CN114800562B - Automatic assembly robot capable of extending into wing box and working method thereof - Google Patents

Automatic assembly robot capable of extending into wing box and working method thereof Download PDF

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Publication number
CN114800562B
CN114800562B CN202210473278.5A CN202210473278A CN114800562B CN 114800562 B CN114800562 B CN 114800562B CN 202210473278 A CN202210473278 A CN 202210473278A CN 114800562 B CN114800562 B CN 114800562B
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connecting rod
arm connecting
upper arm
belt
lower arm
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CN114800562A (en
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姜杰凤
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Hangzhou Normal University
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Hangzhou Normal University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/007—Means or methods for designing or fabricating manipulators
    • 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
    • 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 invention discloses an automatic assembly robot capable of extending into a wing box and a working method thereof. The existing assembly robot is difficult to install fasteners in an aircraft wing box with a small space. The assembly robot comprises a base, a height adjusting assembly, a cross beam and a mechanical arm. The inner end of the cross beam and the base form a sliding pair sliding along the vertical direction. The cross beam is driven by the height adjusting component to lift. The mechanical arm comprises a large rotary shaft, a first driving assembly, a large rotary connecting rod, a second driving assembly, an upper arm connecting rod, a third driving assembly, a lower arm connecting rod, a fourth driving assembly, a hand connecting rod, a fifth driving assembly and a tail end assembling tool. According to the invention, the large rotating shaft capable of rotating around the horizontal shaft is arranged at the head end of the mechanical arm, so that the mechanical arm can extend downwards into the process hole and also extend upwards into the process hole, and the direction of the working position of the tail end assembly tool is kept unchanged; and then the fastener installation above and below the process hole is realized under the condition that the position of the robot is unchanged.

Description

Automatic assembly robot capable of extending into wing box and working method thereof
Technical Field
The invention belongs to the technical field of production equipment of wing boxes of aircraft, and particularly relates to an automatic assembly robot capable of extending into a wing box.
Background
For the wing box part of an aircraft, in order to keep the surface smooth, fasteners such as nuts and the like are required to be mounted inside. In the wingspan direction, process holes are usually formed in the side face of the wing box at intervals, so that the arms of workers can conveniently extend into the wing box to operate. Because of the narrow space inside the wing box, the assembly operation is mainly finished manually at present. However, the assembly work of the fasteners in the wing box of the airplane has the disadvantages of large workload, repeated and boring work, large labor consumption, low efficiency and low economic benefit, and the automation is urgently needed. The adoption of a robot for fastening assembly is a preferable scheme, however, the SCARA and 6R serial industrial robots and the like on the market at present have large arm and small arm lengths, are mainly suitable for external assembly operation and are not suitable for narrow internal assembly. Based on this, it is highly desirable to design an assembly robot that can extend into the interior of the wing box and a method therefor.
Disclosure of Invention
The invention aims to provide an automatic assembly robot which can extend into a wing box.
The invention discloses an automatic assembly robot capable of extending into a wing box, which comprises a base, a height adjusting assembly, a cross beam and a mechanical arm. The inner end of the cross beam and the base form a sliding pair sliding along the vertical direction. The cross beam is driven by the height adjusting component to lift.
The mechanical arm comprises a large rotary shaft, a large rotary connecting rod, a first driving assembly, an upper arm connecting rod, a second driving assembly, a lower arm connecting rod, a third driving assembly, a hand connecting rod, a fourth driving assembly and a tail end assembling tool. A large swivel shaft capable of 360 ° turn is supported at the outer end of the cross beam. The axis of the large rotary shaft is horizontally arranged. The outer end of the large rotary shaft is fixed with the large rotary connecting rod. The inner end of the upper arm connecting rod and the outer end of the large rotary connecting rod form a first rotary pair. The inner end of the lower arm connecting rod and the outer end of the upper arm connecting rod form a second revolute pair. The inner end of the hand connecting rod and the outer end of the lower arm connecting rod form a third revolute pair. The common axes of the first revolute pair, the second revolute pair and the third revolute pair are parallel to each other and perpendicular to the axis of the large rotary shaft. The end fitting tool is mounted on the hand link for performing the fastener installation operation. The large pivot shaft, large pivot link, upper arm link, lower arm link, hand link can all rotate under the drive of the power element for terminal assembly tool 24 can stretch into the inside of aircraft wing box through the technology hole and work. The rotation radius of the upper arm connecting rod and the lower arm connecting rod is 100-150 mm; in the working state, the axis of the large rotary shaft is aligned with a process hole of the aircraft wing box, and the upper arm connecting rod, the lower arm connecting rod and the hand connecting rod extend into the aircraft wing box through the process hole; under the state that the upper arm connecting rod, the lower arm connecting rod and the hand connecting rod face opposite directions, the large rotating shaft can drive the hand connecting rod to rotate in the airplane wing box.
Preferably, the upper arm connecting rod and the lower arm connecting rod have the same structure and comprise an inner end block, a middle inclined part and an outer end block which are integrally formed. The inner ends of the inner end block and the outer end block are respectively connected with the two ends of the middle inclined part. The intermediate inclined portion staggers the inner end block and the outer end block from each other. A motor mounting groove is formed in one side of the middle inclined part and used for mounting a motor. The other side of the middle inclined part is provided with a belt transmission assembly mounting groove for mounting a belt transmission assembly. Two sides of the motor installation groove form two first rib plates. Two second rib plates are formed on two sides of the installation groove of the belt transmission assembly. The outer end block on the upper arm link is located on the side of the inner end block that is adjacent to the large swivel link. The outer end block on the lower arm link is located on the side of the inner end block that is adjacent to the upper arm link.
Preferably, the large rotating shaft is driven to rotate by the first driving assembly. The first drive assembly includes a second belt drive assembly and a second motor. The second belt drive assembly includes a second pulley and a second timing belt. One of the second pulleys is fixed on the large rotary shaft, and the other second pulley is supported at the outer end of the cross beam and driven by a second motor. The two second pulleys are connected through a second synchronous belt. The upper arm connecting rod is driven to rotate by the second driving assembly. The second drive assembly includes a third belt drive assembly and a third motor. The third belt drive assembly includes a third pulley and a third timing belt. One of the third pulleys is fixed to the inner end of the upper arm link and the other third pulley is supported on the large swing link and driven by a third motor. The two third pulleys are connected through a third synchronous belt. The third motor is fixed on the large rotary connecting rod. The lower arm connecting rod is driven to rotate by the third driving assembly. The third drive assembly includes a fourth belt drive assembly and a fourth motor. The fourth belt drive assembly includes a fourth pulley and a fourth timing belt. One of the fourth pulleys is fixed to the inner end of the lower arm link and the other fourth pulley is supported on the upper arm link and driven by a fourth motor. The two fourth belt pulleys are connected through a fourth synchronous belt. The fourth motor is fixed on the upper arm connecting rod. The hand connecting rod is driven to rotate by the fourth driving assembly. The fourth drive assembly includes a fifth belt drive assembly and a fifth motor. The fifth belt drive assembly includes a fifth pulley and a fifth timing belt. One of the fifth pulleys is fixed to the inner end of the hand link and the other fifth pulley is supported on the lower arm link and driven by a fifth motor. The two fifth pulleys are connected through a fifth synchronous belt. The fifth motor is fixed on the upper arm connecting rod.
Preferably, the base comprises casters, a chassis, a vertical frame, a reinforcing frame and guide rails. The bottom of the chassis is provided with a plurality of casters. One or more of the casters are universal wheels. The bottom of the vertical frame is fixed with the tail end of the top of the chassis. The two reinforcing frames are respectively arranged at the two sides of the top of the chassis. The two ends of the reinforcing frame are respectively fixed with the chassis and the vertical frame. Two guide rails which are vertically arranged are fixed on the inner side of the vertical frame. The inner end of the cross beam is respectively and slidably connected with the two guide rails through the two sliding blocks.
Preferably, the height adjustment assembly includes a first motor and a first belt drive assembly. The first belt drive assembly includes a first pulley and a first timing belt. The two first belt wheels are respectively supported at the top and the bottom of the vertical frame and are connected through a first synchronous belt. The first pulley below is driven to rotate by a first motor. The first synchronous belt is fixed with the inner end of the cross beam.
Preferably, the outer ends of the cross members are aligned with the head ends of the chassis. The crossbeam includes interior beam slab, first side beam slab, second side beam slab, intermediate baffle, end plate, first ear piece and second ear piece. The first side beam plates and the second side beam plates which are arranged at intervals and are parallel to each other are welded and fixed with the outer side faces of the inner beam plates. The two sides of the middle partition board are integrally formed with first lug blocks. The two first ear blocks are respectively embedded into the first clamping grooves on the first side beam plate and the second side beam plate. The two sides of the end panel are provided with second ear blocks in an integrated mode. The two second ear blocks are respectively embedded into the second clamping grooves on the first side beam plate and the second side beam plate. The middle partition plate is positioned between the inner beam plate and the end panel. The sliding block is arranged on the inner beam plate. The large swivel shaft is mounted between the intermediate spacer plate and the end plate. The first drive assembly is mounted on the intermediate spaced apart plate.
Preferably, an automated assembly robot extendable into the wing box further comprises a measurement module. The measuring module comprises a measuring bracket, an ultrasonic sensor and a camera. The measuring bracket is fixed at the outer end of the cross beam and is arranged side by side with the large rotary connecting rod. The camera and the ultrasonic sensors are arranged at the outer end of the measuring bracket.
The working method of the automatic assembly robot capable of extending into the wing box comprises the following steps:
the first step, the large rotating shaft, the upper arm connecting rod, the lower arm connecting rod and the hand connecting rod rotate, so that the hand connecting rod presents a vertical or inclined downward posture, and the working part of the tail end assembly tool faces to one side close to the cross beam;
step two, the height adjusting assembly drives the cross beam to lift so that the outer end of the tail end assembling tool is aligned with the process hole on the wing box of the aircraft; then, through the rotation of the upper arm connecting rod, the lower arm connecting rod and the hand connecting rod, the tail end assembling tool obliquely passes through the process hole and stretches into the wing box of the aircraft;
step three, through lifting of the cross beam, the large rotary shaft, the upper arm connecting rod, the lower arm connecting rod and the hand connecting rod rotate, so that the working position of the tail end assembly tool sequentially moves to each fastener position needing to be installed below the process hole from bottom to top, and fasteners are installed;
step four, through the rotation of the upper arm connecting rod, the lower arm connecting rod and the hand connecting rod, the outer ends of the upper arm connecting rod and the lower arm connecting rod are inclined or vertically upwards, and the outer ends of the hand connecting rod are inclined or vertically downwards;
and fifthly, the large rotating shaft rotates, so that the outer end of the hand connecting rod is changed from downward to upward.
And step six, through lifting of the cross beam, the large rotary shaft, the upper arm connecting rod, the lower arm connecting rod and the hand connecting rod rotate, so that the working part of the tail end assembly tool sequentially moves to each fastener position which needs to be installed above the process hole from bottom to top, and the fasteners are installed.
And seventhly, the mechanical arm is withdrawn to the outside of the aircraft wing box from the process hole through the lifting movement of the cross beam, the rotation of the upper arm connecting rod, the lower arm connecting rod and the hand connecting rod.
The invention has the beneficial effects that:
1. according to the invention, the large rotating shaft capable of rotating around the horizontal shaft is arranged at the head end of the mechanical arm, so that the mechanical arm can extend downwards into the process hole and also extend upwards into the process hole, and the direction of the working position of the tail end assembly tool is kept unchanged; and then the installation of the internal fasteners above and below the process holes is sequentially realized under the condition that the position of the robot is unchanged. Meanwhile, the lengths of the upper arm connecting rod and the lower arm connecting rod are set to be 100-150 mm, so that the upper arm connecting rod and the lower arm connecting rod can rotate in the wing box at will, the upper arm connecting rod, the lower arm connecting rod and the hand connecting rod rotate to be in an overlapped state, the rotating range of the hand connecting rod along with the large rotating shaft is reduced, the hand connecting rod can overturn up and down in the wing box, the process that the mechanical arm repeatedly enters and exits the wing box for multiple times is omitted, and the installation efficiency of a fastener is improved.
2. The invention uses the S-shaped upper arm connecting rod and lower arm connecting rod, so that the installation of the power element on the mechanical arm is more compact, the transverse size of the mechanical arm is reduced while the structural strength is ensured, and the mechanical arm is more compact in the wing box.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of a part of a mechanical arm according to the present invention;
FIG. 3a is a schematic side view of the present invention;
FIG. 3b is a schematic view of the front working state of the present invention;
FIG. 4 is a schematic view of the structure of the cross beam of the present invention;
FIG. 5 is a schematic view of the first drive assembly and large pivot shaft of the present invention;
FIG. 6a is a schematic perspective view of one side of the upper arm link or the second drive assembly of the present invention;
FIG. 6b is a schematic perspective view of the other side of the upper arm link or second drive assembly of the present invention;
FIG. 7 is a schematic illustration of the process of fastener installation of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, 2, 3a and 3b, an automated assembly robot that can extend into a wing box includes a base, a height adjustment assembly, a cross beam 8, a measurement module and a robotic arm. The height adjustment assembly is used to adjust the height of the cross beam 8. The measuring module and the mechanical arm are arranged on the cross beam 8, and the fasteners in the wing box of the aircraft are arranged.
The base comprises casters 1, a chassis 2, a vertical frame 3, a reinforcing frame 4 and guide rails. More than three casters 1 are installed at different positions of the bottom of the chassis 2. One or more of the casters 1 are universal wheels. The bottom of the vertical frame 3 arranged vertically is fixed with the tail end of the top of the chassis 2. Two reinforcing frames 4 are respectively arranged on two sides of the top of the chassis 2. The two ends of the reinforcing frame 4 are respectively fixed with the chassis 2 and the vertical frame 3. Two guide rails which are vertically arranged are fixed on the inner side of the vertical frame 3. The inner end of the cross beam 8 is respectively and slidably connected with the two guide rails through the two sliding blocks 7. The height adjustment assembly comprises a first motor 5 and a first belt drive assembly 6. The first belt drive assembly 6 includes a first pulley and a first timing belt. The two first pulleys are supported on the top and bottom of the vertical frame 3, respectively, and are connected by a first synchronous belt. The lower first pulley is driven in rotation by a first motor 5. The first synchronization belt is fixed to the inner end of the cross beam 8.
As shown in fig. 1, 2, 4 and 5, the robot arm includes a large pivot shaft 11, a large pivot link 14, a first drive assembly, an upper arm link 17, a second drive assembly, a lower arm link 20, a third drive assembly, a hand link 23, a fourth drive assembly and an end fitting tool 24. The large pivot shaft 11 is supported at the outer end of the cross beam 8. The axis of the large pivot shaft 11 is horizontal and perpendicular to the width direction of the cross member 8. A mounting plate 111 is fixed to the outer end of the large rotating shaft 11. The inner end of the large swivel link 14 is fixed to the mounting plate 111. The inner end of the upper arm link 17 and the outer end of the large swivel link 14 constitute a first swivel pair. The inner end of the lower arm link 20 and the outer end of the upper arm link 17 constitute a second revolute pair. The inner end of the hand link 23 and the outer end of the lower arm link 20 constitute a third revolute pair. The common axes of the first, second and third revolute pairs are parallel to each other and perpendicular to the axis of the large rotary shaft 11.
An end fitting tool 24 is mounted on the hand link 23. The end fitting tool 24 is provided with a power nut installer at the end for performing the fastener installation operation. The large pivot shaft 11, the large pivot link 14, the upper arm link 17, the lower arm link 20, and the hand link 23 are rotatable under the drive of the power element, so that the end fitting tool 24 can flexibly extend into the fitting position inside the wing box 25 for operation. Because the large rotary shaft 11 can rotate by 360 degrees, the mechanical arm can rotate around the horizontal axis at will, so that the tail end assembly tool 24 can extend downwards into the wing box 25 and upwards into the wing box 25, and can directly finish the switching of the upper and lower directions of the hand connecting rod 23 in the wing box 25 after the outer directions of the upper arm connecting rod 17 and the lower arm connecting rod 20 and the outer end direction of the hand connecting rod 23 are adjusted to opposite states, thereby facilitating the mechanical arm to directly finish the installation of fasteners on the upper and lower sides of the overhaul hole after extending into the wing box once.
The rotation radius (the distance between the rotation axes of the two ends) of the upper arm connecting rod 17 and the lower arm connecting rod 20 is 100-150 mm; the length of the hand connecting rod 23 is 300 mm-450 mm; the upper arm connecting rod 17 and the lower arm connecting rod 20 are set to be smaller in length, so that the upper arm connecting rod 17 and the lower arm connecting rod 20 can directly adjust the vertical direction in the wing box through rotation of the upper arm connecting rod 17 and the lower arm connecting rod 20, the axis of the large rotating shaft 11 is aligned with the middle position of the hand connecting rod 23, the coverage range of the hand connecting rod 23 when the large rotating shaft 11 rotates is reduced, and the 180-degree adjustment of the direction of the hand connecting rod 23 in the wing box is achieved.
As shown in fig. 6a and 6b, the upper arm link and the lower arm link are identical in structure and each have an S-shaped structure including an inner end block 171, a middle inclined portion, and an outer end block 174 integrally formed. The inner ends of the inner end block 171 and the outer end block 174 are connected to the opposite ends of the intermediate inclined portion, respectively. The intermediate inclined portion staggers the inner end block 171 and the outer end block 174 from each other. A motor mounting groove 173 is provided at one side of the middle inclined portion for mounting the motor. The other side of the intermediate angled portion is provided with a belt drive assembly mounting slot 176 for mounting a belt drive assembly. Two first rib plates 172 are formed at both sides of the motor mounting groove 173. Two second ribs 175 are formed on either side of the belt drive assembly mounting slot 176. The outer end block 174 on the upper arm link is located on the side of the inner end block 171 that is adjacent the large swing link 14. The outer end block 174 on the lower arm link is located on the side of the inner end block 171 that is adjacent the upper arm link. The upper arm connecting rod and the lower arm connecting rod which are S-shaped are respectively provided with the motor and the belt transmission assembly at the two sides of the middle inclined part, so that the whole structure is very compact, the upper arm connecting rod, the lower arm connecting rod and the hand connecting rod are effectively overlapped and combined in the transverse direction, the transverse space is saved, and the mechanical arm is more flexible in the compact space inside the airplane wing box 25. The first rib 172 and the second rib 175 can improve rigidity of the structure while each forming an installation space.
The distance between the furthest positions of the opposite sides of the upper arm link 17 and the lower arm link 20 in the direction of the rotation axis is less than 100mm; the internal structural design of the existing wing box can meet the requirement that arms of people extend into the wing box to install fasteners; the widest part of the arm of the installer is mostly at the elbow position (the width is mostly 100 mm-150 mm); thus, the method is applicable to a variety of applications. Setting the maximum width of the robotic arm to less than 100mm can ensure that the robotic arm completes fastener installation at all positions within the wing box.
The large swivel shaft 11 is driven in rotation by the first drive assembly. The first drive assembly comprises a second belt drive assembly 9 and a second motor 10. The second belt drive assembly includes a second pulley and a second timing belt. One of the second pulleys is fixed to the large swivel shaft 11 and the other is supported at the outer end of the cross beam 8 and driven by a second motor 10. The two second pulleys are connected through a second synchronous belt.
The upper arm link 17 is driven to rotate by a second drive assembly. The second drive assembly includes a third belt drive assembly 16 and a third motor 15. The third belt drive assembly includes a third pulley and a third timing belt. One of the third pulleys is fixed to the inner end of the upper arm link 17 and the other is supported on the large swing link 14 and driven by a third motor 15. The two third pulleys are connected through a third synchronous belt. The third motor 15 is fixed to the large slewing connecting rod 14.
The lower arm link 20 is driven to rotate by a third drive assembly. The third drive assembly includes a fourth belt drive assembly 19 and a fourth motor 18. The fourth belt drive assembly includes a fourth pulley and a fourth timing belt. One of the fourth pulleys is fixed to the inner end of the lower arm link 20 and the other fourth pulley is supported on the upper arm link 17 and driven by a fourth motor 18. The two fourth belt pulleys are connected through a fourth synchronous belt. The fourth motor 18 is fixed to the upper arm link 17.
The hand link 23 is driven in rotation by the fourth drive assembly. The fourth drive assembly includes a fifth belt drive assembly 22 and a fifth motor 21. The fifth belt drive assembly includes a fifth pulley and a fifth timing belt. One of the fifth pulleys is fixed to the inner end of the hand link 23 and the other is supported on the lower arm link 20 and driven by a fifth motor 21. The two fifth pulleys are connected through a fifth synchronous belt. The fifth motor 21 is fixed to the upper arm link 17.
As shown in fig. 4, the outer ends of the cross beams 8 are aligned with the head ends of the chassis 2. The truckle 1 is arranged right below the head end of the chassis 2; the vertical frame is installed at the rear position (weight G1), and is connected with the front end arm module through the cross beam, so that the front end weight (G2) is effectively balanced. The caster 1 directly below the head end of the chassis 2 is referred to as a front caster; the prior casters are used as supporting points or constraint points; the torque M1 of the gravity G1 behind the front trundle to the position of the front trundle is larger than the torque M2 of the gravity G2 of the mechanical arm to the position of the front trundle; so that the automated assembly robot remains stable during operation. The tightening torque load (T) (3 n·m) generated by the installation of the fastener is balanced by the weight of the chassis 2 in the width direction.
Including an inner beam plate 81, a first side beam plate 82, a second side beam plate 83, a middle spacer 84, an end plate 85, a first ear 841, and a second ear 851. The first side beam plate 82 and the second side beam plate 83 which are arranged at intervals and are parallel to each other are welded and fixed with the outer side surface of the inner beam plate 81. First lugs 841 are integrally formed on both sides of the intermediate partition 84. The two first ear blocks 841 are respectively embedded into the first clamping grooves on the first side beam plate 82 and the second side beam plate 83, so as to fix the middle partition plate 84 and the first side beam plate 82 and the second side beam plate 83. The end plate 85 is integrally formed with second ear pieces 851 on both sides. The two second ear blocks 851 are respectively embedded into the second clamping grooves on the first side beam plate 82 and the second side beam plate 83, so that the fixing end panel 85 and the first side beam plate 82 and the second side beam plate 83 are fixed. Intermediate diaphragm 84 is located between inner beam plate 81 and end plate 85. The slider 7 is mounted on the inner beam plate 81. The large pivot shaft 11 is mounted between the intermediate partition 84 and the end plate 85. The first drive assembly is mounted on the intermediate spacer plate 84. And the first side beam plate and the second side beam plate are hollowed out, so that the weight of the steel plate is reduced by 30% on the premise of ensuring the rigidity.
The measuring module comprises a measuring stand, an ultrasonic sensor 12 and a camera 13. The measuring bracket is fixed at the outer end of the cross beam 8 and is arranged side by side with the large rotary connecting rod 14. The camera 13 and the four ultrasonic sensors 12 are mounted at the outer end of the measuring bracket. The four ultrasonic sensors 12 are grouped in pairs; two sets of ultrasonic sensors 12 are provided on the left and right sides of the camera 13, respectively. The measurement module is used to determine the initial relative position of the assembly robot and the assembly object (aircraft wing box 25).
As shown in fig. 7, the working method of the automatic assembly robot capable of extending into the wing box is as follows:
step one, a camera and an ultrasonic sensor in a measuring module detect the positions of process holes on an aircraft wing box.
Step two, the large pivot 11, the upper arm link 17, the lower arm link 20 and the hand link 23 are rotated so that the hand link 23 assumes a vertical or inclined downward-oriented posture, and the working portion of the end fitting tool 24 is oriented to the side close to the cross beam.
Step three, the height adjusting assembly drives the cross beam 8 to lift and lower, so that the outer end of the tail end assembling tool 24 is aligned with the process hole on the wing box of the aircraft. Thereafter, the end fitting tool 24 is caused to extend obliquely through the process hole into the interior of the wing box by rotation of the upper arm link 17, the lower arm link 20 and the hand link 23.
And step four, through the lifting of the cross beam 8, the working parts of the tail end assembly tool 24 are sequentially moved to the positions of the fasteners to be installed below the process holes from bottom to top by the rotation of the large rotary shaft 11, the upper arm connecting rod 17, the lower arm connecting rod 20 and the hand connecting rod 23, and the fasteners are installed.
Fifthly, the upper arm link 17 and the lower arm link 20 rotate at the same speed in the opposite direction, so that the upper arm link 17 is adjusted from a downward-inclined posture to an upward-inclined posture, and the lower arm link 20 and the hand link 23 keep the orientation unchanged; after that, the lower arm link 20 and the hand link 23 rotate at the same speed in the opposite direction, so that the lower arm link 20 is adjusted from the downward posture to the upward posture, while the hand link 23 keeps the orientation unchanged, so that the hand link 23, the upper arm link 17 and the lower arm link 20 are in an overlapped state, and the coverage range when the large revolving shaft 11 drives the mechanical arm to rotate is reduced.
Step six, the large rotating shaft 11 rotates 180 degrees, so that the hand connecting rod 23 is changed from downward to upward.
And step seven, through lifting of the cross beam 8, the working parts of the tail end assembly tool 24 are sequentially moved to the positions of the fasteners to be installed above the process holes from bottom to top by rotating the large rotary shaft 11, the upper arm connecting rod 17, the lower arm connecting rod 20 and the hand connecting rod 23, and the fasteners are installed.
And step eight, after the installation of each fastener above the process hole is completed, the mechanical arm is withdrawn to the outside of the aircraft wing box from the process hole through the lifting movement of the cross beam 8 and the rotation of the upper arm connecting rod 17, the lower arm connecting rod 20 and the hand connecting rod 23.

Claims (6)

1. An automatic assembly robot capable of extending into a wing box comprises a base, a height adjusting assembly, a cross beam (8) and a mechanical arm; the method is characterized in that: the inner end of the cross beam (8) and the base form a sliding pair sliding along the vertical direction; the cross beam (8) is driven by the height adjusting component to lift;
the mechanical arm comprises a large rotary shaft (11), a large rotary connecting rod (14), an upper arm connecting rod (17), a lower arm connecting rod (20), a hand connecting rod (23) and a tail end assembling tool (24); a large rotating shaft (11) capable of 360-degree turnover is supported at the outer end of the cross beam (8); the axis of the large rotary shaft (11) is horizontally arranged; the outer end of the large rotary shaft (11) is fixed with a large rotary connecting rod (14); the inner end of the upper arm connecting rod (17) and the outer end of the large rotary connecting rod (14) form a first rotary pair; the inner end of the lower arm connecting rod (20) and the outer end of the upper arm connecting rod (17) form a second revolute pair; the inner end of the hand connecting rod (23) and the outer end of the lower arm connecting rod (20) form a third revolute pair; the common axes of the first revolute pair, the second revolute pair and the third revolute pair are parallel to each other and are perpendicular to the axis of the large rotary shaft (11); the tail end assembling tool (24) is arranged on the hand connecting rod (23) and is used for carrying out the installation operation of the fasteners; the large rotary shaft (11), the upper arm connecting rod (17), the lower arm connecting rod (20) and the hand connecting rod (23) can all rotate under the drive of the power element, so that the tail end assembling tool (24) can extend into the aircraft wing box (25) through the process hole to work; the rotation radius of the upper arm connecting rod (17) and the lower arm connecting rod (20) is 100-150 mm; in the working state, the axis of the large rotary shaft (11) is aligned with a process hole of the airplane wing box (25), and the upper arm connecting rod (17), the lower arm connecting rod (20) and the hand connecting rod (23) extend into the airplane wing box (25) through the process hole; the large rotating shaft (11) can drive the hand connecting rod (23) to turn around in the airplane wing box (25) under the state that the upper arm connecting rod (17), the lower arm connecting rod (20) and the hand connecting rod (23) face opposite directions;
the upper arm connecting rod and the lower arm connecting rod have the same structure and comprise an inner end block (171), a middle inclined part and an outer end block (174) which are integrally formed; the inner ends of the inner end block (171) and the outer end block (174) are respectively connected with the two ends of the middle inclined part; the intermediate inclined portion staggers the inner end block (171) and the outer end block (174) from each other; a motor mounting groove (173) is formed in one side of the middle inclined part and is used for mounting a motor; the other side of the middle inclined part is provided with a belt transmission assembly mounting groove (176) for mounting a belt transmission assembly; two first rib plates (172) are formed on two sides of the motor mounting groove (173); two second rib plates (175) are formed on two sides of the belt transmission assembly mounting groove (176); an outer end block (174) on the upper arm link is located on the side of the inner end block (171) adjacent the large swivel link (14); an outer end block (174) on the lower arm link is located on the side of the inner end block (171) adjacent the upper arm link;
the large rotary shaft (11) is driven to rotate by the first driving component; the first driving assembly comprises a second belt transmission assembly (9) and a second motor (10); the second belt transmission assembly comprises a second belt pulley and a second synchronous belt; one of the second pulleys is fixed on a large rotary shaft (11), and the other second pulley is supported at the outer end of the cross beam (8) and driven by a second motor (10); the two second belt pulleys are connected through a second synchronous belt; the upper arm connecting rod (17) is driven to rotate by the second driving component; the second drive assembly comprises a third belt transmission assembly (16) and a third motor (15); the third belt transmission assembly comprises a third belt pulley and a third synchronous belt; one of the third pulleys is fixed at the inner end of the upper arm connecting rod (17), and the other third pulley is supported on the large rotary connecting rod (14) and driven by a third motor (15); the two third belt pulleys are connected through a third synchronous belt; the third motor (15) is fixed on the large rotary connecting rod (14); the lower arm connecting rod (20) is driven to rotate by a third driving assembly; the third driving assembly comprises a fourth belt transmission assembly (19) and a fourth motor (18); the fourth belt transmission assembly comprises a fourth belt pulley and a fourth synchronous belt; one of the fourth pulleys is fixed at the inner end of the lower arm link (20), and the other fourth pulley is supported on the upper arm link (17) and driven by a fourth motor (18); the two fourth belt pulleys are connected through a fourth synchronous belt; the fourth motor (18) is fixed on the upper arm connecting rod (17); the hand connecting rod (23) is driven to rotate by the fourth driving component; the fourth driving assembly comprises a fifth belt transmission assembly (22) and a fifth motor (21); the fifth belt transmission assembly comprises a fifth belt pulley and a fifth synchronous belt; one of the fifth pulleys is fixed at the inner end of the hand connecting rod (23), and the other fifth pulley is supported on the lower arm connecting rod (20) and driven by a fifth motor (21); the two fifth belt pulleys are connected through a fifth synchronous belt; the fifth motor (21) is fixed on the upper arm connecting rod (17).
2. An automated assembly robot extendable into a wing box as defined in claim 1, wherein: the base comprises casters (1), a chassis (2), a vertical frame (3), a reinforcing frame (4) and guide rails; the bottom of the chassis (2) is provided with a plurality of casters (1); one or more of the casters (1) are universal wheels; the bottom end of the vertical frame (3) is fixed with the tail end of the top of the chassis (2); the two reinforcing frames (4) are respectively arranged at two sides of the top of the chassis (2); two ends of the reinforcing frame (4) are respectively fixed with the chassis (2) and the vertical frame (3); two guide rails which are vertically arranged are fixed on the inner side of the vertical frame (3); the inner end of the cross beam (8) is respectively and slidably connected with the two guide rails through two sliding blocks (7).
3. An automated assembly robot extendable into a wing box as defined in claim 1, wherein: the height adjusting assembly comprises a first motor (5) and a first belt transmission assembly (6); the first belt transmission assembly (6) comprises a first pulley and a first synchronous belt; the two first belt wheels are respectively supported at the top and the bottom of the vertical frame (3) and are connected through a first synchronous belt; the first belt wheel below is driven to rotate by a first motor (5); the first synchronous belt is fixed with the inner end of the cross beam (8).
4. An automated assembly robot extendable into a wing box as defined in claim 1, wherein: the outer end of the cross beam (8) is aligned with the head end of the chassis (2); the cross beam (8) comprises an inner beam plate (81), a first side beam plate (82), a second side beam plate (83), a middle partition plate (84), an end plate (85), a first lug block (841) and a second lug block (851); the first side beam plates (82) and the second side beam plates (83) which are arranged at intervals and are parallel to each other are welded and fixed with the outer side surface of the inner beam plate (81); the two sides of the middle baffle plate (84) are integrally formed with first lug blocks (841); the two first ear blocks (841) are respectively embedded into first clamping grooves on the first side beam plate (82) and the second side beam plate (83); the two sides of the end panel (85) are integrally formed with second ear blocks (851); two second ear blocks (851) are respectively embedded into second clamping grooves on the first side beam plate (82) and the second side beam plate (83); the middle partition plate (84) is positioned between the inner beam plate (81) and the end plate (85); the sliding block (7) is arranged on the inner beam plate (81); the large rotary shaft (11) is arranged between the middle partition plate (84) and the end plate (85); the first drive assembly is mounted on an intermediate diaphragm (84).
5. An automated assembly robot extendable into a wing box as defined in claim 1, wherein: an automated assembly robot extendable into a wing box further includes a measurement module; the measuring module comprises a measuring bracket, an ultrasonic sensor (12) and a camera (13); the measuring bracket is fixed at the outer end of the cross beam (8) and is arranged side by side with the large rotary connecting rod (14); a camera (13) and a plurality of ultrasonic sensors (12) are arranged at the outer end of the measuring bracket.
6. A method of operating an automated assembly robot extendable into a wing box as defined in claim 1, wherein: the method comprises the following steps:
the first step, the large rotating shaft (11), the upper arm connecting rod (17), the lower arm connecting rod (20) and the hand connecting rod (23) rotate, so that the hand connecting rod (23) takes a vertical or inclined downward posture, and the working part of the tail end assembling tool (24) faces to one side close to the cross beam;
step two, the height adjusting assembly drives the cross beam (8) to lift so that the outer end of the tail end assembling tool (24) is aligned with a process hole on the wing box of the aircraft; then, through the rotation of the upper arm connecting rod (17), the lower arm connecting rod (20) and the hand connecting rod (23), the tail end assembling tool (24) obliquely passes through the process hole and stretches into the interior of the wing box of the aircraft;
step three, through lifting of the cross beam (8), the rotation of the large rotary shaft (11), the upper arm connecting rod (17), the lower arm connecting rod (20) and the hand connecting rod (23) enables the working position of the tail end assembly tool (24) to sequentially move to each fastener position needing to be installed below the process hole from bottom to top, and fasteners are installed;
step four, through the rotation of the upper arm connecting rod (17), the lower arm connecting rod (20) and the hand connecting rod (23), the outer ends of the upper arm connecting rod (17) and the lower arm connecting rod (20) are inclined or vertically upwards, and the outer ends of the hand connecting rod (23) are inclined or vertically downwards;
fifthly, the large rotating shaft (11) rotates to change the outer end of the hand connecting rod (23) from downward to upward;
step six, through lifting of the cross beam (8), the rotation of the large rotary shaft (11), the upper arm connecting rod (17), the lower arm connecting rod (20) and the hand connecting rod (23) enables the working position of the tail end assembly tool (24) to sequentially move to each fastener position to be installed above the process hole from bottom to top, and fasteners are installed;
and seventhly, the mechanical arm is withdrawn to the outside of the aircraft wing box from the process hole through lifting movement of the cross beam (8), rotation of the upper arm connecting rod (17), the lower arm connecting rod (20) and the hand connecting rod (23).
CN202210473278.5A 2022-04-29 2022-04-29 Automatic assembly robot capable of extending into wing box and working method thereof Active CN114800562B (en)

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JPH0721696U (en) * 1991-12-12 1995-04-21 敏雄 相馬 Manual mounting means for automatic work equipment for construction
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JPH0721696U (en) * 1991-12-12 1995-04-21 敏雄 相馬 Manual mounting means for automatic work equipment for construction
JP2003135539A (en) * 2001-11-02 2003-05-13 Tsuyama National College Of Technology Robot device for care
CN101982051A (en) * 2010-08-25 2011-03-02 广西大学 Hedgerow pruning manipulator with six degrees of freedom (DOP)
CN108081238A (en) * 2016-11-21 2018-05-29 广西大学 A kind of two-freedom closed linkage make-up machinery arm
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