CN115415786A - A human-machine collaborative turbofan engine core machine assembly system and assembly method - Google Patents

Abstract

The invention discloses a man-machine cooperative assembling system and method for a core machine of a turbofan engine, belonging to the technical field of core machines of turbofan engines, wherein the system comprises a slewing device, a mechanical arm measuring device and a digital integrated control device, wherein the bottom of the slewing device is fixed, and the top of the slewing device can horizontally rotate; the bottom of the mechanical arm measuring device is fixed, and the executing end of the mechanical arm is provided with a measuring instrument which can measure key parts to be assembled, key components which are assembled and key dimensions of the core machine and transmit measured data to the digital integrated control device; the digital integrated control device can automatically judge whether the key size of the key parts to be assembled, the key size of the assembled key assembly and the key size of the core machine meet the requirements or not according to the received measurement data, and can control the rotation device and the mechanical arm measurement device to move. The system improves the assembling quality and the assembling efficiency of the turbofan engine core machine.

Description

A human-machine collaborative turbofan engine core machine assembly system and assembly method

technical field

The invention belongs to the technical field of turbofan engine core machines, and in particular relates to a human-machine cooperative turbofan engine core machine assembly system and assembly method.

Background technique

During the assembly process of a turbofan engine, the core machine is the link that has the greatest impact on the performance of the turbofan engine. The core machine is based on the turbine casing, and on this basis, the high-pressure turbine guide tube, flame tube, compressor casing, and intermediate casing are carried out. , bearings, bearing sleeves, low-pressure shafts, low-pressure turbines, fan wheels, and external pipelines and other components.

At present, the whole process of turbofan engine core machine assembly relies on manual operation. In this process, the critical dimensions of the key components to be assembled (such as the inner diameter and outer diameter of the bearing), the critical dimensions of the assembled key components (such as the turbine case The measurement of the circular runout of the outer ring at the bearing where the component is installed) and the key dimensions of the assembled core machine (such as the outer contour of the core machine) are all done manually, and the compliance of the measurement results is also carried out manually by the operator and inspection personnel Judgment, due to the inability to realize the online measurement of the assembly results and the automatic judgment of the detection results, the quality of the turbofan engine core machine assembly process fluctuates greatly, which limits the improvement of the assembly quality and assembly efficiency of the turbofan engine core machine.

Contents of the invention

In view of this, the present invention provides a human-machine collaborative turbofan engine core machine assembly system, the system measures the key dimensions of the key parts to be assembled, the key dimensions of the assembled key components, and the core machine through a mechanical arm measurement device. The key dimensions of the turbofan engine are automatically measured, and the measurement results are automatically judged by the digital integrated control device, which improves the assembly quality and assembly efficiency of the core engine of the turbofan engine.

A human-machine collaborative turbofan engine core engine assembly system, including a slewing device, a mechanical arm measuring device, and a digital integrated control device;

The bottom of the turning device is fixed, and the top can turn horizontally;

The bottom of the mechanical arm measuring device is fixed, and the execution end of the mechanical arm is equipped with a measuring instrument, which can measure the key components to be assembled, the key components assembled and the key dimensions of the core machine, and transmit the measurement data to the digital Integrated control device;

The digital integrated control device can automatically determine whether the critical dimensions of the key parts to be assembled, the critical dimensions of the assembled key components, and the critical dimensions of the core machine meet the requirements according to the received measurement data, and the digital integrated control The device can control the movement of the rotating device and the measuring device of the mechanical arm.

Further, the key components to be assembled include bearings, and the key dimensions of the bearings include the inner diameter and outer diameter of the bearing;

The assembled key components include a turbine casing assembly, and the key dimensions of the turbine casing assembly include the circular runout of the outer ring at the installation bearing of the turbine casing;

The critical dimensions of the core machine include the outer contour of the core machine.

Further, it also includes a six-degree-of-freedom parallel attitude adjustment device;

The bottom of the six-degree-of-freedom parallel attitude adjustment device is fixedly connected to the top of the slewing device;

The digital integrated control device can control the adjustment of the attitude of the six-degree-of-freedom parallel attitude adjustment device.

Further, a switching device is also included;

The transfer device is detachably connected to the top of the six-degree-of-freedom parallel attitude adjustment device, and the turbine casing can be fixedly installed on the transfer device.

Further, the transfer device is a zero point positioning chuck;

One end surface of the zero-point positioning chuck is provided with a connecting piece for detachable connection with the top of the six-degree-of-freedom parallel attitude adjustment device, and the other end surface is provided with a fixing piece for fixing the turbine casing.

Further, the connecting piece is a zero point positioning pin.

Further, the zero-point positioning pin is pneumatically connected to the top of the six-degree-of-freedom parallel attitude adjustment device through a pneumatic connector.

In addition, the present invention also provides a turbofan engine core machine assembly method. By using the above-mentioned assembly system, automatic measurement is performed during the core machine assembly process, and the measurement results are automatically judged, so that the turbofan engine can be completed efficiently and with high quality. Assembly of fan engine core machine.

A human-machine collaborative turbofan engine core machine assembly system, the steps are:

Step 1: fixing the turbine casing to the top of the slewing device;

Step 2: The mechanical arm measuring device measures the key dimensions of the key parts to be assembled by measuring instruments, and transmits the measurement data to the digital integrated control device, and the digital integrated control device automatically judges the key dimensions of the key parts to be assembled. Whether the key dimensions of the key parts to be assembled meet the requirements, if the requirements are met, the key parts to be assembled are assembled on the turbine casing, otherwise, the key parts to be assembled are replaced, and the replacement The key dimensions of the key parts to be assembled are re-measured until the requirements are met;

Step 3: The mechanical arm measuring device measures the key dimensions of the assembled key components through measuring instruments, and transmits the measurement data to the digital integrated control device, and the digital integrated control device automatically judges the assembly Whether the key dimensions of the completed key components meet the requirements, if the requirements are met, continue to assemble until the core machine assembly is completed; otherwise, reassemble until the requirements are met.

Further, the manipulator measuring device measures the key dimensions of the assembled core machine through a measuring instrument, and transmits the measurement data to the digital integrated control device, and the digital integrated control device automatically judges the Whether the key dimensions of the above-mentioned core machine meet the requirements, if the requirements are met, the core machine can be delivered for use, otherwise, the core machine is repaired until the requirements are met.

Further, the digital integrated control device automatically judges the critical dimensions of the key components to be assembled, the critical dimensions of the assembled key components, and the Whether the key dimensions of the above-mentioned core machine are within the error range, if within the error range, the requirements are met, otherwise, the requirements are not met.

Beneficial effect:

1. In the human-machine collaborative turbofan engine core machine assembly system of the present invention, the mechanical arm measuring device can measure the key components to be assembled, the assembled key components and the key dimensions of the core machine, and transmit the measurement data to Digital integrated control device, and the digital integrated control device can automatically judge the critical dimensions of key components, critical dimensions of assembled key components and critical dimensions of the core machine according to the received measurement data, with a high degree of automation and measurement results The stability and measurement accuracy are high, which improves the high-precision automatic assembly of the turbofan engine core machine, ensures the consistency of the assembly quality of the turbofan engine core machine, and improves the assembly efficiency.

2. In the human-machine collaborative turbofan engine core machine assembly system of the present invention, the key components to be assembled include bearings, the key dimensions of the bearings include the inner diameter and outer diameter of the bearings, and the assembled key components include turbine casing components, turbine casings The key dimensions of the components include the circular runout of the outer ring at the installation bearing of the turbine casing, and the key dimensions of the core machine include the outer contour of the core machine. These key dimensions are measured by the mechanical arm measurement device and the automatic control of the measurement data by the digital integrated control device. It is judged that the assembly quality and assembly efficiency of the turbofan engine core machine can be guaranteed.

3. In the man-machine collaborative turbofan engine core machine assembly system of the present invention, the bottom of the six-degree-of-freedom parallel attitude adjustment device is fixedly connected to the top of the slewing device, and the digital integrated control device can control the attitude of the six-degree-of-freedom parallel attitude adjustment device Adjustment, which enables the turbine casing to be fixed to the top of the six-degree-of-freedom parallel attitude adjustment device, and the attitude can be adjusted again, which can ensure that the axis of the turbine casing coincides with the axis of the electric turntable and are both vertically upward, improving the mechanical arm measurement device The measurement accuracy is improved, thereby improving the assembly quality of the turbofan engine turbine case.

4. The human-machine collaborative turbofan engine core machine assembly system of the present invention uses a zero point positioning chuck as an adapter device, which saves the auxiliary time for re-calibrating the zero point during the assembly process of the turbofan engine core machine, and ensures the continuity of the assembly work performance, improving assembly efficiency.

5. The human-machine collaborative turbofan engine core machine assembly method of the present invention first fixes the turbine casing to the top of the slewing device, and then the mechanical arm measuring device measures the key dimensions of the key components to be assembled through the measuring instrument, and measures The data is transmitted to the digital integrated control device, and the digital integrated control device automatically judges whether the key dimensions of the key components to be assembled meet the requirements. assembled key components, and re-measure the key dimensions of the replaced key components to be assembled until the requirements are met, which realizes the automatic matching of key components of the turbofan engine core machine and ensures The quality of the key components of the engine core machine, thereby improving the assembly quality of the turbofan engine core machine.

In addition, the mechanical arm measuring device measures the key dimensions of the assembled key components through the measuring instrument, and transmits the measurement data to the digital integrated control device, and the digital integrated control device automatically judges whether the key dimensions of the assembled key components meet the requirements, If the requirements are met, then continue to assemble until the core machine assembly is completed, otherwise, reassemble until the requirements are met, which ensures the assembly quality of the key components of the turbofan engine core machine, thereby further improving the assembly quality of the turbofan engine core machine.

6. In the human-machine collaborative turbofan engine core machine assembly method of the present invention, the mechanical arm measuring device measures the key dimensions of the assembled core machine through measuring instruments, and transmits the measurement data to the digital integrated control device, which is controlled by the digital integrated The device automatically judges whether the key dimensions of the core machine meet the requirements. If the requirements are met, the core machine can be delivered for use. Otherwise, the core machine is repaired until the requirements are met, which ensures that some parts of the core machine are not automated. When the key dimensions of the final assembled core machine do not meet the requirements caused by selection or failure to measure the assembly quality of some assembled components or other situations (such as the accumulation of measurement errors), it can be discovered in time, In order to ensure the reliability of the core machine after it is put into use.

Description of drawings

Figure 1 is a schematic diagram of the composition of a human-machine collaborative turbofan engine core machine assembly system provided by Embodiment 1 of the present invention;

Fig. 2 is the structural representation of transfer chuck in Fig. 1;

FIG. 3 is a structural schematic view of another angle of the transfer chuck in FIG. 2 .

Among them, 1-electric rotary table, 2-six degrees of freedom parallel attitude adjustment device, 3-zero point positioning chuck, 4-first mechanical arm, 5-second mechanical arm, 6-digital integrated control device, 7-working platform , 8-zero positioning pin, 9-horizontal toggle clamp, 10-turbine case.

detailed description

The present invention will be described in detail below with reference to the accompanying drawings and examples.

Embodiment one:

As shown in Figures 1 to 3, this embodiment provides a human-machine collaborative turbofan engine core machine assembly system, which consists of a slewing device, a mechanical arm measuring device, and a digital integrated control device 6, wherein:

The bottom of the slewing device is fixed on the working platform 7, and the top can turn horizontally;

The bottom of the manipulator measuring device is fixed on the working platform 7, and the execution end of the manipulator is equipped with a variety of measuring instruments, which can measure the key components to be assembled, the key components after assembly and the key dimensions of the core machine, and will measure Data transmission to digital integrated control device 6;

The digital integrated control device 6 can automatically judge whether the critical dimensions of the key components, the critical dimensions of the assembled key components, and the critical dimensions of the core machine meet the requirements according to the received measurement data (the digital integrated control device combines the received measurement data with its internal Compared with the preset value of the system, it can automatically judge whether the key dimensions of the key components to be assembled, the key dimensions of the assembled key components, and the key dimensions of the core machine are within the error range. If they are within the error range, the requirements are met; otherwise, no meet the requirements), and the digital integrated control device 6 can control the movement of the rotary device and the mechanical arm measuring device.

Among them, the key components to be assembled may include bearings, and the critical dimensions of the bearings may include the inner and outer diameters of the bearings; the assembled key components may include the turbine casing assembly, and the critical dimensions of the turbine casing assembly may include the position where the turbine casing 10 is installed with the bearing. The circular runout of the outer ring; the critical dimension of the core machine may include the outer contour (outer envelope) of the core machine. Of course, it is worth noting that the specific quantities to be measured during the assembly process of the turbofan engine core machine can be flexibly selected according to the actual situation, and the corresponding measuring instruments can be set on the mechanical arm measuring device according to different measured quantities.

When using this turbofan engine core machine assembly system, the turbine casing 10 is fixed on the top of the slewing device, and other components of the turbofan engine core machine are manually assembled on the turbine casing 10, and the measurement is coordinated by the mechanical arm measuring device The digital integrated control device 6 is completed, that is, the turbofan engine core machine assembly system is a human-machine cooperative assembly system.

Specifically, referring to Fig. 1, in this embodiment, the turning device is an electric turntable 1, because the flatness precision of the top of the electric turntable 1 is high, when the turbine case 10 is fixed on the top of the electric turntable 1, it can be The axis of the turbine casing 10 coincides with the axis of the electric turntable 1 and both axes are vertically upward, which is conducive to building a unified coordinate system for the turbine casing 10 and the electric turntable 1, for example, the X axis and the Y axis are parallel to the working platform 7 , the Z-axis coincides with the axis of the turbine casing 10 or the electric turntable 1, and in a unified coordinate system, it is beneficial to improve the measurement accuracy in the assembly process. In addition, the rotation accuracy of the electric turntable 1 is very high, which is beneficial to the high-precision adjustment of the angular position of the components during the assembly process. Moreover, the electric swivel table 1 has a locking capability in an electrified state, can be used in an environment with high load and long-term operation, and meets the assembly environment requirements of the turbofan engine core machine.

As shown in Figure 1, in this embodiment, the main body of the mechanical arm measuring device is two mechanical arms, respectively the first mechanical arm 4 and the second mechanical arm 5, and the two mechanical arms are arranged on two opposite sides of the rotary device 1. side; these two robotic arms can achieve seven degrees of freedom of movement, which can meet the needs of human-machine cooperation in the assembly process of the turbofan engine core machine. The trajectory planning of the mechanical arm can be completed by the digital integrated control device 6 .

As an improvement, a six-degree-of-freedom parallel attitude adjustment device 2 is fixedly installed on the top of the electric turntable 1 , and the digital integrated control device 6 can control the attitude adjustment of the six-degree-of-freedom parallel attitude adjustment device 2 . In this way, the turning device is equivalent to being composed of the electric turning table 1 and the six-degree-of-freedom attitude-adjusting device 2, which can not only realize horizontal rotation, but also realize movement in other directions. Specifically, because the six-degree-of-freedom parallel attitude adjustment The device 2 can flexibly adjust the attitude, so when the turbine casing 10 is installed on the top of the six-degree-of-freedom parallel attitude adjustment device 2, the attitude of the turbine casing 10 can be adjusted again to ensure that its axis coincides with the axis of the electric turntable 1 and is vertical. Straight upward is more conducive to improving the measurement accuracy of the mechanical arm measurement device during the assembly process, thereby improving the assembly quality of the turbofan engine core machine.

Referring to Figures 1 to 3, in order to better fix the turbine casing 10 to the top of the six-degree-of-freedom parallel attitude-adjusting device 2, an adapter device is provided, which is connected to the top of the six-degree-of-freedom parallel attitude-adjusting device 2 The connection is detachable, and the turbine casing 10 can be fixedly installed on the adapter device. Specifically, in this embodiment, the adapter device is a zero point positioning chuck 3, as shown in Figure 2, one end surface of the zero point positioning chuck 3 is provided with a zero point positioning pin 8 as a connecting piece, and the zero point positioning pin 8 is connected to The upper platform on the top of the six-degree-of-freedom parallel attitude adjustment device 2 is connected by air pressure through a pneumatic connector. As shown in FIG. Moreover, a plurality of weight-reducing through holes are provided on the zero-point positioning chuck 3, specifically including a weight-reducing through-hole with a larger diameter in the middle of the zero-point positioning chuck 3, and six weight-reducing through holes of the same diameter evenly arranged on its outer peripheral side. Heavy vias. At the same time, a set of lifting lugs is provided opposite to the end surface of the zero point positioning chuck 3 provided with the horizontal toggle clamp 9 for hoisting and installing the zero point positioning chuck 3 on the six-degree-of-freedom parallel attitude adjustment device 2 .

Using the above-mentioned zero-point positioning chuck 3 as an adapter device saves the auxiliary time for re-calibrating the zero point during the assembly process of the turbofan engine core machine, ensures the continuity of the assembly work, and improves the assembly efficiency. Moreover, the horizontal toggle clamp 9 as a fixing member provided on the zero-point positioning chuck 3 has a simple and reliable structure, and can conveniently and reliably fix the turbine casing 10 .

Furthermore, in the turbofan engine core machine assembly system developed by man-machine collaboration, a multimedia acquisition camera can also be set up to take pictures of the components of the turbofan engine core machine online during the assembly process of the turbofan engine core machine, and transmit the photographing results The digital integrated control device 6 is provided to realize the traceability of the assembly process of the turbofan engine core engine, so as to facilitate the follow-up engine quality review work.

Embodiment two:

This embodiment provides a turbofan engine core machine assembly method on the basis of the first embodiment.

The method utilizes the turbofan engine core machine assembly system in Embodiment 1 to carry out, and its steps include:

Step 1: fixing the turbine casing 10 to the top of the slewing device;

Step 2: The mechanical arm measuring device measures the key dimensions of the key parts to be assembled by measuring instruments, and transmits the measurement data to the digital integrated control device 6, and the digital integrated control device 6 automatically judges the size of the key parts to be assembled Whether the key dimensions meet the requirements, if the requirements are met, assemble the key components to be assembled on the turbine casing 10, otherwise replace the key components to be assembled, and re-measure the key dimensions of the replaced key components to be assembled , until the requirements are met (that is, the key components to be assembled are automatically selected);

Step 3: The mechanical arm measuring device measures the key dimensions of the assembled key components through measuring instruments, and transmits the measurement data to the digital integrated control device, and the digital integrated control device 6 automatically judges whether the key dimensions of the assembled key components meet If the requirements are met, continue to assemble until the core unit is assembled; otherwise, reassemble until the requirements are met.

In addition, due to errors in the automatic matching measurement process and error accumulation in the assembly process, in order to ensure that the quality of the final assembled core machine meets the requirements, the mechanical arm measuring device can be used to measure the quality of the assembled core machine through measuring instruments. key dimensions, and transmit the measurement data to the digital integrated control device 6, and the digital integrated control device 6 automatically judges whether the key dimensions of the core machine meet the requirements. If the requirements are met, the core machine can be delivered for use; otherwise, the core machine is checked Repair until the requirements are met.

The mechanical arm measurement device and the digital integrated control device 6 complete the online inspection of the core engine assembly process of the turbofan engine, which solves the separation of assembly and inspection processes in the traditional core engine assembly process, backward inspection methods, and high reliance on human factors in quality control On the basis of automatic measurement, the assembly of each part of the core machine is completed manually, realizing the assembly mode of man-machine collaboration, and making the assembly quality of the core machine more controllable.

To sum up, the above are only preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. A human-machine collaborative turbofan engine core machine assembly system, including a rotary device, a mechanical arm measuring device, and a digital integrated control device; The bottom of the turning device is fixed, and the top can turn horizontally; The bottom of the mechanical arm measuring device is fixed, and the execution end of the mechanical arm is equipped with a measuring instrument, which can measure the key components to be assembled, the key components assembled and the key dimensions of the core machine, and transmit the measurement data to the digital Integrated control device; The digital integrated control device can automatically determine whether the critical dimensions of the key parts to be assembled, the critical dimensions of the assembled key components, and the critical dimensions of the core machine meet the requirements according to the received measurement data, and the digital integrated control The device can control the movement of the rotating device and the measuring device of the mechanical arm. 2. A human-machine collaborative turbofan engine core machine assembly system according to claim 1, wherein the key components to be assembled include bearings, and the key dimensions of the bearings include the inner diameter and outer diameter of the bearings. path; The assembled key components include a turbine casing assembly, and the key dimensions of the turbine casing assembly include the circular runout of the outer ring at the installation bearing of the turbine casing; The critical dimensions of the core machine include the outer contour of the core machine. 3. A human-machine collaborative turbofan engine core machine assembly system as claimed in claim 1 or 2, further comprising a six-degree-of-freedom parallel attitude adjustment device; The bottom of the six-degree-of-freedom parallel attitude adjustment device is fixedly connected to the top of the slewing device; The digital integrated control device can control the adjustment of the attitude of the six-degree-of-freedom parallel attitude adjustment device. 4. A kind of man-machine collaborative turbofan engine core machine assembly system as claimed in claim 3, is characterized in that, also comprises switching device; The transfer device is detachably connected to the top of the six-degree-of-freedom parallel attitude adjustment device, and the turbine casing can be fixedly installed on the transfer device. 5. A kind of man-machine collaborative turbofan engine core engine assembly system as claimed in claim 4, is characterized in that, described switching device is zero-point positioning chuck; One end surface of the zero-point positioning chuck is provided with a connecting piece for detachable connection with the top of the six-degree-of-freedom parallel attitude adjustment device, and the other end surface is provided with a fixing piece for fixing the turbine casing. 6 . The man-machine collaborative turbofan engine core machine assembly system according to claim 5 , wherein the connecting piece is a zero point positioning pin. 7 . 7. A human-machine collaborative turbofan engine core machine assembly system according to claim 6, wherein the zero point positioning pin is connected to the top of the six-degree-of-freedom parallel attitude adjustment device through a pneumatic joint . 8. A human-machine collaborative turbofan engine core machine assembly method, characterized in that the method utilizes a turbofan engine core machine assembly system according to any one of claims 1-7, and the steps are: Step 1: fixing the turbine casing to the top of the slewing device; Step 2: The mechanical arm measuring device measures the key dimensions of the key parts to be assembled by measuring instruments, and transmits the measurement data to the digital integrated control device, and the digital integrated control device automatically judges the key dimensions of the key parts to be assembled. Whether the key dimensions of the key parts to be assembled meet the requirements, if the requirements are met, the key parts to be assembled are assembled on the turbine casing, otherwise, the key parts to be assembled are replaced, and the replacement The key dimensions of the key parts to be assembled are re-measured until the requirements are met; Step 3: The mechanical arm measuring device measures the key dimensions of the assembled key components through measuring instruments, and transmits the measurement data to the digital integrated control device, and the digital integrated control device automatically judges the assembly Whether the key dimensions of the completed key components meet the requirements, if the requirements are met, continue to assemble until the core machine assembly is completed; otherwise, reassemble until the requirements are met. 9. A kind of man-machine cooperative turbofan engine core machine assembly method as claimed in claim 8, is characterized in that, described manipulator measuring device measures the key dimension of described core machine that described assembling completes by measuring instrument, And the measurement data is transmitted to the digital integrated control device, and the digital integrated control device automatically judges whether the key dimensions of the core machine meet the requirements. If the requirements are met, the core machine can be delivered for use; otherwise, the The core machine is repaired until requirements are met. 10. A human-machine collaborative turbofan engine core machine assembly method according to claim 9, wherein the digital integrated control device automatically compares the received measurement data with its internal preset value Judging whether the critical dimensions of the key components to be assembled, the critical dimensions of the assembled key components, and the core machine are within the error range, if they are within the error range, the requirements are met; otherwise, no fulfil requirements.

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