CN107512402B - A kind of rib restocking system and restocking method - Google Patents
A kind of rib restocking system and restocking method Download PDFInfo
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- CN107512402B CN107512402B CN201710750013.4A CN201710750013A CN107512402B CN 107512402 B CN107512402 B CN 107512402B CN 201710750013 A CN201710750013 A CN 201710750013A CN 107512402 B CN107512402 B CN 107512402B
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- rib
- restocking
- turntable
- vertical
- clamping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/50—Handling or transporting aircraft components
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a kind of rib restocking system and restocking methods, belong to aircraft digital mounting technology field.Rib restocking system includes rib restocking trolley, rib shape-keeping frame and rib transport vehicle；Rib restocking trolley includes mounting base and the mechanical auxiliary arm of force, and the mechanical auxiliary arm of force includes power assistant arm host and crawl fixture；Mounting base includes pedestal and slide unit, and host is mounted on the slide unit；Crawl fixture includes the attachment base being installed on power assistant arm host, vertical turntable, lateral turntable and for clamping the collet by folder being installed on rib shape-keeping frame；Vertical turntable can be rotatably mounted at the lower section of attachment base around vertical axis, and angle regulator is equipped between the two；Lateral turntable can around transverse axes be mounted on vertical turntable, and angle regulator is equipped between the two.Restocking rib is treated based on the restocking system and carries out restocking, can be effectively improved rib conevying efficiency, restocking efficiency and assembly efficiency, be can be widely used in aircraft industry.
Description
Technical field
The present invention relates to a kind of installation device of aircraft components and restocking methods, specifically, being related to a kind of rib restocking
System and the method for carrying out rib restocking using the restocking system.
Background technique
Lateral stressed skeleton of the rib as wing is divided into ribs and common rib, common rib by its structure and function
For maintaining the section shape of wing, and reinforce rib in addition to for being also subjected to biggish collection other than maintaining wing profile shape
Middle load and suspension exterior part.
Since the weight and size of rib are larger, transport and restocking assembly are usually carried out in a manner of hanging of driving a vehicle, by
Simultaneously one rib of restocking can only be once hung in driving, causes rib transport restocking efficiency relatively low；Meanwhile driving is in restocking rib
During be easy be located at rib above leading edge of a wing component and its tooling generate interference, need significantly to move leading edge group
Part in order to rib installation；In addition, driving be not easy to regulate and control rib posture during hanging restocking, i.e., restocking when
Rib assembly pose and lifting pose have gap, cause entire rib restocking efficiency relatively low.
Summary of the invention
The object of the present invention is to provide a kind of rib restocking systems, to improve the transport and restocking in rib assembling process
Efficiency；
It is a further object of the present invention to provide a kind of methods for carrying out rib restocking using above-mentioned restocking system.
To achieve the goals above, rib restocking system provided by the invention includes rib restocking trolley, for rib
Carry out the conformal rib shape-keeping frame of clamping and for there is clamping the rib shape-keeping frame of rib to transport to the rib at installation station
Transport vehicle；Rib restocking trolley includes mounting base and the mechanical auxiliary arm of force, and the mechanical auxiliary arm of force includes power assistant arm host and crawl fixture；
The slide unit that mounting base includes pedestal and is slidably mounted on pedestal by first cross slide way slide block mechanism, host are mounted on
On slide unit；Crawl fixture includes the attachment base being installed on power assistant arm host, vertical turntable, lateral turntable and fixed for clamping
The collet by folder on rib shape-keeping frame；Vertical turntable can be rotatably mounted at the lower section of attachment base, and two around vertical axis
Vertical angle regulator is equipped between person；Lateral turntable can around transverse axes be mounted on vertical turntable, and be set between the two
There is lateral angle regulator.
It, first will be to restocking rib clamping to rib shape-keeping frame during rib restocking based on above-mentioned rib restocking system
It above and by rib transport vehicle is transported to installation station, rib conevying efficiency can be effectively improved；It, can be very well based on the mechanical auxiliary arm of force
Ground adjusts the installation site of rib, and adjusts state by the corner on crawl fixture and be adjusted to rib pose, to have
Improve the restocking efficiency of rib in effect ground.And the opposite prior art that hanging restocking is carried out by driving, rib can be effectively reduced
Interference is generated with Front wing spar component and its tooling during restocking, to improve assembly efficiency.
Specific scheme is that vertical angle regulator includes the push rod being installed on vertical turntable and for keeping vertical
The vertical corner holding mechanism of relative angular position between turntable and attachment base；Lateral angle regulator include adjustment handwheel, with
Adjust the worm screw that handwheel is sequentially connected and the gear that lateral turntable is fixedly and coaxially connected and for keeping lateral turntable and vertical turn
The lateral corner holding mechanism of relative angular position between platform；Gear is engaged with worm screw.
Another specific scheme is that collet includes two clamping heads and the door type collet for installing two clamping heads
Seat, door type base of the carrier head are installed on lateral turntable；Clamping head includes that can open and close to hold two folded arms by folder tightly and be used for
Drive the driving cylinder of folded arm switching motion.Effectively simplify chuck structure and ensures the clamping jail between collet and rib shape-keeping frame
Soundness.
It is blind rivet structure that another specific scheme, which is by folder,.Convenient for clamping and firm grip.
Preferred scheme be slide unit include the first slide unit being slidably connected with pedestal and for installing power assistant arm host the
Two slide units, the second slide unit are slidably mounted on the first slide unit by the second cross slide way slide block mechanism, the second cross slide way
The glide direction of slide block mechanism is mutually orthogonal with the glide direction of the first guide rail slide block mechanism.To realize two in the horizontal plane
The adjustment of orthogonal direction displacement, further increases installation effectiveness.
In order to achieve the above-mentioned another object, rib restocking method provided by the invention is any of the above-described technical solution institute of use
The rib restocking system of description treats restocking rib and carries out restocking, method includes the following steps:
It will be on the rib clamping to rib shape-keeping frame to restocking；
The positioning crossbeam of leading edge assemblies is biased, and increases leading edge assemblies；
Using rib transport vehicle, the rib shape-keeping frame that clamping has rib is transported at installation station；
Rib shape-keeping frame is clamped using the crawl fixture of rib restocking trolley, by pushing slide unit and mounting base sliding and benefit
The relative position between rib and leading edge assemblies is adjusted with the mechanical auxiliary arm of force, and passes through vertical angle regulator and lateral corner tune
Engagement positions are by the pose adjustment of rib to assembling pose；
Leading edge assemblies positioning crossbeam is playbacked to installation site, and reduces leading edge assemblies to original position；
It is corrected positioning using position of the measuring tool to rib, and the rib after positioning is clamped, then bores pre-
Connecting hole simultaneously carries out pre-connection.
It, will be to be transported to peace on the rib clamping of restocking to its rib shape-keeping frame and by rib transport vehicle by the restocking method
It fills at station, rib conevying efficiency can be effectively improved；Based on the mechanical auxiliary arm of force, the installation site of rib can be adjusted well,
And state is adjusted by the corner on crawl fixture, rib pose is adjusted, to effectively improve the restocking effect of rib
Rate.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of rib restocking system in the embodiment of the present invention；
Fig. 2 is the side view of rib restocking system in the embodiment of the present invention；
Fig. 3 is the structural schematic diagram that fixture is grabbed in the embodiment of the present invention.
Specific embodiment
With reference to embodiments and its attached drawing the invention will be further described.
Embodiment
Referring to Fig. 1 and Fig. 2, rib restocking system of the present invention includes that rib restocking trolley, rib transport vehicle 3 and rib are conformal
Frame 4, wherein rib shape-keeping frame 4 waits for restocking rib, the rib shape-keeping frame that rib transport vehicle 3 is used to having clamping into rib for clamping
4 transport from clamping position to installation region；Rib restocking trolley includes mounting base 1 and the mechanical auxiliary arm of force 2.
Mounting base 1 includes pedestal 10 and the slide unit being slidably mounted on pedestal 10 by the first guide rail slide block mechanism 11
12, in the present embodiment, the glide direction of the first guide rail slide block mechanism 11 is arranged along y-axis, so as to by pushing slide unit 12
It pushes the mechanical auxiliary arm of force 2 being mounted on slide unit 12 reciprocatingly sliding upwards, grabs the wing being clipped on the mechanical auxiliary arm of force 2 to change
The position of rib.It of courses, it can also be by the way that slide unit 12 be arranged to include the first slide unit being slidably connected with pedestal 10 and be used to pacify
Second slide unit of tool power assistant arm 2 of installing, the second slide unit are slidably mounted in first by the second cross slide way slide block mechanism and slide
On platform, in the present embodiment, the glide direction of the second guide rail slide block mechanism is arranged along x-axis, i.e. the second cross slide way slide block mechanism
Glide direction it is mutually orthogonal with the glide direction of the first guide rail slide block mechanism, thus mechanical resistance arm 2 with respect to pedestal 10 can be in x-y
Two-dimensional movement is done in plane.
The mechanical auxiliary arm of force 2 includes the power assistant arm host 20 being installed on slide unit 12 and presss from both sides grabbing for rib shape-keeping frame 4 for grabbing
Take fixture 21.So as to easily move rib by resistance arm host 20 and move in three-dimensional space.
Referring to Fig. 1 and Fig. 3, grab fixture 21 include the attachment base 5 being installed on power assistant arm host 20, vertical turntable 60,
Lateral turntable 70 and for clamping the collet 8 by folder 9 being installed on rib shape-keeping frame 4, in the present embodiment, by folder 9
For blind rivet structure.
Vertical turntable 60 can be rotatably mounted at the lower section of attachment base 5 around z-axis, and vertical corner adjustment dress is equipped between the two
It sets, vertical angle regulator includes the push rod 61 being installed on vertical turntable 60 and for keeping vertical turntable 60 and attachment base
The vertical corner holding mechanism of 5 relative angular positions can push vertical turntable 60 around vertical axis by two push rods 61 of left and right
Rotation.In the present embodiment, vertical turntable 60 is a cylinder along z-axis arrangement, is equipped on attachment base 5 and matches with the cylinder
The rotary shaft body of conjunction；Vertical angle regulator includes two mutually matched damping wheels, and one of damping wheel and connecting shaft are solid
Fixed connection, another damping wheel is fixedly connected with rotating coaxially with vertical turntable 60, to pass through the damping force between two damping wheels
Vertical turntable 60 is maintained at angular position adjusted with attachment base 5.
Lateral turntable 70 can be rotatably mounted on vertical turntable 60 around y-axis, and lateral corner adjustment dress is equipped between the two
Set, lateral angle regulator include adjust handwheel 71, with the worm screw of adjustment handwheel transmission connection, it is coaxial admittedly with lateral turntable 70
Surely the gear connected and the lateral corner holding mechanism for keeping relative angular position between lateral turntable 70 and vertical turntable 60,
Gear is engaged with worm screw, can push lateral turntable 70 around transverse axes by adjusting handwheel 71.In the present embodiment, laterally
Turntable 70 is Z-shaped bar structure, lateral corner holding mechanism can for the corner of gear into line-locked ratchet mechanism.
Collet 8 includes two clamping heads 81 and the door type base of the carrier head 80 for installing two clamping heads 81, door type
Base of the carrier head 80 is installed on lateral turntable 70；Clamping head 81 includes that can open and close to hold tightly by two folded arms of folder 9 and for driving
The actuator for moving the two folded arms switching motion, in the present embodiment, to drive cylinder as actuator.By the way that base of the carrier head 80 is set
It is set to door type structure, can be effectively prevented from and generate interference with rib shape-keeping frame 4 during grabbing double-layered quilt folder for 9.
Using rib restocking system of the present invention treat restocking rib carry out restocking process the following steps are included:
It, will be on the rib clamping to rib shape-keeping frame 4 to restocking at the position far from installation region；
The positioning crossbeam of leading edge assemblies is biased, and increases leading edge assemblies；
Using rib transport vehicle 3, the rib shape-keeping frame 4 that clamping has rib is transported at installation station；
Rib shape-keeping frame is clamped using the crawl fixture 21 of rib restocking trolley, by pushing slide unit 12 and pedestal 10 opposite
Slide and the mechanical auxiliary arm of force 2 utilized to adjust the relative position between rib and leading edge assemblies, and by vertical angle regulator with
Lateral angle regulator is by the pose adjustment of rib to assembling pose；
Leading edge assemblies positioning crossbeam is playbacked to installation site, and reduces leading edge assemblies to original position；
It is corrected positioning using position of the measuring tool to rib, and the rib after positioning is clamped, then bores pre-
Connecting hole simultaneously carries out pre-connection.
Compared with the prior art for carrying out hanging restocking using driving, the invention has the following advantages that
1) rib is transported using rib transport vehicle, improves the conevying efficiency of rib；
2) the rib restocking method based on the mechanical auxiliary arm of force avoids conventionally employed traveling crane to hang up space caused by frame dry
Relate to problem；
3) since power assistant arm has certain rigidity, the position and attitude of rib can more easily be controlled.
Claims (6)
1. a kind of rib restocking system carries out the conformal rib guarantor of clamping including rib restocking trolley, for treating restocking rib
Shape frame and for clamping is had the rib shape-keeping frame of rib transport to installation station at rib transport vehicle, it is characterised in that:
The rib restocking trolley includes mounting base and the mechanical auxiliary arm of force, and the mechanical auxiliary arm of force includes power assistant arm host and crawl
Fixture；The mounting base includes pedestal and is slidably mounted in the cunning on the pedestal by first cross slide way slide block mechanism
Platform, the host are mounted on the slide unit；
The crawl fixture includes the attachment base being installed on the power assistant arm host, vertical turntable, lateral turntable and for pressing from both sides
Hold the collet by folder being installed on the rib shape-keeping frame；The vertical turntable can be rotatably mounted at described around vertical axis
The lower section of attachment base, and vertical angle regulator is equipped between the two；The transverse direction turntable can around transverse axes be mounted on
Lateral angle regulator is equipped on the vertical turntable, and between the two.
2. restocking system according to claim 1, it is characterised in that:
The vertical angle regulator includes the push rod being installed on the vertical turntable and for keeping the vertical turntable
The vertical corner holding mechanism of relative angular position between the attachment base；
The lateral angle regulator includes adjusting handwheel, the worm screw being sequentially connected with the adjustment handwheel and the transverse direction
The gear that turntable is fixedly and coaxially connected and the cross for keeping relative angular position between the lateral turntable and the vertical turntable
To corner holding mechanism；The gear is engaged with the worm screw.
3. restocking system according to claim 1, it is characterised in that:
The collet includes two clamping heads and the door type base of the carrier head for installing two clamping heads, the door type folder
Headstock is installed on the lateral turntable；
The clamping head include can open and close to hold tightly it is described by two folded arms of folder and for driving the folded arm switching motion
Actuator.
4. restocking system according to claim 1, it is characterised in that:
It is described by folder be blind rivet structure.
5. according to claim 1 to restocking system described in any one of 4 claims, it is characterised in that:
The slide unit includes the first slide unit being slidably connected by the first guide rail slide block mechanism and the pedestal and for installing
The second slide unit of power assistant arm host is stated, second slide unit is slidably mounted in described by the second cross slide way slide block mechanism
On first slide unit, the glide direction of the glide direction of second cross slide way slide block mechanism and first guide rail slide block mechanism
It is mutually orthogonal.
6. a kind of rib restocking method treats the restocking wing using restocking system described in any one of claim 1 to 5 claim
Rib carries out restocking, method includes the following steps:
It will be on the rib clamping to rib shape-keeping frame to restocking；
The positioning crossbeam of leading edge assemblies is biased, and increases leading edge assemblies；
Using rib transport vehicle, the rib shape-keeping frame that clamping has rib is transported at installation station；
Rib shape-keeping frame is clamped using the crawl fixture of rib restocking trolley, by pushing slide unit is opposite with pedestal to slide and utilize
The mechanical auxiliary arm of force adjusts the relative position between rib and leading edge assemblies, and is adjusted by vertical angle regulator and lateral corner
Device is by the pose adjustment of rib to assembling pose；
Leading edge assemblies positioning crossbeam is playbacked to installation site, and reduces leading edge assemblies to original position；
It is corrected positioning using position of the measuring tool to rib, and the rib after positioning is clamped, then bore pre-connection
Hole simultaneously carries out pre-connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710750013.4A CN107512402B (en) | 2017-08-28 | 2017-08-28 | A kind of rib restocking system and restocking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710750013.4A CN107512402B (en) | 2017-08-28 | 2017-08-28 | A kind of rib restocking system and restocking method |
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| Publication Number | Publication Date |
|---|---|
| CN107512402A CN107512402A (en) | 2017-12-26 |
| CN107512402B true CN107512402B (en) | 2019-10-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710750013.4A Active CN107512402B (en) | 2017-08-28 | 2017-08-28 | A kind of rib restocking system and restocking method |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102554821A (en) * | 2011-12-28 | 2012-07-11 | 西北工业大学 | Outer front flap positioner |
| CN103979118A (en) * | 2014-04-01 | 2014-08-13 | 浙江大学 | Airfoil wall plate digital positioning method and positioning device |
| CN106741054A (en) * | 2016-12-14 | 2017-05-31 | 中航飞机股份有限公司西安飞机分公司 | A kind of aircraft slide rail flexible installing car and slide rail locating mounting method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4163096B2 (en) * | 2003-11-27 | 2008-10-08 | 富士重工業株式会社 | Wing girder assembly jig |
| WO2015134662A2 (en) * | 2014-03-04 | 2015-09-11 | The Trustees Of Columbia University In The City Of New York | Regularization of images |
-
2017
- 2017-08-28 CN CN201710750013.4A patent/CN107512402B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102554821A (en) * | 2011-12-28 | 2012-07-11 | 西北工业大学 | Outer front flap positioner |
| CN103979118A (en) * | 2014-04-01 | 2014-08-13 | 浙江大学 | Airfoil wall plate digital positioning method and positioning device |
| CN106741054A (en) * | 2016-12-14 | 2017-05-31 | 中航飞机股份有限公司西安飞机分公司 | A kind of aircraft slide rail flexible installing car and slide rail locating mounting method |
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| Publication number | Publication date |
|---|---|
| CN107512402A (en) | 2017-12-26 |
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