) * | 2019-09-20 | 2020-01-17 | 西安飞机工业（集团）有限责任公司 | Pneumatic power-assisted flexible assembly equipment for airplane cabin door |
| CN111268597A (en) * | 2020-01-20 | 2020-06-12 | 惠州普瑞康建筑材料有限公司 | Wallboard turnover machine |
| FR3093331A1 (en) * | 2019-03-01 | 2020-09-04 | Robotile | Material handling and installation assistance system |
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| JPS60135107U (en) * | 1984-02-20 | 1985-09-07 | 株式会社トプコン | Medical equipment support device |
| US5413454A (en) * | 1993-07-09 | 1995-05-09 | Movsesian; Peter | Mobile robotic arm |
| EP0591304B1 (en) * | 1991-06-25 | 1996-10-02 | STRÖDTER, Wilhelm | Electronic balance control and regulation for lifting gear |
| WO2004028754A1 (en) * | 2002-09-27 | 2004-04-08 | Consejo Superior De Investigaciones Científicas | Guided mobile load handling system |
| CN201565960U (en) * | 2009-09-27 | 2010-09-01 | 联茂(无锡)电子科技有限公司 | Carrying machine tool and vacuum suction devices thereof |
| DE202010008424U1 (en) * | 2010-09-01 | 2011-12-06 | Zasche Sitec Handling Gmbh | handling device |
| CN202107270U (en) * | 2011-05-21 | 2012-01-11 | 佛山市南海区豪特玻璃机械有限公司 | Pneumatic tower type glass station assisting mechanical arm |
| CN202241287U (en) * | 2011-10-20 | 2012-05-30 | 魏栋明 | Upright column-type boost mechanical arm |
| CN202657145U (en) * | 2012-04-23 | 2013-01-09 | 南京南车浦镇城轨车辆有限责任公司 | Railway vehicle side window glazing assistant system |
-
2013
- 2013-06-17 CN CN2013102362869A patent/CN103302675A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60135107U (en) * | 1984-02-20 | 1985-09-07 | 株式会社トプコン | Medical equipment support device |
| EP0591304B1 (en) * | 1991-06-25 | 1996-10-02 | STRÖDTER, Wilhelm | Electronic balance control and regulation for lifting gear |
| US5413454A (en) * | 1993-07-09 | 1995-05-09 | Movsesian; Peter | Mobile robotic arm |
| WO2004028754A1 (en) * | 2002-09-27 | 2004-04-08 | Consejo Superior De Investigaciones Científicas | Guided mobile load handling system |
| CN201565960U (en) * | 2009-09-27 | 2010-09-01 | 联茂(无锡)电子科技有限公司 | Carrying machine tool and vacuum suction devices thereof |
| DE202010008424U1 (en) * | 2010-09-01 | 2011-12-06 | Zasche Sitec Handling Gmbh | handling device |
| CN202107270U (en) * | 2011-05-21 | 2012-01-11 | 佛山市南海区豪特玻璃机械有限公司 | Pneumatic tower type glass station assisting mechanical arm |
| CN202241287U (en) * | 2011-10-20 | 2012-05-30 | 魏栋明 | Upright column-type boost mechanical arm |
| CN202657145U (en) * | 2012-04-23 | 2013-01-09 | 南京南车浦镇城轨车辆有限责任公司 | Railway vehicle side window glazing assistant system |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104476537A (en) * | 2014-12-10 | 2015-04-01 | 广西大学 | Multi-degree-of-freedom parallel mechanism type mobile spot welding robot |
| CN106625738A (en) * | 2017-01-20 | 2017-05-10 | 北京志峰环保设备有限公司 | Intelligent assembling sucker for domestic wastewater treatment system |
| CN106625738B (en) * | 2017-01-20 | 2019-02-22 | 北京志峰环保设备有限公司 | A kind of intelligent assembly sucker for domestic sewage processing system |
| CN107244564A (en) * | 2017-07-25 | 2017-10-13 | 芜湖超源力工业设计有限公司 | A kind of turnover robot palletizer of fixture |
| CN107696012A (en) * | 2017-09-20 | 2018-02-16 | 广东拓斯达科技股份有限公司 | A kind of robot of equilbrium running |
| CN108423427A (en) * | 2018-03-05 | 2018-08-21 | 菲尼克斯(南京)智能制造技术工程有限公司 | Vacuum sucking device and method |
| FR3093331A1 (en) * | 2019-03-01 | 2020-09-04 | Robotile | Material handling and installation assistance system |
| WO2020178513A1 (en) * | 2019-03-01 | 2020-09-10 | Robotile | Assistance system for handling and laying materials |
| CN110316543A (en) * | 2019-06-27 | 2019-10-11 | Tcl王牌电器(惠州)有限公司 | A kind of panel tipping arrangement |
| CN110316543B (en) * | 2019-06-27 | 2021-10-01 | Tcl王牌电器(惠州)有限公司 | Panel turnover equipment |
| CN110695975A (en) * | 2019-09-20 | 2020-01-17 | 西安飞机工业（集团）有限责任公司 | Pneumatic power-assisted flexible assembly equipment for airplane cabin door |
| CN111268597A (en) * | 2020-01-20 | 2020-06-12 | 惠州普瑞康建筑材料有限公司 | Wallboard turnover machine |
| CN111268597B (en) * | 2020-01-20 | 2021-10-19 | 惠州普瑞康建筑材料有限公司 | Wallboard turnover machine |
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Application publication date: 20130918 |