CN102745340A - Digital positioning device of main intersection box of airplane and installation method - Google Patents

Abstract

The invention discloses a digital positioning device of a main intersection box of an airplane and an installation method. The digital positioning device comprises a main frame locating rack and gesture positioners for realizing digital positioning, wherein the main frame locating rack is composed of four independent first main process frame, second main process frame, third main process frame and fourth main process frame; the main process frames are connected through a connecting beam; each main process frame is provided with an upper process hole and a lower process hole; a first bush is embedded into the upper process hole; a first joint pin shaft, a first joint pressure plate and a first rapid pressing bolt are arranged at the side of the upper process hole; a second bush is embedded into the lower process hole; a second joint pin shaft, a second joint pressure plate and a second rapid pressing bolt are arranged at the side of the lower process hole, and a first process ball head and a second process ball head are arranged on the connecting beam. According to the invention, the positioning and installing of the main intersection boxes at four different positions of the airplane can be achieved; the installation frame is subjected to gesture adjusting and positioning through a group of gesture positioners; the efficiency is high; the tooling cost is low, and the openness is good.

Description

A kind of aircraft master plays intersection point frame digitalisation registration device and installation method

Technical field

The present invention relates to a kind of aircraft master and play intersection point frame digitalisation registration device and installation method, belong to aviation and make digitalisation assembling field.

Background technology

Four main landing gear intersection points of aircraft frame is the main load frame of whole airplane; Be taking off and the stressed intersection point that lands of aircraft, the whole airplane assembling of being installed in of four main landing gear intersection points of aircraft frame is vital link in making, and life-span of aircraft is had very important effect; The installation of present domestic conventional airplane main landing gear intersection point frame; Adopt the clamp frock form of conventional fixed to accomplish, frock is coordinated the position complicacy, accuracy of positioning is low, assembly stress is big, and the spatial operation opening character is poor; The manual operation manipulation strength is big, to the variation bad adaptability of aircraft model.Trend development to aircraft digitalisation assembly technique relevant device comes supporting.Developing a kind of aircraft master intersection point frame digitalisation mount type frame correlation technique cooperates domestic aircraft digitalisation assembly technique imperative.

The present invention is directed to above demand, proposed a kind of aircraft master and played intersection point frame digitalisation registration device and installation method, adopt the digitalisation locate mode, actv. has solved the weak point of traditional frock, and accuracy of positioning is high, efficiency of assembling is high, the space opening character is good; Variation comformability to aircraft model is good; Favourable other operation, most critical be to realize few stress or unstressed assembling, the service life of having improved aircraft greatly; This mount type frame has successfully applied in the domestic big aircraft assembling manufacturing at present.In aircraft digitalisation assembling field, has wide application prospect.

Patent content

The objective of the invention is to overcome the deficiency of prior art, provide a kind of accuracy of positioning high, comformability is good, and the aircraft master that efficiency of assembling is high plays intersection point frame digitalisation registration device and installation method.

The aircraft master plays intersection point frame digitalisation registration device and comprises having led and confine bit-type frame and the appearance steady arm that withers of realizing the digitalisation location; Led and confined the bit-type frame and led technology frame, second by four separate first and led technology frame, the 3rd and led technology frame, the 4th and led the technology frame and form, connected fixing through tie-beam; Each has been led the technology frame and has been equipped with auxiliary hole and following auxiliary hole, is embedded in first lining at last auxiliary hole, and last auxiliary hole side is provided with the first joint bearing pin, the first joint pressing plate, the first fast bolt of pressing; Be embedded in second lining at following auxiliary hole; Following auxiliary hole side is provided with the second joint bearing pin, the second joint pressing plate, the second fast bolt of pressing; On tie-beam, be provided with the first technological ball headstock, the second technological ball headstock, on the first technological ball headstock, the second technological ball headstock, be respectively equipped with the technology bulb.

Being used for the aircraft master, to play the step of intersection point frame digitalisation localization method following:

1) will lead the bit-type frame employing lifting form of confining, through being arranged on technology bulb and the support and connection of posture adjustment steady arm formation ball pivot on the first technological ball headstock and the second technological ball headstock;

2) measure first through laser tracker and led auxiliary hole on the technology frame, the following coordinate figure of auxiliary hole under system of axes;

3) compare with the theoretical coordinate that aircraft first has been led intersection point frame intersection point hole according to measuring coordinate figure, and calculate the posture adjustment path of corresponding posture adjustment steady arm;

4) the posture adjustment steady arm is realized the digitalisation location according to the posture adjustment path, makes first lead auxiliary hole on the technology frame, time auxiliary hole coordinate and aircraft first and to have led the theoretical coordinate in the upper and lower intersection point of intersection point frame hole and coincide;

5) aircraft first is installed and lead the intersection point frame, through first led auxiliary hole on the technology frame, time auxiliary hole has been led the upper and lower intersection point of intersection point frame hole with aircraft first and has been cooperated the location;

6) the first joint pressing plate through being arranged on the auxiliary hole side, the first fast second joint pressing plate of pressing bolt and being arranged on down the auxiliary hole side, the second fast pressure bolt have been led intersection point frame and first with aircraft first and have been led the technology frame and fix;

7) making aircraft first lead the intersection point frame through attaching parts is connected fixing with wallboard;

8) aircraft first has been led the installation of intersection point frame, the first joint pressing plate of the last auxiliary hole side that dismounting matches with the intersection point hole, the first fast second joint pressing plate of pressing bolt and being arranged on down the auxiliary hole side, the second fast bolt of pressing;

9) repeat above-mentioned steps 2) ~ step 8) lead technology frame, the 3rd to second respectively and lead technology frame, the 4th and led auxiliary hole on the technology frame, time auxiliary hole measurement of coordinates and location, realizes that successively aircraft second led intersection point frame, the 3rd and led intersection point frame, the 4th and led the digitalisation of intersection point frame and locate and installation;

10) will lead and confine the bit-type frame and hang, four masters play the whole installations of intersection point frame.

The beneficial effect that the present invention compared with prior art has:

1) adopts a cover mount type frame, just can realize that the master of four diverse locations of aircraft plays intersection point frame digitalisation location, installs;

2) the mount type frame carries out attitude adjustment and location through one group of posture adjustment device unit, and efficient is high, the frock cost is low, opening character good;

4) the mount type frame adopts demountable structure, and on-site installation is convenient, and comformability is good;

5) manufacturing is useful on quick location and is connected the upper and lower auxiliary hole of having led the intersection point frame on the mount type frame, and upper and lower auxiliary hole adopts the inlay busher structure, and interchangeability is good, and is good, easy for installation to having led intersection point gross porosity varying aperture (stock left for machining variation) comformability.

Description of drawings

Fig. 1 is that the aircraft master plays intersection point frame digitalisation registration device scheme drawing;

Fig. 2 is that master of the present invention plays intersection point mount type shelf structure scheme drawing;

Among the figure: first lining 1; The first joint bearing pin 2; The first joint pressing plate 3; The first fast bolt 4 of pressing; First has led technology frame 5; Second lining 6; The second joint bearing pin 7; The second joint pressing plate 8; The second fast bolt 9 of pressing; Tie-beam 10; Second has led technology frame 11; The 3rd has led technology frame 12; The 4th has led technology frame 13; The first technological ball headstock 14; Technology process bulb 15; The second technological ball headstock 16; Laser tracker 17; Posture adjustment steady arm 18; Wallboard 19; Aircraft first has been led intersection point frame 20; Aircraft first has been led intersection point frame 21; Aircraft first has been led intersection point frame 22; Aircraft first has been led intersection point frame 23

The specific embodiment

As 1, shown in 2, the aircraft master plays intersection point frame digitalisation registration device and comprises having led and confine bit-type frame and the appearance steady arm 18 that withers of realizing the digitalisation location; Led and confined the bit-type frame and led technology frame 5, second by four separate first and led technology frame the 11, the 3rd and led technology frame the 12, the 4th and led technology frame 13 and form, connected fixing through tie-beam 10; Each has been led the technology frame and has been equipped with auxiliary hole and following auxiliary hole, is embedded in first lining 1 at last auxiliary hole, and last auxiliary hole side is provided with the first joint bearing pin 2, the first joint pressing plate 3, first pressure bolt 4 soon; Be embedded in second lining 6 at following auxiliary hole; Following auxiliary hole side is provided with the second joint bearing pin 7, the second joint pressing plate, 8, the second fast bolt 9 of pressing; On tie-beam 10, be provided with the first technological ball headstock 14, the second technological ball headstock 16, on the first technological ball headstock 14, the second technological ball headstock 16, be respectively equipped with technology bulb 15.

Being used for the aircraft master, to play the step of intersection point frame digitalisation localization method following:

1) will lead the bit-type frame employing lifting form of confining, form the ball pivot support and connection with posture adjustment steady arm 18 through the technology bulb 15 that is arranged on the first technological ball headstock 14 and the second technological ball headstock 16;

2) measure first through laser tracker 17 and led auxiliary hole on the technology frame 5, the following coordinate figure of auxiliary hole under system of axes;

3) compare with the theoretical coordinate that aircraft first has been led intersection point frame 20 intersection point holes according to measuring coordinate figure, and calculate the posture adjustment path of corresponding posture adjustment steady arm, computation process is following;

(1) setting up first has led technology frame 20 and in three dimensional space, can realize 6DOF pose adjustment reference frame O ₁X ₁Y ₁Z ₁, set up overall reference frame OXYZ simultaneously, and stipulate that its change in coordinate axis direction is consistent with the steady arm moving direction.O ₁X ₁Y ₁Z ₁Pose in OXYZ can be used hexa-atomic group of v=(x, y, z, α, the beta, gamma) expression of rotatable sequence and translation vector resultant, x wherein, and y, z are O ₁Coordinate in OXYZ, α, beta, gamma are O ₁X ₁Y ₁Z ₁The RPY angle of relative OXYZ.O ₁X ₁Y ₁Z ₁Can change the α angle around the X axle earlier by OXYZ, change the β angle, change the γ angle around the Z axle, and then along X axle translation x, along Y axle translation y, z obtain along the translation of Z axle around the Y axle;

(2) establishing first, to have led the position vector of technology frame 20 technological balls head shoots heart i (i=1,2,3,4) in OXYZ be AP _i=[ ^AP _I1 ^AP _I2 ^AP _I3] ^T, at O ₁X ₁Y ₁Z ₁In position vector do ^BP _i=[ ^BP _i1 ^BP _I2 ^BP _I3] ^T, have so

$P_i^A=R_B^B{}_A{P}_i+P_{\mathrm{BO}}^A---\left(a\right)$

In the formula: ^AP _BO=[x y z] ^T

$R_B^A=\left(\begin{array}{ccc}\mathrm{c\γc\β}& \mathrm{c\γs\βs\α}-\mathrm{s\γc\α}& \mathrm{c\γs\βc\α}+\mathrm{s\γs\α}\\ \mathrm{s\γc\β}& \mathrm{s\γs\βs\α}+\mathrm{c\γc\α}& \mathrm{s\γs\βc\α}-\mathrm{c\γs\α}\\ -\mathrm{s\β}& \mathrm{c\βs\α}& \mathrm{c\βc\α}\end{array}\right)$

C α=cos α wherein, s α=sin α;

(3) calculate first and led the current pose P of technology frame 20 under OXYZ ₀=[x ₀y ₀z ₀α ₀β ₀γ ₀] and object pose P ₁=[x ₁y ₁z ₁α ₁β ₁γ ₁];

(4) deviate of calculating current location and target location:

Delta_XYZ=[delta_x?delta_y?delta_z] ^T (b)

In the formula: delta_x=x ₁-x ₀, delta_y=y ₁-y ₀, delta_z=z ₁-z ₀

(5) deviate of current attitude of calculating and targeted attitude:

Delta_RPY=[delta_α?delta_β?delta_γ] ^T (c)

In the formula: delta_ α=α ₁-α ₀, delta_ β=β ₁-β ₀, delta_ γ=γ ₁-γ ₀

(6) regulation first lead technology frame 20 successively along X, Y, the translation of Z axle, makes delta_x=0, delta_y=0, and delta_z=0, priority is around X, Y, the rotation of Z axle again, makes delta_ α=0, delta_ β=0, delta_ γ=0;

(7) select the position-time mode of motion for use, specify above-mentioned pose to be adjusted in the time t and realize, cook up the posture adjustment path:

Delta_XYZ(t)={delta_x(t)?delta_y(t)?delta_z(t)} ^T (d)

Delta_RPY(t)={delta_α(t)?delta_β(t)?delta_γ(t)} ^T (e)

(8) utilize inverse kinematics to ask the spatial spreading path of motion of counter each the steady arm axle drive shaft of method output separated in position;

4) posture adjustment steady arm 18 realizes that according to the posture adjustment path digitalisation location makes first lead auxiliary hole on the technology frame 5, time auxiliary hole coordinate and aircraft first and to have led the theoretical coordinate in intersection point frame 20 upper and lower intersection point holes and coincide;

5) aircraft first is installed and lead intersection point frame 20, through first led auxiliary hole on the technology frame 5, time auxiliary hole has been led intersection point frame 20 upper and lower intersection point holes with aircraft first and has been cooperated the location;

6) the first joint pressing plate 3 through being arranged on the auxiliary hole side, first is pressed bolt 4 and is arranged on down that the second joint pressing plate 8, second of auxiliary hole side is fast presses bolt 9 that aircraft first has been led intersection point frame 20 and first to have led technology frame 5 and fix soon;

7) making aircraft first lead intersection point frame 20 through attaching parts is connected fixing with wallboard 19;

8) aircraft first has been led 20 installations of intersection point frame, the first joint pressing plate, 3, the first fast second joint pressing plate, 8, the second fast bolt 9 of pressing of pressing bolt 4 and being arranged on down the auxiliary hole side of the last auxiliary hole side that dismounting matches with the intersection point hole;

9) repeat above-mentioned steps 2) ~ step 8) lead technology frame the 11, the 3rd to second respectively and lead technology frame 12 the 4th and led auxiliary hole on the technology frame 13, time auxiliary hole measurement of coordinates and location, realizes that successively aircraft second led intersection point frame the 21, the 3rd and led intersection point frame the 22, the 4th and led the digitalisation of intersection point frame 23 and locate and installation;

10) will lead and confine the bit-type frame and hang, four masters play the whole installations of intersection point frame.

Claims (2)

1. an aircraft master plays intersection point frame digitalisation registration device, it is characterized in that comprising having led confining bit-type frame and the appearance steady arm (18) that withers of realizing the digitalisation location; Led and confined the bit-type frame and led technology frame (5), second by four separate first and led technology frame (11), the 3rd and led technology frame (12), the 4th and led technology frame (13) and form, connected fixing through tie-beam (10); Each has been led the technology frame and has been equipped with auxiliary hole and following auxiliary hole, is embedded in first lining (1) at last auxiliary hole, and last auxiliary hole side is provided with the first joint bearing pin (2), the first joint pressing plate (3), the first fast bolt (4) of pressing; Be embedded in second lining (6) at following auxiliary hole; Following auxiliary hole side is provided with the second joint bearing pin (7), the second joint pressing plate (8), the second fast bolt (9) of pressing; On tie-beam (10), be provided with the first technological ball headstock (14), the second technological ball headstock (16), on the first technological ball headstock (14), the second technological ball headstock (16), be respectively equipped with technology bulb (15).

2. a kind of aircraft master according to claim 1 plays intersection point frame digitalisation localization method, it is characterized in that its method step is following:

1) will lead the bit-type frame employing lifting form of confining, through being arranged on the technology bulb (15) and the support and connection of posture adjustment steady arm (18) formation ball pivot on the first technological ball headstock (14) and the second technological ball headstock (16);

2) measure first through laser tracker (17) and led technology frame (5) upward auxiliary hole, the following coordinate figure of auxiliary hole under system of axes;

3) compare with the theoretical coordinate that aircraft first has been led intersection point frame (20) intersection point hole according to measuring coordinate figure, and calculate the posture adjustment path of corresponding posture adjustment steady arm;

4) posture adjustment steady arm (18) is realized the digitalisation location according to the posture adjustment path, makes first lead the last auxiliary hole of technology frame (5), time auxiliary hole coordinate and aircraft first and to have led the theoretical coordinate in the upper and lower intersection point of intersection point frame (20) hole and coincide;

5) aircraft first is installed and has been led intersection point frame (20), upward auxiliary hole, following auxiliary hole have been led the upper and lower intersection point of intersection point frame (20) hole with aircraft first and have been cooperated the location to have led technology frame (5) through first;

6) the first joint pressing plate (3) through being arranged on the auxiliary hole side, first presses bolt (4) and the second joint pressing plate (8) that is arranged on down the auxiliary hole side, the second fast pressure bolt (9) that aircraft first has been led intersection point frame (20) and first to have led technology frame (5) and fix soon;

7) making aircraft first lead intersection point frame (20) through attaching parts is connected fixing with wallboard (19);

8) aircraft first has been led intersection point frame (20) installation, the first joint pressing plate (3) of the last auxiliary hole side that dismounting matches with the intersection point hole, the first fast second joint pressing plate (8) of pressing bolt (4) and being arranged on down the auxiliary hole side, the second fast bolt (9) of pressing;

9) repeat above-mentioned steps 2) ~ step 8) lead technology frame (11), the 3rd to second respectively and lead technology frame (12) the 4th and led technology frame (13) upward auxiliary hole, following auxiliary hole measurement of coordinates and location, realizes that successively aircraft second led intersection point frame (21), the 3rd and led intersection point frame (22), the 4th and led the digitalisation of intersection point frame (23) and locate and installation;

10) will lead and confine the bit-type frame and hang, four masters play the whole installations of intersection point frame.

Images