阅读说明：本技术 一种复材蜂窝消声帽的自动化制备方法 (Automatic preparation method of composite material honeycomb silencing cap ) 是由 史湘宁 杨进军 马建忠 刘文品 于 2020-12-16 设计创作，主要内容包括：本发明提供了一种复材蜂窝消声帽的自动化制备方法,包括以下操作步骤：(1)视觉识别及轨迹规划；(2)切换涂胶模式；(3)涂胶；(4)涂胶头(13-3)返回原位；(5)裁切胚料；(6)检测是否有胚料送出,若没有,继续步骤五直至有胚料送出；若有,则进行下一步；(7)切换植入模式；(8)吸取胚料；(9)植入胚料；(10)压实胚料；(11)加热固化胶层后形成蜂窝消声帽,然后植入头(11-7)返回原位。本发明提供的自动化制备方法代替人工制备的方法,提高了产品质量、生产效率,降低生产成本。(The invention provides an automatic preparation method of a composite material honeycomb silencing cap, which comprises the following operation steps: (1) visual identification and trajectory planning; (2) switching a gluing mode; (3) gluing; (4) the gluing head (13-3) returns to the original position; (5) cutting the blank; (6) detecting whether a blank is sent out, if not, continuing the fifth step until the blank is sent out; if yes, carrying out the next step; (7) switching an implantation mode; (8) sucking the blank; (9) implanting the blank; (10) compacting the blank; (11) after the adhesive layer is heated and cured, a honeycomb silencing cap is formed, and then the implant head (11-7) returns to the original position. The automatic preparation method provided by the invention replaces a manual preparation method, improves the product quality and the production efficiency, and reduces the production cost.)

1. An automatic preparation method of a composite material honeycomb silencing cap is characterized by comprising the following operation steps:

(1) visual identification and trajectory planning: the visual recognition camera (1) recognizes the center position of each honeycomb hole of the composite material honeycomb (11), and data are imported into software to plan a motion track and guide the gluing and implanting operation track behind the robot (5);

(2) and (3) switching a gluing mode: the first lock cylinder (11-3) extends downwards to drive the gluing head (11-5) to extend out of the lower end of the connecting plate (11-2);

(3) gluing: according to the gluing motion trajectory planning in the step (1), the robot (5) drives the gluing device (13) to enter a selected honeycomb hole of the composite material honeycomb (10) to a specified depth, the electric cylinder (13-2) starts to rotate to drive the gluing head (13-3) to rotate to glue on the inner wall of the honeycomb;

(4) the gluing head (13-3) returns to the original position: according to the planning of the gluing motion track in the first step, the robot (5) drives the gluing head (13-3) to leave the honeycomb holes and return to the original position, the first locking cylinder (11-3) returns to the original position upwards, and the gluing head (13-3) is driven to retract from the lower end of the connecting plate (11-2);

(5) cutting the blank: the cutting device (2) starts to work, the material receiving wheel (2-9) collects a section of waste material, the feeding wheel (2-1) sends a section of new material to the position below the punching knife (2-6), the punching knife (2-6) punches a blank, and a certain station of the material receiving disc (2-7) receives the blank and rotationally sends the blank out;

(6) detecting whether a blank is sent out, if not, continuing the fifth step until the blank is sent out; if yes, carrying out the next step;

(7) switching an implantation mode: the second lock cylinder (11-6) extends downwards to drive the implantation head (11-7) to extend out from the lower end of the connecting plate (11-2);

(8) absorbing the blank: the robot (5) controls the implantation head (11-7) to be arranged above the blank, a vacuum generator in the external electric box (8) works, and an air hole in the middle of the implantation head (11-7) vacuumizes to absorb the blank;

(9) implanting a blank: according to the implantation motion trajectory planning in the step (1), the robot (5) drives an implantation head (11-7) adsorbing the blank, and the blank is implanted into the specified glue layer position of the glued honeycomb holes;

(10) compacting the blank: expanding the tail end of the implantation head (11-7), and compacting the blank and the inner wall of the honeycomb hole;

(11) after the adhesive layer is heated and cured, a honeycomb silencing cap is formed, and then the implant head (11-7) returns to the original position.

2. The automatic production method of composite material honeycomb silencing cap according to claim 1, characterized in that in the step (6), the operation of detecting whether the blank is sent out is performed by a photoelectric sensor (2-8) arranged on the receiving tray (2-7) station.

3. The automatic preparation method of the composite material honeycomb silencing cap of claim 1, wherein in the step (11), the heating curing of the adhesive layer comprises the following specific operations: the heating ring (11-8) works to heat the tail end of the implantation head (11-7) to solidify the adhesive layer, so that the blank is tightly combined with the inner wall of the honeycomb to form the honeycomb silencing cap.

4. The automated manufacturing method of composite material honeycomb sound-damping cap according to claim 1, characterized in that in the step (11), the operation of returning the implant head (11-7) to the original position is: the tail end of the implantation head (11-7) shrinks to be separated from the blank, the robot (5) drives the implantation head (11-7) to leave the honeycomb holes and return to the original position, and the second locking cylinder (11-6) returns to the original position upwards to drive the implantation head (11-7) to retract from the lower end of the connecting plate (11-2).

Technical Field

The invention belongs to the technical field of preparation of materials for aerospace, and particularly relates to an automatic preparation method of a composite material honeycomb silencing cap.

Background

The composite material honeycomb is a honeycomb composite material section, and is most widely applied in the field of aerospace due to outstanding mechanical property stability, corrosion resistance, flame retardance, environmental resistance and wave permeability. The composite material honeycomb is mainly used for sound absorption, noise reduction and wave absorption in the field of aviation manufacturing, a noise elimination cap needs to be prepared at the specified depth of a honeycomb hole in the processing process, and the sound absorption and noise reduction effects of the composite material honeycomb are directly determined by the quality of the prepared noise elimination cap.

The method for preparing the composite material honeycomb silencing cap at present is to prepare manually: firstly, manually cutting a blank, then manually picking up the blank and placing the blank on the upper end of a honeycomb hole, then manually dipping a glue stick into glue solution and deeply coating glue on the inner wall of the honeycomb, manually implanting the blank into the glued honeycomb hole by using a heated metal stick, and compacting the blank and the inner wall of the honeycomb hole to form the composite material honeycomb silencing cap. The operation process is complicated, the mode seriously depends on the experience and technical level of operators, the production efficiency is low, the labor cost is high, the product consistency is poor, and the product quality is influenced.

Meanwhile, the supply of the composite material honeycomb is gradually increased at present, the manual preparation efficiency is low, the yield is low, and the market demand cannot be met.

Therefore, an automatic preparation method of the composite material honeycomb silencing cap is urgently needed, various problems existing in manual preparation are solved, and the method has very important significance for improving the overall level of composite material honeycomb preparation in aerospace.

Disclosure of Invention

The invention aims to provide an automatic preparation method of a composite material honeycomb silencing cap, which is used for replacing most of the traditional manual preparation procedures of the composite material honeycomb silencing cap and solving various problems existing in the existing manual preparation: manually cutting the blanks to make the blanks have different sizes; manual gluing causes the gluing position to be inconsistent and has the problem of glue leakage; the artificial implantation depths are not consistent; manually heating the iron bar to cure the adhesive layer to ensure that the heating temperature is inconsistent and potential safety hazards exist; and the whole set of artificial preparation has low production efficiency and poor quality stability.

The invention is realized by the following technical scheme:

an automatic preparation method of a composite material honeycomb silencing cap comprises the following operation steps:

(1) visual identification and trajectory planning: the visual recognition camera (1) recognizes the center position of each honeycomb hole of the composite material honeycomb (11), and data are imported into software to plan a motion track and guide the gluing and implanting operation track behind the robot (5);

(2) and (3) switching a gluing mode: the first lock cylinder (11-3) extends downwards to drive the gluing head (11-5) to extend out of the lower end of the connecting plate (11-2);

(3) gluing: according to the gluing motion trajectory planning in the step (1), the robot (5) drives the gluing device (13) to enter a selected honeycomb hole of the composite material honeycomb (10) to a specified depth, the electric cylinder (13-2) starts to rotate to drive the gluing head (13-3) to rotate to glue on the inner wall of the honeycomb;

(4) the gluing head (13-3) returns to the original position: according to the planning of the gluing motion track in the first step, the robot (5) drives the gluing head (13-3) to leave the honeycomb holes and return to the original position, the first locking cylinder (11-3) returns to the original position upwards, and the gluing head (13-3) is driven to retract from the lower end of the connecting plate (11-2);

(5) cutting the blank: the cutting device (2) starts to work, the material receiving wheel (2-9) collects a section of waste material, the feeding wheel (2-1) sends a section of new material to the position below the punching knife (2-6), the punching knife (2-6) punches a blank, and a certain station of the material receiving disc (2-7) receives the blank and rotationally sends the blank out;

(6) detecting whether a blank is sent out, if not, continuing the fifth step until the blank is sent out; if yes, carrying out the next step;

(7) switching an implantation mode: the second lock cylinder (11-6) extends downwards to drive the implantation head (11-7) to extend out from the lower end of the connecting plate (11-2);

(8) absorbing the blank: the robot (5) controls the implantation head (11-7) to be arranged above the blank, a vacuum generator in the external electric box (8) works, and an air hole in the middle of the implantation head (11-7) vacuumizes to absorb the blank;

(9) implanting a blank: according to the implantation motion trajectory planning in the step (1), the robot (5) drives an implantation head (11-7) adsorbing the blank, and the blank is implanted into the specified glue layer position of the glued honeycomb holes;

(10) compacting the blank: expanding the tail end of the implantation head (11-7), and compacting the blank and the inner wall of the honeycomb hole;

(11) after the adhesive layer is heated and cured, a honeycomb silencing cap is formed, and then the implant head (11-7) returns to the original position.

Specifically, in the step (6), the operation of detecting whether the blank is sent out is completed by a photoelectric sensor (2-8) arranged on a station of the receiving tray (2-7).

Specifically, in the step (11), the heating and curing of the adhesive layer specifically comprises: the heating ring (11-8) works to heat the tail end of the implantation head (11-7) to solidify the adhesive layer, so that the blank is tightly combined with the inner wall of the honeycomb to form the honeycomb silencing cap.

Specifically, in the step (11), the operation of returning the implant head (11-7) to the original position is: the tail end of the implantation head (11-7) shrinks to be separated from the blank, the robot (5) drives the implantation head (11-7) to leave the honeycomb holes and return to the original position, and the second locking cylinder (11-6) returns to the original position upwards to drive the implantation head (11-7) to retract from the lower end of the connecting plate (11-2).

According to the technical scheme, the beneficial effects of the invention are as follows:

the invention provides an automatic preparation method of a series of operations, such as visual identification, automatic gluing, automatic blank cutting, automatic grabbing, automatic implanting, automatic compaction and bonding of the blank and a honeycomb, automatic heating and curing of a glue layer and the like, which realizes the automatic preparation of a composite material honeycomb silencing cap, replaces a manual preparation method, improves the product quality and the production efficiency and reduces the production cost.

Drawings

FIG. 1 is a diagram: composite honeycomb side view;

FIG. 2 is a diagram of: a top view of the automatic composite material honeycomb silencing cap preparation device;

FIG. 3 is a diagram of: a robotic end effector side view;

FIG. 4 is a diagram of: and (6) a top view of the material cutting device.

In the figure: the device comprises a vision recognition camera 1, a material cutting device 2, a gluing control box 3, a glue storage tank 4, a robot 5, a robot base 6, a robot end effector 7, a robot control box 8, an externally-hung electric box 9, a processing platform 10 and a composite honeycomb 11, wherein the vision recognition camera is arranged on the robot base; 2-1 is a material discharging wheel, 2-2 is cloth, 2-3 is a guide wheel, 2-4 is a display screen, 2-5 is a punching knife, 2-6 is a material cutting platform, 2-7 is a material receiving disc, 2-8 is a photoelectric sensor, 2-9 is a material receiving wheel, and 2-10 is a connecting block; 11-1 is a transition plate, 11-2 is a connecting plate, 11-3 is a first locking cylinder, 11-4 is an electric cylinder, 11-5 is a gluing head, 11-6 is a second locking cylinder, 11-7 is an implantation head, and 11-8 is a heating ring.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to examples, but it will be understood by those skilled in the art that the following examples are only illustrative of the present invention and should not be construed as limiting the scope of the present invention. The examples, in which specific conditions are not specified, were conducted under conventional conditions or conditions recommended by the manufacturer.

An automatic preparation method of a composite material honeycomb silencing cap comprises the following operation steps:

step one, visual identification and trajectory planning: as shown in fig. 2, firstly, the visual recognition camera 1 recognizes the center position of each honeycomb hole of the composite material honeycomb 11, and introduces data into software to plan the motion trajectory, so as to guide the operation trajectory of gluing and implanting after the robot 5;

step two, switching a gluing mode: as shown in fig. 2 and 3, the first locking cylinder 11-3 extends downwards to drive the gluing head 11-5 to extend out from the lower end of the connecting plate 11-2;

step three, gluing: as shown in fig. 2 and 3, according to the planning of the gluing movement track of the first step, the robot 5 drives the gluing device 13 to enter a selected honeycomb hole of the composite material honeycomb 10 to a specified depth, and the electric cylinder 13-2 starts to rotate to drive the gluing head 13-3 to rotate to glue on the inner wall of the honeycomb;

step four, the gluing head 13-3 returns to the original position: as shown in fig. 2 and 3, according to the planning of the gluing movement path in the first step, the robot 5 drives the gluing head 13-3 to leave the honeycomb holes and return to the original position, the first locking cylinder 11-3 returns to the original position upwards, and the gluing head 13-3 is driven to retract from the lower end of the connecting plate 11-2;

step five, cutting the blank: as shown in fig. 4, the material cutting device 2 starts to work, the material receiving wheel 2-9 collects a section of waste material, the material feeding wheel 2-1 feeds a section of new material to the lower part of the punching knife 2-6, the punching knife 2-6 punches a next blank, and a certain station of the material receiving disc 2-7 receives the blank and rotationally feeds the blank out;

step six, detecting whether blanks are sent out: the photoelectric sensor 2-8 detects whether a blank exists on the station of the receiving disc 2-7, if not, the fifth step is continued until the blank is sent out; if yes, carrying out the next step;

step seven, switching the implantation mode: as shown in fig. 2 and 3, the second locking cylinder 11-6 extends downwards to drive the implantation head 11-7 to extend out from the lower end of the connecting plate 11-2;

step eight, sucking the blank: the robot 5 controls the implantation head 11-7 to be placed above the blank, a vacuum generator in the external electric box 8 works, and an air hole in the middle of the implantation head 11-7 is vacuumized to absorb the blank;

step nine, implanting blanks: according to the planning of the implantation motion track in the first step, the robot 5 drives an implantation head 11-7 which adsorbs the blank, and the blank is implanted into the specified glue layer position of the glued honeycomb holes;

step ten, compacting the blank: expanding the tail end of the implantation head 11-7, and compacting the blank and the inner wall of the honeycomb hole;

step eleven, heating the curing adhesive layer: the heating ring 11-8 works to heat and solidify the adhesive layer at the tail end of the implantation head 11-7, so that the blank is tightly combined with the inner wall of the honeycomb to form a honeycomb silencing cap;

step twelve, the implantation head 11-7 returns to the original position: the tail end of the implantation head 11-7 is contracted to be separated from the blank, the robot 5 drives the implantation head 11-7 to leave the honeycomb holes to return to the original position, and the second locking cylinder 11-6 returns to the original position upwards to drive the implantation head 11-7 to retract from the lower end of the connecting plate 11-2.