CN111300081A

CN111300081A - Posture adjusting device and posture adjusting method for realizing multi-degree-of-freedom movement

Info

Publication number: CN111300081A
Application number: CN201911162985.7A
Authority: CN
Inventors: 赵远鹏; 李国涛; 吴远东; 白培荣; 刘钰铉
Original assignee: Xian Aircraft Industry Group Co Ltd
Current assignee: Xian Aircraft Industry Group Co Ltd
Priority date: 2019-11-22
Filing date: 2019-11-22
Publication date: 2020-06-19
Anticipated expiration: 2039-11-22
Also published as: CN111300081B

Abstract

The invention provides a posture adjusting device and a posture adjusting method for realizing multi-degree-of-freedom movement. The X/Y translational motion and the A/B/C micro-adjustment of the aircraft component can be manually and rapidly adjusted; the Z-direction lifting motion and the A-direction rotating motion of the airplane parts depend on quantitative adjustment of the spiral lifter, real-time quantitative control is realized, and six-degree-of-freedom motion is realized. The attitude adjusting device is high in freedom degree, accurate in butt joint during assembly, capable of achieving quantitative control during assembly and flexible in manual quick adjustment, enables the assembly precision of airplane parts to be greatly improved, and saves assembly time. Can be directly popularized and applied to the butt joint assembly field of other industries.

Description

Posture adjusting device and posture adjusting method for realizing multi-degree-of-freedom movement

Technical Field

The invention relates to the field of butt joint installation of large airplane components in the aviation manufacturing industry, in particular to a device for quickly and accurately butt joint installation of the large airplane components and a using method.

Background

At the present stage, the attitude adjusting device or the assembly test device applied to the field of butt joint and assembly of large parts of airplanes is not flexible enough in structural freedom, butt joint is performed through manual operation, assembly is difficult, time is consumed, assembly accuracy of the large parts of airplanes is affected, and safety of airplanes and personnel is affected. The posture adjusting device with multi-degree-of-freedom motion is flexible to operate, can perform three-dimensional movement and three-dimensional rotation, and realizes six-degree-of-freedom motion in space.

Patent CN 103434655 a discloses an aircraft nose landing gear assembly test vehicle, which is a six-degree-of-freedom docking platform. The assembly test vehicle realizes six-degree-of-freedom motion by superposing four universal wheels and five servo electric cylinder synchronous mechanisms. In patent CN 103434655 a, a six-degree-of-freedom docking assembly platform is described, which uses four universal wheels to realize the movement of the nose landing gear along the X axis and the Y axis and the rotation around the Z axis; the four vertical servo electric cylinders are used for realizing the movement of the nose landing gear along the Z axis and the rotation around the X axis and the Y axis; the rotation of the strut of the nose landing gear along the axle is achieved by means of a horizontal servo electric cylinder. The technology adopts motion superposition to realize six-degree-of-freedom motion, the X/Y/C axis can be manually adjusted, but the degree of freedom can not be quantitatively adjusted; although the Z/A/B axis can realize quantitative control through servo control, the requirement of flexible assembly is lacked, and the quick completion of the transportation and the posture adjustment of the whole mechanism cannot be realized. Meanwhile, the structure has high difficulty in control and very high dependence on system control, if one of the four electric cylinders has a problem, the four electric cylinders cannot be normally used and must be replaced, and the purchase cost is relatively high.

Disclosure of Invention

The invention aims to provide a high-efficiency and high-precision butt joint installation posture adjusting device and a posture adjusting method for large parts of an airplane, so that the quick, accurate and reliable assembly of the airplane parts is ensured, and the efficiency of butt joint assembly of the parts is improved. Assembling airplane components on the attitude adjusting device, and realizing movement in the Z direction and rotation in the A direction by utilizing synchronous movement of a spiral elevator; the cross slide rail is utilized to realize the X/Y arrangement of airplane parts, and the rotary motion in the A/B direction and the rotary motion around the ball head in the C direction are realized.

The technical scheme adopted by the invention for solving the technical problems is as follows: a posture adjusting device for realizing multi-degree-of-freedom movement comprises a bottom plate, a spiral lifter, a bearing tray, a connecting seat, a floating platform, a guide rod, a guide sleeve, a cross slide rail, a sliding platform, an adjusting bearing platform, a ball head, a ball socket, a tension spring, a limiting rod, a limiting nut and a spring seat. Two groups of spiral lifters are fixed on two sides of the bottom plate, four connecting seats are respectively fixed on four corners of the bearing tray, a round through hole is arranged at the center of each connecting seat, and a screw rod of each spiral lifter penetrates through the round through hole of each connecting seat; the lower ends of the connecting seats connected with the four corners of the bearing tray are provided with guide rods, the outer side positions of the four corners of the floating platform are provided with guide sleeves matched with the guide rods, and the guide rods penetrate through the guide sleeves to fix the floating platform in the inner cavity of the bearing tray; the floating platform is of a groove-shaped structure, the cross-shaped sliding rail is fixed in the center of an inner cavity of the floating platform, the baffle plates are arranged around the floating platform, the sliding platform is fixed on the cross-shaped sliding rail, the sliding platform is provided with spring through holes, the lower surface of the sliding platform is provided with a plurality of spring seats, and the adjusting bearing platform is connected with the sliding platform through a ball head ball socket structure. The ball socket is arranged at the center of the base of the sliding platform, the ball head is arranged at the center of the adjusting bearing platform, and the ball head is arranged in a circular groove of the ball socket, plays a supporting role in adjusting the bearing platform and can rotate at the same time. And a gap of 20mm is reserved between the sliding platform and the adjusting bearing platform. One end of the extension spring passes through the platform and is fixed in the spring seat by a screw, and the other end of the extension spring is fixed on the adjusting bearing platform by a pin; the spring seat is fixed on the sliding platform by screws. The limiting rod is fixed on the adjusting bearing platform by means of a limiting nut, the lower threaded end of the limiting rod penetrates through a round through hole in the sliding platform, and the height of the limiting rod is adjusted by the nut.

The method for adjusting the posture by using the device comprises the following steps:

the first step is as follows: and assembling the airplane component on the adjusting bearing platform of the attitude adjusting device.

The second step is that: the lifting function of the component in the Z direction is realized through synchronous lifting of the spiral lifter. And the rotation motion of the component in the direction A is realized by the single-side ascending or descending of the spiral elevator.

The third step: the sliding platform slides in the inner cavity of the floating platform by artificially pushing the aircraft component, so that the component moves in the X/Y direction.

The fourth step: through the structural style of the ball socket and the extension spring, the adjusting bearing platform realizes the rotary motion in the A/B direction and the rotary motion in the C direction.

Has the advantages that: the posture adjusting device for realizing multi-degree-of-freedom movement provided by the invention realizes six-degree-of-freedom movement of components by utilizing a spiral lifter, a cross sliding table, an extension spring and a ball head ball socket structure. The X/Y translational motion and the A/B/C micro-adjustment of the aircraft component can be manually and rapidly adjusted; the Z-direction lifting motion and the A-direction rotating motion of the airplane parts depend on quantitative adjustment of the spiral lifter, real-time quantitative control is realized, and six-degree-of-freedom motion is realized. The attitude adjusting device is high in freedom degree, accurate in butt joint during assembly, capable of achieving quantitative control during assembly and flexible in manual quick adjustment, enables the assembly precision of airplane parts to be greatly improved, and saves assembly time. Can be directly popularized and applied to the butt joint assembly field of other industries.

Drawings

FIG. 1 is a schematic view of the overall layout of the posture adjusting device

FIG. 2 is a layout of a cross slide and a carrying tray

FIG. 3 is a schematic view of a micro-tip adjustment stage

FIG. 4 is a schematic view of the interior of a lower layer of a micro-flip trim

The reference numbers in the figures illustrate: 1, a bottom plate; 2 a screw elevator; 3 a carrying tray; 4 connecting base; 5, a guide rod; 6, a guide sleeve; 7 floating the platform; 8, a cross-shaped sliding rail; 9 sliding the platform; 10 adjusting the bearing platform; 11, a ball head; 12 a ball and socket; 13 extending the spring; 14, a limiting rod; 15, a limit nut; 16 spring seats; 17 spring fixing rod.

The present application is described in further detail below with reference to the accompanying drawings of embodiments.

Detailed Description

Referring to the attached drawings, the invention relates to a device for realizing multi-degree-of-freedom movement posture adjustment of airplane components and a rapid and accurate installation and use method.

In fig. 1, a bottom plate 1 is used as a bearing of a posture adjusting device, and two groups of spiral lifters 2 are arranged on the bottom plate and fixed on two sides of the bottom plate. Four connecting seats 4 are respectively fixed on four corners of the spiral lifter 2, a round through hole is arranged at the center of each connecting seat 4, a screw rod of the spiral lifter 2 penetrates through the round through hole of each connecting seat, and a central hole of each connecting seat 4 is opened to avoid screw rod transmission of the spiral lifter 2. The carrying tray 3 is carried by a nut on a lead screw of the screw elevator 2, and the carrying tray 3 is moved in the vertical direction (Z direction) along the lead screw of the screw elevator 2.

The screw rods in the two groups of spiral lifters 2 are lifted synchronously to drive the transmission of the screw nuts on the spiral lifters, so that the bearing tray 3 can complete the function of lifting in the Z direction. The single group of spiral lifters 2 is lifted, and the spiral lifter on the opposite side is static, so that the bearing tray 3 has a certain height difference in the height direction, and the function of rotating along the X axis direction (namely, the A direction rotating motion) is achieved.

4 lower extremes of connecting seat that bear 3 four angles of tray and connect are equipped with guide bar 5, and the outside position at 7 four angles of floating platform is equipped with uide bushing 6 rather than the cooperation, and guide bar 5 passes uide bushing 6, fixes floating platform 7 in the inner chamber that bears tray 3.

As shown in fig. 2, the floating platform 7 is of a groove structure, the cross slide rail 8 is fixed in the center of an inner cavity of the floating platform 7, baffles are arranged around the floating platform 7, and the sliding platform 9 is fixed on the cross slide rail 8. The periphery of the bearing tray 3 is provided with a baffle plate for limiting. The cross slide rails 4 slide on the horizontal plane along the X and Y directions, so that the sliding platform 9 moves within the limited range of the bearing tray 3.

As shown in fig. 3, the sliding platform 9 is provided with a spring through hole, the lower surface of the sliding platform is provided with a plurality of spring seats 16, and the adjusting bearing platform 10 is structurally connected with the sliding platform 9 through a ball 11 and a ball socket 12; the sliding platform 9 is used as a base center position for installing a ball socket 12. The ball 11 is installed in the center of the adjustable bearing platform 10. The ball head 11 is arranged in a circular groove of the ball socket 12, plays a supporting role in adjusting the bearing platform 10, and can also rotate. There is a gap of 20mm between the sliding platform 9 and the adjustable bearing platform 10.

One end of the extension spring 13 passes through the platform and is fixed in the spring seat 16 by a screw rod, and the other end of the extension spring is fixed on the adjusting bearing platform 10 by a pin; one end of the extension spring 13 is fixed on the sliding platform 9 by a screw rod, and the other end of the extension spring is fixed on the adjusting bearing platform 10 by a pin and arranged according to the tension value set by the extension spring.

The limiting rod 14 is fixed on the adjusting bearing platform by means of a limiting nut 15, the lower threaded end of the limiting rod 14 penetrates through the round through hole in the sliding platform 9, and the height of the limiting rod 14 is adjusted by the limiting nut 15. The limit rod 14 is fixed on the adjusting bearing platform 10 by means of a limit nut 15. After the limiting nut 11 is fixed, a gap of 6-8 mm is reserved between the limiting nut and the sliding platform 9. And the lower thread end of the limiting rod 14 is connected and fixed with a limiting nut 15 below the sliding platform. At this time, a gap of about 5mm is formed between the limit nut 15 and the sliding platform 9. The upper end of the bearing platform is adjusted to be used as a carrier for bearing aircraft parts, the ball head 11 is mainly used for supporting, and the ball head 11 can rotate or tilt in any direction in the ball socket 12. The change of the position after toppling is controlled by the stretching amount of the stretching spring 13, and the actual displacement is controlled by the gap between the limit nut 15 and the adjusting bearing platform 10 and the gap between the limit nut 15 and the sliding platform 9.

As shown in fig. 4, the tension ring of the tension spring 13 is fixed to a spring fixing rod 17, the spring fixing rod 17 is connected to a spring seat 16, and the spring seat 16 is fixed to the slide table 9 by screws.

The use method of the device comprises the following steps:

the first step is as follows: the aircraft components are assembled on the adjusting bearing platform 10 of the attitude adjusting device.

The second step is that: the lifting function of the component in the Z direction is realized through the synchronous lifting of the spiral lifter 2. And then the spiral elevator 2 ascends or descends on one side to realize the rotation motion of the component in the direction A.

The third step: by manually pushing the aircraft component, the sliding platform 9 slides in the inner cavity of the floating platform 7, so that the component moves in the X/Y direction.

The fourth step: through the structural style of the ball socket and the extension spring 13, the adjustment bearing platform 10 can realize the rotation motion in the A/B direction and the rotation motion in the C direction.

The utility model realizes the adjustment of Z/A two directions by using the synchronous lifting function and single group lifting function of the spiral lifter; the cross slide rail realizes the movement at any position in the X/Y direction in the horizontal plane; the micro-turning adjustment technology supplements the requirement of small-angle deflection adjustment in the A/B direction, and can do micro-rotation movement of +/-1 degree in the two freedom directions. Therefore, the installation requirement of flexible adjustment of six-degree motion is met by adopting a synchronous lifting technology, a two-degree-of-freedom motion technology and a micro-overturning adjustment technology.

Claims

1. A posture adjusting device for realizing multi-degree-of-freedom motion comprises a bottom plate, spiral lifters, a bearing tray, connecting seats, a floating platform, guide rods, guide sleeves, cross slide rails, a sliding platform, an adjusting bearing platform, ball heads, ball sockets, extension springs, limiting rods, limiting nuts and spring seats, and is characterized in that two groups of spiral lifters are fixed on two sides of the bottom plate, four connecting seats are respectively fixed on four corners of the bearing tray, a round through hole is formed in the center of each connecting seat, and lead screws of the spiral lifters penetrate through the round through holes of the connecting seats; the lower ends of the connecting seats connected with the four corners of the bearing tray are provided with guide rods, the outer side positions of the four corners of the floating platform are provided with guide sleeves, and the guide rods penetrate through the guide sleeves to fix the floating platform in the inner cavity of the bearing tray; the floating platform is of a groove-shaped structure, the cross-shaped slide rail is fixed in the center of an inner cavity of the floating platform, baffles are arranged around the floating platform, the sliding platform is fixed on the cross-shaped slide rail, the sliding platform is provided with a spring through hole, the lower surface of the sliding platform is provided with a plurality of spring seats, and the adjusting bearing platform is connected with the sliding platform through a ball head ball socket structure; one end of the extension spring passes through the platform and is fixed in the spring seat by a screw, and the other end of the extension spring is fixed on the adjusting bearing platform by a pin; the limiting rod is fixed on the adjusting bearing platform by means of a limiting nut, the lower threaded end of the limiting rod penetrates through the round through hole in the sliding platform, and the height of the limiting rod is adjusted by the nut.

2. The device according to claim 1, wherein the sliding platform has a ball socket at a central position of the base, and the adjustment platform has a ball head at a central position, and the ball head supports the adjustment platform and rotates in a circular groove of the ball socket.

3. The device as claimed in claim 1, wherein the sliding platform is spaced from the adjustable support platform by a distance of 20 mm.

4. The attitude adjusting device for realizing multi-degree-of-freedom motion as claimed in claim 1, wherein the spring seat is fixed on the sliding platform by screws.

5. A posture adjusting method for realizing multi-degree-of-freedom movement is characterized by comprising the following steps:

the first step is as follows: assembling the airplane component on an adjusting bearing platform of the attitude adjusting device;

the second step is that: the lifting function of the component in the Z direction is realized by synchronous lifting of the spiral lifter, and the rotation motion of the component in the A direction is realized by single-side lifting or descending of the spiral lifter;

the third step: the aircraft component is manually pushed, and the sliding platform slides in the inner cavity of the floating platform, so that the component moves in the X/Y direction;