CN109131929B - Composite material wallboard dry stringer wet skin butt joint equipment and method - Google Patents
Composite material wallboard dry stringer wet skin butt joint equipment and method Download PDFInfo
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- CN109131929B CN109131929B CN201811021957.9A CN201811021957A CN109131929B CN 109131929 B CN109131929 B CN 109131929B CN 201811021957 A CN201811021957 A CN 201811021957A CN 109131929 B CN109131929 B CN 109131929B
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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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- Aviation & Aerospace Engineering (AREA)
- Automatic Assembly (AREA)
- Casting Or Compression Moulding Of Plastics Or The Like (AREA)
Abstract
The application discloses a composite material wallboard dry stringer wet skin butt joint device and a method, wherein the device comprises a basic platform, an X-direction sliding rail, two pickup gantry, a butt joint gantry, a skin mold and a stringer placing frame; two rows of X-direction sliding rails are longitudinally and parallelly arranged on the table top along the foundation platform, two pickup gantry and a butt joint gantry are sequentially connected to the X-direction sliding rails and can move along the X-direction sliding rails, the skin mold and the stringer placing rack are placed in parallel between the two rows of X-direction sliding rails on the surface of the foundation platform, mechanical arms are arranged on the pickup gantry and the butt joint gantry, move along the Y-direction sliding rails and do space six-degree-of-freedom movement, drive the clamping structure to move, and fixedly compress the skin on the skin mold through the positioning compression structure.
Description
Technical Field
The application relates to an aircraft component assembly technology, in particular to a butt joint device and a butt joint method for a composite material panel dry stringer wet skin.
Background
In aircraft product components, many panel components, fuselage sections, wing boxes, vertical and horizontal tails, are made up of panel, frame ribs, shear angle pieces, and the like, and each panel assembly is made up of panel skins and stringers. When the panel skin and stringers form a panel assembly, accurate positioning of the stringers to the skin is required, which requires positioning thereof by the associated process equipment.
The metal stringers and the panel skins are generally positioned by adopting an assembly type frame and a positioning clamping plate, along with the development and application of a composite material technology, the wet stringers and the dry stringers and the wet skin are all necessary forming processing technology in the composite material panel forming process, as the stringers and the panel skins are in a pre-hot press forming stage when being in butt joint, parts, particularly the skins, are adhesive in most cases, human power and machinery cannot easily contact with the parts, the positioning of the parts is difficult to be ensured by a common positioning means, and the problem is more obvious particularly when the skins exceed the width of a human hand reaching range.
Under the condition that the dry stringers and the wet skins are both of composite material structures, accurate positioning and compaction of the stringers are needed to be realized through steps of picking up, placing, taking isolation films, butting, compacting and the like, the cross sections of the stringers are generally different from each other in height 40-150 mm, width 30-80 mm and interval 60-200 mm, the stringers have various shapes such as L, worker, T, Z and the like, general positioning of the stringers is needed to be realized in a small space, and basic requirements and processes such as stringer picking up, positioning, compaction and the like are needed to be fully considered, so that the butting equipment and method requirements are very complex.
At present, related researches and experiments are carried out on the production of related composite materials of aircraft manufacturers such as boeing, air and passenger, but related processes are very complex, equipment manufacturing cost is very high, and universality is very limited, so that the butt joint method and technical equipment with relatively low cost, relatively high universality and simple processes are necessary trends to research the development status quo of the international and domestic composite materials.
Disclosure of Invention
The application aims to provide a composite material wallboard dry and stringer wet skin butt joint device and method, which can be suitable for butt joint of various aircraft wallboard dry and stringer wet skins, and is a stringer skin butt joint method and device with low cost, strong universality and simple flow.
In order to achieve the purpose, the application adopts the following technical scheme:
the composite material wallboard dry stringer wet skin butt joint equipment structurally comprises a basic platform, an X-direction sliding rail, two pickup gantry, a butt joint gantry, a skin mold and a stringer placing frame; the two rows of X-direction sliding rails are longitudinally and parallelly arranged on the table top along the foundation platform, the two pickup gantry and one butt joint gantry are sequentially connected to the X-direction sliding rails and can move along the X-direction sliding rails, the skin mold and the stringer placing rack are placed in parallel between the two rows of X-direction sliding rails on the surface of the foundation platform, the pickup gantry comprises a gantry frame, Y-direction sliding rails, two mechanical arms and clamping structures thereof, the Y-direction sliding rails are arranged on two side surfaces of a gantry frame beam, the mechanical arms are fixed on the Y-direction sliding rails, the clamping structures are fixed at the tail ends of the mechanical arms, and the mechanical arms move along the Y-direction sliding rails and do space six-degree-of-freedom movement to drive the clamping structures to move to specified positions; the butt joint longmen includes longmen frame, Y to slide rail, two arms, clamping structure, location compress tightly the structure, and Y is to the slide rail arrangement on two sides of longmen frame crossbeam, and the arm is fixed on Y to the slide rail, and clamping structure and location compress tightly the structure and fix respectively at two arm ends, and the arm removes along Y to the slide rail and do space six degrees of freedom and move, drives clamping structure and location compress tightly the structure and move to appointed position.
The method for butt joint of the dry stringer wet skin by using the equipment comprises the following specific steps:
(a) The pick-up gantry, the butt-joint gantry and the mechanical arm drive the positioning and pressing structure and the clamping structure to withdraw to one longitudinal end of the basic platform;
(b) The skin mould and the stringer placing frame enter a gantry frame area, and the spatial position relationship of the skin mould and the stringer placing frame is calibrated under a global coordinate system;
(c) The picking up gantry, the butt-joint gantry and the mechanical arm drive the positioning and pressing structure and the clamping structure to be uniformly distributed according to the length positions of the stringers, the picking up gantry and the butt-joint gantry clamp and pick up the stringers on the stringers placing frame to the skin mold through the mechanical arm, the positioning and pressing structure and the clamping structure of the mechanical arm, and place the stringers on the initial positioning positions on the skin;
(d) The picking gantry and the mechanical arms thereof drive the clamping structure to separate from the stringer and move to the other end of the foundation platform in the longitudinal direction, and one mechanical arm of the docking gantry drives the clamping structure to separate from the stringer and retract upwards to be more than 150mm away from the highest point of the skin mold and then fix;
(e) The butt joint gantry drives a positioning and pressing structure through a mechanical arm to accurately position the heading and the axial surface of the stringer according to one stringer end and the side surface of the vertical rib of the stringer, and then the stringer is pressed on the skin by the positioning and pressing structure, and the stringer is positioned and pressed from one end to the other end until the positioning is completed;
(f) The picking up gantry, the butt-joint gantry and the mechanical arm thereof drive the positioning and pressing structure and the clamping structure to withdraw, and the next working procedures of picking up, clamping, positioning and rolling the stringers are carried out;
(g) After the positioning and compaction of all stringers and skins of the single wallboard are completed, the butted wallboard is sequentially evacuated along with the skin mold and the stringer placing frame, and the butted process of the stringers and the skins of the next wallboard is carried out.
The application has the advantages that the application utilizes the basic principles of the movable positioning and the precise and non-precise positioning distinction of the gantry frame type end effector, realizes the universal positioning of the butt joint of the stringer skin through lower cost, and has universal applicability to the molding of the composite material dry stringer wet skin panel of the aeroplane.
The present application will be described in further detail with reference to the accompanying drawings and examples.
Drawings
FIG. 1 is a block diagram of a composite panel dry stringer wet skin butt joint apparatus
FIG. 2 is a diagram of positional relationship between a positioning device and a gantry
FIG. 3 stringer pick and position map
The numbering in the figures illustrates: 1. a base platform; 2. an X-direction slide rail; 3. picking up a gantry; 4. docking the gantry; 5. covering mould; 6. a stringer rest; 7. a door frame; 8. a Y-direction slide rail; 9. a mechanical arm; 10. a clamping structure; 11. positioning and compacting the structure; 12. a wall plate; 13. stringers; 14. a skin; 15. and a global coordinate system.
Detailed Description
Referring to fig. 1-3, a composite material wallboard dry stringer wet skin butt joint device structurally comprises a basic platform 1, an X-direction sliding rail 2, two pickup gantry 3, a butt joint gantry 4, a skin mold 5 and a stringer placing frame 6; the two rows of X-direction sliding rails 2 are longitudinally and parallelly arranged on the table surface along the foundation platform 1, two pickup gantry 3 and a butt joint gantry 4 are sequentially connected to the X-direction sliding rails 2 and can move along the X-direction sliding rails 2, a skin mold 5 and a stringer placing rack 6 are placed in parallel between the two rows of X-direction sliding rails 2 on the surface of the foundation platform 1, the pickup gantry 3 comprises a gantry frame 7, Y-direction sliding rails 8, two mechanical arms 9 and clamping structures 10 thereof, the Y-direction sliding rails 8 are arranged on two lateral surfaces of a beam of the gantry frame 7, the mechanical arms 9 are fixed on the Y-direction sliding rails 8, the clamping structures 10 are fixed at the tail ends of the mechanical arms, and the mechanical arms 9 move along the Y-direction sliding rails 8 and move in six degrees of freedom in space to drive the clamping structures 10 to move to a designated position; the docking gantry 4 comprises a gantry frame 7, a Y-direction sliding rail 8, two mechanical arms 9, a clamping structure 10 and a positioning compressing structure 11, wherein the Y-direction sliding rail 8 is arranged on two lateral surfaces of a beam of the gantry frame 7, the mechanical arms 9 are fixed on the Y-direction sliding rail 8, the clamping structure 10 and the positioning compressing structure 11 are respectively fixed at the tail ends of the two mechanical arms 9, and the mechanical arms 9 move along the Y-direction sliding rail 8 and do space six-degree-of-freedom movement to drive the clamping structure 10 and the positioning compressing structure 11 to move to a designated position.
The operation method and the steps during the butt joint are as follows:
(a) The pick-up gantry 3, the docking gantry 4 and the mechanical arm 9 drive the positioning and pressing structure 11 and the clamping structure 10 to withdraw to one end of the foundation platform 1 in the longitudinal direction;
(b) The skin mold 5 and the stringer placing frame 6 enter the area of the keel frame 7, and the spatial position relationship between the skin mold 5 and the stringer placing frame 6 is calibrated under the global coordinate system 15;
(c) The pickup gantry 3, the butt-joint gantry 4 and the mechanical arm 9 drive the positioning and pressing structure 11 and the clamping structure 10 to be uniformly distributed according to the length positions of the stringers 13, the pickup gantry 3 and the butt-joint gantry 4 clamp and pick the stringers 13 on the stringers placing frame 6 to the skin mold 5 through the mechanical arm 9 and the positioning and pressing structure 11 and the clamping structure 10, and the stringers 13 are placed at the initial positioning positions on the skin 14;
(d) The picking gantry 3 and the mechanical arms 9 thereof drive the clamping structure 10 to separate from the stringers and move to the other end of the foundation platform 1 in the longitudinal direction, and one mechanical arm 9 of the docking gantry 7 drives the clamping structure 10 to separate from the stringers 13 and retract upwards to be more than 150mm away from the highest point of the skin mold 5 and then fix;
(e) The butt joint gantry 4 drives a positioning and pressing structure 11 to accurately position the heading and the axial surface of the stringer according to the end head of one stringer 13 and the side surface of the vertical rib of the stringer through a mechanical arm 9, then the stringer 13 is compacted on a skin 14 through the positioning and pressing structure 11, and the stringer 13 is positioned and pressed from one end head to the other end head until the positioning is completed;
(f) The picking up gantry 3, the butt-joint gantry 4 and the mechanical arm 9 drive the positioning and pressing structure 11 and the clamping structure 10 to withdraw, and the next working procedures of picking up, clamping, positioning and rolling the stringers 13 are carried out;
(g) After the positioning and pressing of all stringers 13 and skins 14 of the single wallboard 12 are completed, the butted wallboard 12 is sequentially removed along with the skin mold 5 and the stringer placing frame 6, and enters the butt joint process of the stringers 13 and the skins 14 of the next wallboard 12.
Claims (1)
1. The butt joint method of the composite material wallboard dry stringer wet skin is characterized by comprising a butt joint device, wherein the butt joint device structurally comprises a basic platform, an X-direction sliding rail, two pickup gantry, a butt joint gantry, a skin mold and a stringer placing frame; the two rows of X-direction sliding rails are longitudinally and parallelly arranged on the table top along the foundation platform, the two pickup gantry and one butt joint gantry are sequentially connected to the X-direction sliding rails and can move along the X-direction sliding rails, the skin mold and the stringer placing rack are placed in parallel between the two rows of X-direction sliding rails on the surface of the foundation platform, the pickup gantry comprises a gantry frame, Y-direction sliding rails, two mechanical arms and clamping structures thereof, the Y-direction sliding rails are arranged on two side surfaces of a gantry frame beam, the mechanical arms are fixed on the Y-direction sliding rails, the clamping structures are fixed at the tail ends of the mechanical arms, and the mechanical arms move along the Y-direction sliding rails and do space six-degree-of-freedom movement to drive the clamping structures to move to specified positions; the butt joint gantry comprises a gantry frame, Y-direction sliding rails, two mechanical arms, a clamping structure and a positioning pressing structure, wherein the Y-direction sliding rails are arranged on two side surfaces of a gantry frame beam, the mechanical arms are fixed on the Y-direction sliding rails, the clamping structure and the positioning pressing structure are respectively fixed at the tail ends of the two mechanical arms, the mechanical arms move along the Y-direction sliding rails and do space six-degree-of-freedom motion, the clamping structure and the positioning pressing structure are driven to move to a designated position, and the butt joint device is used for butt joint of the composite material wallboard dry and wet skin, and the butt joint method specifically comprises the following steps:
1-1, picking up a gantry, butting the gantry and a mechanical arm thereof to drive a positioning and pressing structure and a clamping structure to withdraw to one end of a basic platform in the longitudinal direction;
1-2, the skin mould and the stringer placing frame enter a gantry frame area, and the spatial position relationship of the skin mould and the stringer placing frame is calibrated under a global coordinate system;
1-3, the picking gantry, the butt-joint gantry and the mechanical arm drive the positioning and pressing structure and the clamping structure to be uniformly distributed according to the length positions of the stringers, the picking gantry and the butt-joint gantry clamp the stringers on the stringers placing frame to the skin mold through the mechanical arm, the positioning and pressing structure and the clamping structure of the mechanical arm, and the stringers are placed at initial positioning positions on the skin;
1-4, picking up the gantry and the mechanical arms thereof to drive the clamping structure to separate from the stringer, moving to the other end of the foundation platform in the longitudinal direction, butting one mechanical arm of the gantry to drive the clamping structure to separate from the stringer, upwards retracting the clamping structure to be more than 150mm away from the highest point of the skin mold, and fixing the clamping structure;
1-5, driving a positioning and pressing structure by a mechanical arm to accurately position the heading and the axial surface of the stringer according to one stringer end and the side surface of a vertical rib of the stringer, and then pressing the stringer on a skin by using the positioning and pressing structure from one end positioning and pressing of the stringer to the other end positioning until the positioning is completed;
1-6, picking up the gantry, butting the gantry and a mechanical arm thereof to drive a positioning and pressing structure and a clamping structure to withdraw, and carrying out the next working procedures of picking up, clamping, positioning and rolling the stringers;
1-7, after the positioning and compaction of all stringers and skins of a single wallboard are completed, the butted wallboard is sequentially evacuated along with a skin mold and a stringer placing frame, and then the butted process of the stringers and the skins of the next wallboard is carried out.
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 |
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| Publication Number | Publication Date |
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| CN109131929A CN109131929A (en) | 2019-01-04 |
| CN109131929B true CN109131929B (en) | 2023-10-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811021957.9A Active CN109131929B (en) | 2018-09-03 | 2018-09-03 | Composite material wallboard dry stringer wet skin butt joint equipment and method |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113650196B (en) * | 2021-07-27 | 2023-04-14 | 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 |
| CN114434827B (en) * | 2022-01-27 | 2023-06-09 | 西安交通大学 | Multi-station robot type automatic manufacturing method and device for special-shaped stringers made of composite materials |
| 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 |
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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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10207789B2 (en) * | 2016-08-16 | 2019-02-19 | The Boeing Company | Aircraft composite wingbox integration |
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| 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 |
| 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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| CN109131929A (en) | 2019-01-04 |
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