WO2021238980A1 - Flexible multi-point site multi-degree-of-freedom suction position tool - Google Patents

Flexible multi-point site multi-degree-of-freedom suction position tool Download PDF

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Publication number
WO2021238980A1
WO2021238980A1 PCT/CN2021/096043 CN2021096043W WO2021238980A1 WO 2021238980 A1 WO2021238980 A1 WO 2021238980A1 CN 2021096043 W CN2021096043 W CN 2021096043W WO 2021238980 A1 WO2021238980 A1 WO 2021238980A1
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WIPO (PCT)
Prior art keywords
servo motor
plate
screw
guide rail
column
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PCT/CN2021/096043
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French (fr)
Chinese (zh)
Inventor
张加波
赵长喜
白效鹏
文科
张俊辉
周莹皓
周欣欣
高鑫
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北京卫星制造厂有限公司
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Application filed by 北京卫星制造厂有限公司 filed Critical 北京卫星制造厂有限公司
Publication of WO2021238980A1 publication Critical patent/WO2021238980A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
    • B23Q3/06—Work-clamping means
    • B23Q3/08—Work-clamping means other than mechanically-actuated
    • B23Q3/088—Work-clamping means other than mechanically-actuated using vacuum means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports

Definitions

  • the invention relates to a flexible tooling, which belongs to the field of machinery.
  • Wall panels are typical structural parts with weak rigidity. All types of cabin wall panels usually need to be trimmed before welding, as well as all kinds of cabin flange surfaces and equipment installation surfaces. In order to realize the precise processing of the wall panel before welding, it is necessary to make a supporting tool to increase the clamping rigidity to ensure it. Due to the different structural parameters of the wall panels, there are many wall panel support tools required for processing. The current process plan requires the design and manufacture of a set of special tooling for each new type of siding into production. There are a series of problems: the total number of tooling is large, and a set of products needs a large tooling; the production preparation cycle of tooling is long, and the large tooling is required. The manufacturing cycle and manufacturing cost are high; large-scale tooling occupies a lot of site resources, high maintenance costs, and the frequency of use of large-scale tooling is low, resulting in a lot of waste of resources.
  • a flexible tooling facing scanning of the skin profile is disclosed.
  • the invention is mainly used for skin support, and the electric push rods are arranged in a fan-shaped space, and a plurality of suction cups form a curved surface when the electric push rods have the same advancing length.
  • the flexible tooling has a great limitation on the adjustment range of skins with different curvatures, and the flexible tooling is not suitable for supporting cylindrical members.
  • the present invention proposes a flexible tooling with multi-point and multi-degree-of-freedom adsorption position, which is used in aviation and aerospace manufacturing to solve the metal integral wall Flexible tooling for automated processing of plates, sidewall heat-proof shell structures or cylindrical components.
  • the technical scheme adopted by the present invention is: a flexible tooling with multi-point and multi-degree-of-freedom adsorption positions, which is characterized by comprising a plurality of flexible tooling units, a movable support mechanism and a control system; the plurality of flexible tooling units are arranged in sequence
  • the movable support mechanism is on the third rail in the horizontal direction, and the flexible tooling unit moves along the X axis through the guide screw drive;
  • the flexible tooling unit absorbs the workpiece through the retractable vacuum suction cup, and the suction points of the vacuum suction cup are distributed
  • the control system controls the AC servo motor to drive each flexible tooling unit in the X, Y, and Z axis directions The movement on the surface makes the adsorption points spatially distributed.
  • the flexible tooling unit includes pressure gauge, flow switch, first chute, baffle, first lead screw, first guide rail, slide plate, column base, column, vacuum suction cup, electric push rod, column support frame, second chute, A second guide rail, a sliding block, a first coupling, a first AC servo motor, a second AC servo motor, a first screw nut, a second coupling, and a second screw nut;
  • each slide block is mounted on the second guide rail through the second chute, and is distributed longitudinally along the column.
  • the flow switch corresponding to each vacuum suction cup is connected to the pressure gauge through a pipeline;
  • the second guide rail is installed longitudinally along the column,
  • the sliding block drives the vacuum suction cup to slide up and down along the second guide rail by adjusting the tightness between the second guide rail;
  • the bottom of the column is installed on the column base, the column base and the column support frame are installed on the slide plate, and the column support frame is located on the side of the column and installed by The support plate on the top of the column support frame is connected with the top of the column;
  • the output shaft of the first AC servo motor is connected with the first coupling, the first coupling is connected with the vortex rod, and the first AC servo motor is installed on the sliding plate,
  • the first AC servo motor drives the column to rotate around the Z axis through the worm gear;
  • the third sliding groove at the bottom of the skateboard is matched with the first guide rail, the first screw nut is matched with the first screw, and the first screw is located in the two first Between
  • the electric push rod is a hollow aluminum alloy tube.
  • the movable support mechanism includes a roller, a support frame, a first plate, a second plate, a support frame, a third plate, a limit through hole, a positioning hole, a second screw, a third coupling, a third guide rail, and a third plate.
  • the number of the second lead screw is determined by the number of flexible tooling units, the second lead screw is evenly distributed between the two third guide rails, and the output shaft of the third AC servo motor is connected to the second lead screw through a third coupling;
  • a sliding groove is matched with the third guide rail, the second screw nut is matched with the second screw, the flexible tooling unit is installed on the movable support mechanism through the first sliding groove and the second screw nut;
  • the third AC servo motor drives the The second lead screw rotates, and the flexible tooling unit is driven to slide along the third guide rail through the second lead screw nut and the first chute, so as to realize the X-axis translation of the suction point of the suction cup;
  • the third plate is mounted on the support frame to support The frame, the second screw and the third guide rail are all installed on the second plate, and the supporting frame is located on the side of the second screw; the second plate is installed on the supporting frame, and several rollers are installed at the bottom of the supporting frame; the vacuum pump and each
  • the control system includes: HMI, multi-axis motion controller, servo driver and CANopen bus; HMI is installed on the movable support mechanism, the multi-axis motion controller is installed on the first plate, and the servo driver is installed on the fourth plate and installed on the Below the second platform, the vacuum pump is installed on the fourth platform;
  • the HMI is connected with the multi-axis motion controller, the multi-axis motion controller is connected with the servo drive, and the servo drive is connected with the first AC servo motor, the second AC servo motor, and the third AC servo motor;
  • HMI includes coordinate positioning interface, limit setting interface and status monitoring interface; coordinate positioning interface realizes real-time display of the pose of the flexible tooling unit, realizes the control of motion parameters through coordinate input, and sets the desired X and Y directions at the same time The linear velocity and rotational angular velocity of the movement; the limit setting interface realizes the setting of the soft limit of Y direction and rotation around Z; the status monitoring interface realizes the operation status of the first AC servo motor, the second AC servo motor, and the third AC servo motor Monitoring, at the same time for X-direction and Y-direction translational movement, real-time monitoring of the motion limit based on the information feedback of the proximity switch sensor; the multi-axis motion controller realizes multi-axis motion control according to the CANopen communication protocol; the servo drive controls the first AC servo motor, second AC servo motor, third AC servo motor.
  • the number of flexible tooling units is determined by the size of the workpiece to be sucked.
  • the multi-degree-of-freedom movement of the flexible tooling unit in the X-, Y-, and Z-directions and rotation around the Z-direction of the present invention makes the suction points of the flexible tooling be spatially distributed, and the positions of the suction points can be adjusted according to the wall panel
  • the complex surface structure features are adjusted twice in the Y-axis direction by electric push rods, so as to realize the multi-point and multi-degree-of-freedom vacuum chuck to generate an adsorption lattice that is completely consistent with the wall surface and uniformly distributed; the vacuum chuck and the workpiece surface
  • the force is controlled by the control system to control the vacuum pump to generate enough vacuum suction force to accurately and reliably locate and adsorb the wall panels; when the wall panel curvature or surface characteristics change, the space layout of the vacuum suction cups is automatically adjusted, so it can Meet the needs of different wall panel mounting and positioning, and realize the flexible self-adaptive mounting of metal integral wall panels, side wall heat-proof shell structures or cylindrical members; the
  • Figure 1 is a perspective view of the movable support mechanism.
  • Fig. 2 is a plan view of the movable support mechanism.
  • Figure 3 is an isometric view of the flexible tooling unit.
  • Figure 4 is a top view of a flexible tooling unit.
  • Figure 5 is a schematic diagram of a disk adsorption support module system.
  • Figure 6 is a layout diagram of a flexible tooling unit.
  • Figure 7 is a diagram of the overall structure of the present invention.
  • a flexible tooling with multi-point and multi-degree-of-freedom adsorption positions facing metal integral wall panels, side wall heat-proof shell structures or cylindrical members.
  • the flexible tooling consists of a flexible tooling unit and a movable
  • the support mechanism and the control system are composed.
  • the number of flexible tooling units is determined by the size and surface shape characteristics of the processed parts.
  • a plurality of flexible tooling units are arranged in a free state and sequentially arranged on the horizontal guide rail of the movable supporting mechanism.
  • the flexible tooling unit includes a pressure gauge 38, a flow switch 37, a first chute 18, a baffle 19, a first screw 20, a first guide rail 21, a sliding plate 22, a column base 23, a column 24, a vacuum suction cup 25, and an electric push rod 26.
  • One end of the electric push rod 26 is connected to the vacuum suction cup 25, and the other end is connected to the flow switch 37 through a pipeline.
  • the suction cup 25 is driven by the electric push rod 26 to achieve telescopic movement, and realizes the adaptive secondary adjustment of the suction point according to different surface characteristics.
  • the electric push rod 26 is a hollow aluminum alloy tube; a plurality of electric push rods 26 are respectively installed on the corresponding slider 31, and each slider 31 is clamped on the second guide rail 30 through the second slide groove 29, along the longitudinal direction of the column 24
  • the flow switch 37 corresponding to each vacuum chuck 25 is connected to the pressure gauge 38 through a pipeline;
  • the second guide rail 30 is installed longitudinally along the column 24, and the slider 31 can be manually adjusted to tighten the bolt to realize that the slider 31 drives the vacuum chuck 25 along the second
  • the guide rail 30 slides up and down;
  • the bottom of the column 24 is mounted on the column base 23, the column base 23 and the column support frame 28 are mounted on the slide 22,
  • the column support frame 28 is located on the side of the column 24 and passes through the support plate installed on the top of the column support frame 28 Connected to the top of the column 27;
  • the output shaft of the first AC servo motor 33 is connected to the first coupling 32, the first coupling 32 is connected to the vortex rod, and the first AC
  • the first AC servo motor 33 is controlled by the control system, and the transmission mode is realized by a worm and worm;
  • the third sliding groove and the first screw nut 35 respectively cooperate to slide with the first guide rail 21 and the first screw 20, the first screw 20 is located between the two first guide rails 21, the first screw 20 and the two
  • the first rail 21 is installed on the first rail mounting plate, the baffle 19 is installed at both ends of the first screw 20, the second AC servo motor 34 is fixed on the outside of the baffle 19, and the second AC servo motor 34 passes through the second coupling shaft.
  • the device 39 drives the first screw 20 to rotate, and the first screw nut 35 drives the post 24 to move, and the third chute on the sliding plate 22 cooperates with the first guide rail 21 to make the post 24 slide along the first guide rail 21, So as to realize the Y-axis translation of the suction cup point; the flow switch 37 can adjust the suction force of the vacuum suction cup 25 in real time.
  • the pressure gauge 38 can realize the real-time monitoring of the pressure of the suction cup corresponding to the air path, which can effectively prevent the workpiece adsorption process Occurrence of pressure loss.
  • the movable support mechanism includes roller 1, support frame 2, first plate 3, second plate 5, support frame 6, third plate 7, limit through hole 8, positioning hole 9, second screw 10, third coupling Shaft 11, third guide rail 12, third AC servo motor 14, vacuum pump 15, fourth plate 17.
  • the vacuum pump 15 is connected to the pressure gauge 38 of each flexible tooling unit; the number of the second screw 10 is determined by the number of flexible tooling units, the second screw 10 is evenly distributed between the two third guide rails 12, and the third AC servo motor 14 Fixed on the outside of the baffle, the third coupling 11 is located inside the baffle, the output shaft of the third AC servo motor 14 and the second screw 10 are connected by the third coupling 11, and the third AC servo motor 14 is controlled by the system control.
  • the flexible tooling unit is installed on the movable support mechanism in cooperation with the third rail 12 and the second screw 10 through the first sliding groove 18 and the second screw nut 36 at the bottom of the first rail mounting plate; the third AC servo motor 14
  • the second lead screw 10 is driven to rotate, and the flexible tooling unit is driven by the second lead screw nut 36, and the first chute 18 cooperates with the third guide rail 12, so that the flexible tooling unit slides along the third guide rail 12, thereby achieving suction cup adsorption
  • the point position is translated in the X-axis direction;
  • the third plate 7 is mounted on the support frame 6, the support frame 6, the second screw 10 and the third guide rail 12 are all mounted on the second plate 5, and the support frame 6 is located on the second screw
  • the second plate 5 is mounted on the support frame 2, the bottom of the support frame 2 is mounted with a roller 1, the limited through hole 8 and the positioning hole 9 on the third plate 7 are Support, the positioning hole 9 can adjust the position of the third plate 7, the limit through hole 8 cooperates with the fast
  • the control system includes: HMI (Human Machine Interface, HMI) 13, multi-axis motion controller 4, servo drive 16 and CANopen (Controller Area Network, CAN) bus; HMI 13 is installed on a movable support mechanism, and multi-axis motion controller 4 It is installed on the first plate 3, the servo driver 16 is installed on the fourth plate 17 and under the second platform 5, and the vacuum pump 15 is installed on the fourth plate 17.
  • HMI Human Machine Interface
  • CANopen Controller Area Network, CAN
  • the control system adopts the servo motion control of PLC+pulse generation module.
  • HMI13 is connected to the multi-axis motion controller 4, the multi-axis motion controller 4 is connected to the servo driver 16, and the servo driver 16 is connected to the first AC servo motor 33, the second AC servo motor 34, and the third AC servo motor 14Connect.
  • HMI13 is a human-computer interaction interface, including coordinate positioning interface, limit setting interface and status monitoring interface.
  • the coordinate positioning interface can realize the real-time display of the pose of the flexible tooling unit, and realize the control of the motion parameters through the coordinate input method.
  • the desired linear velocity and rotation angular velocity of the X-direction and Y-direction movement are given;
  • the limit setting interface realizes Y Setting of the soft limit for rotation and rotation around Z;
  • the status monitoring interface realizes the operation of the first AC servo motor 33, the second AC servo motor 34, and the third AC servo motor 14 rotating in the X, Y, and Z directions of the flexible tooling unit
  • State monitoring at the same time for X-direction and Y-direction translational movement, real-time monitoring of the movement limit based on the information feedback of the proximity switch sensor.
  • the multi-axis motion controller 4 is based on the CANopen communication protocol, following the CANopenDS301 basic communication protocol and the DSP402 motion control protocol, which can realize multi-axis motion control; the servo driver 16 respectively controls the first communication of the flexible tooling unit X, Y, and Z rotation
  • the servo motor 33, the second AC servo motor 34, and the third AC servo motor 14 have built-in motion control modes that can meet the requirements of multi-axis control operations. With an incremental encoder, precise positioning control can be achieved under low-speed operation.
  • the number of flexible tooling units is determined by the size of the workpiece.

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  • Mechanical Engineering (AREA)
  • Jigs For Machine Tools (AREA)
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Abstract

Disclosed in the present invention is a flexible multi-point site multi-degree-of-freedom suction position tool, comprising a plurality of flexible tool units, a movable supporting mechanism and a control system; the plurality of flexible tool units are sequentially arranged on a third guide rail of the movable supporting mechanism in a horizontal direction, and each flexible tool unit is moved in an X-axis direction through the transmission of a guide rail and a screw rod; the flexible tool unit sucks a workpiece through a telescopic vacuum sucker, the distribution of suction point sites of the vacuum sucker is determined according to the structural characteristics of the workpiece, rotation around a Z-axis direction is realized through the transmission of a worm and a worm gear, and movement in a Y-axis direction is realized through the transmission of the guide rail and the screw rod; and the control system controls an alternating current servo electric motor to drive all the flexible tool units to move in the directions of the X, Y and Z axes, so that the suction point sites are spatially distributed. The flexible tool of the present invention is easy to disassemble, movable and convenient to process, wide in applicability, and suitable for processing cylindrical members.

Description

一种多点位多自由度吸附位置的柔性工装Flexible tooling with multi-point and multi-degree-of-freedom adsorption position
本申请要求于2020年05月27日提交中国专利局、申请号为202010462455.0、申请名称为“一种多点位多自由度吸附位置的柔性工装”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on May 27, 2020, the application number is 202010462455.0, and the application name is "a flexible tooling with multi-point and multi-degree-of-freedom adsorption positions". The entire content of the application is approved The reference is incorporated in this application.
技术领域Technical field
本发明涉及一种柔性工装，属于机械领域。The invention relates to a flexible tooling, which belongs to the field of machinery.
背景技术Background technique
壁板为典型的壁板弱刚度结构件，各类舱体壁板在焊装前通常都需要进行切边加工以及各类穿舱法兰面及设备安装面的加工。为实现壁板焊装前的精确加工，需要制作支撑工装增加装夹刚性予以保证。由于壁板结构参数各不相同，加工需要的壁板支撑工装众多。目前的工艺方案为每新投产一种壁板均需要设计制造一套专用工装，存在一系列问题：工装总数量多，一套产品据需要一套大型工装；工装生产准备周期长，大型工装的制造周期与制造成本高；大型工装占用场地资源多，维护成本高，大型工装的使用频次少，造成资源的大量浪费。Wall panels are typical structural parts with weak rigidity. All types of cabin wall panels usually need to be trimmed before welding, as well as all kinds of cabin flange surfaces and equipment installation surfaces. In order to realize the precise processing of the wall panel before welding, it is necessary to make a supporting tool to increase the clamping rigidity to ensure it. Due to the different structural parameters of the wall panels, there are many wall panel support tools required for processing. The current process plan requires the design and manufacture of a set of special tooling for each new type of siding into production. There are a series of problems: the total number of tooling is large, and a set of products needs a large tooling; the production preparation cycle of tooling is long, and the large tooling is required. The manufacturing cycle and manufacturing cost are high; large-scale tooling occupies a lot of site resources, high maintenance costs, and the frequency of use of large-scale tooling is low, resulting in a lot of waste of resources.
在发明专利CN109764848A中，公开了一种面向蒙皮型面扫描的柔性工装。该发明主要用于蒙皮支撑，且电动推杆空间排布为扇形，多个吸盘在电动推杆推进长度相同时形成曲面。然而受柔性托架曲率和本身推杆可伸缩距离的影响，该柔性工装对不同曲率的蒙皮调整范围受到很大的限制，而且该柔性工装不适用于对筒状构件的支撑。In the invention patent CN109764848A, a flexible tooling facing scanning of the skin profile is disclosed. The invention is mainly used for skin support, and the electric push rods are arranged in a fan-shaped space, and a plurality of suction cups form a curved surface when the electric push rods have the same advancing length. However, affected by the curvature of the flexible bracket and the telescopic distance of the push rod itself, the flexible tooling has a great limitation on the adjustment range of skins with different curvatures, and the flexible tooling is not suitable for supporting cylindrical members.
发明内容Summary of the invention
本发明所要解决的技术问题是：为了避免现有技术存在的不足，本发明提出了一种多点位多自由度吸附位置的柔性工装，是一种用于航空、航天制造业 解决金属整体壁板、侧壁防热壳体结构或筒状构件自动化加工的柔性工装。The technical problem to be solved by the present invention is: in order to avoid the shortcomings of the prior art, the present invention proposes a flexible tooling with multi-point and multi-degree-of-freedom adsorption position, which is used in aviation and aerospace manufacturing to solve the metal integral wall Flexible tooling for automated processing of plates, sidewall heat-proof shell structures or cylindrical components.
本发明所采用的技术方案是：一种多点位多自由度吸附位置的柔性工装，其特征在于，包括多个柔性工装单元、可移动支撑机构和控制***；多个柔性工装单元依次排列在可移动支撑机构在水平方向上的第三导轨上，通过导轨丝杠传动实现各柔性工装单元沿X轴方向的移动；柔性工装单元通过可伸缩的真空吸盘吸附工件，真空吸盘的吸附点位分布根据工件的结构特征确定，通过蜗轮蜗杆传动实现绕Z轴方向旋转，通过导轨丝杠传动实现沿Y轴方向的移动；控制***控制交流伺服电机驱动各柔性工装单元在X、Y、Z轴方向上的运动，使各吸附点位呈空间分布。The technical scheme adopted by the present invention is: a flexible tooling with multi-point and multi-degree-of-freedom adsorption positions, which is characterized by comprising a plurality of flexible tooling units, a movable support mechanism and a control system; the plurality of flexible tooling units are arranged in sequence The movable support mechanism is on the third rail in the horizontal direction, and the flexible tooling unit moves along the X axis through the guide screw drive; the flexible tooling unit absorbs the workpiece through the retractable vacuum suction cup, and the suction points of the vacuum suction cup are distributed Determined according to the structural characteristics of the workpiece, the worm gear drive is used to achieve rotation around the Z axis, and the guide screw drive is used to achieve movement along the Y axis; the control system controls the AC servo motor to drive each flexible tooling unit in the X, Y, and Z axis directions The movement on the surface makes the adsorption points spatially distributed.
柔性工装单元包括压力计、流量开关、第一滑槽、挡板、第一丝杠、第一导轨、滑板、立柱底座、立柱、真空吸盘、电动推杆、立柱支撑架、第二滑槽、第二导轨、滑块、第一联轴器、第一交流伺服电机、第二交流伺服电机、第一丝杠螺母、第二联轴器和第二丝杠螺母；The flexible tooling unit includes pressure gauge, flow switch, first chute, baffle, first lead screw, first guide rail, slide plate, column base, column, vacuum suction cup, electric push rod, column support frame, second chute, A second guide rail, a sliding block, a first coupling, a first AC servo motor, a second AC servo motor, a first screw nut, a second coupling, and a second screw nut;
电动推杆一端与真空吸盘连接，另一端通过管路与流量开关连接，真空吸盘由电动推杆驱动实现伸缩运动，实现根据不同表面特征进行吸附点位的调节；多个电动推杆分别安装在对应的滑块上，各滑块通过第二滑槽装卡在第二导轨上，沿立柱纵向分布，各个真空吸盘对应的流量开关通过管路与压力计连接；第二导轨沿立柱纵向安装，滑块通过调节与第二导轨间的松紧带动真空吸盘沿第二导轨上下滑动；立柱底部安装在立柱底座上，立柱底座、立柱支撑架安装在滑板上，立柱支撑架位于立柱的侧面并通过安装在立柱支撑架顶部的支撑板与立柱的顶端连接；第一交流伺服电机的输出轴与第一联轴器连接，第一联轴器与涡杆连接，第一交流伺服电机安装在滑板上，第一交流伺服电机通过蜗轮蜗杆驱动立柱绕Z轴方向旋转；滑板底部的第三滑槽与第一导轨配合，第一丝杠螺母与第一丝杠配合，第一丝杠位于两个第一导轨之间，挡板安装在第一丝杠两端，第一丝杠和两个第一导轨安装在第一导轨安装板上；第二交流伺服电机固定在挡板外侧，第二交流伺服电机通过第二联轴器带动第一丝杠转 动；立柱支撑架通过第一丝杠螺母和滑板底部的第三滑槽带动立柱沿第一导轨滑动，实现吸盘点位的Y轴方向平移；第二丝杠螺母和第一滑槽位于第一导轨安装板底部。One end of the electric push rod is connected with the vacuum chuck, and the other end is connected with the flow switch through the pipeline. The vacuum chuck is driven by the electric push rod to realize the telescopic movement, which realizes the adjustment of the adsorption point according to different surface characteristics; multiple electric push rods are installed separately On the corresponding slide block, each slide block is mounted on the second guide rail through the second chute, and is distributed longitudinally along the column. The flow switch corresponding to each vacuum suction cup is connected to the pressure gauge through a pipeline; the second guide rail is installed longitudinally along the column, The sliding block drives the vacuum suction cup to slide up and down along the second guide rail by adjusting the tightness between the second guide rail; the bottom of the column is installed on the column base, the column base and the column support frame are installed on the slide plate, and the column support frame is located on the side of the column and installed by The support plate on the top of the column support frame is connected with the top of the column; the output shaft of the first AC servo motor is connected with the first coupling, the first coupling is connected with the vortex rod, and the first AC servo motor is installed on the sliding plate, The first AC servo motor drives the column to rotate around the Z axis through the worm gear; the third sliding groove at the bottom of the skateboard is matched with the first guide rail, the first screw nut is matched with the first screw, and the first screw is located in the two first Between the guide rails, the baffle is installed at both ends of the first screw, the first screw and the two first guide rails are installed on the first guide rail mounting plate; the second AC servo motor is fixed on the outside of the baffle, and the second AC servo motor The first screw is driven to rotate by the second coupling; the column support frame drives the column to slide along the first guide rail through the first screw nut and the third chute at the bottom of the slide plate to realize the translation of the suction cup point in the Y-axis direction; second The screw nut and the first sliding groove are located at the bottom of the first rail mounting plate.
电动推杆为空心铝合金管。The electric push rod is a hollow aluminum alloy tube.
可移动支撑机构包括滚轮、支撑架、第一平板、第二平板、支撑架、第三平板、限位通孔、定位孔、第二丝杠、第三联轴器、第三导轨、第三交流伺服电机、真空泵、第四平板；The movable support mechanism includes a roller, a support frame, a first plate, a second plate, a support frame, a third plate, a limit through hole, a positioning hole, a second screw, a third coupling, a third guide rail, and a third plate. AC servo motor, vacuum pump, fourth plate;
第二丝杠的数目由柔性工装单元的数量确定，第二丝杠均匀分布在两条第三导轨之间，第三交流伺服电机输出轴与第二丝杠通过第三联轴器连接；第一滑槽与第三导轨配合，第二丝杠螺母与第二丝杠配合，柔性工装单元通过第一滑槽和第二丝杠螺母安装在可移动支撑机构上；第三交流伺服电机带动第二丝杠转动，并通过第二丝杠螺母、第一滑槽带动柔性工装单元沿着第三导轨滑动，从而实现吸盘吸附点位的X轴方向平移；第三平板装在支撑架上，支撑架、第二丝杠及第三导轨均装在第二平板上，支撑架位于第二丝杠一侧；第二平板装在支撑架上，支撑架底部安装若干滚轮；真空泵与各柔性工装单元的压力计相连。The number of the second lead screw is determined by the number of flexible tooling units, the second lead screw is evenly distributed between the two third guide rails, and the output shaft of the third AC servo motor is connected to the second lead screw through a third coupling; A sliding groove is matched with the third guide rail, the second screw nut is matched with the second screw, the flexible tooling unit is installed on the movable support mechanism through the first sliding groove and the second screw nut; the third AC servo motor drives the The second lead screw rotates, and the flexible tooling unit is driven to slide along the third guide rail through the second lead screw nut and the first chute, so as to realize the X-axis translation of the suction point of the suction cup; the third plate is mounted on the support frame to support The frame, the second screw and the third guide rail are all installed on the second plate, and the supporting frame is located on the side of the second screw; the second plate is installed on the supporting frame, and several rollers are installed at the bottom of the supporting frame; the vacuum pump and each flexible tooling unit The pressure gauge is connected.
第三平板上有限位通孔和定位孔，第三平板对被加工件进行支撑，定位孔可调整第三平板的位置，限位通孔配合紧固装置可实现对被加工件限位和固定。The limited through holes and positioning holes on the third plate, the third plate supports the workpiece, the positioning hole can adjust the position of the third plate, and the limited through hole cooperates with the fastening device to limit and fix the workpiece .
控制***包括：HMI、多轴运动控制器、伺服驱动器和CANopen总线；HMI装在可移动支撑机构上，多轴运动控制器装在第一平板上，伺服驱动器装在第四平板上并安装在第二平台下方，真空泵装在第四平板上；The control system includes: HMI, multi-axis motion controller, servo driver and CANopen bus; HMI is installed on the movable support mechanism, the multi-axis motion controller is installed on the first plate, and the servo driver is installed on the fourth plate and installed on the Below the second platform, the vacuum pump is installed on the fourth platform;
根据CANopen通讯协议，HMI与多轴运动控制器连接，多轴运动控制器与伺服驱动器连接，伺服驱动器与第一交流伺服电机、第二交流伺服电机、第三交流伺服电机连接；According to the CANopen communication protocol, the HMI is connected with the multi-axis motion controller, the multi-axis motion controller is connected with the servo drive, and the servo drive is connected with the first AC servo motor, the second AC servo motor, and the third AC servo motor;
HMI包括坐标定位界面、限位设置界面和状态监控界面；坐标定位界面实 现对柔性工装单元位姿的实时显示，通过坐标输入的方式实现运动参数的控制，同时给定期望的X向、Y向运动的线速度及转动角速度；限位设置界面实现Y向及绕Z转动软限位的设置；状态监控界面实现对第一交流伺服电机、第二交流伺服电机、第三交流伺服电机运行状态的监控，同时针对X向、Y向平移运动，根据接近开关传感器的信息反馈，对运动限位进行实时监控；多轴运动控制器根据CANopen通讯协议，实现多轴运动控制；伺服驱动器分别控制第一交流伺服电机、第二交流伺服电机、第三交流伺服电机。HMI includes coordinate positioning interface, limit setting interface and status monitoring interface; coordinate positioning interface realizes real-time display of the pose of the flexible tooling unit, realizes the control of motion parameters through coordinate input, and sets the desired X and Y directions at the same time The linear velocity and rotational angular velocity of the movement; the limit setting interface realizes the setting of the soft limit of Y direction and rotation around Z; the status monitoring interface realizes the operation status of the first AC servo motor, the second AC servo motor, and the third AC servo motor Monitoring, at the same time for X-direction and Y-direction translational movement, real-time monitoring of the motion limit based on the information feedback of the proximity switch sensor; the multi-axis motion controller realizes multi-axis motion control according to the CANopen communication protocol; the servo drive controls the first AC servo motor, second AC servo motor, third AC servo motor.
柔性工装单元的数目由吸附的工件的尺寸决定。The number of flexible tooling units is determined by the size of the workpiece to be sucked.
本发明与现有技术相比的有益效果是：Compared with the prior art, the beneficial effects of the present invention are:
本发明的柔性工装单元的X向、Y向、Z向的平移以及绕Z向的转动等多自由度运动，使该柔性工装的吸附点位呈空间分布，而且吸附点的位置可根据壁板的表面复杂的结构特征在Y轴方向通过电动推杆进行二次调整，从而实现多点位多自由度真空吸盘生成与壁板曲面完全吻合且分布均匀的吸附点阵；真空吸盘与工件表面的作用力通过控制***控制真空泵，使之产生足够大小的真空吸附力，从而精确可靠地定位和吸附壁板；当壁板曲面曲率或表面特征发生变化时，真空吸盘的空间布局自动调整，因此可以满足不同的壁板装卡和定位需要，实现了金属整体壁板、侧壁防热壳体结构或筒状构件的柔性自适应装卡；可移动支撑机构的支撑平板设计有限位槽，可实现对加工件的限位、支撑和二次固定，从而消除了被加工件因重力产生的影响，而且二次固定增加了被加工件的稳固和可靠性；该柔性工装易于拆卸，可移动便于加工，适用性广泛。The multi-degree-of-freedom movement of the flexible tooling unit in the X-, Y-, and Z-directions and rotation around the Z-direction of the present invention makes the suction points of the flexible tooling be spatially distributed, and the positions of the suction points can be adjusted according to the wall panel The complex surface structure features are adjusted twice in the Y-axis direction by electric push rods, so as to realize the multi-point and multi-degree-of-freedom vacuum chuck to generate an adsorption lattice that is completely consistent with the wall surface and uniformly distributed; the vacuum chuck and the workpiece surface The force is controlled by the control system to control the vacuum pump to generate enough vacuum suction force to accurately and reliably locate and adsorb the wall panels; when the wall panel curvature or surface characteristics change, the space layout of the vacuum suction cups is automatically adjusted, so it can Meet the needs of different wall panel mounting and positioning, and realize the flexible self-adaptive mounting of metal integral wall panels, side wall heat-proof shell structures or cylindrical members; the support plate of the movable support mechanism is designed with limited slots, which can be realized Restriction, support and secondary fixation of the workpiece, thereby eliminating the influence of the workpiece due to gravity, and the secondary fixation increases the stability and reliability of the workpiece; the flexible tooling is easy to disassemble and movable for easy processing , Wide applicability.
附图说明Description of the drawings
图1是可移动支撑机构轴测图。Figure 1 is a perspective view of the movable support mechanism.
图2是可移动支撑机构的俯视图。Fig. 2 is a plan view of the movable support mechanism.
图3是柔性工装单元轴测图。Figure 3 is an isometric view of the flexible tooling unit.
图4是柔性工装单元俯视图。Figure 4 is a top view of a flexible tooling unit.
图5是盘吸附支撑模块***原理图。Figure 5 is a schematic diagram of a disk adsorption support module system.
图6是柔性工装单元布局图。Figure 6 is a layout diagram of a flexible tooling unit.
图7为本发明的整体结构图。Figure 7 is a diagram of the overall structure of the present invention.
具体实施方式Detailed ways
下面结合实施例对本发明作进一步阐述。The present invention will be further described below in conjunction with the embodiments.
实施例1Example 1
如图1～7所示，面向金属整体壁板、侧壁防热壳体结构或筒状构件的一种多点位多自由度吸附位置的柔性工装，该柔性工装由柔性工装单元、可移动支撑机构和控制***组成，柔性工装单元数量由加工件尺寸和表面形状特征所决定，多个柔性工装单元排列呈自由状态依次排列在可移动支撑机构水平导轨上。As shown in Figures 1-7, a flexible tooling with multi-point and multi-degree-of-freedom adsorption positions facing metal integral wall panels, side wall heat-proof shell structures or cylindrical members. The flexible tooling consists of a flexible tooling unit and a movable The support mechanism and the control system are composed. The number of flexible tooling units is determined by the size and surface shape characteristics of the processed parts. A plurality of flexible tooling units are arranged in a free state and sequentially arranged on the horizontal guide rail of the movable supporting mechanism.
柔性工装单元包括压力计38、流量开关37、第一滑槽18、挡板19、第一丝杠20、第一导轨21、滑板22、立柱底座23、立柱24、真空吸盘25、电动推杆26、立柱支撑架28、第二滑槽29、第二导轨30、滑块31、第一联轴器32、第一交流伺服电机33、第二交流伺服电机34、第一丝杠螺母35和第二丝杠螺母36、第二联轴器39。电动推杆26一端与真空吸盘25连接，另一端通过管路与流量开关37连接，吸盘25由电动推杆26驱动实现伸缩运动，实现根据不同表面特征进行吸附点位的自适应二次调节，其中电动推杆26为空心铝合金管；多个电动推杆26分别安装在对应的滑块31上，各滑块31通过第二滑槽29装卡在第二导轨30上，沿立柱24纵向分布，各个真空吸盘25对应的流量开关37通过管路与压力计38连接；第二导轨30沿立柱24纵向安装，滑块31可通过手动调节螺栓松紧实现滑块31带动真空吸盘25沿第二导轨30上下滑动；立柱24底部安装在立柱底座23上，立柱底座23、立柱支撑架28安装在滑板22上，立柱支撑架28位于立柱24的侧面并通过安装在立柱支撑架28顶部的支撑板与立柱顶端27连接；第一交流伺服电机33 的输出轴与第一联轴器32连接，第一联轴器32与涡杆连接，第一交流伺服电机33装在立柱支撑架28底部的滑板22上，第一交流伺服电机33通过蜗轮蜗杆结构驱动立柱24绕Z轴方向旋转，其中第一交流伺服电机33受控制***控制，传动方式通过涡轮蜗杆实现；立柱支撑架28通过其滑板22底部的第三滑槽和第一丝杠螺母35分别与第一导轨21和第一丝杠20配合滑动，第一丝杠20位于两个第一导轨21之间，第一丝杠20和两个第一导轨21安装在第一导轨安装板上，挡板19安装在第一丝杠20两端，第二交流伺服电机34固定在挡板19外侧，第二交流伺服电机34通过第二联轴器39带动第一丝杠20转动，并通过第一丝杠螺母35带动立柱24移动，通过滑板22上的第三滑槽与第一导轨21配合，使立柱24沿着第一导轨21滑动，从而实现吸盘点位的Y轴方向平移；流量开关37实时在线调整对应真空吸盘25的吸附力大小，同时，压力计38能够实现对气路对应吸盘压力的实时监控，能够有效的杜绝吸附工件过程中失压情况的发生。The flexible tooling unit includes a pressure gauge 38, a flow switch 37, a first chute 18, a baffle 19, a first screw 20, a first guide rail 21, a sliding plate 22, a column base 23, a column 24, a vacuum suction cup 25, and an electric push rod 26. Column support frame 28, second chute 29, second guide rail 30, slider 31, first coupling 32, first AC servo motor 33, second AC servo motor 34, first screw nut 35 and The second screw nut 36, the second coupling 39. One end of the electric push rod 26 is connected to the vacuum suction cup 25, and the other end is connected to the flow switch 37 through a pipeline. The suction cup 25 is driven by the electric push rod 26 to achieve telescopic movement, and realizes the adaptive secondary adjustment of the suction point according to different surface characteristics. The electric push rod 26 is a hollow aluminum alloy tube; a plurality of electric push rods 26 are respectively installed on the corresponding slider 31, and each slider 31 is clamped on the second guide rail 30 through the second slide groove 29, along the longitudinal direction of the column 24 The flow switch 37 corresponding to each vacuum chuck 25 is connected to the pressure gauge 38 through a pipeline; the second guide rail 30 is installed longitudinally along the column 24, and the slider 31 can be manually adjusted to tighten the bolt to realize that the slider 31 drives the vacuum chuck 25 along the second The guide rail 30 slides up and down; the bottom of the column 24 is mounted on the column base 23, the column base 23 and the column support frame 28 are mounted on the slide 22, the column support frame 28 is located on the side of the column 24 and passes through the support plate installed on the top of the column support frame 28 Connected to the top of the column 27; the output shaft of the first AC servo motor 33 is connected to the first coupling 32, the first coupling 32 is connected to the vortex rod, and the first AC servo motor 33 is mounted on the sliding plate at the bottom of the column support frame 28 On 22, the first AC servo motor 33 drives the column 24 to rotate around the Z axis through a worm gear structure. The first AC servo motor 33 is controlled by the control system, and the transmission mode is realized by a worm and worm; The third sliding groove and the first screw nut 35 respectively cooperate to slide with the first guide rail 21 and the first screw 20, the first screw 20 is located between the two first guide rails 21, the first screw 20 and the two The first rail 21 is installed on the first rail mounting plate, the baffle 19 is installed at both ends of the first screw 20, the second AC servo motor 34 is fixed on the outside of the baffle 19, and the second AC servo motor 34 passes through the second coupling shaft. The device 39 drives the first screw 20 to rotate, and the first screw nut 35 drives the post 24 to move, and the third chute on the sliding plate 22 cooperates with the first guide rail 21 to make the post 24 slide along the first guide rail 21, So as to realize the Y-axis translation of the suction cup point; the flow switch 37 can adjust the suction force of the vacuum suction cup 25 in real time. At the same time, the pressure gauge 38 can realize the real-time monitoring of the pressure of the suction cup corresponding to the air path, which can effectively prevent the workpiece adsorption process Occurrence of pressure loss.
可移动支撑机构包括滚轮1、支撑架2、第一平板3、第二平板5、支撑架6、第三平板7、限位通孔8、定位孔9、第二丝杠10、第三联轴器11、第三导轨12、第三交流伺服电机14、真空泵15、第四平板17。真空泵15与各柔性工装单元的压力计38相连；第二丝杠10的数目由柔性工装单元的数量确定，第二丝杠10均匀分布在两第三导轨12之间，第三交流伺服电机14固定在挡板外侧，第三联轴器11位于挡板内侧，第三交流伺服电机14输出轴与第二丝杠10通过第三联轴器11连接，其中第三交流伺服电机14受控制***控制。柔性工装单元通过第一导轨安装板底部的第一滑槽18和第二丝杠螺母36分别和第三导轨12和第二丝杠10配合安装在可移动支撑机构上；第三交流伺服电机14带动第二丝杠10转动，并通过第二丝杠螺母36带动柔性工装单元，通过第一滑槽18与第三导轨12配合，使柔性工装单元沿着第三导轨12滑动，从而实现吸盘吸附点位的X轴方向平移；第三平板7装在支撑架6上，支撑架6、第二丝杠10及第三导轨12均装在第二平板5上，支撑架6 位于第二丝杠10一侧，第二平板5装在支撑架2上，支撑架2底部安装滚轮1，第三平板7上有限位通孔8和定位孔9，第三平板7的作用是对被加工件进行支撑，定位孔9可调整第三平板7的位置，限位通孔8配合紧固装置可实现对被加工件限位和固定；真空吸盘25与工件表面的作用力通过控制***控制真空泵15，使之产生足够大小的真空吸附力，从而精确可靠地定位和吸附壁板。The movable support mechanism includes roller 1, support frame 2, first plate 3, second plate 5, support frame 6, third plate 7, limit through hole 8, positioning hole 9, second screw 10, third coupling Shaft 11, third guide rail 12, third AC servo motor 14, vacuum pump 15, fourth plate 17. The vacuum pump 15 is connected to the pressure gauge 38 of each flexible tooling unit; the number of the second screw 10 is determined by the number of flexible tooling units, the second screw 10 is evenly distributed between the two third guide rails 12, and the third AC servo motor 14 Fixed on the outside of the baffle, the third coupling 11 is located inside the baffle, the output shaft of the third AC servo motor 14 and the second screw 10 are connected by the third coupling 11, and the third AC servo motor 14 is controlled by the system control. The flexible tooling unit is installed on the movable support mechanism in cooperation with the third rail 12 and the second screw 10 through the first sliding groove 18 and the second screw nut 36 at the bottom of the first rail mounting plate; the third AC servo motor 14 The second lead screw 10 is driven to rotate, and the flexible tooling unit is driven by the second lead screw nut 36, and the first chute 18 cooperates with the third guide rail 12, so that the flexible tooling unit slides along the third guide rail 12, thereby achieving suction cup adsorption The point position is translated in the X-axis direction; the third plate 7 is mounted on the support frame 6, the support frame 6, the second screw 10 and the third guide rail 12 are all mounted on the second plate 5, and the support frame 6 is located on the second screw On the side of 10, the second plate 5 is mounted on the support frame 2, the bottom of the support frame 2 is mounted with a roller 1, the limited through hole 8 and the positioning hole 9 on the third plate 7 are Support, the positioning hole 9 can adjust the position of the third plate 7, the limit through hole 8 cooperates with the fastening device to limit and fix the workpiece; the force between the vacuum suction cup 25 and the surface of the workpiece is controlled by the control system to control the vacuum pump 15, Make it produce enough vacuum suction force, so as to accurately and reliably position and adsorb the wall panels.
控制***包括：HMI(Human Machine Interface，HMI)13、多轴运动控制器4、伺服驱动器16和CANopen(Controller Area Network，CAN)总线；HMI13装在可移动支撑机构上，多轴运动控制器4装在第一平板3上，伺服驱动器16装在第四平板17上并安装在第二平台5下方，真空泵15装在第四平板17上。控制***采用PLC+脉冲发生模块的伺服运动控制。基于CANopen通讯协议，HMI13与多轴运动控制器4连接，多轴运动控制器4与伺服驱动器16连接，伺服驱动器16与第一交流伺服电机33、第二交流伺服电机34、第三交流伺服电机14连接。The control system includes: HMI (Human Machine Interface, HMI) 13, multi-axis motion controller 4, servo drive 16 and CANopen (Controller Area Network, CAN) bus; HMI 13 is installed on a movable support mechanism, and multi-axis motion controller 4 It is installed on the first plate 3, the servo driver 16 is installed on the fourth plate 17 and under the second platform 5, and the vacuum pump 15 is installed on the fourth plate 17. The control system adopts the servo motion control of PLC+pulse generation module. Based on the CANopen communication protocol, HMI13 is connected to the multi-axis motion controller 4, the multi-axis motion controller 4 is connected to the servo driver 16, and the servo driver 16 is connected to the first AC servo motor 33, the second AC servo motor 34, and the third AC servo motor 14Connect.
HMI13为人机交互界面，包括坐标定位界面、限位设置界面和状态监控界面。坐标定位界面能够实现对柔性工装单元位姿的实时显示，通过坐标输入的方式实现运动参数的控制，同时给定期望的X向、Y向运动的线速度及转动角速度；限位设置界面实现Y向及绕Z转动软限位的设置；状态监控界面实现对柔性工装单元X向、Y向、绕Z转动的第一交流伺服电机33、第二交流伺服电机34、第三交流伺服电机14运行状态的监控，同时针对X向、Y向平移运动，基于接近开关传感器的信息反馈，对运动限位进行实时监控。HMI13 is a human-computer interaction interface, including coordinate positioning interface, limit setting interface and status monitoring interface. The coordinate positioning interface can realize the real-time display of the pose of the flexible tooling unit, and realize the control of the motion parameters through the coordinate input method. At the same time, the desired linear velocity and rotation angular velocity of the X-direction and Y-direction movement are given; the limit setting interface realizes Y Setting of the soft limit for rotation and rotation around Z; the status monitoring interface realizes the operation of the first AC servo motor 33, the second AC servo motor 34, and the third AC servo motor 14 rotating in the X, Y, and Z directions of the flexible tooling unit State monitoring, at the same time for X-direction and Y-direction translational movement, real-time monitoring of the movement limit based on the information feedback of the proximity switch sensor.
多轴运动控制器4基于CANopen通讯协议，遵循CANopenDS301基本通讯协议和DSP402运动控制协议，可实现多轴运动控制；伺服驱动器16分别控制柔性工装单元X向、Y向、绕Z转动的第一交流伺服电机33、第二交流伺服电机34、第三交流伺服电机14，其内置运动控制模式，能够满足多轴控制操作需求，搭配增量型编码器，低速运转下能够实现精准定位控制。The multi-axis motion controller 4 is based on the CANopen communication protocol, following the CANopenDS301 basic communication protocol and the DSP402 motion control protocol, which can realize multi-axis motion control; the servo driver 16 respectively controls the first communication of the flexible tooling unit X, Y, and Z rotation The servo motor 33, the second AC servo motor 34, and the third AC servo motor 14 have built-in motion control modes that can meet the requirements of multi-axis control operations. With an incremental encoder, precise positioning control can be achieved under low-speed operation.
柔性工装单元数目由加工件的尺寸决定。The number of flexible tooling units is determined by the size of the workpiece.
本发明虽然已以较佳实施例公开如上，但其并不是用来限定本发明，任何本领域技术人员在不脱离本发明的精神和范围内，都可以利用上述揭示的方法和技术内容对本发明技术方案做出可能的变动和修改，因此，凡是未脱离本发明技术方案的内容，依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化及修饰，均属于本发明技术方案的保护范围。Although the present invention has been disclosed as above in preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can use the methods and technical content disclosed above to improve the present invention without departing from the spirit and scope of the present invention. The technical solution makes possible changes and modifications. Therefore, all simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention belong to the technical solution of the present invention. protected range.

Claims (7)

  1. 一种多点位多自由度吸附位置的柔性工装，其特征在于，包括多个柔性工装单元、可移动支撑机构和控制***；多个柔性工装单元依次排列在可移动支撑机构在水平方向上的第三导轨(12)上，通过导轨丝杠传动实现各柔性工装单元沿X轴方向的移动；柔性工装单元通过可伸缩的真空吸盘(25)吸附工件，真空吸盘(25)的吸附点位分布根据工件的结构特征确定，通过蜗轮蜗杆传动实现绕Z轴方向旋转，通过导轨丝杠传动实现沿Y轴方向的移动；控制***控制交流伺服电机驱动各柔性工装单元在X、Y、Z轴方向上的运动，使各吸附点位呈空间分布。A flexible tooling with a multi-point and multi-degree-of-freedom adsorption position, which is characterized in that it comprises a plurality of flexible tooling units, a movable support mechanism and a control system; On the third guide rail (12), the movement of each flexible tooling unit along the X axis is realized by the guide screw drive; the flexible tooling unit sucks the workpiece through the retractable vacuum suction cup (25), and the suction points of the vacuum suction cup (25) are distributed Determined according to the structural characteristics of the workpiece, the worm gear drive is used to achieve rotation around the Z axis, and the guide screw drive is used to achieve movement along the Y axis; the control system controls the AC servo motor to drive each flexible tooling unit in the X, Y, and Z axis directions The movement on the surface makes the adsorption points spatially distributed.
  2. 根据权利要求1所述的一种多点位多自由度吸附位置的柔性工装，其特征在于，柔性工装单元包括压力计(38)、流量开关(37)、第一滑槽(18)、挡板(19)、第一丝杠(20)、第一导轨(21)、滑板(22)、立柱底座(23)、立柱(24)、真空吸盘(25)、电动推杆(26)、立柱支撑架(28)、第二滑槽(29)、第二导轨(30)、滑块(31)、第一联轴器(32)、第一交流伺服电机(33)、第二交流伺服电机(34)、第一丝杠螺母(35)、第二联轴器(39)和第二丝杠螺母(36)；The flexible tooling with multi-point and multi-degree-of-freedom adsorption positions according to claim 1, wherein the flexible tooling unit includes a pressure gauge (38), a flow switch (37), a first chute (18), a block Plate (19), first lead screw (20), first guide rail (21), slide plate (22), column base (23), column (24), vacuum suction cup (25), electric push rod (26), column Support frame (28), second chute (29), second guide rail (30), sliding block (31), first coupling (32), first AC servo motor (33), second AC servo motor (34), the first screw nut (35), the second coupling (39) and the second screw nut (36);
    电动推杆(26)一端与真空吸盘(25)连接，另一端通过管路与流量开关(37)连接，真空吸盘(25)由电动推杆(26)驱动实现伸缩运动，实现根据不同表面特征进行吸附点位的调节；多个电动推杆(26)分别安装在对应的滑块(31)上，各滑块(31)通过第二滑槽(29)装卡在第二导轨(30)上，沿立柱(24)纵向分布，各个真空吸盘(25)对应的流量开关(37)通过管路与压力计(38)连接；第二导轨(30)沿立柱(24)纵向安装，滑块(31)通过调节与第二导轨(30)间的松紧带动真空吸盘(25)沿第二导轨(30)上下滑动；立柱(24)底部安装在立柱底座(23)上，立柱底座(23)、立柱支撑架(28)安装在滑板(22)上，立柱支撑架(28)位于立柱(24)的侧面并通过安装在立柱支撑架(28)顶部的支撑板与立柱(24)的顶端连接；第一交流伺 服电机(33)的输出轴与第一联轴器(32)连接，第一联轴器(32)与涡杆连接，第一交流伺服电机(33)安装在滑板(22)上，第一交流伺服电机(33)通过蜗轮蜗杆驱动立柱(24)绕Z轴方向旋转；滑板(22)底部的第三滑槽与第一导轨(21)配合，第一丝杠螺母(35)与第一丝杠(20)配合，第一丝杠(20)位于两个第一导轨(21)之间，挡板(19)安装在第一丝杠(20)两端，第一丝杠(20)和两个第一导轨(21)安装在第一导轨安装板上；第二交流伺服电机(34)固定在挡板(19)外侧，第二交流伺服电机(34)通过第二联轴器(39)带动第一丝杠(20)转动；立柱支撑架(28)通过第一丝杠螺母(35)和滑板(22)底部的第三滑槽带动立柱(24)沿第一导轨(21)滑动，实现吸盘点位的Y轴方向平移；第二丝杠螺母(36)和第一滑槽(18)位于第一导轨安装板底部。One end of the electric push rod (26) is connected to the vacuum chuck (25), and the other end is connected to the flow switch (37) through a pipeline. The vacuum chuck (25) is driven by the electric push rod (26) to achieve telescopic movement, which can realize different surface characteristics according to different surface characteristics. Carry out the adjustment of the suction point; a plurality of electric push rods (26) are respectively installed on the corresponding sliders (31), and each slider (31) is mounted on the second guide rail (30) through the second chute (29) The flow switch (37) corresponding to each vacuum suction cup (25) is connected to the pressure gauge (38) through a pipeline; the second guide rail (30) is installed longitudinally along the column (24), and the slider (31) The vacuum sucker (25) is slid up and down along the second guide rail (30) by adjusting the tightness between the second guide rail (30); the bottom of the column (24) is installed on the column base (23), and the column base (23) , The column support frame (28) is installed on the slide plate (22), the column support frame (28) is located on the side of the column (24) and is connected to the top of the column (24) through the support plate installed on the top of the column support frame (28) ; The output shaft of the first AC servo motor (33) is connected with the first coupling (32), the first coupling (32) is connected with the vortex rod, and the first AC servo motor (33) is installed on the slide plate (22) , The first AC servo motor (33) drives the column (24) to rotate around the Z axis through the worm gear; the third sliding groove at the bottom of the sliding plate (22) is matched with the first guide rail (21), and the first screw nut (35) ) Is matched with the first screw (20), the first screw (20) is located between the two first guide rails (21), the baffle (19) is installed at both ends of the first screw (20), the first screw (20) The bar (20) and the two first guide rails (21) are installed on the first guide rail mounting plate; the second AC servo motor (34) is fixed on the outside of the baffle (19), and the second AC servo motor (34) passes through the second The coupling (39) drives the first screw (20) to rotate; the column support frame (28) drives the column (24) along the first screw nut (35) and the third sliding groove at the bottom of the sliding plate (22). The guide rail (21) slides to realize the Y-axis translation of the suction cup point; the second screw nut (36) and the first sliding groove (18) are located at the bottom of the first guide rail mounting plate.
  3. 根据权利要求2所述的一种多点位多自由度吸附位置的柔性工装，其特征在于，电动推杆(26)为空心铝合金管。The flexible tooling with multi-point and multi-degree-of-freedom adsorption positions according to claim 2, characterized in that the electric push rod (26) is a hollow aluminum alloy tube.
  4. 根据权利要求1或2所述的一种多点位多自由度吸附位置的柔性工装，其特征在于，可移动支撑机构包括滚轮(1)、支撑架(2)、第一平板(3)、第二平板(5)、支撑架(6)、第三平板(7)、限位通孔(8)、定位孔(9)、第二丝杠(10)、第三联轴器(11)、第三导轨(12)、第三交流伺服电机(14)、真空泵(15)、第四平板(17)；The flexible tooling with multi-point and multi-degree-of-freedom adsorption position according to claim 1 or 2, characterized in that the movable support mechanism includes a roller (1), a support frame (2), a first flat plate (3), Second plate (5), support frame (6), third plate (7), limit through hole (8), positioning hole (9), second screw (10), third coupling (11) , The third guide rail (12), the third AC servo motor (14), the vacuum pump (15), the fourth plate (17);
    第二丝杠(10)的数目由柔性工装单元的数量确定，第二丝杠(10)均匀分布在两条第三导轨(12)之间，第三交流伺服电机(14)输出轴与第二丝杠(10)通过第三联轴器(11)连接；第一滑槽(18)与第三导轨(12)配合，第二丝杠螺母(36)与第二丝杠(10)配合，柔性工装单元通过第一滑槽(18)和第二丝杠螺母(36)安装在可移动支撑机构上；第三交流伺服电机(14)带动第二丝杠(10)转动，并通过第二丝杠螺母(36)、第一滑槽(18)带动柔性工装单元沿着第三导轨(12)滑动，从而实现吸盘吸附点位的X轴方向平移；第三平板(7)装在支撑架(6)上，支撑架(6)、第二丝杠(10)及第三导 轨(12)均装在第二平板(5)上，支撑架(6)位于第二丝杠(10)一侧；第二平板(5)装在支撑架(2)上，支撑架(2)底部安装若干滚轮(1)；真空泵(15)与各柔性工装单元的压力计(38)相连。The number of the second screw (10) is determined by the number of flexible tooling units, the second screw (10) is evenly distributed between the two third guide rails (12), and the output shaft of the third AC servo motor (14) is connected to the first The second screw (10) is connected by the third coupling (11); the first slide groove (18) is matched with the third guide rail (12), and the second screw nut (36) is matched with the second screw (10) , The flexible tooling unit is installed on the movable support mechanism through the first chute (18) and the second screw nut (36); the third AC servo motor (14) drives the second screw (10) to rotate and passes through the The second lead screw nut (36) and the first slide groove (18) drive the flexible tooling unit to slide along the third guide rail (12), so as to realize the X-axis translation of the suction point of the suction cup; the third plate (7) is installed on the support On the frame (6), the supporting frame (6), the second screw (10) and the third guide rail (12) are all mounted on the second plate (5), and the supporting frame (6) is located on the second screw (10) One side; the second plate (5) is installed on the support frame (2), and a number of rollers (1) are installed at the bottom of the support frame (2); the vacuum pump (15) is connected with the pressure gauge (38) of each flexible tooling unit.
  5. 根据权利要求4所述的一种多点位多自由度吸附位置的柔性工装，其特征在于，第三平板(7)上有限位通孔(8)和定位孔(9)，第三平板(7)对被加工件进行支撑，定位孔(9)可调整第三平板(7)的位置，限位通孔(8)配合紧固装置可实现对被加工件限位和固定。The flexible tooling with multi-point and multi-degree-of-freedom adsorption positions according to claim 4, characterized in that the limited through holes (8) and positioning holes (9) on the third plate (7), and the third plate (7) 7) To support the workpiece, the positioning hole (9) can adjust the position of the third plate (7), and the limit through hole (8) can cooperate with the fastening device to limit and fix the workpiece.
  6. 根据权利要求5所述的一种多点位多自由度吸附位置的柔性工装，其特征在于，控制***包括：HMI(13)、多轴运动控制器(4)、伺服驱动器(16)和CANopen总线；HMI(13)装在可移动支撑机构上，多轴运动控制器(4)装在第一平板(3)上，伺服驱动器(16)装在第四平板(17)上并安装在第二平台(5)下方，真空泵(15)装在第四平板(17)上；The flexible tooling with multi-point and multi-degree-of-freedom adsorption position according to claim 5, characterized in that the control system includes: HMI (13), multi-axis motion controller (4), servo drive (16) and CANopen Bus; HMI (13) is installed on the movable support mechanism, the multi-axis motion controller (4) is installed on the first plate (3), the servo driver (16) is installed on the fourth plate (17) and installed on the first plate Below the second platform (5), the vacuum pump (15) is installed on the fourth plate (17);
    根据CANopen通讯协议，HMI(13)与多轴运动控制器(4)连接，多轴运动控制器(4)与伺服驱动器(16)连接，伺服驱动器(16)与第一交流伺服电机(33)、第二交流伺服电机(34)、第三交流伺服电机(14)连接；According to the CANopen communication protocol, the HMI (13) is connected with the multi-axis motion controller (4), the multi-axis motion controller (4) is connected with the servo driver (16), and the servo driver (16) is connected with the first AC servo motor (33) , The second AC servo motor (34) and the third AC servo motor (14) are connected;
    HMI(13)包括坐标定位界面、限位设置界面和状态监控界面；坐标定位界面实现对柔性工装单元位姿的实时显示，通过坐标输入的方式实现运动参数的控制，同时给定期望的X向、Y向运动的线速度及转动角速度；限位设置界面实现Y向及绕Z转动软限位的设置；状态监控界面实现对第一交流伺服电机(33)、第二交流伺服电机(34)、第三交流伺服电机(14)运行状态的监控，同时针对X向、Y向平移运动，根据接近开关传感器的信息反馈，对运动限位进行实时监控；多轴运动控制器(4)根据CANopen通讯协议，实现多轴运动控制；伺服驱动器(16)分别控制第一交流伺服电机(33)、第二交流伺服电机(34)、第三交流伺服电机(14)。HMI (13) includes coordinate positioning interface, limit setting interface and status monitoring interface; coordinate positioning interface realizes real-time display of the pose of the flexible tooling unit, realizes the control of motion parameters through coordinate input, and sets the desired X direction at the same time , Y-direction movement linear velocity and rotation angular velocity; limit setting interface realizes the setting of Y-direction and rotation around Z soft limit; the status monitoring interface realizes the control of the first AC servo motor (33) and the second AC servo motor (34) , The third AC servo motor (14) monitors the operating status, and at the same time, for the X- and Y-direction translational movement, according to the information feedback of the proximity switch sensor, the movement limit is monitored in real time; the multi-axis motion controller (4) is based on CANopen The communication protocol realizes multi-axis motion control; the servo driver (16) respectively controls the first AC servo motor (33), the second AC servo motor (34), and the third AC servo motor (14).
  7. 根据权利要求1所述的一种多点位多自由度吸附位置的柔性工装，其特征在于，柔性工装单元的数目由吸附的工件的尺寸决定。The flexible tooling with a multi-point and multi-degree-of-freedom adsorption position according to claim 1, wherein the number of flexible tool units is determined by the size of the workpiece to be adsorbed.
PCT/CN2021/096043 2020-05-27 2021-05-26 Flexible multi-point site multi-degree-of-freedom suction position tool WO2021238980A1 (en)

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