CN101817405A - Heavy-duty three-dimensional positioner - Google Patents

Heavy-duty three-dimensional positioner Download PDF

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Publication number
CN101817405A
CN101817405A CN201010136800A CN201010136800A CN101817405A CN 101817405 A CN101817405 A CN 101817405A CN 201010136800 A CN201010136800 A CN 201010136800A CN 201010136800 A CN201010136800 A CN 201010136800A CN 101817405 A CN101817405 A CN 101817405A
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CN
China
Prior art keywords
gear unit
bulb
duty
heavy
steady arm
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Pending
Application number
CN201010136800A
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Chinese (zh)
Inventor
柯映林
黄小东
蒋君侠
杨国荣
樊新田
周启民
孙文博
赵安安
邱宝贵
方强
李江雄
王青
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Zhejiang University ZJU
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Zhejiang University ZJU
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Filing date
Publication date
Application filed by Zhejiang University ZJU filed Critical Zhejiang University ZJU
Priority to CN201010136800A priority Critical patent/CN101817405A/en
Publication of CN101817405A publication Critical patent/CN101817405A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a heavy-duty three-dimensional positioner, which comprises a Z-direction transmission unit, an X-direction sliding plate, a Z-direction sliding plate, an upright post, a Y-direction carriage, an X-direction transmission unit, a pedestal, a Y-direction transmission unit and the like. The pedestal is provided with the Y-direction transmission unit; the Y-direction transmission unit is provided with the Y-direction carriage; the Y-direction carriage is provided with the upright post; the side face of the upright post is provided with the Z-direction transmission unit; the Z-direction transmission unit is provided with the Z-direction sliding plate; the side face of the Z-direction sliding plate is provided with the X-direction transmission unit; the X-direction transmission unit is provided with the X-direction sliding plate; the X-direction sliding plate is provided with a force measurement mechanism which is provided with a bulb feeding mechanism; the bulb feeding mechanism is provided with a bulb locking mechanism; and each transmission unit is guided by a straight guide rail and driven through a servo motor, a decelerator and a ball screw. The positioner can accurately move and position along the directions of X, Y and Z, along with high structural rigidity and high strength; and the force measurement mechanism is provided with a force sensor for monitoring the stress condition of the positioner along the Z direction.

Description

A kind of heavy-duty three-dimensional positioner
Technical field
The present invention relates to steady arm, relate in particular to a kind of heavy-duty three-dimensional positioner.
Background technology
Large aircraft typically refers to military-civil large transport airplane and 150 airliners that level is above that the total mass that takes off surpasses 100t.It is the concentrated reflection of country's industry, state-of-art and a comprehensive strength, and international competitiveness and the scientific and technological strength that strengthens China had very important meaning.
At present, the orthodox method of the former Soviet Union of 20th century, six the seventies is also continued to use in China's aircraft assembling basically, and adopt based on the analog quantity transfer mode is master's method of work more.The technology method complexity that this method of work manufacturing cycle is long, the assembly coordination link is many, coordinate, large amount of complex, rigid, special-purpose material standard frock and assembly tooling have been adopted at different assembly parts, its changeability, reconfigurability are poor, no commonality and cost height, especially, when big parts butt joint is assembled, even still artificial hand steered operation pickaback.And big aircraft components weighs several tons, even tens of ton, if adopt traditional its difficulty of assembly mode to well imagine.Therefore, the large aircraft manufacturing adopts the automated assembly technology imperative, at first is the quality in order to guarantee to assemble, and improves the fatigue life of body.Secondly, can in production in enormous quantities, enhance productivity.From another point of view, large aircraft housing construction size is big, the structure assembly space is opened wide, and also easily is automated assembling.
In order to satisfy the needs of large aircraft fuselage and wing " grand cross " digitalisation butt joint, provide a kind of heavy-duty three-dimensional positioner.This locator structure intensity height, good rigidly can be realized the effective support and the fixing of integral body.Steady arm also can accurately move and locatees along X, Y, three directions of Z, and constitutes typed ball bearing pair with the process connection that is fixed on the integral body reinforced bulkhead, and 4 steady arms constitute a parallel institution is realized fuselages based on 4 posture adjustment principles position and attitude adjustment.In addition, some displacement pickups, force gauge and ultrasonic transduter have been installed on the steady arm, can monitor fuselage in real time with respect to the locus of steady arm and the support strained condition of fuselage, guarantee the safety of aircraft in going into position, support, posture adjustment and docking operation.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of heavy-duty three-dimensional positioner is provided.
Heavy-duty three-dimensional positioner comprises that Z goes into mechanism, force measuring machine to gear unit, base, Y to gear unit, technology bulb, bulb catch gear, bulb to turbine and worm retarder, operator's station, X to planker, Z to slide plate, column, Y to slide plate, Z to gear unit, X; Base is provided with Y to gear unit, Y is provided with Y to planker to gear unit, Y is provided with column to planker, the column side is provided with Z to gear unit, Z is provided with Z to slide plate to gear unit, Z slide plate side is provided with X to gear unit, X is provided with X to slide plate to gear unit, X is provided with force measuring machine to slide plate, force measuring machine is provided with bulb and goes into a mechanism, bulb is gone into a mechanism and is provided with the bulb catch gear, and X is to gear unit, Y is the line slideway guiding to gear unit or Z to gear unit, and passes through servomotor, retarder and ball-screw are realized this direction motion.
Described column and base load-carrying member adopt reinforced casting more.Described X is provided with absolute type grating chi to gear unit or Z to gear unit to gear unit, Y, realizes the control of full cut-off ring by absolute type grating chi reading feedback.Described X is provided with limit switch and mechanical position limitation to gear unit or Z to gear unit to gear unit, Y, and its servomotor all has brake sticking brake.Described Z is provided with worm type of reduction gearing to gear unit, utilizes its latching characteristics to lock its control position.Described column top and X are provided with ultrasonic transduter to slide plate, a distance of steady arm and airframe when detecting airframe and going into.Described force measuring machine is provided with force gauge, monitor in real time steady arm Z to force-bearing situation.Described bulb is gone into a mechanism and is provided with a plurality of displacement pickups, according to the relative position of its initial installation site and the big parts technology of reading calculating fuselage bulb relative positioning device.Described bulb is gone into a mechanism and is provided with handwheel, utilizes handwheel to drive the steady arm motion, finishes the Primary Location of the big parts technology of aircraft bulb with respect to steady arm.Described bulb catch gear is that servomotor passes through the worm screw reducer of turbodrill and drives rotating disk, and then the control claw moves radially along rotating disk, carries out the clamping of the big parts technology of aircraft bulb or loosens operation.
Advantage of the present invention: 1) can accurately move and the location along X, Y, three directions of Z; 2) utilization multiaxis cooperative motion technology can realize X, Y, three direction interlocks of Z; 3) several steady arms constitute a posture adjustment mechanism, and then realize the support and the pose adjustment of the big parts of aircraft; 4) locator structure good rigidly, intensity height, capacity weight can reach 50 tons; 5) X of steady arm is positioned at steady arm side (near fuselage) to slide plate, Z to slide plate, can avoid fuselage and steady arm to interfere; Guarantee when 6) locator structure designs that it loads the midway location that tailheaviness drops on base, to improve the stability that supports; 7) load-carrying members such as steady arm column and base adopt reinforced casting more, take into account its rigidity and weight; 8) steady arm column bottom links to each other with the alighting gear planker, and to removing, undercarriage can pass through from the alighting gear planker steady arm along exhibition when fuselage entered the station; 9) steady arm X, Y, Z are equipped with absolute type grating chi to gear unit, realize the control of full cut-off ring by its reading feedback; 10) steady arm X, Y, Z be to being equipped with limit switch and mechanical position limitation, and its servomotor all has brake sticking brake, to improve its safety; 11) Z of steady arm is equipped with worm type of reduction gearing to gear unit, utilizes its latching characteristics to lock its control position; 12) steady arm column top and X are equipped with ultrasonic transduter on slide plate, and the distance of steady arm and airframe avoids both to interfere when being used for detecting airframe and going into; 13) force measuring machine is provided with force gauge, monitor in real time steady arm Z to force-bearing situation, and adjust the position of steady arm, and then guarantee that each steady arm carrying is balanced and it is stressed rationally to support object according to its force-bearing situation; 14) bulb is gone into a mechanism a plurality of displacement pickups is installed, and calculates the relative position of the big parts technology of fuselage bulb relative positioning device according to its initial installation site and reading, and then drives steady arm and carry out position compensation and realize precisely positioning large part of airplane in place; 15) bulb is gone into a mechanism and is had handwheel, utilize handwheel button and knob to select the steady arm and the associ-ated motion parameters that will drive, the impulse singla that produces by impulse deviser drives the steady arm motion, finishes the Primary Location of the big parts technology of aircraft bulb with respect to steady arm; 16) the bulb catch gear is that servomotor passes through the worm screw reducer of turbodrill and drives rotating disk, and then the control claw moves radially along rotating disk, carries out the clamping of the big parts technology of aircraft bulb or loosens operation.
Description of drawings
Fig. 1 is the heavy-duty three-dimensional positioner structural front view;
Fig. 2 is a heavy-duty three-dimensional positioner structure birds-eye view;
Fig. 3 is a heavy-duty three-dimensional positioner structure left view;
Among the figure: Z goes into mechanism 13, force measuring machine 14 to gear unit 8, base 9, Y to gear unit 10, technology bulb 11, bulb catch gear 12, bulb to turbine and worm retarder 6, operator's station 7, X to planker 5, Z to slide plate 3, column 4, Y to slide plate 2, Z to gear unit 1, X.
The specific embodiment
Shown in Fig. 1~3, heavy-duty three-dimensional positioner comprises that Z goes into mechanism 13, force measuring machine 14 to gear unit 8, base 9, Y to gear unit 10, technology bulb 11, bulb catch gear 12, bulb to turbine and worm retarder 6, operator's station 7, X to planker 5, Z to slide plate 3, column 4, Y to slide plate 2, Z to gear unit 1, X; Base 9 is provided with Y to gear unit 10, Y is provided with Y to planker 5 to gear unit 10, Y is provided with column 4 to planker 5, column 4 sides are provided with Z to gear unit 1, Z is provided with Z to slide plate 3 to gear unit 1, Z slide plate 3 sides are provided with X to gear unit 8, X is provided with X to slide plate 2 to gear unit 8, X is provided with force measuring machine 14 to slide plate 2, force measuring machine 14 is provided with bulb and goes into a mechanism 13, bulb is gone into a mechanism 13 and is provided with bulb catch gear 12, and X is to gear unit 8, Y is the line slideway guiding to gear unit 10 or Z to gear unit 1, and passes through servomotor, retarder and ball-screw are realized this direction motion.
Described column 4 and base 9 load-carrying members adopt reinforced casting more.Described X is provided with absolute type grating chi to gear unit 10 or Z to gear unit 1 to gear unit 8, Y, realizes the control of full cut-off ring by absolute type grating chi reading feedback.Described X is provided with limit switch and mechanical position limitation to gear unit 10 or Z to gear unit 1 to gear unit 8, Y, and its servomotor all has brake sticking brake.Described Z is provided with worm type of reduction gearing to gear unit 1, utilizes its latching characteristics to lock its control position.Described column 4 tops and X are provided with ultrasonic transduter to slide plate 2, a distance of steady arm and airframe when detecting airframe and going into.Described force measuring machine 14 is provided with force gauge, monitor in real time steady arm Z to force-bearing situation.Described bulb is gone into a mechanism 13 and is provided with a plurality of displacement pickups, according to the relative position of its initial installation site and the big parts technology of reading calculating fuselage bulb relative positioning device.Described bulb is gone into a mechanism 13 and is provided with handwheel, utilizes handwheel to drive the steady arm motion, finishes the Primary Location of the big parts technology of aircraft bulb with respect to steady arm.Described bulb catch gear 12 is that servomotor passes through the worm screw reducer of turbodrill and drives rotating disk, and then the control claw moves radially along rotating disk, carries out the clamping of the big parts technology of aircraft bulb or loosens operation.
Adopt bias structure during positioner designs, X is positioned at steady arm side (near fuselage) to slide plate, Z to slide plate, can avoid fuselage and steady arm to interfere; Rationally arrange the spacing of Y, guarantee that it loads the midway location that tailheaviness drops on base to the planker slide block; Load-carrying member such as column and base adopts reinforced casting more, takes into account its intensity, rigidity and weight, and capacity weight reaches 50 ton hours, and its maximum distortion is controlled within the 0.9mm, and maximum stress is controlled in the 120MPa; The column bottom links to each other with the alighting gear planker, and to removing, undercarriage can pass through from the alighting gear planker steady arm along exhibition when fuselage entered the station; X, Y, Z are equipped with absolute type grating chi to gear unit, realize the control of full cut-off ring by its reading feedback; Z is equipped with worm type of reduction gearing to gear unit, utilizes its latching characteristics to lock its control position; X, Y, Z are to being equipped with limit switch and mechanical position limitation, and its servomotor all has brake sticking brake; Column top and X are equipped with ultrasonic transduter on slide plate, the distance of steady arm and airframe avoids both to interfere when being used for detecting airframe and going into; When the big parts technology of aircraft bulb is gone into,, introduced handwheel for making things convenient for workman's execute-in-place.Utilize handwheel button and knob to select the steady arm and the associ-ated motion parameters that will drive, the impulse singla that produces by impulse deviser drives the steady arm motion, finishes first the step into position of the big parts technology of aircraft bulb with respect to steady arm; Bulb is gone into a mechanism a plurality of displacement pickups is installed, after the big parts technology of aircraft bulb just steps into the position with respect to steady arm, according to the relative position of its initial installation site and the big parts technology of reading calculating fuselage bulb relative positioning device, and then the driving steady arm carries out position compensation realization precisely positioning large part of airplane in place; Force measuring machine is provided with force gauge, monitor in real time steady arm Z to force-bearing situation, and adjust the position of steady arm, and then guarantee that each steady arm carrying is balanced and it is stressed rationally to support object according to its force-bearing situation; The bulb catch gear is that servomotor passes through the worm screw reducer of turbodrill and drives rotating disk, and then the control claw moves radially along rotating disk, carries out the clamping of the big parts technology of aircraft bulb or loosens operation.The claw afterbody is equipped with the initial position of adjustment nut with the control claw; Steady arm can accurately move and the location along X, Y, three directions of Z; Steady arm utilization multiaxis cooperative motion technology can realize X, Y, three direction interlocks of Z; Several steady arms constitute a parallel institution, and then realize the support and the pose adjustment of the big parts of aircraft.
In order to satisfy the needs of large aircraft fuselage and wing " grand cross " digitalisation butt joint, steady arm constitutes typed ball bearing pair with the process connection that is fixed on the integral body reinforced bulkhead, 4 one group constitutes a parallel institution and realizes the position and the attitude adjustment of integral bodies based on 4 posture adjustment principles, and then protects attitude and move and finish fuselage and wing " grand cross " butt joint.
Use step of the present invention as follows:
1) 4 steady arm columns are removed and the bulb catch gear are reduced to minimum altitude to both sides;
2) integral body places the butt joint assembly area that is entered appointment on the special carriage of fuselage by trailer traction;
3) start steady arm super sonic collision avoidance system, the fuselage steady arm enters the predetermined work position;
4) No. 1 steady arm to fuselage technology bulb of handwheel driving is tentatively gone into the position;
5) bulb is gone into the relative position that fuselage technological ball head relative positioning device calculates in mechanism, and then drives steady arm and carry out position compensation and realize that fuselage accurately goes into the position;
6) the 2-4 steady arm adopts roughly the same the mode of No. 1 steady arm to go into the position successively;
7) force measuring machine monitoring 1-4 steady arm Z to force-bearing situation, and adjust the position of steady arm, and then guarantee that each steady arm carrying is balanced according to its force-bearing situation;
8) the 1-4 steady arm jack-up airframe that rises synchronously, the fuselage carriage is withdrawn;
9) the 1-4 steady arm is realized the position and the attitude adjustment of fuselage based on 4 posture adjustment principles;
10) after fuselage position and attitude were adjusted to the right place, 1-4 steady arm bulb catch gear locking technology bulb was for processing or dock ready.

Claims (10)

1. a heavy-duty three-dimensional positioner is characterized in that comprising that Z goes into mechanism (13), force measuring machine (14) to gear unit (8), base (9), Y to gear unit (10), technology bulb (11), bulb catch gear (12), bulb to turbine and worm retarder (6), operator's station (7), X to planker (5), Z to slide plate (3), column (4), Y to slide plate (2), Z to gear unit (1), X; Base (9) is provided with Y to gear unit (10), Y is provided with Y to planker (5) to gear unit (10), Y is provided with column (4) to planker (5), column (4) side is provided with Z to gear unit (1), Z is provided with Z to slide plate (3) to gear unit (1), Z slide plate (3) side is provided with X to gear unit (8), X is provided with X to slide plate (2) to gear unit (8), X is provided with force measuring machine (14) to slide plate (2), force measuring machine (14) is provided with bulb and goes into a mechanism (13), bulb is gone into a mechanism (13) and is provided with bulb catch gear (12), X is to gear unit (8), Y is the line slideway guiding to gear unit (10) or Z to gear unit (1), and passes through servomotor, retarder and ball-screw are realized this direction motion.
2. a kind of heavy-duty three-dimensional positioner according to claim 1 is characterized in that, described column (4) and base (9) load-carrying member adopt reinforced casting more.
3. a kind of heavy-duty three-dimensional positioner according to claim 1, it is characterized in that, described X is provided with absolute type grating chi to gear unit (10) or Z to gear unit (1) to gear unit (8), Y, realizes the control of full cut-off ring by absolute type grating chi reading feedback.
4. a kind of heavy-duty three-dimensional positioner according to claim 1, it is characterized in that, described X is provided with limit switch and mechanical position limitation to gear unit (10) or Z to gear unit (1) to gear unit (8), Y, and its servomotor all has brake sticking brake.
5. a kind of heavy-duty three-dimensional positioner according to claim 1 is characterized in that, described Z is provided with worm type of reduction gearing to gear unit (1), utilizes its latching characteristics to lock its control position.
6. a kind of heavy-duty three-dimensional positioner according to claim 1 is characterized in that, described column (4) top and X are provided with ultrasonic transduter to slide plate (2), a distance of steady arm and airframe when detecting airframe and going into.
7. a kind of heavy-duty three-dimensional positioner according to claim 1 is characterized in that, described force measuring machine (14) is provided with force gauge, monitor in real time steady arm Z to force-bearing situation.
8. a kind of heavy-duty three-dimensional positioner according to claim 1, it is characterized in that, described bulb is gone into a mechanism (13) and is provided with a plurality of displacement pickups, according to the relative position of its initial installation site and the big parts technology of reading calculating fuselage bulb relative positioning device.
9. a kind of heavy-duty three-dimensional positioner according to claim 1 is characterized in that, described bulb is gone into a mechanism (13) and is provided with handwheel, utilizes handwheel to drive the steady arm motion, finishes the Primary Location of the big parts technology of aircraft bulb with respect to steady arm.
10. a kind of heavy-duty three-dimensional positioner according to claim 1, it is characterized in that, described bulb catch gear (12) is that servomotor passes through worm screw reducer of turbodrill driving rotating disk, and then the control claw moves radially along rotating disk, carries out the clamping of the big parts technology of aircraft bulb or loosens operation.
CN201010136800A 2010-03-30 2010-03-30 Heavy-duty three-dimensional positioner Pending CN101817405A (en)

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102001451A (en) * 2010-11-12 2011-04-06 浙江大学 Airplane component attitude adjusting and butting system based on four numeric control positioners, attitude adjusting platform and mobile bracket and corresponding method
CN102494908A (en) * 2011-11-18 2012-06-13 南京航空航天大学 Servo-motor aerodynamic load analog device of aircraft landing gear folding and unfolding
CN102700726A (en) * 2012-06-15 2012-10-03 西北工业大学 Three-coordinate double-support arm positioner
CN102862048A (en) * 2012-09-21 2013-01-09 西安飞机工业(集团)有限责任公司 Three-coordinate supporting, positioning and adjusting mechanism
CN103630293A (en) * 2013-12-04 2014-03-12 东南大学常州研究院 In-orbit high-precision calibration device and method for multi-dimensional force sensor
CN104308767A (en) * 2014-09-03 2015-01-28 上海交通大学 Co-location device for automatically butting and assembling large-sized thin-wall barrel-shaped members
CN104477401A (en) * 2014-10-30 2015-04-01 北京兴华机械厂 Magnetic-levitation flywheel rotor magnetic assembly mechanism
CN105552554A (en) * 2015-12-11 2016-05-04 哈尔滨工业大学 Three-degree-of-freedom posture adjustment device and posture adjustment method applicable for edge block of radar antenna
CN106915473A (en) * 2017-03-30 2017-07-04 浙江大学 A kind of adjustable wallboard of six degree of freedom installs car and wallboard installation method
CN107161355A (en) * 2017-05-23 2017-09-15 浙江大学 A kind of aircraft wing skins digital control location device
CN110174082A (en) * 2019-06-03 2019-08-27 西安飞机工业(集团)有限责任公司 A kind of restructural positioning system and localization method

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CN1958245A (en) * 2006-09-16 2007-05-09 中国工程物理研究院机械制造工艺研究所 Fine setting device with six degree of freedom
CN101249597A (en) * 2008-03-20 2008-08-27 上海交通大学 Flexible locating cramping apparatus controlled by servo
CN101362512A (en) * 2008-09-19 2009-02-11 浙江大学 Pose alignment system and method of aircraft part based on four locater
CN101362289A (en) * 2008-09-19 2009-02-11 浙江大学 Globular hinge type three-coordinate flexible attitude-adjusting unit

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CN1958245A (en) * 2006-09-16 2007-05-09 中国工程物理研究院机械制造工艺研究所 Fine setting device with six degree of freedom
CN101249597A (en) * 2008-03-20 2008-08-27 上海交通大学 Flexible locating cramping apparatus controlled by servo
CN101362512A (en) * 2008-09-19 2009-02-11 浙江大学 Pose alignment system and method of aircraft part based on four locater
CN101362289A (en) * 2008-09-19 2009-02-11 浙江大学 Globular hinge type three-coordinate flexible attitude-adjusting unit

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102001451A (en) * 2010-11-12 2011-04-06 浙江大学 Airplane component attitude adjusting and butting system based on four numeric control positioners, attitude adjusting platform and mobile bracket and corresponding method
CN102001451B (en) * 2010-11-12 2013-05-29 浙江大学 Airplane component attitude adjusting and butting system based on four numeric control positioners, attitude adjusting platform and mobile bracket and corresponding method
CN102494908A (en) * 2011-11-18 2012-06-13 南京航空航天大学 Servo-motor aerodynamic load analog device of aircraft landing gear folding and unfolding
CN102700726B (en) * 2012-06-15 2014-10-15 西北工业大学 Three-coordinate double-support arm positioner
CN102700726A (en) * 2012-06-15 2012-10-03 西北工业大学 Three-coordinate double-support arm positioner
CN102862048A (en) * 2012-09-21 2013-01-09 西安飞机工业(集团)有限责任公司 Three-coordinate supporting, positioning and adjusting mechanism
CN103630293A (en) * 2013-12-04 2014-03-12 东南大学常州研究院 In-orbit high-precision calibration device and method for multi-dimensional force sensor
CN103630293B (en) * 2013-12-04 2015-08-26 东南大学常州研究院 The high-accuracy calibration device in-orbit of multi-dimension force sensor and scaling method
CN104308767B (en) * 2014-09-03 2016-01-13 上海交通大学 The co-located device of large thin-wall Cylinder shape constructional element automatic butt assembling
CN104308767A (en) * 2014-09-03 2015-01-28 上海交通大学 Co-location device for automatically butting and assembling large-sized thin-wall barrel-shaped members
CN104477401A (en) * 2014-10-30 2015-04-01 北京兴华机械厂 Magnetic-levitation flywheel rotor magnetic assembly mechanism
CN105552554A (en) * 2015-12-11 2016-05-04 哈尔滨工业大学 Three-degree-of-freedom posture adjustment device and posture adjustment method applicable for edge block of radar antenna
CN105552554B (en) * 2015-12-11 2018-07-03 哈尔滨工业大学 A kind of Three Degree Of Freedom posture adjusting device and attitude-adjusting method suitable for radar antenna side block
CN106915473A (en) * 2017-03-30 2017-07-04 浙江大学 A kind of adjustable wallboard of six degree of freedom installs car and wallboard installation method
CN107161355A (en) * 2017-05-23 2017-09-15 浙江大学 A kind of aircraft wing skins digital control location device
CN107161355B (en) * 2017-05-23 2019-06-18 浙江大学 A kind of aircraft wing skins digital control location device
CN110174082A (en) * 2019-06-03 2019-08-27 西安飞机工业(集团)有限责任公司 A kind of restructural positioning system and localization method

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Free format text: CORRECT: INVENTOR; FROM: KE YINGLIN HUANG XIAODONG JIANG JUNXIA YANG GUORONG FAN XINTIAN ZHOU QIMINSUN WENBO ZHAO ANAN QIU BAOGUI FANG QIANG LI JIANGXIONG WANG QING TO: KE YINGLIN HE SHENGQIANG HUANG XIAODONG JIANG JUNXIA YANG GUORONG FAN XINTIAN ZHOU QIMIN SUN WENBO ZHAO ANAN QIU BAOGUI FANG QIANG LI JIANGXIONG WANG QING

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Application publication date: 20100901