CN115320880A - Automatic attitude-adjusting docking method for outer wing of airplane - Google Patents

Abstract

The invention discloses an automatic attitude adjustment and docking method for the outer wings of an aircraft, comprising the steps of: S1, the outer wings are put on the shelf; S2, the AGV vehicle is put into position and jacked up; S3, the whole platform is put into position; The wing is separated from the attitude adjustment bracket; S6, the AGV vehicle belt is evacuated from the overall platform; it is characterized in that: said 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) In a horizontal state, place the outer wing on the wing bracket (114); Step S4: when the outer wing is adjusted and docked, rotate the first bracket (113) to the upper surface of the wing bracket (114) In an inclined state, the inclination angle matches the lug surface of the outer wing. The whole process of the present invention is completed in one go, with little manual intervention, and the degree of automation and digitization is extremely high; it reduces the stress of docking assembly, improves the assembly efficiency, and ensures stable product quality; avoids safety accidents in the workshop and ensures the health and safety of workers .

Description

A method for automatic attitude adjustment and docking of aircraft outer wings

technical field

The invention belongs to the field of aircraft digital assembly, and in particular relates to an automatic attitude adjustment docking method for an outer wing of an aircraft.

Background technique

In the process of aircraft assembly and manufacturing, both the central wing and the outer wing are important key components of the aircraft, and they are the core units to realize the attitude control of the aircraft during takeoff, flight and landing. In order to ensure the reliability of the aircraft, it is necessary to ensure the reliable assembly of the central wing and the outer wing.

The invention patent with the application publication number CN108216682A discloses a six-degree-of-freedom portable UAV wing and V-shaped tail universal attitude adjustment docking trailer. Support plate, worm gear elevator, elevator transmission link, vertical and horizontal support plate assembly, wing support plate, high-density sponge, universal ball head assembly, support frame, first handwheel assembly and several universal casters. Although this invention adds a positioning adjustment mechanism and a flexible hinge structure, it also uses a transport trolley to transfer the station, but the docking is completed on the trolley, which is prone to tipping and displacement. The position adjustment is also manual, and the degree of automation is very low. , still cannot meet the requirements of assembly accuracy, and the technical requirements of workers are also very high.

The utility model patent with the authorized announcement number CN206125462U discloses an auxiliary equipment for connecting and installing aircraft wings. The equipment includes a wing attitude adjustment mechanism, a wing bracket and an AGV trolley. Attitude mechanism, multiple wing attitude adjustment mechanisms are installed on the top of the AGV trolley. Mechanism, the X-axis sliding mechanism and the Y-axis sliding mechanism drive the sliding through their own drive motors respectively, and the lifting driving mechanism is arranged on the rotary driving mechanism on the slide table of the Y-axis sliding mechanism, and the lifting driving mechanism The top is movable and hinged with the bottom of the wing bracket through the ball head, and the wing is aligned with the installation hole of the aircraft fuselage at a suitable angle through the vertical displacement of the wing attitude adjustment mechanism to realize the docking assembly. Although this utility model adds an attitude adjustment mechanism, which reduces the difficulty and error of manual attitude adjustment operations, but because its lower part is installed on a trolley, there are problems of unstable platform, easy displacement and dumping, so its installation accuracy still cannot be achieved. Aircraft wing installation requirements. The equipment also does not integrate closed-loop control systems such as digital measurement systems, control systems, and monitoring systems, which has the problems of low automation and visualization, and high technical requirements for workers.

At present, the assembly of special components such as the central wing and outer wing still adopts traditional hoisting and manual assisted assembly, the degree of digitization is relatively low, and flexible assembly cannot be realized, resulting in excessive butt joint stress of assembly, low assembly efficiency, and stable assembly platform Poor performance, prone to safety accidents. Assembly workers have relatively high skill requirements.

Contents of the invention

In order to achieve the above object, the present invention provides an aircraft outer wing automatic attitude adjustment docking method, comprising the following steps: 1) S1: preparation before installation; 2) S2: putting the outer wing on the shelf; 3) S3: preparation before transportation; 4) S4 : AGV car in place and jacking up; 5) S5: overall platform in place; 6) S6: outer wing attitude adjustment docking; 7) S7: outer wing and attitude adjustment bracket separation; 8) S8: AGV vehicle belt overall platform evacuation , it is characterized in that: 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: the attitude adjustment of the outer wing is docked , the first bracket is rotated until the upper surface of the wing bracket is in an inclined state, and the inclination angle matches the ear surface of the outer wing. High degree of automation, precise docking.

Preferably, step S1: preparation before installation, including: 1) the AGV car moves the outer wing attitude adjustment system from the storage station to a designated position; 2) each supporting foot of the outer wing attitude adjustment system supports the ground, and the attitude adjustment positioner is in the Docking theoretical position, the fuselage is supported and leveled by three jacks. A stable support platform is prepared for the outer wing loading, and the process is digitized and highly automated.

Preferably, step S2: put the outer wing on the shelf, including: 1) using a V-shaped positioning block to quickly fix the outer wing on the outer wing fixing frame; 2) adjusting the first bracket until the upper surface of the wing bracket is in a horizontal state; 3 ) hoisting the outer wing together with 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; The stress and pressure of the vacuum suction plate are displayed on the monitor in real time. The stress at the joint between the outer wing and the outer wing fixing frame is detected in real time to ensure that the outer wing is firmly fixed on the docking unit.

Preferably, step S3: preparation before transportation, including: 1) rotating the first bracket to the docking state; 2) the attitude adjustment positioner with the outer wing attitude adjustment system walking along the X-axis towards the wingtip direction, freeing up for subsequent work Operating space; 3) The screw lift lifts the overall platform up to prepare for the entry of the AGV.

Preferably, step S4: jacking the AGV car into place, including: 1) the AGV car automatically enters the bottom of the overall platform, and finds the position of the support platform identification point through the visual camera; 2) after the AGV car is determined to be in place by the visual camera, the AGV car The jacking mechanism jacks up the overall platform, and at this time, the main lifting support feet of the overall platform are off the ground.

Preferably, step S5: the overall platform is put in place, including: 1) the AGV vehicle automatically navigates to move the overall platform to a designated position; 2) the AGV vehicle jack-up mechanism descends, so that the main lifting support feet touch the ground, and the overall platform is placed on the ground , AGV vehicle evacuation; 3) The main support legs of the overall platform drive the main platform down, and after falling in place, the auxiliary supports support the ground to enhance the stability of the platform; 4) The attitude adjustment locator with the attitude adjustment bracket moves toward the root of the wing and resets. Ready to start docking.

Preferably, step S6: the attitude adjustment docking of the outer wing includes: 1) the laser tracker measures the attitude of the central wing and the outer wing; The wing inserts are matched with the ear surfaces; the attitude adjustment locator adjusts the attitude of the outer wing according to the measurement data obtained by the laser tracker; 3) Pull out the reset pin on the six-degree-of-freedom compliance mechanism, start the feed motor, and make the entire attitude adjustment system move forward. Slide the shaft forward so that the outer wing and the central wing are smoothly docked; 4) Manually install the connecting bolts. The soft butt joint can effectively reduce the stress of the butt joint assembly and ensure the stability of product performance.

Preferably, step S7: the outer wing is separated from the attitude adjustment bracket, including: 1) installing the outer wing actuator; 2) removing the safety anti-detachment hook at the leading edge of the outer wing, and loosening the outer wing vacuum adsorption plate; 3) attitude adjustment positioning 4) Insert the reset pin back into the compliance mechanism; 5) Return the attitude positioning locator with the integral bracket to the direction of the wing tip by 250mm; 6) Turn the first bracket to the level state on the upper surface of the wing bracket .

Preferably, step S8: the AGV car belts the overall platform to evacuate, including: 1) the main support legs of the overall platform drive the main platform to rise, and reserve space for the AGV car to enter; 2) the AGV car enters the bottom of the overall platform, and the AGV car jacking mechanism tops 3) The overall platform of the AGV vehicle belt is moved to the designated location for storage; the folding wing test system is connected to test the retraction and retraction of the folding wings.

As mentioned above, the present invention has the following beneficial effects:

1. The whole process is completed in one go, with little manual intervention, and a high degree of automation and digitization.

2. Reduce the stress of butt joint assembly, improve assembly efficiency and ensure stable product quality.

3. Avoid workshop safety accidents and ensure the health and safety of workers.

Description of drawings

Fig. 1 is a schematic diagram of the structure of a device used in an aircraft outer wing automatic attitude adjustment docking method according to the present invention.

In the figure: overall platform 101, attitude adjustment locator 102, attitude adjustment bracket 103, six degrees of freedom compliance mechanism 104, outer wing leading edge safety anti-detachment hook 105, outer wing fixing frame 106, V-shaped positioning block 107, vacuum adsorption plate 108. Display 109, auxiliary support feet 110, AGV car 111, main lifting support feet 112, first bracket 113, wing bracket 114;

Fig. 2 is the overall structural schematic diagram of the outer wing support attitude adjustment docking platform;

Fig. 3 is a schematic diagram of the upper structure of the platform frame in Fig. 2;

Fig. 4 is a schematic diagram of the bottom structure of the platform frame in Fig. 2;

Fig. 5 is a schematic diagram of the structure of the AGV trolley in Fig. 2;

Fig. 6 is a schematic structural diagram of the main lifting support foot assembly in Fig. 2;

Fig. 7 is a schematic structural diagram of the auxiliary pneumatic support foot assembly in Fig. 2;

Fig. 8 is a structural schematic diagram of the attitude adjustment locator in 2;

Fig. 9 is a schematic diagram of the overall structure of the compliant docking system;

Fig. 10 is a schematic structural view of the base and the docking feed assembly in Fig. 9;

Fig. 11 is a schematic structural view of the feed seat and the first bracket in Fig. 9;

Fig. 12 is a schematic structural view of the feed seat and the driving components on the first bracket in Fig. 9;

Fig. 13 is a schematic diagram of the cross-sectional cooperation structure of the rolling assembly and the annular guide rail in Fig. 9;

Fig. 14 is a schematic structural view of the second bracket and the compliance mechanism in Fig. 9;

Fig. 15 is a structural schematic diagram of the compliance mechanism in Fig. 9 .

Detailed ways

In the following description, many specific details are set forth in order to fully understand the present invention, but the present invention can also be implemented in other ways different from those described here, therefore, the present invention is not limited to the specific embodiments disclosed below limit. The orientation words "up", "down", "left" and "right" involved in this article are set based on the corresponding drawings. It can be understood that the appearance of the above orientation words does not limit the protection of the present invention. scope.

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

In the present invention, unless otherwise clearly specified and limited, terms such as "installation", "connection", "connection" and "fixation" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

As shown in Figure 1, it is the device used by the present invention. The present invention is an automatic attitude adjustment docking method for the outer wing, comprising the following steps: 1) S1: preparation before installation; 2) S2: putting the outer wing on the shelf; 3) S3: Preparation before transportation; 4) S4: AGV car in place and jacking; 5) S5: Overall platform in place; 6) S6: Outer wing attitude adjustment docking; 7) S7: Outer wing and attitude adjustment bracket separation; 8) S8 : The AGV car belts the overall platform to evacuate.

Step S1: Preparations before installation, including: 1) The AGV moves the outer wing attitude adjustment system from the storage station to the designated position; 2) The supporting feet of the outer wing attitude adjustment system support the ground, and the attitude adjustment positioner is in the docking theoretical position , the fuselage is supported and leveled by three jacks. Prepare a stable support platform for outer wing loading.

Step S2: Putting the outer wing on the shelf, including: 1) Use the V-shaped positioning block to quickly fix the outer wing on the outer wing fixing frame; 2) Adjust the first bracket until the upper surface of the wing bracket is horizontal; 3) Put the outer wing 4) Fix the wing bracket and the outer wing fixing frame together; 5) Monitor the three-way stress and vacuum at the joint between the outer wing and the outer wing fixing frame in real time The pressure of the adsorption disc is displayed on the monitor in real time. Real-time detection of the stress at the connection between the outer wing and the outer wing fixing frame to ensure that the outer wing is firmly fixed on the docking unit.

Step S3: Preparation before transportation, including: 1) Rotate the first bracket to the docking state; 2) The attitude adjustment positioner with the outer wing attitude adjustment system moves along the X-axis to the wingtip direction to make room for the follow-up work; 3) The screw lift lifts the overall platform up to prepare for the entry of the AGV.

Step S4: Lifting the AGV car into place, including: 1) The AGV car automatically enters the bottom of the overall platform, and uses the visual camera to find the position of the support platform identification point; 2) After the AGV car is determined to be in place by the visual camera, the jacking mechanism on the AGV Jack up the overall platform, and at this time the main lifting support feet of the overall platform are off the ground.

Step S5: The overall platform is put in place, including: 1) the AGV car automatically navigates to move the overall platform to the designated position; 2) the AGV car roof lifting mechanism lowers, so that the main lifting support feet touch the ground, and the overall platform is placed on the ground, and the AGV car Evacuation; 3) The main support legs of the overall platform drive the main platform down, and after falling in place, the auxiliary legs support the ground to enhance the stability of the platform; 4) The attitude adjustment locator with the attitude adjustment bracket moves toward the root of the wing and resets. Ready to start docking.

Step S6: Outer wing attitude adjustment docking, including: 1) laser tracker to measure the attitude of the central wing and outer wing; The attitude adjustment positioner adjusts the attitude of the outer wing according to the measurement data obtained by the laser tracker; 3) Pull out the reset pin on the six-degree-of-freedom compliance mechanism, start the feed motor, and make the entire attitude adjustment system move along the feed axis Slide forward to allow the outer wing to dock with the central wing smoothly; 4) Manually install the connecting bolts. The soft butt joint can effectively reduce the stress of the butt joint assembly and ensure the stability of product performance.

Step S7: The outer wing is separated from the attitude adjustment bracket, including: 1) installing the outer wing actuator; 2) removing the safety anti-detachment hook at the leading edge of the outer wing, and loosening the outer wing vacuum suction plate; 3) the attitude adjustment positioner belt Lower the bracket; 4) Insert the reset pin back into the compliance mechanism; 5) The attitude adjustment locator and the overall bracket retreat 250mm toward the wingtip; 6) The first bracket rotates to the level state on the upper surface of the wing bracket.

Step S8: Evacuation of the AGV vehicle with the overall platform, including: 1) The main support legs of the overall platform drive the main platform to rise to reserve space for the AGV vehicle to enter; 2) The AGV vehicle enters the bottom of the overall platform, and the AGV car jacking mechanism lifts the overall platform ; 3) The overall platform of the AGV car belt is moved to the designated location for storage; connect the folding wing test system to test the folding wing retraction.

As shown above, the present invention provides an automatic attitude adjustment and docking method for the outer wing of an aircraft, which greatly reduces manual intervention during aircraft assembly, and has a high degree of automation and digitization. The application of flexible assembly reduces the stress of butt joint assembly, improves assembly efficiency, and can ensure stable product quality. The great reduction of assembly personnel has greatly reduced work-related accidents and ensured the safety and health of workers.

The device for realizing the above-mentioned automatic attitude adjustment and docking method of the outer wing mainly includes the outer wing support attitude adjustment docking platform and a compliant docking system.

As shown in Figures 2 to 8, the attitude-adjusting docking platform supported by the outer wings includes an AGV trolley 201 and a platform frame 202 placed on the trolley. The platform frame 202 is 4200mm long, 2900mm wide, and 850mm high, and the space for the AGV trolley 201 to enter and exit at the bottom The height is 630mm, and the platform frame 202 is provided with:

The four main lifting support leg assemblies 203, with a stroke of 450mm, are located at the bottom four corners of the platform frame, and can be lowered simultaneously when the wings are docked, which can lower the center of gravity of the platform and improve the stability of the equipment. The main lifting support foot assembly 203 includes a lifting power mechanism 204, which is connected to the main supporting foot 206 through a transition piece 205 at the bottom, wherein the transition piece 205 and the main support foot 206 are connected by a ball hinge, which can adapt to the ground ±5mm unevenness, the main support foot 206 is also equipped with a force sensor, which can monitor the change of the support force in real time. Lifting power mechanism 204 can be the structure commonly used in this field such as leading screw, cylinder, motor, specifically lead screw elevator in the present embodiment, and four leading screw elevators adopt the motion mode that a motor transmits power through connecting rod to drive, realize The four support points are lifted and lowered synchronously, which effectively avoids the tilting or even toppling of the platform due to uneven strokes during the lifting process of the platform. The screw lift also has a self-locking function, which can provide stable and firm support in a static state.

As shown in Figures 3 and 7, four auxiliary pneumatic support foot assemblies 207, with a stroke of 40mm, are located in the middle of the bottom of the platform frame, and are used for auxiliary support after the main lifting support foot assembly touches the ground to enhance the stability of the platform. The auxiliary pneumatic support foot assemblies 207 It includes a slider 209 driven by a cylinder 208. An inclined chute 210 is provided on the slider 209. A roller 211 is rolled in the chute 210. The shaft of the roller 211 is fixedly connected with the vertical lifting column 212, and the lifting The bottom of the column 212 is provided with an auxiliary support foot 213, and the lifting column 212 and the auxiliary support foot 213 are connected by a ball joint, which can also adapt to the unevenness of the ground ±5mm. The cylinders 208 of the four auxiliary support foot assemblies 207 are equipped with The pressure monitoring device monitors whether the movement is in place according to the set pressure threshold, and feedbacks the working status in real time.

As shown in Figures 2 and 8, four attitude adjustment locators 214 are located at the four corners of the platform frame. The attitude adjustment locators 214 include a base 215 fixed on the platform frame, and the base 215 is provided with an X-axis supporting plate 216 that slides along the X direction. The X-axis supporting plate 216 is provided with a Y-axis supporting plate 217 that slides along the Y direction, and the Y-axis supporting plate 17 is provided with a Z-axis supporting plate 218 that can slide up and down along the column, and the Z-axis supporting plate 218 is provided with a supporting device. The position of the wing can be adjusted in the three translational directions of the coordinate system through the four attitude-adjusting locators 214, and in order to ensure that the docking system can realize the docking of the outer wing and the central wing under the condition of the height of the lower surface of the central wing from the ground , four attitude adjustment locators 214 are embedded in the platform frame 202 inside.

As shown in FIGS. 2-4 , the AGV trolley 1 is provided with lifting and positioning columns 219 , and the platform frame is provided with positioning holes 220 . The lifting positioning column 219 is matched with the positioning hole 220 . This facilitates better positioning of the platform frame 202 and more stable placement on the AGV trolley 201 . The platform frame 202 is provided with four lifting points 227 for lifting the platform. A visual digital camera 222 is installed at one end of the bottom of the platform to monitor the marked points on the ground in real time and monitor the horizontal displacement of the platform. Four high-precision laser ranging displacement sensors 221 are installed on the bottom four corners of the platform frame 202 to monitor the height of the platform after it is placed on the ground in real time. The data obtained by the visual digital camera 222 and the laser ranging displacement sensor 221 are fed back to the control platform for adjusting the attitude of the platform. The integrated control platform 223 can display relevant parameters and pictures of the measurement system, numerical control system, and monitoring system in real time, monitor and adjust the attitude of the wings during docking in real time, ensure the smoothness of the docking process, and reserve network cables. The system control cabinet 225 is installed on the side of the platform frame 202 close to the wingtip, and the design height is 1200mm from the ground for the monitoring display screen 224 after the whole frame supports the feet, which is convenient for manual observation and operation. All quick-plug interfaces of the integrated control platform 223 adopt error-proof design, all operation buttons are easy to operate, and have obvious signs and prevent misuse measures, which reduce the difficulty of equipment operation, improve usability, and meet ergonomic requirements. The electrical control system is stored inside the overall frame, arranged according to the area and placed with electrical signs, and rationally designed in accordance with the requirements of convenient follow-up inspection and maintenance work, avoiding mutual interference between the various systems. The integrated control platform 223 has a metal casing 226 outside, the internal layout is reasonable, and it has the ability to resist electromagnetic interference and electromagnetic protection. The whole equipment fully embodies the concept of flexible and digital assembly.

Working principle: The platform is hoisted by the crane through the lifting points 227 at the upper four corners of the platform frame 202 and placed near the outer wing shelf. The four main support feet 206 firmly support the platform frame 202 on the ground. The laser distance measuring displacement sensor 221 and the vision The digital camera 222 collects platform data, and the worker adjusts the platform to the level through the control cabinet. The ball joint structure between the transition piece 205 and the main support foot 206 enables the platform to adapt to uneven ground. Adsorb the outer wing on the outer wing bracket through the vacuum absorber and lock it to fix it. The outer wing bracket with the outer wing is positioned and placed on the four attitude adjustment positioners 214 of the platform frame 202, and the lifting power mechanism 4 in the four main lifting support leg assemblies 203 starts to rotate simultaneously under the drive of a driving motor , the overall platform is jacked up to the height of the space at the bottom of the platform frame 202 that is greater than the height of the body of the AGV trolley 201 . After the AGV trolley 1 enters from 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 trolley 201 through the positioning hole 220 and the lifting positioning column 219. After the AGV trolley 201 moves to the assembly station automatically according to the designed program, the four main lifting support foot assemblies 203 are driven down by the driving motor at the same time, and the platform is slowly lifted up, and the AGV trolley 201 leaves the positioning hole 20 and drives out. At the bottom of the platform frame 202, the auxiliary support feet 213 of the auxiliary pneumatic support foot assembly 207 are driven down by the cylinder 208 and support the ground. At this time, the whole platform is placed firmly on the ground and ready for docking. Assemblers stand in front of the integrated control platform 223 and observe the attitude and docking status of the platform through the monitoring display 224, and combine the measurement system, control system, monitoring system and other closed-loop systems to adjust in three directions through the attitude adjustment locator 214 to make the outer wing attitude Adjust to the docking state, and finally complete the docking assembly of the outer wing.

The compliant docking system shown in FIGS. 9-15 includes a base 1 , a docking feeding assembly 3 arranged on the base 1 , a first bracket 34 , a second bracket 33 and a compliance mechanism.

The docking feed assembly 3 includes the feed shaft 4 and the slide rails 10 on both sides. The feed shaft 11 and the slide rails 10 are both inclined on the base 1, and the inclination angle matches the lug surface of the outer wing; the feed shaft 4 is fixed with a feed seat 14, the two sides of the feed seat 14 are supported by the slide rail 10 and are in sliding fit with the slide rail 10, the feed shaft 4 is driven by the feed motor 9 through the reducer 7, and has a self-locking function. Moreover, a clutch 8 is provided between the feed motor 9 and the feed shaft 4, which can quickly separate the feed motor 9 from the reducer 7. The feed shaft 4 is provided with a hand wheel 6 for manual feeding. A force sensor 5 is also provided. The feeding force can be monitored in real time during the automatic feeding assembly. If the docking force is too large, the servo motor will stop the docking immediately, and the system will send out an audible and visual alarm. If the docking force is too large during the manual docking process, the system will also send out an audible and visual alarm to remind workers.

The first bracket 34 is arranged on the feed seat 14 in a rotatable manner, and its rotating shaft 4 is perpendicular to the feed seat 14. The first bracket 34 is arranged obliquely, and its bottom end intersects the bottom surface. The first bracket The bottom surface of 34 is parallel to feed seat 14, and when the outer wing is on the shelf, the first bracket 34 rotates until the second bracket 33 is horizontal; when the outer wing is docked, the first bracket 34 rotates until the second bracket 33 is horizontal. In the inclined state, the inclination angle matches the ear surface of the outer wing; the feed seat 14 is fixed with a ring-shaped guide rail 13, and the first bracket 34 is arranged on the ring-shaped guide rail 13 and rolls with the ring-shaped guide rail 13. The first bracket 34 is provided with the gear 16 driven by the rotating motor 39, and the gear 16 is engaged with the ring rack 17 fixed on the feed seat 14, and the first bracket 34 is arranged on the ring guide rail by the rolling assembly 18. 13, the rolling assembly 18 includes a rolling seat 40 fixed on the first bracket 34, a rolling block 20 is provided between the rolling seat 40 and the annular guide rail 13, and needle roller cam guides are also provided on both sides of the rolling seat 40 19. The needle roller cam guide 19 is on both sides of the ring guide rail 13, and the outside needle roller cam guide 19 is eccentric, and the eccentric adjustment amount is 0.7mm, which can ensure that the needle roller cam guide 19 and the ring The close fit of the guide rail 13 improves the smoothness of rotation.

The second bracket 33, the upper surface of the bracket is inclined, and its bottom end intersects with the bottom surface. When the outer wing is put on the shelf, the first bracket 34 rotates until the second bracket 33 is in a horizontal state. When the outer wing is docked, the first The bracket 34 rotates, together with the inclination angle of the second bracket itself, an outer wing angle matching the ear surface is formed. On the feed seat 14, the upper surface of the second bracket 33 is in a docking state and a horizontal state. A proximity switch can control and switch between the working state and the carrying state.

The compliance mechanism is located between the first bracket 34 and the second bracket 33, and when the docking encounters resistance, the outer wing is reversely avoided. The compliant mechanism 35 includes a bottom plate 30 fixedly connected to the upper surface of the first bracket 34, a middle plate 31 that can move in the X direction on the bottom plate 30, a top plate 32 that can rotate on the middle plate 31, and a lower surface of the second bracket 33. The bottom is supported with a lifting mechanism 36 and a ball hinge 2 is arranged between the two. The lifting mechanism 36 is provided with a return disc spring 27, and a vertical return spring 22 is provided between the bottom plate 30 and the lower surface of the second bracket 33. The middle plate 31 and the lower surface of the second bracket 33 are provided with an oblique return spring 24, and the bottom plate 30 and the lower surface of the second bracket 33 are provided with a reset pin 23. When the product is put on the shelf, the reset pin 23 can ensure that the product is sufficiently stable. sex. The top plate 32 is provided with a rotating slide rail 25 , and the middle plate 31 is provided with a set of rotating wheel assemblies 37 matching the rotating slide rail 25 , and the set of rotating wheel assemblies 37 clamps the top plate 32 in the middle. The middle plate 31 is provided with a linear slide rail 29 , and a set of sliding wheel assemblies 38 matching the linear slide rail 29 is provided on the base plate 30 , and the set of slide wheel assemblies 38 clamps the intermediate plate 31 in the middle. The elevating mechanism 36 includes a guide sleeve 28 fixed to the top plate 32. The guide sleeve 28 is provided with a guide column 26 that slides up and down with it. The guide column 26 is connected with the second bracket 33 by a ball joint 2.

When docking the wings, the X-axis direction is the span direction of the wings, which requires greater flexibility. The way of its movement is mainly realized by the linear slide rail 29. At the same time, the four ball joints 2 can also provide a small movement stroke, and its flexible way is mainly provided by the vertical return spring 22 and the oblique return spring 24 on the four corners. . The Y-axis direction does not require greater flexibility. The way of movement is realized by four ball joints 2, which has a small movement stroke, and its flexible way is mainly provided by vertical return springs 22 and oblique return springs 24 on the four corners. The Z-axis direction is the product height direction, which requires greater flexibility. The mode of movement is mainly realized by the guide column 26, and its flexible mode is mainly provided by the vertical return springs 22 on the four corners and the return disc spring 27 in the guide sleeve 28. The rotation around the X-axis and the Y-axis is realized by four spherical joints 2 . The flexible mode is mainly provided jointly by the vertical return springs 22 on the four corners and the return disc springs 27 in the guide sleeve 28 . The way of rotating around the Z axis is realized by rotating the slide rail 25, and the flexible way is mainly provided by the vertical return springs 22 and oblique return springs 24 on the four corners. Therefore, the compliance mechanism has six degrees of freedom that can be avoided. With the feed speed, forced assembly can be completely avoided, and it is also used to balance the gravity of the product and the product bracket.

Working principle: before installation, the first bracket 34 first rotates around the rotation axis 11 to turn the upper surface of the second bracket 33 to the level, place the wing on it, fix it with a suction cup and a locking claw, and then turn it back to the docking state. After the laser tracking measurement and attitude adjustment of the mechanism, the reset plug 23 is pulled out, the flexibility is opened, and docking is carried out. During the docking process, the feed shaft 4 is first automatically fed under the drive of the feed motor 9 to complete the docking and assembly. If a large resistance is encountered, an audible and visual alarm will be issued. The flexible mechanism 35 will automatically retreat, and the clutch 8 will automatically separate. 4 loses power, at this moment can use hand wheel 6 to feed slowly artificially, makes docking smoothly. Then manually install the connecting bolts, unlock the locking claws, push off the suction cup, and the product is assembled and separated from the docking system.

The above descriptions are only examples of the preferred implementation of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention within.

Claims (9)

1. An aircraft outer wing automatic attitude adjustment docking method, comprising the following steps: S1: The outer wing is put on the shelf; S2: The AGV car is in place and jacked up; S3: The overall platform is in place; S4: Outer wing attitude adjustment docking; S5: The outer wing is separated from the attitude adjustment bracket; S6: AGV vehicle with the overall platform evacuated; It is characterized in that: the step S1: when the outer wing is put on the shelf, the first bracket (113) is rotated until the upper surface of the wing bracket (114) is in a horizontal state, and then the outer wing is placed on the wing bracket (114) Above; step S4: when the outer wing is docked with attitude adjustment, turn the first bracket (113) until the upper surface of the wing bracket (114) is in an inclined state, and the inclination angle matches the ear-plug surface of the outer wing. 2. The aircraft outer wing automatic attitude adjustment docking method according to claim 1, wherein the preparation before the outer wing is put on the shelf includes: 1) The AGV car (111) moves the outer wing attitude adjustment system from the storage station to the designated position; 2) Each supporting foot of the outer wing attitude adjustment system supports the ground, the attitude adjustment locator (102) is in the theoretical docking position, and the fuselage is supported and leveled by three jacks. 3. the aircraft outer wing automatic attitude adjustment docking method according to claim 1, is characterized in that, the specific process of putting on the outer wing of described step S1 comprises: 1) Use the V-shaped positioning block (107) to quickly fix the outer wing on the outer wing fixing frame (106); 2) Adjust the first bracket (113) until the upper surface of the wing bracket (114) is 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) Real-time monitoring of the three-dimensional stress at the connection between the outer wing and the outer wing fixing frame (106) and the pressure of the vacuum suction disc (108), and displaying it on the display (109) in real time. 4. The aircraft outer wing automatic attitude adjustment docking method according to claim 1, characterized in that, the preparation work before the transportation of the outer wing of the step S1 includes: 1) Rotate the first bracket (113) to the docking state; 2) The attitude adjustment locator (102) with the outer wing attitude adjustment system walks along the X-axis towards the wingtip direction, freeing up the operation space for the follow-up work; 3) The overall platform (101) is lifted by the screw lifter to prepare for the entry of the AGV car (111). 5. The aircraft outer wing automatic attitude adjustment docking method according to claim 1, characterized in that, the step S2 AGV car in place jacking specific process comprises: 1) The AGV car (111) automatically enters the bottom of the overall platform (101), and uses the visual camera to find the position of the support platform identification point; 2) After the visual camera determines that the AGV (111) is in place, the jacking mechanism on the AGV (111) lifts the overall platform (101), and at this time the main lifting support feet (112) of the overall platform (101) leave the ground. 6. the aircraft outer wing automatic attitude adjustment docking method according to claim 1, is characterized in that, the specific process of described step S3 whole platform putting in place comprises: 1) The AGV car (111) automatically navigates to move the overall platform (101) to a designated position; 2) The jacking mechanism of the AGV (111) is lowered, so that the main lifting support feet (112) touch the ground, the overall platform (101) is placed on the ground, and the AGV (111) is evacuated; 3) The main lifting support feet (112) drive the overall platform (101) to descend, and after falling in place, the auxiliary support feet (110) support the ground to enhance the stability of the platform; 4) The attitude adjustment locator (2) with the attitude adjustment bracket (3) moves toward the root of the wing and resets. 7. aircraft outer wing automatic attitude adjustment docking method according to claim 1, is characterized in that, the concrete process of described step S4 outer wing attitude adjustment docking comprises: 1) The laser tracker measures the attitude of the central wing and the outer wing; 2) Turn the first bracket (113) until the upper surface of the wing bracket (114) is in an inclined state, and the inclination angle matches the ear surface of the outer wing; , to adjust the attitude of the outer wing; 3) Unplug the reset pin on the six-degree-of-freedom compliance mechanism (104), start the feed motor, and make the entire attitude adjustment system slide forward along the feed shaft, so that the outer wing and the central wing are docked softly; 4) Install the connecting bolts. 8. the aircraft outer wing automatic attitude adjustment docking method according to claim 1, is characterized in that, the concrete process that described step S5 outer wing separates with attitude adjustment bracket comprises: 1) Install the outer wing actuator; 2) Remove the safety anti-detachment hook (105) at the leading edge of the outer wing, and loosen the vacuum suction plate (108) of the outer wing; 3) The attitude adjustment locator (102) is lowered with the attitude adjustment bracket (103); 4) Insert the reset pin back into the six-degree-of-freedom compliance mechanism (104); 5) The attitude adjustment locator (102) with the attitude adjustment bracket (103) retreats 250mm toward the wingtip; 6) The first bracket (113) is rotated until the upper surface of the wing bracket (114) is horizontal. 9. The aircraft outer wing automatic attitude adjustment docking method according to claim 1, characterized in that, the specific process of the step S6 AGV vehicle belt integral platform evacuation comprises: 1) The main lifting support feet (112) drive the overall platform (101) up to reserve space for the AGV (111) to enter; 2) The AGV car (111) enters the bottom of the overall platform (101), and the jacking mechanism of the AGV car (111) lifts the overall platform (101); 3) The AGV car (111) moves to the designated location with the overall platform (101) for storage; 4) Connect the folding wing test system to test the folding wing retraction.

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