CN102092478B - Positioning device for butting wing body - Google Patents
Positioning device for butting wing body Download PDFInfo
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- CN102092478B CN102092478B CN201010621481.XA CN201010621481A CN102092478B CN 102092478 B CN102092478 B CN 102092478B CN 201010621481 A CN201010621481 A CN 201010621481A CN 102092478 B CN102092478 B CN 102092478B
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- steady arm
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- measurement point
- position fixing
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- 238000005259 measurement Methods 0.000 claims description 48
- 238000003032 molecular docking Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 6
- 230000000875 corresponding Effects 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000009432 framing Methods 0.000 claims description 3
- 230000001360 synchronised Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000004807 localization Effects 0.000 description 1
Classifications
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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
Abstract
The invention relates to a positioning device for butting a wing body, which is characterized in that the positioning device comprises three positioners for performing attitude adjustment on a part of an airplane, wherein the first positioner is placed at a support point with maximum bearing pressure on a wing and can do translation motion freely in X, Y and Z directions; the second positioner is placed at a farthest point in the X direction of the wing and can do the translation motion freely in the Y and the Z directions and do driven movement in the X direction; and the third positioner is determined according to the position of gravity center of the part of the airplane, the position of the third positioner needs to enable a connecting part for the part of the airplane to meet strength requirement, and enable the stress on each positioner to be uniform, and the third positioner can do the translation motion freely in the Z direction and do the driven movement in the X and the Y directions. The positioning system does not need multi-axis linkage, thereby simplifying the complexity of the system, simultaneously ensuring the safety and the reliability, reducing the cost, reducing the cost for manufacturing, mounting and measuring, and also reducing the cost of a foundation.
Description
Technical field
The present invention relates to aircraft refitting field, especially, the present invention relates to the position fixing system and localization method of installing for aircraft.
Background technology
Aircraft wing body section Butt Assembling is a not only complicated but also time-consuming fitting process, and quality directly has influence on the flight safety of aircraft.Traditional assembly technology have employed a large amount of fixing tools and scaffold, and assembly period is long, and labor strength is large, and assembly quality is low and unstable.
In the recent decade, the novel large airplane centralized being representative with Boeing 777,787, A340, A380 reflects embodiment and the development tendency of the advanced assembly technique of aircraft, and one of its feature have employed digitalisation automatic butt system in a large number.
Above-mentioned digitalisation automatic butt system forms primarily of autonavigator, measuring system, control system and posture adjustment integrated software system.In automatic docking process, first measuring system is passed through, carry out the Measurement accuracy of large component locations, after carrying out assembling trajectory planning, data are passed to steady arm, autonavigator is driven to carry out moving freely of X, Y, Z3 direction and the rotation around X, Y, Z3 direction by servomotor, thus realize the accurate location of Large Aircraft Components, and complete docking.
Along with Computer Control Technology, Servo Drive Technology's, the development of Digital Measuring Technique, constantly has novel posture adjustment platform to occur.The strong point increases, and the degree of freedom of the strong point increases, and DOF (degree of freedom) redundance increases.This makes posture adjustment process that specific leveling algorithm must be relied on repeatedly to link could realize through multiple degree of freedom.
At present, the steady arm for the adjustment of aircraft wing pose mostly is three-dimensional supporting mechanism.Each degree of freedom for each steady arm adopts driven by servomotor, adopts a series of leveling algorithm, drives multiple motor linkage simultaneously.In theory, strong point increase effectively reduces the impact of wing distortion, multi-point interlinkedly effectively reduces assembly stress.But also all kinds of corrupt practices creep in for such locate mode.First, such locate mode can make positioning system structure complicated.Secondly the motor needed is more, higher to control system performance requriements, and the measurement of move to each axle and synchronism require also higher, each of which increases the cost of position fixing system.In addition, controlled degree of freedom is more, needs the process of mobile decoupling more, this not only adds the complexity of leveling algorithm, too increases the Planar Mechanisms because algorithm is unstable or hardware fault causes thus the problem of breaking space.Finally, existing locate mode is all very high to making and installation, measurement and foundation requirement.
Summary of the invention
The object of the invention is to propose a kind of position fixing system, it without the need to the linkage process of complexity, thus reduces the dependence to measuring system in aircraft component attitude adjusting process in position fixing process, ensure that the safe reliability of position fixing system.
For achieving the above object, the invention provides a kind of registration device for the docking of wing body, it is characterized in that, described registration device comprises three for carrying out the steady arm of posture adjustment to aircraft components, wherein:
First steady arm is placed in the maximum strong point of wing bearing pressure, and in the X, Y, Z direction can freely motion of translation;
Second steady arm is placed in wing X-direction solstics place, and at Y, Z-direction can freely motion of translation, is driven movement in X-direction;
3rd steady arm, it is determined according to the center-of-gravity position of described aircraft components, and its position needs to make described aircraft components connecting portion meet requirement of strength, and makes the uniform force of each steady arm, described 3rd steady arm can in Z-direction freely motion of translation, X, Y-direction are driven movement.
In addition, the present invention also provides a kind of position fixing system for the docking of wing body, and it comprises a registration device, and this registration device comprises three for carrying out the steady arm of posture adjustment to aircraft components, wherein:
First steady arm is placed in the maximum strong point of wing bearing pressure, and in the X, Y, Z direction can freely motion of translation;
Second steady arm is placed in wing X-direction solstics place, and at Y, Z-direction can freely motion of translation, is driven movement in X-direction;
3rd steady arm is located according to the center-of-gravity position of described aircraft components, its position needs to make described aircraft components have enough structural strengths, and make the uniform force of each steady arm, described 3rd steady arm can in Z-direction freely motion of translation, X, Y-direction are driven movement.
Especially, the motion of translation of described first steady arm, the second steady arm and the 3rd steady arm is driven by motor, and described motor is connected with the motor driving shaft in described steady arm.Described motor is connected with described steady arm by ball-screw, and described motor is servomotor.
Position fixing system of the present invention also comprises:
Some measurement points, described measurement point is arranged on the stronger framing member of wing rigidity
Sensor, its for detection and location device axial location relative to steady arm origin position actual displacement amount and in real time detect each steady arm stressing conditions in the axial direction;
Measurement mechanism, it is for detecting the position of each measurement point, and can calculate the posture information of wing according to the data model of wing, and the information detected and/or calculate is exported;
Central control unit, it is for the information that receiving sensor and measurement mechanism detected and/or calculated, and by this information displaying out, and it can produce and send registration device operating order;
Control-driven system, it is connected with described motor and also received registration device operating order can be converted into the drive singal of motor, is realized the axial location of multiple steady arm and the control of moving velocity by motor with this.
Especially, described system also comprises hand held mobile terminals, and this mobile terminal can to described control-driven system transmit operation instruction.Especially, described hand held mobile terminals also comprises touching display screen, and by described touching display screen, the operating order of described registration device is imported in described mobile terminal.Preferably, described touching display screen can also show the location information of steady arm described in each and be subject to force information.
Especially, described measurement point is arranged on aircraft wing front/rear end and rib.
Especially, described sensor comprises grating scale and force snesor.
Especially, described central control unit comprises touch formula read-out, and by described touching display screen, the operating order of described registration device is imported in described central control unit.
Especially, described control-driven system can be selected single steady arm and carries out feeding operation.More particularly, described control-driven system can make described selected steady arm carry out feeding with certain speed.
Especially, described central control unit also comprises:
Holder, for the theoretical data model of the theoretical position and wing that store described measurement point.
Steady arm trajectory planning module, it can transfer the measurement point theoretical position in described holder, and according to the Detection Information of received sensor and measurement mechanism, the track of the described steady arm of planning, moves to its theoretical position place to make described measurement point automatically.
Use the step of carrying out wing body Butt Assembling of position fixing system of the present invention as follows:
1) location information of measurement point on wing is detected by measurement mechanism, by comparing its mathematical point position, the posture information of Wings, and the deviation calculating theoretical pose and attained pose;
2) according to step 1) in the deviation of the theoretical pose that calculates and attained pose, by the path of motion of each steady arm of trajectory planning CMOS macro cell, and moved by control-driven system drive motor, adjust it to the parallel state of theoretical pose.
3) repeat step 1) operation, if deviation is in range of tolerable variance, then stop, otherwise repeat step 2) operation, until meet tolerances;
4) adjust each measurement point Y-direction and meet tolerances, wing is moved to slightly lower than theoretical position, and to the feeding of fuselage direction also near fuselage, ensure that each measurement point X is to meeting tolerances, then by 3 steady arms along the synchronous lifting of Z-direction, until each measurement point Z-direction coordinate meets tolerances.
5) formed on interface multiple with wing with bolt hole corresponding to the bolt of fuselage;
6) by described steady arm at X upwards to away from fuselage direction motion preset distance, complete the work of hole burr;
7) by described steady arm upwards near fuselage direction motion preset distance, complete reinserting of wing.
Due in position fixing system of the present invention, only have the first steady arm can move up in XYZ tri-sides, and other two steady arms just carry out slave mode operation, so position fixing system of the present invention achieves the full degree of freedom of wing when not having multi-shaft interlocked carry out spatial pose adjustment irredundantly, thus ensure that safe reliability while simplifying system complexity, reduce cost and the cost to making and installation, measurement and ground.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of steady arm of the present invention;
Fig. 2 is the floor plan schematic diagram of steady arm of the present invention.
Detailed description of the invention
As Fig. 1 and 2 gives the distribution form of registration device 1, and each steady arm 11 in registration device 1,12, the four-headed arrow on 13 sides indicates its direction that can move freely, namely this steady arm can move freely in the direction in which to have the direction of four-headed arrow to represent, and represents that this steady arm can only servo-actuated movement in this direction without the direction of double-head arrow.
As illustrated in fig. 1 and 2, the first steady arm 11 is placed in the maximum strong point of wing 2 bearing pressure, and in the X, Y, Z direction can freely motion of translation.Second steady arm 12 is placed in wing 2 solstics place in the X direction, and at Y, Z-direction can freely motion of translation, is servo-actuated movement in X-direction.3rd steady arm 13 is determined according to the center-of-gravity position of described aircraft components, its position needs to make described aircraft components connecting portion meet requirement of strength, and make the uniform force of each steady arm, described 3rd steady arm can in Z-direction freely motion of translation, X, Y-direction are driven movement.
After described steady arm 1 completes according to arrangement as depicted in figs. 1 and 2, by ball-screw by servomotor and each steady arm 11,12, the motor driving shaft in 13 connects.
Afterwards, the framing member that described wing 2 rigidity is stronger arranges some measurement points.Usually, described measurement point is arranged on aircraft wing front/rear end and rib.
After point to be measured sets, then the place beyond erecting yard is arranged respectively as lower device:
Sensor, it is for detection and location device 11,12, the axial location of 13 relative to steady arm 11, the actual displacement amount of 12,13 origin positions and detect each steady arm stressing conditions in the axial direction in real time, preferably, detect relative shift with grating scale, detect stressing conditions with force snesor;
Measurement mechanism, it is for detecting the position of each measurement point, and can calculate the posture information of wing 2 according to the data model of wing 2, and the information detected and/or calculate is exported;
Central control unit, it is for information that receiving sensor and measurement mechanism detected and/or calculated, and by this information displaying out, and it can produce and send registration device operating order, especially, described central control unit comprises touching display screen, and by described touching display screen, the operating order of described registration device is imported in described central control unit.In addition, described central control unit also comprises holder and steady arm trajectory planning module, described memory device is for the theoretical data model of the theoretical position and wing that store described measurement point, and described steady arm trajectory planning module can transfer the measurement point theoretical position in described holder, and according to the Detection Information of received sensor and measurement mechanism, the track of the described steady arm of automatic planning, moves to its theoretical position place to make described measurement point;
Control-driven system, it is connected with described motor and also received registration device 1 operating order can be converted into the drive singal of motor, is realized multiple steady arm 11,12, the axial location of 13 and the control of moving velocity by motor with this.In an embodiment of the present invention, described control-driven system can be selected single steady arm and carry out feeding operation, and described selected steady arm can be made to carry out feeding with certain speed.
Due to above-mentioned manipulation steady arm 11,12, the device of 13 is all positioned at beyond erecting yard, so in order to allow operating personal closely can manipulate described steady arm 11,12,13, this position fixing system is also equipped with hand held mobile terminals, and this mobile terminal can to described control-driven system transmit operation instruction.Described hand held mobile terminals is also provided with touching display screen, operating personal can by required operating order (such as by the mobile 10cm of steady arm 11 in the X-direction) input loosened on described touching display screen, and this operating order can be input in described mobile terminal by described read-out afterwards.Preferably, described touching display screen can also show the location information of steady arm described in each and be subject to force information.
In brief, in an embodiment of the present invention, the Butt Assembling of wing body is divided into 2 stages, wherein the 1st stage was to wing 2 original position pose adjustment, it achieves and wing is installed to steady arm 11,12, after 13, the spatial coordinates energy self-adaptative adjustment of wing 2 is to the spatiality paralleled with theoretical pose.2nd stage was to the adjustment of wing 2 position, namely after wing pose adjustment is good, wing was moved to the initial position of wing body docking from current location, moved to target location more afterwards.The concrete grammar step of this wing body docking is as follows:
1) location information of measurement point on wing 2 is detected by measurement mechanism, by comparing its mathematical point position, the posture information of Wings 2, and the deviation calculating theoretical pose and attained pose;
2) according to step 1) in the deviation of the theoretical pose that calculates and attained pose, by the path of motion of each steady arm of trajectory planning CMOS macro cell, and moved by control-driven system drive motor, adjust it to the parallel state of theoretical pose.
3) repeat step 1) operation, if deviation is in range of tolerable variance, then stop, otherwise repeat step 2) operation, until meet tolerances;
4) adjust each measurement point Y-direction and meet tolerances, wing is moved to slightly lower than theoretical position, and to fuselage 3 direction feeding and near fuselage 3, ensure that each measurement point X is to meeting tolerances, then by three steady arms 11,12,13 along the synchronous lifting of Z-direction, until each measurement point Z-direction coordinate meets tolerances.
5) formed on interface multiple with wing 2 with bolt hole corresponding to the bolt of fuselage 3;
6) by described steady arm at X upwards to away from fuselage 3 direction motion preset distance, complete the work of hole burr;
7) by described steady arm 11 at X upwards near fuselage 3 direction motion preset distance, complete reinserting of wing.
Technology contents of the present invention and technical characterstic disclose as above, but are appreciated that under creative ideas of the present invention, and those skilled in the art can make various changes said structure and improve, but all belongs to protection scope of the present invention.The description of above-described embodiment is exemplary instead of restrictive, and protection scope of the present invention determined by claim.
Claims (15)
1., for a registration device for wing body docking, it is characterized in that, described registration device comprises three for carrying out the steady arm of posture adjustment to aircraft components, wherein:
First steady arm is placed in the maximum strong point of wing bearing pressure, and in the X, Y, Z direction can freely motion of translation;
Second steady arm is placed in wing X-direction solstics place, and at Y, Z-direction can freely motion of translation, is driven movement in X-direction;
3rd steady arm is determined according to the center-of-gravity position of described aircraft components, its position needs to make described aircraft components connecting portion meet requirement of strength, and make the uniform force of each steady arm, described 3rd steady arm can in Z-direction freely motion of translation, X, Y-direction are driven movement.
2. registration device as claimed in claim 1, it is characterized in that, the motion of translation of the first steady arm, the second steady arm and the 3rd steady arm is driven by motor, and described motor is connected with the motor driving shaft in described steady arm.
3. registration device as claimed in claim 2, it is characterized in that, described motor is connected with described steady arm by ball-screw.
4. registration device as claimed in claim 2 or claim 3, it is characterized in that, described motor is servomotor.
5., for a position fixing system for wing body docking, it is characterized in that, comprising:
Registration device according to any one of claim 2-4;
Some measurement points, described measurement point arranges on the stronger framing member of wing rigidity;
Sensor, its for detection and location device axial location relative to steady arm origin position actual displacement amount and in real time detect each steady arm stressing conditions in the axial direction;
Measurement mechanism, it is for detecting the position of each measurement point, and can calculate the posture information of wing according to the data model of wing, and the information detected and/or calculate is exported;
Central control unit, it is for the information that receiving sensor and measurement mechanism detected and/or calculated, and by this information displaying out, and it can produce and send registration device operating order;
Control-driven system, it is connected with described motor and received registration device operating order can be converted into the drive singal of servomotor, is realized the axial location of multiple steady arm and the control of moving velocity by servomotor with this.
6. position fixing system as claimed in claim 5, it is characterized in that, described system also comprises hand held mobile terminals, and this mobile terminal can to described control-driven system transmit operation instruction.
7. position fixing system as claimed in claim 6, it is characterized in that, described hand held mobile terminals also comprises touching display screen, and by described touching display screen, the operating order of described registration device is imported in described mobile terminal.
8. position fixing system as claimed in claim 7, is characterized in that, described touching display screen can show the location information of steady arm described in each and be subject to force information.
9. the position fixing system according to any one of claim 5-8, is characterized in that, described measurement point is arranged on aircraft wing front/rear end and rib.
10. the position fixing system according to any one of claim 5-8, is characterized in that, described sensor comprises grating scale and force snesor.
11. position fixing systems according to any one of claim 5-8, it is characterized in that, described central control unit comprises touching display screen, and by described touching display screen, the operating order of described registration device is imported in described central control unit.
12. position fixing systems according to any one of claim 5-8, it is characterized in that, described control-driven system can be selected single steady arm and carry out feeding operation.
13. position fixing systems as claimed in claim 12, is characterized in that, described control-driven system can make described selected steady arm carry out feeding with certain speed.
14. position fixing systems according to any one of claim 5-8, it is characterized in that, described central control unit also comprises:
Holder, for the theoretical data model of the theoretical position and wing that store described measurement point;
Steady arm trajectory planning module, it can transfer the measurement point theoretical position in described holder, and according to the Detection Information of received sensor and measurement mechanism, the track of the described steady arm of planning, moves to its theoretical position place to make described measurement point automatically.
15. 1 kinds of methods using position fixing system as claimed in claim 14 to carry out aircraft wing body section Butt Assembling, its step is as follows:
1) location information of measurement point on wing is detected by measurement mechanism, by comparing its mathematical point position, the posture information of Wings, and the deviation calculating theoretical pose and attained pose;
2) according to step 1) in the deviation of the theoretical pose that calculates and attained pose, by the path of motion of each steady arm of trajectory planning CMOS macro cell, and moved by control-driven system drive motor, adjust it to the parallel state of theoretical pose;
3) repeat step 1) operation, if deviation is in range of tolerable variance, then stop, otherwise repeat step 2) operation, until meet tolerances;
4) adjust each measurement point Y-direction and meet tolerances, wing is moved to slightly lower than theoretical position, and to the feeding of fuselage direction also near fuselage, ensure that each measurement point X is to meeting tolerances, then by 3 steady arms along the synchronous lifting of Z-direction, until each measurement point Z-direction coordinate meets tolerances;
5) formed on interface multiple with wing with bolt hole corresponding to the bolt of fuselage;
6) by described steady arm at X upwards to away from fuselage direction motion preset distance, complete the work of hole burr;
7) by described steady arm at X upwards near fuselage direction motion preset distance, complete reinserting of wing.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010621481.XA CN102092478B (en) | 2010-12-30 | 2010-12-30 | Positioning device for butting wing body |
| PCT/CN2011/079466 WO2012088924A1 (en) | 2010-12-30 | 2011-09-08 | Positioning device for wing-body docking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010621481.XA CN102092478B (en) | 2010-12-30 | 2010-12-30 | Positioning device for butting wing body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102092478A CN102092478A (en) | 2011-06-15 |
| CN102092478B true CN102092478B (en) | 2015-05-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010621481.XA Active CN102092478B (en) | 2010-12-30 | 2010-12-30 | Positioning device for butting wing body |
Country Status (2)
| Country | Link |
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| CN (1) | CN102092478B (en) |
| WO (1) | WO2012088924A1 (en) |
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| CN102092478B (en) * | 2010-12-30 | 2015-05-13 | 中国商用飞机有限责任公司 | Positioning device for butting wing body |
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| CN102730197A (en) * | 2012-05-16 | 2012-10-17 | 中国商用飞机有限责任公司 | Machine body positioning and posture adjusting device and method |
| CN103020351B (en) * | 2012-12-10 | 2016-04-20 | 中国飞机强度研究所 | A kind of three-dimensional real-time display method of aircraft pose |
| US9272793B2 (en) * | 2013-06-25 | 2016-03-01 | The Boeing Company | Modular stanchion system |
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| CN101081644A (en) * | 2006-05-29 | 2007-12-05 | 空中客车德国有限公司 | Wings positioning and fitting system |
| CN101081643A (en) * | 2006-05-30 | 2007-12-05 | 空中客车德国有限公司 | Wings fixation |
| CN101362513A (en) * | 2008-09-19 | 2009-02-11 | 浙江大学 | Synergetic control method of aircraft part pose alignment based on three locater |
| CN101362512A (en) * | 2008-09-19 | 2009-02-11 | 浙江大学 | Pose alignment system and method of aircraft part based on four locater |
| CN101456452A (en) * | 2008-12-25 | 2009-06-17 | 浙江大学 | Aircraft fuselage flexible and automatic attitude-adjusting method |
| CN101537887A (en) * | 2009-03-17 | 2009-09-23 | 成都飞机工业（集团）有限责任公司 | Method for positioning airframes by three-point floating |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2012088924A1 (en) | 2012-07-05 |
| CN102092478A (en) | 2011-06-15 |
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