CN113548193B - Transfer method of composite wallboard in aircraft wing box assembly process - Google Patents
Transfer method of composite wallboard in aircraft wing box assembly process Download PDFInfo
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- CN113548193B CN113548193B CN202110854034.7A CN202110854034A CN113548193B CN 113548193 B CN113548193 B CN 113548193B CN 202110854034 A CN202110854034 A CN 202110854034A CN 113548193 B CN113548193 B CN 113548193B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B64F5/50—Handling or transporting aircraft components
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
Abstract
The application discloses a transfer method of composite wallboard in the assembly process of an aircraft wing box, which uses an upper/lower wallboard conformal frame, a horizontal assembly system wallboard positioning lifting mechanism, a wallboard overturning mechanism, an AGV transport vehicle, an upper wallboard conformal frame hanging and vertical storage cleaning device to realize the transfer of wallboard, wherein the upper/lower wallboard conformal frame is arranged on the horizontal assembly system wallboard positioning lifting mechanism, and the wallboard is accurately adjusted to be positioned to a target position through the horizontal assembly system wallboard positioning lifting mechanism; the wallboard turnover mechanism comprises turnover upright posts on two sides and a middle enclosing frame, wherein the upper and lower frame surfaces of the enclosing frame are respectively provided with an inner-shaped clamping plate of an upper wallboard/lower wallboard, the turnover upright posts are provided with turnover mechanisms and lifting mechanisms, the turnover mechanisms drive the enclosing frame to realize 180-degree turnover, and the lifting mechanisms drive the enclosing frame to move up and down so as to realize the conversion between the vertical and horizontal states of the wallboard.
Description
Technical Field
The application relates to the field of aircraft wing assembly and manufacturing, in particular to a transfer method of composite wall plates in an aircraft wing box assembly process.
Background
The method is characterized in that the method comprises the steps of storing, transferring, transporting, lifting, positioning on a frame, cleaning and deburring outside the frame and the like, when the wing box assembly station is horizontally assembled, the wall boards are different in postures at different stations, are vertical when the wing box assembly station is horizontally assembled and the deburring outside the frame is cleaned, the wall boards are horizontally assembled at the assembly station, the wall boards are required to be ensured in the transferring process while meeting the requirements, the previous metal wall boards are usually subjected to the transferring and lifting mode by adopting the overturning and hanging mode, but the method is required to be used for installing lifting joints on the wall boards, stress concentration phenomenon is generated at the connection positions of the surfaces of the wall boards and the joints to influence products, deformation of the wall board products is also uncontrollable in the lifting process, plastic deformation, internal damage, hidden injury, cracking and the like are likely to be caused to the composite board products by adopting the method, and the different wall boards are required to be designed for different hanging due to different gravity centers of each wall board, the universality is not strong, the process joint is troublesome to be installed and removed, the subsequent wing box assembly and the method is convenient and fast to be used in the wing box assembly process, and the aircraft assembly process is convenient and easy to take into consideration.
Disclosure of Invention
The invention aims to provide a transfer method of composite wall boards in the assembly process of an aircraft wing box, which can be suitable for the assembly process flow of the wall boards in the assembly process of the aircraft wing.
In order to achieve the purpose, the application adopts the following technical scheme:
the transfer method of the composite wallboard in the assembly process of the aircraft wing box uses an upper/lower wallboard shape-keeping frame, a horizontal assembly system wallboard positioning lifting mechanism, a wallboard overturning mechanism, an AGV transport vehicle, an upper wallboard shape-keeping frame hanging and vertical storage cleaning device to realize the transfer of the wallboard, wherein the upper/lower wallboard shape-keeping frame is positioned with the wallboard through a lug positioner on the upper/lower wallboard shape-keeping frame and adsorbs and tightens the appearance surface of the wallboard through a sucker, the upper/lower wallboard shape-keeping frame is arranged on the horizontal assembly system wallboard positioning lifting mechanism, and the wallboard is accurately positioned to a target position through the horizontal assembly system wallboard positioning lifting mechanism; the wallboard overturning mechanism comprises overturning upright posts at two sides and a surrounding frame in the middle, wherein the upper and lower frame surfaces of the surrounding frame are respectively provided with an inner clamping plate for fixing the wallboard, the two ends of the clamping plate are provided with tensioning belts for fixing the wallboard, one side of the surrounding frame, provided with the inner clamping plate for the upper wallboard, is also provided with an upper wallboard shape-keeping frame positioning mechanism, the overturning upright posts are provided with overturning mechanisms and lifting mechanisms, the overturning mechanisms drive the surrounding frame to realize 180-degree overturning, and the lifting mechanisms drive the surrounding frame to move up and down so as to realize the conversion between the vertical and horizontal states of the wallboard; the AGV transport vehicle drives the lower wallboard shape retention frame to transport the lower wallboard to a designated position; the crane transfers the upper wall plate shape-retaining frame and the upper wall plate to a specified position through the upper wall plate shape-retaining frame hanging; the vertical storage cleaning device comprises a bottom frame and a wallboard hanging mechanism, wherein the bottom frame is welded and combined by square steel, the distance between two rows of supporting columns is larger than the width of an AGV transport vehicle, the bottom frame is higher than the height of the AGV transport vehicle, the wallboard hanging mechanism is fixed on the bottom frame, the left side and the right side of the wallboard hanging mechanism are respectively provided with an upper wallboard lug locator and a lower wallboard lug locator to hang the wallboard, and the AGV transport vehicle moves to the lower side of the bottom frame along the length direction to jack up the vertical storage cleaning device and transfer the vertical storage cleaning device to a specified position.
The positioning mechanism of the upper wall plate shape-preserving frame consists of 4 zero point positioners and 4 cup cones which are respectively arranged on the surrounding frame, the cup cones realize the rough positioning of the upper wall plate shape-preserving frame and the surrounding frame, and the zero point positioners realize the accurate positioning and tensioning of the upper wall plate shape-preserving frame and the surrounding frame.
The lifting mechanism consists of 2 guide rails, 1 screw rod and a motor, wherein the guide rails are fixed on the overturning upright posts, and the guide rail sliding blocks are connected with the overturning mechanism to play a role in guiding; on the fixed and upset stand of lead screw, the lead screw is connected with tilting mechanism, and motor drive lead screw rotation drive lead screw and tilting mechanism realize oscilaltion.
The turnover mechanism consists of a spiral speed reducer and a motor, the fixed end of the spiral speed reducer is connected with a screw nut of the lifting mechanism through a connecting piece, the rotating end of the spiral speed reducer is connected with the enclosure frame, and the motor drives the rotating end of the spiral speed reducer to rotate so as to realize the enclosure frame turnover.
The wallboard suspension mechanism is a T-shaped structure formed by alternating transverse and longitudinal beams, one end of the transverse beam is suspended with an upper wallboard lug positioner, and the other end is suspended with a lower wallboard lug positioner.
The transfer method and the transfer process for the composite wallboard in the assembly process of the aircraft wing box are realized by using the equipment, and the transfer method and the transfer process are as follows:
1. the upper wall plate is vertically stored on the vertical storage cleaning device through the wall plate hanging mechanism;
2. the turnover mechanism drives the surrounding frame to turn over so that the surrounding frame of the wallboard turnover mechanism is in a vertical state;
3. the vertical storage and cleaning device with the upper wall plate is moved to the vicinity of the side surface of the wall plate turnover mechanism surrounding frame, on which the inner-shaped clamping plate of the upper wall plate is installed, by the AGV;
4. transferring and positioning the upper wall plate to an inner-shaped clamping plate of the upper wall plate of the surrounding frame, and enabling the AGV transport vehicle to drive the vertical storage cleaning device to withdraw;
5. the surrounding frame is driven to turn over by a turning mechanism in the wallboard turning mechanism, and the upper wallboard is turned over upwards by 90 degrees to be in a horizontal state;
6. the crane is hung on the upper wall plate shape-preserving frame through the upper wall plate shape-preserving frame, the upper wall plate shape-preserving frame is lifted to the surrounding frame of the wall plate turnover mechanism, and the upper wall plate shape-preserving frame are connected and installed after being positioned through the upper wall plate shape-preserving frame positioning mechanism;
7. the crane lifts the upper wall plate and the upper wall plate shape-retaining frame to an upper wall plate positioning lifting mechanism of the horizontal assembly system through the upper wall plate shape-retaining frame;
8. accurately adjusting the posture of the wallboard to be positioned at an assembly target position through a wallboard positioning lifting mechanism of a horizontal assembly system;
9. the upper wall plate shape preserving frame is separated from the upper wall plate on the frame, and is lifted by a crane through the upper wall plate shape preserving frame hanger to be moved to the shape preserving frame placing frame;
10. starting the hole making work of the upper wall plate;
11. the hole making work is completed, the upper wall plate shape preserving frame is hung to an upper wall plate positioning lifting mechanism of the horizontal assembly system by a crane through the upper wall plate shape preserving frame, and after the upper wall plate shape preserving frame is connected with the upper wall plate on the frame, the upper wall plate shape preserving frame and the upper wall plate are hung to move to a wall plate turnover mechanism surrounding frame together, and are positioned through an upper wall plate shape preserving frame positioning mechanism;
12. decomposing the upper wall plate and the upper wall plate shape-keeping frame, and connecting the upper wall plate with the inner shape clamping plate of the upper wall plate of the surrounding frame;
13. the turnover mechanism drives the surrounding frame to turn over the upper wall plate by 90 degrees to a vertical state;
14. moving the vertical storage cleaning device to the vicinity of the side surface of the wallboard turnover mechanism, on which the upper wallboard inner-shaped clamping plate is arranged, by using an AGV transport vehicle;
15. separating the upper wall plate from the inner clamping plate of the upper wall plate of the surrounding frame, and transferring to a vertical storage and cleaning device;
16. the vertical storage cleaning device is moved to a cleaning area through the AGV transport vehicle to perform cleaning and deburring work;
17. after the cleaning and deburring work is finished, the vertical storage cleaning device is moved to the position near the side surface of the upper wall plate inner-shaped clamping plate installed on the turnover mechanism through the AGV transport vehicle;
18. the upper wall plate is rotated to a wall plate turnover mechanism which is connected with an inner-shaped clamping plate of the upper wall plate, and the turnover mechanism drives the surrounding frame to turn upwards by 90 degrees and turn to a horizontal state;
19. the crane hangs the upper wall plate shape preserving frame on the wall plate turnover mechanism surrounding frame through the upper wall plate shape preserving frame, and after the crane is positioned through the upper wall plate shape preserving frame positioning mechanism, the upper wall plate and the upper wall plate shape preserving frame are connected and installed;
20. the crane lifts the upper wall plate and the upper wall plate shape-retaining frame to an upper wall plate positioning lifting mechanism of the horizontal assembly system through the upper wall plate shape-retaining frame hanging, and accurate posture adjustment and positioning enable the wall plate to reset;
21. the upper wall plate shape preserving frame and the upper wall plate are disassembled on the frame, and the upper wall plate shape preserving frame is hung and moved to the shape preserving frame placing frame by a crane through the upper wall plate shape preserving frame hanging;
22. completing connection of the upper wall plate and the wing box framework, and completing assembly work of the upper wall plate;
23. the lower wall plate is vertically stored on the vertical storage cleaning device through the wall plate hanging mechanism;
24. the turnover mechanism drives the surrounding frame to turn over so that the surrounding frame of the wallboard turnover mechanism is in a vertical state;
25. the vertical storage cleaning device with the lower wall plate is moved to the vicinity of the side surface of the wall plate turnover mechanism surrounding frame, on which the inner-shaped clamping plate of the lower wall plate is arranged, by an AGV (automatic guided vehicle);
26. transferring and positioning the lower wall plate to an inner-shaped clamping plate of the lower wall plate of the surrounding frame, and enabling the AGV transport vehicle to drive the vertical storage cleaning device to withdraw;
27. the turnover mechanism in the wallboard turnover mechanism drives the surrounding frame to turn over, the lower wallboard is turned down by 90 degrees to be in a horizontal state, and the lifting mechanism in the wallboard turnover mechanism drives the surrounding frame to descend to a designated height;
28. the AGV lifts the lower wall plate shape preserving frame to a designated position below the surrounding frame and lifts the lower wall plate shape preserving frame to the outer surface of the lower wall plate, and connection installation of the lower wall plate and the lower wall plate shape preserving frame is carried out;
29. the AGV transport vehicle lifts the lower wall plate and the lower wall plate shape-preserving frame to move to a lower wall plate positioning lifting mechanism of the horizontal assembly system;
30. positioning the lower wall plate to an assembly target position by accurately adjusting the posture through a horizontal assembly system wall plate positioning lifting mechanism;
31. the lower wall plate shape retention frame and the lower wall plate are disassembled on the frame, and the AGV transport vehicle lifts the lower wall plate shape retention frame to withdraw;
32. starting the hole making work of the lower wall plate;
33. the hole making work is completed, the lower wallboard shape preserving frame is lifted by the AGV transport vehicle and moves to a lower wallboard positioning lifting mechanism of the horizontal assembly system, and after the lower wallboard shape preserving frame and the lower wallboard are connected on the frame, the lower wallboard shape preserving frame and the lower wallboard are lifted by the AGV transport vehicle and move to a designated position below a wallboard overturning mechanism enclosure frame;
34. the AGV transport vehicle lifts to the inner-shaped clamping plate of the lower wall plate, separates the lower wall plate from the lower wall plate shape-keeping frame, connects the lower wall plate with the inner-shaped clamping plate of the lower wall plate of the surrounding frame, lifts the lower wall plate shape-keeping frame to descend and then withdraws from the lower wall plate shape-keeping frame;
35. the lifting mechanism in the wallboard overturning mechanism drives the surrounding frame to rise to a specified height, and the turnover mechanism in the wallboard overturning mechanism drives the surrounding frame to overturn, so that the lower wallboard is overturned for 90 degrees to be in a vertical state;
36. moving the vertical storage cleaning device to the vicinity of the side surface of the wallboard turnover mechanism, on which the lower wallboard inner-shaped clamping plate is arranged, by using an AGV transport vehicle;
37. separating the lower wall plate from the inner-shaped clamping plate of the lower wall plate of the surrounding frame, and transferring the lower wall plate to a vertical storage cleaning device;
38. the vertical storage cleaning device is moved to a cleaning area through the AGV transport vehicle to perform cleaning and deburring work;
39. after the cleaning and deburring work is finished, the vertical storage cleaning device is moved to the position near the side surface of the wallboard turnover mechanism, on which the lower wallboard inner-shaped clamping plate is installed, by the AGV transport vehicle;
40. the lower wall plate is rotated to a wall plate turnover mechanism to be connected with an inner-shaped clamping plate of the lower wall plate, the turnover mechanism drives the surrounding frame to turn down by 90 degrees and turn to a horizontal state, and a lifting mechanism in the wall plate turnover mechanism drives the surrounding frame to descend to a designated height;
41. the AGV lifts the lower wall plate shape preserving frame to a designated position below the surrounding frame and lifts the lower wall plate shape preserving frame to the outer surface of the lower wall plate, and connection installation of the lower wall plate and the lower wall plate shape preserving frame is carried out;
42. the AGV lifts the lower wall plate and the lower wall plate shape-preserving frame to descend and move to a lower wall plate positioning lifting mechanism of the horizontal assembly system, and accurate posture adjustment and positioning enable the wall plate to reset;
43. the lower wall plate and the lower wall plate shape-keeping frame are disassembled on the frame, and the AGV transport vehicle lifts the lower wall plate shape-keeping frame to withdraw;
44. and (3) connecting the lower wall plate with the wing box framework, and finishing the assembly work of the lower wall plate.
The method has the advantages that the flexible universal design of the process equipment is utilized to realize the transportation of shape retention, positioning, overturning and cleaning of the composite wallboard in the aircraft wing box assembly process, the requirements of a plurality of wing wallboards are met by one set of process equipment while the safety of products is ensured, and the method has the characteristics of strong universality, relatively low cost, full automation and the like, and has universal applicability to wallboard product assembly process flows in the aircraft assembly process.
The present application is described in further detail below with reference to the accompanying drawings and examples.
Drawings
FIG. 1 is a layout of a method for transferring composite wall panels during assembly of an aircraft wing box
FIG. 2 is a schematic view of transfer of lower wall panels from a vertical storage and wash device to a wall panel turnover mechanism
FIG. 3 is a schematic view of the transfer of an upper wall panel from the lower shelf of the wall panel turnover mechanism
FIG. 4 is a schematic view of the transfer of lower wall panels from the lower shelf of the wall panel turnover mechanism
The numbering in the figures illustrates: 1. an upper wall plate shape retention frame; 2. a lower wall plate shape retention frame; 3. a shelf rack; 4. AGV transport; 5. hanging the upper wall plate shape-keeping frame; 6. a vertical storage cleaning device; 7. a wallboard overturning mechanism; 8. turning over the upright post; 9. a surrounding frame; 10. an upper panel inner-shaped clamping plate; 11. a lower panel inner-shaped clamping plate; 12. a bottom frame; 13. a wall plate hanging mechanism; 14. upper/lower wall panel tab retainers; 15. a lower wall plate; 16. an upper wall plate; 17. the upper wall plate shape-keeping frame positioning mechanism; 18. a turnover mechanism; 19. and a lifting mechanism.
Detailed Description
Referring to fig. 1 to 4, a transfer method of composite wallboard in the process of assembling an aircraft wing box is implemented by using an upper wallboard conformal frame 1, a lower wallboard conformal frame 2, a horizontal assembly system wallboard positioning lifting mechanism, a wallboard overturning mechanism 7, an AGV transport vehicle 4, an upper wallboard conformal frame hanging 5 and a vertical storage cleaning device 6, wherein the upper/lower wallboard conformal frame is positioned with the wallboard through an ear piece positioner on the upper/lower wallboard conformal frame and is adsorbed and tensioned with the appearance surface of the wallboard through a sucker, the upper/lower wallboard conformal frame is arranged on the horizontal assembly system wallboard positioning lifting mechanism, and the wallboard is accurately adjusted and positioned to a target position through the horizontal assembly system wallboard positioning lifting mechanism; the wallboard overturning mechanism 7 comprises overturning upright posts 8 on two sides and a surrounding frame 9 in the middle, wherein inner-shaped clamping plates for fixing upper/lower wallboards are respectively arranged on the upper and lower frame surfaces of the surrounding frame 9, tensioning belts for fixing wallboards are arranged at two ends of the clamping plates, an upper wallboard shape retaining frame positioning mechanism 17 is further arranged on one side of the surrounding frame 9, on which the upper wallboard inner-type clamping plates 10 are arranged, overturning upright posts 8 are provided with overturning mechanisms 18 and lifting mechanisms 19, the overturning mechanisms 18 drive the surrounding frame 9 to realize 180-degree overturning, and the lifting mechanisms 19 drive the surrounding frame 9 to move up and down so as to realize conversion between vertical and horizontal wallboard states; the AGV 4 drives the lower wall plate shape retention frame 2 to transfer the lower wall plate 15 to a specified position; the crane transfers the upper wall plate shape retention frame 1 and the upper wall plate 16 to a specified position through the upper wall plate shape retention frame hanging 5; the vertical storage and cleaning device 6 comprises a bottom frame 12 and a wallboard hanging mechanism 13, wherein the bottom frame 12 is welded and combined by square steel, the distance between two rows of supporting upright posts is larger than the width of the AGV transport vehicle 4, the height of the bottom frame 12 is larger than that of the AGV transport vehicle 4, the wallboard hanging mechanism 13 is fixed on the bottom frame 12, upper/lower wallboard lug positioners 14 are respectively arranged on the left side and the right side of the wallboard hanging mechanism to hang the wallboard, and the AGV transport vehicle 4 moves to the lower part of the bottom frame 12 along the length direction to jack up the vertical storage and cleaning device 6 and transfer the vertical storage and cleaning device to a designated position.
The positioning mechanism 17 of the upper wall plate shape-preserving frame consists of 4 zero point positioners and 4 cup cones which are respectively arranged on the surrounding frame 9, the cup cones realize coarse positioning of the upper wall plate shape-preserving frame 1 and the surrounding frame 9, and the zero point positioners realize accurate positioning and tensioning of the upper wall plate shape-preserving frame 1 and the surrounding frame 9.
The lifting mechanism 19 consists of 2 guide rails, 1 screw rod and a motor, wherein the guide rails are fixed on the overturning upright posts 8, and the guide rail sliding blocks are connected with the overturning mechanism 18 to play a role in guiding; on the screw fixing and overturning upright post 8, a screw nut is connected with the overturning mechanism 18, and a motor drives the screw to rotate so as to drive the screw nut and the overturning mechanism 18 to realize up-and-down lifting.
The turnover mechanism 18 consists of a spiral speed reducer and a motor, the fixed end of the spiral speed reducer is connected with a screw nut of the lifting mechanism 19 through a connecting piece, the rotating end of the spiral speed reducer is connected with the enclosing frame 9, and the motor drives the rotating end of the spiral speed reducer to rotate so as to realize the turnover of the enclosing frame 9.
The wall plate hanging mechanism 13 is of a T-shaped structure formed by alternating transverse and longitudinal beams, one end of each transverse beam is hung with an upper wall plate lug positioner, and the other end of each transverse beam is hung with a lower wall plate lug positioner.
The transfer method and the transfer process for the composite wallboard in the assembly process of the aircraft wing box are realized by using the equipment, and the transfer method and the transfer process are as follows:
1. the upper wall plate 16 is vertically stored on the vertical storage and cleaning device 6 through the wall plate hanging mechanism 13;
2. the turnover mechanism 18 drives the surrounding frame 9 to turn over so that the surrounding frame 9 of the wallboard turnover mechanism 7 is in a vertical state;
3. the vertical storage and cleaning device 6 with the upper wall plate 16 is moved to the position near the side surface of the wall plate turnover mechanism 7, around which the upper wall plate inner-shaped clamping plate 10 is arranged, around the frame 9 by the AGV transport vehicle 4;
4. transferring and positioning the upper wall plate 16 onto the inner-shaped clamping plate 10 of the upper wall plate of the surrounding frame 9, and enabling the AGV transport vehicle 4 to drive the vertical storage and cleaning device 6 to withdraw;
5. the surrounding frame 9 is driven to turn over by a turning mechanism 18 in the wall plate turning mechanism 7, and the upper wall plate 16 is turned up by 90 degrees to be in a horizontal state;
6. the crane lifts the upper wall plate shape preserving frame 1 to the surrounding frame 9 of the wall plate turnover mechanism 7 through the upper wall plate shape preserving frame hanging 5, and the upper wall plate 16 and the upper wall plate shape preserving frame 1 are connected and installed after being positioned through the upper wall plate shape preserving frame positioning mechanism 17;
7. the crane lifts the upper wall plate 16 and the upper wall plate shape-retaining frame 1 to an upper wall plate positioning lifting mechanism of the horizontal assembly system through the upper wall plate shape-retaining frame hanging 5;
8. accurately adjusting the posture of the wallboard to be positioned at an assembly target position through a wallboard positioning lifting mechanism of a horizontal assembly system;
9. the upper wall plate shape preserving frame 1 and the upper wall plate 16 are disassembled on the frame, and the upper wall plate shape preserving frame 1 is lifted by a crane through an upper wall plate shape preserving frame hanger 5 to be moved to a shape preserving frame placing frame 3;
10. starting the hole making work of the upper wall plate 16;
11. the hole making work is completed, the upper wall plate shape preserving frame 1 is lifted to an upper wall plate positioning lifting mechanism of a horizontal assembly system by a crane through an upper wall plate shape preserving frame hanger 5, and after the upper wall plate shape preserving frame 1 and an upper wall plate 16 are connected on the frame, the upper wall plate shape preserving frame 1 and the upper wall plate 16 are lifted to a surrounding frame 9 of a wall plate turnover mechanism 7 together, and are positioned through an upper wall plate shape preserving frame positioning mechanism 17;
12. decomposing the upper wall plate 16 and the upper wall plate shape keeping frame 1, and connecting the upper wall plate 16 with the upper wall plate inner shape clamping plate 10 of the surrounding frame 9;
13. the turnover mechanism 18 drives the surrounding frame 9 to turn over the upper wall plate 16 by 90 degrees to a vertical state;
14. the vertical storage and cleaning device 6 is moved to the vicinity of the side surface of the wallboard turnover mechanism 7 where the upper wallboard inner-shaped clamping plate 10 is arranged by the AGV 4;
15. separating the upper wall plate 16 from the upper wall plate inner clamping plate 10 of the surrounding frame 9, and transferring to the vertical storage and cleaning device 6;
16. the vertical storage cleaning device 6 is moved to a cleaning area through the AGV 4 to perform cleaning and deburring work;
17. after the cleaning and deburring work is finished, the vertical storage cleaning device 6 is moved to the vicinity of the side surface of the turnover mechanism 18 where the upper wall plate inner-shaped clamping plate 10 is arranged by the AGV transport vehicle 4;
18. the upper wall plate 16 is rotated to the wall plate turnover mechanism 7 to be connected with the upper wall plate inner-shaped clamping plate 10, and the turnover mechanism 18 drives the surrounding frame 9 to turn upwards by 90 degrees and turn to a horizontal state;
19. the crane is used for hoisting the upper wall plate shape retention frame 1 to the surrounding frame 9 of the wall plate turnover mechanism 7 through the upper wall plate shape retention frame hanging 5 and connecting and installing the upper wall plate 16 and the upper wall plate shape retention frame 1 after positioning through the upper wall plate shape retention frame positioning mechanism 17;
20. the crane lifts the upper wall plate 16 and the upper wall plate shape-retaining frame 1 to an upper wall plate positioning lifting mechanism of the horizontal assembly system through the upper wall plate shape-retaining frame hanging 5, and accurate posture adjustment and positioning enable the wall plate to reset;
21. the upper wall plate shape preserving frame 1 and the upper wall plate 16 are disassembled on the frame, and the upper wall plate shape preserving frame 1 is hoisted and moved to the shape preserving frame placing frame 3 by a crane through the upper wall plate shape preserving frame hanging 5;
22. completing the connection between the upper wall plate 16 and the wing box framework, and completing the assembly work of the upper wall plate 16;
23. the lower wall plate 15 is vertically stored on the vertical storage and cleaning device 6 through the wall plate hanging mechanism 13;
24. the turnover mechanism 18 drives the surrounding frame 9 to turn over so that the surrounding frame 9 of the wallboard turnover mechanism 7 is in a vertical state;
25. the vertical storage and cleaning device 6 with the lower wall plate 15 is moved to the vicinity of the side surface of the wall plate turnover mechanism 7, on which the lower wall plate inner-shaped clamping plate 11 is arranged, around the frame 9 by the AGV transport vehicle 4;
26. transferring and positioning the lower wall plate 15 to the inner clamping plate 11 of the lower wall plate of the surrounding frame 9, and enabling the AGV transport vehicle 4 to drive the vertical storage and cleaning device 6 to withdraw;
27. the turnover mechanism 18 in the wallboard turnover mechanism 7 drives the surrounding frame 9 to turn over, the lower wallboard 15 is turned down by 90 degrees to be in a horizontal state, and the lifting mechanism 19 in the wallboard turnover mechanism 7 drives the surrounding frame 9 to descend to a designated height;
28. the AGV transport vehicle 4 lifts the lower wall plate shape preserving frame 2 to a designated position below the surrounding frame 9 and lifts the lower wall plate to the outer surface of the lower wall plate 15, and the lower wall plate 15 and the lower wall plate shape preserving frame 2 are connected and installed;
29. the AGV 4 lifts the lower wall plate 15 and the lower wall plate shape preserving frame 2 to move to a lower wall plate positioning lifting mechanism of the horizontal assembly system;
30. accurately adjusting and positioning the lower wall plate 15 to an assembly target position through a horizontal assembly system wall plate positioning lifting mechanism;
31. the lower wall plate shape retention frame 2 and the lower wall plate 15 are disassembled on the frame, and the AGV transport vehicle 4 lifts the lower wall plate shape retention frame 2 to withdraw;
32. starting the hole making work of the lower wall plate 15;
33. the hole making work is completed, the lower wallboard shape retention frame 2 is lifted by the AGV transport vehicle 4 to move to a lower wallboard positioning lifting mechanism of the horizontal assembly system, and after the lower wallboard shape retention frame 2 and the lower wallboard 15 are connected on the frame, the lower wallboard shape retention frame 2 and the lower wallboard 15 are lifted by the AGV transport vehicle 4 to move to a designated position below a surrounding frame 9 of the wallboard turnover mechanism 7;
34. the AGV transport vehicle 4 lifts to the position of the lower wall plate inner-shaped clamping plate 11, separates the lower wall plate 15 from the lower wall plate shape-keeping frame 2, connects the lower wall plate 15 with the lower wall plate inner-shaped clamping plate 11 of the surrounding frame 9, lifts the lower wall plate shape-keeping frame 2 to descend, and then withdraws from the lower wall plate shape-keeping frame 2;
35. the lifting mechanism 19 in the wallboard turnover mechanism 7 drives the surrounding frame 9 to rise to a specified height, and the turnover mechanism 18 in the wallboard turnover mechanism 7 drives the surrounding frame 9 to turn over, so that the lower wallboard 15 is turned over for 90 degrees to be in a vertical state;
36. the vertical storage and cleaning device 6 is moved to the vicinity of the side surface of the wallboard turnover mechanism 7 where the lower wallboard inner-shaped clamping plate 11 is arranged by the AGV 4;
37. separating the lower wall plate 15 from the inner clamping plate 11 of the lower wall plate of the surrounding frame 9, and transferring to the vertical storage and cleaning device 6;
38. the vertical storage cleaning device 6 is moved to a cleaning area through the AGV 4 to perform cleaning and deburring work;
39. after the cleaning and deburring work is finished, the vertical storage cleaning device 6 is moved to the vicinity of the side surface of the wallboard turnover mechanism 7, on which the lower wallboard inner-shaped clamping plate 11 is arranged, by the AGV transport vehicle 4;
40. the lower wall plate 15 is rotated to the wall plate turnover mechanism 7 to be connected with the lower wall plate inner-shaped clamping plate 11, the turnover mechanism 18 drives the surrounding frame 9 to turn down by 90 degrees and turn to a horizontal state, and the lifting mechanism 19 in the wall plate turnover mechanism 7 drives the surrounding frame 9 to descend to a designated height;
41. the AGV transport vehicle 4 lifts the lower wall plate shape preserving frame 2 to a designated position below the surrounding frame 9 and lifts the lower wall plate shape surface to connect and install the lower wall plate 15 and the lower wall plate shape preserving frame 2;
42. the AGV 4 lifts the lower wall plate 15 and the lower wall plate shape retention frame 2 to descend and move to a lower wall plate positioning lifting mechanism of the horizontal assembly system, and accurate posture adjustment and positioning enable the wall plates to reset;
43. the lower wall plate 15 and the lower wall plate shape-keeping frame 2 are disassembled on the frame, and the AGV transport vehicle 4 lifts the lower wall plate shape-keeping frame 2 to withdraw;
44. the connection of the lower wall plate 15 and the wing box skeleton is completed, and the assembly work of the lower wall plate 15 is completed.
Claims (6)
1. A transfer method of composite wallboard in the assembly process of an aircraft wing box is characterized in that an upper/lower wallboard shape retention frame, a horizontal assembly system wallboard positioning lifting mechanism, a wallboard overturning mechanism, an AGV transport vehicle, an upper wallboard shape retention frame hanging and vertical storage cleaning device are used for realizing transfer of the wallboard, the upper/lower wallboard shape retention frame is positioned with the wallboard through an ear piece positioner on the upper/lower wallboard shape retention frame and is adsorbed and tensioned on the appearance surface of the wallboard through a sucker, the upper/lower wallboard shape retention frame is arranged on the horizontal assembly system wallboard positioning lifting mechanism, and the wallboard is accurately adjusted to be positioned to a target position through the horizontal assembly system wallboard positioning lifting mechanism; the wallboard overturning mechanism comprises overturning upright posts at two sides and a surrounding frame in the middle, wherein the upper and lower frame surfaces of the surrounding frame are respectively provided with an inner clamping plate for fixing the wallboard, the two ends of the clamping plate are provided with tensioning belts for fixing the wallboard, one side of the surrounding frame, provided with the inner clamping plate for the upper wallboard, is also provided with an upper wallboard shape-keeping frame positioning mechanism, the overturning upright posts are provided with overturning mechanisms and lifting mechanisms, the overturning mechanisms drive the surrounding frame to realize 180-degree overturning, and the lifting mechanisms drive the surrounding frame to move up and down so as to realize the conversion between the vertical and horizontal states of the wallboard; the AGV transport vehicle drives the lower wallboard shape retention frame to transport the lower wallboard to a designated position; the crane transfers the upper wall plate shape-retaining frame and the upper wall plate to a specified position through the upper wall plate shape-retaining frame hanging; the vertical storage cleaning device comprises a bottom frame and a wallboard hanging mechanism, wherein the bottom frame is welded and combined by square steel, the distance between two rows of supporting columns is larger than the width of an AGV transport vehicle, the bottom frame is higher than the height of the AGV transport vehicle, the wallboard hanging mechanism is fixed on the bottom frame, the left side and the right side of the wallboard hanging mechanism are respectively provided with an upper wallboard lug locator and a lower wallboard lug locator to hang the wallboard, and the AGV transport vehicle moves to the lower side of the bottom frame along the length direction to jack up the vertical storage cleaning device and transfer the vertical storage cleaning device to a specified position.
2. The method for transferring composite wall boards in the assembly process of the aircraft wing box according to claim 1, wherein the positioning mechanism of the upper wall board shape-preserving frame consists of 4 zero point positioners and 4 cup cones which are respectively arranged on the surrounding frame, the cup cones realize the rough positioning of the upper wall board shape-preserving frame and the surrounding frame, and the zero point positioners realize the accurate positioning and tensioning of the upper wall board shape-preserving frame and the surrounding frame.
3. The method for transferring composite wall boards in the assembly process of the aircraft wing box according to claim 1, wherein the lifting mechanism consists of 2 guide rails, 1 screw rod and a motor, the guide rails are fixed on the overturning upright posts, and the guide rail sliding blocks are connected with the overturning mechanism to play a guiding role; on the fixed and upset stand of lead screw, the lead screw is connected with tilting mechanism, and motor drive lead screw rotation drive lead screw and tilting mechanism realize oscilaltion.
4. The method for transferring composite wall boards in the assembly process of the aircraft wing box according to claim 1, wherein the turnover mechanism comprises a spiral speed reducer and a motor, the fixed end of the spiral speed reducer is connected with a screw nut of a lifting mechanism through a connecting piece, the rotating end of the spiral speed reducer is connected with a surrounding frame, and the motor drives the rotating end of the spiral speed reducer to rotate so as to realize the turnover of the surrounding frame.
5. The method for transferring composite wall panels in the assembly process of an aircraft wing box according to claim 1, wherein the wall panel suspension mechanism is of a T-shaped structure formed by alternating transverse and longitudinal beams, and an upper wall panel lug positioner is suspended at one end of the transverse beam, and a lower wall panel lug positioner is suspended at the other end of the transverse beam.
6. A method of transferring composite panels during assembly of an aircraft wing box according to claim 1, comprising the steps of:
6-1, vertically storing the upper wall plate on a vertical storing and cleaning device through a wall plate hanging mechanism;
the 6-2 turnover mechanism drives the surrounding frame to turn over so that the surrounding frame of the wallboard turnover mechanism is in a vertical state;
6-3, moving the vertical storage cleaning device with the upper wall plate to the vicinity of the side surface of the wall plate turnover mechanism surrounding frame, on which the upper wall plate inner-shaped clamping plate is arranged, through an AGV transport vehicle;
6-4, transferring and positioning the upper wall plate to an inner-shaped clamping plate of the upper wall plate of the surrounding frame, and enabling the AGV transport vehicle to drive the vertical storage cleaning device to withdraw;
6-5, driving the surrounding frame to turn over through a turning mechanism in the wallboard turning mechanism, and turning up the upper wallboard by 90 degrees to be in a horizontal state;
the 6-6 crane hangs the upper wall plate shape preserving frame on the surrounding frame of the wall plate turnover mechanism through the upper wall plate shape preserving frame, and the upper wall plate shape preserving frame are connected and installed after being positioned through the upper wall plate shape preserving frame positioning mechanism;
the 6-7 crane lifts the upper wall plate and the upper wall plate shape-retaining frame to the upper wall plate positioning lifting mechanism of the horizontal assembly system through the upper wall plate shape-retaining frame;
6-8, accurately adjusting the posture of the wallboard to be positioned at an assembly target position through a horizontal assembly system wallboard positioning lifting mechanism;
6-9, decomposing the upper wall plate shape-preserving frame and the upper wall plate on the frame, and hanging the upper wall plate shape-preserving frame to the shape-preserving frame placing frame by using a crane through the upper wall plate shape-preserving frame hanging;
starting the hole making work of the upper wall plate at 6-10;
6-11, finishing hole making work, hanging the upper wall plate shape preserving frame to an upper wall plate positioning lifting mechanism of the horizontal assembly system by using a crane through the upper wall plate shape preserving frame, and after the upper wall plate shape preserving frame and the upper wall plate are connected on the frame, hanging the upper wall plate shape preserving frame and the upper wall plate together to a wall plate turnover mechanism surrounding frame, and positioning through the upper wall plate shape preserving frame positioning mechanism;
6-12, decomposing the upper wall plate and the upper wall plate shape-keeping frame, and connecting the upper wall plate with an inner shape clamping plate of the upper wall plate of the surrounding frame;
the 6-13 turnover mechanism drives the surrounding frame to turn over the upper wall plate by 90 degrees to a vertical state;
6-14, moving the vertical storage cleaning device to the vicinity of the side surface of the wallboard turnover mechanism, on which the upper wallboard inner-shaped clamping plate is installed, through an AGV transport vehicle;
6-15, separating the upper wall plate from the inner-shaped clamping plate of the upper wall plate of the surrounding frame, and transferring the upper wall plate to a vertical storage cleaning device;
6-16, moving the vertical storage cleaning device to a cleaning area through an AGV transport vehicle to perform cleaning and deburring work;
6-17, after the cleaning and deburring work is finished, moving the vertical storage cleaning device to the vicinity of the side surface of the upper wall plate inner-shaped clamping plate of the turnover mechanism through the AGV transport vehicle;
6-18, turning the upper wall plate to a wall plate turning mechanism which is connected with the inner-shaped clamping plate of the upper wall plate, and driving the surrounding frame to turn upwards by 90 degrees and turn to a horizontal state;
the 6-19 crane hangs the upper wall plate shape preserving frame on the wall plate turnover mechanism surrounding frame through the upper wall plate shape preserving frame, and after the upper wall plate shape preserving frame is positioned through the upper wall plate shape preserving frame positioning mechanism, the upper wall plate and the upper wall plate shape preserving frame are connected and installed;
the 6-20 crane lifts the upper wall plate and the upper wall plate shape-retaining frame to an upper wall plate positioning lifting mechanism of the horizontal assembly system through the upper wall plate shape-retaining frame, and accurate posture adjustment and positioning enable the wall plate to reset;
6-21, decomposing the upper wall plate shape-preserving frame and the upper wall plate on the frame, and hanging the upper wall plate shape-preserving frame to the shape-preserving frame placing frame by using a crane through the upper wall plate shape-preserving frame hanging;
6-22, connecting the upper wall plate with the wing box framework, and finishing the assembly work of the upper wall plate;
the 6-23 lower wall plates are vertically stored on the vertical storage cleaning device through the wall plate hanging mechanism;
the 6-24 turnover mechanism drives the surrounding frame to turn over so that the surrounding frame of the wallboard turnover mechanism is in a vertical state;
6-25, moving the vertical storage cleaning device with the lower wall plate to the vicinity of the side surface of the wall plate turnover mechanism surrounding frame, on which the inner-shaped clamping plate of the lower wall plate is arranged, through an AGV (automatic guided vehicle);
6-26, transferring and positioning the lower wall plate to an inner-shaped clamping plate of the lower wall plate of the surrounding frame, and enabling the AGV transport vehicle to drive the vertical storage cleaning device to withdraw;
6-27, driving the surrounding frame to turn over through a turning mechanism in the wallboard turning mechanism, turning down the lower wallboard by 90 degrees to a horizontal state, and driving the surrounding frame to descend to a designated height through a lifting mechanism in the wallboard turning mechanism;
6-28AGV transport vehicle lifts the lower wall plate shape preserving frame to the appointed position below the surrounding frame and lifts to the outer surface of the lower wall plate, and connection installation of the lower wall plate and the lower wall plate shape preserving frame is carried out;
the lower wall plate and the lower wall plate shape-keeping frame are lifted by the 6-29AGV transport vehicle to move to a lower wall plate positioning lifting mechanism of the horizontal assembly system;
6-30, accurately adjusting the posture and positioning the lower wall plate to an assembly target position through a horizontal assembly system wall plate positioning lifting mechanism;
6-31, decomposing the lower wall plate shape-keeping frame and the lower wall plate on the frame, and lifting the lower wall plate shape-keeping frame by the AGV transport vehicle to withdraw;
6-32, starting the hole making work of the lower wall plate;
6-33, completing hole making work, lifting the lower wallboard shape-preserving frame by an AGV transport vehicle to move to a lower wallboard positioning lifting mechanism of a horizontal assembly system, and after the lower wallboard shape-preserving frame is connected with a lower wallboard on the frame, lifting the lower wallboard shape-preserving frame and the lower wallboard together by the AGV transport vehicle to move to a designated position below a wallboard overturning mechanism enclosure frame;
6-34AGV transport vehicle lifts to the inner shape clamping plate of the lower wall plate, separates the lower wall plate from the lower wall plate shape-keeping frame, connects the lower wall plate with the inner shape clamping plate of the lower wall plate of the surrounding frame, lifts the lower wall plate shape-keeping frame to descend and then withdraws from the lower wall plate shape-keeping frame;
the lifting mechanism in the 6-35 wallboard turnover mechanism drives the surrounding frame to rise to a specified height, and the turnover mechanism in the wallboard turnover mechanism drives the surrounding frame to turn over, so that the lower wallboard is turned over by 90 degrees to be in a vertical state;
6-36, moving the vertical storage cleaning device to the vicinity of the side surface of the wallboard turnover mechanism, on which the lower wallboard inner-shaped clamping plate is installed, through an AGV transport vehicle;
6-37, separating the lower wall plate from the inner-shaped clamping plate of the lower wall plate of the surrounding frame, and transferring the lower wall plate to a vertical storage cleaning device;
6-38, moving the vertical storage cleaning device to a cleaning area through an AGV transport vehicle to perform cleaning and deburring work;
6-39, after the cleaning and deburring work is finished, moving the vertical storage cleaning device to the position near the side surface of the wallboard turnover mechanism, on which the lower wallboard inner-shaped clamping plate is installed, through an AGV (automatic guided vehicle);
6-40, turning the lower wall plate to a wall plate turning mechanism, connecting the wall plate turning mechanism with the inner-shaped clamping plate of the lower wall plate, driving the surrounding frame to turn down by 90 degrees, turning to a horizontal state, and driving the surrounding frame to descend to a designated height by a lifting mechanism in the wall plate turning mechanism;
6-41AGV transport vehicle lifts the lower wall plate shape preserving frame to the appointed position below the surrounding frame and lifts to the outer surface of the lower wall plate, and connection installation of the lower wall plate and the lower wall plate shape preserving frame is carried out;
6-42AGV transport cart lifting lower wall plate and lower wall plate shape keeping frame descending and moving to horizontal assembly system lower wall plate positioning lifting mechanism, accurate posture adjustment positioning to reset wall plate;
6-43, decomposing the lower wall plate and the lower wall plate shape-keeping frame on the frame, and lifting the lower wall plate shape-keeping frame by the AGV transport vehicle to withdraw;
6-44, the connection of the lower wall plate and the wing box framework is completed, and the assembly work of the lower wall plate is completed.
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| CH703859B1 (en) * | 2010-09-22 | 2019-09-13 | Engelen Finanzierung Und Beratung Ag | Handling device for a horizontal handling in a container transport system |
| CN102765489B (en) * | 2012-08-02 | 2014-06-18 | 西北工业大学 | Method and device for folding and flexibly positioning body wallboard |
| DE202013005538U1 (en) * | 2013-06-18 | 2013-07-10 | Michael Symann | Transport and tilt system for one wing |
| CN107323684B (en) * | 2017-06-06 | 2019-06-25 | 浙江大学 | A kind of aircraft wing Digital assembly system |
| CN208214720U (en) * | 2018-04-25 | 2018-12-11 | 西安飞机工业（集团）有限责任公司 | A kind of ultra-large type answers the automatic mounting tool of material siding |
| CN108381137A (en) * | 2018-04-25 | 2018-08-10 | 西安飞机工业（集团）有限责任公司 | A kind of ultra-large type answers the automatic mounting tool of material siding and installation method |
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