CN108381137A - A kind of ultra-large type answers the automatic mounting tool of material siding and installation method - Google Patents
A kind of ultra-large type answers the automatic mounting tool of material siding and installation method Download PDFInfo
- Publication number
- CN108381137A CN108381137A CN201810379778.6A CN201810379778A CN108381137A CN 108381137 A CN108381137 A CN 108381137A CN 201810379778 A CN201810379778 A CN 201810379778A CN 108381137 A CN108381137 A CN 108381137A
- Authority
- CN
- China
- Prior art keywords
- mounting tool
- siding
- material siding
- adjustment mechanism
- guide rail
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- 239000000463 material Substances 0.000 title claims abstract description 74
- 238000009434 installation Methods 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 238000010521 absorption reaction Methods 0.000 claims 2
- 239000002131 composite material Substances 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 239000007769 metal material Substances 0.000 description 2
- 239000003463 adsorbent Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
Abstract
This application provides a kind of ultra-large types to answer the automatic mounting tool of material siding and installation method.Mounting tool, contain chassis, column, Z-direction frame, Z-direction adjustment mechanism, arc guarantor's type frame, adsorbing mechanism, laser range sensor, driving mechanism, control system, adsorbing mechanism is distributed on arc guarantor's type frame, and laser range sensor is separately positioned on chassis, column and Z-direction adjustment mechanism.Multiple material siding under natural conditions is adsorbed with the adsorbing mechanism of mounting tool.Control system obtains the measured value of laser distance sensor, and compared with theoretical value, the mutual cooperative motion of each section mechanism of mounting tool is controlled simultaneously, the measured value of laser distance sensor is set constantly to be bonded with theoretical value close, multiple material siding is finally accurately placed into the target location of assembly tooling, realizes automatic installation.
Description
Technical field
This application involves aircraft ultra-large types to answer material siding mounting technology field, and it is automatic that specifically a kind of ultra-large type answers material siding
Mounting tool and installation method.
Background technology
Composite material compares other materials as a kind of new material, its specific strength higher, specific stiffness bigger, and
Its mechanical property has designability so that composite material can mitigate aircraft weight when being applied on aircraft, improve aircraft
Safety and economy.Domestic at present, the multiple application time of material aboard is shorter, and level is low.It is small that aircraft answers material accessory size,
Stock size is 2~4m, and relatively large multiple material accessory size is 4~8m, and weight is relatively light, in the mistake of installation, undercarriage and transport
Cheng Zhong is manual operation, and any mechanization or automation is not present.With making a successful trial flight for Large Civil Aircraft C919, fly
The demand that machine answers size more than or equal to the ultra-large type of 10m material part is increasing, in particular for the multiple material on wing, fuselage
Siding.These ultra-large types answer material siding during assembly, are both needed to, from a tooling undercarriage, transport another tooling position
And it installs.Since ultra-large type is answered, material siding size is big, and rigidity is low, is easily deformed, generates during installation, undercarriage and transport
It is difficult to the damage restored, therefore there are many difficulties during ultra-large type answers installation, undercarriage and the transport of material siding.
Country's ultra-large type siding is metal material at present, and there has been no mounting device and installation sides that ultra-large type answers material siding
The application example of method.Installation, undercarriage and transport for the ultra-large type siding of metal material mainly use guarantor's type tooling or branch
Frame positioned ultra-large type siding, guarantor's type, fixation, then reuse workshop crane and integral hoisting carried out to it.Although this
The restocking of ultra-large type metal wallboard may be implemented in method, and avoid ultra-large type metal wallboard be deformed during the installation process or
Damage, but when this method cannot achieve ultra-large type siding restocking automatic pose adjustment, be accurately positioned still needs to more people and coordinates adjust
The position of whole ultra-large type siding and posture, installation effectiveness is low, takes time and effort, and easily scratches ultra-large type wall-board product surface, and to factory
The performance requirement of room crane is higher.This installation method is theoretically also applied for the installation that ultra-large type answers material siding, but due to super
The multiple material siding rigidity smaller of large size, the difficulty bigger that material siding is installed is answered using this installation method to ultra-large type.
Invention content
In order to solve the problems, such as produce reality, this application provides a kind of ultra-large types to answer material siding automatic installation apparatus and installation
Method.
A kind of ultra-large type answers the automatic mounting tool of material siding, containing X direction guiding rails, Y-direction guide rail, chassis, column, Z-direction guide rail,
Z-direction frame, Z-direction adjustment mechanism, arc guarantor's type frame, adsorbing mechanism, laser range sensor, driving mechanism, control system, X
Direction guiding rail is fixed on level ground, and as the X of mounting tool to chassis can be under driving mechanism drive along X direction guiding rail essences
Really sliding, chassis upper surface middle part are equipped with two Y-direction guide rails vertical with X direction guiding rails, and the column of two mirror images each other can drive
Under the drive of motivation structure along Y-direction guide rail while precise motion, two column lateral surface opposite positions, two are equipped with perpendicular to water
The Z-direction guide rail of plane earth, Z-direction frame surround two columns, and Z-direction adjustment mechanism is equipped between Z-direction guide rail and Z-direction frame, makes Z
It can be rotated to frame around Y-axis while under driving mechanism drives along Z-direction guide rail precise motion, arc guarantor's type frame is fixed on Z
To the outside of frame, adsorbing mechanism is distributed on arc guarantor's type frame, is equipped on the bottom surface of arc guarantor's type frame and lateral surface
Multiple material siding position block, laser range sensor are separately positioned on chassis, column and Z-direction adjustment mechanism, record X, Y, the side Z
To coordinate value and control system is fed back to, control system manipulates the multiple material siding of adsorbing mechanism crawl according to feedback data, and controls
Driving mechanism is by the target location of multiple material siding accurate movement to assembly tooling.
Z-direction adjustment mechanism includes left side adjustment mechanism and right side adjustment mechanism, and is separately mounted on the outside of left and right pillar, right
Side adjustment mechanism includes shaft, movable block, and movable block is H font structures, can be slided on Z-direction guide rail, and right side adjustment mechanism turns
Axis is arranged at movable block center, and axis is parallel with Y-direction, and left side adjustment mechanism includes consistent with right side adjustment mechanism structure turns
Axis, movable block, movable block upper surface are equipped with one group with X to parallel short lead rail, and being fixed with one can be along the connection that short lead rail moves
The shaft of block, left side adjustment mechanism is arranged at link block center, and axis is parallel with Y-direction；Driving mechanism drives left and right adjustment machine
Structure is moved with friction speed along Z-direction guide rail, is rotated around Y-axis while realizing Z-direction frame along Z-direction guide rail accurate movement.Adsorption machine
Structure contains flexible vacuum chuck, normal direction axis self-adapting stretching axis, check-valves, gas-separating valve, vacuum generator, flexible vacuum chuck
It is evenly arranged and is fixed on arc guarantor's type frame, be directly bonded with multiple material siding, and guarantor's type and fixation are carried out to multiple material siding；
The output end of normal direction axis self-adapting stretching axis is connected with the input terminal of flexible vacuum chuck, realizes the adaptive tune of axial stroke
It is whole, and correct multiple angular deviation of the material siding posture in X, Z-direction；The output end of check-valves and normal direction axis self-adapting stretching axis
Output end be connected, input terminal is connected with gas-separating valve, when sucker gas leakage is communicated with the external world, by other vacuum systems and big air bound
From protecting entire vacuum system；The input terminal of gas-separating valve connects vacuum generator, realizes and is taken out to the vacuum of flexible vacuum chuck
It inhales.
A kind of ultra-large type answers material siding automatic installation method, includes the following steps：
1 adjusts the coordinate system of mounting tool described in claim 1 and the coordinate system of assembly tooling unanimously；
2, according to multiple target location of the material siding in assembly tooling, calibrate mounting tool and multiple material siding are placed into reason
Location status when by position, and the measurement data of X, Y, laser range sensor in Z-direction is recorded, it is set to theoretical value,
It is input in control system；
3 adsorb multiple material siding under natural conditions with the adsorbing mechanism of mounting tool；
4 control systems obtain the measured value of laser distance sensor, and compared with theoretical value, while controlling mounting tool
The mutual cooperative motion of each section mechanism makes the measured value of laser distance sensor be constantly bonded with theoretical value close, will finally answer
Material siding is accurately placed into the target location of assembly tooling, realizes automatic installation.
Ultra-large type can be answered material siding and accurately be adjusted on four-degree-of-freedom by the mounting device by X, Y, Z-direction adjustment mechanism
It is whole；By positioning framework and adsorbing mechanism, ultra-large type can be answered material siding positioned, guarantor's type, fixation, and material is answered to ultra-large type
The pose of siding carries out certain amendment, and final achievable ultra-large type answers the automatic installation of material siding.
Attached drawing is described in further detail the application with reference to embodiments：
Description of the drawings
Fig. 1 is that a kind of ultra-large type answers the automatic mounting tool structural schematic diagram of material siding
Fig. 2 is that a kind of ultra-large type answers the automatic mounting tool front view of material siding
Fig. 3 is that a kind of ultra-large type answers the automatic mounting tool left view of material siding
Fig. 4 is the Z-direction adjustment mechanism detail drawing of mounting tool
Fig. 5 is the Z-direction adjustment mechanism left part mechanism detail drawing of mounting tool
Explanation is numbered in figure：1, multiple material siding；2, chassis；3, column；4, Z-direction frame；5, arc guarantor type frame；6, it adsorbs
Mechanism；7, X direction guiding rails；8, Y-direction guide rail；9, position block；10, Z-direction adjustment mechanism；11, laser range sensor；12, vacuum
Generator；13, Z-direction guide rail；14, driving mechanism；15, rotating mechanism；16, left side adjustment mechanism；17, right side adjustment mechanism；18、
Short lead rail；19, link block；20, shaft；21, movable block.
Specific implementation mode
Referring to shown in Fig. 1-5, a kind of ultra-large type answers the automatic mounting tool of material siding, contains X direction guiding rails 7, Y-direction guide rail 8, bottom
Disk 2, column 3, Z-direction guide rail 13, Z-direction frame 4, Z-direction adjustment mechanism 10, arc guarantor's type frame 5, adsorbing mechanism 6, driving mechanism
14, laser range sensor 11, control system, X direction guiding rails 7 are fixed on level ground, and as the X of mounting tool the bottom of to
Disk 2 can accurately slide under the drive of driving mechanism 14 along X direction guiding rails 7, and 2 upper surface middle part of chassis is equipped with two and hangs down with X direction guiding rails 7
Straight Y-direction guide rail 8, two each other mirror image column 3 can driving mechanism 14 drive under along Y-direction guide rail 8 simultaneously precise motion, two
At 3 lateral surface opposite position of a column, two Z-direction guide rails 13 perpendicular to level ground are equipped with, Z-direction frame 4 surrounds two
Column 3 is equipped with Z-direction adjustment mechanism 10 between Z-direction guide rail 13 and Z-direction frame 4, makes Z-direction frame 4 that can be driven in driving mechanism 14
It is rotated around Y-axis while lower 13 precise motion of guide rail along Z-direction, arc guarantor's type frame 5 is fixed on the outside of Z-direction frame 13, adsorbs
Mechanism 6 is distributed on arc guarantor's type frame 5, and the positioning of multiple material siding is equipped on the bottom surface of arc guarantor's type frame 5 and lateral surface
Block 9, laser range sensor 11 are separately positioned on 10 on chassis 2, column 3 and Z-direction adjustment mechanism, and record X, Y, Z-direction are sat
Scale value simultaneously feeds back to control system, and control system manipulates the multiple material siding of the crawl of adsorbing mechanism 6 according to feedback data, and controls driving
Mechanism 14 is by the target location of multiple material siding accurate movement to assembly tooling.
Z-direction adjustment mechanism 10 includes left side adjustment mechanism 16 and right side adjustment mechanism 17, and is separately mounted to left and right pillar
Outside, right side adjustment mechanism 17 include shaft 20, movable block 21, and movable block 21 is H font structures, can be slided on Z-direction guide rail 13
Dynamic, right side adjustment mechanism shaft is arranged at 21 center of movable block, and axis is parallel with Y-direction, and left side adjustment mechanism 16 includes and the right side
The consistent shaft 20 of side adjustment mechanism structure, movable block 21, movable block upper surface are equipped with one group with X to parallel short lead rail 18,
Being fixed with one can be arranged along the link block 19 that short lead rail 18 moves, the shaft 20 of left side adjustment mechanism 16 at 19 center of link block,
Its axis is parallel with Y-direction；Driving mechanism drives left and right adjusting mechanism to be moved along Z-direction guide rail 13 with friction speed, realizes Z-direction frame
4 along Z-direction guide rail accurate movement while around Y-axis rotate.Adsorbing mechanism 6 is adaptively stretched containing flexible vacuum chuck, normal direction axis
Contracting axis, check-valves, gas-separating valve, vacuum generator 12, flexible vacuum chuck are evenly arranged and are fixed on arc guarantor's type frame 5,
It is directly bonded with multiple material siding 1, and guarantor's type and fixation is carried out to multiple material siding 1；The output end of normal direction axis self-adapting stretching axis
It is connected with the input terminal of flexible vacuum chuck, realizes the adaptive adjustment of axial stroke, and corrects multiple 1 posture of material siding in X, Z
Upward angular deviation；The output end of check-valves is connected with the output end of normal direction axis self-adapting stretching axis, input terminal and divides gas
Valve is connected, and when sucker gas leakage is communicated with the external world, by other vacuum systems and isolated from atmosphere, protects entire vacuum system；Divide gas
The input terminal of valve connects vacuum generator, realizes the vacuum suction to flexible vacuum chuck.
A kind of ultra-large type answers material siding automatic installation method, includes the following steps：
1 adjusts the coordinate system of mounting tool and the coordinate system of assembly tooling unanimously.
Before multiple 1 restocking of material siding, by TB points and OTP points, multiple 1 mounting tool of material siding, multiple material general assembly type frame are carried out
Pose is demarcated so that tri- coordinates of XYZ of mounting tool are parallel with the multiple XYZ coordinate difference of material general assembly type frame.According to multiple material general assembly
The position of type frame determines the installation site of mounting tool, and calibrating multiple material siding 1 when installation is complete by OTP points and the faces OTS pacifies
The state of assembling device.
2, according to multiple target location of the material siding in assembly tooling, calibrate mounting tool and multiple material siding 1 are placed into reason
Location status when by position, and the measurement data of X, Y, laser range sensor in Z-direction is recorded, it is set to theoretical value,
It is input in control system；
3 adsorb multiple material siding 1 under natural conditions with the adsorbent equipment 6 of mounting tool；
4 control systems obtain the measured value of laser distance sensor 11, and compared with theoretical value, while controlling mounting tool
The mutual cooperative motion of each section mechanism, so that the measured value of laser distance sensor 11 is constantly bonded with theoretical value close, finally
Multiple material siding 1 is accurately placed into the target location of assembly tooling, realizes automatic installation.
Claims (4)
1. a kind of ultra-large type answers the automatic mounting tool of material siding, contain X direction guiding rails, Y-direction guide rail, chassis, column, Z-direction guide rail, Z
To frame, Z-direction adjustment mechanism, arc guarantor's type frame, adsorbing mechanism, laser range sensor, driving mechanism, control system,
It is characterized in that X direction guiding rails are fixed on level ground, and as the X of mounting tool to chassis can be under driving mechanism drive along X
Direction guiding rail accurately slides, chassis upper surface middle part be equipped with two Y-direction guide rails vertical with X direction guiding rails, two each other mirror image stand
Column can be equipped with two under driving mechanism drive along Y-direction guide rail while precise motion, two column lateral surface opposite positions
Z-direction guide rail perpendicular to level ground, Z-direction frame surround two columns, and Z-direction is equipped between Z-direction guide rail and Z-direction frame and is adjusted
Mechanism makes Z-direction frame that can be rotated around Y-axis while under driving mechanism drives along Z-direction guide rail precise motion, arc guarantor's type frame
It is fixed on the outside of Z-direction frame, adsorbing mechanism is distributed on arc guarantor's type frame, in the bottom surface of arc guarantor's type frame and lateral surface
It is equipped with multiple material siding position block, laser range sensor is separately positioned on chassis, column and Z-direction adjustment mechanism, is recorded
X, Y, Z-direction coordinate value and control system being fed back to, control system manipulates the multiple material siding of adsorbing mechanism crawl according to feedback data,
And driving mechanism is controlled by the target location of multiple material siding accurate movement to assembly tooling.
2. a kind of ultra-large type according to claim 1 answers the automatic mounting tool of material siding, which is characterized in that the Z-direction
Adjustment mechanism includes left side adjustment mechanism and right side adjustment mechanism, and is separately mounted on the outside of left and right pillar, right side adjustment mechanism
Including shaft, movable block, movable block is H font structures, can be slided on Z-direction guide rail, and adjustment mechanism shaft setting in right side is moving
Motion block center, axis is parallel with Y-direction, and left side adjustment mechanism includes the shaft consistent with right side adjustment mechanism structure, movable block,
Movable block upper surface is equipped with one group with X to parallel short lead rail, and being fixed with one can be along the link block that short lead rail moves, left side adjustment
The shaft of mechanism is arranged at link block center, and axis is parallel with Y-direction；Driving mechanism drives left and right adjusting mechanism with friction speed
It moves along Z-direction guide rail, is rotated around Y-axis while realizing Z-direction frame along Z-direction guide rail accurate movement.
3. a kind of ultra-large type according to claim 1 answers the automatic mounting tool of material siding, which is characterized in that the absorption
Mechanism contains flexible vacuum chuck, normal direction axis self-adapting stretching axis, check-valves, gas-separating valve, vacuum generator, and flexible vacuum is inhaled
Disk is evenly arranged and is fixed on arc guarantor's type frame, is directly bonded with multiple material siding, and carries out guarantor's type to multiple material siding and consolidate
It is fixed；The output end of normal direction axis self-adapting stretching axis is connected with the input terminal of flexible vacuum chuck, realizes the adaptive of axial stroke
It should adjust, and correct multiple angular deviation of the material siding posture in X, Z-direction；The output end of check-valves is adaptively stretched with normal direction axis
The output end of contracting axis is connected, and input terminal is connected with gas-separating valve, when sucker gas leakage is communicated with the external world, by other vacuum systems and greatly
Air bound is from protecting entire vacuum system；The input terminal of gas-separating valve connects vacuum generator, realizes the vacuum to flexible vacuum chuck
Suction.
4. a kind of ultra-large type answers material siding automatic installation method, include the following steps：
4-1 adjusts the coordinate system of mounting tool described in claim 1 and the coordinate system of assembly tooling consistent；
4-2 calibrates mounting tool and multiple material siding is placed into theory according to multiple target location of the material siding in assembly tooling
Location status when position, and the measurement data of X, Y, laser range sensor in Z-direction is recorded, it is set to theoretical value, it is defeated
Enter into control system；
The multiple material siding of the adsorbing mechanism absorption of 4-3 mounting tools under natural conditions；
4-4 control systems obtain the measured value of laser distance sensor, and compared with theoretical value, while controlling each of mounting tool
The mutual cooperative motion of part body makes the measured value of laser distance sensor be constantly bonded with theoretical value close, finally will multiple material
Siding is accurately placed into the target location of assembly tooling, realizes automatic installation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810379778.6A CN108381137A (en) | 2018-04-25 | 2018-04-25 | A kind of ultra-large type answers the automatic mounting tool of material siding and installation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810379778.6A CN108381137A (en) | 2018-04-25 | 2018-04-25 | A kind of ultra-large type answers the automatic mounting tool of material siding and installation method |
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| Publication Number | Publication Date |
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| CN108381137A true CN108381137A (en) | 2018-08-10 |
Family
ID=63065805
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810379778.6A Pending CN108381137A (en) | 2018-04-25 | 2018-04-25 | A kind of ultra-large type answers the automatic mounting tool of material siding and installation method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109764848A (en) * | 2019-01-31 | 2019-05-17 | 西北工业大学 | A kind of flexible frock towards skin-covering face scanning |
| CN110239421A (en) * | 2019-05-17 | 2019-09-17 | 陕西飞机工业（集团）有限公司 | A kind of the transport overturning tooling and transportation resources of the part turnover posture adjustment of aircraft ultra-wide |
| CN111805273A (en) * | 2020-05-27 | 2020-10-23 | 北京卫星制造厂有限公司 | Flexible tool for multi-point multi-degree-of-freedom adsorption position |
| CN113548193A (en) * | 2021-07-27 | 2021-10-26 | 中航西安飞机工业集团股份有限公司 | Method for transferring composite material wall plate in aircraft wing box assembling process |
| CN113770267A (en) * | 2021-09-14 | 2021-12-10 | 大连汇程铝业有限公司 | Low-temperature creep forming method for high-strength high-toughness aluminum alloy ribbed integral wallboard by explorator |
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| CN113770267A (en) * | 2021-09-14 | 2021-12-10 | 大连汇程铝业有限公司 | Low-temperature creep forming method for high-strength high-toughness aluminum alloy ribbed integral wallboard by explorator |
| CN113770267B (en) * | 2021-09-14 | 2024-04-09 | 大连汇程铝业有限公司 | Low-temperature creep forming method for high-strength high-toughness aluminum alloy ribbed integral wallboard profiling |
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Application publication date: 20180810 |