CN109131929A - A kind of Composite Panels do the wet covering docking equipment of stringer and method - Google Patents
A kind of Composite Panels do the wet covering docking equipment of stringer and method Download PDFInfo
- Publication number
- CN109131929A CN109131929A CN201811021957.9A CN201811021957A CN109131929A CN 109131929 A CN109131929 A CN 109131929A CN 201811021957 A CN201811021957 A CN 201811021957A CN 109131929 A CN109131929 A CN 109131929A
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- China
- Prior art keywords
- gantry
- stringer
- sliding rail
- covering
- mechanical arm
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Classifications
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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
Abstract
Stringer wet covering docking equipment and method are done this application discloses a kind of Composite Panels, which includes basic platform, X to sliding rail, two pickup gantry, docking gantry, a covering mould tire, stringer rack；Two rows of X are longitudinally arranged in parallel on table top to sliding rail along basic platform, two pickup gantry and a docking gantry are connected to X in turn on sliding rail and can move along X to sliding rail, covering mould tire and stringer rack are placed on basic platform surface two rows X among sliding rail side by side, it picks up gantry and docking gantry is equipped with mechanical arm, mechanical arm moves along Y-direction sliding rail and does space six-freedom motion, drives clamp structure to move through positioning compression structure and covering is fixed and clamped on covering mould tire.
Description
Technical field
This application involves aircraft components mounting technology, especially a kind of Composite Panels do the wet covering of stringer to tipping
Standby and method.
Background technique
In aircraft product component, there are many siding base part, and frame sections, wing box, horizontal tail of hanging down all are by siding, frame rib, cut
The structure compositions such as corner cut piece, what every kind of wall panel assembly was made of wall panel skin and stringer.Wall panel skin and stringer are formed
It when wall panel assembly, needs accurately to navigate to stringer on covering, this just needs to realize its positioning by related process equipment.
It is generally positioned using metal stringer, wall panel skin using assembly jig and locating clamp plate, with composite material
The development and application of technology, the wet covering prepackage of the wet covering of wet stringer, dry stringer is all indispensable in Composite Panels forming process
A kind of contour machining procedure, be the hot-forming last stage when due to its stringer, wall panel skin docking, part especially covering is big
Partial picture has an adhesivity, manpower, it is mechanical cannot contact easily, common positioning means it is difficult to ensure that it is positioned,
Its problem place is especially just more highlighted when this covering exceeds the width of manpower reach.
Be related to dry stringer, wet covering be composite material structure situation under, need stringer by picking up, placing,
Take isolation film, docking, compacting and etc. realize stringer accurate positioning compress, stringer section generally by height 40~150mm, width
30~80mm of degree, 60~200mm of interval are differed, and these stringers have the various type shapes such as L, work, T, Z, real in smaller space
The general positioning of these existing stringers needs to fully consider basic demands and the processes such as stringer pickup, positioning, compression, this is just docked
Equipment and method require extremely complex.
There are relevant research and test in the production of planemakers' related compound material such as Boeing, Air Passenger at present, but related
Process is extremely complex, equipment manufacturing cost is very high, versatility is very limited, so needing to send out for international and domestic composite material
Show shape, studies that corresponding cost is more cheap, versatility compared with strong, the simple interconnection method of process and technical equipment is necessarily to become
Gesture.
Summary of the invention
The purpose of the application is to provide a kind of Composite Panels and does the wet covering docking equipment of stringer and method, this method and
Equipment can be adapted for the docking that all kinds of aircraft target ships do the wet covering of stringer, be that one kind is low in cost, versatile, process is simple
Stringer covering interconnection method and equipment.
To achieve the above objectives, the application, which adopts the following technical scheme that, is achieved:
A kind of Composite Panels do the wet covering docking equipment of stringer, and structure includes basic platform, X to sliding rail, two
Pick up gantry, docking gantry, a covering mould tire, stringer rack；Two rows of X are longitudinally arranged in parallel in sliding rail along basic platform
On table top, two pickup gantry and a docking gantry are connected to X in turn on sliding rail and can move along X to sliding rail, covering mould
It includes that gantry frame, Y-direction are sliding that tire and stringer rack are placed on basic platform surface two rows X to gantry among sliding rail, is picked up side by side
Rail, two mechanical arms and its clamp structure, Y-direction sliding rail are arranged on two sides of gantry frame crossbeam, and it is sliding that mechanical arm is fixed on Y-direction
On rail, clamp structure is fixed on mechanical arm tail end, and mechanical arm moves along Y-direction sliding rail and do space six-freedom motion, drives folder
Structure motion is held to designated position；Docking gantry includes gantry frame, Y-direction sliding rail, two mechanical arms, clamp structure, positioning compressions
Structure, Y-direction sliding rail are arranged on two sides of gantry frame crossbeam, and mechanical arm is fixed on Y-direction sliding rail, clamp structure and positioning pressure
Locking structure is separately fixed at two mechanical arm tail ends, and mechanical arm moves along Y-direction sliding rail and do space six-freedom motion, drives folder
Structure and positioning compression structure motion are held to designated position.
Carrying out the method that the dry wet covering of stringer docks with the equipment, specific step is as follows:
(a) picking up gantry, docking gantry and its mechanical arm drives positioning compression structure and clamp structure to withdraw to basic flat
Platform is in a longitudinal end；
(b) covering mould tire, stringer rack enter in the frame region of gantry, to covering mould tire and stringer under global coordinate system
The spatial relation of rack is demarcated；
(c) picking up gantry, docking gantry and mechanical arm drives positioning compression structure and clamp structure according to stringer length position
It sets and is uniformly distributed, pick up gantry with gantry is docked and pass through mechanical arm and its positioning compression structure and clamp structure for stringer rack
On stringer clamp, pick up on covering mould tire, stringer is placed on the initial position location on covering；
(d) picking up gantry and its mechanical arm drives clamp structure to be detached from stringer, moves to basic platform in longitudinal another
End, the one of mechanical arm in docking gantry drive clamp structure to be detached from stringer and are upwards collected through to apart from covering mould tire highest point
It is fixed after 150mm or more；
(e) docking gantry drives positioning compression structure that will grow according to a stringer end and its vertical rib side by mechanical arm
Purlin course and axis face are accurately positioned, and then stringer are compacted on covering using positioning compression structure, from the one of stringer
A end positioning compression is positioned to another end until completing；
(f) picking up gantry, docking gantry and its mechanical arm drives positioning compression structure and clamp structure to withdraw, and carries out next
The pickup of a stringer, clamping, positioning, rolling step；
(g) after the positioning compression for completing all stringers of monolithic siding and covering, to the siding connected with covering mould tire and length
Purlin rack is successively withdrawn, and docks process into lower one of siding stringer and covering.
The advantages of the application, is that the running fix of gantry frame-type end effector and accurate non-precision positioning, which is utilized, to be distinguished
Basic principle, the versatility in the docking of stringer covering is realized by lesser cost and is positioned, to can technique for aircraft composite it is dry
The wet skinpiston of stringer forms general applicability.
The application is described in further detail with reference to the accompanying drawings and embodiments.
Detailed description of the invention
A kind of Composite Panels of Fig. 1 do the wet covering of stringer and dock equipment configuration figure
Fig. 2 positioning and gantry position relational graph
Fig. 3 stringer is picked up and positioning figure
Explanation: 1, basic platform is numbered in figure；2, X is to sliding rail；3, gantry is picked up；4, gantry is docked；5, covering mould tire；6,
Stringer rack；7, gantry frame；8, Y-direction sliding rail；9, mechanical arm；10, clamp structure；11, positioning compression structure；12, siding；
13, stringer；14, covering；15, global coordinate system.
Specific embodiment
Referring to FIG. 1 to FIG. 3, a kind of wet covering docking equipment of the dry stringer of Composite Panels, structure includes basic platform
1, X is to 3, one, the pickup gantry of sliding rail 2, two docking gantry 4, covering mould tire 5, stringer rack 6；Two rows of X are to sliding rail 2 along base
Plinth platform 1 is longitudinal to be arranged in parallel on table top, and two pickup gantry 3 and a docking gantry 4 are connected to X in turn on sliding rail 2
And can be moved along X to sliding rail 2, covering mould tire 5 and stringer rack 6 are placed on 1 surface two rows X of basic platform to sliding rail 2 side by side
Centre, picking up gantry 3 includes that gantry frame 7,8, two mechanical arms 9 of Y-direction sliding rail and its clamp structure 10, Y-direction sliding rail 8 are arranged in dragon
On 7 crossbeam of doorframe, two sides, mechanical arm 9 is fixed on Y-direction sliding rail 8, and clamp structure 10 is fixed on mechanical arm tail end, mechanical arm
9 move along Y-direction sliding rail 8 and do space six-freedom motion, and clamp structure 10 is driven to move to designated position；Gantry 4 is docked to wrap
Gantry frame 7, Y-direction sliding rail 8, two mechanical arms 9, clamp structure 10, positioning compression structures 11 are included, Y-direction sliding rail 8 is arranged in gantry frame
On 7 two, crossbeam sides, mechanical arm 9 is fixed on Y-direction sliding rail 8, and clamp structure 10 and positioning compression structure 11 are separately fixed at
Two 9 ends of mechanical arm, mechanical arm 9 move along Y-direction sliding rail 8 and do space six-freedom motion, drive clamp structure 10 and determine
Position compressing structure 11 moves to designated position.
Operating method and step are specific as follows when being docked:
(a) pick up gantry 3, docking gantry 4 and its mechanical arm 9 drive positioning compression structure 11 and clamp structure 10 withdraw to
Basic platform 1 is in a longitudinal end；
(b) covering mould tire 5, stringer rack 6 enter in 7 region of gantry frame, to covering mould tire 5 under global coordinate system 15
It is demarcated with the spatial relation of stringer rack 6；
(c) picking up gantry 3, docking gantry 4 and mechanical arm 9 drives positioning compression structure 11 and clamp structure 10 according to stringer
13 extension positions are uniformly distributed, and are picked up gantry 3 with gantry 4 is docked and are passed through mechanical arm 9 and its positioning compression structure 11 and clamping knot
Stringer 13 on stringer rack 6 is clamped, is picked up to covering mould tire 5 by structure 10, stringer 13 is placed on first on covering 14
On beginning position location；
(d) it picks up gantry 3 and its mechanical arm 9 drives clamp structure 10 to be detached from stringer, move to basic platform 1 in the another of longitudinal direction
One end, the docking one of mechanical arm 9 in gantry 7 drive clamp structure 10 to be detached from stringer 13 and are upwards collected through to apart from covering mould
It is fixed after 5 highest point 150mm of tire or more；
(e) docking gantry 4 drives positioning compression structure 11 according to 13 end of stringer and its vertical rib side by mechanical arm 9
Stringer course and axis face are accurately positioned in face, and then stringer 13 is compacted in covering 14 using positioning compression structure 11
On, from an end positioning compression of stringer 13 to another end, positioning is up to completing；
(f) picking up gantry 3, docking gantry 4 and its mechanical arm 9 drives positioning compression structure 11 and clamp structure 10 to withdraw,
Carry out the pickup, clamping, positioning, rolling step of next stringer 13；
(g) after the positioning compression for completing all stringers 13 of monolithic siding 12 and covering 14, to the siding 12 connected with covering
Mould tire 5 and stringer rack 6 are successively withdrawn, and dock process into lower one of siding, 12 stringer 13 and covering 14.
Claims (2)
1. a kind of Composite Panels do the wet covering docking equipment of stringer, described to be characterized in that its structure includes basic platform, X
To sliding rail, two pickup gantry, docking gantry, a covering mould tire, stringer rack；Two rows of X are vertical along basic platform to sliding rail
To being arranged in parallel on table top, two pickup gantry and a docking gantry are connected to X in turn on sliding rail and can be along X to sliding rail
Mobile, covering mould tire and stringer rack are placed on basic platform surface two rows X among sliding rail side by side, and picking up gantry includes dragon
Doorframe, Y-direction sliding rail, two mechanical arms and its clamp structure, Y-direction sliding rail are arranged on two sides of gantry frame crossbeam, mechanical arm
It is fixed on Y-direction sliding rail, clamp structure is fixed on mechanical arm tail end, and mechanical arm moves along Y-direction sliding rail and does space six degree of freedom
Movement drives clamp structure to move to designated position；Docking gantry includes gantry frame, Y-direction sliding rail, two mechanical arms, clamping knot
Structure, positioning compression structure, Y-direction sliding rail are arranged on two sides of gantry frame crossbeam, and mechanical arm is fixed on Y-direction sliding rail, clamping
Structure and positioning compression structure are separately fixed at two mechanical arm tail ends, and mechanical arm moves along Y-direction sliding rail and does space six freely
Degree movement, drives clamp structure and positioning compression structure motion to designated position.
2. a kind of Composite Panels do the wet covering interconnection method of stringer, it is characterised in that include the following steps:
2-1 picks up gantry, docking gantry and its mechanical arm and positioning compression structure and clamp structure is driven to withdraw to basic platform and exist
A longitudinal end；
2-2 covering mould tire, stringer rack enter in the frame region of gantry, put under global coordinate system to covering mould tire and stringer
The spatial relation for setting frame is demarcated；
2-3 picks up gantry, docking gantry and mechanical arm and drives positioning compression structure and clamp structure equal according to stringer extension position
Even distribution, pick up gantry with dock that gantry passes through mechanical arm and its positioning compression structure and clamp structure will be on stringer rack
Stringer is clamped, is picked up to covering mould tire, and stringer is placed on the initial position location on covering；
2-4 picks up gantry and its mechanical arm drives clamp structure to be detached from stringer, moves to basic platform at another longitudinal end
Head, the one of mechanical arm in docking gantry drive clamp structure to be detached from stringer and are upwards collected through to apart from covering mould tire highest point
It is fixed after 150mm or more；
2-5 docks gantry and drives positioning compression structure one stringer end of foundation and its vertical rib side by stringer by mechanical arm
Course and axis face are accurately positioned, and then stringer are compacted on covering using positioning compression structure, from one of stringer
End positioning compression is positioned to another end until completing；
2-6 picks up gantry, docking gantry and its mechanical arm and positioning compression structure and clamp structure is driven to withdraw, and carries out next
The pickup of stringer, clamping, positioning, rolling step；
After 2-7 completes the positioning compression of all stringers of monolithic siding and covering, the siding connected is put with covering mould tire and stringer
It sets frame successively to withdraw, docks process into lower one of siding stringer and covering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811021957.9A CN109131929B (en) | 2018-09-03 | 2018-09-03 | Composite material wallboard dry stringer wet skin butt joint equipment and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811021957.9A CN109131929B (en) | 2018-09-03 | 2018-09-03 | Composite material wallboard dry stringer wet skin butt joint equipment and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109131929A true CN109131929A (en) | 2019-01-04 |
| CN109131929B CN109131929B (en) | 2023-10-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811021957.9A Active CN109131929B (en) | 2018-09-03 | 2018-09-03 | Composite material wallboard dry stringer wet skin butt joint equipment and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109131929B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113650196A (en) * | 2021-07-27 | 2021-11-16 | 中航西安飞机工业集团股份有限公司 | Accurate positioning device for T-shaped wet stringer forming die and using method |
| CN114434827A (en) * | 2022-01-27 | 2022-05-06 | 西安交通大学 | Multi-station robot type automatic manufacturing method and device for special-shaped long purlin made of composite material |
| DE102022204733A1 (en) | 2022-05-13 | 2023-11-16 | Airbus Operations Gmbh | Transport device and method for attaching a stringer |
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| US5701651A (en) * | 1995-05-26 | 1997-12-30 | The Boeing Company | Composite stringer and skin panel assembly machine |
| CN102019592A (en) * | 2009-09-10 | 2011-04-20 | 中国航空工业集团公司北京航空制造工程研究所 | Positioning apparatus for shaping large-size stiffened panel made of composite material |
| CN102248389A (en) * | 2011-03-24 | 2011-11-23 | 西北工业大学 | Multipoint flexible positioning method and tool for automatic drilling and riveting assembly of wallboard |
| CN106392427A (en) * | 2016-11-25 | 2017-02-15 | 哈尔滨工业大学 | T-shaped structural beam rib welding positioning device |
| CN106742041A (en) * | 2016-12-19 | 2017-05-31 | 中航成飞民用飞机有限责任公司 | Aircraft skin positioning compression device |
| CN107336844A (en) * | 2017-07-04 | 2017-11-10 | 西安飞机工业（集团）有限责任公司 | A kind of multiple material stringer of aircraft, wall panel skin upset docking equipment and docking calculation |
| US20180050787A1 (en) * | 2016-08-16 | 2018-02-22 | The Boeing Company | Aircraft composite wingbox integration |
| CN209023154U (en) * | 2018-09-03 | 2019-06-25 | 西安飞机工业（集团）有限责任公司 | A kind of wet covering docking equipment of the dry stringer of Composite Panels |
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Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5701651A (en) * | 1995-05-26 | 1997-12-30 | The Boeing Company | Composite stringer and skin panel assembly machine |
| CN102019592A (en) * | 2009-09-10 | 2011-04-20 | 中国航空工业集团公司北京航空制造工程研究所 | Positioning apparatus for shaping large-size stiffened panel made of composite material |
| CN102248389A (en) * | 2011-03-24 | 2011-11-23 | 西北工业大学 | Multipoint flexible positioning method and tool for automatic drilling and riveting assembly of wallboard |
| US20180050787A1 (en) * | 2016-08-16 | 2018-02-22 | The Boeing Company | Aircraft composite wingbox integration |
| CN106392427A (en) * | 2016-11-25 | 2017-02-15 | 哈尔滨工业大学 | T-shaped structural beam rib welding positioning device |
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| CN209023154U (en) * | 2018-09-03 | 2019-06-25 | 西安飞机工业（集团）有限责任公司 | A kind of wet covering docking equipment of the dry stringer of Composite Panels |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113650196A (en) * | 2021-07-27 | 2021-11-16 | 中航西安飞机工业集团股份有限公司 | Accurate positioning device for T-shaped wet stringer forming die and using method |
| CN114434827A (en) * | 2022-01-27 | 2022-05-06 | 西安交通大学 | Multi-station robot type automatic manufacturing method and device for special-shaped long purlin made of composite material |
| DE102022204733A1 (en) | 2022-05-13 | 2023-11-16 | Airbus Operations Gmbh | Transport device and method for attaching a stringer |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109131929B (en) | 2023-10-20 |
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