CN107651045A - A kind of aircraft wing box turns station and uses AVG cars and its vehicle-mounted wing box posture adjustment alignment system - Google Patents
A kind of aircraft wing box turns station and uses AVG cars and its vehicle-mounted wing box posture adjustment alignment system Download PDFInfo
- Publication number
- CN107651045A CN107651045A CN201710751427.9A CN201710751427A CN107651045A CN 107651045 A CN107651045 A CN 107651045A CN 201710751427 A CN201710751427 A CN 201710751427A CN 107651045 A CN107651045 A CN 107651045A
- Authority
- CN
- China
- Prior art keywords
- bracket
- wing box
- vehicle
- cars
- traversing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/025—Modular vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
Abstract
Turn station the invention discloses a kind of aircraft wing box and use AVG cars and its vehicle-mounted wing box posture adjustment alignment system, belong to aircraft digital assembling auxiliary mould technical field.AVG cars include control unit, detection unit, vehicle frame and are mounted in the vehicle-mounted wing box posture adjustment alignment system that on the vehicle frame and controlled unit controls；Vehicle-mounted wing box posture adjustment alignment system includes bracket, the bracket support seat being adjusted to the posture of bracket, and the wing box frock transfer holding meanss being installed on bracket；The base of bracket support seat is fixed on vehicle frame；Detection unit includes attitude-measuring sensor, the detection signal to control unit output to bracket posture.By the cooperation of vehicle-mounted wing box posture adjustment alignment system and AVG cars, can transport clamping in multiplexing interdigit well has the wing box frock of wing box, can not only improve the security of transfer, and can improve the efficiency transferred, and it can be widely used in aircraft mounting technology field.
Description
Technical field
The present invention relates to a kind of aircraft digital to assemble auxiliary mould, specifically, is related to a kind of aircraft wing box and turns station use
AVG cars and its vehicle-mounted wing box posture adjustment alignment system.
Background technology
Present generation aircraft assembly line is usually arranged to the assembly mode of multistation, as aircraft wing boxes of wings waits processing component to need
It is transported through between each station, typically carrying out station transhipment with AVG cars using aircraft wing box turn station plugs into, and utilizes AVG cars
On electricity magnetically or optically wait homing guidance device make its along electromagnetic path etc. overlay guide path traveling, with realize between each station
Automatic transhipment plug into.But during transhipment is plugged into, it is commonly encountered problems with：The flatness of AVG cars institute running ground is not
There is attitude error between skeleton tooling base in the enough or skeleton tooling base on AGV cars and assembling erect-position, easily causes the wing
Box rolls in the transhipment process of plugging into, and brings potential safety hazard.
The content of the invention
Turn station it is an object of the invention to provide a kind of aircraft wing box and use AVG cars, in order to wing box with wing box frock not
Transported between station；
It is a further object of the present invention to provide a kind of vehicle-mounted wing box posture adjustment alignment system for being used to build above-mentioned AVG cars.
To achieve these goals, it is single including control unit, detection with AVG cars to turn station for aircraft wing box provided by the invention
Member, vehicle frame and it is mounted on the vehicle frame and the vehicle-mounted wing box posture adjustment alignment system of controlled unit control；Vehicle-mounted wing box posture adjustment is determined
Position system includes bracket, the bracket support seat being adjusted to the posture of bracket, and the wing box frock transfer being installed on bracket
Holding meanss；The base of bracket support seat is fixed on vehicle frame；Detection unit includes attitude-measuring sensor, defeated to control unit
Go out the detection signal to bracket posture.
When transporting clamping between different station has the wing box frock of wing box, the AVG cars are controlled along the route row preset
Sail to station of plugging into, car bracket and the station support for being used to place wing box frock at station are measured by attitude-measuring sensor
Attitude misalignment between frame, coordinates the wheel adjustment vehicle orientation and bracket support seat adjustment bracket posture of AVG cars, and is adjusting
Attitude measurement, pose adjustment are constantly repeated in journey, the attitude misalignment between onboard tray and station bracket is adjusted to default
Less than deviation threshold, that is, orientation adjustment of AVG vehicle frames itself is not entirely dependent on to obtain the adjustment to onboard tray posture, can be had
Effect ground reduces the requirement to AVG cars positioning accuracy on the ground；Can be well in station bracket and the onboard tray on AVG cars
Between transfer clamping have the wing box frock of wing box；When being transported at next station of plugging into, can be measured by attitude misalignment, posture
Adjust and be easy to the wing box frock that clamping has wing box being transferred to from AVG cars on next station bracket；Due in the process of transport
In transported together with wing box frock, the stability and security during whole transport can be effectively ensured that.
Specific scheme is the both sides that bracket support seat is arranged in bracket, and the quantity per side is two or more；Bracket branch
Support seat includes three-coordinate positioner and the hanger being installed on the sidepiece of bracket, the output end of three-coordinate positioner are cut with scissors by bulb
Connection mechanism is connected with hanger.Three-coordinate positioner and hanger are connected by bulb hinged mechanism, are easy to multiple three-coordinate positioners
Output end the posture of bracket is adjusted simultaneously.
More specifically scheme is the first horizontal stroke that three-coordinate positioner includes being slidably connected by guide rail slide block mechanism and base
Move slide unit, the first traversing slide unit of driving with respect to base along the first traversing actuator slid laterally, by guide rail slide block mechanism and
The lifting platform that first traversing slide unit is slidably connected, driving lifting platform is with respect to the lifting actuating that the first traversing slide unit vertically slides
Device, the second traversing slide unit being slidably connected by guide rail slide block mechanism and lifting platform, drive the second traversing slide unit OQ t platform
The traversing actuator slid laterally along second；Bulb hinged mechanism includes the ball cup being installed on hanger and is installed in the second horizontal stroke
The support bulb moved on slide unit, first is laterally laterally mutually orthogonal with second.
To be respectively provided with attitude-measuring sensor on the both ends of bracket, attitude-measuring sensor includes another specific scheme
Two layers of displacement transducer layer group being arranged parallel to or including one layer of displacement transducer layer group and with this layer of displacement transducer layer
Organize the positioning measurement camera of not co-layer；Every layer of displacement transducer layer group includes the displacement sensing that two or more is arranged parallel to
Device, the telescoping mechanism that displacement transducer is arranged by length direction of the telescopic direction along bracket are installed on bracket.Utilize displacement
The distance mearuring equipment such as sensor and positioning measurement camera builds attitude-measuring sensor, can simplify the knot of whole attitude-measuring sensor
Structure and reduce its manufacturing cost.
Preferable scheme is that wing box frock transfers the sliding chute seat that holding meanss include being installed on bracket, is arranged in sliding chute seat
Both sides are used for the rolling wheel guide rails for supporting wing box frock, can be along the blind rivet groove seat of the bar shaped slide on sliding chute seat, and pass through chain
Bar pulls the driver that blind rivet groove seat reciprocatingly slides along bar shaped chute；Rolling wheel guide rails are made up of the parallel roller of row's roller bearing,
Length direction arrangement of the bar shaped chute along bracket；Blind rivet groove seat is provided with the drawing being engaged with the blind rivet being installed in wing box frock
Groove is followed closely, the controlled unit control ground of blind rivet groove seat rotates around vertical axis between latched position and off-position.Led by roller
Rail is moved in and out AVG cars for wing box frock and provides support and guiding, and while heavy duty support is provided, reduction, which moves in and out, to rub
Wipe；Using the blind rivet groove in blind rivet groove seat and the cooperation for being installed in blind rivet in wing box frock, can realize well to wing box frock
Locking keep, pull and remove when unblock.
In order to realize above-mentioned another object, vehicle-mounted wing box posture adjustment alignment system provided by the invention includes bracket, to bracket
The bracket support seat that is adjusted of posture, wing box frock transfer holding meanss being installed on bracket, and being installed on bracket
Detection unit；The base of bracket support seat is used for the vehicle frame for being fixed on AVG cars；Detection unit senses including attitude measurement
Device, export the detection signal to bracket posture.
Specific scheme is the both sides that bracket support seat is arranged in bracket, and the quantity per side is two or more；Bracket branch
Support seat includes three-coordinate positioner and the hanger being installed on the sidepiece of bracket, the output end of three-coordinate positioner are cut with scissors by bulb
Connection mechanism is connected with hanger.
More specifically scheme is the first horizontal stroke that three-coordinate positioner includes being slidably connected by guide rail slide block mechanism and base
Move slide unit, the first traversing slide unit of driving with respect to base along the first traversing actuator slid laterally, by guide rail slide block mechanism and
The lifting platform that first traversing slide unit is slidably connected, driving lifting platform is with respect to the lifting actuating that the first traversing slide unit vertically slides
Device, the second traversing slide unit being slidably connected by guide rail slide block mechanism and lifting platform, drive the second traversing slide unit OQ t platform
The traversing actuator slid laterally along second；Bulb hinged mechanism includes the ball cup being installed on hanger and is installed in the second horizontal stroke
The support bulb moved on slide unit, first is laterally laterally mutually orthogonal with second.
To be respectively provided with attitude-measuring sensor on the both ends of bracket, attitude-measuring sensor includes another specific scheme
Two layers of displacement transducer layer group being arranged parallel to or including one layer of displacement transducer layer group and with this layer of displacement transducer layer
Organize the positioning measurement camera of not co-layer；Every layer of displacement transducer layer group includes the displacement sensing that two or more is arranged parallel to
Device, the telescoping mechanism that displacement transducer is arranged by length direction of the telescopic direction along bracket are installed on bracket.
Preferable scheme is that wing box frock transfers the sliding chute seat that holding meanss include being installed on bracket, is arranged in sliding chute seat
Both sides are used for the rolling wheel guide rails for supporting wing box frock, can be along the blind rivet groove seat of the bar shaped slide on sliding chute seat, and pass through chain
Bar pulls the driver that blind rivet groove seat reciprocatingly slides along bar shaped chute；Rolling wheel guide rails are made up of the parallel roller of row's roller bearing,
Length direction arrangement of the bar shaped chute along bracket；Blind rivet groove seat is provided with the drawing being engaged with the blind rivet being installed in wing box frock
Follow closely groove, blind rivet groove seat around vertical axis can between latched position and off-position reciprocating rotation.
By the cooperation of above-mentioned vehicle-mounted wing box posture adjustment alignment system and AVG cars, clamping can be transported in multiplexing interdigit well
There is the wing box frock of wing box, can not only improve the security of transfer, and the efficiency transferred can be improved.
Brief description of the drawings
Fig. 1 is that aircraft wing box turns stereogram of the station with AVG cars in the embodiment of the present invention；
Fig. 2 is that aircraft wing box turns stereogram of the station with AVG cars after housing and control panel is omitted in the embodiment of the present invention；
Fig. 3 is the stereogram of vehicle-mounted wing box posture adjustment alignment system in the embodiment of the present invention；
Fig. 4 is the A partial enlarged drawings in Fig. 3；
Fig. 5 is the stereogram that chain-type drives holding meanss in the embodiment of the present invention；
Fig. 6 is the stereogram of bracket support seat in the embodiment of the present invention；
Fig. 7 be the embodiment of the present invention in bracket support seat stereogram from X to base unit；
Fig. 8 is the stereogram of the Z-direction slide unit unit of bracket support seat in the embodiment of the present invention；
Fig. 9 is the structure decomposition figure of hanger and Y-direction slide unit unit in the embodiment of the present invention.
Embodiment
With reference to embodiments and its accompanying drawing the invention will be further described.
Embodiment
Referring to Fig. 1 and Fig. 2, aircraft wing box of the present invention, which turns station AVG cars, includes vehicle frame 10, heavy-duty wheel 11, housing 12, control
Panel 13, hydraulic pressure spike 14, power set, detection unit and the vehicle-mounted wing box posture adjustment alignment system 2 being mounted on vehicle frame 10 processed.
Wherein, control panel 13 is installed on housing 12, forms the control unit in the present embodiment, receives the detection of detection unit input
Signal and the control information being manually entered, control the action of vehicle-mounted wing box posture adjustment alignment system 2 and hydraulic pressure spike 14 and control dynamic
Power apparatus drives eight heavy-duty wheels to rotate and control the transport condition of whole AVG cars；Eight hydraulic pressure spikes 14 are in vehicle frame 10
Each uniform three of both sides, respectively set one in the middle part of front and back end, are supported on ground when being carried out for stopping into and out wing box frock
To provide gentle support for whole transfer process on face.
Referring to Fig. 2 and Fig. 3, vehicle-mounted wing box posture adjustment alignment system 2 includes bracket 20, bracket support seat 4, attitude measurement sensing
Device and the wing box frock transfer holding meanss being installed on bracket 20.Wherein, attitude-measuring sensor forms above-mentioned detection unit
In part.
Referring to Fig. 3 and Fig. 4, attitude-measuring sensor includes two layers of displacement transducer layer group 8 being arranged parallel to and determined
Position measurement camera 9, every layer of displacement transducer layer group 8 include the displacement transducer 80 that two or more is arranged parallel to, and displacement passes
Telescoping mechanism that sensor 80 is arranged by telescopic direction along the length direction of bracket 20 is installed on bracket 20；In the present embodiment
In, two displacement transducers 80 in same displacement transducer layer group 8 are driven control by same telescoping mechanism, the telescopic machine
Structure includes being used for U-shaped mounting bracket 81, servomotor 82, screw mandrel 84 and the silk being engaged with screw mandrel 84 for installing displacement transducer 80
Stem nut 85, the rotating shaft of servomotor 82 are connected with one end of screw mandrel 84, and feed screw nut 85 is fixedly connected with mounting bracket 81,
So as to promote two displacement transducers 80 corresponding two to bracket 20 with corresponding station tray chamber simultaneously by the telescoping mechanism
Spacing between point measures, so as to measure four not pitch differences between collinear points, and auxiliary by four displacement transducers 80
Attitude misalignment between bracket 20 and station bracket is obtained with the positioning measurement of positioning measurement camera 9.Of course, attitude measurement
Sensor only be made up of two layers of displacement transducer layer group 8 or by one layer of displacement transducer layer group 8 and with this layer of displacement transducer layer
The positioning measurement camera 9 of the not co-layer of group 8 is formed, i.e., need to measure range deviation between three not conllinear corresponding points, so that it may calculate
The attitude misalignment gone out therebetween.
Referring to Fig. 3 to Fig. 5, wing box frock transfer holding meanss include rolling wheel guide rails and chain-type towing maintaining body 3；Chain
Bar formula towing maintaining body 3 includes sliding chute seat 30, chain 31, drive sprocket 32, motor 33, blind rivet groove seat 34, driven chain
Wheel 37 and decelerator 38, the length direction of sliding chute seat 30 are fixed on bracket 20 along the length direction of bracket 20 arrangement；Two drawings
Connected between anvil and chute 34 by chain segment, across one end and wherein one of the chain 31 on drive sprocket 32 and driven sprocket 37
Individual blind rivet groove seat 34 is fixedly connected, and the other end is fixedly connected with another blind rivet groove seat 34, so as to form a ring chain knot
Structure；The rotation of drive sprocket 32 is driven after the deceleration that motor 33 passes through decelerator 38 by the cooperation of sprocket wheel, chain, i.e.,
Two blind rivet groove seats 34 can be pulled to be reciprocatingly slided along the bar shaped chute 300 on sliding chute seat 30, bar shaped chute 300 is along bracket 20
Length direction arrangement.
The blind rivet groove 35 being engaged with blind rivet 36 is provided with blind rivet groove seat 34, blind rivet 36 is to be fixed in wing box frock,
And blind rivet groove seat 34 can be rotatable around its axis under the driving of driver, so that blind rivet groove 35 in two blind rivet groove seats 34
Notch is coordinated by the support with rolling wheel guide rails whole wing box frock being locked in vehicle-mounted wing box posture adjustment positioning towards difference
In system, that is, it is locked on AVG cars.
Rolling wheel guide rails are that the parallel roller 21 of each row roller bearing for being arranged in the both sides of sliding chute seat 30 forms, and it is formed to peace
Put to the wing box frock on bracket 20 be supported and its into and out when guiding and the two between formed rolling friction and drop
Low-frictional force.
Referring to Fig. 3 and Fig. 6, three bracket support seats 4 are installed with respectively on two sidepieces of bracket 20, and homonymy is arranged
Three bracket support seats 4 be evenly arranged along the length direction of bracket 20；Bracket support seat 4 includes three-coordinate positioner 41 and fixed
Hanger 42 on the sidepiece of bracket 20.
Referring to Fig. 6 to Fig. 9, three-coordinate positioner 41 includes X to base unit 5, Z-direction slide unit unit 6 and Y-direction slide unit unit
7。
X includes being fixed on base 50 on vehicle frame 10 as shown in Figure 1 to base unit 5, can by guide rail slide block mechanism
X on base 50 is slidably mounted on to slide unit 55, the guide rail slide block mechanism is from X direction guiding rails 56 along X to arrangement and can be along the X
Slidably sliding block 54 is formed direction guiding rail 56, and servomotor 52 promotes X to slide unit 55 with movable slider 54 by leading screw and nut mechanism 57
Slided along X direction guiding rails 56.
Z-direction slide unit unit 6 includes being fixed on X to the mounting seat 60 on slide unit 55, by guide rail slide block mechanism slideably
Z-direction slide unit 65 in mounting seat 60, the guide rail slide block mechanism is by the Z-direction guide rail 66 arranged along Z-direction and can be led along the Z-direction
Slidably sliding block 67 is formed rail 66, and servomotor 63 promotes Z-direction slide unit 65 to be led with movable slider 67 along Z-direction by leading screw and nut mechanism
Rail 66 slides.
Y-direction slide unit unit 7 include being fixed on mounting seat 70 on Z-direction slide unit 65, by guide rail slide block mechanism slideably
Y-direction slide unit 75 in mounting seat 70, the guide rail slide block mechanism is by the Y-direction guide rail arranged along Y-direction and can be along the Z-direction guide rail
Slidably sliding block is formed, and servomotor 72 promotes Y-direction slide unit 75 to be slided with movable slider along Y-direction guide rail by leading screw and nut mechanism,
In sliding process, the circuit such as power line of servomotor 72 is by being integrated in drag chain 77.On Y-direction slide unit 75 projection formed with
One cantilever support portion 750, support bulb 76 is installed with the cantilever support portion 750.
Hanger 41 is a door type structure surrounded by side arm 44, side arm 45 and transverse arm 43, the lower end of side arm 44,45 and support
The side wall of frame 20 is fixedly connected, and the ball cup 46 being engaged with support bulb 76 is installed with the underarm Middle face of transverse arm 43,
Bulb 76 is supported to form a bulb hinged mechanism with ball cup 46, i.e. the output end of three-coordinate positioner 41 passes through bulb hinged machine
Structure is connected with hanger 42.
In the present embodiment, X to, Y-direction and Z-direction respectively constitute first laterally, it is second horizontal and vertical, i.e., first laterally with
Second is laterally mutually orthogonal, of courses, by base 50 to the order of placement for supporting three guide rail bearing of trends between bulb 76 simultaneously
Be not limited to the present embodiment, i.e., do not limit to X to, Z-direction, this order of Y-direction.X is fixedly connected with one to slide unit 55 with mounting seat 60
Rise form the present embodiment in the first traversing slide unit, Z-direction slide unit 65 be fixedly connected with mounting seat 70 together with form the present embodiment in
Lifting platform, Y-direction slide unit 75 forms the second traversing slide unit in the present embodiment, and servomotor 52,63,72 respectively constitutes this implementation
Traversing actuator, lift actuator and traversing actuator in example.
Wherein, wing box frock conveying holding meanss are used for the wing box work that the clamping to come from the transfer of station bracket is had into wing box
Dress is locked on bracket 20, and when being transferred at next station of plugging into, wing box frock is released into bracket 20 and discharged to wing box
The locking of frock, including positioner, clamping device, auxiliary support apparatus and transfer device, are of coursed, and its structure is not limited to
In above-described embodiment, such as, more than two friction whole wing box frocks of wheel drive can be used to be slided and structure along roller slide rail
Into transfer mechanism.
Specific works step is as follows：
(1) after, AGV cars reach position of plugging under the guiding of ground magnetic joint strip, eight hydraulic pressure spikes 14 of control are stretched
Go out, AGV cars are fixedly supported on the ground；
(2), by 4 displacement transducers 80 and 2 positioning measurement cameras 9 on bracket 20, AGV car pop-ups are measured
The attitude misalignment of station bracket in the relative assembling erect-position of frame 20, and it is converted into the posture posture adjustment amount of bracket 20；
(3), the bracket attitude-adjusting unit that numerical control three-coordinate positioner 41 on six bracket support seats 4 forms is according to measuring appearance
The position of the adjustment bracket 20 of state adjustment amount and posture, and the attitude misalignment between constantly both the measurements that are in course of adjustment, so that
Bracket 20 aligns with the station bracket in assembling erect-position, even if the attitude misalignment between the two is less than attitude misalignment threshold value, i.e., three
Spacing deviation between distance measurement point above is less than predetermined threshold value；
(4), from the clamping device in the past wing box frock assembled erect-position and send clamping to have wing box of AGV cars, AGV trolley brackets 20 certainly
Dynamic to unclamp, chain-type pulls maintaining body 3 and is sent to wing box frock on the station bracket of assembling erect-position；It is if past from assembling erect-position
Wing box is sent on AGV cars, then the tool locating in assembling erect-position on station bracket, clamping device unclamp, and alternately will by friction pulley
Moved on the bracket 20 that wing box frock is sent on AGV cars or by pulling 3 mutually isostructural mechanism of maintaining body with chain-type
Deliver on AVG cars, then lock, and load onto protection device；
(5), the hydraulic pressure spike 14 of AGV cars is retracted, and power set driving heavy-duty wheel 11, AGV cars are sailed out of parallel to next
Station.
Claims (10)
1. a kind of aircraft wing box, which turns station, uses AVG cars, including control unit, detection unit, vehicle frame and be mounted on the vehicle frame and
The vehicle-mounted wing box posture adjustment alignment system controlled by described control unit, it is characterised in that：
The vehicle-mounted wing box posture adjustment alignment system includes bracket, the bracket support seat being adjusted to the posture of the bracket, and
The wing box frock transfer holding meanss being installed on the bracket；The base of the bracket support seat is fixed on the vehicle frame；
The detection unit includes attitude-measuring sensor, the detection signal to described control unit output to bracket posture.
2. aircraft wing box according to claim 1, which turns station, uses AVG cars, it is characterised in that：
The bracket support seat is arranged in the both sides of the bracket, and the quantity per side is two or more；
The bracket support seat includes three-coordinate positioner and the hanger being installed on the sidepiece of the bracket, three coordinate are determined
The output end of position device is connected by bulb hinged mechanism with the hanger.
3. aircraft wing box according to claim 2, which turns station, uses AVG cars, it is characterised in that：
The three-coordinate positioner includes the first traversing slide unit being slidably connected by guide rail slide block mechanism and the base, driving
The relatively described base of first traversing slide unit along the first traversing actuator slid laterally, by guide rail slide block mechanism with it is described
The lifting platform that first traversing slide unit is slidably connected, the liter for driving the relatively described first traversing slide unit of the lifting platform vertically to slide
Drop actuator, the second traversing slide unit being slidably connected by guide rail slide block mechanism and the lifting platform, driving described second are traversing
The relatively described lifting platform of slide unit is along the second traversing actuator slid laterally；
The bulb hinged mechanism includes the ball cup being installed on the hanger and is installed on the described second traversing slide unit
Bulb is supported, described first is laterally laterally mutually orthogonal with described second.
4. aircraft wing box according to claim 1, which turns station, uses AVG cars, it is characterised in that：
The attitude-measuring sensor is respectively provided with the both ends of the bracket, the attitude-measuring sensor, which includes two layers, mutually puts down
The displacement transducer layer group of row arrangement or including one layer of displacement transducer layer group and with this layer of displacement transducer layer group not co-layer
Positioning measurement camera；
Every layer of institute's displacement sensors layer group includes the displacement transducer that two or more is arranged parallel to, institute's displacement sensors
The telescoping mechanism arranged by length direction of the telescopic direction along the bracket is installed on the bracket.
5. the aircraft wing box according to any one of Claims 1-4 claim, which turns station, uses AVG cars, it is characterised in that：
The wing box frock transfer holding meanss include the sliding chute seat being installed on the bracket, are arranged in the sliding chute seat both sides
, can be along the blind rivet groove seat of the bar shaped slide on the sliding chute seat for supporting the rolling wheel guide rails of wing box frock, and pass through chain
Bar pulls the driver that the blind rivet groove seat reciprocatingly slides along the bar shaped chute；The rolling wheel guide rails are parallel by row's roller bearing
Roller composition, the bar shaped chute along the bracket length direction arrangement；
The blind rivet groove seat is provided with the blind rivet groove being engaged with the blind rivet being installed in wing box frock, and the blind rivet groove seat is by institute
Rotated around vertical axis between latched position and off-position with stating control unit control.
6. a kind of aircraft wing box turns vehicle-mounted wing box posture adjustment alignment system of the station with AVG cars, it is characterised in that：The vehicle-mounted wing box is adjusted
Appearance alignment system includes bracket, the bracket support seat being adjusted to the posture of the bracket, the wing being installed on the bracket
Box frock transfers holding meanss, and the detection unit being installed on the bracket；The base of the bracket support seat is used to fix
On the vehicle frame of AVG cars；
The detection unit includes attitude-measuring sensor, exports the detection signal to bracket posture.
7. vehicle-mounted wing box posture adjustment alignment system according to claim 6, it is characterised in that：
The bracket support seat is arranged in the both sides of the bracket, and the quantity per side is two or more；
The bracket support seat includes three-coordinate positioner and the hanger being installed on the sidepiece of the bracket, three coordinate are determined
The output end of position device is connected by bulb hinged mechanism with the hanger.
8. vehicle-mounted wing box posture adjustment alignment system according to claim 7, it is characterised in that：
The three-coordinate positioner includes the first traversing slide unit being slidably connected by guide rail slide block mechanism and the base, driving
The relatively described base of first traversing slide unit along the first traversing actuator slid laterally, by guide rail slide block mechanism with it is described
The lifting platform that first traversing slide unit is slidably connected, the liter for driving the relatively described first traversing slide unit of the lifting platform vertically to slide
Drop actuator, the second traversing slide unit being slidably connected by guide rail slide block mechanism and the lifting platform, driving described second are traversing
The relatively described lifting platform of slide unit is along the second traversing actuator slid laterally；
The bulb hinged mechanism includes the ball cup being installed on the hanger and is installed on the described second traversing slide unit
Bulb is supported, described first is laterally laterally mutually orthogonal with described second.
9. vehicle-mounted wing box posture adjustment alignment system according to claim 6, it is characterised in that：
The attitude-measuring sensor is respectively provided with the both ends of the bracket, the attitude-measuring sensor, which includes two layers, mutually puts down
The displacement transducer layer group of row arrangement or including one layer of displacement transducer layer group and with this layer of displacement transducer layer group not co-layer
Positioning measurement camera；
Every layer of institute's displacement sensors layer group includes the displacement transducer that two or more is arranged parallel to, institute's displacement sensors
The telescoping mechanism arranged by length direction of the telescopic direction along the bracket is installed on the bracket.
10. according to the vehicle-mounted wing box posture adjustment alignment system described in any one of claim 6 to 9 claim, it is characterised in that：
The wing box frock transfer holding meanss include the sliding chute seat being installed on the bracket, are arranged in the sliding chute seat both sides
, can be along the blind rivet groove seat of the bar shaped slide on the sliding chute seat for supporting the rolling wheel guide rails of wing box frock, and pass through chain
Bar pulls the driver that the blind rivet groove seat reciprocatingly slides along the bar shaped chute；The rolling wheel guide rails are parallel by row's roller bearing
Roller composition, the bar shaped chute along the bracket length direction arrangement；
The blind rivet groove seat is provided with the blind rivet groove being engaged with the blind rivet being installed in wing box frock, and the blind rivet groove seat is around vertical
To axis can between latched position and off-position reciprocating rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710751427.9A CN107651045B (en) | 2017-08-28 | 2017-08-28 | Aircraft wing box is transferred station and is used AGV car and on-vehicle wing box appearance positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710751427.9A CN107651045B (en) | 2017-08-28 | 2017-08-28 | Aircraft wing box is transferred station and is used AGV car and on-vehicle wing box appearance positioning system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107651045A true CN107651045A (en) | 2018-02-02 |
| CN107651045B CN107651045B (en) | 2020-01-21 |
Family
ID=61127843
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710751427.9A Active CN107651045B (en) | 2017-08-28 | 2017-08-28 | Aircraft wing box is transferred station and is used AGV car and on-vehicle wing box appearance positioning system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107651045B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108482522A (en) * | 2018-03-23 | 2018-09-04 | 郑州多元汽车装备有限公司 | All-aluminium body numerical control attaches together tire |
| CN111591461A (en) * | 2020-05-22 | 2020-08-28 | 西安飞机工业（集团）有限责任公司 | Large aircraft wing box final assembly type frame transfer station structure and transfer station method |
| CN112374063A (en) * | 2020-11-24 | 2021-02-19 | 江苏赛愽智能制造研究院有限公司 | Transfer robot for aerospace manufacturing and working method thereof |
| CN112775635A (en) * | 2020-11-29 | 2021-05-11 | 江苏金陵智造研究院有限公司 | Automatic docking assembly workstation for aerospace electromechanical products and operation method thereof |
| CN113029000A (en) * | 2021-03-15 | 2021-06-25 | 浙江大学 | Device and method for monitoring pose state of mobile platform |
| CN114952215A (en) * | 2021-02-28 | 2022-08-30 | 浙江大学 | Appearance butt joint platform is transferred in portable outer wing support |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1994002890A1 (en) * | 1992-07-16 | 1994-02-03 | Terberg Benschop B.V. | Automatic guided vehicle and control system therefor |
| CN101362511A (en) * | 2008-09-19 | 2009-02-11 | 浙江大学 | Synergetic control method of aircraft part pose alignment based on four locater |
| CN101829892A (en) * | 2010-04-20 | 2010-09-15 | 浙江大学 | Engine automation installation vehicle |
| GB2540816A (en) * | 2015-07-30 | 2017-02-01 | Guidance Automation Ltd | Calibrating an automated guided vehicle |
| CN206170018U (en) * | 2016-11-03 | 2017-05-17 | 浙江日发航空数字装备有限责任公司 | Appearance system is transferred in on -vehicle removal of aircraft component |
-
2017
- 2017-08-28 CN CN201710751427.9A patent/CN107651045B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1994002890A1 (en) * | 1992-07-16 | 1994-02-03 | Terberg Benschop B.V. | Automatic guided vehicle and control system therefor |
| CN101362511A (en) * | 2008-09-19 | 2009-02-11 | 浙江大学 | Synergetic control method of aircraft part pose alignment based on four locater |
| CN101829892A (en) * | 2010-04-20 | 2010-09-15 | 浙江大学 | Engine automation installation vehicle |
| GB2540816A (en) * | 2015-07-30 | 2017-02-01 | Guidance Automation Ltd | Calibrating an automated guided vehicle |
| CN206170018U (en) * | 2016-11-03 | 2017-05-17 | 浙江日发航空数字装备有限责任公司 | Appearance system is transferred in on -vehicle removal of aircraft component |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108482522A (en) * | 2018-03-23 | 2018-09-04 | 郑州多元汽车装备有限公司 | All-aluminium body numerical control attaches together tire |
| CN108482522B (en) * | 2018-03-23 | 2024-01-02 | 郑州多元智能装备股份有限公司 | Numerical control combined tyre for all-aluminum vehicle body |
| CN111591461A (en) * | 2020-05-22 | 2020-08-28 | 西安飞机工业（集团）有限责任公司 | Large aircraft wing box final assembly type frame transfer station structure and transfer station method |
| CN111591461B (en) * | 2020-05-22 | 2022-07-12 | 西安飞机工业（集团）有限责任公司 | Large aircraft wing box final assembly type frame transfer station structure and transfer station method |
| CN112374063A (en) * | 2020-11-24 | 2021-02-19 | 江苏赛愽智能制造研究院有限公司 | Transfer robot for aerospace manufacturing and working method thereof |
| CN112775635A (en) * | 2020-11-29 | 2021-05-11 | 江苏金陵智造研究院有限公司 | Automatic docking assembly workstation for aerospace electromechanical products and operation method thereof |
| CN114952215A (en) * | 2021-02-28 | 2022-08-30 | 浙江大学 | Appearance butt joint platform is transferred in portable outer wing support |
| CN114952215B (en) * | 2021-02-28 | 2024-01-16 | 浙江大学 | Movable type outer wing supporting gesture-adjusting docking platform |
| CN113029000A (en) * | 2021-03-15 | 2021-06-25 | 浙江大学 | Device and method for monitoring pose state of mobile platform |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107651045B (en) | 2020-01-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107651045A (en) | A kind of aircraft wing box turns station and uses AVG cars and its vehicle-mounted wing box posture adjustment alignment system | |
| CN107161808B (en) | One kind being tethered at unmanned plane folding and unfolding cable device and its control system | |
| DE102012213583B4 (en) | MOVING STOPPING STATION FOR ROBOT ASSEMBLY | |
| WO2019042504A1 (en) | Carriage for transporting and positioning an aircraft component | |
| CN112756959B (en) | Flexible multi-degree-of-freedom butt joint posture adjusting mechanism | |
| JP5045705B2 (en) | Transport vehicle system | |
| CN107357288B (en) | Device and method for double-vehicle cooperative motion of Mecanum wheel robot | |
| JP2015505769A (en) | Adaptive magnetic coupling system | |
| DE102014210088A1 (en) | Shuttle car for use in automated parking | |
| CN205555541U (en) | Pile up neatly, machine people breaks a jam | |
| CN107792606A (en) | Article carrying apparatus | |
| CN107298289A (en) | The aerial induction system of weld car main weldering line main clamp | |
| CN106181363A (en) | Automobile leaf spring assembly line | |
| JP6203133B2 (en) | Roll transport device and roll transport system | |
| CN107741369A (en) | A kind of rope fatigue wear test device of adjustable cornerite | |
| CN101293542B (en) | Light car drive axle assembly assembling product line | |
| CN110315008B (en) | Paying-off and disc-changing device and method for steel wire stranding machine | |
| CN110154003A (en) | A kind of structure changes wire saws parallel robot for vehicle impact testing | |
| CN209878477U (en) | Dot-matrix type vehicle window glass mechanical property testing platform | |
| CN107065986B (en) | Generator based on three-dimensional trajectory planning is carried and collision-proof method | |
| CN102765063A (en) | Blind hole docking and positioning system and method for non-magnetic workpiece assembly | |
| CN113830664B (en) | Double-station intelligent suspension type automatic carrying trolley | |
| CN114560028A (en) | Material handling robot | |
| CN109959554B (en) | Dot matrix type vehicle window glass mechanical property testing platform and testing method thereof | |
| CN110406256B (en) | Two-sided sign indicating number marking off machine that spouts |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210223 Address after: No. 8058, Jiangdong 1st Road, Jiangdong District, dajiangdong industrial cluster, Hangzhou City, Zhejiang Province, 311225 Patentee after: Hangzhou Aimei aviation manufacturing equipment Co.,Ltd. Address before: 310013 Yuhang Tang Road, Xihu District, Hangzhou, Zhejiang 866 Patentee before: ZHEJIANG University |
|
| TR01 | Transfer of patent right |