CN114275184A - Airplane body assembling system and method - Google Patents
Airplane body assembling system and method Download PDFInfo
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- CN114275184A CN114275184A CN202210058469.5A CN202210058469A CN114275184A CN 114275184 A CN114275184 A CN 114275184A CN 202210058469 A CN202210058469 A CN 202210058469A CN 114275184 A CN114275184 A CN 114275184A
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Abstract
The application discloses aircraft fuselage assembly system and assembly method, the system includes mounting platform, assembly fixture, positioning workbench, machine tool and AGV dolly, mounting platform is used for bearing the staff, assembly fixture is located mounting platform, assembly fixture is used for assembling aircraft part, positioning workbench is used for the aircraft part of centre gripping assembly, machine tool is used for boring the processing of riveting to the aircraft part of assembly, the AGV dolly is used for transporting aircraft part, this application has assembly quality height, the advantage that assembly efficiency is high.
Description
Technical Field
The application relates to the technical field of airplane assembly, in particular to an airplane body assembly system and an airplane body assembly method.
Background
At present, aiming at the bottleneck problem that the digital assembly and processing technology of the airplane restricts the improvement of the airplane development and production capacity of the aviation manufacturing enterprises in China, the structure of the airplane body is complex, the number of parts and connecting pieces is large, nearly 10 ten thousand parts and 100 more ten thousand rivets exist in one large airplane; in the process of airplane assembly, a large number of airplane parts are assembled into a combined piece, a plate piece, a section piece and a part step by step according to a certain combination and sequence, and finally, all the parts are butted to form a complete airplane body. The large part of the machine body requires long service life, high strength, sealing and fatigue resistance, and has very high requirement on the preparation precision of the connecting hole.
At present, the parts and components of the domestic airplane structure are basically machined and manufactured by a numerical control machine tool, but the traditional pure manual assembly and riveting are still adopted in the aspect of airplane component assembly, the assembly quality and efficiency are difficult to further improve, and the requirement of efficient manufacture of advanced airplanes cannot be met.
Disclosure of Invention
The main purpose of the application is to provide an aircraft fuselage assembly system and an assembly method, and the system and the method are used for solving the technical problems of low assembly efficiency and low assembly quality of the existing aircraft component assembly method.
In order to realize the purpose, the application provides an aircraft fuselage assembly system, including mounting platform, assembly fixture, positioning workbench, machine tool and AGV dolly, mounting platform is used for bearing the staff, and assembly fixture is located mounting platform, and assembly fixture is used for assembling aircraft part, and positioning workbench is used for the aircraft part that the centre gripping was assembled, and machine tool is used for boring the processing of riveting to the aircraft part that assembles, and the AGV dolly is used for transporting aircraft part.
Optionally, the processing machine tool comprises a first portal frame, a sliding table capable of sliding up and down is arranged on the first portal frame, a ram capable of sliding left and right is arranged on the sliding table, and a processing actuator is arranged on the ram.
Optionally, the processing actuator comprises an integrated frame, a reference detection module is arranged on the integrated frame, a normal alignment module, a pressure foot, a hole-making and socket-sinking module, a riveting module and a station conversion module, the reference detection module is used for detecting the position of a processing reference hole of the aircraft component, the normal alignment module is used for finding out a normal vector of an approximate plane where a hole to be processed is located on the aircraft component, the pressure foot is used for compressing the aircraft component before processing, the hole-making and socket-sinking module is used for making a hole and socket-sinking of the aircraft component, the riveting module is used for riveting and assembling the aircraft component, and the station conversion module is used for adjusting the stations of the reference detection module, the normal alignment module, the hole-making and socket-sinking module and the riveting module.
Optionally, the station conversion module comprises a sliding plate which is slidably arranged on the integrated frame, a first motor is arranged on the integrated frame, the first motor is connected with a first screw rod of which the thread penetrates through the sliding plate, and the reference detection module, the normal alignment module, the hole making dimple module and the riveting module are all arranged on the sliding plate.
Optionally, the reference detection module includes a first guide rail frame arranged on the sliding plate, a first guide slide seat is slidably arranged on the first guide rail frame, a 2D laser scanner is arranged on the first guide slide seat, a second lead screw penetrates through an internal thread of the first guide slide seat, and the second lead screw is connected with a second motor arranged on the sliding plate.
Optionally, the normal alignment module includes four laser displacement sensors, two laser displacement sensors are respectively disposed on two sides of the pressure foot, and the four laser displacement sensors are used for respectively measuring distances from the aircraft component.
Optionally, the hole making and dimple forming module includes a second guide rail frame disposed on the sliding plate, a second guide slide seat is slidably disposed on the second guide rail frame, a drilling machine is disposed on the second guide slide seat, a third screw rod penetrates through an internal thread of the second guide slide seat, and the third screw rod is connected to a third motor disposed on the sliding plate.
Optionally, the assembly tool comprises a ground rail, two second portal frames are slidably arranged on the ground rail, a shape-preserving tool is arranged between the two second portal frames, at least two groups of main turning shaft locators are arranged at the top of the shape-preserving tool, a moving mechanism, a rigid locator and a main turning plate locator are sequentially arranged on one opposite surface of each of the two second portal frames from top to bottom, the moving mechanism can slide up and down along the second portal frames, a plurality of quick-change locators capable of sliding back and forth are slidably arranged on the moving mechanism, and the main turning plate locator is located above the main turning shaft locators.
Optionally, the moving mechanism includes a fourth motor disposed on the side wall of the second gantry, the fourth motor is connected to a vertically arranged fourth lead screw, a plurality of sets of moving seats are disposed on the fourth lead screw in a threaded sleeve manner, the moving seats are slidably disposed on the side wall of the second gantry, and the quick-change positioners are slidably disposed on the moving seats.
Optionally, the top of the second gantry is provided with a locking plate, and one surface of the second gantry opposite to the locking plate is provided with a locking structure.
Optionally, the positioning workbench comprises a rotating base, and a mounting bracket is arranged at the top of the rotating base and used for clamping the assembled airplane component.
Optionally, the rotating base includes a supporting base, a rotating table is movably disposed in the supporting base, at least one set of driving mechanism is disposed at a side end of the supporting base, the driving mechanism is used for driving the rotating table to rotate, a supporting platform is disposed at a top of the rotating table, and the mounting bracket is disposed at the top of the supporting platform.
Optionally, the driving mechanism comprises a fifth motor fixed on the supporting seat, the fifth motor is connected with a worm, the worm is connected with a worm wheel in a meshed mode, the worm wheel is connected with the rotary table in a meshed mode, and the worm wheel are movably arranged in the supporting seat.
Optionally, a lifting platform is further arranged in the assembling platform and used for moving the working personnel to the corresponding height position of the assembling tool.
An assembly method based on the aircraft fuselage assembly system comprises the following steps:
transporting the parts into an assembly platform through an AGV trolley;
assembling airplane components in the assembling platform through an assembling tool;
transporting the assembled airplane components to a positioning workbench through an AGV;
mounting the assembled aircraft component on a positioning workbench;
the positioning workbench provided with the airplane component is integrally transported to a processing machine tool through an AGV trolley;
and drilling and riveting the assembled airplane parts through a processing machine tool.
The beneficial effect that this application can realize is as follows:
the airplane component assembly method has the advantages that the airplane component is assembled by means of the assembly platform and the assembly tool, the assembly platform can complete assembly operation of the large airplane component at different heights, the assembly operation is carried out in the assembly tool during assembly, the airplane component can be stably clamped and supported in the assembly process, the efficiency is improved, the assembled airplane component can be transported to the positioning workbench through the AGV trolley, then the positioning workbench provided with the airplane component is integrally transported to the processing machine tool through the AGV trolley, the airplane component is prevented from being collided and influencing the quality in the transportation process, the temporary protection effect is achieved, the assembly quality is improved, finally the automatic drilling and riveting processing can be carried out on the airplane component through the processing machine tool, due to the fact that the assembly platform and the processing machine tool are two independent systems, the assembly and the drilling and riveting processing can be carried out simultaneously, the production continuity is improved, and the production preparation period is shortened, thereby improving the working efficiency.
Drawings
In order to more clearly illustrate the detailed description of the present application or the technical solutions in the prior art, the drawings that are needed in the detailed description of the present application or the technical solutions in the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a schematic structural diagram of an aircraft fuselage assembly system according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of an assembly platform according to an embodiment of the present application;
FIG. 3 is a schematic structural diagram of an assembly fixture in an embodiment of the present application;
FIG. 4 is a schematic assembly flow diagram of an assembly tool in an embodiment of the present application;
FIG. 5 is a schematic structural diagram of a positioning stage according to an embodiment of the present disclosure;
FIG. 6 is a schematic view of the internal structure of the rotating base according to the embodiment of the present application;
FIG. 7 is a schematic view of a machine tool according to an embodiment of the present application;
FIG. 8 is a schematic diagram of a process actuator according to an embodiment of the present application;
FIG. 9 is a schematic structural diagram of a reference detection module in an embodiment of the present application;
FIG. 10 is a schematic structural view of the top view of FIG. 9;
FIG. 11 is a schematic diagram illustrating the operation of a reference detection module in an embodiment of the present application;
FIG. 12 is a schematic view of a connection structure of a pressure angle and a laser displacement sensor according to an embodiment of the present disclosure;
FIG. 13 is a schematic diagram illustrating the operation of a normal alignment module according to an embodiment of the present application;
FIG. 14 is a schematic structural view of a countersinking module according to an embodiment of the present application;
FIG. 15 is a schematic diagram of the construction of a station changing module (arrows indicate the direction of movement) in an embodiment of the present application;
FIG. 16 is a schematic diagram of an AGV configuration in an embodiment of the present application;
FIG. 17 is a schematic structural diagram of an embodiment of the lift table of the present application;
fig. 18 is a flow chart illustrating an assembly method based on an aircraft fuselage assembly system according to an embodiment of the present disclosure.
Reference numerals:
100-assembly platform, 200-assembly tool, 210-ground rail, 220-second portal frame, 230-shape-keeping tool, 240-main rotating shaft positioner, 250-moving mechanism, 251-fourth motor, 252-fourth screw rod, 253-moving seat, 260-quick-change positioner, 270-rigid positioner, 280-main protecting plate positioner, 290-locking plate, 291-locking structure, 300-positioning workbench, 310-rotating base, 311-supporting seat, 312-rotating table, 313-driving mechanism, 3131-fifth motor, 3132-worm, 3133-turbine, 314-supporting platform, 320-mounting bracket, 400-processing machine tool, 410-first portal frame, 420-sliding table, 430-ram, 440-processing actuator, 441-reference detection module, 4411-first guide rail bracket, 4412-first guide slide seat, 4413-2D laser scanner, 4414-second screw rod, 4415-second motor, 442-normal alignment module, 443-pressure foot, 444-hole making and dimple forming module, 4441-second guide rail bracket, 4442-second guide slide seat, 4443-drilling machine, 4444-third screw rod, 4445-third motor, 445-riveting module, 446-station conversion module, 4461-sliding plate, 4462-first motor, 4463-first screw rod, 447-integrated frame, 500-AGV trolley and 600-lifting platform.
The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that all the directional indications (such as up, down, left, right, front, and back … …) in the embodiment of the present application are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture, and if the specific posture is changed, the directional indication is changed accordingly.
In this application, unless expressly stated or limited otherwise, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
Example 1
Referring to fig. 1 to 17, the present embodiment provides an aircraft fuselage assembly system and an assembly method, including an assembly platform 100, an assembly fixture 200, a positioning workbench 300, a processing machine tool 400, and an AGV cart 500, where the assembly platform 100 is used to carry workers, the assembly fixture 200 is located in the assembly platform 100, the assembly fixture 200 is used to assemble aircraft components, the positioning workbench 300 is used to clamp the assembled aircraft components, the processing machine tool 400 is used to perform drilling and riveting processing on the assembled aircraft components, and the AGV cart 500 is used to transport the aircraft components.
In this embodiment, the aircraft components can be assembled by means of the assembly platform 100 and the assembly fixture 200, the assembly platform 100 can complete assembly operation of large aircraft components at different heights, the assembly operation is performed in the assembly fixture 200 during assembly, so that the aircraft components can be stably clamped and supported simultaneously during assembly, the efficiency is improved, the assembled aircraft components can be transported to the positioning workbench 300 by the AGV trolley 500, then the positioning workbench 300 provided with the aircraft components is integrally transported to the processing machine tool 400 by the AGV trolley 500, the quality of the aircraft components is prevented from being influenced by collision during transportation, a temporary protection effect is achieved, the assembly quality is improved, and finally the aircraft components are automatically drilled and riveted by the processing machine tool 400, because the assembly platform 100 and the processing machine tool 400 are provided with two independent systems, the assembly and the drilling and riveting can be performed simultaneously, the production continuity is improved, and the production preparation period is shortened in the process, so that the working efficiency is improved.
It should be noted that, the assembly platform 100 in this embodiment can ensure that a worker reaches an operation position required for assembly, the assembly height of a product on the assembly fixture 200 is 1200mm-5100mm, the assembly platform 100 is adapted to the assembly height, the openness of the working platform is structurally improved, a lighting device is connected into the assembly platform 100, an LED working lamp is adopted to enhance light in the working platform, a gas pipe is connected into the working platform, the assembly requirement is met, and a working area on the platform surface of the assembly platform 100 is reasonably divided and utilized;
the AGV cart 500 in the present embodiment is a transport cart equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation route, and having safety protection and various transfer functions. The industrial application does not need a driver's transport vehicle, and a rechargeable storage battery is used as a power source of the industrial application. Generally, the traveling path and behavior of the AGV can be controlled by a computer, or the traveling path can be set up by using an electromagnetic rail, the electromagnetic rail is adhered to the floor, and the AGV moves and acts according to the information brought by the electromagnetic rail, wherein at least two AGV carts 500 are arranged, one is used for transporting parts, the other is used for transporting aircraft parts, and the switching between different stations can be rapidly completed by the AGV cart 500.
The working principle of the embodiment is as follows: assembly of fuselage product in the aircraft, bore and rivet and accomplish respectively on different platforms, in the fuselage assembling process, transport the work piece to assembly platform 100 by AGV dolly 500, the workman transports the installation of spare part to the different height completion spare part with the help of the elevator in the work ladder, after the assembly of fuselage in assembly fixture 200 completion, the product is transported to positioning table 300 from assembly fixture 200 station by AGV dolly 500, then AGV dolly 500 transports the whole positioning table 300 who is equipped with the aircraft part to machine tool 400 and carries out automatic drilling and riveting work, bore and rivet the completion back, AGV dolly 500 puts the product from positioning table 300 on the lower carriage, transport to appointed repository, accomplish whole transportation flow.
As an optional embodiment, the processing machine tool 400 includes a first gantry 410, a sliding table 420 capable of sliding up and down is disposed on the first gantry 410, a ram 430 capable of sliding left and right is disposed on the sliding table 420, and a processing actuator 440 is disposed on the ram 430. The machining actuator 440 comprises an integrated frame 447, a reference detection module 441, a normal alignment module 442, a pressure pin 443, a hole making and dimple forming module 444, a riveting module 445 and a station conversion module 446 are arranged on the integrated frame 447, the reference detection module 441 is used for detecting the position of a machining reference hole of an airplane component, the normal alignment module 442 is used for finding out the normal vector of an approximate plane where a hole to be machined is located on the airplane component, the pressure pin 443 is used for pressing the airplane component before machining, the hole making and dimple forming module 444 is used for making and dimpling the airplane component, the riveting module 445 is used for riveting and assembling the airplane component, and the station conversion module 446 is used for adjusting stations of the reference detection module 441, the normal alignment module 442, the hole making and dimple forming module 444 and the riveting module 445.
In this embodiment, the processing actuator 440 is integrated with the reference detection module 441, the normal alignment module 442, the pressure foot 443, the hole-making dimple module 444, the riveting module 445 and the station conversion module 446, the reference detection module 441 can be used for finding out the position of a processing reference hole of the aircraft component, the normal alignment module 442 is used for finding out the normal vector of an approximate plane where the hole to be processed is located on the aircraft component, the hole processing precision is improved, then the hole-making dimple module 444 is used for making and dimpling the aircraft component, in the process, each functional module needs to be switched through the station conversion module 446 when working, the automation degree is high, and the processing precision and the efficiency are improved.
It should be noted that the pressure foot 443 is arranged according to the process requirements, so that the workpiece is compressed before drilling, the interlayer gap of the workpiece is reduced, the rigidity of the end effector is improved, and the working conditions for drilling are improved. The clearance between the laminated material layers is eliminated, the entering of burrs between the layers is prevented, the structure is more compact, and the dynamic rigidity of the system is enhanced. The riveting module 445 completes the formation of the rivet in a bilateral electromagnetic riveting mode, and realizes the riveting and assembling tasks of the airfoil parts.
As an optional embodiment, the station conversion module 446 includes a sliding plate 4461 slidably disposed on the integrated frame 447, a first motor 4462 is disposed on the integrated frame 447, the first motor 4462 is connected with a first lead screw 4463 penetrating the sliding plate 4461 through a thread, and the reference detection module 441, the normal alignment module 442, the hole making and socket sinking module 444, and the riveting module 445 are disposed on the sliding plate 4461.
In this embodiment, when different functional modules need to be switched, the first motor 4462 drives the first lead screw 4463 to rotate, so as to drive the sliding plate 4461 to slide on the integrated rack 447, so that the corresponding functional module moves to a station matched with an airplane component. According to the requirement of the aircraft assembly quality, the station conversion module 446 needs to ensure that the position precision after hole making, riveting and tool changing station conversion reaches within +/-0.005 mm, and at present, the repeated positioning precision of the integrated precise sliding table 420 controlled by the full closed-loop servo can reach +/-0.005 mm.
As an alternative embodiment, the reference detection module 441 includes a first guide rail bracket 4411 disposed on the sliding plate 4461, a first guide slide 4412 is slidably disposed on the first guide rail bracket 4411, a 2D laser scanner 4413 is disposed on the first guide slide 4412, a second lead screw 4414 penetrates through the first guide slide 4412, and a second motor 4415 disposed on the sliding plate 4461 is connected to the second lead screw 4414.
In the present embodiment, the reference detection module 441 operates according to the following principle: the 2D laser scanner 4413 detects the reference hole to obtain X, Z coordinates of two end points of the string of the reference hole, the second motor 4415 drives the second lead screw 4414 to rotate, the first guide slide 4412 drives the 2D laser scanner 4413 to move in the Y direction, the moving distance is measured by the grating ruler, so as to obtain a Y coordinate value of the end point, the actual circle center coordinate of the reference hole can be calculated by measuring the coordinates of the sampling point on the circle, the actual circle center coordinate of the reference hole can be obtained for detecting and identifying the high-precision reference hole on the product, the coordinate of the circle center of the reference hole can be obtained, and compared with the expected coordinate, a position error can be obtained, so that the position of the hole to be processed in the NC program can be corrected. Because errors exist in the manufacturing and assembling processes of the workpiece, the deviation exists between the hole site to be processed and the theoretical digital analog, and the system needs to scan the reference hole on the workpiece before processing, so that the hole site information of the theoretical digital analog is corrected.
As an alternative embodiment, the normal alignment module 442 includes four laser displacement sensors, two laser displacement sensors are respectively disposed on two sides of the pressure foot 443, and the four laser displacement sensors are respectively used for measuring the distances from the aircraft components.
In the embodiment, a normal vector of an approximate plane where a hole to be processed is located is fitted through a 4-point and 3-point normal detection algorithm, and the normal attitude deviation of the hole making dimple module 444 is compensated, so that the deviation between the actual contour of the workpiece and a theoretical model is reduced. The main implementation mode is as follows: two laser displacement sensors are respectively installed on two sides of a pressure angle at the front end of the processing actuator 440, the distances between the laser displacement sensors and the surface of the aircraft skin are respectively measured through the four laser displacement sensors before hole making, the actual normal direction of a product substitute processing hole position is calculated through the four distance values, and the target posture to which the compound processing machine tool 400 is adjusted is obtained through further derivation and inverse solution, so that normal direction alignment is realized.
As an alternative embodiment, the hole-making and socket-boring module 444 includes a second guide rail bracket 4441 disposed on the sliding plate 4461, a second guide slide 4442 is slidably disposed on the second guide rail bracket 4441, a drilling machine 4443 is disposed on the second guide slide 4442, a third lead screw 4444 penetrates through the second guide slide 4442, and the third lead screw 4444 is connected to a third motor 4445 disposed on the sliding plate 4461.
In this embodiment, when a hole needs to be drilled, the third motor 4445 drives the third lead screw 4444 to rotate, so as to drive the second guide slide 4442 to slide along the second guide rail bracket 4441, thereby driving the drilling machine 4443 to move to the corresponding machining position, and thus, the drilling and the dimple machining of the workpiece can be completed at one time. When the workpiece is about to be drilled through, the third motor 4445 adjusts the feeding speed of the spindle, so that the axial force of a drill bit of the drilling machine 4443 is controlled, burrs at the outlet of the rivet can be reduced, the drilling and reaming integrated cutter continues to feed after the material is drilled through, reaming is carried out, the drilling machine 4443 can adopt the drilling and reaming integrated cutter, the assembly efficiency of the system is improved, and a hole machining task can be completed at one time.
As an optional implementation manner, the assembly fixture 200 includes a ground rail 210, two second portal frames 220 are slidably disposed on the ground rail 210, a shape-preserving fixture 230 is disposed between the two second portal frames 220, at least two sets of main turning shaft locators 240 are disposed at the top of the shape-preserving fixture 230, a moving mechanism 250, a rigid locator 270, and a main guard plate locator 280 are sequentially disposed on opposite surfaces of the two second portal frames 220 from top to bottom, the moving mechanism 250 can slide up and down along the second portal frames 220, a plurality of quick-change locators 260 capable of sliding back and forth (all at the same height) are slidably disposed on the moving mechanism 250, and the main guard plate locator 280 is located above the main turning shaft locator 240. The main lift shaft locator 240, the rigid locator 270, and the main lift shield locator 280 are all removably connected on the second gantry 220.
In this embodiment, the main lifting fender locator 280 is installed during assembly, while the rigidity of the product is maintained during drilling, so as to improve the drilling quality, and the main lifting spindle locator 240 and the main lifting fender locator 280 are special locators and are responsible for locating the main landing gear spindle and the fender; the moving mechanism 250 and the rigid positioner 270 are responsible for positioning the intersection point hole of the frame of the machine body; the quick-change locator 260 can realize the freedom degree in one direction, and when the product positioning type is changed, the quick-change locator 260 can be replaced to realize the positioning of different types of products. After the assembly is completed, the two second portal frames 220 are pulled away from two sides (driven by a hydraulic system), the shape-preserving tool 230, the main rotating shaft positioner 240, the main protecting plate positioner 280 and the rigid positioner 270 on the lower two layers of frames can be moved to the positioning workbench 300 along with the product to drill, the stability of the whole transportation and the subsequent drilling process can be ensured, meanwhile, the quick-change positioner 260 can be provided with various types, aircraft parts can be fixed through the corresponding quick-change positioner 260 which slides, the applicable range is improved, the quick-change positioner 260 can be fixed by screws after the quick-change positioner 260 slides in place, and the deviation is prevented.
The assembly fixture 200 in the embodiment can realize flexible reconstruction positioning of airplane body products, can be reconstructed and built according to different airplane body products, and has universality.
As an alternative embodiment, the moving mechanism 250 includes a fourth motor 251 disposed on a side wall of the second portal frame 220, the fourth motor 251 is connected with a vertically arranged fourth lead screw 252, a plurality of sets of moving seats 253 are threadedly sleeved on the fourth lead screw 252, the moving seats 253 are slidably disposed on the side wall of the second portal frame 220 (sliding of the sliding rail matching moving seats 253 can be provided), and a plurality of quick-change locators 260 are slidably disposed on the moving seats 253.
In this embodiment, the fourth motor 251 drives the fourth screw 252 to rotate, so as to drive the moving seat 253 to slide up and down along the side wall of the second portal frame 220, so as to adjust the height of the quick-change positioner 260 on the moving seat 253.
As an alternative embodiment, the top of the second portal frame 220 is provided with a locking plate 290, and the opposite side of the two locking plates 290 is provided with a locking structure 291. The two second portal frames 220 can be compactly spliced together through the locking plate 290 and the locking structure 291, so that the overall rigidity and stability of the tool can be improved. It should be noted that the locking structure 291 may be a locking device, a buckle, a bolt, etc., and is not limited herein.
As an alternative embodiment, the positioning workbench 300 comprises a rotating base 310, and a mounting bracket 320 is arranged on the top of the rotating base 310, and the mounting bracket 320 is used for clamping the assembled airplane components. The rotating base 310 comprises a supporting seat 311, a rotating table 312 is movably arranged in the supporting seat 311, at least one group of driving mechanisms 313 is arranged at the side end of the supporting seat 311, the driving mechanisms 313 are used for driving the rotating table 312 to rotate, a supporting platform 314 is arranged at the top of the rotating table 312, and the mounting bracket 320 is arranged at the top of the supporting platform 314. The driving mechanism 313 includes a fifth motor 3131 fixed on the supporting seat 311, the fifth motor 3131 is connected to a worm 3132, the worm 3132 is connected to a worm wheel 3133 in a meshing manner, the worm wheel 3133 is connected to the turntable 312 in a meshing manner, and both the worm 3132 and the worm wheel 3133 are movably disposed in the supporting seat.
In this embodiment, after the aircraft component is clamped in the mounting bracket 320, the positioning table 300 moves to the processing machine 400, and the driving mechanism 313 drives the rotary table 312 to rotate, so as to drive the aircraft component to rotate integrally, thereby adapting to different processing angles.
It should be noted that the turntable 312 should be equipped with a bearing, a precision bearing capable of selectively bearing combined loads such as axial load, radial load and overturning moment, etc., has a high load capacity, integrates multiple functions such as supporting, rotating, transmission, fixing, etc., and mainly includes a four-point contact ball bearing, a crossed roller bearing, a three-row cylindrical roller bearing, etc., and the bearing is structurally provided with a mounting hole, a lubrication hole and a sealing device. In the worm gear pair transmission structure adopted by the embodiment, the fifth motor 3131 drives the worm gear pair to transmit torque through or without the intermediate transmission mechanism, so that the gap between the worm gear 3132 can be regularly adjusted, and the gap eliminating function is achieved.
The turntable 312 may be provided with a locking system, which is mainly used to ensure that the turntable 312 is fastened and locked at a working position, and prevent the workpiece from being displaced under the action of the cutting force, so as to affect the processing precision of the turntable 312. In order to ensure the reliability and stability of static locking, the locking system adopts an end face friction type hydraulic locking structure 291, a plurality of sets of independent hydraulic locking devices are uniformly arranged at the positions, close to the excircle, of the upper end face and the lower end face of the rotating shaft, the table top fixedly connected with the rotating shaft is locked by means of the friction force of the brake sheets on the rotating shaft, the friction area is large, the locking torque is high, and the static rigidity of the rotary table 312 is good, so that the requirement of strong cutting machining is met. The hydraulic locking device is of an up-and-down symmetrical structure so as to prevent the locking force from being transmitted to the slewing bearing.
As an optional implementation mode, still be provided with elevating platform 600 in assembly platform 100, elevating platform 600 is used for removing the staff to assembly fixture 200 corresponding high position, and elevating platform 600 can realize the personnel operation in the narrow and small space of fuselage intake duct, its working height: 1300mm-5000mm, the diameter of the working table top is 600mm, and the platform base of the lifting platform is provided with steps, so that workers can conveniently enter the platform. The base is fixed subaerial in order to guarantee the stability of during operation, and lift platform rises to 5000mm, can satisfy the assembly work at top, and the type of keeping out frock platform can be dodged to lift platform and fall 1300mm, satisfies upper and lower frame requirement. The lifting platform base is provided with the lock catch, so that the working process is guaranteed, and the platform is stable and reliable. The central lifting platform is lifted to a proper position to meet the operation of workers on products; the temperature is reduced below the surface of the shape-maintaining tool table, and the product transportation requirement is met.
Example 2
Referring to fig. 1-18, the present embodiment provides an assembly method based on the aircraft fuselage assembly system described in embodiment 1, including the steps of:
transporting the parts into the assembly platform 100 by the AGV trolley 500;
assembling airplane components in the assembling platform 100 through the assembling tool 200;
transporting the assembled aircraft components to the positioning table 300 by an AGV cart 500;
mounting the assembled aircraft components to a positioning table 300;
the positioning workbench 300 with the mounted aircraft components is transported to the processing machine tool 400 integrally by the AGV cart 500;
the assembled aircraft components are subjected to drill and rivet processing by a processing machine 400.
In the embodiment, the assembly platform 100 and the assembly tool 200 are used for assembling the aircraft components, the assembly platform 100 can complete assembly operation of the large aircraft components at different heights, the assembly operation is performed in the assembly tool 200 during assembly, so that the aircraft components can be stably clamped and supported simultaneously during assembly, the efficiency is improved, the assembled aircraft components can be transported to the positioning workbench 300 through the AGV trolley 500, then the positioning workbench 300 provided with the aircraft components is integrally transported to the processing machine tool 400 through the AGV trolley 500, the quality of the aircraft components is prevented from being influenced by collision during transportation, a temporary protection effect is achieved, the assembly quality is improved, and finally the aircraft components are automatically drilled and riveted through the processing machine tool 400, and because the assembly platform 100 and the processing machine tool 400 are provided with two independent systems, the assembly operation and the drilling and riveting operation can be performed simultaneously, the production continuity is improved, and the production preparation period is shortened in the process, so that the working efficiency is improved.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.
Claims (15)
1. An aircraft fuselage assembly system, comprising:
the assembling platform is used for bearing working personnel;
the assembly tool is positioned in the assembly platform and used for assembling airplane components;
the positioning workbench is used for clamping the assembled airplane components;
the processing machine tool is used for performing drilling and riveting processing on the assembled airplane parts;
the AGV trolley is used for transporting aircraft components.
2. The aircraft fuselage assembly system of claim 1, wherein the processing machine comprises a first portal frame, wherein a sliding table capable of sliding up and down is arranged on the first portal frame, a ram capable of sliding left and right is arranged on the sliding table, and a processing actuator is arranged on the ram.
3. The aircraft fuselage assembly system of claim 2, wherein the processing actuator comprises an integrated frame, the integrated frame is provided with a reference detection module, a normal alignment module, a pressure foot, a hole making and socket module, a riveting module and a station conversion module, the reference detection module is used for detecting the position of a processing reference hole of the aircraft component, the normal alignment module is used for finding out a normal vector of an approximate plane where a hole to be processed is located on the aircraft component, the pressure foot is used for pressing the aircraft component before processing, the hole making and socket module is used for making and socket for the aircraft component, the riveting module is used for riveting and assembling the aircraft component, and the station conversion module is used for adjusting stations of the reference detection module, the normal alignment module, the hole making and socket module and the riveting module.
4. The aircraft fuselage assembly system of claim 3, wherein the station conversion module comprises a sliding plate slidably disposed on the assembly frame, the assembly frame is provided with a first motor, the first motor is connected with a first lead screw threaded through the sliding plate, and the reference detection module, the normal alignment module, the hole making and countersinking module and the riveting module are disposed on the sliding plate.
5. The aircraft fuselage assembly system of claim 4, wherein the reference detection module comprises a first guide rail bracket disposed on the sliding plate, a first guide carriage is slidably disposed on the first guide rail bracket, the first guide carriage is disposed with the 2D laser scanner, a second lead screw penetrates through an inner thread of the first guide carriage, and the second lead screw is connected with a second motor disposed on the sliding plate.
6. An aircraft fuselage assembly system according to claim 4, wherein the normal alignment module comprises four laser displacement sensors, two of which are provided on either side of the pressure foot, and four of which are provided for measuring the distance to an aircraft component.
7. An aircraft fuselage assembly system according to claim 4, wherein the hole-making countersink module comprises a second guide rail bracket disposed on the slide plate, a second guide carriage slidably disposed on the second guide rail bracket, a drilling machine disposed on the second guide carriage, a third lead screw threaded into the second guide carriage, and a third motor disposed on the slide plate and connected to the third lead screw.
8. The aircraft fuselage assembly system of claim 1, wherein the assembly fixture comprises a ground rail, two second portal frames are slidably arranged on the ground rail, a shape-preserving fixture is arranged between the two second portal frames, at least two groups of main hoisting shaft positioners are arranged at the top of the shape-preserving fixture, a moving mechanism, a rigid positioner and a main hoisting guard plate positioner are sequentially arranged on the opposite surfaces of the two second portal frames from top to bottom, the moving mechanism can slide up and down along the second portal frames, a plurality of quick-change positioners capable of sliding back and forth are slidably arranged on the moving mechanism, and the main hoisting guard plate positioner is positioned above the main hoisting shaft positioners.
9. An aircraft fuselage assembly system according to claim 8, wherein the moving mechanism comprises a fourth motor disposed on the second portal frame side wall, the fourth motor is connected with a vertically arranged fourth lead screw, a plurality of sets of moving seats are threadedly sleeved on the fourth lead screw, the moving seats are slidably disposed on the second portal frame side wall, and a plurality of quick-change positioners are slidably disposed on the moving seats.
10. An aircraft fuselage assembly system according to claim 9, wherein the second gantry top is provided with locking plates, and the opposite sides of the locking plates are provided with locking structures.
11. An aircraft fuselage assembly system according to claim 1, wherein the positioning table comprises a rotating base on top of which is provided a mounting bracket for holding the assembled aircraft components.
12. The aircraft fuselage assembly system of claim 11, wherein the rotating base comprises a supporting base, a rotating platform is movably disposed in the supporting base, at least one set of driving mechanisms is disposed at a side end of the supporting base, the driving mechanisms are configured to drive the rotating platform to rotate, a supporting platform is disposed on a top of the rotating platform, and the mounting bracket is disposed on a top of the supporting platform.
13. The aircraft fuselage assembly system of claim 12, wherein the drive mechanism comprises a fifth motor fixed to the support base, the fifth motor having a worm gear coupled thereto, the worm gear and the worm gear each being movably disposed within the support base.
14. An aircraft fuselage assembly system according to claim 1, wherein an elevator platform is further provided in the assembly platform, the elevator platform being configured to move a worker to a position corresponding to a height of the assembly fixture.
15. An assembly method for an aircraft fuselage assembly system according to any one of claims 1 to 14, characterised by the following steps:
transporting parts into the assembly platform through the AGV trolley;
assembling airplane components in the assembling platform through the assembling tool;
transporting the assembled aircraft components to the positioning workbench through the AGV trolley;
mounting the assembled aircraft component to the positioning table;
the positioning workbench provided with the aircraft component is integrally transported to the processing machine tool through the AGV trolley;
and drilling and riveting the assembled airplane parts through the processing machine tool.
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| CN202210058469.5A CN114275184A (en) | 2022-01-19 | 2022-01-19 | Airplane body assembling system and method |
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| CN202210058469.5A CN114275184A (en) | 2022-01-19 | 2022-01-19 | Airplane body assembling system and method |
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Cited By (1)
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Application publication date: 20220405 |