CN107651045B - Aircraft wing box is transferred station and is used AGV car and on-vehicle wing box appearance positioning system - Google Patents
Aircraft wing box is transferred station and is used AGV car and on-vehicle wing box appearance positioning system Download PDFInfo
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- CN107651045B CN107651045B CN201710751427.9A CN201710751427A CN107651045B CN 107651045 B CN107651045 B CN 107651045B CN 201710751427 A CN201710751427 A CN 201710751427A CN 107651045 B CN107651045 B CN 107651045B
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- 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
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- 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
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Abstract
The invention discloses an AGV for airplane wing box transfer and a vehicle-mounted wing box posture adjusting and positioning system thereof, and belongs to the technical field of airplane digital assembly auxiliary tools. The AGV comprises a control unit, a detection unit, a frame and a vehicle-mounted wing box posture adjusting and positioning system which is carried on the frame and controlled by the control unit; the vehicle-mounted wing box posture adjusting and positioning system comprises a bracket, a bracket supporting seat for adjusting the posture of the bracket and a wing box tool transferring and retaining device fixedly arranged on the bracket; the base of the bracket supporting seat is fixed on the frame; the detection unit includes an attitude measurement sensor and outputs a detection signal of the attitude of the carriage to the control unit. Through the cooperation of on-vehicle wing box appearance positioning system and AGV car, can transport the wing box frock of clamping the wing box well between multistation, not only can improve the security that passes on, and can improve the efficiency that passes on, but also can extensively be applied to aircraft assembly technical field.
Description
Technical Field
The invention relates to an aircraft digital assembly auxiliary tool, in particular to an AGV for an aircraft wing box transfer station and a vehicle-mounted wing box posture adjusting and positioning system thereof.
Background
Modern aircraft assembly lines are often arranged in a multi-station assembly mode, for example, aircraft wing boxes need to be transferred among stations when waiting for machined parts, station transfer and connection are usually performed by an AGV (automatic guided vehicle) for transferring aircraft wing boxes, and the AGV runs along pre-paved guide paths such as electromagnetic tracks by using automatic guide devices or optical devices on the AGV so as to realize automatic transfer and connection among stations. However, during the transfer and docking process, the following problems are often encountered: the flatness of the ground where the AGV runs is not enough or an attitude error exists between the framework tooling base on the AGV and the framework tooling base in the assembly station, so that the wing box is easily caused to roll in the transferring and connecting process, and potential safety hazards are brought.
Disclosure of Invention
The invention aims to provide an AGV for a transfer station of an aircraft wing box, which is convenient for the wing box to be conveyed among different stations along with a wing box tool;
another object of the present invention is to provide an on-board wing box attitude adjustment positioning system for constructing the AGV vehicle described above.
In order to achieve the purpose, the AGV for the airplane wing box transfer station comprises a control unit, a detection unit, a frame and a vehicle-mounted wing box posture adjusting and positioning system which is carried on the frame and controlled by the control unit; the vehicle-mounted wing box posture adjusting and positioning system comprises a bracket, a bracket supporting seat for adjusting the posture of the bracket and a wing box tool transferring and retaining device fixedly arranged on the bracket; the base of the bracket supporting seat is fixed on the frame; the detection unit includes an attitude measurement sensor and outputs a detection signal of the attitude of the carriage to the control unit.
When a wing box tool with a wing box is transported between different stations, the AGV is controlled to travel to a connection station along a preset route, attitude deviation between a bracket on the AGV and a station bracket used for placing the wing box tool at the station is measured through an attitude measurement sensor, the wheel of the AGV is matched to adjust the whole vehicle direction and the bracket supporting seat to adjust the bracket attitude, and attitude measurement and attitude adjustment are continuously repeated in the adjustment process, so that the attitude deviation between the vehicle-mounted bracket and the station bracket is adjusted to be smaller than a preset deviation threshold value, namely the adjustment of the attitude of the vehicle-mounted bracket is obtained without depending on the self-direction adjustment of the AGV frame, and the requirement on the ground positioning accuracy of the AGV can be effectively reduced; a wing box tool for clamping a wing box can be well transferred between the station bracket and a vehicle-mounted bracket on the AGV; when the wing box is conveyed to the next docking station, the wing box tool provided with the wing box can be conveniently conveyed to a bracket of the next station from the AGV through attitude deviation measurement and attitude adjustment; because the wing connecting box tool is conveyed together in the conveying process, the stability and the safety in the whole conveying process can be effectively ensured.
The specific scheme is that the bracket supporting seats are arranged on two sides of the bracket, and the number of each side is more than two; the bracket supporting seat comprises a three-coordinate positioner and a hanging frame fixedly arranged on the side part of the bracket, and the output end of the three-coordinate positioner is connected with the hanging frame through a ball joint hinge mechanism. The three-coordinate positioner and the hanging rack are connected through the ball head hinge mechanism, so that the output ends of the three-coordinate positioners can conveniently adjust the postures of the brackets at the same time.
The more specific scheme is that the three-coordinate positioner comprises a first transverse moving sliding table, a transverse moving actuator, a lifting table, a lifting actuator and a transverse moving actuator, wherein the first transverse moving sliding table is connected with a base in a sliding mode through a guide rail sliding block mechanism; the ball head hinging mechanism comprises a ball head seat fixedly arranged on the hanging frame and a supporting ball head fixedly arranged on the second transverse sliding table, and the first transverse direction is orthogonal to the second transverse direction.
The other specific scheme is that two ends of the bracket are respectively provided with an attitude measurement sensor, and the attitude measurement sensors comprise two displacement sensor layer groups which are arranged in parallel or a displacement sensor layer group and a positioning measurement camera which is not co-layered with the displacement sensor layer group; each layer of displacement sensor layer group comprises more than two displacement sensors which are arranged in parallel, and the displacement sensors are fixedly arranged on the bracket through telescopic mechanisms which are arranged along the length direction of the bracket in the telescopic direction. The attitude measurement sensor is constructed by using distance measurement instruments such as a displacement sensor, a positioning measurement camera and the like, so that the structure of the whole attitude measurement sensor can be simplified and the manufacturing cost of the attitude measurement sensor can be reduced.
The preferable scheme is that the wing box tool transferring and holding device comprises a chute seat fixedly arranged on the bracket, roller guide rails arranged on two sides of the chute seat and used for supporting the wing box tool, a blind rivet chute seat capable of sliding along a strip-shaped chute on the chute seat, and a driver for pulling the blind rivet chute seat to slide along the strip-shaped chute in a reciprocating manner through a chain; the roller guide rail is composed of a row of rollers with parallel rolling shafts, and the strip-shaped sliding grooves are arranged along the length direction of the bracket; the blind rivet groove seat is provided with a blind rivet groove matched with a blind rivet fixedly arranged on the wing box tool, and the blind rivet groove seat rotates between a locking position and a releasing position around a vertical axis under the control of the control unit. The support and the guide are provided for the AGV moving in/out of the wing box tool through the roller guide rail, and the friction between the wing box tool and the AGV is reduced while heavy-load support is provided; the cooperation of the blind rivet groove on the blind rivet groove seat and the blind rivet fixedly arranged on the wing box tool can well realize the locking, keeping, pulling and unlocking during moving out of the wing box tool.
In order to achieve the other object, the invention provides a vehicle-mounted wing box posture adjusting and positioning system, which comprises a bracket, a bracket supporting seat for adjusting the posture of the bracket, a wing box tool transferring and holding device fixedly arranged on the bracket, and a detection unit fixedly arranged on the bracket; the base of the bracket supporting seat is used for being fixed on a frame of the AGV; the detection unit includes an attitude measurement sensor that outputs a detection signal of the attitude of the carriage.
The specific scheme is that the bracket supporting seats are arranged on two sides of the bracket, and the number of each side is more than two; the bracket supporting seat comprises a three-coordinate positioner and a hanging frame fixedly arranged on the side part of the bracket, and the output end of the three-coordinate positioner is connected with the hanging frame through a ball joint hinge mechanism.
The more specific scheme is that the three-coordinate positioner comprises a first transverse moving sliding table, a transverse moving actuator, a lifting table, a lifting actuator and a transverse moving actuator, wherein the first transverse moving sliding table is connected with a base in a sliding mode through a guide rail sliding block mechanism; the ball head hinging mechanism comprises a ball head seat fixedly arranged on the hanging frame and a supporting ball head fixedly arranged on the second transverse sliding table, and the first transverse direction is orthogonal to the second transverse direction.
The other specific scheme is that two ends of the bracket are respectively provided with an attitude measurement sensor, and the attitude measurement sensors comprise two displacement sensor layer groups which are arranged in parallel or a displacement sensor layer group and a positioning measurement camera which is not co-layered with the displacement sensor layer group; each layer of displacement sensor layer group comprises more than two displacement sensors which are arranged in parallel, and the displacement sensors are fixedly arranged on the bracket through telescopic mechanisms which are arranged along the length direction of the bracket in the telescopic direction.
The preferable scheme is that the wing box tool transferring and holding device comprises a chute seat fixedly arranged on the bracket, roller guide rails arranged on two sides of the chute seat and used for supporting the wing box tool, a blind rivet chute seat capable of sliding along a strip-shaped chute on the chute seat, and a driver for pulling the blind rivet chute seat to slide along the strip-shaped chute in a reciprocating manner through a chain; the roller guide rail is composed of a row of rollers with parallel rolling shafts, and the strip-shaped sliding grooves are arranged along the length direction of the bracket; the blind rivet groove seat is provided with a blind rivet groove matched with a blind rivet fixedly arranged on the wing box tool, and the blind rivet groove seat can rotate back and forth between a locking position and a releasing position around a vertical axis.
Through the cooperation of the vehicle-mounted wing box posture adjusting and positioning system and the AGV, a wing box tool provided with wing boxes can be well conveyed among multiple stations, so that the transferring safety can be improved, and the transferring efficiency can be improved.
Drawings
FIG. 1 is a perspective view of an AGV for transferring an aircraft wing box according to an embodiment of the present invention;
FIG. 2 is a perspective view of an AGV for transferring an aircraft wing box to a station in an embodiment of the present invention, with a housing and a control panel omitted;
FIG. 3 is a perspective view of a vehicle wing box attitude adjustment positioning system in an embodiment of the invention;
FIG. 4 is an enlarged view of a portion A of FIG. 3;
FIG. 5 is a perspective view of the chain drive retaining device of the present invention;
FIG. 6 is a perspective view of a bracket support base according to an embodiment of the present invention;
FIG. 7 is a perspective view of an X-direction base unit of the bracket support base in an embodiment of the present invention;
FIG. 8 is a perspective view of a Z-direction sliding unit of the bracket supporting seat according to the embodiment of the present invention;
fig. 9 is an exploded view of the structure of the rack and the Y-direction sliding unit according to the embodiment of the present invention.
Detailed Description
The invention is further illustrated by the following examples and figures.
Examples
Referring to fig. 1 and 2, the AGV vehicle for aircraft wing box transfer station according to the present invention includes a frame 10, heavy-duty wheels 11, a housing 12, a control panel 13, hydraulic braces 14, a power device, a detection unit, and a vehicle-mounted wing box posture adjustment positioning system 2 mounted on the frame 10. The control panel 13 is mounted on the housing 12, constitutes a control unit in the present embodiment, receives a detection signal input by the detection unit and control information input manually, controls the actions of the vehicle-mounted wing box posture adjustment positioning system 2 and the hydraulic support 14, and controls the power device to drive the eight heavy-duty wheels to rotate so as to control the running state of the whole AGV vehicle; the eight hydraulic supporting feet 14 are uniformly distributed on two sides of the frame 10, and are respectively arranged in the middle of the front end and the rear end, and are used for being supported on the ground when the vehicle is parked and the wing box tool is moved in or out to provide stable support for the whole moving process.
Referring to fig. 2 and 3, the on-vehicle wing box posture adjustment positioning system 2 includes a bracket 20, a bracket support base 4, a posture measurement sensor, and a wing box tool transfer holding device fixed on the bracket 20. Wherein the attitude measurement sensor constitutes an integral part of the detection unit.
Referring to fig. 3 and 4, the attitude measurement sensor includes two displacement sensor layer groups 8 and a positioning measurement camera 9, which are arranged in parallel, each displacement sensor layer group 8 includes more than two displacement sensors 80, which are arranged in parallel, and the displacement sensors 80 are fixedly arranged on the bracket 20 through a telescopic mechanism, which is arranged along the length direction of the bracket 20 in the telescopic direction; in this embodiment, the two displacement sensors 80 in the same displacement sensor group 8 are driven and controlled by the same telescoping mechanism, the telescoping mechanism includes a U-shaped mounting bracket 81 for mounting the displacement sensor 80, a servo motor 82, a lead screw 84 and a lead screw nut 85 matching with the lead screw 84, a rotating shaft of the servo motor 82 is in transmission connection with one end of the lead screw 84, the lead screw nut 85 is fixedly connected with the mounting bracket 81, so that the two displacement sensors 80 are simultaneously pushed by the telescoping mechanism to measure the distance between two corresponding points between the bracket 20 and the bracket of the corresponding station, the distance difference between four non-collinear points is measured by the four displacement sensors 80, and the attitude deviation between the bracket 20 and the bracket of the station is obtained by the positioning measurement of the positioning measurement camera 9. Of course, the attitude measurement sensor is composed of only two layers of displacement sensor layer groups 8 or a layer of displacement sensor layer group 8 and a positioning measurement camera 9 which is not in common with the layer of displacement sensor layer group 8, namely, only the distance deviation between three non-collinear corresponding points is required to be measured, and the attitude deviation between the three non-collinear corresponding points can be calculated.
Referring to fig. 3 to 5, the wing box tooling transfer holding device comprises a roller guide rail and a chain type dragging holding mechanism 3; the chain type dragging and holding mechanism 3 comprises a chute seat 30, a chain 31, a driving chain wheel 32, a driving motor 33, a rivet chute seat 34, a driven chain wheel 37 and a speed reducer 38, wherein the length direction of the chute seat 30 is arranged along the length direction of the bracket 20 and fixed on the bracket 20; the two rivet groove seats 34 are connected through chain sections, one end of a chain 31 which spans the driving chain wheel 32 and the driven chain wheel 37 is fixedly connected with one rivet groove seat 34, and the other end of the chain is fixedly connected with the other rivet groove seat 34, so that an annular chain structure is formed; after being decelerated by the decelerator 38, the driving motor 33 drives the driving sprocket 32 to rotate by the cooperation of the sprocket and the chain, so that the two blind rivet slot bases 34 can be pulled to slide back and forth along the strip-shaped sliding grooves 300 arranged on the sliding slot base 30, and the strip-shaped sliding grooves 300 are arranged along the length direction of the bracket 20.
The blind rivet groove seats 34 are provided with blind rivet grooves 35 matched with the blind rivets 36, the blind rivets 36 are fixed on the wing box tool, and the blind rivet groove seats 34 can rotate around the axes of the blind rivet grooves under the driving of the drivers, so that the notches of the blind rivet grooves 35 on the two blind rivet groove seats 34 face different directions, and the whole wing box tool is locked on the vehicle-mounted wing box posture adjusting positioning system through the supporting matching with the roller guide rails, namely, the whole wing box tool is locked on an AGV vehicle.
The roller guide rail is composed of rollers 21 arranged on both sides of the chute seat 30 and having parallel rows of rollers, and is used for supporting the wing box tool arranged on the bracket 20 and guiding the wing box tool when the wing box tool moves in or out, and reducing friction force by forming rolling friction between the wing box tool and the bracket.
Referring to fig. 3 and 6, three bracket supports 4 are fixedly arranged on two side portions of the bracket 20, and the three bracket supports 4 arranged on the same side are uniformly arranged along the length direction of the bracket 20; the bracket support base 4 includes a three-coordinate positioner 41 and a hanger 42 fixed to a side of the bracket 20.
Referring to fig. 6 to 9, the three-coordinate positioner 41 includes an X-direction base unit 5, a Z-direction slide unit 6, and a Y-direction slide unit 7.
The X-direction base unit 5 includes a base 50 fixed to the carriage 10 shown in fig. 1, and an X-direction slide table 55 slidably mounted on the base 50 through a rail slide mechanism composed of an X-direction rail 56 arranged in the X-direction and a slide 54 slidable along the X-direction rail 56, and the servo motor 52 pushes the X-direction slide table 55 through a lead screw nut mechanism 57 to drive the slide 54 to slide along the X-direction rail 56.
The Z-direction slide table unit 6 includes a mount 60 fixed to the X-direction slide table 55, and a Z-direction slide table 65 slidably mounted on the mount 60 by a rail slide mechanism composed of a Z-direction rail 66 arranged in the Z-direction and a slide 67 slidable along the Z-direction rail 66, and the servo motor 63 pushes the Z-direction slide table 65 via a lead screw nut mechanism to drive the slide 67 to slide along the Z-direction rail 66.
The Y-direction slide unit 7 includes a mount 70 fixed on the Z-direction slide 65, and a Y-direction slide 75 slidably mounted on the mount 70 through a rail-slider mechanism, the rail-slider mechanism is composed of a Y-direction rail arranged along the Y-direction and a ground slider capable of sliding along the Z-direction rail, the servo motor 72 pushes the Y-direction slide 75 through a lead screw-nut mechanism to drive the slider to slide along the Y-direction rail, and during the sliding process, circuits such as a power line of the servo motor 72 are integrated in the drag chain 77. A cantilever support 750 is formed on the Y-direction sliding table 75 in a protruding manner, and the support ball 76 is fixed on the cantilever support 750.
The hanging rack 41 is a door-shaped structure enclosed by a side arm 44, a side arm 45 and a cross arm 43, the lower ends of the side arms 44 and 45 are fixedly connected with the side wall surface of the bracket 20, a ball head seat 46 matched with a supporting ball head 76 is fixedly arranged in the middle of the lower arm surface of the cross arm 43, the supporting ball head 76 and the ball head seat 46 form a ball head hinge mechanism, namely, the output end of the three-coordinate positioner 41 is connected with the hanging rack 42 through the ball head hinge mechanism.
In the present embodiment, the X-direction, the Y-direction and the Z-direction respectively form a first transverse direction, a second transverse direction and a vertical direction, i.e. the first transverse direction is orthogonal to the second transverse direction, and of course, the arrangement sequence of the extending directions of the three guide rails from the base 50 to the support ball 76 is not limited to the present embodiment, i.e. the sequence of the extending directions of the three guide rails is not limited to the X-direction, the Z-direction and the Y-direction. The X-direction slide table 55 and the mount 60 are fixedly connected to form a first traverse slide table in the present embodiment, the Z-direction slide table 65 and the mount 70 are fixedly connected to form a lift table in the present embodiment, the Y-direction slide table 75 forms a second traverse slide table in the present embodiment, and the servo motors 52, 63, and 72 respectively form a traverse actuator, a lift actuator, and a traverse actuator in the present embodiment.
The wing box tool conveying and holding device is used for locking a wing box tool which is transferred from a station bracket and is clamped with a wing box to the bracket 20, pushing the wing box tool out of the bracket 20 and releasing the locking of the wing box tool when the wing box tool is transferred to the next connection station, and comprises a positioning device, a clamping device, an auxiliary supporting device and a transferring device.
The specific working steps are as follows:
(1) after the AGV reaches the docking position under the guidance of the ground magnetic strip, the eight hydraulic supporting feet 14 are controlled to extend out so as to stably support the AGV on the ground;
(2) measuring the attitude deviation of the bracket 20 on the AGV relative to a station bracket in an assembly station through 4 displacement sensors 80 positioned on the bracket 20 and 2 positioning measuring cameras 9, and converting the attitude deviation into the attitude adjusting amount of the bracket 20;
(3) a bracket posture adjusting unit consisting of numerical control three-coordinate locators 41 on six bracket supporting seats 4 adjusts the position and posture of the bracket 20 according to the measured posture adjustment amount, and continuously measures posture deviation between the bracket 20 and the posture in the adjusting process so as to align the bracket 20 with a station bracket in an assembly station, even if the posture deviation between the bracket 20 and the station bracket is smaller than a posture deviation threshold value, namely the distance deviation between more than three distance measuring points is smaller than a preset threshold value;
(4) the wing box tool provided with the wing box is conveyed from the AGV to the assembly station, the clamping device on the bracket 20 of the AGV is automatically loosened, and the chain type dragging and holding mechanism 3 conveys the wing box tool to the station bracket of the assembly station; if the wing boxes are fed onto the AGV from the assembly station, the tool positioning and clamping devices on the station brackets in the assembly station are loosened, the wing box tools are alternately fed onto the brackets 20 on the AGV through friction wheels or are transferred onto the AGV through a mechanism with the same structure as the chain type dragging and holding mechanism 3, and then the wing boxes are locked and provided with a protection device;
(5) the hydraulic supporting feet 14 of the AGV car retract, the power device drives the heavy-duty wheels 11, and the AGV car drives away and runs to the next assembly station.
Claims (6)
1. The utility model provides an aircraft wing box is AGV car for station, is in including the control unit, detecting element, frame and carry on the frame and receive the appearance positioning system is transferred to on-vehicle wing box of the control unit control, its characterized in that:
the vehicle-mounted wing box posture adjusting and positioning system comprises a bracket, a bracket supporting seat for adjusting the posture of the bracket and a wing box tool transferring and retaining device fixedly arranged on the bracket; the base of the bracket supporting seat is fixed on the frame;
the detection unit comprises an attitude measurement sensor and outputs a detection signal of the attitude of the bracket to the control unit;
the wing box tool transferring and holding device comprises a chute seat fixedly arranged on the bracket, roller guide rails arranged on two sides of the chute seat and used for supporting the wing box tool, a blind rivet chute seat capable of sliding along a strip-shaped chute on the chute seat, and a driver for pulling the blind rivet chute seat to slide along the strip-shaped chute in a reciprocating manner through a chain; the roller guide rail is composed of a row of rollers with parallel rolling shafts, and the strip-shaped sliding grooves are arranged along the length direction of the bracket; the rivet groove seat is provided with a rivet groove matched with a rivet fixedly arranged on the wing box tool, and the rivet groove seat is controlled by the control unit to rotate around a vertical axis between a locking position and a releasing position;
the bracket supporting seats are arranged on two sides of the bracket, and the number of each side is more than two;
the bracket supporting seat comprises a three-coordinate positioner and a hanging frame fixedly arranged on the side part of the bracket, and the output end of the three-coordinate positioner is connected with the hanging frame through a ball head hinge mechanism.
2. The AGV car for aircraft wing box transfer station of claim 1, wherein:
the three-coordinate positioner comprises a first transverse sliding table, a transverse sliding actuator, a lifting table, a lifting actuator and a transverse sliding actuator, wherein the first transverse sliding table is connected with the base in a sliding mode through a guide rail slider mechanism;
the ball head hinge mechanism comprises a ball head seat fixedly arranged on the hanging frame and a supporting ball head fixedly arranged on the second transverse sliding table, and the first transverse direction is orthogonal to the second transverse direction.
3. The AGV car for aircraft wing box transfer station of claim 1, wherein:
the two ends of the bracket are respectively provided with the attitude measurement sensor, and the attitude measurement sensor comprises two displacement sensor layer groups which are arranged in parallel or comprises one displacement sensor layer group and a positioning measurement camera which is not in common with the displacement sensor layer group;
every layer displacement sensor layer group includes the displacement sensor of two above mutual parallel arrangements, displacement sensor passes through flexible direction and follows the telescopic machanism that the length direction of bracket arranged sets firmly on the bracket.
4. The utility model provides an aircraft wing box transfers on-vehicle wing box appearance positioning system of AGV car for station which characterized in that: the vehicle-mounted wing box posture adjusting and positioning system comprises a bracket, a bracket supporting seat for adjusting the posture of the bracket, a wing box tool transferring and holding device fixedly arranged on the bracket and a detection unit fixedly arranged on the bracket; the base of the bracket supporting seat is used for being fixed on a frame of the AGV;
the detection unit comprises an attitude measurement sensor and outputs a detection signal of the attitude of the bracket;
the wing box tool transferring and holding device comprises a chute seat fixedly arranged on the bracket, roller guide rails arranged on two sides of the chute seat and used for supporting the wing box tool, a blind rivet chute seat capable of sliding along a strip-shaped chute on the chute seat, and a driver for pulling the blind rivet chute seat to slide along the strip-shaped chute in a reciprocating manner through a chain; the roller guide rail is composed of a row of rollers with parallel rolling shafts, and the strip-shaped sliding grooves are arranged along the length direction of the bracket; the rivet groove seat is provided with a rivet groove matched with a rivet fixedly arranged on the wing box tool, and the rivet groove seat can rotate back and forth between a locking position and a releasing position around a vertical axis;
the bracket supporting seats are arranged on two sides of the bracket, and the number of each side is more than two;
the bracket supporting seat comprises a three-coordinate positioner and a hanging frame fixedly arranged on the side part of the bracket, and the output end of the three-coordinate positioner is connected with the hanging frame through a ball head hinge mechanism.
5. The vehicle-mounted wing box attitude adjusting and positioning system according to claim 4, characterized in that:
the three-coordinate positioner comprises a first transverse sliding table, a transverse sliding actuator, a lifting table, a lifting actuator and a transverse sliding actuator, wherein the first transverse sliding table is connected with the base in a sliding mode through a guide rail slider mechanism;
the ball head hinge mechanism comprises a ball head seat fixedly arranged on the hanging frame and a supporting ball head fixedly arranged on the second transverse sliding table, and the first transverse direction is orthogonal to the second transverse direction.
6. The vehicle-mounted wing box attitude adjusting and positioning system according to claim 4, characterized in that:
the two ends of the bracket are respectively provided with the attitude measurement sensor, and the attitude measurement sensor comprises two displacement sensor layer groups which are arranged in parallel or comprises one displacement sensor layer group and a positioning measurement camera which is not in common with the displacement sensor layer group;
every layer displacement sensor layer group includes the displacement sensor of two above mutual parallel arrangements, displacement sensor passes through flexible direction and follows the telescopic machanism that the length direction of bracket arranged sets firmly on the bracket.
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| 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 |
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| 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 |
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| CN107651045A CN107651045A (en) | 2018-02-02 |
| CN107651045B true CN107651045B (en) | 2020-01-21 |
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| 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 |
| 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 |
| CN112775635B (en) * | 2020-11-29 | 2022-09-27 | 南京晨光集团有限责任公司 | Automatic docking assembly workstation for aerospace electromechanical products and operation method thereof |
| 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 |
| CN115320880A (en) * | 2021-05-10 | 2022-11-11 | 浙江大学 | Automatic attitude-adjusting docking method for outer wing of airplane |
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| 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 |
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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 |