阅读说明：本技术 模块化插装式柔性轨道及制备方法 (Modularized plug-in type flexible track and preparation method thereof ) 是由 王珉 张浩伟 赵亮 陶克梅 陈文亮 潘劲伟 陈樱利 王威 惠昊翀 金霞 鲍益东 于 2019-11-25 设计创作，主要内容包括：一种基于模块化齿模插装结构的柔性轨道,它包括齿模(1)、柔性轨道(2)、轨道两侧的橡胶轨道环(3)和真空吸盘(4),柔性轨道(2)是经由多段柔性轨道拼接组成,其上开有多个方形导孔,且两导孔之间的距离与末端执行器中的运动齿轮的模数相匹配,齿模(1)插入方形导孔之中,经由两螺栓与柔性轨道(2)连接,齿模(1)的尺寸由运动齿轮的模数决定,在柔性轨道(2)的两侧边安装有“匚”形橡胶轨道环(3)。本发明结构简单,重量较轻；搭配五坐标调姿制孔执行器的齿轮传动,其特征是传动精度高,传动效率高,工作可靠,使用寿命长；且齿模、轨道以及橡胶轨道环可做模块化生产,互换性高。(The utility model provides a flexible track based on modularization tooth mould cartridge structure, it includes tooth mould (1), flexible track (2), rubber track ring (3) and vacuum chuck (4) of track both sides, flexible track (2) are constituteed via the concatenation of multistage flexible track, it has a plurality of square guide holes to open on it, and the distance between two guide holes matches with the modulus of the motion gear in the end effector, tooth mould (1) inserts among the square guide hole, be connected with flexible track (2) via two bolts, the size of tooth mould (1) is decided by the modulus of motion gear, install "Contraband" shape rubber track ring (3) on the both sides limit of flexible track (2). The invention has simple structure and light weight; the gear transmission matched with the five-coordinate posture-adjusting hole-making actuator is characterized by high transmission precision, high transmission efficiency, reliable work and long service life; and the tooth die, the track and the rubber track ring can be produced in a modularized way, and the interchangeability is high.)

1. A flexible track based on a modular tooth mold inserting structure is characterized by comprising a tooth mold (1), a flexible track (2), rubber track rings (3) and vacuum chucks (4), wherein the rubber track rings (3) and the vacuum chucks (4) are arranged on two sides of the track, the chucks of the vacuum chucks (4) are fixedly adsorbed on the surface of a processed workpiece, and supporting legs of the vacuum chucks (4) are supported on the lower portion of the flexible track (2) to form a flexible track mounting support; the flexible track (2) is formed by splicing track sections with the same multi-section structure, each track section is provided with a plurality of square guide holes, the distance between the two guide holes is matched with the modulus of a moving gear in the end effector, the tooth die (1) is inserted into the square guide holes and is connected with the flexible track (2) through two bolts, the tooth die and the flexible track form a fixed connection, the tooth die (1) is worn and then can be replaced by detaching the bolts, the size of the tooth die (1) is determined by the modulus of the moving gear, and the Contraband-shaped rubber track rings (3) are installed on two side edges of the flexible track (2), so that the end effector can run on the flexible track (2) safely and stably.

2. The flexible rail based on modular tooth mold insert structure according to claim 1, characterized in that the thickness of the flexible rail (2) is smaller than the groove depth of the tooth mold (1).

3. The flexible rail based on the modular tooth mold inserting structure as claimed in claim 1, wherein the thickness of the flexible rail (2) is 2mm, and the flexible rail can be absorbed on the surface of a processed workpiece with the curvature radius of less than 1.5 m; the thickness of the tooth die is 4 mm.

4. The flexible track based on the modular tooth mold inserting structure as claimed in claim 1, wherein the tooth mold (1) is a high-strength easy-to-machine structural member, and is composed of a base plate (101) and a boss (102) inserted into a square hole of a guide rail, a tooth-shaped hole (103) matched with an end effector moving gear is machined in the boss (102), and fixing holes (104) are respectively machined at both ends of the base plate (101).

5. A preparation method of a flexible track based on a modular tooth mold inserting structure is characterized by comprising the following steps:

firstly, manufacturing tooth dies (1) with a desired modulus in batch;

secondly, manufacturing a segmented flexible track (2) with corresponding square guide holes according to the selected module, and enabling the distance between the square guide holes to be matched with the module of a motion gear driven by the end effector;

thirdly, the tooth die (1) is connected with the flexible track (2) in a plug-in mounting mode through bolts;

fourthly, the suction sucker (4) is connected with the flexible track (2);

fifthly, firstly, a vacuum sucker (4) on one side or the middle part is in contact with the surface of the to-be-drilled hole of the processed workpiece, an air source is opened to enable the sucker to be tightly sucked, and then the sucker is pushed and pressed to the surface of the part to be tightly sucked in sequence in an equipment or manual mode, so that the flexible track and the processed workpiece are fixed.

Technical Field

The invention relates to machining equipment, in particular to auxiliary equipment for drilling a curved surface of a large-scale structural part, and specifically relates to a flexible track based on a modular tooth mold inserting structure and a preparation method thereof.

The novel flexible track for bearing the working tasks of the end effector can be used as a novel flexible track based on an automatic flexible track assembling system in the assembling process, carries a multi-coordinate posture adjusting effector, is used for the positioning function of the surface of a part along the track direction when working tasks such as hole making, welding and the like are executed, and is particularly used for the positioning work along the track direction when automatic hole making is executed at an airplane assembling butt joint part. The simple flexible track is a novel plug-in mounting type flexible track with a modular structure. The track primarily provides precise positioning capability over a wide range of orientations on the surface of the component.

Background

In the application field of assembly of large-size products such as airplanes and ships, particularly in the process of airplane assembly, because the assembly work is performed by a plurality of manual operations and has low mechanization degree, the labor amount of the airplane assembly work is large, about half of the total labor amount of airplane manufacturing, and the period of the assembly work also accounts for 50% -75% of the production period of the whole airplane. The need for automation of aircraft assembly after entering the mass production phase is increasingly acute.

Several solutions exist for automated assembly techniques for docking large aircraft components. The automatic hole making system comprises an industrial robot-based automatic hole making system, an autonomous mobile automatic hole making system and a flexible track-based automatic hole making system. The third mode of solution is that a flexible track is absorbed on the surface of the product, and an end effector slides to a corresponding position along the track to carry out automatic hole making. The flexible track system has the advantages of large working range, relatively simple structure, large load and good rigidity, but needs a special track laying tool, has relatively long working equipment time, is only suitable for working on the surface of an airplane, cannot interfere with the track, has high requirement on the surface openness of the airplane, and is suitable for hole-making work of the butt joint of large parts of the airplane.

At present, the mainstream product of an automatic hole making system based on a flexible track is a flexible track system proposed by the American Boeing company, and the system has the characteristics of high precision and good flexibility, but has high requirements on materials, large processing difficulty and high cost, and brings great difficulty to manufacture and use.

Disclosure of Invention

The invention aims to design a flexible track based on a modular tooth mold insertion structure and simultaneously provide a corresponding preparation method aiming at the problems of high processing difficulty and high cost of the conventional rack type flexible track system.

The technical scheme of the invention is as follows:

a flexible track based on a modular tooth mold inserting structure is characterized by comprising a tooth mold 1, a flexible track 2, rubber track rings 3 on two sides of the track and a vacuum chuck 4, wherein a chuck of the vacuum chuck 4 is fixedly adsorbed on the surface of a processed workpiece, and a supporting leg of the vacuum chuck 4 is supported on the lower part of the flexible track 2 to form a flexible track mounting support; the flexible track 2 is formed by splicing track sections with the same multi-section structure, each track section is provided with a plurality of square guide holes, the distance between the two guide holes is matched with the modulus of a moving gear in the end effector, the tooth die 1 is inserted into the square guide holes and is connected with the flexible track 2 through two bolts, the two guide holes are fixedly connected, the tooth die 1 can be replaced by detaching the bolts after being worn, the size of the tooth die 1 is determined by the modulus of the moving gear, and the Contraband-shaped rubber track rings 3 are installed on two side edges of the flexible track 2, so that the end effector can run on the flexible track 2 safely and stably.

The thickness of the flexible track 2 is smaller than the groove depth of the tooth die 1.

The thickness of the flexible track 2 is 2mm, and the flexible track can be adsorbed on the surface of a processed workpiece with the curvature radius of less than 1.5 m; the thickness of the tooth die is 4 mm.

The tooth die 1 is a high-strength and easy-to-machine structural part and consists of a bottom plate 101 and a boss 102 inserted into a square hole of a guide rail, a tooth-shaped hole 103 matched with a motion gear of an end effector is machined in the boss 102, and fixing holes 104 are respectively machined at two ends of the bottom plate 101.

The technical scheme of the invention is two:

a preparation method of a flexible track based on a modular tooth mold inserting structure is characterized by comprising the following steps:

firstly, manufacturing tooth dies 1 with a desired modulus in batch;

secondly, manufacturing a segmented flexible track 2 with corresponding square guide holes according to the selected module, and enabling the distance between the square guide holes to be matched with the module of a motion gear driven by the end effector;

thirdly, the tooth die 1 is connected with the flexible track 2 in a plug-in mounting mode through bolts;

fourthly, the suction tray 4 is connected with the flexible track 2;

fifthly, firstly, a vacuum sucker 4 on one side or the middle part is in contact with the surface of the to-be-drilled hole of the processed workpiece, an air source is opened to enable the sucker to be tightly sucked, and then the sucker is pushed and pressed to the surface of the part to be tightly sucked in sequence in an equipment or manual mode, so that the flexible track and the processed workpiece are fixed.

The invention has the beneficial effects that:

the invention designs a flexible track based on a tooth mold inserting structure, which has the following remarkable advantages: firstly, the tooth die part is not deformed when the flexible track is arranged and installed, so that a high-strength and easily-processed material can be adopted, and a high-precision effect is obtained; secondly, the thickness of the flexible track can be reduced because the flexible track does not need to be processed with a rack part matched with a gear, so that the flexible deformation capacity of the track is increased, and the square opening is much easier than the processing of the rack, so that the function of the flexible track can be realized at lower cost, particularly for the traditional integral flexible track with the thickness of 4mm, the flexible track can only be adsorbed on a part with the curvature radius of about 2m, but the flexible track with the thickness of about 2mm can be easily adsorbed on a part with the curvature radius of about 1.5m because the deformation part is the flexible track with the thickness of 2mm, so that the application range is greatly expanded; finally, as the working time is too long, one or more gear meshing parts are abraded, the gear die can be directly disassembled and replaced with a new gear die, the modular production can be realized, and the interchangeability is good.

The invention has simple structure and light weight; the gear transmission matched with the five-coordinate posture-adjusting hole-making actuator is characterized by high transmission precision, high transmission efficiency, reliable work and long service life; and the tooth die, the track and the rubber track ring can be produced in a modularized way, and the interchangeability is high.

Drawings

FIG. 1 is a diagram of a modular cartridge flexible track system.

Fig. 2 is an assembly view of a modular cartridge flexible track. FIG. 2 (a) is an assembly view of a modular cartridge flexible track; (b) a partial enlarged view.

Fig. 3 is an exploded view of a modular cartridge flexible track.

Fig. 4 is a three-dimensional view of the tooth mold.

Fig. 5 is a three-dimensional view of a flexible track.

Fig. 6 is a three-dimensional view of a rubber orbital ring.

Detailed Description

The invention is further illustrated by the following structural figures and examples.