CN102554595A - Skin manufacturing assembly system for airplane - Google Patents
Skin manufacturing assembly system for airplane Download PDFInfo
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- CN102554595A CN102554595A CN2012100113369A CN201210011336A CN102554595A CN 102554595 A CN102554595 A CN 102554595A CN 2012100113369 A CN2012100113369 A CN 2012100113369A CN 201210011336 A CN201210011336 A CN 201210011336A CN 102554595 A CN102554595 A CN 102554595A
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Abstract
The invention discloses a skin manufacturing assembly system for an airplane, which comprises a manufacturing subsystem, an assembly subsystem, a logistics subsystem and a control subsystem. The assembly subsystem comprises rails, a plurality of assembly robots and assembly tools, wherein the assembly robots are movably arranged on the rails, and the assembly tools are arranged on the assembly robots. The logistics subsystem comprises a plurality of workpiece storage stations, storage devices and trackless carriers, wherein the workpiece storage stations are close to the manufacturing subsystem and the assembly subsystem respectively, the storage devices are arranged in the workpiece storage stations, and the trackless carriers are capable of conveying the storage devices among the workpiece storage stations. The control subsystem controls the manufacturing subsystem, the assembly subsystem and the logistics subsystem to automatically work. According to the skin manufacturing assembly system, the problem that traditional process equipment cannot realize flexible positioning, flexible clamping, flexible conveying, flexible storage, flexible assembly and the like for airplane skins is effectively solved, assembly efficiency is high, assembly quality is reliable, the pneumatic performance of the airplane is ensured, and cost is reduced.
Description
Technical field
The present invention relates to the aircraft skin field, especially relate to a kind of covering that is used for aircraft and make assembly system.
Background technology
Covering is the strength member of aircraft; Not only size is big, complex structure and be very easy to distortion; The covering form accuracy requires very high simultaneously; It is directly connected to the aeroperformance of aircraft, and covering peripheral profile and other parts also have complicated assembly coordination relation, and this brings very big difficulty on the production of covering and assembling link.In addition; Aircraft skin belongs to the manufacturing mode of typical multi-varieties and small-batch; Flexibility to manufacture process has outstanding especially requirement; Tradition Digit Control Machine Tool and flexible manufacturing system (FMS system, i.e. Flexible Manufacture System) are difficult to realize the flexible manufacturing of aircraft skin though can realize the conventional flexible manufacturing of part just.Main cause is flexibility location, flexible clamping, flexible delivery and the flexible storage that the traditional handicraft equipment can't be realized this yielding thin-wall part of covering; Therefore only depend on the flexibility and the conventional automatic material flow system of Digit Control Machine Tool itself can't realize more can't realizing systematized flexible manufacturing (being worked into the overall process flexible manufacturing of flexible assembly from flexible formation, flexibility) to the manufacturing of this type peculiar part enforcement high flexibility.
Summary of the invention
The present invention is intended to solve at least one of technical problem that exists in the prior art.
For this reason, one object of the present invention is to propose a kind of covering that is used for aircraft and makes assembly system, and said system has realized the systematized flexible manufacturing of aircraft skin.
The covering that is used for aircraft according to the embodiment of the invention is made assembly system, comprising: the manufacturing subsystem that is used to make covering; The assembling subsystem, said assembling subsystem comprises: track, the airframe setting of the contiguous said aircraft of said track; A plurality of assembly robots, said a plurality of assembly robots are located on the track movably; Assembly tool, said assembly tool are located on the said assembly robot to grasp said covering and said covering is navigated on the airframe; The logistics subsystem, said logistics subsystem comprises: a plurality of Workpiece storages station, said a plurality of Workpiece storages station is respectively adjacent to said manufacturing subsystem, the setting of said assembling subsystem; Storage device, said storage device removably are located in the said Workpiece storage station to store said covering; The trackless waggon, wherein said storage device can transport between a plurality of Workpiece storages station through said trackless waggon; And RACS, said RACS is controlled the automatic work of said manufacturing subsystem, assembling subsystem and said logistics subsystem.
The covering that is used for aircraft according to the embodiment of the invention is made assembly system; Through manufacturing subsystem, logistics subsystem and assembling subsystem are closely organically combined; Realization is to the all-around function integration of the manufacturing of covering, transportation, storage, assembling; Overcome the conventional airplane covering and made many shortcomings such as production efficiency is low in the assembling process, quality is unstable, hand labor intensity is big, not only can increase substantially the automation and the flexibility level of aircraft skin manufacturing assembling, and can significantly improve the quality of aircraft skin manufacturing and assembling; Improve the comprehensive benefit of aircraft manufacturing; Also efficiently solve the problems such as flexibility location, flexible clamping, flexible delivery, flexible storage and flexible assembly of the aircraft skin that traditional process equipment can't realize simultaneously, efficiency of assembling is high, and assembly quality is reliable; Guarantee the aeroperformance of aircraft, and reduced cost.
In addition, make assembly system according to the covering that is used for aircraft of the embodiment of the invention and can also have following additional technical feature:
In one embodiment of the invention, said storage device comprises: casing limits open-topped spatial accommodation in the said casing; A plurality of adjustable limiting mechanisms, said a plurality of adjustable limiting mechanisms be distributed in said spatial accommodation around carry out the position with edge on the sidewall and limit covering; And a plurality of supporting mechanisms, said a plurality of supporting mechanisms are located at the bottom of said spatial accommodation and upwards adjustable-length ground extension, and wherein said covering is supported on said a plurality of supporting mechanism.
Through a plurality of adjustable limiting mechanisms are set, in the time of in covering leaves storage device in, can effectively position covering, the restriction covering moves horizontally, and makes things convenient for the sensor at storage device place to obtain the accurate coordinate information of covering.Simultaneously; The vertical height of a plurality of supporting mechanisms (length) can be adjusted according to the geometry of covering; Thereby form the supported array consistent, realize vertical support and location, thereby guarantee that covering geometry in storing process is constant covering with the covering geometry.
In one embodiment of the invention, the equal globulate in the top of said supporting mechanism.Because some the distance to the centre of sphere is equal arbitrarily on the sphere; So supporting mechanism top globulate has improved depositing the accurate positioning degree of the covering finished product on it; Thereby make the accurate coordinate information of the covering finished product that RACS can obtain to deposit in the storage device, guaranteed the efficiency of assembling and the assembly quality of assembling link.
In one embodiment of the invention, said a plurality of support machines constitute the capable arrangement of M row * N, M >=1 wherein, N >=1.
In one embodiment of the invention, said supporting mechanism is an elevating ram.
In one embodiment of the invention, each said adjustable limiting mechanism comprises: limited post, and said limited post is along horizontal-extending and be located on the sidewall of said spatial accommodation; Drive said limited post along the flexible spacing driving mechanism of level with being used to.
In one embodiment of the invention, said storage device further comprises a plurality of dowel holes, and said a plurality of dowel holes are located at the bottom of said casing.Thus; The trackless waggon is when transporting storage device and leave in the Workpiece storage station of assembling in the subsystem; Can cooperate with the positioner of bottom, Workpiece storage station; Thereby realize location, guarantee that the positioner of covering and storage device bottom has definite position relation, make things convenient for RACS to obtain the accurate coordinate information of covering storage device.
In one embodiment of the invention, said assembly robot comprises: matrix; First motion arm, first end of said first motion arm is connected on the said matrix through first order joint pivotly; Second motion arm, first end of said second motion arm are connected on second end of said first motion arm pivotly through joint, the second level; Tool interface, said tool interface are located on second end of said second motion arm so that said assembly tool to be installed; Robot Control Component, said robot Control Component are located in the said matrix to control the operation of said first motion arm, second motion arm and said assembly tool.
Through a plurality of assembly robots are set, compare with the conventional artificial assembling, not only assembly precision is good, and efficient is high, and assembly quality is reliable, also greatly reduces technical staff's working strength simultaneously, has improved working environment.
In one embodiment of the invention, said assembly robot further comprises: base, the said matrix of said base support; A plurality of road wheels, said a plurality of road wheels are located at the bottom of said base and move to drive said base.
In one embodiment of the invention, said assembly robot further comprises: first servomotor, said first servomotor are located at said first order joint with the instruction that receives said robot Control Component and drive said first motion arm; With second servomotor, said second servomotor is located at said second level joint with the instruction that receives said robot Control Component and drive said second motion arm.
In one embodiment of the invention, said assembly tool comprises: sticking instrument, said sticking instrument are connected on the said tool interface to control extracting through said robot Control Component or to discharge said covering; And setting tool, said setting tool is connected on the said tool interface through the Control Component control of said robot said covering is fixed on the said airframe.
In one embodiment of the invention, said sticking instrument comprises: pedestal, said pedestal are located on the said tool interface; With a plurality of stickings unit, K row * L is capable to be located on the said pedestal with arranging and to guarantee that the said covering contour shape of absorption is constant along becoming in said a plurality of stickings unit, K >=1 wherein, L >=1.Thus, assembly robot can farthest guarantee the appearance profile of covering when covering being drawn and be transferred to the relevant position on the airframe from the storage device of assembling in the subsystem, prevent that it from producing deformation, influences next step mount.
In one embodiment of the invention, said each sticking unit includes: telescopic rod, an end of said telescopic rod be connected on the said pedestal and the other end scalable; Be used to drive the flexible sticking servomotor of said telescopic rod;
Sucker, said sucker are installed on the other end of said telescopic rod to draw said covering; Drive the vacuum system of said sucker.
In one embodiment of the invention, above that sheathed and circumferentially the stretching out of the other end globulate of said telescopic rod and said sucker along said sphere.Because some the distance to the centre of sphere is equal arbitrarily on the sphere; So the front end globulate of telescopic rod has improved the precision of sticking instrument to the covering location; Thereby make RACS can obtain the accurate coordinate information of the covering finished product of sticking instrument institute sticking; Guaranteeing to assemble link can carry out smoothly, thereby improves efficiency of assembling and assembly quality.
In one embodiment of the invention; Said each sticking unit all further comprises: screw-nut body, said screw-nut body are located between said telescopic rod and the sticking servomotor flexible to be driven said telescopic rod by said sticking driven by servomotor.Thus, make things convenient for the layout of sticking instrument, make sticking tool interior structure compact more, screw-nut body drives reliably simultaneously, accurate positioning, and practicality is good.
In one embodiment of the invention, said RACS comprises: control module; A plurality of sensors, said a plurality of sensors are located at respectively on said assembly robot, assembly tool, airframe, storage device and the trackless waggon; With the iGPS unit, said iGPS unit obtains the positional information of said a plurality of sensors and is sent in the control module.
In one embodiment of the invention, said assembly system also comprises two laser measurement systems.
Because the sticking instrument is transferred in the process of airframe at the covering of drawing covering and will draw on the sticking instrument; Relative slip possibly take place with respect to the sticking instrument in covering; The covering coordinate information that causes assembly robot to obtain is inaccurate, thus, and through laser measurement system is set; After assembly robot grasps the covering finished product; Can accurately obtain the posture information of covering with respect to the assembly robot coordinate system through laser measurement system, assembly robot can obtain the coordinate information of airframe through the iGPS unit simultaneously, because the position that covering is installed on the airframe is confirmed; Be the installation site with respect to the coordinate information of the coordinate system of airframe be known; Therefore assembly robot can accurately obtain the coordinate information of the installation site of covering on airframe with respect to the assembly robot coordinate system, and assembly robot had both been known the accurate posture information of covering (with respect to the assembly robot coordinate system) like this, knew the accurate coordinates information of the installation site of covering on airframe with respect to the assembly robot coordinate system again; Thereby guaranteed in the whole assembling process; Putting together machines can be mounted to the covering finished product on the corresponding installation site of airframe per capita accurately, has not only improved efficiency of assembling, has also effectively improved assembly quality simultaneously.
The covering that is used for aircraft according to the embodiment of the invention is made assembly system; Realized the integral system of the flexible manufacturing of aircraft skin, flexible storage, flexible transportation and flexible assembly; Not only improve efficiency of assembling, guaranteed assembly quality, also effectively reduced working strength of workers simultaneously; Cost is low, and practicality is good.
Additional aspect of the present invention and advantage part in the following description provide, and part will become obviously from the following description, or recognize through practice of the present invention.
Description of drawings
Above-mentioned and/or additional aspect of the present invention and advantage obviously with are easily understood becoming the description of embodiment from combining figs, wherein:
Fig. 1 is the sketch map according to the covering manufacturing system that is used for aircraft of the embodiment of the invention;
Fig. 2 is the sectional perspective sketch map of storage device;
Fig. 3 is the front view of storage device;
Fig. 4 is the vertical view of storage device; With
Fig. 5 is the sketch map of assembly robot.
The specific embodiment
Describe embodiments of the invention below in detail, the example of said embodiment is shown in the drawings, and wherein identical from start to finish or similar label is represented identical or similar elements or the element with identical or similar functions.Be exemplary through the embodiment that is described with reference to the drawings below, only be used to explain the present invention, and can not be interpreted as limitation of the present invention.
In description of the invention; It will be appreciated that; The orientation of indications such as term " " center ", " vertically ", " laterally ", " on ", D score, " preceding ", " back ", " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", " outward " or position relation are for based on orientation shown in the drawings or position relation; only be to describe with simplifying for the ease of describing the present invention; rather than the device or the element of indication or hint indication must have specific orientation, with specific azimuth configuration and operation, therefore can not be interpreted as limitation of the present invention.In addition, term " first ", " second " only are used to describe purpose, and can not be interpreted as indication or hint relative importance.
In description of the invention, need to prove that only if clear and definite regulation and qualification are arranged in addition, term " installation ", " linking to each other ", " connection " should be done broad understanding, for example, can be to be fixedly connected, also can be to removably connect, or connect integratedly; Can be mechanical connection, also can be to be electrically connected; Can be directly to link to each other, also can link to each other indirectly through intermediary, can be the connection of two element internals.For those of ordinary skill in the art, can concrete condition understand above-mentioned term concrete implication in the present invention.In addition, in description of the invention, except as otherwise noted, the implication of " a plurality of " is two or more.
The following description according to the covering that is used for aircraft 4 of the embodiment of the invention with reference to figure 1-Fig. 5 made assembly system 100, and this system is used for manufacturing, storage, transportation and the assembling of aircraft skin 4.
As shown in Figure 1; The covering that is used for aircraft 4 according to the embodiment of the invention is made assembly system 100; Comprise manufacturing subsystem 1, assembling subsystem 2, logistics subsystem 3 and RACS; Wherein manufacturing subsystem 1 comprises digitlization flexible formation, the flexible processing of digitlization and online detection three parts of digitlization, and manufacturing subsystem 1 is exported covering 4 finished products that process.Because the concrete manufacturing process of covering is known by those skilled in the art, therefore be not described in detail in manufacturing subsystem 1 described in the explanation of the present invention.
Assembling subsystem 2 is used for covering 4 finished products assembling that manufacturing subsystem 1 is exported and the relevant position that is fixed to airframe 200.Particularly; Assembling subsystem 2 comprises track 21, a plurality of assembly robot 22 and assembly tool 23; The airframe 200 of its middle orbit 21 contiguous said aircrafts is provided with; A plurality of assembly robots 22 are located on the track 21 movably, and assembly tool 23 is located on the assembly robot 22 to grasp covering 4 and covering 4 is navigated on the airframe 200.
Logistics subsystem 3 comprises a plurality of Workpiece storages station 31, storage device 32 and trackless waggon 33; Wherein a plurality of Workpiece storages station 31 is respectively adjacent to manufacturing subsystem 1 and is provided with assembling subsystem 2; It is interior to store covering 4 that storage device 32 removably is located at Workpiece storage station 31, and wherein storage device 32 can transport between a plurality of Workpiece storages station 31 through trackless waggon 33.The automatic work of RACS control manufacturing subsystem 1, assembling subsystem 2 and logistics subsystem 3.
The covering that is used for aircraft 4 according to the embodiment of the invention is made assembly system 100; Through manufacturing subsystem 1, logistics subsystem 3 and assembling subsystem 2 are closely organically combined; Realization is to the all-around function integration of the manufacturing of covering 4, transportation, storage, assembling; Overcome the conventional airplane covering and made many shortcomings such as production efficiency is low in the assembling process, quality is unstable, hand labor intensity is big, not only can increase substantially aircraft skin 4 and make the automation and the flexibility level of assembling, and can significantly improve the quality that aircraft skin 4 is made and assembled; Improve the comprehensive benefit of aircraft manufacturing; Also efficiently solve the problems such as flexibility location, flexible clamping, flexible delivery, flexible storage and flexible assembly of the aircraft skin 4 that traditional process equipment can't realize simultaneously, efficiency of assembling is high, and assembly quality is reliable; Guarantee the aeroperformance of aircraft, and reduced cost.
In one embodiment of the invention; Like Fig. 2-shown in Figure 4; Storage device 32 comprises casing 321, a plurality of adjustable limiting mechanism 322 and a plurality of supporting mechanism 323; Wherein limit open-topped spatial accommodation 324 in the casing 321, a plurality of adjustable limiting mechanisms 322 be distributed in spatial accommodation 324 around carry out the position with edge on the sidewall and limit covering 4.Alternatively; Each adjustable limiting mechanism 322 comprises that limited post 3221 drives limited post 3221 along the flexible spacing driving mechanism (scheming not shown) of level with being used to; Wherein limited post 3221 is along horizontal-extending and be located on the sidewall of spatial accommodation 324; On the end of limited post 3221, be provided with the adjustable plate 3222 that vertically extends, make things convenient for coverings 4 to carry out spacing or adjusting thus leaving in the storage device 32 near spatial accommodation 324 centers, as shown in Figure 3.Spacing driving mechanism is used to drive moving horizontally of limited post 3221, and for example spacing driving mechanism can be a hydraulic jack.Certainly the present invention is not limited to this, and spacing driving mechanism also can be an electric cylinder.
Through a plurality of adjustable limiting mechanisms 322 are set, in the time of in covering 4 leaves storing apparatus 32 in, can effectively position covering 4, restriction covering 4 moves horizontally, and makes things convenient for the sensor at storage device 32 places to obtain the accurate coordinate information of covering 4.
Like Fig. 2-shown in Figure 4, a plurality of supporting mechanisms 323 are located at the bottom of spatial accommodation 324 and upwards adjustable-length ground extension, and covering 4 is supported on a plurality of supporting mechanisms 323.Thus; The vertical height of a plurality of supporting mechanisms 323 (length) can be adjusted according to the geometry of covering 4; Thereby form and the consistent supported array of covering 4 geometries, realize vertical support and location, thereby guarantee that covering 4 geometry in storing process is constant covering 4.
Alternatively, the capable arrangement of 323 one-tenth M row of a plurality of supporting mechanisms * N, wherein M >=1; N >=1; That is to say that a plurality of supporting mechanisms 323 constitute the supported array of M*N, for example in the example of Fig. 2-Fig. 4, a plurality of supporting mechanisms 323 have constituted the array of 5*8; Can support the covering of depositing above that 4 better like this, prevent covering 4 distortion.Advantageously, the equal globulate in the top of each supporting mechanism 323.Because some the distance to the centre of sphere is equal arbitrarily on the sphere; So supporting mechanism 323 top globulates have improved depositing the accurate positioning degree of covering 4 finished products on it; Thereby make the accurate coordinate information of covering 4 finished products that RACS can obtain to deposit in the storage device 32, guaranteed the efficiency of assembling and the assembly quality of assembling link.Here; The one of ordinary skilled in the art it is understandable that; In the actual storage process, can store the shape of covering 4 finished products as required and come to change flexibly the array that a plurality of supporting mechanisms 323 are constituted with size, promptly change the numerical value of M and N; So that support location covering 4 finished products better, prevent that covering 4 from deformation taking place.
Alternatively, supporting mechanism 323 is an elevating ram.Certainly, the present invention is not limited to this, and in another embodiment of the present invention, supporting mechanism 323 also can be an electric cylinder.As shown in Figure 3, storage device 32 further comprises a plurality of dowel holes 325, and a plurality of dowel holes 325 are located at the bottom of casing 321.Thus; Trackless waggon 33 is when transporting storage device 32 and leave in the Workpiece storage station 31 of assembling in the subsystem 2; Can cooperate with the positioner (scheming not shown) of 31 bottoms, Workpiece storage station; Thereby realize location, guarantee that the covering 4 and the positioner of storage device 32 bottoms have definite position relation, make things convenient for RACS to obtain the accurate coordinate information of covering 4 storage device 32.Alternatively, the alignment pin (scheme not shown) of positioner for can be corresponding one by one and cooperatively interacting with a plurality of dowel holes 325 of storage device 32 bottoms.
Like Fig. 1 and shown in Figure 5; Assembly robot 22 comprises matrix 221, first motion arm 222, second motion arm 223, tool interface 224 and robot Control Component; Wherein first end of first motion arm 222 is connected on the matrix 221 through first order joint 225 pivotly; First end of second motion arm 223 is connected on second end of first motion arm 222 pivotly through joint, the second level 226; Tool interface 224 is located on second end of second motion arm 223 so that assembly tool 23 to be installed, and the robot Control Component is located in the matrix 221 to control the operation of first motion arm 222, second motion arm 223 and assembly tool 23.
That is to say; First order joint 225 is connected between the matrix 221 and first motion arm 222; Joint, the second level 226 is connected respectively between first motion arm 222 and second motion arm 223 pivotly; Be provided with the tool interface 224 that is used to install assembly tool 23 at second motion arm 223 away from the end in joint, the second level 226, after the control command of robot Control Component control module in accepting RACS first motion arm 222, second motion arm 223 and the assembly tool 23 that is installed on the tool interface 224 carried out control corresponding so that these parts are worked automatically.Through a plurality of assembly robots 22 are set, compare with the conventional artificial assembling, not only assembly precision is good, efficient is high, and assembly quality is reliable, also greatly reduces technical staff's working strength simultaneously, has improved working environment.
Further, as shown in Figure 5, assembly robot 22 further comprises base 227 and a plurality of road wheels 228, base 227 support substrate 221 wherein, and a plurality of road wheels 228 are located at the bottom of base 227 and move to drive base 227.For example in the example of Fig. 5, the number of road wheel 228 is 4, and these 4 road wheels 228 are located at the bottom of base 227 respectively and cooperate with track 21, thereby assembly robot 22 can be moved along track 21.Further; Assembly robot 22 also comprises first servomotor and second servomotor; First servomotor is located at first order joint 225 with the instruction of accepting the robot Control Component and drive first motion arm 225 and accomplish predetermined works, and second servomotor is located at second level joint 226 with the instruction of accepting the robot Control Component and drive second motion arm 223 and accomplish predetermined works.
As shown in Figure 5, assembly tool 23 comprises sticking instrument 231 and setting tool (scheming not shown), and wherein sticking instrument 231 is connected on the tool interface 224 to grasp (absorption) or to discharge covering 4 through robot Control Component control.
Particularly; Each sticking unit 2312 includes telescopic rod 23121, sticking servomotor, sucker 23122 and vacuum system; Wherein an end of telescopic rod 23121 be connected on the pedestal 2311 and the other end scalable; The sticking servomotor is used to drive the stretching motion of telescopic rod 23121, and sucker 23122 is installed on the other end of telescopic rod 23121 to draw covering 4, and vacuum system is used to drive sucker 23122 work.
That is to say; The front end of telescopic rod 23121 is provided with sucker 23122 and the rear end is located on the pedestal 2311; The sticking servomotor is located at the rear end of telescopic rod 23121 to drive its stretching motion; Variation on the realization body of rod length makes things convenient for sticking instrument 231 to draw coverings 4 finished products to adapt to the appearance profile of different coverings 4 better.Advantageously, the other end globulate of telescopic rod 23121 and sucker 23122 are above that sheathed and along circumferentially the stretching out of said sphere, and be as shown in Figure 5, and the front end that is to say telescopic rod 23121 is promptly away from an end globulate of pedestal 2311.Because some the distance to the centre of sphere is equal arbitrarily on the sphere; So the front end globulate of telescopic rod 23121 has improved the precision of 231 pairs of coverings of sticking instrument, 4 location; Thereby make RACS can obtain the accurate coordinate information of covering 4 finished products of 231 stickings of sticking instrument; Guaranteeing to assemble link can carry out smoothly, thereby improves efficiency of assembling and assembly quality.
Alternatively, each sticking unit 2312 also can comprise screw-nut body, and screw-nut body is located between telescopic rod 23121 and the sticking servomotor flexible to be driven telescopic rod 23121 by the sticking driven by servomotor.Thus, make things convenient for the layout of sticking instrument 231, make sticking instrument 231 internal structures compact more, screw-nut body drives reliably simultaneously, accurate positioning, and practicality is good.Certainly, the present invention is not limited to this, and in other embodiments of the invention, telescopic rod 23121 also can be driven by other mechanism, for example rack and pinion drive mechanism.
Setting tool is connected on the tool interface 224 through robot Control Component control covering 4 is fixed on the airframe 200.Wherein setting tool comprises bit tool and clincher tool etc.; After sticking instrument 231 is transferred to the relevant position of airframe 200 with covering 4; Operations such as setting tool will be holed to covering 4, riveted joint are accomplished the assembling of covering 4 so that covering 4 is fixed on the airframe 200.
RACS comprises control module, a plurality of sensor and iGPS (indoor Global Positioning System) unit; Wherein a plurality of sensors are located at respectively on assembly robot 22, assembly tool 23, airframe 200, storage device 32, the trackless waggon 33; The iGPS unit obtains the positional information of said a plurality of sensors and is sent in the control module; For example obtain the coordinate information of trackless waggon 33, covering 4, assembly robot 22 etc., and send corresponding control instruction at last with this control module of these feedback information and by control module processing calculating.Advantageously, assembling subsystem 2 also comprises two laser measurement systems 24, and each laser measurement system 24 place is provided with a sensor respectively.
Because sticking instrument 231 is transferred in the process of airframe 200 at the covering 4 of drawing covering 4 and will draw on sticking instrument 231; Relative slip possibly take place with respect to sticking instrument 231 in covering 4; Covering 4 coordinate informations that cause assembly robot 22 to obtain are inaccurate; Through laser measurement system 24 is set; After assembly robot 22 grasps covering 4 finished products; Can accurately obtain the posture information of covering 4 with respect to assembly robot 22 coordinate systems through laser measurement system 24, assembly robot 22 can obtain the coordinate information of airframe 200 through the iGPS unit simultaneously, because the position that covering 4 is installed on the airframe 200 is confirmed; Be the installation site with respect to the coordinate information of the coordinate system of airframe 200 be known; Therefore assembly robot 22 can accurately obtain the coordinate information of the installation site of covering 4 on airframe 200 with respect to assembly robot 22 coordinate systems, and assembly robot 22 had both been known the accurate posture information of covering 4 (with respect to assembly robot 22 coordinate systems) like this, knew the accurate coordinates information of the installation site of covering 4 on airframe 200 with respect to assembly robot 22 coordinate systems again; Thereby guaranteed in the whole assembling process; Assembly robot 22 all can be mounted to covering 4 finished products on the corresponding installation site of airframe 200 accurately, has not only improved efficiency of assembling, has also effectively improved assembly quality simultaneously.
The following course of work of making assembly system according to the covering that is used for aircraft 4 of the embodiment of the invention of describing in detail with reference to figure 1-Fig. 5.
At first; As shown in Figure 1; 1 pair of covering blank of manufacturing subsystem carries out flexible formation, flexible processing and flexible online detection; Export qualified covering 4 finished products at last, and leave in and supply next step operation to use in the storage device 32 in the Workpiece storage station 31, wherein in covering 4 products storage before storage device 32; Storage device 32 can be adjusted the length of giving prominence to the bottom of said spatial accommodations 324 along a plurality of supporting mechanisms 323 of the capable arrangement of M row * N according to the appearance profile and the geometry of covering 4; Promptly adjust the vertical height of a plurality of supporting mechanisms 323,, finally make along the lattice array of strong point formation on a plurality of supporting mechanisms 323 of the capable arrangement of M row * N, that support covering 4 and the appearance profile of covering 4 through the vertical height of adjusting a plurality of supporting mechanisms 323 to fit like a glove because covering 4 contacts for point with the spherical tips of supporting mechanism 323; Promptly realized of location and the support of covering 4 workpiece at vertical direction; Effectively prevented the deformation of covering 4 finished products, regulated a plurality of adjustable limiting mechanisms 322 on the sidewall all around that is distributed in spatial accommodation 324 this moment, restriction covering 4 moves horizontally with respect to a plurality of supporting mechanisms 323; Realization is to covering 4 workpiece location in the horizontal direction, makes things convenient for the sensor at storage device 32 places accurately to obtain the coordinate information of covering 4.Thus, leave in the storage device 32 covering not only fixed in shape but also coordinate confirm, be beneficial to the carrying work of logistics subsystem 3.
Then, by the transportation of logistics subsystem 3 responsible covering 4 workpiece, promptly the Workpiece storage station 31 of covering 4 from logistics subsystem 3 is carried in the Workpiece storage station 31 in the assembling subsystem 2 by trackless waggon 33.Wherein, the bottom of storage device 32 is provided with the positioner that cooperates with dowel hole 325 accordingly because being provided with the bottom at dowel hole 325 and Workpiece storage station 31; Thereby guarantee that trackless waggon 33 is when transporting the storage device 32 of depositing covering 4; Can exactly storage device 32 be placed in the Workpiece storage station 31; Realization is to the accurate location of storage device 32; Carry out assembly work thereby make assembly robot 22 can grasp covering 4 accurately and reliably, realize the automation assembling, improved efficiency of assembling greatly.
At last, by assembling subsystem 2 covering 4 is assembled and is fixed on the relevant position of airframe 200.That is to say; On the tool interface 224 on the assembly robot 22 sticking instrument 231 is installed earlier; When sticking instrument 231 grasps covering 4; Assembly robot 22 can at first obtain covering 4 place storage device 32 precise coordinates information through the iGPS unit; And the coordinate information of assembly robot 22 can obtain in real time, so assembly robot 22 just can obtain from the current location to the prescribed storage means 32 displacement information, assembly robot 22 can move to corresponding track 21 places, prescribed storage means 32 present positions like this.
During track 21 places before assembly robot 22 moves to prescribed storage means 32; The robot Control Component can send instruction to sticking instrument 231; Sticking instrument 231 can generate according to the geometry of this instruction and covering 4 and covering 4 curved surfaces (geometry) Discrete Surfaces dot matrix accordingly automatically; Promptly drive said screw-nut body respectively and accomplish predetermined stretching motion to drive telescopic rod 23121 by a plurality of sticking servomotors; Make the sticking dot matrix constitutes on the sticking instrument 231 curved surface and covering 4 shapes in full accord, constant to guarantee covering 4 workpiece contour shape in transfer and assembling process.The robot Control Component is given an order and is controlled first driven by servomotor first motion arm, the 222 completion predetermined movement and control second driven by servomotor, second motion arm, 223 completion predetermined movement then; Thereby sticking instrument 231 is moved near covering 4 workpiece; The robot Control Component sends instruction and the work of control vacuum system at this moment; Vacuum system further drives a plurality of sucker 23122 work, thereby covering 4 workpiece are adsorbed on the sticking instrument 231 under action of air pressure automatically.
In the process of drawing covering 4; Assembly robot 22 can obtain the posture information of covering 4 with respect to assembly robot 22 coordinate systems through laser measurement system 24 and iGPS unit earlier; This is that therefore assembly robot 22 need obtain the coordinate information of covering 4 again in the process that covering 4 shifts because covering 4 maybe be with respect to the 231 generation slippages of sticking instrument in the extracting process.That is to say; The posture information that is measured by 24 pairs of coverings 4 of laser measurement system is with respect to laser measurement system 24; And for the coordinate information of laser measurement system 24; Assembly robot 22 can obtain through the iGPS unit earlier, so assembly robot 22 just can obtain the coordinate conversion matrix that is tied to assembly robot 22 coordinate systems by laser measurement system 24 coordinates, thereby just can obtain the posture information of covering 4 with respect to assembly robot 22 coordinate systems.
In the transfer and assembling process of covering 4; Assembly robot 22 at first accurately obtains the coordinate information of airframe 200 through the iGPS system; And obtain airframe 200 coordinates thus and be tied to the coordinate conversion matrix between assembly robot 22 coordinate systems; And the installation site of covering 4 workpiece on airframe 200 is known with respect to the coordinate information of airframe 200 coordinate systems; Therefore assembly robot 22 is promptly known the accurate coordinates information of covering 4 workpiece installation sites with respect to assembly robot 22 coordinate systems in installation process; Also know the posture information of covering 4 workpiece simultaneously, that is to say that assembly robot 22 both known the posture information of covering 4 workpiece, know the accurate coordinates information of covering 4 workpiece installation sites again with respect to assembly robot 22 coordinate systems; Thereby just can covering 4 workpiece very accurately be mounted the corresponding installed position of airframe 200; Can discharge coverings 4 workpiece at covering 4 and airframe 200 fixing back sticking instruments 231, this moment tool interface 224 can install bit tools or clincher tool etc. with covering 4 is bored, the riveting operation, covering 4 is fixed as one with airframe 200 the most at last.
The covering that is used for aircraft 4 according to the embodiment of the invention is made assembly system 100; Realized the integral system of the flexible manufacturing of aircraft skin 4, flexible storage, flexible transportation and flexible assembly; Not only improve efficiency of assembling, guaranteed assembly quality, also effectively reduced working strength of workers simultaneously; Cost is low, and practicality is good.
In the description of this specification, the description of reference term " embodiment ", " some embodiment ", " illustrative examples ", " example ", " concrete example " or " some examples " etc. means the concrete characteristic, structure, material or the characteristics that combine this embodiment or example to describe and is contained at least one embodiment of the present invention or the example.In this manual, the schematic statement to above-mentioned term not necessarily refers to identical embodiment or example.And concrete characteristic, structure, material or the characteristics of description can combine with suitable manner in any one or more embodiment or example.
Although illustrated and described embodiments of the invention; Those having ordinary skill in the art will appreciate that: under the situation that does not break away from principle of the present invention and aim, can carry out multiple variation, modification, replacement and modification to these embodiment, scope of the present invention is limited claim and equivalent thereof.
Claims (17)
1. a covering that is used for aircraft is made assembly system, it is characterized in that, comprising:
Be used to make the manufacturing subsystem of covering;
The assembling subsystem, said assembling subsystem comprises:
Track, the airframe setting of the contiguous said aircraft of said track;
A plurality of assembly robots, said a plurality of assembly robots are located on the track movably;
Assembly tool, said assembly tool are located on the said assembly robot to grasp said covering and said covering is navigated on the airframe;
The logistics subsystem, said logistics subsystem comprises:
A plurality of Workpiece storages station, said a plurality of Workpiece storages station is respectively adjacent to said manufacturing subsystem, the setting of said assembling subsystem;
Storage device, said storage device removably are located in the said Workpiece storage station to store said covering;
The trackless waggon, wherein said storage device can transport between a plurality of Workpiece storages station through said trackless waggon; And
RACS, said RACS are controlled the automatic work of said manufacturing subsystem, assembling subsystem and said logistics subsystem.
2. the covering that is used for aircraft according to claim 1 is made assembly system, it is characterized in that said storage device comprises:
Casing limits open-topped spatial accommodation in the said casing;
A plurality of adjustable limiting mechanisms, said a plurality of adjustable limiting mechanisms be distributed in said spatial accommodation around carry out the position with edge on the sidewall and limit covering; And
A plurality of supporting mechanisms, said a plurality of supporting mechanisms are located at the bottom of said spatial accommodation and upwards adjustable-length ground extension, and wherein said covering is supported on said a plurality of supporting mechanism.
3. the covering that is used for aircraft according to claim 2 is made assembly system, it is characterized in that the equal globulate in the top of said supporting mechanism.
4. the covering that is used for aircraft according to claim 3 is made assembly system, it is characterized in that, said a plurality of support machines constitute the capable arrangement of M row * N, M >=1 wherein, N >=1.
5. make assembly system according to each described covering that is used for aircraft among the claim 2-4, it is characterized in that said supporting mechanism is an elevating ram.
6. the covering that is used for aircraft according to claim 2 is made assembly system, it is characterized in that each said adjustable limiting mechanism comprises:
Limited post, said limited post is along horizontal-extending and be located on the sidewall of said spatial accommodation; With
Be used to drive said limited post along the flexible spacing driving mechanism of level.
7. aircraft skin according to claim 2 is made assembly system, it is characterized in that further comprise a plurality of dowel holes, said a plurality of dowel holes are located at the bottom of said casing.
8. the covering that is used for aircraft according to claim 1 is made assembly system, it is characterized in that said assembly robot comprises:
Matrix;
First motion arm, first end of said first motion arm is connected on the said matrix through first order joint pivotly;
Second motion arm, first end of said second motion arm are connected on second end of said first motion arm pivotly through joint, the second level;
Tool interface, said tool interface are located on second end of said second motion arm so that said assembly tool to be installed;
Robot Control Component, said robot Control Component are located in the said matrix to control the operation of said first motion arm, second motion arm and said assembly tool.
9. the covering that is used for aircraft according to claim 8 is made assembly system, it is characterized in that said assembly robot further comprises:
Base, the said matrix of said base support;
A plurality of road wheels, said a plurality of road wheels are located at the bottom of said base and move to drive said base.
10. aircraft skin according to claim 8 is made assembly system, it is characterized in that, further comprises:
First servomotor, said first servomotor are located at said first order joint with the instruction that receives said robot Control Component and drive said first motion arm; With
Second servomotor, said second servomotor are located at said second level joint with the instruction that receives said robot Control Component and drive said second motion arm.
11. aircraft skin according to claim 8 is made assembly system, it is characterized in that said assembly tool comprises:
Sticking instrument, said sticking instrument are connected on the said tool interface to control extracting through said robot Control Component or to discharge said covering; With
Setting tool, said setting tool are connected on the said tool interface through the Control Component control of said robot said covering is fixed on the said airframe.
12. aircraft skin according to claim 10 is made assembly system, it is characterized in that said sticking instrument comprises:
Pedestal, said pedestal are located on the said tool interface; With
A plurality of stickings unit, K row * L is capable to be located on the said pedestal with arranging and to guarantee that the said covering contour shape of absorption is constant along becoming in said a plurality of stickings unit, K >=1 wherein, L >=1.
13. the covering that is used for aircraft according to claim 12 is made assembly system, it is characterized in that said each sticking unit includes:
Telescopic rod, an end of said telescopic rod be connected on the said pedestal and the other end scalable;
Be used to drive the flexible sticking servomotor of said telescopic rod;
Sucker, said sucker are installed on the other end of said telescopic rod to draw said covering;
Drive the vacuum system of said sucker.
14. aircraft skin according to claim 13 is made assembly system, it is characterized in that above that sheathed and circumferentially the stretching out along said sphere of the other end globulate of said telescopic rod and said sucker.
15. the covering that is used for aircraft according to claim 14 is made assembly system, it is characterized in that said each sticking unit all further comprises:
Screw-nut body, said screw-nut body are located between said telescopic rod and the sticking servomotor flexible to be driven said telescopic rod by said sticking driven by servomotor.
16. the covering that is used for aircraft according to claim 1 is made assembly system, it is characterized in that said RACS comprises:
Control module;
A plurality of sensors, said a plurality of sensors are located at respectively on said assembly robot, assembly tool, airframe, storage device and the trackless waggon; With
The iGPS unit, said iGPS unit obtains the positional information of said a plurality of sensors and is sent in the control module.
17. aircraft skin according to claim 16 is made assembly system, it is characterized in that said assembly system also comprises two laser measurement systems.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210011336.9A CN102554595B (en) | 2012-01-13 | 2012-01-13 | Skin manufacturing assembly system for airplane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210011336.9A CN102554595B (en) | 2012-01-13 | 2012-01-13 | Skin manufacturing assembly system for airplane |
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| CN102554595A true CN102554595A (en) | 2012-07-11 |
| CN102554595B CN102554595B (en) | 2014-05-21 |
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| CN201210011336.9A Expired - Fee Related CN102554595B (en) | 2012-01-13 | 2012-01-13 | Skin manufacturing assembly system for airplane |
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