CN116160390A

CN116160390A - Six-degree-of-freedom-based aircraft body assembly flexible tool

Info

Publication number: CN116160390A
Application number: CN202111409811.3A
Authority: CN
Inventors: 沈立恒; 翟雨农; 叶夏; 杨应科; 李汝鹏; 李东升
Original assignee: Shanghai Aircraft Manufacturing Co Ltd
Current assignee: Shanghai Aircraft Manufacturing Co Ltd
Priority date: 2021-11-25
Filing date: 2021-11-25
Publication date: 2023-05-26

Abstract

The invention relates to the technical field of aircraft assembly, and discloses an aircraft body assembly flexible tool based on six degrees of freedom. The flexible tool for assembling the aircraft fuselage based on the six degrees of freedom comprises a base and a plurality of clamping assemblies, wherein the clamping assemblies are arranged on the base in an array mode, each clamping assembly comprises a six-degree-of-freedom driving unit and a flexible clamp, the six-degree-of-freedom driving units are detachably connected to the base and are in driving connection with the flexible clamps, so that the flexible clamps are six-direction adjustable, and the flexible clamps are used for clamping fittings to be assembled. The flexible tool for assembling the aircraft fuselage based on six degrees of freedom can greatly improve the shape adjusting capability and the driving precision of the tool, remarkably improve the adjusting capability of the assembling force, greatly reduce the manufacturing cost of the tool, shorten the preparation period of the tool and improve the assembling production efficiency.

Description

Six-degree-of-freedom-based aircraft body assembly flexible tool

Technical Field

The invention relates to the technical field of aircraft assembly, in particular to an aircraft body assembly flexible tool based on six degrees of freedom.

Background

The wall plate is a main structural member forming the aerodynamic shape of the aircraft, and is also a main bearing object of aerodynamic load of the aircraft, and the assembly quality of the wall plate directly influences the bearing performance and the flying performance of the aircraft body. In order to meet the comprehensive requirements of safety, economy, comfort and environmental protection, a large number of composite material wall plates are adopted in main bearing structures such as a fuselage, a wing and the like of a new generation of large airliners. However, the assembly of the composite wallboard is extremely difficult in shape control and pose adjustment, and higher requirements are put on the adjustment capability, the driving precision and the force controllability of the tooling system.

The composite wallboard assembly mainly comprises two links: first, the panel assemblies are formed by connecting with the bulkhead, and then the cylindrical fuselage is formed by combining the panel assemblies. The prior assembly is mainly carried out in the following way: the rigid frame based on the shape clamping plate is adopted to control the shape of the wallboard in the assembly of the wallboard assembly, and the traditional flexible tooling system consisting of a plurality of three-coordinate positioners is adopted to regulate the pose and the shape of the wallboard assembly in the assembly of the cylindrical fuselage. Two sets of equipment are adopted in the assembly engineering of the wallboard assembly and the cylindrical fuselage, the process is complex, and the manufacturing cost is high. The rigid frame does not have the capability of regulating the appearance and the assembly force, so that excessive assembly stress and even damage are often generated after the wallboard is clamped on the frame, and the special frame is special and lacks of universality, so that the wallboard is long in assembly and manufacture period and high in cost; the three-coordinate positioner is only driven by three degrees of freedom translation and is sensed by three directions of force, the capacity of appearance regulation and control and assembly force sensing control are insufficient, the tail end of the positioner is driven by a spherical hinge pair to rotate passively, driving errors are easy to introduce, and the requirements of high-precision and high-performance assembly of the composite wallboard are difficult to meet.

Disclosure of Invention

Based on the above, the invention aims to provide the six-degree-of-freedom-based flexible tool for assembling the aircraft fuselage, which greatly improves the shape adjusting capability and the driving precision of the tool, remarkably improves the adjusting capability of the assembling force, greatly reduces the manufacturing cost of the tool, shortens the preparation period of the tool and improves the assembling production efficiency.

In order to achieve the above purpose, the invention adopts the following technical scheme:

an aircraft fuselage assembly flexible tooling based on six degrees of freedom, comprising:

a base;

the clamping assemblies are arranged on the base in an array mode, each clamping assembly comprises a six-degree-of-freedom driving unit and a flexible clamp, and the six-degree-of-freedom driving units are detachably connected to the base and are in driving connection with the flexible clamps, so that the flexible clamps are adjustable in six directions, and the flexible clamps are used for clamping accessories to be assembled.

As a preferable scheme of the flexible fixture for the aircraft body assembly based on six degrees of freedom, the flexible fixture further comprises a force sensor, wherein the force sensor is arranged between the six degrees of freedom driving unit and the flexible fixture and is connected with the flexible fixture, and the force sensor is used for detecting the stress state of the flexible fixture in six directions.

As a preferable scheme of the flexible fixture for assembling the aircraft fuselage based on six degrees of freedom, the flexible fixture comprises a fixture substrate and a plurality of suckers, wherein the fixture substrate is connected to the driving end of the six-degree-of-freedom driving unit, and the suckers are arranged on the fixture substrate at intervals.

As a preferable scheme of the six-degree-of-freedom-based aircraft fuselage assembly flexible tool, the clamp substrate is in an equiangular triangle shape, and three corners of the clamp substrate are provided with the sucking disc.

As an optimal scheme of the flexible tooling for the assembly of the aircraft fuselage based on six degrees of freedom, the six-degree-of-freedom driving unit comprises a lower positioning plate, an upper positioning plate and a plurality of moving arms, wherein the lower positioning plate is detachably connected with the base, the flexible clamp is connected with the upper positioning plate, and the moving arms are rotatably connected between the lower positioning plate and the upper positioning plate.

As an optimal scheme of the flexible tooling for assembling the aircraft body based on six degrees of freedom, six moving arms are arranged, and two ends of the six moving arms are respectively connected to the lower locating plate and the upper locating plate at intervals along the circumferential direction of the lower locating plate and the upper locating plate in a rotating manner.

As a preferable scheme of the flexible tool for assembling the aircraft body based on six degrees of freedom, the upper positioning plate is in an equilateral triangle shape, six moving arms are in a group in pairs, and one ends of the three moving arms are respectively connected with three corners of the upper positioning plate in a one-to-one correspondence manner.

As a preferable scheme of the flexible tool for assembling the aircraft body based on six degrees of freedom, the flexible tool further comprises an adapter, one end of the adapter is connected with one end of the upper locating plate, which is away from the moving arm, and the flexible clamp is connected with the other end of the adapter.

As a preferable scheme of the flexible tool for assembling the aircraft fuselage based on six degrees of freedom, the base comprises a bracket and a plurality of mounting plates, each mounting plate is detachably connected to the bracket, and one clamping assembly is correspondingly detachably connected to one mounting plate.

As a preferable scheme of the flexible tool for assembling the aircraft body based on six degrees of freedom, each mounting plate is provided with a plurality of first mounting holes, the lower positioning plate is provided with a plurality of second mounting holes, and bolts penetrate through the second mounting holes and the first mounting holes and are in threaded connection with nuts.

The beneficial effects of the invention are as follows:

the invention provides a six-degree-of-freedom-based flexible tool for assembling an aircraft body, which comprises a base and a plurality of clamping assemblies, wherein the clamping assemblies are arranged on the base in an array mode, so that clamping assembly of to-be-assembled parts with different sizes and different shapes is realized. And the six-degree-of-freedom driving unit of the clamping assembly is detachably connected to the base, so that the six-degree-of-freedom driving unit is dismounted according to the requirements to be matched with different parts to be assembled, and the application range and the practicability of the flexible tool are improved. The fitting is clamped through the flexible clamp, and meanwhile, the six-degree-of-freedom driving unit drives the flexible clamp to be adjusted in six directions so as to adapt to the appearance of the fitting, and the shape adjusting capacity and the driving precision of the tool are greatly improved, so that the assembly force adjusting capacity is remarkably improved. Under the structure, the six-degree-of-freedom-based flexible tool for assembling the airplane body has good reconfigurability, has the capability of quick response to the change of the dimension specification of an assembly part, and can further realize the production task that one set of tool system completes two assembly links of an airplane wallboard assembly and an airplane cylindrical body, thereby greatly reducing the assembly cost and period, shortening the preparation period of the tool and improving the assembly production efficiency.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the drawings needed in the description of the embodiments of the present invention, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the contents of the embodiments of the present invention and these drawings without inventive effort for those skilled in the art.

FIG. 1 is a schematic structural diagram of an aircraft fuselage assembly flexible tooling based on six degrees of freedom provided by an embodiment of the invention;

FIG. 2 is a schematic view of a clamping assembly according to an embodiment of the present invention;

fig. 3 is a schematic view of a portion of a clamping assembly according to an embodiment of the present invention.

In the figure:

1. a base; 11. a bracket; 12. a mounting plate;

2. a clamping assembly; 21. a six-degree-of-freedom driving unit; 22. a flexible clamp; 211. a lower positioning plate; 212. an upper positioning plate; 213. a motion arm; 221. a clamp substrate; 222. a suction cup;

3. a force sensor; 4. an adapter.

Detailed Description

The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.

In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are orientation or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the invention. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.

As shown in fig. 1 to 3, the present embodiment provides a six-degree-of-freedom-based flexible tool for assembling an aircraft fuselage, which includes a base 1 and a plurality of clamping assemblies 2, wherein the plurality of clamping assemblies 2 are arranged on the base 1 in an array, the clamping assemblies 2 include a six-degree-of-freedom driving unit 21 and a flexible clamp 22, the six-degree-of-freedom driving unit 21 is detachably connected to the base 1 and is in driving connection with the flexible clamp 22, so that the flexible clamp 22 is six-directionally adjustable, and the flexible clamp 22 is used for clamping a fitting to be assembled. By arranging a plurality of clamping assemblies 2 on the base 1 in an array, clamping assembly of the parts to be assembled with different sizes and different shapes is realized. And the six-degree-of-freedom driving unit 21 of the clamping assembly 2 is detachably connected to the base 1, and the six-degree-of-freedom driving unit 21 is dismounted according to the requirements so as to adapt to different parts to be assembled, so that the application range and the practicability of the flexible tool are improved. The flexible clamp 22 clamps the to-be-assembled part, and meanwhile, the six-degree-of-freedom driving unit 21 drives the flexible clamp 22 to adjust in six directions so as to adapt to the appearance of the to-be-assembled part, and the shape adjusting capability and the driving precision of the tool are greatly improved, so that the assembly force adjusting capability is remarkably improved. Under the structure, the six-degree-of-freedom-based flexible tool for assembling the airplane body has good reconfigurability, has the capability of quick response to the change of the dimension specification of an assembly part, and can further realize the production task that one set of tool system completes two assembly links of an airplane wallboard assembly and an airplane cylindrical body, thereby greatly reducing the assembly cost and period, shortening the preparation period of the tool and improving the assembly production efficiency.

Specifically, as shown in fig. 3, the six-degree-of-freedom-based aircraft fuselage assembly flexible fixture further includes a force sensor 3, where the force sensor 3 is disposed between the six-degree-of-freedom driving unit 21 and the flexible fixture 22 and connected to the flexible fixture 22, and is used for detecting a six-up stress state of the flexible fixture 22. Preferably, the force sensor 3 is a six-way force sensor. When the flexible clamp 22 clamps the fitting to be assembled, the six-direction force sensor detects the pressure born by the flexible clamp 22 on the XYZ axes and the torsion rotating around the XYZ axes in real time, so that the clamping angle of the flexible clamp 22 can be adjusted in time, the fitting to be assembled can be clamped under the synergistic action of the flexible clamps 22, the assembly is convenient, and the assembly precision is improved.

In this embodiment, as shown in fig. 1, the base 1 includes a bracket 11 and a mounting plate 12, the bracket 11 is fixedly connected to the ground, the mounting plate 12 is detachably connected to the bracket 11, and the clamping assembly 2 is detachably connected to the mounting plate 12. The mounting plate 12 provides a mounting space for the clamping assembly 2, so that the clamping assembly 2 is firmly mounted, and the working stability of the flexible tool is improved. Illustratively, a plurality of mounting plates 12 are provided, and a plurality of mounting plates 12 are all arranged on the bracket 11 along the vertical direction, i.e. the clamping assemblies 2 are arranged in an array on a vertical plane, so that the appearance is neat and the assembly to be clamped is facilitated. Preferably, the support 11 is a triangular frame, the support 11 is a carrier of the whole flexible tool, and the support 11 of the triangular frame makes the mounting plate 12 and the clamping assembly 2 arranged thereon more stable and avoids toppling over. Alternatively, the bracket 11 is welded by standard steel profiles, so that the manufacturing is convenient, the cost is low, the whole weight is light, and the assembly of the bracket 11 and the mounting plate 12 can be manufactured according to the size and the shape of the fitting to be assembled in a quick response manner.

Further, as shown in fig. 2, the flexible clamp 22 includes a clamp base 221 and a plurality of suction cups 222, the clamp base 221 is connected to the driving end of the six-degree-of-freedom driving unit 21, and the plurality of suction cups 222 are disposed on the clamp base 221 at intervals. The fixture base plate 221 is driven to move and rotate on the three-way coordinate axis through the six-degree-of-freedom driving unit 21, so that the position of the fixture base plate 221 can be matched with a part to be assembled, and the shape adjusting capability and the assembling force adjusting capability are improved; meanwhile, the outer surface of the fitting to be assembled is sucked through the plurality of suckers 222, the suckers 222 can meet the requirements of the fitting to be assembled with different curvature profiles, and various special clamping plates and rigid joints with high cost can be omitted. Preferably, the jig substrate 221 has an equiangular triangle shape, and three corners of the jig substrate 221 are respectively provided with suction cups 222. The flexible clamp 22 based on the equilateral triangle lattice sucker 222 is stable in structure, stable in clamping and capable of adapting to various appearance parts to be assembled.

Further, the six-degree-of-freedom driving unit 21 includes a lower positioning plate 211, an upper positioning plate 212, and a plurality of moving arms 213, the lower positioning plate 211 being detachably connected to the mounting plate 12, the flexible jig 22 being connected to the upper positioning plate 212, the plurality of moving arms 213 being connected between the lower positioning plate 211 and the upper positioning plate 212. Preferably, both ends of each moving arm 213 are hinged to the lower and

upper positioning plates

211 and 212, respectively. Specifically, the motion arm 213 includes a driving unit and a motion chain, and the driving unit is drivingly connected to the motion chain to drive the motion chain to rotate. The upper positioning plate 212 is movable with respect to the lower positioning plate 211 by a plurality of moving arms 213, thereby achieving position adjustment of the upper positioning plate 212. More specifically, the moving arms 213 are provided with six, and both ends of the six moving arms 213 are spaced apart in the circumferential direction of the lower positioning plate 211 and the upper positioning plate 212, respectively, and are rotatably connected to the lower positioning plate 211 and the upper positioning plate 212. The position adjustment of the upper positioning plate 212 is achieved by driving the movement chains in the six movement arms 213 to rotate, respectively.

In the present embodiment, the detachable connection of the six-degree-of-freedom driving unit 21 and the bracket 11 is achieved by the detachable connection of the lower positioning plate 211 and the mounting plate 12. Specifically, a plurality of mounting hole groups arranged in a displaying manner are arranged on the mounting plate 12, each mounting hole group comprises a plurality of first mounting holes, a plurality of second mounting holes are formed in the lower positioning plate 211, and bolts penetrate through the second mounting holes and the first mounting holes and are in threaded connection with nuts. Of course, in other embodiments, the removable connection of the lower positioning plate 211 to the mounting plate 12 may be accomplished by other structures, such as snap-fit structures, etc.

Preferably, the upper positioning plate 212 has an equilateral triangle shape, the six moving arms 213 are grouped in pairs, and one ends of the three groups of moving arms 213 are respectively connected to three corners of the upper positioning plate 212 in a one-to-one correspondence manner. The triangular upper positioning plate 212 is matched with the triangular fixture base plate 221, so that the structure is compact, and the disassembly and assembly are convenient. The three groups of moving arms 213 respectively control one angle of the upper positioning plate 212, the regulation and control precision is improved, the three groups of moving arms 213 cooperatively act to enable the upper positioning plate 212 to move in the direction of the XYZ axes and rotate around the XYZ axes, so that the position of the upper positioning plate 212 is adjusted, the clamping assembly 2 can firmly clamp the parts to be assembled, and the assembly production efficiency is improved.

Further, as shown in fig. 2 and 3, the clamping assembly 2 is connected to the upper positioning plate 212 through the adapter 4, one end of the adapter 4 is detachably connected to one end of the upper positioning plate 212 away from the moving arm 213, and the clamp base 221 is detachably connected to the other end of the adapter 4. In this embodiment, the adapter 4 is an adapter flange, which is firmly connected and convenient to manufacture and assemble. Specifically, the force sensor 3 is fixed on the upper positioning plate 212 through an adapter flange, a flange threaded hole is formed in the clamp base plate 221, and the flexible clamp 22 is fixedly connected with the force sensor 3 through the flange threaded hole. Preferably, the flange threaded holes are cylindrical, so that the alignment connection is facilitated, and the connection is stable. Through setting up adapter 4, avoid setting up unnecessary connection structure on last locating plate 212 and influence regulation and control precision, and the adapter 4 is convenient for the dismantlement of clamping assembly 2, also can be suitable for the clamping assembly 2 of different specifications, improves the practicality of this flexible frock. In the present embodiment, the force sensor 3 is provided at one end of the adapter 4 connected to the jig substrate 221 and connected to the clamping assembly 2.

The following is the working procedure of the six-degree-of-freedom-based aircraft body assembly flexible tool provided by the embodiment:

the laser tracker is utilized to perform coordinate system initialization calibration on a base 1, a lower positioning plate 211, an upper positioning plate 212, a flexible clamp 22 and the like of a six-degree-of-freedom driving unit 21 in the tooling system;

each six-degree-of-freedom driving unit 21 moves to an initial clamping position according to the geometric information of theoretical digital-analog of the to-be-assembled part;

the parts to be assembled are conveyed to a tool assembling station and are absorbed and clamped by a flexible clamp 22;

detecting pose point data of the to-be-assembled part by using a laser tracker, comparing the pose point data with theoretical pose data of the to-be-assembled part to obtain pose deviation quantity of the to-be-assembled part, calculating corresponding driving quantity of each six-degree-of-freedom driving unit 21 according to pose adjustment software of the to-be-assembled part, and iteratively executing pose adjustment until pose precision of the to-be-assembled part meets process requirements;

detecting shape control point data of the to-be-assembled part by using a laser scanner, comparing the shape control point data with theoretical shape data of the to-be-assembled part to obtain shape deviation quantity of the to-be-assembled part, calculating corresponding driving quantity of each six-degree-of-freedom driving unit 21 according to the configuration adjustment software of the to-be-assembled part, and iteratively executing shape adjustment until the shape precision of the to-be-assembled part meets the process requirement;

in the process of adjusting the pose and the shape of the to-be-assembled part, the force sensor 3 is utilized to monitor the assembly force state in real time, so that the internal stress of the to-be-assembled part is prevented from exceeding a process limiting value, and the damage to the wallboard is avoided.

Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims

1. Six-degree-of-freedom-based aircraft body assembly flexible tool, which is characterized by comprising:

a base (1);

the clamping assembly (2) is arranged on the base (1) in an array mode, the clamping assembly (2) comprises a six-degree-of-freedom driving unit (21) and a flexible clamp (22), the six-degree-of-freedom driving unit (21) is detachably connected to the base (1) and is in driving connection with the flexible clamp (22), the flexible clamp (22) is enabled to be adjustable in six directions, and the flexible clamp (22) is used for clamping a part to be assembled.

2. Six degree of freedom based aircraft fuselage assembly flexible tooling according to claim 1, further comprising a force sensor (3) arranged between the six degree of freedom drive unit (21) and the flexible clamp (22) and connected to the flexible clamp (22) for detecting a six-up stress state of the flexible clamp (22).

3. The six-degree-of-freedom aircraft fuselage assembly flexible tooling of claim 1, wherein the flexible clamp (22) comprises a clamp base plate (221) and a plurality of suction cups (222), the clamp base plate (221) is connected to the drive end of the six-degree-of-freedom drive unit (21), and the plurality of suction cups (222) are arranged on the clamp base plate (221) at intervals.

4. A six degree of freedom aircraft fuselage assembly flexible tooling according to claim 3, wherein the clamp base plate (221) is of an equiangular triangle shape, three corners of the clamp base plate (221) being provided with the suction cups (222).

5. The six-degree-of-freedom aircraft fuselage assembly flexible tooling of claim 1, wherein the six-degree-of-freedom drive unit (21) comprises a lower positioning plate (211), an upper positioning plate (212) and a plurality of moving arms (213), the lower positioning plate (211) is detachably connected to the base (1), the flexible clamp (22) is connected to the upper positioning plate (212), and the plurality of moving arms (213) are rotatably connected between the lower positioning plate (211) and the upper positioning plate (212).

6. The six-degree-of-freedom aircraft fuselage assembly flexible tooling of claim 5, wherein the number of the moving arms (213) is six, and two ends of the six moving arms (213) are respectively spaced along the circumferential direction of the lower positioning plate (211) and the upper positioning plate (212) and are rotatably connected to the lower positioning plate (211) and the upper positioning plate (212).

7. The six-degree-of-freedom-based aircraft fuselage assembly flexible tooling of claim 6, wherein the upper locating plate (212) is in an equilateral triangle shape, six moving arms (213) are in a group in pairs, and one ends of three groups of moving arms (213) are respectively connected to three angles of the upper locating plate (212) in a one-to-one correspondence.

8. Six degree of freedom based aircraft fuselage assembly flexible tooling of claim 5, further comprising an adapter (4), one end of the adapter (4) being connected to an end of the upper locating plate (212) facing away from the motion arm (213), the flexible clamp (22) being connected to the other end of the adapter (4).

9. Six degree of freedom aircraft fuselage assembly flexible tooling of claim 5, wherein the base (1) comprises a bracket (11) and a plurality of mounting plates (12), each mounting plate (12) being detachably connected to the bracket (11), one of the clamping assemblies (2) being correspondingly detachably connected to one of the mounting plates (12).

10. The six-degree-of-freedom-based aircraft fuselage assembly flexible tooling of claim 9, wherein a plurality of first mounting holes are formed in each mounting plate (12), a plurality of second mounting holes are formed in the lower positioning plate (211), and bolts penetrate through the second mounting holes and the first mounting holes and are in threaded connection with nuts.