CN115320880A - Automatic attitude-adjusting docking method for outer wing of airplane - Google Patents
Automatic attitude-adjusting docking method for outer wing of airplane Download PDFInfo
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Abstract
The invention discloses an automatic attitude-adjusting docking method for an outer wing of an airplane, which comprises the following steps: s1, putting an outer wing on a frame; s2, lifting the AGV in place; s3, positioning the integral platform; s4, adjusting the posture of the outer wing and butting; s5, separating the outer wing from the posture adjusting bracket; s6, evacuating the AGV with the integral platform; the method is characterized in that: the step S1: when the outer wing is put on the shelf, the first bracket (113) is rotated to the upper surface of the wing bracket (114) to be in a horizontal state, and then the outer wing is placed on the wing bracket (114); the step S4: when the outer wings are subjected to posture adjustment and butt joint, the first bracket (113) is rotated to the upper surface of the wing bracket (114) to form an inclined state, and the inclined angle is matched with the insertion lug surfaces of the outer wings. The whole process of the invention is finished at one step, the manual intervention is little, the automation degree is high, and the digitization degree is extremely high; the butt joint assembly stress is reduced, the assembly efficiency is improved, and the stable product quality is ensured; the safety accidents in the workshop are avoided, and the health and safety of workers are ensured.
Description
Technical Field
The invention belongs to the field of airplane digital assembly, and particularly relates to an automatic attitude-adjusting docking method for an outer wing of an airplane.
Background
In the process of assembling and manufacturing the airplane, the central wing and the outer wing both belong to important key parts of the airplane and are core units for realizing airplane attitude control in the processes of taking off, flying and landing of the airplane. To ensure the reliability of the aircraft, a reliable assembly of the central wing and the outer wing must be ensured.
The invention discloses a six-degree-of-freedom portable universal posture-adjusting butt joint trailer for wings and V-shaped empennages of an unmanned aerial vehicle, which is published as CN 108216682A. Although the positioning adjusting mechanism and the flexible hinge structure are added, the transport trolley is also adopted to transfer the station, but the butt joint is completed on the trolley during the butt joint, the tipping and the displacement are easy to occur, the position adjustment is also realized in a manual mode, the automation degree is low, the requirement on the assembly precision cannot be met, and the technical requirement of workers is also high.
The utility model discloses a grant utility model patent that bulletin number is CN206125462U discloses an aircraft wing connection installation auxiliary assembly, this equipment includes wing accent appearance mechanism, wing bracket and AGV dolly, wing bracket bottom is equipped with a plurality of wings and transfers appearance mechanism, a plurality of wings transfer appearance mechanism to install in AGV dolly top, the wing sets up on the wing bracket, wing transfer appearance mechanism includes lifting drive mechanism, Y axle glide machanism and the X axle glide machanism of upper and lower closed assembly, X axle glide machanism and Y axle glide machanism slide through respective driving motor drive respectively, lifting drive mechanism sets up the rotatory drive mechanism on Y axle glide machanism's the slip table on, lifting drive mechanism's top pass through the bulb with wing bracket bottom activity articulated, make the wing be in the mounting hole of suitable angle alignment aircraft fuselage through wing transfer appearance mechanism about from top to bottom. The utility model discloses a though increased and transferred appearance mechanism, reduced the degree of difficulty and the error of artifical accent appearance operation, nevertheless because its lower part is installed on the dolly, there is the platform unstability, the problem of easy displacement and empting, so its installation accuracy still can't reach the requirement of aircraft wing installation. The equipment also has no closed-loop control system such as an integrated digital measurement system, a control system, a monitoring system and the like, and has the problems of low automation degree and visualization degree and higher technical requirement of worker operation.
At present, the assembly of special parts such as a central wing and an outer wing still adopts traditional hoisting and manual auxiliary assembly, the digitization degree is relatively low, and flexible assembly cannot be realized, so that the butt joint stress of assembly is overlarge, the assembly efficiency is very low, the stability of an assembly platform is poor, and safety accidents are easy to happen. The skill requirements of the assembly worker are relatively high.
Disclosure of Invention
In order to achieve the aim, the invention provides an automatic attitude adjusting and docking method for an outer wing of an airplane, which comprises the following steps: 1) S1: preparing before installation; 2) S2: putting the outer wing on a frame; 3) S3: preparing before transportation; 4) S4: carrying out positioning and jacking by the AGV; 5) S5: positioning the integral platform; 6) S6: adjusting the posture of the outer wing and butting; 7) S7: the outer wing is separated from the posture adjusting bracket; 8) S8: the AGV car takes the integral platform to withdraw, characterized by: step S2: when the outer wing is put on the shelf, the first bracket is rotated until the upper surface of the wing bracket is in a horizontal state, and then the outer wing is placed on the wing bracket; step S6: when the outer wings are subjected to posture adjustment and butt joint, the first bracket is rotated to the upper surfaces of the wing brackets to form an inclined state, and the inclined angle is matched with the outer wing inserting lug surfaces. The automation degree is very high, and the butt joint is accurate.
Preferably, step S1: pre-installation preparation comprising: 1) The AGV moves the outer wing attitude adjusting system from the storage station to an appointed position; 2) Each supporting foot of the outer wing posture adjusting system supports the ground, the posture adjusting positioner is located at a butt joint theoretical position, and the machine body is supported and leveled by three jacks. A stable supporting platform is prepared for putting the outer wing on the shelf, and the digitization and the automation degree are high in the process.
Preferably, step S2: outer wing upper bracket includes: 1) The outer wing is quickly fixed on the outer wing fixing frame by using the V-shaped positioning block; 2) Adjusting the first bracket to the upper surface of the wing bracket to be in a horizontal state; 3) Hoisting the outer wing and the outer wing fixing frame to the upper surface of the wing bracket; 4) Fixing the wing bracket and the outer wing fixing frame together; 5) And the three-dimensional stress at the joint of the outer wing and the outer wing fixing frame and the pressure of the vacuum adsorption disc are monitored in real time and displayed on a display in real time. And the stress at the joint of the outer wing and the outer wing fixing frame is detected in real time, so that the outer wing is firmly fixed on the butt joint unit.
Preferably, step S3: preparation before transportation, comprising: 1) Rotating the first bracket to a butt joint state; 2) The attitude adjusting positioner with the outer wing moves towards the wing tip along the X axis to make room for subsequent work; 3) And the screw rod lifter jacks the whole platform to ascend so as to prepare for the AGV to enter.
Preferably, step S4: AGV car entering position jacking includes: 1) An AGV automatically enters the bottom of the integral platform, and a position of a support platform identification point is searched through a vision camera; 2) After the AGV is judged to be in place through the vision camera, the lifting mechanism on the AGV lifts the whole platform, and the whole platform main lifting supporting legs are lifted off at the moment.
Preferably, step S5: the integral platform is put in place, and comprises: 1) The AGV automatically navigates to move the whole platform to a specified position; 2) Descending the AGV car roof lifting mechanism to enable the main lifting supporting legs to land, placing the whole platform on the ground, and withdrawing the AGV car; 3) The main supporting feet of the integral platform drive the main platform to descend, and the auxiliary supporting feet support the ground after descending in place, so that the stability of the platform is enhanced; 4) The posture adjusting positioner is provided with a posture adjusting bracket to move towards the wing root direction for resetting. Ready to start docking.
Preferably, step S6: the butt joint of appearance accent of outer wing includes: 1) The laser tracker measures the postures of the central wing and the outer wing; 2) Rotating the first bracket until the upper surface of the wing bracket is in an inclined state, wherein the inclined angle is matched with the outer wing lug inserting surface; the posture adjusting positioner adjusts the posture of the outer wing according to the measurement data obtained by the laser tracker; 3) Pulling out a reset bolt on the six-degree-of-freedom compliant mechanism, starting a feeding motor, enabling the whole attitude adjusting system to slide forwards along a feeding shaft, and enabling the outer wing and the central wing to be in compliant butt joint; 4) And (5) manually installing a connecting bolt. The flexible butt joint can effectively reduce the butt joint assembly stress and ensure the stability of the product performance.
Preferably, step S7: outer wing and the separation of accent appearance bracket include: 1) Installing an outer wing actuator cylinder; 2) Removing the safety unhooking of the front edge of the outer wing, and loosening the outer wing vacuum adsorption disc; 3) The posture adjusting positioner is provided with an integral bracket to descend; 4) Inserting the reset bolt back into the compliant mechanism; 5) The attitude adjusting positioner is provided with an integral bracket which retracts 250mm towards the wing tip; 6) The first bracket rotates to the state that the upper surface of the wing bracket is horizontal.
Preferably, step S8: the AGV car takes the whole platform to evacuate, include: 1) The main supporting feet of the integral platform drive the main platform to ascend, so that the AGV enters a reserved space; 2) An AGV enters the bottom of the integral platform, and an AGV roof lifting mechanism lifts the integral platform; 3) Moving the AGV with the integral platform to an appointed position for storage; and connecting the folding wing test system to test the folding wing.
As described above, the present invention has the following advantageous effects:
1. the whole process is finished at one step, manual intervention is little, the degree of automation is high, and the degree of digitization is high.
2. The butt joint assembly stress is reduced, the assembly efficiency is improved, and the stable product quality is ensured.
3. The safety accidents in the workshop are avoided, and the health and safety of workers are ensured.
Drawings
FIG. 1 is a schematic structural diagram of an apparatus used in the automatic attitude-adjusting docking method for the outer wing of an aircraft according to the present invention.
In the figure: the device comprises an integral platform 101, a posture adjusting positioner 102, a posture adjusting bracket 103, a six-degree-of-freedom compliant mechanism 104, an outer wing front edge safety anti-drop hook 105, an outer wing fixing frame 106, a V-shaped positioning block 107, a vacuum adsorption disc 108, a display 109, auxiliary supporting legs 110, an AGV car 111, main lifting supporting legs 112, a first bracket 113 and a wing bracket 114;
FIG. 2 is a schematic view of the overall structure of an outer wing support attitude-adjusting docking platform;
FIG. 3 is a schematic structural view of the upper portion of the platform frame of FIG. 2;
FIG. 4 is a schematic view of the bottom structure of the platform frame of FIG. 2;
FIG. 5 is a schematic diagram of the AGV configuration of FIG. 2;
FIG. 6 is a schematic structural view of the main elevating support foot assembly of FIG. 2;
FIG. 7 is a schematic view of the auxiliary pneumatic foot assembly of FIG. 2;
FIG. 8 is a schematic view of the pose alignment fixture in FIG. 2;
FIG. 9 is a schematic diagram of the overall configuration of a compliant docking system;
FIG. 10 is a schematic view of the base and docking feed assembly of FIG. 9;
FIG. 11 is a schematic view of the feeder shoe and the first carrier of FIG. 9;
FIG. 12 is a schematic view of the feed shoe and drive components on the first carriage of FIG. 9;
FIG. 13 is a schematic cross-sectional mating arrangement of the rolling assembly and the ring track of FIG. 9;
FIG. 14 is a schematic structural view of the second carriage and compliant mechanism of FIG. 9;
FIG. 15 is a schematic structural view of the compliant mechanism of FIG. 9.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and thus the present invention is not limited to the specific embodiments disclosed below. The terms "upper", "lower", "left" and "right" as used herein are set forth with reference to the corresponding drawings, and it should be understood that the foregoing terms do not limit the scope of the present invention.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present invention and should not be construed as limiting the present invention.
In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
As shown in FIG. 1, the device used by the invention is an automatic attitude-adjusting docking method for an outboard wing, which comprises the following steps: 1) S1: preparing before installation; 2) S2: putting the outer wing on a shelf; 3) S3: preparing before transportation; 4) S4: carrying out positioning and jacking on the AGV; 5) S5: positioning the integral platform; 6) S6: adjusting the posture of the outer wing and butting; 7) S7: the outer wing is separated from the posture adjusting bracket; 8) S8: and evacuating the AGV with the integral platform.
Step S1: pre-installation preparation comprising: 1) The AGV moves the outer wing attitude adjusting system from the storage station to an appointed position; 2) Each supporting foot of the outer wing posture adjusting system supports the ground, the posture adjusting positioner is located at a butt joint theoretical position, and the machine body is supported and leveled by three jacks. A stable support platform is prepared for the outer wing racking.
Step S2: outer wing upper bracket includes: 1) The outer wing is quickly fixed on the outer wing fixing frame by using the V-shaped positioning block; 2) Adjusting the first bracket to the upper surface of the wing bracket to be in a horizontal state; 3) Hoisting the outer wing and the outer wing fixing frame to the upper surface of the wing bracket; 4) Fixing the wing bracket and the outer wing fixing frame together; 5) And the three-dimensional stress at the joint of the outer wing and the outer wing fixing frame and the pressure of the vacuum adsorption disc are monitored in real time and displayed on a display in real time. And the stress at the joint of the outer wing and the outer wing fixing frame is detected in real time, so that the outer wing is firmly fixed on the butt joint unit.
And step S3: preparation before transportation, comprising: 1) Rotating the first bracket to a butt joint state; 2) The attitude adjusting positioner with the outer wing moves towards the wing tip along the X axis to make room for subsequent work; 3) And the screw rod lifter jacks the whole platform to ascend so as to prepare for the AGV to enter.
And step S4: AGV car entering position jacking includes: 1) An AGV automatically enters the bottom of the integral platform, and a position of a support platform identification point is searched through a vision camera; 2) After the AGV is judged to be in place through the vision camera, the lifting mechanism on the AGV lifts the whole platform, and the whole platform main lifting supporting legs are lifted off at the moment.
Step S5: the integral platform is put in place, and comprises: 1) The AGV automatically navigates to move the whole platform to a specified position; 2) Descending the AGV car roof lifting mechanism to enable the main lifting supporting legs to land, placing the whole platform on the ground, and withdrawing the AGV car; 3) The main supporting feet of the integral platform drive the main platform to descend, and the auxiliary supporting feet support the ground after descending in place, so that the stability of the platform is enhanced; 4) The posture adjusting positioner is provided with a posture adjusting bracket to move towards the wing root direction for resetting. Ready to start docking.
Step S6: the butt joint of appearance accent of outer wing includes: 1) The laser tracker measures the postures of the central wing and the outer wing; 2) Rotating the first bracket until the upper surface of the wing bracket is in an inclined state, wherein the inclined angle is matched with the outer wing lug inserting surface; the attitude adjusting positioner adjusts the attitude of the outer wing according to the measurement data obtained by the laser tracker; 3) Pulling out a reset bolt on the six-degree-of-freedom compliant mechanism, starting a feeding motor, enabling the whole posture adjusting system to slide forwards along a feeding shaft, and enabling the outer wing and the central wing to be in compliant butt joint; 4) And (5) manually installing a connecting bolt. The flexible butt joint can effectively reduce the butt joint assembly stress and ensure the stability of the product performance.
Step S7: outer wing and the separation of accent appearance bracket include: 1) Installing an outer wing actuator cylinder; 2) The safety anti-drop hook at the front edge of the outer wing is removed, and the outer wing vacuum adsorption disc is loosened; 3) The posture adjusting positioner is provided with an integral bracket to descend; 4) Inserting the reset bolt back into the compliant mechanism; 5) The attitude adjusting positioner is provided with an integral bracket which retracts 250mm towards the wing tip; 6) The first bracket rotates to a state that the upper surface of the wing bracket is horizontal.
Step S8: the AGV car takes the whole platform to evacuate, include: 1) The main supporting feet of the integral platform drive the main platform to ascend, so that the AGV enters a reserved space; 2) An AGV enters the bottom of the integral platform, and an AGV roof lifting mechanism lifts the integral platform; 3) Moving the AGV with the integral platform to an appointed position for storage; and connecting the folding wing test system to test the folding wing.
As shown above, the automatic attitude-adjusting docking method for the outer wing of the airplane provided by the invention greatly reduces manual intervention during airplane assembly, and has extremely high automation degree and digitization degree. Due to the application of flexible assembly, the butt-joint assembly stress is reduced, the assembly efficiency is improved, and the stable product quality can be ensured. The great reduction of the assembly personnel greatly reduces the industrial injury safety accidents, and ensures the safety and health of workers.
The device for realizing the automatic attitude-adjusting docking method of the outer wing mainly comprises an outer wing supporting attitude-adjusting docking platform and a flexible docking system.
The outer wing support posture-adjusting docking platform shown in fig. 2 to 8 comprises an AGV trolley 201 and a platform frame 202 placed on the trolley, wherein the length of the platform frame 202 is 4200mm, the width thereof is 2900mm, the height thereof is 850mm, the height of the space for the AGV trolley 201 to get in and out is 630mm, and the platform frame 202 is provided with:
four main lift supporting legs subassembly 203, the stroke 450mm is located platform frame bottom four corners, can descend simultaneously when the wing butt joint, can reduce the platform focus, improve equipment stability. The main lifting supporting foot assembly 203 comprises a lifting power mechanism 204, the lifting power mechanism 204 is connected with a main supporting foot 206 through a transition connecting piece 205 at the bottom, wherein the transition connecting piece 205 and the main supporting foot 206 are connected in a spherical hinge mode and can adapt to the unevenness of +/-5 mm on the ground, and a dimensional force sensor is further arranged on the main supporting foot 206 and can monitor the change of the supporting force in real time. The lifting power mechanism 204 can be a screw rod, a cylinder, a motor and other structures commonly used in the field, specifically a screw rod lifter in the embodiment, and the four screw rod lifters are driven by a motor through a motion mode of transmitting power through a connecting rod, so that synchronous lifting of four supporting points is realized, and platform inclination and even toppling caused by non-uniform strokes in the lifting process of the platform are effectively avoided. The screw rod lifter also has a self-locking function and can provide stable and firm supporting force in a static state.
As shown in fig. 3 and 7, the four auxiliary pneumatic supporting leg assemblies 207, with a stroke of 40mm, are located at the middle position of the bottom of the platform frame, and perform auxiliary support after the main lifting supporting leg assembly lands, thereby enhancing the platform stability, the auxiliary pneumatic supporting leg assemblies 207 include a slider 209 driven by a cylinder 208, the slider 209 is provided with an inclined sliding chute 210, a roller 211 is arranged in the sliding chute 210 in a rolling fit manner, the shaft of the roller 211 is fixedly connected with a vertically arranged lifting column 212, the bottom of the lifting column 212 is provided with an auxiliary supporting leg 213, the lifting column 212 and the auxiliary supporting leg 213 are connected by a spherical hinge, and can also adapt to the unevenness of +/-5 mm on the ground, the cylinders 208 of the four auxiliary supporting leg assemblies 207 are respectively provided with a pressure monitoring device, and can monitor whether the main lifting supporting leg assembly is in place according to a set pressure threshold value, and feed back the working state in real time.
As shown in fig. 2 and 8, four posture adjusting positioners 214 are located at four corners of the platform frame, each posture adjusting positioner 214 comprises a base 215 fixed on the platform frame, an X-axis supporting plate 216 sliding along the X direction is arranged on the base 215, a Y-axis supporting plate 217 sliding along the Y direction is arranged on the X-axis supporting plate 216, a Z-axis supporting plate 218 capable of sliding up and down along the upright column is arranged on the Y-axis supporting plate 17, and a supporting device is arranged on the Z-axis supporting plate 218. The four attitude adjusting positioners 214 can adjust the positions of the wings in three translation directions of the coordinate system, and are embedded in the platform frame 202 in order to ensure that the docking system can realize docking of the outer wings and the central wing under the requirement of the ground clearance height of the lower wing surface of the central wing.
As shown in fig. 2-4, the AGV cart 1 is provided with a lift alignment column 219, and the platform frame is provided with alignment holes 220. The lifting positioning column 219 is matched with the positioning hole 220. Facilitating better positioning and more stable placement of the platform frame 202 on the AGV cart 201. Four lifting points 227 are provided on the platform frame 202 for lifting the platform. A visual digital camera 222 is arranged at one end of the bottom of the platform, and is used for monitoring the mark points on the ground in real time and monitoring the displacement of the platform in the horizontal direction. Four corners of the bottom of the platform frame 202 are provided with 4 high-precision laser ranging displacement sensors 221, and the height of the platform after being placed on the ground is monitored in real time. The data obtained by the vision digital camera 222 and the laser ranging displacement sensor 221 are fed back to the control platform for adjusting the platform attitude. The integrated control platform 223 can display relevant parameters and pictures of a measurement system, a numerical control system and a monitoring system in real time, monitor the posture and adjust the posture of the wings in the butt joint process in real time, ensure the smoothness of the butt joint process and reserve a network cable. The system control cabinet 225 is installed on the side portion, close to the wing tip, of the platform frame 202, and the designed height is 1200mm after the whole frame supports the supporting foot, so that manual observation and operation are facilitated. All the fast interfaces of the integrated control platform 223 adopt an error-proof design, all the operation buttons are easy to operate, and have obvious identification and misoperation prevention measures, thereby reducing the operation difficulty of the equipment, improving the usability and meeting the requirements of ergonomics. The electric control system is stored in the whole frame, the electric marks are arranged and placed according to regions, reasonable design is carried out according to the requirement of convenient follow-up maintenance work, and mutual interference among the systems is avoided. The integrated control platform 223 is externally provided with a metal casing 226, and the internal layout is reasonable, so that the integrated control platform has the electromagnetic interference resistance and the electromagnetic protection function. The whole equipment fully embodies the flexible and digital assembly concept.
The working principle is as follows: the platform is lifted by a crane through the lifting points 227 at the four corners of the upper part of the platform frame 202 and is placed near the outer wing shelf, the platform frame 202 is stably supported on the ground by the four main supporting feet 206, the platform data is collected by the laser ranging displacement sensor 221 and the visual digital camera 222, the platform is adjusted to be horizontal by a worker through the control cabinet, and the platform can adapt to uneven ground due to the spherical hinge structure between the transition connecting piece 205 and the main supporting feet 206. The outer wing is adsorbed on the outer wing bracket through the vacuum absorber and locked and fixed. The outer wing bracket with the outer wing is positioned and placed on the four posture adjusting positioners 214 of the platform frame 202, the lifting power mechanism 4 in the four main lifting supporting foot components 203 starts to rotate simultaneously under the driving of one driving motor, and the whole platform is jacked until the bottom space height of the platform frame 202 is larger than the height of the AGV body 201. After the AGV 1 is driven into the bottom of the platform frame 202, the four main lifting support foot assemblies 203 slowly descend, and the platform frame 202 is positioned and placed on the AGV 201 through the positioning holes 220 and the lifting positioning columns 219. AGV dolly 201 is automatic to the assembly station back of going according to the procedure of having designed, and four main lift supporting legs subassembly 203 descend simultaneously under driving motor's drive, slowly jack-up the platform, and AGV dolly 201 breaks away from locating hole 20 and rolls out platform frame 202 bottom, and the supplementary supporting legs 213 of supplementary pneumatic supporting legs subassembly 207 descends and supports ground under cylinder 208's drive, and at this moment, whole platform is steady to be placed in ground preparation and is begun the butt joint. An assembly worker stands in front of the integrated control platform 223 to observe the attitude and the butt joint state of the platform through the monitoring display 224, and adjusts the attitude of the outer wing to the butt joint state through the attitude adjusting positioner 214 by combining closed loop systems such as a measurement system, a control system and a monitoring system, and finally completes the butt joint assembly of the outer wing.
The compliant docking system, as shown in fig. 9-15, includes a base 1, a docking feed assembly 3 disposed on the base 1, a first carriage 34, a second carriage 33, and a compliant mechanism.
The butt joint feeding assembly 3 comprises a feeding shaft 4 and slide rails 10 on two sides, wherein the feeding shaft 11 and the slide rails 10 are obliquely arranged on the base 1, and the oblique angle of the butt joint feeding assembly is matched with the lug inserting surfaces of the outer wings; a feeding seat 14 is fixed on the feeding shaft 4, two sides of the feeding seat 14 are supported by slide rails 10 and are in sliding fit with the slide rails 10, the feeding shaft 4 is driven by a feeding motor 9 through a speed reducer 7 and has a self-locking function, a clutch 8 is arranged between the feeding motor 9 and the feeding shaft 4, the feeding motor 9 and the speed reducer 7 can be quickly separated, a hand wheel 6 is arranged on the feeding shaft 4 and can be manually fed, and a force sensor 5 is also arranged on the feeding shaft 4. The feeding force can be monitored in real time during automatic feeding assembly, and if the butt joint force is too large, the servo motor can stop butt joint immediately, and the system can give out sound and light alarm. And in the manual butt joint process, if the butt joint force is too large, the system can also give out sound and light alarm to remind workers.
The first bracket 34 is rotatably arranged on the feeding seat 14, the rotating shaft 4 of the first bracket is vertical to the feeding seat 14, the first bracket 34 is obliquely arranged, the bottom end of the first bracket is intersected with the bottom surface, the bottom surface of the first bracket 34 is parallel to the feeding seat 14, and when the outer wing is put on the shelf, the first bracket 34 rotates to the second bracket 33 to be in a horizontal state; when the outer wings are butted, the first bracket 34 rotates to the state that the second bracket 33 is inclined, and the inclination angle of the second bracket is matched with the insertion lug surfaces of the outer wings; the feeding seat 14 is fixedly provided with an annular guide rail 13, the first bracket 34 is arranged on the annular guide rail 13 and is in rolling fit with the annular guide rail 13, the first bracket 34 is provided with a gear 16 driven by a rotating motor 39, the gear 16 is meshed with an annular rack 17 fixed on the feeding seat 14, the first bracket 34 is arranged on the annular guide rail 13 through a rolling assembly 18, the rolling assembly 18 comprises a rolling seat 40 fixed on the first bracket 34, a rolling block 20 is arranged between the rolling seat 40 and the annular guide rail 13, needle roller cam guides 19 are further arranged on two sides of the rolling seat 40, the needle roller cam guides 19 abut against two sides of the annular guide rail 13, wherein the needle roller cam guides 19 on the outer side are eccentric, the eccentric adjustment amount is 0.7mm, tight fit of the needle roller cam guides 19 and the annular guide rail 13 can be ensured, and the smooth rotation is improved.
And a second bracket 33, wherein the upper surface of the bracket is obliquely arranged, the bottom end of the bracket is intersected with the bottom surface, when the outer wing is put on the shelf, the first bracket 34 rotates to the second bracket 33 to be in a horizontal state, when the outer wing is in butt joint, the first bracket 34 rotates to form an outer wing angle matched with the lug insertion surface together with the inclination angle of the second bracket, and the upper surface of the second bracket 33 is respectively provided with a proximity switch in the butt joint state and the horizontal state on the feeding seat 14, so that the working state and the carrying state can be controlled and switched.
And the compliant mechanism is positioned between the first bracket 34 and the second bracket 33 and enables the outer wing to reversely avoid when resistance is met in butt joint. The compliance mechanism 35 comprises a bottom plate 30 fixedly connected with the upper surface of a first bracket 34, an intermediate plate 31 capable of moving on the bottom plate 30 in the X direction, and a top plate 32 capable of rotating on the intermediate plate 31, a lifting mechanism 36 is supported below the lower surface of a second bracket 33, a spherical hinge 2 is arranged between the lifting mechanism and the intermediate plate, a reset disc spring 27 is arranged on the lifting mechanism 36, a vertical reset spring 22 is arranged between the bottom plate 30 and the lower surface of the second bracket 33, an oblique reset spring 24 is arranged between the intermediate plate 31 and the lower surface of the second bracket 33, a reset bolt 23 is arranged on the lower surfaces of the bottom plate 30 and the second bracket 33, and when a product is put on the shelf, the reset bolt 23 can ensure that the product has enough stability. The top plate 32 is provided with a rotary slide rail 25, the intermediate plate 31 is provided with a set of rotary wheel assemblies 37 matched with the rotary slide rail 25, and the set of rotary wheel assemblies 37 clamps the top plate 32 in the middle. The middle plate 31 is provided with a linear slide rail 29, the bottom plate 30 is provided with a set of sliding wheel assemblies 38 matched with the linear slide rail 29, and the set of sliding wheel assemblies 38 clamp the middle plate 31 in the middle. The lifting mechanism 36 comprises a guide sleeve 28 fixed with the top plate 32, a guide post 26 in up-and-down sliding fit with the guide sleeve 28 is arranged in the guide sleeve 28, and the guide post 26 is connected with the second bracket 33 through a spherical hinge 2.
When the wings are butted, the X-axis direction is the wingspan direction of the wings, and larger flexibility is needed. The movement mode is mainly realized by a linear slide rail 29, meanwhile, the four spherical hinges 2 can also provide a smaller movement stroke, and the flexible mode is mainly provided by the vertical return springs 22 and the oblique return springs 24 on the four corners. The Y-axis direction does not require much flexibility. The movement mode is realized by four spherical hinges 2, the movement stroke is small, and the flexible mode is mainly provided by vertical return springs 22 and oblique return springs 24 on four corners. The Z-axis direction is the product height direction and needs greater flexibility. The mode of movement is mainly realized by the guide post 26, and the flexible mode is mainly provided by the vertical return springs 22 on four corners and the return disc spring 27 in the guide sleeve 28. The rotation about the X-axis and the Y-axis is achieved by means of four ball joints 2. The flexible mode is mainly provided by the vertical return springs 22 on four corners and the return disc spring 27 in the guide sleeve 28. The rotation around the Z-axis is achieved by means of a rotating slide 25, the flexibility of which is mainly provided by vertical return springs 22 and diagonal return springs 24 at the four corners. The compliant mechanism has six degrees of freedom for avoiding, and can completely avoid forced assembly by matching with the feeding speed, and is also used for balancing the gravity of the product and the product bracket.
The working principle is as follows: before installation, the first bracket 34 rotates around the rotating shaft 11 to enable the upper surface of the second bracket 33 to be horizontal, the wing is placed on the upper surface of the second bracket, the second bracket is fixed by a sucker and a locking claw and then is rotated back to a butt joint state, and after laser tracking measurement and posture adjustment of the mechanism, the reset bolt 23 is pulled out, flexibility is opened, and butt joint is conducted. In the butt joint process, the feed shaft 4 is automatically fed under the drive of the feed motor 9 to complete butt joint and assembly, if sound and light alarm is given out after large resistance is met, the flexible mechanism 35 automatically retreats, the clutch 8 is automatically separated, the feed shaft 4 loses power, and the hand wheel 6 can be used for manual slow feed to ensure smooth butt joint. And then, manually installing a connecting bolt, unlocking a locking claw, ejecting the sucker, and completing assembly of the product and separation of the product from the butt joint system.
The above description is only exemplary of the preferred embodiments of the present invention, and is not intended to limit the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. An automatic attitude-adjusting docking method for an outer wing of an airplane comprises the following steps:
s1: putting the outer wing on a frame;
s2: carrying out positioning and jacking by the AGV;
s3: positioning the integral platform;
s4: adjusting the posture of the outer wing and butting;
s5: the outer wing is separated from the posture adjusting bracket;
s6: withdrawing the AGV with the integral platform;
the method is characterized in that: the step S1: when the outer wing is put on the shelf, the first bracket (113) is rotated to the upper surface of the wing bracket (114) to be in a horizontal state, and then the outer wing is placed on the wing bracket (114); the step S4: when the outer wing is subjected to posture adjustment and butt joint, the first bracket (113) is rotated to the upper surface of the wing bracket (114) to be in an inclined state, and the inclined angle is matched with the insertion lug surface of the outer wing.
2. The automatic attitude-adjusting docking method for the outer wing of the airplane according to claim 1, wherein the preparation before the outer wing is put on the shelf comprises the following steps:
1) An AGV (111) moves the outer wing attitude adjusting system from a storage station to a specified position;
2) Each supporting foot of the outer wing posture adjusting system supports the ground, the posture adjusting positioner (102) is positioned at a butt joint theoretical position, and the machine body is supported and leveled by three jacks.
3. The automatic attitude-adjusting docking method for the outer wing of the airplane according to claim 1, wherein the specific process of the step S1 of putting the outer wing on the rack comprises the following steps:
1) The outer wing is quickly fixed on an outer wing fixing frame (106) by using a V-shaped positioning block (107);
2) Adjusting the first bracket (113) to the upper surface of the wing bracket (114) to be horizontal;
3) Hoisting the outer wing together with the outer wing fixing frame (106) to the upper surface of the wing bracket (114);
4) Fixing the wing bracket (114) and the outer wing fixing frame (106) together;
5) And the three-way stress at the joint of the outer wing and the outer wing fixing frame (106) and the pressure of the vacuum adsorption disc (108) are monitored in real time and displayed on the display (109) in real time.
4. The automatic attitude-adjusting docking method for the outer wing of the airplane as claimed in claim 1, wherein the preparation work before transportation for the outer wing upper frame in the step S1 comprises:
1) Rotating the first carrier (113) to a docked state;
2) The attitude adjusting positioner (102) with an outer wing attitude adjusting system walks along the X axis to the wing tip direction to vacate an operation space for subsequent work;
3) The whole platform (101) is jacked by the screw rod lifter to ascend so as to prepare for the AGV (111) to enter.
5. The automatic attitude-adjusting docking method for the outer wing of the airplane as claimed in claim 1, wherein the specific process of the step S2AGV vehicle-in-place jacking includes:
1) An AGV (111) automatically enters the bottom of the integral platform (101), and a visual camera is used for searching the position of a support platform identification point;
2) After the vision camera judges that the AGV (111) is in the position, the lifting mechanism lifts the whole platform (101) on the AGV (111), and at the moment, the main lifting supporting feet (112) of the whole platform (101) are lifted off.
6. The automatic attitude-adjusting docking method for the outer wing of the airplane as claimed in claim 1, wherein the specific process of docking the integrated platform in step S3 includes:
1) The AGV (111) automatically navigates to move the whole platform (101) to a specified position;
2) The lifting mechanism of the AGV (111) descends to enable the main lifting supporting legs (112) to land, the whole platform (101) is placed on the ground, and the AGV (111) is evacuated;
3) The main lifting supporting legs (112) drive the integral platform (101) to descend, and the auxiliary supporting legs (110) support the ground after the integral platform descends in place, so that the stability of the platform is enhanced;
4) The posture adjusting positioner (2) is provided with a posture adjusting bracket (3) to move towards the wing root direction for resetting.
7. The automatic attitude-adjusting docking method for the outer wing of the airplane according to claim 1, wherein the specific process of the step S4 of attitude-adjusting docking for the outer wing comprises the following steps:
1) The laser tracker measures the postures of the central wing and the outer wing;
2) Rotating the first bracket (113) until the upper surface of the wing bracket (114) is in an inclined state, wherein the inclined angle is matched with the outer wing lug inserting surface; the posture adjusting positioner (102) adjusts the posture of the outer wing according to the measurement data obtained by the laser tracker;
3) Pulling out a reset bolt on the six-degree-of-freedom compliant mechanism (104), starting a feeding motor, enabling the whole attitude adjusting system to slide forwards along a feeding shaft, and enabling the outer wing and the central wing to be in compliant butt joint;
4) And installing a connecting bolt.
8. The automatic attitude-adjusting docking method for the outer wing of the airplane according to claim 1, wherein the specific process of separating the outer wing from the attitude-adjusting bracket in the step S5 comprises:
1) Installing an outer wing actuator cylinder;
2) The safety anti-drop hook (105) at the front edge of the outer wing is removed, and the vacuum adsorption disc (108) of the outer wing is loosened;
3) The posture adjusting positioner (102) is provided with a posture adjusting bracket (103) to descend;
4) Inserting the reset bolt back into the six-degree-of-freedom compliant mechanism (104);
5) The posture adjusting positioner (102) with the posture adjusting bracket (103) retracts 250mm towards the wing tip direction;
6) The first bracket (113) is rotated to a state where the upper surface of the wing bracket (114) is horizontal.
9. The automatic attitude-adjusting docking method for the outer wing of the airplane as claimed in claim 1, wherein the specific process of the step S6 of evacuating the whole platform of the AGV with the platform comprises:
1) The main lifting supporting feet (112) drive the integral platform (101) to ascend to reserve a space for the AGV (111) to enter;
2) The AGV (111) enters the bottom of the integral platform (101), and a jacking mechanism of the AGV (111) jacks the integral platform (101);
3) The AGV (111) moves to a specified position with the integral platform (101) for storage;
4) And connecting a folding wing test system to test folding and unfolding of the folding wings.
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| CN202110222374.8A CN115320880A (en) | 2021-05-10 | 2021-05-10 | Automatic attitude-adjusting docking method for outer wing of airplane |
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| CN202110222374.8A CN115320880A (en) | 2021-05-10 | 2021-05-10 | Automatic attitude-adjusting docking method for outer wing of airplane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117382899A (en) * | 2023-10-20 | 2024-01-12 | 常州中联飞机制造有限公司 | Wing assembly auxiliary device for aircraft manufacturing |
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