CN202169481U - Vertical post array type machine body wall plate assembling and locating device - Google Patents
Vertical post array type machine body wall plate assembling and locating device Download PDFInfo
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- CN202169481U CN202169481U CN2011202042227U CN201120204222U CN202169481U CN 202169481 U CN202169481 U CN 202169481U CN 2011202042227 U CN2011202042227 U CN 2011202042227U CN 201120204222 U CN201120204222 U CN 201120204222U CN 202169481 U CN202169481 U CN 202169481U
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- guide rails
- guide rail
- wallboard
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Abstract
The utility model discloses a vertical post array type machine body wall plate assembling and locating device. Locating point coordinate information of a wall plate is transmitted to an integrated control system from a displacement sensor of each moving part; the integrated control system performs numeric calculation and generates mobile solution of a locating element, and outputs the mobile solution to a serve motor; the servo motor drives a bearing vertical post mounted on a frock base and a skin boundary locating unit mounted on the bearing vertical post, and can move a skin inner shape locating and clamping unit to move; and the displacement sensor feeds back each degree-of-freedom travel of each module to the integrated control system. The device ensures that the wall plate can be accurately located according to design requirements in the complete absence of a sample plate so as to meet different assembly requirements.
Description
Technical field
The invention belongs to digitlization assembling equipment field, relate to a kind of airframe wallboard assembling and positioning equipment.
Background technology
Flexible assembly fixture be based on product digital quantity size coordinate system, reconstitutable modularization, automation assembly tooling system; Its objective is and exempt design and make the special-purpose traditional assembly jig/anchor clamps of various product assemblings; Thereby reduced the frock manufacturing cost; Shorten the frock preparatory period, increase substantially the Assembling Production rate simultaneously.Its main feature is based on product digital quantity size and transmits system and rely on Digitizing And Control Unit to accomplish to operations such as product assembling and positioning, clampings.
On current practical applications, the solution of wallboard location is that more common form is a column to the special-purpose positioning tool of each wallboard design one cover, lean on special-purpose clamp and clamper respectively to covering and long purlin position, clamping, the location of accomplishing wallboard; This traditional pre-determined bit frock causes that the assembly work amount is big, manufacturing cost is high, the generation cycle is long, assembly precision is unstable, can not adapt to the requirement of present generation aircraft manufacturing industry low cost, high-quality, fast-response.The flexible assembly fixture field mainly is on the basis of legacy card template frame, to improve at home at present.Invented a kind of flexible assembly digital fixture device like patent CN101486143A, freely transferred shape with what realize clamp assembling point,, can be used for the assembling of multiple wallboard class part through changing different clamps through the programming Control motor movement.This device moves the shape adjusting unit compact conformation, transfers shape rapid, and precision is high, and opening character is good.But owing to still will make corresponding clamp according to different wall panel parts, the versatility of device is strong inadequately, also is not suitable for the automatic drill riveting under the high efficiency demand.Patent CN201008935Y has invented a kind of wallboard riveted joint flexible assembly type frame; Have one by the type frame-saw frame of upright supports and along the column side spaced profile locating clamp plate; And be installed in the stop on the profile locating clamp plate; In the clamp side vacuum cup that is installed on the Sucking disc stand is set at interval, is used to adsorb wallboard; This invention need be changed the profile locating clamp plate at replacing wallboard kind time-like, and the axial location of sucker needs manual nut apparatus to regulate.Therefore; Above-mentioned improved method is not thoroughly broken away from special-purpose clamp yet, when the wallboard in the face of different profiles, must develop different assembly toolings; Can't utilize the abundant three-dimensional digital-to-analogue information of design end, cause the raising of development cost and make the tomography that end data transmits.
Summary of the invention
Thoroughly do not break away from the deficiency of special-purpose clamp in order to overcome prior art, the present invention provides a kind of column fuselage wallboard assembling and positioning device, realizes the flexible location of digitlization of fuselage wallboard, guarantees the high assembly precision requirement of aircraft target ship.
The technical solution adopted for the present invention to solve the technical problems is: the integrated control system that comprises frock pedestal, carrying column, covering boundary alignment unit, the interior shape positioning clamping unit of removable covering and entire equipment; Each anchor point coordinate information of wallboard is transferred to integrated control system from the displacement transducer of each moving-member; Mobile scheme by integrated control system carries out numerical computations and generates setting element is exported to servo motor; Servo motor driven is carried shape positioning clamping cell moving in column, covering boundary alignment unit, the removable covering, gives integrated control system through displacement transducer with each free degree travel feedback of each module.
Said frock pedestal comprises cuboid base body and guide rail, and two guide rails are installed in parallel on the base body, and three groups of slide blocks are installed on the guide rail, and every group of slide block is made up of four slide blocks and is installed in respectively side by side on two guide rails in twos.
Said carrying column is a rectangular structure, carries totally four on column, is divided into two types, and wherein three adjacent upright posts are one type, are removable column, and every root post is installed on one group of slide block, can move along the guide rail direction; Another root post is one type, for can not mobile column, installs side by side with removable column, is fixed on the frock base body, and is not removable.The same side of every root post is equipped with two closed slide pedestals, is used to install shape positioning clamping unit in the removable covering.All each is moved through the nut seat that is installed in the column bottom by a rhizoid thick stick every removable column, and every rhizoid thick stick drives by a servo motor.Increase can not the mobile column base height, thereby the top height that guarantees four carrying columns is identical.
Said covering boundary alignment unit comprises covering horizontal boundary positioning unit and the vertical boundary alignment piece of covering.Covering horizontal boundary positioning unit has four groups, two every group, be installed on relatively respectively the both sides of every carrying column and not with the closed slide pedestal in the same side.Each covering boundary alignment unit comprises a covering binding clasp and a lead screw guide rails assembled unit; The covering binding clasp is installed on the slide block of lead screw guide rails assembled unit; The lead screw guide rails assembled unit is installed on and carries on the column, and servo motor drives the covering binding clasp through the lead screw guide rails assembled unit and carries out moving of vertical direction.Said covering binding clasp comprises binding clasp shell, covering top board, fixing cylindrical block and hinged pneumatic mobile chuck; Covering top board, block, pneumatic mobile chuck are installed on the binding clasp shell; Rounded stops and pneumatic mobile chuck are installed relatively, can be used for location and the clamping to the covering border through moving of pneumatic mobile chuck.Said lead screw guide rails assembled unit is a market product on sale, is made up of supporting seat, guide rail, leading screw, slide block, and supporting seat is rectangular box body; Guide rail and leading screw are arranged in the supporting seat along its length; Slide block is installed on the leading screw, by the guide rail guiding, is driven by leading screw.Two vertical boundary alignment pieces of covering are welded into triangular structure by three square section bars, and the long limit of triangular structure is used for the vertical boundary alignment of covering, adopt CNC milling machine to carry out fine finishining.Each triangular structure all can not the mobile column another side relative with the closed slide pedestal through parallel being installed on of connecting pin sheet.
Shape positioning clamping unit has 16 groups in the said removable covering, and per four groups are installed on the carrying column.Two long guideways are parallel to be installed on the closed slide pedestal that carries column, is furnished with four groups of slide blocks on the guide rail, two of every group of slide blocks and being installed on side by side on two guide rails; In the centre position of two guide rails four rhizoid thick sticks are housed, are divided into long stroke leading screw and short stroke leading screw, long stroke leading screw and short stroke leading screw are installed as one group side by side, and totally two groups, two cocainine thick sticks are installed along the guide rail direction relatively; Leading screw is by servo motor driven; Shape positioning clamping unit comprises linear pattern electricity cylinder in every group of covering, (setting angle is divided into 0 ° and 15 ° to the sucker installing plate; Can be different according to the curvature of wallboard; Select the installing plate of different angles to install, to guarantee the absorption grip of vacuum cup), vacuum cup (can carry out circumferentially ± 15 ° of angle compensations) and the interior shape reference column of covering.The sucker installing plate is installed on linear pattern electricity cylinder piston rod end; Two vacuum cups are installed on sucker installing plate two ends; The shape reference column is installed on sucker installing plate middle part through self screw thread in the covering; Each linear pattern electricity cylinder level is installed on one group of guide rail slide block and links to each other with nut seat on the rhizoid thick stick, thereby can carry out the mobile of vertical direction along guide rail; Linear pattern electricity cylinder can move horizontally that the shape reference column is used for the location to wallboard in the covering through piston rod.
When using, the present invention may further comprise the steps:
(1) sets up the threedimensional model of column array frock and fuselage wallboard, in building frock threedimensional model, set the reference for assembling coordinate system.Structure, shape, size characteristics according to column array frock and fuselage wallboard threedimensional model; In the three-dimensional CAD assembly environment, fuselage wallboard threedimensional model and column array frock threedimensional model are carried out the adjustment of relative position and attitude; Thereby make the fuselage wallboard in the orientation range of all anchor points of column array frock, can on column array frock, successfully carry out installing and locating to guarantee the fuselage wallboard;
(2) localization method of employing N-2-1 (accurately located by shape anchor point in a plurality of coverings by the wallboard inner surface; Wallboard lower horizontal border is positioned by two anchor points; The vertical border of wallboard is positioned by an anchor point); The stability of on frock, locating according to wallboard and when work frock opening character; In threedimensional model, evenly divide the wallboard locating area and in the wallboard scope, evenly arrange the wallboard anchor point, must make it avoid long purlin in the positioned point process and there is the zone of step in the covering inner surface, thereby guarantee that each anchor point all can carry out stable location to wallboard;
(3) in the three-dimensional CAD assembly environment, move each wallboard anchor point in the frock model according to the layout of wallboard anchor point described in the step (2), thereby the wallboard model is accurately located, and read the coordinate of each anchor point in the reference for assembling coordinate system;
(4) the above-mentioned anchor point coordinate that obtains is changed, generated the numerical control code that the frock digital control system can be used, utilize integrated each anchor point of control frock of digital control system to move to specified coordinate;
(5) measure the coordinate figure of each anchor point in actual frock coordinate system; Obtain the error amount of actual coordinate and theoretical coordinate; Feed back to the control computer to this error amount; Calculate to generate the coordinate compensation rate, it is mobile to utilize digital control system that anchor point is controlled again, with the position deviation that guarantees anchor point in Measurement Allowance;
(6) falling to being placed on lower horizontal boundary alignment point to the fuselage wallboard earlier goes up to guarantee the location on the wallboard vertical direction; Moving horizontally wallboard contacts to guarantee the location of wallboard horizontal direction until defining the site with vertical edge; Rely on the location of interior shape anchor point to the wallboard inner surface, and wallboard is carried out clamping with shape in the assurance wallboard.
The invention has the beneficial effects as follows:
(1) the fuselage wallboard is in the assembling and positioning process, in three-dimensional digital-to-analogue and tolerance constraint down, through the posture adjustment of automatic control system completion to each anchor point of frock, guaranteed that on the basis of abandoning model fully wallboard can precisely locate according to designing requirement.
(2) to the fuselage wallboard of different curvature, can be equipped with different sucker installing plates, can realize-30 °～+ 30 ° angular deflection, and then satisfy the matching requirements of the fuselage wallboard of different curvature.
(3) carrying column can move along transverse horizontal, can guarantee that the assembly tooling of column array fuselage wallboard satisfies the fuselage wallboard matching requirements of different length (2800mm～5000mm).
(4) each carries shape positioning clamping unit self-movement vertically in the removable covering on column, can ensure that the assembly tooling of column array fuselage wallboard satisfies the fuselage wallboard matching requirements of different in width (1200mm～1900mm); Simultaneously shape positioning clamping unit can independently stretch out mobilely in each removable covering, can ensure that the assembly tooling of column array fuselage wallboard satisfies the fuselage wallboard matching requirements of different actions (100mm～260mm).
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
Description of drawings
Fig. 1 is a column array wallboard assembling and positioning device structure sketch map;
Fig. 2 is a frock pedestal sketch map;
Fig. 3 is a covering horizontal boundary positioning unit sketch map;
Fig. 4 is a covering binding clasp sketch map;
Fig. 5 is the vertical boundary alignment piece of a covering sketch map;
Fig. 6 is a shape positioning clamping cell schematics in the removable covering;
Fig. 7 is sucker installing plate (0 a °) sketch map;
Fig. 8 is sucker installing plate (15 a °) sketch map;
Fig. 9 is a shape reference column sketch map in the covering;
Among the figure, 1-frock pedestal, the removable column of 2-, 3-can not mobile columns, 4-covering horizontal boundary positioning unit, the vertical boundary alignment piece of 5-covering; Shape positioning clamping unit in the removable covering of 6-, 7-base body, 8-guide rail, 9-slide block, 10-lead screw guide rails assembled unit, 11-servo motor; 12-covering binding clasp, the cylindrical block of 13-, 14-covering top board, the pneumatic mobile chuck of 15-, 16-binding clasp shell, 17-bearing block; 18-linear pattern electricity cylinder, 19-slide block, 20-guide rail, 21-servo motor, 22-bearing block, 23-screw; 24-sucker installing plate, shape reference column in the 25-vacuum cup, 26-covering, 27-short stroke leading screw, the long stroke leading screw of 28-.
The specific embodiment
To grow * wide * thick=4500mm * 1500mm * the airframe wallboard (action 180mm) of 4mm band curvature carries out assembling and positioning, and Positioning Precision Control is in 0.1mm.
Device embodiment: as shown in Figure 1, the present invention includes the frock pedestal, be installed on carrying column on the pedestal, be installed on covering boundary alignment unit on the column (comprising the covering horizontal boundary positioning unit that is installed on narrow end surface before the column and the vertical boundary alignment piece of covering that can not the mobile column right flank) and be installed on shape positioning clamping unit in the removable covering of column left surface.
As shown in Figure 2, said frock pedestal is made up of cuboid base body and guide rail.Two guide rails are installed in parallel on the base body, and three groups of slide blocks are installed on the guide rail, and every group of four and per two of slide block is installed on two guide rails side by side.
As shown in Figure 1, said carrying column is a rectangular structure, is made up of left and right side, front and back narrow end surface, end face and bottom surface.Carry totally four on column, be divided into two types, wherein three adjacent upright posts are one type, are removable column, and every root post is installed on one group of base rail slide block, can move along the guide rail direction; Another root post is one type, for can not mobile column, installs side by side with removable column, is fixed on the frock base body, and is not removable.The left surface of every root post is equipped with two closed slide pedestals, is used to install shape positioning clamping unit in the removable covering.All each is moved through the nut seat that is installed in the column bottom by a rhizoid thick stick every removable column, and every rhizoid thick stick drives by a servo motor.Increase can not the mobile column base height, thereby guarantee that four root posts are installed on the sustained height.
As shown in Figure 3, said covering horizontal boundary positioning unit has four groups, two every group, is installed on the preceding narrow end surface of every root post respectively relatively.Each covering boundary alignment unit is made up of a covering binding clasp and a lead screw guide rails assembled unit; The covering binding clasp is installed on the slide block of lead screw guide rails assembled unit; The lead screw guide rails assembled unit is installed on the preceding narrow end surface of column; Lead screw guide rails assembled unit shaft end is connected with servo motor, thereby the covering binding clasp can carry out moving of vertical direction.As shown in Figure 4; Said covering binding clasp is made up of binding clasp shell, covering top board, fixing cylindrical block and hinged pneumatic mobile chuck; Covering top board, block, pneumatic mobile chuck are installed on the shell; Cylindrical block and chuck are installed relatively, can be used for location and the clamping to the covering border through moving of chuck.Said lead screw guide rails assembled unit is a market product on sale, is made up of supporting seat, guide rail, leading screw, slide block, and supporting seat is rectangular box body; Guide rail and leading screw are arranged in the supporting seat along its length; Slide block is installed on the leading screw, by the guide rail guiding, is driven by leading screw.
As shown in Figure 5, two vertical boundary alignment pieces of covering are welded into triangular structure by three square section bars, and the face that block length limit, triangle location is used for the vertical boundary alignment of covering adopts CNC milling machine to carry out fine finishining.Each locating piece all utilizes parallel being installed on of screw can not the mobile column right flank through two groups of connecting pin sheets.
As shown in Figure 6, shape positioning clamping unit in the said removable covering has 16 groups, and per four groups are installed on the root post.Two long guideways are parallel to be installed on the guide rail base of column left surface, is furnished with four groups of slide blocks on the guide rail, two of every group of slide blocks and being installed on side by side on two guide rails; In the centre position of two guide rails four rhizoid thick sticks are housed, leading screw is divided into long stroke leading screw and short stroke leading screw, and the length leading screw is installed as one group side by side, and totally two groups, two cocainine thick sticks are installed along the guide rail direction relatively; Leading screw is by servo motor driven; Shape positioning clamping unit includes in every group of covering: linear pattern electricity cylinder, (setting angle is divided into 0 ° and 15 ° to the sucker installing plate; Can be different according to the curvature of wallboard; Select the installing plate of different angles to install, to guarantee the absorption grip of vacuum cup), shape reference column in the vacuum cup (can carry out circumferentially ± 15 ° of angle compensations), covering.The sucker installing plate is installed on linear pattern electricity cylinder piston rod end; Two suckers are installed on sucker installing plate two ends; The shape reference column is installed on sucker installing plate middle part through self screw thread in the covering; Each linear pattern electricity cylinder level is installed on one group of guide rail slide block and links to each other with nut seat on the rhizoid thick stick, thereby can carry out the mobile of vertical direction along guide rail; Linear pattern electricity cylinder can move horizontally that the shape reference column is used for the location to wallboard in the covering through piston rod.
Claims (5)
1. column array fuselage wallboard assembling and positioning device; Comprise the frock pedestal, carry shape positioning clamping unit and integrated control system in column, covering boundary alignment unit, the removable covering; It is characterized in that: each anchor point coordinate information of wallboard is transferred to integrated control system from the displacement transducer of each moving-member; Mobile scheme by integrated control system carries out numerical computations and generates setting element is exported to servo motor; Servo motor driven is installed in the carrying column on the frock pedestal and is installed in shape positioning clamping cell moving in the covering boundary alignment unit that carries on the column, the removable covering, gives integrated control system through displacement transducer with each free degree travel feedback of each module.
2. column array fuselage wallboard assembling and positioning device according to claim 1; It is characterized in that: described frock pedestal comprises cuboid base body and guide rail; Two guide rails are installed in parallel on the base body; Three groups of slide blocks are installed on the guide rail, and every group of slide block is made up of four slide blocks and is installed in respectively side by side on two guide rails in twos.
3. column array fuselage wallboard assembling and positioning device according to claim 1; It is characterized in that: described carrying column is a rectangular structure; Carry totally four on column; Wherein three adjacent upright posts are removable column, and every root post is installed on one group of slide block, can move along the guide rail direction; Another root post is can not mobile column, installs side by side with removable column, is fixed on the frock base body; The same side of every root post is equipped with two closed slide pedestals, is used to install shape positioning clamping unit in the removable covering; All each is moved through the nut seat that is installed in the column bottom by a rhizoid thick stick every removable column, and every rhizoid thick stick drives by a servo motor; The top height of four carrying columns is identical.
4. column array fuselage wallboard assembling and positioning device according to claim 1, it is characterized in that: described covering boundary alignment unit comprises covering horizontal boundary positioning unit and the vertical boundary alignment piece of covering; Covering horizontal boundary positioning unit has four groups, two every group, be installed on relatively respectively the both sides of every carrying column and not with the closed slide pedestal in the same side; Each covering boundary alignment unit comprises a covering binding clasp and a lead screw guide rails assembled unit; The covering binding clasp is installed on the slide block of lead screw guide rails assembled unit; The lead screw guide rails assembled unit is installed on and carries on the column, and servo motor drives the covering binding clasp through the lead screw guide rails assembled unit and carries out moving of vertical direction; Said covering binding clasp comprises binding clasp shell, covering top board, fixing cylindrical block and hinged pneumatic mobile chuck; Covering top board, block, pneumatic mobile chuck are installed on the binding clasp shell; Rounded stops and pneumatic mobile chuck are installed relatively, can be used for location and the clamping to the covering border through moving of pneumatic mobile chuck; Two vertical boundary alignment pieces of covering are welded into triangular structure by three square section bars; The long limit of triangular structure is used for the vertical boundary alignment of covering, and each triangular structure all can not the mobile column another side relative with the closed slide pedestal through parallel being installed on of connecting pin sheet.
5. column array fuselage wallboard assembling and positioning device according to claim 1 is characterized in that: shape positioning clamping unit has 16 groups in the described removable covering, and per four groups are installed on the carrying column; Two long guideways are parallel to be installed on the closed slide pedestal that carries column, is furnished with four groups of slide blocks on the guide rail, two of every group of slide blocks and being installed on side by side on two guide rails; In the centre position of two guide rails four rhizoid thick sticks are housed, are divided into long stroke leading screw and short stroke leading screw, long stroke leading screw and short stroke leading screw are installed as one group side by side, and totally two groups, two cocainine thick sticks are installed along the guide rail direction relatively; Leading screw is by servo motor driven; Shape positioning clamping unit comprises shape reference column in linear pattern electricity cylinder, sucker installing plate, vacuum cup and the covering in every group of covering; The sucker installing plate is installed on linear pattern electricity cylinder piston rod end; Two vacuum cups are installed on sucker installing plate two ends; The shape reference column is installed on sucker installing plate middle part through self screw thread in the covering; Each linear pattern electricity cylinder level is installed on one group of guide rail slide block and links to each other with nut seat on the rhizoid thick stick, thereby can carry out moving of vertical direction along guide rail, and the electric cylinder of linear pattern can move horizontally that the shape reference column is used for the location to wallboard in the covering through piston rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202042227U CN202169481U (en) | 2011-06-16 | 2011-06-16 | Vertical post array type machine body wall plate assembling and locating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202042227U CN202169481U (en) | 2011-06-16 | 2011-06-16 | Vertical post array type machine body wall plate assembling and locating device |
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| Publication Number | Publication Date |
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| CN202169481U true CN202169481U (en) | 2012-03-21 |
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|---|---|---|---|
| CN2011202042227U Expired - Fee Related CN202169481U (en) | 2011-06-16 | 2011-06-16 | Vertical post array type machine body wall plate assembling and locating device |
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| CN (1) | CN202169481U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103302609A (en) * | 2013-06-24 | 2013-09-18 | 中国商用飞机有限责任公司 | Clamping tool for trimming wing leading edge covering |
| CN103332299A (en) * | 2013-07-09 | 2013-10-02 | 西北工业大学 | Plane Z type stringer clamping device |
| CN103406885A (en) * | 2013-07-09 | 2013-11-27 | 西北工业大学 | Locator for single-lug connector of beveling rib of wing |
| CN107283697A (en) * | 2017-06-14 | 2017-10-24 | 北京日扬弘创科技有限公司 | Positioner |
| CN107380478A (en) * | 2017-07-27 | 2017-11-24 | 中航沈飞民用飞机有限责任公司 | A kind of method for optimizing technique for aircraft composite component assembly binding face gap |
| CN108082531A (en) * | 2017-12-20 | 2018-05-29 | 西北工业大学 | A kind of restructural aircraft wall panel assembly apparatus |
| CN109807579A (en) * | 2017-11-20 | 2019-05-28 | 中国科学院沈阳自动化研究所 | A kind of removable heavy-duty tray based on clamping automatic adjusument |
| CN113858081A (en) * | 2021-10-29 | 2021-12-31 | 中国航空制造技术研究院 | Array type multi-point flexible positioning tool capable of being split, moved and recombined and positioning method |
| CN116423188A (en) * | 2023-06-15 | 2023-07-14 | 西安泽达航空制造有限责任公司 | A stringer frock for aircraft is made |
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2011
- 2011-06-16 CN CN2011202042227U patent/CN202169481U/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103302609B (en) * | 2013-06-24 | 2015-09-02 | 中国商用飞机有限责任公司 | For the clamping tooling of wing class skins front edges deburring |
| CN103302609A (en) * | 2013-06-24 | 2013-09-18 | 中国商用飞机有限责任公司 | Clamping tool for trimming wing leading edge covering |
| CN103332299A (en) * | 2013-07-09 | 2013-10-02 | 西北工业大学 | Plane Z type stringer clamping device |
| CN103406885A (en) * | 2013-07-09 | 2013-11-27 | 西北工业大学 | Locator for single-lug connector of beveling rib of wing |
| CN103406885B (en) * | 2013-07-09 | 2015-07-01 | 西北工业大学 | Locator for single-lug connector of beveling rib of wing |
| CN107283697B (en) * | 2017-06-14 | 2023-11-17 | 北京日扬弘创科技有限公司 | Positioning device |
| CN107283697A (en) * | 2017-06-14 | 2017-10-24 | 北京日扬弘创科技有限公司 | Positioner |
| CN107380478A (en) * | 2017-07-27 | 2017-11-24 | 中航沈飞民用飞机有限责任公司 | A kind of method for optimizing technique for aircraft composite component assembly binding face gap |
| CN109807579A (en) * | 2017-11-20 | 2019-05-28 | 中国科学院沈阳自动化研究所 | A kind of removable heavy-duty tray based on clamping automatic adjusument |
| CN108082531A (en) * | 2017-12-20 | 2018-05-29 | 西北工业大学 | A kind of restructural aircraft wall panel assembly apparatus |
| CN113858081A (en) * | 2021-10-29 | 2021-12-31 | 中国航空制造技术研究院 | Array type multi-point flexible positioning tool capable of being split, moved and recombined and positioning method |
| CN116423188A (en) * | 2023-06-15 | 2023-07-14 | 西安泽达航空制造有限责任公司 | A stringer frock for aircraft is made |
| CN116423188B (en) * | 2023-06-15 | 2023-08-22 | 西安泽达航空制造有限责任公司 | A stringer frock for aircraft is made |
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Granted publication date: 20120321 Termination date: 20140616 |
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