CN102765489B - Method and device for folding and flexibly positioning body wallboard - Google Patents

Method and device for folding and flexibly positioning body wallboard Download PDF

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Publication number
CN102765489B
CN102765489B CN201210273815.8A CN201210273815A CN102765489B CN 102765489 B CN102765489 B CN 102765489B CN 201210273815 A CN201210273815 A CN 201210273815A CN 102765489 B CN102765489 B CN 102765489B
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China
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wallboard
panels
fuselage
location
guarantor
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CN201210273815.8A
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Chinese (zh)
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CN102765489A (en
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张开富
程晖
孟庆勋
段元欣
王宁
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西北工业大学
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Abstract

The invention provides a method and a device for folding and flexibly positioning a body wallboard. Due to the method and the tool for folding and flexibly positioning the body wallboard, lots of special clamping boards are not needed and good flexibility is achieved; a positioner clamping mechanism can be adsorbed on a positioning support surface of the wallboard, so that six-freedom-degree and multi-pose regulation of the body wallboard can be achieved; laser trackers distributed on a first layer of working table, a second layer of working table and a third layer of working table can feed back assembling information at real time, thus drastically improving assembly accuracy; the body wallboard is fixed by the adsorption positioning mechanism, thus being simple in assembly and disassembly, reducing manual operation and improving assembly efficiency; and in addition, the method and the device have good generality, so that the method and the device can be suitable for folding process of body wallboard structures with different sizes and satisfy folding requirement of various body wallboards.

Description

The involutory flexible positioning method of fuselage wallboard and device thereof

Technical field

The invention belongs to aircraft component digitalisation flexible assembly technical field, relate to a kind of fuselage wallboard involutory localization method and equipment, for clamping, posture adjustment, the location of the involutory process each several part of fuselage wallboard wallboard.

Background technology

Along with digitizing technique application more and more widely in aircraft manufacturing process, present generation aircraft manufacturing enterprise has proposed the requirements such as high quality, high efficiency, high flexibility and low cost to aircraft assembly technique, the flexibility of aircraft fitting process becomes the megatrend of the outer aircraft assembling of Present Domestic field development.

Airframe wallboard class component has that scantling of structure is large, rigidity is low, manufacture and assembly precision requirement high.At present, in the fitting process of wallboard class component, still adopt in a large number rigid type shelf structure, this method of work requires a large amount of special toolings, positioning tool quantity is large, commonality is poor, and the fuselage wallboard that can only be applied to specific model is involutory, and position fixing process is subject to the impact of human element large, manufacturing cycle is long, productive costs is high, can not adapt to the requirement of present generation aircraft manufacture low cost, high quality, fast-response.The flexible frock of wallboard class component is not also very extensive in the middle of practical engineering application, and having some limitations property.Patent CN10486143A has invented a kind of flexible digital type rack device of Aircraft-Oriented wallboard class Assembly of the parts, this device is made up of type frame skeleton and 16 mobile shape adjusting units, by mobile clamp assembling point position, in conjunction with removable clamp, can realize in aircraft assembling the assembling of a type frame for multiple wall plate parts; This patent is only for single wall plate parts, does not relate to involutory location and the posture adjustment of the fuselage multiple wallboards of entirety, and does not break away from the restriction of special clamp, and assembling different wallboards still needs different clamps, flexible limited.Patent CN101486144A has invented a kind of flexible frock that adapts to the assembling of different structure parts, by locating dowel pin and clamp, assembly unit is fixed on spliced assembly jig, utilize and drive swing type mechanism to rotate assembly jig, in the time that assembly jig turns to tram, pneumatic clamping mechanism clamps, locates type frame, carries out subsequently next step operation; The device that this patent provides has good flexibility, but is not suitable for location and the posture adjustment of fuselage wallboard, and there is no positioning precision positioner, is difficult for realizing high fix.

Summary of the invention

Airframe is to splice by some wallboards the typical tubular construction involuting, in order to overcome, the involutory technology frock of existing wallboard quantity is large, flexibility degree is low, commonality is poor, the manufacturing cycle is long, the high deficiency of productive costs, the present invention with six wallboard fuselages to being combined into example, provide a kind of fuselage wallboard involutory flexibility localization method, each several part wallboard in the involutory process of fuselage wallboard is realized to multi-freedom posture adjustment and location, support the accurately involutory of fuselage wallboard, ensure high precision, the flexibility location requirement of fuselage wallboard.

The technical solution adopted for the present invention to solve the technical problems comprises the following steps:

(1) fuselage lower wall panels enters position and posture adjustment.Lower wall panels is transported on guarantor's type device with hoist cable, lower wall panels is transported to involutory fitter's bench desired location together with guarantor's type device.Lower wall panels is realized to the adjustment of 6DOF pose by four-point supporting method.In location posture adjustment process, utilize noncontacting proximity sensor to measure lower wall panels key feature point coordinate, with theoretical coordinate contrast, generate posture adjustment and targeting scheme based on space coordinate conversion algorithm, carry out pose adjustment by adjusting positioning unit.Repeat above step, until the deviation of lower wall panels key feature point coordinate and theoretical coordinate is in tolerance allowed band.

(2) fuselage lower-left, bottom right wallboard posture adjustment location.By sling device, lower-left, bottom right wallboard are transported to respectively to fuselage ring down either side, separately near practical set position, lower-left, bottom right wallboard are placed on pose adjustment component, push to practical set position by pose adjustment component, this process supports wallboard by 6 key points and carries out pose adjustment, repeatedly proofreaies and correct positioning precision by sensor feedback.

(3) middle machine body floor is installed.

(4) interior clamp guarantor type frame is installed.Interior clamp guarantor type frame is arranged on floor.Interior clamp profile matches with shape in wallboard, and is furnished with long purlin and joins hole, utilizes connection gusset plate to realize wallboard and is connected and location with floor with clamp, clamp.

(5) fuselage upper left, upper right wallboard posture adjustment location.By sling device, upper left, upper right wallboard are transported to respectively to top, fuselage ring both sides, separately near practical set position, upper left, upper right wallboard are placed on pose adjustment component, push to practical set position by pose adjustment component, this process supports wallboard by 4 key points and carries out pose adjustment, repeatedly proofreaies and correct positioning precision by sensor feedback.

(6) fuselage wainscot posture adjustment location.Wainscot enters frame and is arranged in finally and carries out, by sling device, wainscot is lifted near practical set position directly over fuselage, and be placed in pose adjustment component, transfer subsequently to practical set position, this process supports wallboard by 2 key points and carries out pose posture adjustment, repeatedly proofreaies and correct positioning precision by sensor feedback.

(7), after assembly process completes, corresponding steady arm is removed from wallboard locating point, fuselage departures, whole process finishes.

In order to realize said method, the present invention also provides a kind of fuselage wallboard involutory flexible location posture adjustment frock, comprise guarantor's type transport trolley, lower wall panels chucking appliance system, lower-left, bottom right wallboard chucking appliance system, interior clamp guarantor type frame, upper left, upper right wallboard chucking appliance system, wainscot chucking appliance system, alignment measurement system and mobile work type frame.According to aircraft fuselage structure feature, the equipment of each several part wallboard location is adopted to the layout type along fuselage course symmetry.Taking fuselage course positive dirction as X-axis, vertical ground upward direction is Z axis, and Y-axis is determined according to cartesian coordinate system by X-axis and Z axis.

Described guarantor's type transport trolley is transport lower wall panels to assigned address and ensure the equipment of lower wall panels profile accuracy, have two, can move along the X direction guiding rail being distributed under fuselage, comprise guarantor's type clamp, clamp support, bearing, handwheel, car body base, X direction guiding rail.Lower wall panels is placed on guarantor's type clamp, and transport trolley moves under fuselage ring along X direction guiding rail, and rotation hand wheel posture adjustment wallboard terrain clearance, is fixed on lower wall panels on lower wall panels chucking appliance system, and transport trolley exits.

Described lower wall panels chucking appliance system is the equipment of realizing lower wall panels location, posture adjustment and lower wall panels accurately being delivered to practical set position, comprise 4 pose adjustment units, be positioned on desired location, ground, fuselage both sides, 2 of every sides, the major part of each unit has technique bulb, the pogo post with ball-and-socket, upper bed-plate, X direction guiding rail, lower bottom base, drive motor, Y-direction guide rail.The ball that described pose attitude-adjusting unit is is Φ 40 in order to described technique bulb is connected with lower wall panels locating point, and this locating point existing institute in the time of fuselage wallboard trim designs considers.Described ball-and-socket is spherical groove process connection, and spherical diameter is Φ 40.Technique bulb coordinates pogo column end spherical groove to form the spheric motion pair of bulb-socket arrangement.

Described lower-left, bottom right wallboard chucking appliance system are the equipment of realizing lower-left, wallboard location, bottom right, posture adjustment and wallboard accurately being delivered to practical set position, comprise 4 pose adjustment units, be positioned on the desired location, ground of fuselage both sides, 2 of every sides, the major part of each unit has three sucked type pogo posts, pogo post base, upper bed-plate, lower bottom base, drive motor, Y-direction guide rail.Described sucker is adsorbed on wallboard locating point in position fixing process, wallboard is firmly connected, until assembly process completes with positioning unit.

Described interior clamp guarantor type frame is with thinking upper left wallboard, upper right wallboard and wainscot provides support and the equipment of guarantor's type function, and major part has clamp matrix, long purlin to connect that gusset plate, floor connect gusset plate, hole is joined in long purlin.After lower wall panels, lower-left wallboard and bottom right wallboard complete location and floor installation, carry out the installation of interior clamp guarantor type frame.

Described upper left, upper right wallboard chucking appliance system be realize upper left, the right side is wallboard location, posture adjustment the equipment of wallboard accurately being delivered to practical set position, comprise 4 pose adjustment units, be positioned on the second layer bench board desired location of fuselage both sides, 2 of every sides, the major part of each unit has Z-direction column, bearing arm piece, transverse arm, vacuum cup, X direction guiding rail, lower bottom base, Y-direction guide rail, support.Described transverse arm is load-carrying construction, the hanging of vacuum cup that wallboard is installed by end with its on.Described bearing arm piece is to complete the block structure of transverse arm along Y-direction fine setting.

Described wainscot chucking appliance system is the equipment of realizing wainscot location, posture adjustment and wallboard accurately being delivered to practical set position, comprise 4 pose adjustment units, be positioned on bench board desired location, the 3rd layer of fuselage both sides, every side 2 is each, and the major part of each unit has end cap, Z-direction column, large slide block, transverse arm, technique bulb, X direction guiding rail, Y-direction guide rail, upper bed-plate, lower bottom base, drive motor.

Described alignment measurement system is to carry out wallboard position measurement, and the equipment of compensate for displacement deviation, comprises 6 each measuring units, be distributed in first, second and third layer of both sides bench board, 1 every layer, each unit comprises laser tracker, base and Y-direction guide rail, has the degree of freedom of Y, Z both direction.Measure wallboard key feature point coordinate by laser tracker, with theoretical coordinate contrast, generate posture adjustment and targeting scheme based on space coordinate conversion algorithm, carry out position money by adjustment positioning unit and adjust.

Described work type frame has three layers, can realize the motion on x, y both direction, and every layer of distribution is corresponding to pose adjustment unit or the laser tracker of fuselage wallboard.

The invention has the beneficial effects as follows: utilize the involutory flexible positioning method of fuselage wallboard and frock, break away from the use of a large amount of special clamps, have good flexibility, steady arm clamping mechanism can be adsorbed on wallboard positioning supporting point surface, realizes six degree of freedom, the multi-pose adjustment of fuselage wallboard; The laser tracker Real-time Feedback assembly information that is distributed in one, two, three layer of bench board, improves assembly precision greatly; Adopt absorption type detent mechanism fixed main body wallboard, handling are simple, reduced manual operations, improved efficiency of assembling; The present invention also has good commonality, can adapt to the involutory process of the fuselage wall plate structure of different size, meets the involutory demand of different types of machines fuselage wallboard.

Below in conjunction with drawings and Examples, the present invention is further described.

Brief description of the drawings

Fig. 1 is the involutory flexible positioning system of fuselage wallboard total arrangement schematic diagram (right half side);

Fig. 2 is the involutory flexible positioning system front elevation of fuselage wallboard (right half side);

Fig. 3 is lower wall panels guarantor type transport trolley structural representation;

Fig. 4 is lower wall panels locator structure schematic diagram;

Fig. 5 is lower-left wallboard and bottom right wallboard locator structure schematic diagram;

Fig. 6 is interior clamp locator structure schematic diagram;

Fig. 7 is upper left wallboard and upper right wallboard locator structure schematic diagram;

Fig. 8 is wainscot locator structure schematic diagram;

Fig. 9 is alignment measurement system.

Number in the figure title, 1-lower wall panels guarantor type transport trolley; 2-lower wall panels chucking appliance system; 3-lower-left, bottom right wallboard chucking appliance system; Clamp guarantor type frame in 4-; 5-upper left, upper right wallboard chucking appliance system; 6-wainscot chucking appliance system; 7-alignment measurement system; 8-work type frame; 9-clamp; 10-clamp support; 11-bearing; 12-handwheel; 13-base; 14-X direction guiding rail; 15-Y direction guiding rail; 16-technique bulb; 17-pogo post; 18-upper bed-plate; 19-lower bottom base; 20-drive motor; 21-pogo post base; 22-vacuum cup; The long purlin of 23-connects gusset plate; 24-clamp matrix; 25-joins hole in long purlin; 26-floor connects gusset plate; 27-transverse arm; 28-bearing arm piece; 29-Z is to column; 30-support; The large slide block of 31-; 32-end cap; 33-laser tracker.

Detailed description of the invention

Embodiment of the method:

(1) fuselage lower wall panels enters position and posture adjustment.Lower wall panels is after assembled type frame takes off, utilize lifting appliance that fuselage lower wall panels is placed on guarantor's type transport trolley, profile in lower wall panels external form and guarantor's type clamp is fitted tightly, along X to lower wall panels being transported on the relevant erect-position of traverser, utilize the Z-direction height that drives handwheel to adjust external form clamp, for the introducing of lower wall panels steady arm is prepared.Lower wall panels enters after fitter's bench erect-position, drive upper bed-plate and the lower bottom base of 4 lower wall panels steady arms, respectively steady arm is carried out to Y-direction and X to adjustment, drive the telescopic mast of each steady arm to adjust Z-direction height, make the locating fulcrum of bulb clamping mechanism and lower wall panels involutory, realize 4 flexible location of lower wall panels.When 4 steady arms and locating fulcrum involutory after, adopt four-point supporting principle, lower wall panels is carried out to multiple degree of freedom posture adjustment.

(2) middle machine body lower-left, bottom right wallboard enter position and location posture adjustment.Utilize hanging device that lower-left, bottom right wallboard are lifted respectively to the top of steady arm separately, by the X that drives lower bottom base, driven wheel and POGO post to adjust 3 POGO posts on 4 lower-lefts, bottom right wallboard steady arm to, Y-direction and Z-direction position, make the locating fulcrum of the vacuum cup of 6 POGO posts separately and lower-left, bottom right wallboard involutory, realize the involutory position fixing process of lower-left, bottom right wallboard and lower wall panels.

(3) whole section of installing floor board of middle machine body.In lower wall panels and lower-left, bottom right wallboard is involutory complete after installing floor board, for interior clamp guarantor type frame provides support.

(4) interior clamp guarantor type frame is installed.After fuselage lower wall panels, lower-left wallboard, bottom right wallboard have been located, utilize connection gusset plate on floor, to install interior clamp guarantor type frame, for upper left, upper right, wainscot provide support and positioning function.

(5) middle machine body upper left, upper right wallboard enter position and location posture adjustment.Utilize hanging apparatus that upper left, upper right wallboard are lifted respectively to the second layer to traverser, utilize 2 steady arms separately, adjust directions X and Y-direction motion by support and lower bottom base, utilize column to adjust the Z-direction position of sucker, make the locating fulcrum of 4 vacuum cups separately and upper left, upper right wallboard involutory, the involutory location of realizing involutory location, upper right wallboard and the bottom right wallboard of upper left wallboard and lower-left wallboard.

(6) middle machine body wainscot enters position and location posture adjustment.By hanging apparatus, wainscot is winched to directly over fuselage ring, utilize 4 wainscot steady arms, drive bottom plate and mounting plate to carry out respectively X to moving with Y-direction, drive large slide block to adjust the Z-direction height of steady arm absorption chuck along Z-direction, make the locating fulcrum of 4 absorption chucks and wainscot involutory, utilize 4 independent positioning methods to realize posture adjustment and location to wainscot, complete the involutory process of wainscot and upper left wallboard, upper right wallboard.

(7) after having assembled, remove in order wainscot steady arm, upper left, upper right wallboard steady arm, lower-left, the right side

Lower wall panels steady arm and lower wall panels steady arm, middle machine body departures, whole process finishes.

Device embodiment: the present invention includes guarantor's type transport trolley 1, lower wall panels chucking appliance system 2, lower-left, bottom right wallboard chucking appliance system 3, upper left, upper right wallboard chucking appliance system 4, wainscot chucking appliance system 5, interior clamp guarantor type frame 6 and alignment measurement system 7, mobile work type frame 8.

As shown in Figure 3, described guarantor's type transport trolley is transport lower wall panels to assigned address and ensure the equipment of lower wall panels profile accuracy, comprises guarantor's type clamp 9, clamp support 10, bearing 11, handwheel 12, car body base 13, X direction guiding rail 14.Lower wall panels is placed on guarantor's type clamp 9, and transport trolley moves under fuselage ring along X direction guiding rail 14, and rotation hand wheel 12 posture adjustment wallboard terrain clearances, are fixed on lower wall panels on lower wall panels chucking appliance system, and transport trolley exits.

As shown in Figure 4, described lower wall panels chucking appliance system is the equipment of realizing lower wall panels location, posture adjustment and lower wall panels accurately being delivered to practical set position, comprise four pose adjustment units, the major part of each unit has technique bulb 16, the pogo post 17 with ball-and-socket, upper bed-plate 18, X direction guiding rail 14, lower bottom base 19, drive motor 20, Y-direction guide rail 15.The ball that described technique bulb 16 is Φ 40 is connected with lower wall panels locating point, and this locating point existing institute in the time of fuselage wallboard trim designs considers.Described ball-and-socket is spherical groove process connection, and spherical diameter is Φ 40.Technique bulb coordinates pogo column end spherical groove to form the spheric motion pair of bulb-socket arrangement.

As shown in Figure 5, described lower-left, bottom right wallboard chucking appliance system are the equipment of realizing lower-left, wallboard location, bottom right, posture adjustment and wallboard accurately being delivered to practical set position, comprise four pose adjustment units, the major part of each unit has three sucked type pogo posts 17, pogo post base 21, upper bed-plate 18, lower bottom base 19, drive motor 20, Y-direction guide rail 15.Described sucker is adsorbed on wallboard locating point in position fixing process, wallboard is firmly connected, until assembly process completes with positioning unit.

As shown in Figure 6, described interior clamp guarantor type frame is with thinking upper left wallboard, upper right wallboard and wainscot provides support and the equipment of guarantor's type function, and major part has clamp matrix 23, long purlin to connect that gusset plate 24, long purlin are joined hole 25, floor connects gusset plate 26.After lower wall panels, lower-left wallboard and bottom right wallboard complete location and floor installation, carry out the installation of interior clamp guarantor type frame.

As shown in Figure 7, described upper left, upper right wallboard chucking appliance system be realize upper left, the right side is wallboard location, posture adjustment the equipment of wallboard accurately being delivered to practical set position, comprise four pose adjustment units, the major part of each unit has vacuum cup 22, transverse arm 27, bearing arm piece 28, Z-direction column 29, X direction guiding rail 14, Y-direction guide rail 15, lower bottom base 19, support 30.Described transverse arm 27 is load-carrying construction, and the vacuum cup 22 that wallboard is installed by end is hung thereon.Described bearing arm piece 28 is for completing the block structure of transverse arm 27 along Y-direction fine setting.

As shown in Figure 8, described wainscot chucking appliance system is the equipment of realizing wainscot location, posture adjustment and wallboard accurately being delivered to practical set position, comprise four pose adjustment units, the major part of each unit has end cap 32, Z-direction column 29, large slide block 31, transverse arm 27, technique bulb 16, X direction guiding rail 14, Y-direction guide rail 15, upper bed-plate 18, lower bottom base 19, drive motor 20.

As shown in Figure 9, described alignment measurement system is to carry out wallboard position measurement, and the equipment of compensate for displacement deviation, is made up of laser tracker 32, base 13 and Y-direction guide rail 15, has the degree of freedom of Y, Z both direction.Be distributed in first, second and third layer of bench board, measure wallboard key feature point coordinate by laser tracker 32, with theoretical coordinate contrast, generate posture adjustment and targeting scheme based on space coordinate conversion algorithm, carry out position money by adjustment positioning unit and adjust.

As shown in Figure 1, described work type frame has three layers, can realize the motion on x, y both direction, and every layer of distribution is corresponding to pose adjustment unit or the laser tracker of fuselage wallboard.

Claims (2)

1. the involutory flexible positioning method of fuselage wallboard, is characterized in that comprising the steps:
(1) with hoist cable, lower wall panels is transported on guarantor's type device, lower wall panels is transported to involutory fitter's bench desired location together with guarantor's type device, lower wall panels is realized to the adjustment of 6DOF pose by four-point supporting method, in location posture adjustment process, utilize noncontacting proximity sensor to measure lower wall panels key feature point coordinate, contrast with theoretical coordinate, generate posture adjustment and targeting scheme based on space coordinate conversion algorithm, carry out pose adjustment by adjusting positioning unit, repeat above step, until the deviation of lower wall panels key feature point coordinate and theoretical coordinate is in tolerance allowed band,
(2) by sling device, lower-left, bottom right wallboard are transported to respectively to fuselage ring down either side, separately near practical set position, lower-left, bottom right wallboard are placed on pose adjustment component, push to practical set position by pose adjustment component, this process supports wallboard by 6 key points and carries out pose adjustment, repeatedly proofreaies and correct positioning precision by sensor feedback;
(3) middle machine body floor is installed;
(4) interior clamp guarantor type frame is arranged on floor; Interior clamp profile matches with shape in wallboard, and is furnished with long purlin and joins hole, utilizes connection gusset plate to realize wallboard and is connected and location with floor with clamp, clamp;
(5) by sling device, upper left, upper right wallboard are transported to respectively to top, fuselage ring both sides, separately near practical set position, upper left, upper right wallboard are placed on pose adjustment component, push to practical set position by pose adjustment component, this process supports wallboard by 4 key points and carries out pose adjustment, repeatedly proofreaies and correct positioning precision by sensor feedback;
(6) by sling device, wainscot is lifted near practical set position directly over fuselage, and be placed in pose adjustment component, transfer subsequently to practical set position, this process supports wallboard by 2 key points and carries out pose posture adjustment, repeatedly proofreaies and correct positioning precision by sensor feedback;
(7), after assembly process completes, corresponding steady arm is removed from wallboard locating point, fuselage departures, whole process finishes.
2. realize the device of the involutory flexible positioning method of fuselage wallboard described in claim 1 for one kind, comprise guarantor's type transport trolley, lower wall panels chucking appliance system, lower-left, bottom right wallboard chucking appliance system, interior clamp guarantor type frame, upper left, upper right wallboard chucking appliance system, wainscot chucking appliance system, alignment measurement system and mobile work type frame, it is characterized in that:
Taking fuselage course positive dirction as X-axis, vertical ground upward direction is Z axis, and Y-axis is determined according to cartesian coordinate system by X-axis and Z axis;
Described guarantor's type transport trolley is transport lower wall panels to assigned address and ensure the equipment of lower wall panels profile accuracy, have two, can move along the X direction guiding rail being distributed under fuselage, comprise guarantor's type clamp, clamp support, bearing, handwheel, car body base, X direction guiding rail; Lower wall panels is placed on guarantor's type clamp, and transport trolley moves under fuselage ring along X direction guiding rail, and rotation hand wheel posture adjustment wallboard terrain clearance, is fixed on lower wall panels on lower wall panels chucking appliance system, and transport trolley exits;
Described lower wall panels chucking appliance system is the equipment of realizing lower wall panels location, posture adjustment and lower wall panels accurately being delivered to practical set position, comprise 4 pose adjustment units, be positioned on desired location, ground, fuselage both sides, 2 of every sides, each unit comprises technique bulb, the pogo post with ball-and-socket, upper bed-plate, X direction guiding rail, lower bottom base, drive motor, Y-direction guide rail; Described technique bulb is connected with lower wall panels locating point, and described ball-and-socket is spherical groove process connection, and technique bulb coordinates pogo column end spherical groove to form the spheric motion pair of bulb-socket arrangement;
Described lower-left, bottom right wallboard chucking appliance system are the equipment of realizing lower-left, wallboard location, bottom right, posture adjustment and wallboard accurately being delivered to practical set position, comprise 4 pose adjustment units, be positioned on the desired location, ground of fuselage both sides, 2 of every sides, each unit comprises three sucked type pogo posts, pogo post base, upper bed-plate, lower bottom base, drive motor, Y-direction guide rail; The sucker of described sucked type pogo post is adsorbed on wallboard locating point in position fixing process, wallboard is firmly connected, until assembly process completes with positioning unit;
Described interior clamp guarantor type frame is with thinking upper left wallboard, upper right wallboard and wainscot provides support and the equipment of guarantor's type function, and major part has clamp matrix, long purlin to connect that gusset plate, floor connect gusset plate, hole is joined in long purlin; After lower wall panels, lower-left wallboard and bottom right wallboard complete location and floor installation, carry out the installation of interior clamp guarantor type frame;
Described upper left, upper right wallboard chucking appliance system be realize upper left, the right side is wallboard location, posture adjustment the equipment of wallboard accurately being delivered to practical set position, comprise 4 pose adjustment units, be positioned on the second layer bench board desired location of fuselage both sides, 2 of every sides, the major part of each unit has Z-direction column, bearing arm piece, transverse arm, vacuum cup, X direction guiding rail, lower bottom base, Y-direction guide rail, support; Described transverse arm is load-carrying construction, the hanging of vacuum cup that wallboard is installed by end with its on; Described bearing arm piece is to complete the block structure of transverse arm along Y-direction fine setting;
Described wainscot chucking appliance system is the equipment of realizing wainscot location, posture adjustment and wallboard accurately being delivered to practical set position, comprise 4 pose adjustment units, be positioned on bench board desired location, the 3rd layer of fuselage both sides, 2 of every sides, the major part of each unit has end cap, Z-direction column, large slide block, transverse arm, technique bulb, X direction guiding rail, Y-direction guide rail, upper bed-plate, lower bottom base, drive motor;
Described alignment measurement system is to carry out wallboard position measurement, and the equipment of compensate for displacement deviation, comprises 6 measuring units, be distributed in first, second and third layer of both sides bench board, 1 every layer, each unit comprises laser tracker, base and Y-direction guide rail, has the degree of freedom of Y, Z both direction; Measure wallboard key feature point coordinate by laser tracker, with theoretical coordinate contrast, generate posture adjustment and targeting scheme based on space coordinate conversion algorithm, carry out position money by adjustment positioning unit and adjust;
Described work type frame has three layers, can realize the motion on x, y both direction, and every layer of distribution is corresponding to pose adjustment unit or the laser tracker of fuselage wallboard.
CN201210273815.8A 2012-08-02 2012-08-02 Method and device for folding and flexibly positioning body wallboard CN102765489B (en)

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