CN108001708B - Airplane wing butt joint posture adjusting reconfigurable device - Google Patents
Airplane wing butt joint posture adjusting reconfigurable device Download PDFInfo
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- CN108001708B CN108001708B CN201711380174.5A CN201711380174A CN108001708B CN 108001708 B CN108001708 B CN 108001708B CN 201711380174 A CN201711380174 A CN 201711380174A CN 108001708 B CN108001708 B CN 108001708B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
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Abstract
The invention discloses an airplane wing butt joint posture adjustment reconfigurable device, which is used for short-distance movement and automatic positioning posture adjustment of wings in the airplane wing butt joint process. The three-coordinate posture adjusting positioner is accurately connected with the omnidirectional moving vehicle through the positioning of the guide rail seat. In the using process, the reconfigurable characteristic of the positioning mechanism is realized by replacing the guide rails and matching different numbers of posture adjusting positioners according to the distribution of the positioning points of the large component. And the multi-posture adjusting positioner is controlled by the combined movement of the two omnidirectional moving vehicles, so that the distributed movement and positioning posture adjusting functions of the tool are realized. And finally, measuring positioning point position feedback data through digital measuring equipment, and guiding the device to realize the posture adjustment of a large part in the wing butt joint process step by step.
Description
Technical Field
The invention belongs to the field of digital assembly equipment and technology, and relates to a reconfigurable device for short-distance movement and automatic positioning and posture adjustment of wings in the process of butting of airplane wings.
Background
Under traditional aircraft assembly mode, mainly adopt rigidity special frock, the frock is many, area is big, precision and degree of automation are low. With the gradual increase of the research and development of new airplane models, the traditional rigid special tool can not meet the requirements of multi-variety and small-batch production of modern airplanes, and becomes one of the main factors for restricting the development of the airplane assembly technology in China.
Patent CN206068194U proposes a wing installation platform capable of moving in all directions, which is a simple wing posture adjustment device, and the principle of the wing installation platform is that a certain number of support mechanisms are carried on the platform moving in all directions, and then the wings are positioned and posture adjusted through support brackets, but in the actual development and production process of an airplane, once the internal structure of the wings is slightly updated, the posture adjustment platform cannot be applied, and the degree of flexibility is low.
The invention patent CN101456452 discloses a flexible and automatic attitude adjusting method for an airplane body, which comprises the steps of measuring the spatial position of a target on the airplane body by a laser tracker, matching and analyzing the measurement result with a digital standard model, calculating the attitude of the airplane body, and finally controlling and driving a plurality of three-coordinate locator units to realize the attitude adjustment of the airplane body. However, in the actual assembly and posture adjustment process, the positioner cannot realize short-distance movement of the wing, and special equipment is required to move the wing to a specified position, so that the operation is complicated.
Therefore, in order to efficiently and accurately realize the movement, positioning and posture adjustment of various types of wings, it is imperative to develop a digital reconfigurable device which has a movement function and can realize accurate posture adjustment.
Disclosure of Invention
In order to avoid the defects in the prior art and overcome the problems of low automation degree and single application of a posture adjusting device in the wing butt joint process, the invention provides the airplane wing butt joint posture adjusting reconfigurable device, which can realize automatic omnidirectional movement in the wing butt joint process in a plane, realize rapid tool reconfiguration according to different types of wings and improve the utilization rate of the device in the butt joint of wings of various types.
The invention solves the technical problem by adopting the technical scheme that the airplane wing butt joint posture adjustment reconfigurable device consists of an omnidirectional moving vehicle with a groove and a connecting bolt hole and a three-coordinate posture adjustment positioner, the three-coordinate posture adjustment positioner is positioned on the omnidirectional moving vehicle to realize the movement and adjustment of the three-coordinate posture adjustment positioner in the posture adjustment and butt joint processes, the omnidirectional moving vehicle adopts omnidirectional moving wheels to realize the omnidirectional movement of the three-coordinate posture adjustment positioner in a plane, the turning radius is 0, and the positioning of a positioning bracket device is completed; the three-coordinate posture adjusting positioner borne on the omnidirectional moving vehicle is a servo-driven device, and realizes 3 translation motions in mutually perpendicular directions; the three-coordinate posture adjusting positioner is used as an actuating mechanism of the flexible assembly system for butting the wings of the airplane, and the 6-freedom-degree posture adjustment of the wings of the airplane is completed by cooperatively controlling the movement of the three-coordinate posture adjusting positioner except for supporting a butting part; the three-coordinate posture adjusting positioner consists of a guide rail base, a Z-direction upright post, an X-direction sliding table and a Y-direction sliding table, and linear guide rail guiding, linear motor driving and grating ruler feedback are adopted between the guide rail base and the Z-direction upright post to realize Z-direction transmission; the X-direction sliding table and the Y-direction sliding table are guided by linear guide rails and driven by a servo motor and a ball screw, so that X-direction transmission and Y-direction transmission are realized;
the top end of the Z-direction upright post is of a ball socket structure, a ball socket and a process ball head connected with the wings form a spherical pair, a travel switch and a mechanical limit are arranged in the direction X, Y, Z, a force sensor is arranged in the Z direction, and the safety of the movement of the airplane wing butt joint posture adjustment reconfigurable device is ensured through the control of position and force; a groove and a stop block detachably connected with the groove are arranged above the omnidirectional moving vehicle, the groove is attached to an X-direction guide rail seat of the three-coordinate posture adjusting positioner, and the omnidirectional movement of the tool is realized under the driving of the omnidirectional moving vehicle;
in the attitude adjusting process, the omnidirectional moving vehicles are kept still and are in a braking state, the spatial positions of the positioning points are adjusted through the movement of the three-coordinate attitude adjusting positioners on the omnidirectional moving vehicles, and the attitude adjustment of the wings is realized through the combined adjustment of the three-coordinate attitude adjusting positioners on the two omnidirectional moving vehicles; the X-direction guide rail seat of the three-coordinate posture adjusting positioner is fixedly connected with the omnidirectional moving vehicle in a positioning way and the relative position of the X-direction guide rail seat is fixed; the groove on the omnidirectional moving vehicle is matched with the blocking block in the groove, and the X-direction guide rail is positioned on the surface of the groove through the screw joint, so that the positioning connection of the three-coordinate posture adjusting positioner and the omnidirectional moving vehicle is realized.
Has the advantages that:
the invention provides an airplane wing butt joint posture adjustment reconfigurable device, which is used for a reconfigurable device for short-distance movement and automatic positioning posture adjustment of wings in the butt joint process of airplane wings, combines an omnidirectional moving vehicle with a high-precision moving function with a three-coordinate posture adjustment positioner of a positioning posture adjustment actuating mechanism, and realizes positioning connection with the three-coordinate posture adjustment positioner through a groove and a stop block on the omnidirectional moving vehicle. The three-coordinate posture adjusting positioner is accurately connected with the omnidirectional moving vehicle through the positioning of the guide rail base. In the using process, the reconfigurable characteristic of the positioning mechanism is realized by replacing the guide rail and matching with different numbers of three-coordinate posture adjusting positioners according to the distribution of the positioning points of the large component. And the three-coordinate posture adjusting positioner is controlled by the combined movement of the two omnidirectional moving vehicles, so that the distributed movement and positioning posture adjusting functions of the tool are realized. And finally, measuring positioning point position feedback data through digital measuring equipment, and guiding the device to realize the posture adjustment of a large part in the wing butt joint process step by step.
Drawings
The following describes an airplane wing docking posture-adjusting reconfigurable device in further detail with reference to the accompanying drawings and embodiments.
Fig. 1a and 1b are schematic structural diagrams of the airplane wing butt joint posture adjustment reconfigurable device.
Fig. 2 is a three-coordinate pose alignment positioner of the present invention.
Fig. 3 is an omnidirectional moving vehicle of the invention.
Fig. 4 shows a guide positioning block of the present invention.
In the figure:
1. 2.1 # gesture adjusting positioner 3 for left omnidirectional moving vehicle, 4.2 # gesture adjusting positioner 5.3 # gesture adjusting positioner 6 for right omnidirectional moving vehicle, 7 for process connector, 8 for Z-direction piano cover, 9 for guide rail cabin cover, 10 for Z-direction servo motor, 11 for support column, 12 for Y-direction servo motor, 13 for Y-direction guide rail, 14 for X-direction organ cover, 15 for X-direction servo motor, 16 for X-direction guide rail, 17 for stop block, 18 for connecting hole
Detailed Description
The embodiment is an airplane wing butt joint posture adjustment reconfigurable device, which is an omnidirectional moving digital posture adjustment reconfigurable device formed by an omnidirectional moving vehicle with a groove 16 and a connecting hole 18 and a three-coordinate posture adjustment positioner. The method is suitable for the butt joint process of the wing and the fuselage.
Referring to fig. 1 to 4, the reconfigurable docking and attitude adjusting device of the present embodiment includes two omnidirectional moving vehicles, the two omnidirectional moving vehicles have the same structure, and the 3 three-coordinate attitude adjusting positioners carried by the two moving vehicles have the same structure. The left omnidirectional moving vehicle 1 is provided with 1 detachable three-coordinate posture adjusting positioner, the right omnidirectional moving vehicle 3 is provided with 2 detachable three-coordinate posture adjusting positioners, and the two omnidirectional moving vehicles and the 3 three posture adjusting positioners form the whole airplane wing butt joint posture adjusting reconfigurable device. On the left omnidirectional moving vehicle 1, a groove 16 and a stop 17 for positioning a guide rail base are included, an X-direction guide rail 15 is arranged in the middle of the groove 16, an X-direction servo motor 14 is arranged at the left end of the X-direction guide rail 15, an X-direction organ cover 13 and a Y-direction guide rail 12 are arranged above the X-direction organ cover, the Y-direction guide rail 12 is connected with a ball screw in the X-direction guide rail 15, a Y-direction servo motor 11 is arranged at the left end of the Y-direction guide rail 12, a support column 10, a Z-direction servo motor 9, a guide rail bin cover 8, a Z-direction organ cover 7 and a process joint 6 are arranged above the Y-direction organ cover, and spatial movement of the top process joint.
The operation process is as follows:
1. in the attitude adjusting preparation stage, the position of a required positioning point is determined according to the three-dimensional model of the wing and the comprehensive size, weight and structural factors. The position of the stopper 17 for positioning the guide rail base is established with reference to the left omnidirectional moving vehicle in fig. 1 a. And then, an X-direction guide rail 15 of the No. 1 attitude adjusting positioner 2 is positioned in a groove 16 of the left omnidirectional moving vehicle 1, and a guide rail base is fixedly connected through a connecting hole 18, and in addition, the No. 1 attitude adjusting positioner 2 adopts a mode of an X-direction servo motor 14 in the X direction to meet the requirement of large-distance moving and butt joint of wings. An X-direction wind organ cover 13 of the guide rail is arranged on an X-direction guide rail 15 on the left omnidirectional moving vehicle 1, and is connected with a Y-direction guide rail 12 through a ball screw on the X-direction guide rail 15, the Y-direction guide rail 12 is driven to move in the X direction through an X-direction servo motor 14, then the Z-direction upright post part of the three-coordinate posture adjusting positioner is driven, and the Y-direction servo motor 11 is arranged at the left end of the Y-direction guide rail 12 and is connected with the ball screw to drive the Z-direction upright post to move. The Z-direction upright column comprises a support column 10 connected with a Y-direction ball screw, a Z-direction servo motor 9 fixed at the upper end of the support column 10, a guide rail bin cover 8 surrounding a Z-direction transmission shaft and a Z-direction wind organ cover 7, the lifting of the process joint 6 is completed, and the movement of the process joint 6 in the space is finally realized.
2. After the left omnidirectional moving vehicle 1 and the vehicle-mounted No. 1 posture adjusting positioner 2 are installed, finally, a laser tracker is used for positioning and debugging. The other right omni-directional mobile vehicle 3 moves to a vertical position in the same horizontal plane as the left omni-directional mobile vehicle 1 and remains stationary. Similarly, a guide rail base is installed according to the groove 16 of the omnidirectional moving vehicle and the stop block 17, an X-direction guide rail 15 and an X-direction wind organ cover 13 are installed on the guide rail base, then a No. 2 posture adjusting positioner 4 and a No. 3 posture adjusting positioner 5 of the same X-direction guide rail 15 are installed, a vertical position state that the left omnidirectional moving vehicle 1 and the right omnidirectional moving vehicle 3 are located in the same plane is finally formed, 3 three-coordinate posture adjusting positioners are provided to be connected with 3 positioning points appointed on the wing, the installation stage of the combined posture adjusting device is completed, and the combined posture adjusting device is ready to enter the stage of assembling and butting with the wing.
3. Before the lifting connection of the wing, the three-attitude adjusting positioners on the left omnidirectional moving vehicle 1 and the right omnidirectional moving vehicle 3 are adjusted according to the positioning layout of the three-dimensional model machine of the wing, and at the moment, the X-direction servo motor 14, the Y-direction servo motor 11 and the Z-direction servo motor 7 move simultaneously, so that the three-coordinate movement of the positioning points in the space is realized.
4. And then the wings can be hoisted on the airplane wing butt joint posture adjusting reconfigurable device. As the top ends of the Z-direction upright posts on the three-coordinate posture adjusting positioners are of ball-and-socket structures, and the ball sockets and the process joints 6 connected with the wings form spherical pairs, the positioning points of the wings can be adjusted in a small range.
5. After the airplane wing butt joint posture adjustment reconfigurable device is connected with the wings, the wings are transported to an assembly station. At the moment, the left omnidirectional moving vehicle 1 and the right omnidirectional moving vehicle 3 move to the assembling station, and the two omnidirectional moving vehicles keep static mutually to jointly move and transport the wings.
6. And then, when the combined device comprising the two omnidirectional moving vehicles moves to a designated butt joint assembly station, each omnidirectional moving vehicle moves to a marked area, and the moving error of the omnidirectional moving vehicles is 5mm, so that the wing butt joint precision is not reached, and at the moment, the omnidirectional moving vehicles enter a braking state and keep still.
7. Then, fine adjustment of the space position of the wing is carried out by controlling the three-coordinate posture adjusting positioners, the coordinates of the current positioning point are measured by a digital measuring device, the current posture state of the wing is calculated and is compared with the target position of the positioning point in the butt joint model to obtain a numerical value required to be adjusted by the current positioning point, servo motors of the three-coordinate posture adjusting positioners are controlled to adjust the coordinates of the positioning point to a corresponding numerical value, the posture adjustment of the wing is realized in the space by completing the operations of rotation, inclination, rolling and the like of the wing, finally, after the posture of the wing is adjusted, the two omnidirectional moving vehicles are combined under the condition that the relative positions are not changed to move along the assembly direction until the butt joint is finished, and finally, the automatic butt joint assembly.
Claims (1)
1. The utility model provides an aircraft wing butt joint accent appearance reorganization device, by the omnidirectional movement car and the three-dimensional accent appearance locator of recess and connecting bolt hole constitute jointly, through transferring the appearance locator location of three-dimensional on the omnidirectional movement car, realize that the three-dimensional accent appearance locator is transferring the removal and the adjustment of appearance and butt joint in-process, its characterized in that:
the omnidirectional moving vehicle adopts omnidirectional moving wheels to realize omnidirectional movement of the three-coordinate posture adjusting positioner in a plane, the turning radius is 0, and the positioning of the positioning bracket device is completed; the three-coordinate posture adjusting positioner borne on the omnidirectional moving vehicle is a servo-driven device, and realizes 3 translation motions in mutually perpendicular directions; the three-coordinate posture adjusting positioner is used as an actuating mechanism of the flexible assembly system for butting the wings of the airplane, and the 6-freedom-degree posture adjustment of the wings of the airplane is completed by cooperatively controlling the movement of the three-coordinate posture adjusting positioner except for supporting a butting part; the three-coordinate posture adjusting positioner consists of a guide rail base, a Z-direction upright post, an X-direction sliding table and a Y-direction sliding table, and linear guide rail guiding, linear motor driving and grating ruler feedback are adopted between the guide rail base and the Z-direction upright post to realize Z-direction transmission; the X-direction sliding table and the Y-direction sliding table are guided by linear guide rails and driven by a servo motor and a ball screw, so that X-direction transmission and Y-direction transmission are realized;
the top end of the Z-direction upright post is of a ball socket structure, a ball socket and a process ball head connected with the wings form a spherical pair, a travel switch and a mechanical limit are arranged in the direction X, Y, Z, a force sensor is arranged in the Z direction, and the safety of the movement of the airplane wing butt joint posture adjustment reconfigurable device is ensured through the control of position and force; a groove and a stop block detachably connected with the groove are arranged above the omnidirectional moving vehicle, the groove is attached to an X-direction guide rail seat of the three-coordinate posture adjusting positioner, and the omnidirectional movement of the tool is realized under the driving of the omnidirectional moving vehicle;
in the attitude adjusting process, the omnidirectional moving vehicles are kept still and are in a braking state, the spatial positions of the positioning points are adjusted through the movement of the three-coordinate attitude adjusting positioners on the omnidirectional moving vehicles, and the attitude adjustment of the wings is realized through the combined adjustment of the three-coordinate attitude adjusting positioners on the two omnidirectional moving vehicles; the X-direction guide rail seat of the three-coordinate posture adjusting positioner is fixedly connected with the omnidirectional moving vehicle and the relative position of the X-direction guide rail seat is fixed; the groove on the omnidirectional moving vehicle is matched with the blocking block in the groove, and the X-direction guide rail is positioned on the surface of the groove through screw connection, so that the positioning connection of the three-coordinate posture adjusting positioner and the omnidirectional moving vehicle is realized;
the airplane wing butt joint posture adjustment reconfigurable device realizes reconfigurable characteristics by replacing X-direction guide rails and matching with different numbers of three-coordinate posture adjustment positioners.
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| CN201711380174.5A CN108001708B (en) | 2017-12-20 | 2017-12-20 | Airplane wing butt joint posture adjusting reconfigurable device |
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| CN201711380174.5A CN108001708B (en) | 2017-12-20 | 2017-12-20 | Airplane wing butt joint posture adjusting reconfigurable device |
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| CN108001708B true CN108001708B (en) | 2021-02-05 |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109319165A (en) * | 2018-11-05 | 2019-02-12 | 西安飞机工业（集团）有限责任公司 | A kind of Airplane frame guarantor type locating rack and localization method |
| CN109975863A (en) * | 2019-04-15 | 2019-07-05 | 中国原子能科学研究院 | A kind of full-automatic high precision three-dimensional mobile platform of ray metrological standard unit |
| CN110174082A (en) * | 2019-06-03 | 2019-08-27 | 西安飞机工业（集团）有限责任公司 | A kind of restructural positioning system and localization method |
| CN110802611A (en) * | 2019-11-09 | 2020-02-18 | 许昌许继软件技术有限公司 | Electric power emergency robot, emergency monitoring device and high-temperature protection telescopic mechanism thereof |
| CN112340053B (en) * | 2020-09-18 | 2022-05-10 | 成都飞机工业（集团）有限责任公司 | Large component multi-axis full-active motion posture adjusting method and device |
| CN112659030B (en) * | 2020-12-15 | 2023-07-21 | 西安飞机工业（集团）有限责任公司 | Positioning mechanism and positioning method of numerical control positioner |
| CN112894729A (en) * | 2021-01-26 | 2021-06-04 | 武汉工程大学 | Intelligent alignment system and method for airplane wings |
| CN113084228B (en) * | 2021-03-30 | 2022-07-26 | 杭州艾美依航空制造装备有限公司 | Positioning tool for automatic drilling and riveting of aircraft panel |
| CN115320880A (en) * | 2021-05-10 | 2022-11-11 | 浙江大学 | Automatic attitude-adjusting docking method for outer wing of airplane |
| CN115071997B (en) * | 2022-06-20 | 2024-06-11 | 成都飞机工业（集团）有限责任公司 | Aircraft wing assembly device and assembly method |
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| CN100579716C (en) * | 2008-09-19 | 2010-01-13 | 浙江大学 | Globular hinge type three-coordinate flexible attitude-adjusting unit |
| CN101456452B (en) * | 2008-12-25 | 2010-10-13 | 浙江大学 | Aircraft fuselage flexiblization and automation attitude-adjusting method |
| CN202272176U (en) * | 2011-08-28 | 2012-06-13 | 成都飞机工业（集团）有限责任公司 | Flexible transportation unwheeling for airplane components |
| WO2017083430A1 (en) * | 2015-11-10 | 2017-05-18 | Thales Defense & Security, Inc. | Semi-automated drone for avionics navigation signal verification and methods of operation and use thereof |
| CN206068194U (en) * | 2016-08-28 | 2017-04-05 | 深圳市劲拓自动化设备股份有限公司 | Can Omni-mobile wing mounting platform |
| CN206155819U (en) * | 2016-10-10 | 2017-05-10 | 深圳市劲拓自动化设备股份有限公司 | Appearance equipment is transferred to high accuracy with remove function |
| CN107161355B (en) * | 2017-05-23 | 2019-06-18 | 浙江大学 | A kind of aircraft wing skins digital control location device |
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