CN111746819A - Automatic assembly equipment for helicopter hub - Google Patents
Automatic assembly equipment for helicopter hub Download PDFInfo
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- CN111746819A CN111746819A CN202010662877.2A CN202010662877A CN111746819A CN 111746819 A CN111746819 A CN 111746819A CN 202010662877 A CN202010662877 A CN 202010662877A CN 111746819 A CN111746819 A CN 111746819A
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- 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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Abstract
The invention relates to automatic assembling equipment for a helicopter hub, which comprises a gantry system, a parallel mechanism and a laser tracker, wherein the laser tracker is used for calibrating parameters of the parallel mechanism; the gantry system comprises a cross beam, stand columns, stand column adjusting components, a lathe bed component and a moving platform, wherein two ends of the cross beam are respectively arranged at first ends of the two stand columns, the stand column adjusting components are arranged at second ends of the stand columns, the lathe bed component is arranged below the cross beam and between the two stand columns, the moving platform is movably arranged on the lathe bed component, and the moving platform is used for installing a main reducer of the helicopter to be assembled; the parallel mechanism is arranged on the lower end face of the cross beam. The automatic assembling equipment of the helicopter hub aims to solve the problem of low assembling efficiency in the manual assembling process.
Description
Technical Field
The invention relates to the technical field of helicopter assembling equipment, in particular to automatic assembling equipment for a helicopter hub.
Background
At present, when a main hub of a helicopter is assembled, a main speed reducer is fixed, the main hub is hoisted by a flexible sling, and the position and the posture of the main hub are adjusted by descending a crane and pulling by workers, so that the main hub and an output shaft of the speed reducer are aligned and sleeved. Because the main propeller hub is heavier, the hoisting equipment precision is not high, and personnel's cooperation can't accurate control main propeller hub's motion, very easily causes spare part damage, influences helicopter life. The manual operation seriously depends on the experience of workers, the adjustment times are more, particularly, when the main propeller hub and the main speed reducer are aligned, the adjustment is more complicated, the assembly can be completed only by repeatedly trial assembling for many times, the assembly efficiency is low, and the period is long.
Along with the research and development of large-tonnage helicopters in China, the weight and the structural size of a main propeller hub can be greatly increased, and the defect of assembly by only depending on a hoisting mode is more obvious.
The hoisting equipment has low precision, and the main propeller hub is heavy, so that the personnel cooperation operation is difficult to accurately and effectively control the movement of the main propeller hub, the movement path of the main propeller hub cannot be ensured to coincide with the axis of the output shaft of the main reducer, friction and collision inevitably exist, and the damage to parts is extremely easy to cause. When the wide teeth of the spline teeth are matched, the main propeller hub needs to be rotated to be aligned to the tooth grooves, manual control is relied on, the force is difficult to control uniformly, and the gear and the tooth grooves are easy to damage due to collision. In whole assembling process, in case artifical application of force is uneven, will take place the card and hinder the phenomenon, and in the time of serious, direct fish tail final drive output shaft surface is extremely difficult to restore, and the life-span of final drive output shaft can receive the influence, and the surface quality after the assembly is difficult to detect again, buries down hidden danger for flight safety.
The assembly process has no on-line measurement means, can be assembled only by manual observation and seriously depends on the experience of workers, has more adjustment times, often needs to be repeatedly trial-assembled for many times, and has low assembly efficiency and long period.
Therefore, the inventor provides an automatic assembling device for a helicopter hub, which is used for solving the problem of low assembling efficiency in a manual assembling process.
Disclosure of Invention
(1) Technical problem to be solved
The embodiment of the invention provides automatic assembling equipment for a helicopter hub, which reasonably adjusts the position, the posture and the motion track of a main hub at different assembling stages through a gantry system, a parallel mechanism and a laser tracker to perform accurate assembly, and solves the technical problem of low assembling efficiency in the manual assembling process.
(2) Technical scheme
The invention provides automatic assembling equipment for a helicopter hub, which comprises a gantry system, a parallel mechanism and a laser tracker, wherein the laser tracker is used for calibrating parameters of the parallel mechanism;
the gantry system comprises a cross beam, stand columns, stand column adjusting assemblies, a lathe bed assembly and a moving platform, wherein two ends of the cross beam are respectively installed at first ends of the two stand columns, the stand column adjusting assemblies are arranged at second ends of the stand columns, the lathe bed assembly is placed below the cross beam and between the two stand columns, the moving platform is movably arranged on the lathe bed assembly, and the moving platform is used for installing a main reducer of the helicopter to be assembled;
the parallel mechanism is arranged on the lower end face of the cross beam and comprises an enclosing frame assembly, sliding plate assemblies, a cross shaft assembly, a connecting rod assembly, a movable platform assembly, a vision measuring system assembly, a force sensor assembly and a quick change system assembly, the sliding plate assemblies are movably arranged on the enclosing frame assembly, one end of the connecting rod assembly is connected with the sliding plate assemblies through the cross shaft assembly, and the connecting rod assembly is rotatably connected with the cross shaft assembly; the other end of the connecting rod assembly is connected with a joint seat of the movable platform assembly, the connecting rod assembly is rotatably connected with the platform assembly, the vision measuring system assembly and a joint of the movable platform assembly are installed on the upper end face of the movable platform assembly, the output end of the force sensor assembly is installed on the lower end face of the movable platform assembly, the quick-change system assembly is installed at the input end of the force sensor assembly, and a hub to be assembled is installed on the quick-change system assembly.
Furthermore, the enclosure frame assembly comprises an upper enclosure frame, a lower enclosure frame, a motion branched chain machine base, a motor, a speed reducer, a coupling support, a coupling, a lead screw bearing seat and a lead screw;
the one end of motion branch chain frame is connected enclose the frame on, the other end of motion branch chain frame is connected enclose the frame down, the input of reduction gear with the output of motor is connected, the shaft coupling install in on the shaft coupling support, the output of reduction gear passes the dead eye of shaft coupling support one end and passes through the shaft coupling with the input of lead screw is connected, the lead screw passes the dead eye of the shaft coupling support other end, the both ends of lead screw support respectively in the shaft coupling support lead screw bearing frame.
Furthermore, the sliding plate assembly comprises a screw nut, a screw nut seat, a sliding plate, a guide rail sliding block, a Hooke hinge support, a first bearing end cover, a first bearing adjusting gasket and a first bearing gland;
the lead screw nut is installed in the lead screw nut seat, the lead screw passes lead screw nut, lead screw nut seat is installed on the slide, the slide passes through the guide rail slider movably connect in the motion branch chain frame, hooke hinged-support installs on the slide, first bearing is installed in the bearing hole of hooke hinged-support, install on the bearing hole terminal surface of hooke hinged-support one end first bearing end cover, install in proper order on the bearing hole terminal surface of the hooke hinged-support other end first bearing adjusting shim first bearing cap.
Further, the cross shaft assembly comprises a stepped shaft, a secondary shaft, a positioning locking bolt and a laser tracker target bushing;
the auxiliary shafts penetrate through the stepped shaft to form a cross shaft, the positioning locking bolts respectively penetrate through the stepped shaft and the auxiliary shafts, the laser tracker target bushing is installed at the end portion of the auxiliary shafts, and the stepped shaft is rotatably installed in a bearing hole of the Hooke hinge support through the first bearing.
Furthermore, the connecting rod assembly comprises a hook hinge fork ear, a second bearing end cover, a second bearing adjusting gasket, a second bearing cover, a connecting rod, a hook hinge fork ear positioning key, a spherical joint head and a spherical joint head positioning key;
the second bearing is arranged in a bearing hole of the Hooke hinge lug, and the end face of the bearing hole at one end of the Hooke hinge lug is provided with the second bearing end cover; the second bearing adjusting gasket and the second bearing pressure cover are sequentially arranged on the end face of the bearing hole at the other end of the hook hinge fork ear; the auxiliary shaft is rotatably installed in a bearing hole of the hook hinge fork ear through the second bearing, the hook hinge fork ear is connected with one end of the connecting rod, the hook hinge fork ear positioning key is arranged at the joint of the hook hinge fork ear and the connecting rod, the spherical joint head is connected with the other end of the connecting rod, and the spherical joint head positioning key is arranged at the joint of the spherical joint head and the connecting rod.
Further, the movable platform assembly comprises a ball joint seat, a movable platform and a laser tracker target bushing;
the spherical joint seats are arranged on the first end surface of the movable platform, and the spherical joint heads are respectively movably connected with the corresponding spherical joint seats one by one; a plurality of the laser tracker target bushings are mounted on the ball joint seat.
Further, the vision measuring system component comprises a camera horizontal moving platform, a camera vertical moving platform, a vision positioning unit and a reference circle calibration unit;
the at least three camera horizontal moving platforms are movably arranged on the first end face of the moving platform, the camera vertical moving platform is movably arranged on the camera horizontal moving platform, the visual positioning unit is arranged on the camera vertical moving platform, the first camera horizontal moving platform and the second camera horizontal moving platform are respectively used for measuring the upper end faces of the main hub and the output shaft of the main reducer, and the reference circle calibrating unit is arranged on the third camera horizontal moving platform.
Further, the force sensor assembly comprises a force sensor, a force sensor input adapter plate and a force sensor output adapter plate;
the input end and the mounting end of the force sensor are respectively connected with the force sensor input adapter plate and the force sensor output adapter plate, the force sensor input adapter plate is connected with the quick-change system component, and the force sensor output adapter plate is connected with the movable platform.
Furthermore, the quick-change system component comprises a quick-change disc support, a zero positioning system, an electric signal transmission module, a bus signal transmission module and a compressed air transmission module;
the zero point positioning system, the electric signal transmission module, the bus signal transmission module and the compressed air transmission module are all installed on the quick-change disk support.
Further, the parallel mechanism is a 6-PUS parallel mechanism.
(3) Advantageous effects
In conclusion, the gantry system, the parallel mechanism and the laser tracker are used for calibrating parameters of the parallel mechanism; the gantry system comprises a cross beam, stand columns, stand column adjusting components, a lathe bed component and a moving platform, wherein two ends of the cross beam are respectively arranged at first ends of the two stand columns, the stand column adjusting components are arranged at second ends of the stand columns, the lathe bed component is arranged below the cross beam and between the two stand columns, the moving platform is movably arranged on the lathe bed component, and the moving platform is used for installing a main reducer of the helicopter to be assembled; the parallel mechanism is arranged on the lower end face of the cross beam. The method has the advantages that the digital measuring equipment is utilized, the outline of the key feature is accurately obtained, the space position and the posture of the part are calculated according to the outline of the key feature, the observation of human eyes is completely replaced, the multi-degree-of-freedom parallel mechanism is guided to reasonably adjust the position, the posture and the motion track of the main propeller hub in different assembling stages, the accurate assembly is carried out, the friction and the collision between the spline teeth of the main propeller hub and the output shaft of the main reducer are reduced, the assembling quality of the key part of the helicopter lift system is improved, the manual participation is reduced, the repeated trial assembly in the manual assembling process is avoided, and the.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of the general structure of an automated assembly apparatus for a helicopter hub according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a gantry system in an automated assembly apparatus for a helicopter hub according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a parallel mechanism in an automated assembly apparatus for a helicopter hub according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of a mast adjustment assembly in an automated assembly apparatus for a helicopter hub according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a bed assembly in an automated assembly apparatus for a helicopter hub according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a frame assembly of an automated assembly apparatus for a helicopter hub according to an embodiment of the present invention;
FIG. 7 is a schematic structural view of a slide plate assembly in an automated assembly apparatus for a helicopter hub according to an embodiment of the present invention;
FIG. 8 is a schematic structural view of a cruciform assembly in an automated assembly device for a helicopter hub according to an embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a link assembly in an automated assembly apparatus for a helicopter hub according to an embodiment of the present invention;
FIG. 10 is a schematic structural view of a movable platform assembly in an automated assembly apparatus for a helicopter hub according to an embodiment of the present invention;
FIG. 11 is a schematic diagram of the components of a vision measurement system in an automated assembly apparatus for a helicopter hub according to an embodiment of the present invention;
FIG. 12 is a schematic structural view of a force sensor assembly in an automated assembly apparatus for a helicopter hub according to an embodiment of the present invention;
FIG. 13 is a schematic structural view of a quick-change system assembly in an automated assembly apparatus for a helicopter hub according to an embodiment of the present invention;
FIG. 14 is a schematic view of an assembly structure of a sliding plate assembly, a cross assembly and a connecting rod assembly in the automatic assembly equipment of the helicopter hub according to the embodiment of the invention;
FIG. 15 is a schematic diagram of the operation of the movable platform assembly in the automated assembly apparatus for a helicopter hub according to an embodiment of the present invention;
FIG. 16 is a configuration diagram of a parallel mechanism in an automated assembly apparatus for a helicopter hub according to an embodiment of the present invention;
FIG. 17 is a schematic diagram of the operation of the paralleling mechanism in an automated helicopter hub assembly apparatus according to an embodiment of the present invention;
fig. 18 is a diagram of the motion trajectory of each of the moving branches of the parallel mechanism in the automatic assembling device of the helicopter hub according to the embodiment of the present invention.
In the figure:
1-gantry system; 11-a cross beam; 12-a column; 13-a column adjustment assembly; 131-a first sizing block; 132-a second sizing block; 133-a third sizing block; 134-a fourth sizing block; 14-a bed assembly; 141. a bed body; 142-a bed sizing block; 143-a guide rail; 15-moving the platform; 2-a parallel mechanism; 21-a surround frame assembly; 211-upper enclosure frame; 212-lower bounding box; 213-moving branched chain machine base; 214-a motor; 215-a reducer; 216-coupling mount; 217-a coupling; 218-lead screw bearing block; 219-lead screw; 22-a sled assembly; 221-screw nut; 222-a lead screw nut seat; 223-a slide plate; 224-a rail slider; 225-Hooke's hinge support; 226-a first bearing; 227-a first bearing end cap; 228-a first bearing adjustment shim; 229-a first bearing gland; 23-a cross-shaped component; 231-a stepped shaft; 232-auxiliary shaft; 233-positioning the locking bolt; 234-laser tracker target bushing; 24-a linkage assembly; 241-hook hinge ears; 242 — a second bearing; 243-second bearing end cap; 244-second bearing adjustment shim; 245-a second bearing cap; 246-connecting rod; 247-hook yoke lug alignment keys; 248-a spherical joint head; 249-ball joint head positioning key; 25-a moving platform assembly; 251-a ball joint seat; 252-a moving platform; 253-laser tracker target bushing; 26-a vision measurement system component; 261-horizontal camera movement platform; 262-camera vertically moving platform; 263-visual positioning unit; 264-reference circle calibration unit; 27-a force sensor assembly; 271-a force sensor; 272-force sensor input patch panel; 273-force sensor output adapter plate; 28-quick change system component; 281-quick-change disc support; 282-zero point positioning system; 283-an electric signal transmission module; 284-bus signal transmission module; 285-compressed air delivery module; 3-laser tracker; 4-a slide block.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the invention and are not intended to limit the scope of the invention, i.e., the invention is not limited to the embodiments described, but covers any modifications, alterations, and improvements in the parts, components, and connections without departing from the spirit of the invention.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 is a schematic diagram of the overall structure of an automated assembling device of a helicopter hub according to an embodiment of the present invention, as shown in fig. 1, the automated assembling device of a helicopter hub comprises a gantry system 1, a parallel mechanism 2 and a laser tracker 3, wherein the laser tracker 3 is used for calibrating parameters of the parallel mechanism 2;
fig. 2 is a schematic structural diagram of a gantry system in an automated assembling device for a helicopter hub according to an embodiment of the present invention, and as shown in fig. 2, the gantry system 1 includes a cross beam 11, columns 12, column adjusting assemblies 13, a bed assembly 14, and a moving platform 15, two ends of the cross beam 11 are respectively installed at first ends of the two columns 12, the column adjusting assemblies 13 are installed at second ends of the columns 12, the bed assembly 14 is placed below the cross beam 11 and between the two columns 12, the moving platform 15 is movably installed on the bed assembly 14, and the moving platform 15 is used for installing a main reducer of a helicopter to be assembled;
fig. 3 is a schematic structural diagram of a parallel mechanism in an automated assembling device for a helicopter hub according to an embodiment of the present invention, as shown in fig. 3, the parallel mechanism 2 is disposed on a lower end surface of a cross beam 11, the parallel mechanism 2 includes a surrounding frame assembly 21, a sliding plate assembly 22, a cross shaft assembly 23, a connecting rod assembly 24, a movable platform assembly 25, a vision measuring system assembly 26, a force sensor assembly 27, and a quick-change system assembly 28, the plurality of sliding plate assemblies 22 are movably disposed on the surrounding frame assembly 21, one end of the connecting rod assembly 24 is connected to the sliding plate assembly 22 through the cross shaft assembly 23, and the connecting rod assembly 24 is rotatably connected to the cross shaft assembly 23; the other end of the connecting rod assembly 24 is connected with a joint seat of the movable platform assembly 25, the connecting rod assembly 24 is rotatably connected with the platform assembly 25, the vision measuring system assembly 26 and the joint of the movable platform assembly 25 are installed on the upper end face of the movable platform assembly 25, the output end of the force sensor assembly 27 is installed on the lower end face of the movable platform assembly 25, the quick-change system assembly 28 is installed on the input end of the force sensor assembly 27, and the hub to be assembled is installed on the quick-change system assembly 28.
In this embodiment, the mounting heights and postures of the two columns 12 can be respectively adjusted by using the column adjusting assemblies 13 to keep the beam 11 horizontal, the parallel mechanism 2 has at least six degrees of freedom, the parallel mechanism 2 is inversely mounted on the lower end surface of the beam 11 of the gantry system 1 through the fixed platform to raise the position of the parallel mechanism 2, laser tracker targets are arranged on the enclosure frames of the gantry system 1 and the parallel mechanism 2 and used for determining the relative position relation between the parallel mechanism 2 and the gantry system 1, and the laser tracker targets are arranged on the movable platform of the parallel mechanism 2 and used for calibrating the mechanism parameters of the parallel mechanism 2 and compensating the positioning deviation caused by processing and assembling errors.
The front surface of a movable platform of the parallel mechanism 2 is provided with a six-dimensional force sensor which is used for measuring the force and the moment born by the parallel mechanism 2 in the whole assembly process so as to judge the force and the moment caused by the friction or the collision of a main propeller hub and an output shaft of a main reducer, a tool quick-change unit is arranged on the six-dimensional force sensor, and a quick-change system is formed together with a product quick-change unit arranged on a main propeller hub clamping tool, the quick change of a product can be realized through the quick connection and disconnection of the six-dimensional force sensor and the main reducer, the work preparation time is shortened, the back surface of the movable platform of the hollow parallel mechanism 2 is provided with a vision measurement system formed by two sets of industrial cameras, the vision measurement system realized by the two sets of cameras is used for measuring the relative position and the posture of a tooth-shaped spline groove of the main propeller hub and the output shaft of the main reducer, and the motion, the method comprises the steps of guiding a tooth-shaped spline groove of a main propeller hub to enter a position, continuously measuring force and moment borne by a parallel mechanism 2 by a six-dimensional force sensor on a movable platform of the parallel mechanism 2 in the process of nesting the tooth-shaped spline groove of the main propeller hub with an output shaft of a main speed reducer, judging the position of friction or collision in time when friction or collision is severe in the assembly process once the normal range is exceeded, replying motion planning and reversely adjusting the motion of the parallel mechanism 2, reducing the friction or collision force on the premise of continuing advancing towards the nesting direction, improving the stress condition of a product, avoiding the damage of the product, continuously adjusting a pre-planned track according to the force feedback condition, and realizing automatic assembly of the main propeller hub.
As a preferred embodiment, fig. 4 is a schematic structural diagram of a mast adjustment assembly in an automatic assembly device for a helicopter hub according to an embodiment of the present invention, and as shown in fig. 4, the mast adjustment assembly 13 includes a first sizing block 131, a second sizing block 132, a third sizing block 133, and a fourth sizing block 134, which are respectively disposed at four corners of a bottom surface of the mast 12.
Specifically, the position and posture of the bottom surface of the column 12 are changed by coordinately adjusting the height of each of the chocks, and the mounting height and posture of the column 12 are adjusted, thereby adjusting the position and posture of the cross beam 11 mounted on the column 12.
As a preferred embodiment, fig. 5 is a schematic structural diagram of a bed assembly in an automatic assembling device for a helicopter hub according to an embodiment of the present invention, as shown in fig. 5, the bed assembly 14 includes a bed 141, a bed shim 142, and a guide rail 143, and the moving platform 15 is slidably disposed on the bed 141.
Specifically, the bed 141 is mounted on the equipment mounting base through the bed sizing block 142, the position and the posture of the bed 141 are changed by adjusting the height of the bed sizing block 142, and the moving platform 15 is connected with the bed 141 through the guide rails 143 and slides along the guide rails 143.
As a preferred embodiment, fig. 6 is a schematic structural diagram of an enclosure frame assembly in an automated assembly apparatus for a helicopter hub according to an embodiment of the present invention, and as shown in fig. 6, the enclosure frame assembly 21 includes an upper enclosure frame 211, a lower enclosure frame 212, a moving branch frame base 213, a motor 214, a reducer 215, a coupling support 216, a coupling 217, a screw bearing seat 218, and a screw 219; one end of the moving branched chain machine base 213 is connected with the upper enclosing frame 211, the other end of the moving branched chain machine base 213 is connected with the lower enclosing frame 212, the input end of the speed reducer 215 is connected with the output end of the motor 214, the coupler 217 is installed on the coupler support 216, the output end of the speed reducer 215 passes through the bearing hole at one end of the coupler support 216 and is connected with the input end of the screw rod 219 through the coupler 217, the screw rod 219 passes through the bearing hole at the other end of the coupler support 216, and two ends of the screw rod 219 are respectively supported on the coupler support 216 and the.
As a preferred embodiment, fig. 7 is a schematic structural diagram of a sliding plate assembly in an automated assembling device of a helicopter hub according to an embodiment of the present invention, and as shown in fig. 7, the sliding plate assembly 22 includes a lead screw nut 221, a lead screw nut seat 222, a sliding plate 223, a guide rail slider 224, a hooke hinge support 225, a first bearing 226, a first bearing end cap 227, a first bearing adjusting shim 228, and a first bearing cap 229; the lead screw nut 221 is installed in a lead screw nut seat 222, the lead screw 219 penetrates through the lead screw nut 221, the lead screw nut seat 222 is installed on a sliding plate 223, the sliding plate 223 is movably connected to the moving branched chain machine seat 213 through a guide rail sliding block 224, a Hooke hinge support 225 is installed on the sliding plate 223, a first bearing 226 is installed in a bearing hole of the Hooke hinge support 225, a first bearing end cover 227 is installed on the bearing hole end face of one end of the Hooke hinge support 225, and a first bearing adjusting gasket 228 and a first bearing pressure cover 229 are sequentially installed on the bearing hole end face of the other end of the Hooke hinge support 225.
Specifically, bearing end cap 227 is used for bearing end face positioning, bearing spacer 228 and bearing gland 229 is used for bearing end face positioning and bearing clearance adjustment.
As a preferred embodiment, fig. 8 is a schematic structural diagram of a cross assembly in an automatic assembling device of a helicopter hub according to an embodiment of the present invention, as shown in fig. 8, a cross assembly 23 includes a stepped shaft 231, a secondary shaft 232, a positioning and locking bolt 233, and a laser tracker target bushing 234; a plurality of auxiliary shafts 232 are arranged through the stepped shaft 231 to form a cross shaft, positioning locking bolts 233 respectively penetrate through the stepped shaft 231 and the auxiliary shafts 232, a laser tracker target bushing 234 is arranged at the end part of the auxiliary shafts 232, and the stepped shaft 231 is rotatably arranged in a bearing hole of the Hooke hinge support 225 through the first bearing 226.
Specifically, the laser tracker target bushing 234 is used to mount the laser tracker target at the measurement location.
As a preferred embodiment, fig. 9 is a schematic structural diagram of a connecting rod assembly in an automatic assembling device for a helicopter hub according to an embodiment of the present invention, and as shown in fig. 9, the connecting rod assembly 24 includes a hook yoke ear 241, a second bearing 242, a second bearing end cap 243, a second bearing adjusting shim 244, a second bearing cap 245, a connecting rod 246, a hook yoke ear positioning key 247, a spherical joint head 248 and a spherical joint head positioning key 249; the second bearing 242 is installed in a bearing hole of the hook yoke 241, and a second bearing end cover 243 is installed on the end face of the bearing hole at one end of the hook yoke 241; a second bearing adjusting gasket 244 and a second bearing pressure cover 245 are sequentially arranged on the end face of the bearing hole at the other end of the Hooke's hinge lug 241; the auxiliary shaft 232 is rotatably mounted in a bearing hole of the Hooke's hinge lug 241 through a second bearing 242, the Hooke's hinge lug 241 is connected with one end of the connecting rod 246, a Hooke's hinge lug positioning key 247 is arranged at the joint of the Hooke's hinge lug 241 and the connecting rod 246, a spherical joint head 248 is connected with the other end of the connecting rod 246, and a spherical joint head positioning key 249 is arranged at the joint of the spherical joint head 248 and the connecting rod 246.
Specifically, bearing end cap 243 is used for bearing end face positioning, bearing adjustment shim 244 and bearing gland 245 are used for bearing end face positioning and bearing clearance adjustment, hooke yoke positioning key 247 is used for determining the axial positional relationship of hooke yoke 241 to connecting rod 246, and ball joint head positioning key 249 is used for determining the axial positional relationship of ball joint head 248 to connecting rod 246.
As a preferred embodiment, fig. 10 is a schematic structural diagram of a moving platform assembly in an automatic assembling device of a helicopter hub according to an embodiment of the present invention, and as shown in fig. 10, the moving platform assembly 25 includes a spherical joint seat 251, a moving platform 252 and a laser tracker target bushing 253; the plurality of spherical joint seats 251 are arranged on the first end surface of the movable platform 252, and the plurality of spherical joint heads 248 are respectively movably connected with the corresponding spherical joint seats 251 one by one; a plurality of laser tracker target bushings 253 are mounted on the ball joint mount 251. Among them, the laser tracker target bushing 253 is used for installing the laser tracker target of the measurement position.
As a preferred embodiment, fig. 11 is a schematic structural diagram of a vision measuring system assembly in an automatic assembling device for a helicopter hub according to an embodiment of the present invention, and as shown in fig. 11, the vision measuring system assembly 26 includes a camera horizontal moving platform 261, a camera vertical moving platform 262, a vision positioning unit 263 and a reference circle calibration unit 264; at least three camera horizontal moving platforms 261 are movably installed on a first end surface of the moving platform 252, a camera vertical moving platform 262 is movably installed on the camera horizontal moving platform 261, a vision positioning unit 263 is installed on the camera vertical moving platform 262, a first and a second of the at least three camera horizontal moving platforms 261 are respectively used for measuring an upper end surface of a main hub and an output shaft of a main reducer, and a reference circle calibration unit 264 is installed on a third of the at least three camera horizontal moving platforms 261. Therein, the reference circle calibration unit 264 is used to determine the position posture relationship between the two visual positioning units 263.
As a preferred embodiment, fig. 12 is a schematic structural diagram of a force sensor assembly in an automated assembling device for a helicopter hub according to an embodiment of the present invention, and as shown in fig. 12, the force sensor assembly 27 includes a force sensor 271, a force sensor input adapter plate 272, and a force sensor output adapter plate 273; the input end and the mounting end of the force sensor 271 are respectively connected with the force sensor input adapter plate 272 and the force sensor output adapter plate 273, the force sensor input adapter plate 272 is connected with the quick-change system component 28, and the force sensor output adapter plate 273 is connected with the movable platform 252. In fig. 12, the force sensor input adapter plate 272 is used to bear an input load, and the force sensor 271, the force sensor input adapter plate 272, and the force sensor output adapter plate 273 are annular and are stacked on each other to form the force sensor unit 27.
As a preferred embodiment, fig. 13 is a schematic structural diagram of a quick-change system assembly in an automatic assembling device for a helicopter hub according to an embodiment of the present invention, and as shown in fig. 13, the quick-change system assembly 28 includes a quick-change disk holder 281, a zero point positioning system 282, an electrical signal transmission module 283, a bus signal transmission module 284 and a compressed air transmission module 285; zero point positioning system 282, electrical signal transmission module 283, bus signal transmission module 284 and compressed air transmission module 285 are all mounted on quick-change disk holder 281.
Specifically, three zero point positioning systems 282 are uniformly distributed and mounted on the upper end face of the quick-change disk holder 281, and an electric signal transmission module 283, a bus signal transmission module 284 and a compressed air transmission module 285 are arranged on the side edge of the quick-change disk holder 281. The bus signal transmission module 284 can be an EtherCAT (ethernet Control automation technology) bus signal transmission module 284, and the zero positioning systems 282 are uniformly distributed and mounted on the end surface of the fast disc support 281 for accurate positioning; an electrical signal transmission module 283 is installed on the end surface of the fast switching disk holder 281 for transmitting electrical signals; an EtherCAT bus signal transmission module 284 is installed on the end surface of the fast switching disk support 281 and is used for transmitting EtherCAT bus signals; a compressed air delivery module 285 is installed on an end surface of the quick change disk holder 281 for delivering compressed air.
As a preferred embodiment, fig. 14 is a schematic view of an assembly structure of a sliding plate assembly, a cross assembly and a connecting rod assembly in an automatic assembly device of a helicopter hub according to an embodiment of the present invention, as shown in fig. 14, a laser tracker target is placed in a laser tracker target bushing 234 on an end surface of a stepped shaft 231 of a cross assembly 23, two laser tracker targets are measured by using a laser tracker 3, two measurement points determine an axis of the stepped shaft 231, a laser tracker target is placed in the laser tracker target bushing 234 on an end surface of a secondary shaft 232 of the cross assembly 23, two laser tracker targets are measured by using the laser tracker 3, two measurement points determine an axis of the secondary shaft 232, and two axes are two rotating shafts of the cross shaft assembly 23.
Fig. 15 is a schematic diagram of the operation of the movable platform assembly in the automatic assembling apparatus for a helicopter hub according to the embodiment of the present invention, as shown in fig. 15, a laser tracker target is placed in a laser tracker target bushing 253 on the end surface of the spherical joint seat 251 of the movable platform assembly 25, six laser tracker targets are measured by the laser tracker 3, a plane is determined by six measuring points, the height of the laser tracker target is offset to the side of the laser tracker target bushing 253 to obtain the position of the end surface of the spherical joint seat 251, the length of the spherical center of the spherical joint seat 251 to the end surface is offset to obtain the spherical center plane of the spherical joint, and the six measuring points are projected to a new plane to obtain the positions of the spherical centers of the six spherical joints.
As a preferred embodiment, the parallel mechanism 2 is a 6-PUS parallel mechanism.
Fig. 16 is a configuration diagram of a parallel mechanism in an automatic assembling device of a helicopter hub provided by the embodiment of the invention, and as shown in fig. 16, the configuration of the adopted 6-PUS parallel mechanism is as follows: six sliding blocks slide on six tracks in a rigid enclosure frame shown by dotted lines, the six sliding blocks are respectively connected with six points on a movable platform by a connecting rod, the sliding blocks are connected with the connecting rod by hooke joints, the movable platform is connected with the connecting rod by ball joints, the sliding of the six sliding blocks is motion input, and the combination of the six motions enables the movable platform to generate motion output of three-dimensional translation and three-dimensional rotation.
Fig. 17 is a schematic diagram of the operation of the parallel mechanism in the automatic assembling device of the helicopter hub according to the embodiment of the present invention, and as shown in fig. 17, the principle of the 6-PUS parallel mechanism adopted by the parallel mechanism 2 is as follows: hexagonal base A1A2A3A4A5A6A fixed platform forming the parallel mechanism 2, six guide rails vertical to the base, a sliding block sliding along the guide rails, a connecting rod with one end connected with the sliding block through a Hooke's hinge and the other end connected with a movable platform through a spherical hinge, and a hexagonal movable platform B1、B2、B3、B4、B5、B6The six vertexes are respectively connected with six connecting rods, the components jointly form a 6-PUS parallel mechanism, six motion branched chains are provided, each motion branched chain comprises a moving pair, a Hooke joint and a spherical pair, the moving pair is a driving pair, the motion of the six moving pairs is transmitted to the moving platform through the Hooke joint, the connecting rods and the spherical pairs, and the six-degree-of-freedom motion of the moving platform is generated through the coupling action.
Fig. 18 is a motion track diagram of each moving branch chain of the parallel mechanism in the automatic assembling device for the helicopter hub, according to the embodiment of the present invention, as shown in fig. 18, the motion form of each moving branch chain is: o isADenotes the origin of the stationary platform, OAAiRepresenting a fixed platform vertex AiPosition vector of (A)iTiIndicating the slide TiMotion vector of, BiTiIndicating the connecting rod LiMotion vector of, OBRepresenting the origin of the moving platform, OBBiRepresenting moving platform vertex BiEach vector constitutes a vector equation:
OAAi+AiTi+TiBi＝OAOB+OBBi；
six moving branched chains jointly determine each vertex B of the moving platformiThe six motion inputs of the six motion branched chains determine the three-dimensional movement and the three-dimensional rotation of the movable platform.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. The automatic assembling equipment for the helicopter hub is characterized by comprising a gantry system (1), a parallel mechanism (2) and a laser tracker (3), wherein the laser tracker (3) is used for calibrating parameters of the parallel mechanism (2);
the gantry system (1) comprises a cross beam (11), upright columns (12), upright column adjusting assemblies (13), a lathe bed assembly (14) and a moving platform (15), wherein two ends of the cross beam (11) are respectively installed at first ends of the two upright columns (12), the upright column adjusting assemblies (13) are arranged at second ends of the upright columns (12), the lathe bed assembly (14) is placed below the cross beam (11) and between the two upright columns (12), the moving platform (15) is movably arranged on the lathe bed assembly (14), and the moving platform (15) is used for installing a main reducer of the helicopter to be assembled;
the parallel mechanism (2) is arranged on the lower end face of the cross beam (11), the parallel mechanism (2) comprises an enclosing frame assembly (21), sliding plate assemblies (22), a cross shaft assembly (23), a connecting rod assembly (24), a movable platform assembly (25), a vision measuring system assembly (26), a force sensor assembly (27) and a quick change system assembly (28), the sliding plate assemblies (22) are movably arranged on the enclosing frame assembly (21), one end of the connecting rod assembly (24) is connected with the sliding plate assembly (22) through the cross shaft assembly (23), and the connecting rod assembly (24) is rotatably connected to the cross shaft assembly (23); the other end of the connecting rod assembly (24) is connected with a joint seat of the movable platform assembly (25), the connecting rod assembly (24) is rotatably connected with the platform assembly (25), the vision measuring system assembly (26) and the joint of the movable platform assembly (25) are installed on the upper end face of the movable platform assembly (25), the output end of the force sensor assembly (27) is installed on the lower end face of the movable platform assembly (25), the quick-change system assembly (28) is installed on the input end of the force sensor assembly (27), and a hub to be assembled is installed on the quick-change system assembly (28).
2. The automated assembly equipment of a helicopter hub according to claim 1, wherein said enclosure frame assembly (21) comprises an upper enclosure frame (211), a lower enclosure frame (212), a moving branch frame mount (213), a motor (214), a reducer (215), a coupling mount (216), a coupling (217), a screw bearing mount (218), and a screw (219);
the one end of motion branch chain frame (213) is connected go up and enclose frame (211), the other end of motion branch chain frame (213) is connected enclose frame (212) down, the input of reduction gear (215) with the output of motor (214) is connected, shaft coupling (217) install in on shaft coupling support (216), the output of reduction gear (215) passes the dead eye of shaft coupling support (216) one end and passes through shaft coupling (217) with the input of lead screw (219) is connected, lead screw (219) passes the dead eye of shaft coupling support (216) other end, the both ends of lead screw (219) support respectively in shaft coupling support (216) lead screw bearing frame (218).
3. The automated assembly apparatus of a helicopter hub according to claim 2, wherein said slide plate assembly (22) comprises a lead screw nut (221), a lead screw nut mount (222), a slide plate (223), a guide rail slide block (224), a hooke hinge mount (225), a first bearing (226), a first bearing end cap (227), a first bearing adjustment shim (228), and a first bearing end cap (229);
the screw nut (221) is mounted in the screw nut seat (222), the screw (219) passes through the screw nut (221), the screw nut seat (222) is mounted on the sliding plate (223), the sliding plate (223) is movably connected to the moving branched chain machine base (213) through the guide rail sliding block (224), the hook hinge support (225) is mounted on the sliding plate (223), the first bearing (226) is mounted in a bearing hole of the hook hinge support (225), the first bearing end cover (227) is mounted on a bearing hole end face of one end of the hook hinge support (225), and the first bearing adjusting gasket (228) and the first bearing end cover (229) are sequentially mounted on a bearing hole end face of the other end of the hook hinge support (225).
4. The automated assembly apparatus of a helicopter hub according to claim 3, wherein said cross-shaft assembly (23) comprises a stepped shaft (231), a secondary shaft (232), a position-lock bolt (233), and a laser tracker target bushing (234);
the auxiliary shafts (232) are arranged in a penetrating mode through the stepped shaft (231) to form a cross shaft, the positioning locking bolts (233) penetrate through the stepped shaft (231) and the auxiliary shafts (232), the laser tracker target bushing (234) is installed at the end portion of the auxiliary shafts (232), and the stepped shaft (231) is rotatably installed in a bearing hole of the Hooke hinge support (225) through the first bearing (226).
5. The automated assembly apparatus for a helicopter hub according to claim 4, wherein said link assembly (24) comprises a hooke yoke (241), a second bearing (242), a second bearing end cap (243), a second bearing adjustment shim (244), a second bearing cap (245), a connecting rod (246), a hooke yoke locating key (247), a spherical joint head (248), and a spherical joint head locating key (249);
the second bearing (242) is arranged in a bearing hole of the Hooke's hinge lug (241), and a second bearing end cover (243) is arranged on the end face of the bearing hole at one end of the Hooke's hinge lug (241); the end face of the bearing hole at the other end of the hook hinge lug (241) is sequentially provided with the second bearing adjusting gasket (244) and the second bearing pressure cover (245); the auxiliary shaft (232) is rotatably installed in a bearing hole of the hook hinge lug (241) through the second bearing (242), the hook hinge lug (241) is connected with one end of the connecting rod (246), the hook hinge lug positioning key (247) is arranged at the joint of the hook hinge lug (241) and the connecting rod (246), the spherical joint head (248) is connected with the other end of the connecting rod (246), and the spherical joint head positioning key (249) is arranged at the joint of the spherical joint head (248) and the connecting rod (246).
6. The automated assembly equipment of a helicopter hub according to claim 5, wherein said moving platform assembly (25) comprises a ball joint seat (251), a moving platform (252), and a laser tracker target bushing (253);
the spherical joint seats (251) are arranged on the first end surface of the movable platform (252), and the spherical joint heads (248) are respectively movably connected with the corresponding spherical joint seats (251) one by one; a plurality of the laser tracker target bushings (253) are mounted on the ball joint seat (251).
7. The automated assembly apparatus of a helicopter hub according to claim 6, wherein said vision measurement system assembly (26) comprises a camera horizontal translation platform (261), a camera vertical translation platform (262), a vision positioning unit (263), and a reference circle calibration unit (264);
at least three of the camera horizontal moving platforms (261) are movably mounted on a first end face of the moving platform (252), the camera vertical moving platform (262) is movably mounted on the camera horizontal moving platform (261), the vision positioning unit (263) is mounted on the camera vertical moving platform (262), a first one and a second one of the at least three camera horizontal moving platforms (261) are respectively used for measuring upper end faces of a main hub and a main reducer output shaft, and the reference circle calibration unit (264) is mounted on a third one of the at least three camera horizontal moving platforms (261).
8. The automated assembly apparatus for a helicopter hub according to claim 6, wherein said force sensor assembly (27) comprises a force sensor (271), a force sensor input adapter plate (272), and a force sensor output adapter plate (273);
the input end and the mounting end of the force sensor (271) are respectively connected with the force sensor input adapter plate (272) and the force sensor output adapter plate (273), the force sensor input adapter plate (272) is connected with the quick-change system component (28), and the force sensor output adapter plate (273) is connected with the movable platform (252).
9. The automated assembly plant of a helicopter hub according to claim 1, wherein said quick-change system assembly (28) comprises a quick-change disk mount (281), a zero point positioning system (282), an electrical signal transmission module (283), a bus signal transmission module (284), and a compressed air transmission module (285);
the zero point positioning system (282), the electrical signal transmission module (283), the bus signal transmission module (284) and the compressed air transmission module (285) are all mounted on the quick change disk holder (281).
10. The automated assembly plant of a helicopter hub according to claim 1, characterized in that said parallel mechanism (2) is a 6-PUS parallel mechanism.
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| CN202010662877.2A CN111746819B (en) | 2020-07-10 | 2020-07-10 | Automatic assembly equipment for helicopter hub |
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| CN114619427A (en) * | 2022-03-16 | 2022-06-14 | 上海智能制造功能平台有限公司 | 6PUS-3RRR double-platform equipment for intelligent assembly |
| CN114619432A (en) * | 2022-03-17 | 2022-06-14 | 上海智能制造功能平台有限公司 | PR-3RRR double-platform equipment for intelligent assembly |
| CN114833811A (en) * | 2022-03-16 | 2022-08-02 | 上海智能制造功能平台有限公司 | 6PUS mechanism and 6PUS-2PP double-platform equipment for intelligent assembly |
| CN117842370A (en) * | 2024-03-08 | 2024-04-09 | 成都飞机工业（集团）有限责任公司 | Mechanical assembly method based on laser projection assistance |
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| CN112658353A (en) * | 2020-12-30 | 2021-04-16 | 江苏一重数控机床有限公司 | High-precision low-residual-stress welding seam milling and back-gouging robot |
| CN114619427A (en) * | 2022-03-16 | 2022-06-14 | 上海智能制造功能平台有限公司 | 6PUS-3RRR double-platform equipment for intelligent assembly |
| CN114833811A (en) * | 2022-03-16 | 2022-08-02 | 上海智能制造功能平台有限公司 | 6PUS mechanism and 6PUS-2PP double-platform equipment for intelligent assembly |
| CN114619427B (en) * | 2022-03-16 | 2024-04-16 | 上海智能制造功能平台有限公司 | A6 PUS-3RRR dual-platform equipment for intelligent assembly |
| CN114833811B (en) * | 2022-03-16 | 2024-04-16 | 上海智能制造功能平台有限公司 | A6 PUS mechanism and two platform equipment of 6PUS-2PP for intelligent assembly |
| CN114619432A (en) * | 2022-03-17 | 2022-06-14 | 上海智能制造功能平台有限公司 | PR-3RRR double-platform equipment for intelligent assembly |
| CN114619432B (en) * | 2022-03-17 | 2024-04-16 | 上海智能制造功能平台有限公司 | PR-3RRR double-platform equipment for intelligent assembly |
| CN117842370A (en) * | 2024-03-08 | 2024-04-09 | 成都飞机工业（集团）有限责任公司 | Mechanical assembly method based on laser projection assistance |
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