CN206155819U - Appearance equipment is transferred to high accuracy with remove function - Google Patents
Appearance equipment is transferred to high accuracy with remove function Download PDFInfo
- Publication number
- CN206155819U CN206155819U CN201621112188.XU CN201621112188U CN206155819U CN 206155819 U CN206155819 U CN 206155819U CN 201621112188 U CN201621112188 U CN 201621112188U CN 206155819 U CN206155819 U CN 206155819U
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- CN
- China
- Prior art keywords
- posture adjustment
- vehicle frame
- control mechanism
- high accuracy
- axis servo
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Abstract
The utility model discloses an appearance equipment is transferred to high accuracy with remove function belongs to airplane assembling equipment technical field. Include and be equipped with control system and be equipped with the accent appearance locator bracket of transferring appearance positioning system on the top at the side to and can freely remove and transfer appearance locator bracket to carry out the omnidirectional movement platform that removes to transferring appearance locator bracket bottom to drive. The utility model discloses a setting up the omnidirectional movement platform and come to drive transferring appearance locator bracket to remove, realize the quick travel, do not have fixed requirement to the place, the restriction of relieving the operation place relies on, and the flexibility is strong, and does not need special ground frock during the operation. The utility model discloses setting up four accent appearance locators in transferring appearance positioning system, can transferring the appearance location to the aircraft component of different model, the suitability is strong.
Description
Technical field
This utility model belongs to aircraft assembly equipment technical field, especially a kind of high accuracy posture adjustment with locomotive function
Equipment.
Background technology
In aircraft assembling process, Butt Assembling, the docking, fuselage such as between aircraft two parts fuselage need to be carried out to big part
Docking between wing, installation of aircraft engine etc., to reach optimal Butt Assembling quality, improving product performance is needed
The pose of big part is adjusted using posture adjustment equipment.Big piece volumes and quality are larger, and pose Adjustment precision has high demands,
Adjustment frock is not allowed to cause to damage to product surface or internals.Traditional posture adjustment equipment, general employing is fixed on ground
Posture adjustment localizer, equipment debugging is simple, Stability Analysis of Structures.But some problem is there is also while use, such as posture adjustment equipment is to field
Have high demands, need special station potential field ground and ground frock, equipment standing back is put can not change, posture adjustment equipment belongs to special tool
Dress, it is impossible to adapt to the matching requirements of different model aircraft, posture adjustment equipment and the component locations that needs are assembled are distinctly claimed, are used
The problems such as posture adjustment equipment adjustment time is long.
Utility model content
The purpose of this utility model is to overcome above-mentioned the deficiencies in the prior art, there is provided a kind of with the high-precision of locomotive function
Degree posture adjustment equipment.This utility model drives posture adjustment locator bracket to move by arranging Omni-mobile platform, realizes fast
Speed is mobile, to place without fixed requirement, releases the restriction to Active workings and relies on, and motility is strong, and need not be special during operation
Ground frock.Four posture adjustment localizers are set in this utility model posture adjustment alignment system, flying for different model type can be directed to
Machine part carries out posture adjustment positioning, strong applicability.Posture adjustment equipment is controlled by control system, the movement of Omni-mobile platform
Positioning precision reaches ± 0.1mm, and the displacement accuracy of posture adjustment alignment system reaches 0.01mm, and angle precision reaches ± 0.1 ', posture adjustment high precision,
Meet practical set needs.
For achieving the above object, this utility model adopts following technical proposals：A kind of high accuracy with locomotive function is adjusted
Appearance equipment, is included in side and is equipped with control system and is equipped with the posture adjustment locator bracket of posture adjustment alignment system on top, with
And can move freely to posture adjustment locator bracket bottom and drive the Omni-mobile platform that moves of posture adjustment locator bracket；
The posture adjustment alignment system includes four posture adjustment localizers and four posture adjustment localizers are integrally presented " well " font row
Cloth arrange, each described posture adjustment localizer include be arranged on base plate done single shaft linear motion X-axis servo control mechanism and
The direction of motion being arranged on the X-axis servo control mechanism and the perpendicular Y-axis servo control mechanism of X-axis servo control mechanism, the Y-axis servo
The direction of motion Z axis servo vertical with X-axis servo control mechanism and Y-axis servo control mechanism the direction of motion is provided with mechanism
Structure, is also equipped with the shell and organ cover for protecting posture adjustment localizer on the base plate；
The posture adjustment locator bracket includes pallet body, and chute, the pallet body are provided with the bottom surface of the pallet body
Four feet at be each provided with a castor and a lower margin；
The Omni-mobile platform includes being equipped with the vehicle frame of omni-directional wheel group, and lowering or hoisting gear and lifting are also equipped with vehicle frame
The lift side of device is adapted with the runner position on pallet body bottom surface in posture adjustment localizer, is also equipped with driving lifting on vehicle frame
The driver of device and the battery and inverter that provide power supply for driver.
Preferably, it is equipped with laser scanner on the frame outside wall.
Preferably, it is equipped with display lamp on the frame outside wall.
Preferably, it is equipped with emergency stop switch on the frame outside wall.
Preferably, multiple suspension ring are additionally provided with the frame outside wall.
Preferably, the lowering or hoisting gear is servo electric cylinders.
Preferably, it is attached with eyelid covering on the frame outside wall.
The beneficial effects of the utility model are：
This utility model drives posture adjustment locator bracket to move by arranging Omni-mobile platform, realizes quick shifting
It is dynamic, to place without fixed requirement, release the restriction to Active workings and rely on, motility is strong, and special ground is not needed during operation
Face frock.Four posture adjustment localizers are set in this utility model posture adjustment alignment system, the aircraft portion of different model type can be directed to
Part carries out posture adjustment positioning, strong applicability.Posture adjustment equipment is controlled by control system, the running fix of Omni-mobile platform
Precision reaches ± 0.1mm, and the displacement accuracy of posture adjustment alignment system reaches 0.01mm, and angle precision reaches ± 0.1 ', and posture adjustment high precision meets
Practical set needs.
Description of the drawings
Fig. 1 is overall structure diagram of the present utility model；
Fig. 2 is posture adjustment localizer internal structure schematic diagram；
Fig. 3 is posture adjustment locator bracket structural representation；
Fig. 4 is Omni-mobile platform structure schematic diagram.
Specific embodiment
This utility model is further illustrated with reference to the accompanying drawings and examples.
As shown in Figures 1 to 4, a kind of high accuracy posture adjustment equipment with locomotive function, is included in side and is equipped with control
System 4 is simultaneously equipped with the posture adjustment locator bracket 2 of posture adjustment alignment system 1, and can move freely to posture adjustment localizer on top
The bottom of bracket 2 drives the Omni-mobile platform 3 that posture adjustment locator bracket 2 is moved；
The posture adjustment alignment system 1 includes four posture adjustment localizers and four posture adjustment localizers are integrally presented " well " font row
Cloth is arranged, and each described posture adjustment localizer includes the X-axis servo control mechanism 11 of the done single shaft linear motion being arranged on base plate 14
And it is arranged on the direction of motion on the X-axis servo control mechanism 11 and the perpendicular Y-axis servo control mechanism 12 of X-axis servo control mechanism 11,
The direction of motion is provided with the Y-axis servo control mechanism 12 equal with X-axis servo control mechanism 11 and Y-axis servo control mechanism 12 the direction of motion
Vertical Z axis servo control mechanism 13, is also equipped with the shell 15 and organ cover 16 for protecting posture adjustment localizer on the base plate 14；
The posture adjustment locator bracket 2 includes pallet body 21, and chute 22 is provided with the bottom surface of the pallet body 21, described
A castor 24 and a lower margin 23 are each provided with four feet of pallet body 21；
The Omni-mobile platform 3 includes being equipped with the vehicle frame 32 of omni-directional wheel group 31, and lifting dress is also equipped with vehicle frame 32
Put the position of chute 22 in 33 and the lift side and posture adjustment locator bracket 2 of lowering or hoisting gear 33 on the bottom surface of pallet body 21 to be adapted,
Battery 37 and the inversion for driving the driver 35 of lowering or hoisting gear 33 and providing power supply for driver 35 is also equipped with vehicle frame 32
Device 36.
In this utility model, X-axis servo control mechanism 11, Y-axis servo control mechanism 12 in each posture adjustment localizer, Z axis servo
Structure 13 is capable of achieving the single axial movement along X-axis, Y-axis or Z axis, can also be combined motion, realizes space six-degree-of-freedom posture adjustment.
In real work, aircraft components are placed on four posture adjustment localizers, by four posture adjustment localizer collaborations aircraft components appearance is completed
State is adjusted.Castor 24 is omni-directional wheel, when Omni-mobile platform 3 drives posture adjustment locator bracket 2 to move, posture adjustment locator bracket
2 are moved by castor 24 with Omni-mobile platform 3, when Omni-mobile platform 3 moves to specified location, are entered by lower margin 23
Row coarse adjustment is put down.Omni-directional wheel group 31 in Omni-mobile platform 3 coordinates hydro-pneumatic spring cylinder to be assemblied in using Mecanum omni-directional wheel
On the installing plate of vehicle frame 32, the guide rail mechanism for guiding hydro-pneumatic spring cylinder external part smoothly to stretch out is also equipped with vehicle frame 32.Mike
Nurse omni-directional wheel of receiving carries out rotating speed and the control for turning to by the motor on vehicle frame 32 and decelerator, realizes that Omni-mobile platform 3 exists
At any angle mobile and original place rotates plane without radius, and hydro-pneumatic spring cylinder coordinates guide rail mechanism to bear all directions load, makes
Obtain Omni-mobile platform and adapt to uneven ground, it is ensured that landing property.Simultaneously vehicle frame 32 adopts modularized design, it is ensured that its intensity and just
Degree.Omni-mobile platform 3 is moved to the bottom of posture adjustment locator bracket 2, starts lowering or hoisting gear 33, and the lift side of lowering or hoisting gear 33 is stretched
Enter in corresponding chute 22, it is ensured that the accuracy that Omni-mobile platform 3 is connected with posture adjustment locator bracket 2.Control system 4 includes
Omni-mobile platform control system and posture adjustment positioning control system, Omni-mobile platform control system is carried out to Omni-mobile platform
The mobile steering of omni-directional wheel group 31 and the elevating control of lowering or hoisting gear 33, posture adjustment positioning control system is in posture adjustment alignment system 1
Four posture adjustment localizers are controlled.
On the basis of above-mentioned technical proposal, the vehicle frame 32 is equipped with laser scanner 38 on lateral wall.It is arranged such, swashs
Photoscanner 38 is connected by circuit with control system 4, and during Omni-mobile platform 31 is moved barrier is run into, and is swashed
Photoscanner 38 can in advance be detected to barrier and detection signal is passed to into control system 4, carry out meeting barrier warning.
On the basis of above-mentioned technical proposal, the vehicle frame 32 is equipped with display lamp 39 on lateral wall.It is arranged such, display lamp
39 are connected by circuit with control system 4, and working is shown in real time.
On the basis of above-mentioned technical proposal, the vehicle frame 32 is equipped with emergency stop switch 40 on lateral wall.It is arranged such, jerk
Switch 40 is connected by circuit with the control end of control system 4, in emergency circumstances realizes quick stopping, it is ensured that equipment and article
Safety.
On the basis of above-mentioned technical proposal, the vehicle frame 32 is additionally provided with multiple suspension ring 41 on lateral wall.It is arranged such, just
In posture adjustment equipment is drawn or lifted by crane, actually used needs are met.
On the basis of above-mentioned technical proposal, the lowering or hoisting gear 33 is servo electric cylinders.It is arranged such, maintenance cost is low, makes
With conveniently.
On the basis of above-mentioned technical proposal, the vehicle frame 32 is attached with eyelid covering 34 on lateral wall.It is arranged such, 34 pairs, eyelid covering
Vehicle frame 32 shields, while aesthetic can be played.
The course of work：A kind of high accuracy posture adjustment equipment with locomotive function of this utility model, when assembling is used, with laser
Tracker is used cooperatively, by the pose of laser tracker survey aircraft part, by the attained pose of measurement and best simulation pair
Pose contrast is connect, the position adjustment amount of aircraft components can be obtained, the further control of control system 4 completes the movement of adjustment amount,
To reach posture adjustment purpose.
The lower section of posture adjustment locator bracket 2, control lifting are moved to especially by the control Omni-mobile of control system 4 platform 3
The lift side of device 33 rises about 50mm so that corresponding on the bottom surface of lift side alignment posture adjustment locator bracket 2 of lowering or hoisting gear 33
Chute 22 and slowly stretch in chute 22, continue control lowering or hoisting gear 33 lift side rise (about 100mm) until and posture adjustment
The contact of locator bracket 2, now controls Omni-mobile platform 3 and draws posture adjustment locator bracket 2 to station.To work
After erect-position, the lowering or hoisting gear 33 controlled in Omni-mobile platform 3 falls after rise, and lowering or hoisting gear 33 departs from chute 22, and subsequent omnidirectional moves
Moving platform leaves.Now carry out coarse adjustment by the lower margin 23 in regulation posture adjustment locator bracket 2 to put down.Finally, by aircraft components
Lift to posture adjustment localizer, coordinate laser tracker, control the attitude of four posture adjustment localizers.
Restriction to this utility model protection domain, one of ordinary skill in the art should be understood that in skill of the present utility model
On the basis of art scheme, the various modifications or deformation that those skilled in the art make by need not paying creative work still exist
Within protection domain of the present utility model.
Claims (7)
1. a kind of high accuracy posture adjustment equipment with locomotive function, it is characterised in that：It is included in side and is equipped with control system (4)
And the posture adjustment locator bracket (2) of posture adjustment alignment system (1) is equipped with top, and move freely to posture adjustment locator bracket
(2) bottom drives the Omni-mobile platform (3) that posture adjustment locator bracket (2) is moved；
The posture adjustment alignment system (1) is including four posture adjustment localizers and four posture adjustment localizers are integrally presented the arrangement of " well " font
Arrange, each described posture adjustment localizer includes the X-axis servo control mechanism (11) for doing single shaft linear motion being arranged on base plate (14)
And it is arranged on the direction of motion on the X-axis servo control mechanism (11) and the perpendicular Y-axis servo control mechanism of X-axis servo control mechanism (11)
(12), be provided with the Y-axis servo control mechanism (12) direction of motion and X-axis servo control mechanism (11) and Y-axis servo control mechanism (12)
The vertical Z axis servo control mechanism (13) of the direction of motion, be also equipped with for protecting posture adjustment localizer on the base plate (14)
Shell (15) and organ cover (16)；
The posture adjustment locator bracket (2) includes pallet body (21), and on the bottom surface of the pallet body (21) chute (22) is provided with,
A castor (24) and a lower margin (23) are each provided with four feet of the pallet body (21)；
The Omni-mobile platform (3) includes the vehicle frame (32) for being equipped with omni-directional wheel group (31), is also equipped with rising on vehicle frame (32)
Chute in the lift side and posture adjustment locator bracket (2) of falling unit (33) and lowering or hoisting gear (33) on pallet body (21) bottom surface
(22) position is adapted, and is also equipped with driving the driver (35) of lowering or hoisting gear (33) and for driver (35) on vehicle frame (32)
The battery (37) and inverter (36) of power supply are provided.
2. a kind of high accuracy posture adjustment equipment with locomotive function according to claim 1, it is characterised in that：The vehicle frame
(32) laser scanner (38) is equipped with lateral wall.
3. a kind of high accuracy posture adjustment equipment with locomotive function according to claim 1, it is characterised in that：The vehicle frame
(32) display lamp (39) is equipped with lateral wall.
4. a kind of high accuracy posture adjustment equipment with locomotive function according to claim 1, it is characterised in that：The vehicle frame
(32) emergency stop switch (40) is equipped with lateral wall.
5. a kind of high accuracy posture adjustment equipment with locomotive function according to claim 1, it is characterised in that：The vehicle frame
(32) multiple suspension ring (41) are additionally provided with lateral wall.
6. a kind of high accuracy posture adjustment equipment with locomotive function according to claim 1, it is characterised in that：The lifting
Device (33) is servo electric cylinders.
7. a kind of high accuracy posture adjustment equipment with locomotive function according to claim 1, it is characterised in that：The vehicle frame
(32) eyelid covering (34) is attached with lateral wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621112188.XU CN206155819U (en) | 2016-10-10 | 2016-10-10 | Appearance equipment is transferred to high accuracy with remove function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621112188.XU CN206155819U (en) | 2016-10-10 | 2016-10-10 | Appearance equipment is transferred to high accuracy with remove function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206155819U true CN206155819U (en) | 2017-05-10 |
Family
ID=58652713
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621112188.XU Expired - Fee Related CN206155819U (en) | 2016-10-10 | 2016-10-10 | Appearance equipment is transferred to high accuracy with remove function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206155819U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107352044A (en) * | 2017-07-07 | 2017-11-17 | 浙江大学 | The layout method of large aircraft trailing edge component posture adjusting system |
| CN108001708A (en) * | 2017-12-20 | 2018-05-08 | 西北工业大学 | A kind of aircraft wing docks posture adjustment reconfigurable device |
| CN110174082A (en) * | 2019-06-03 | 2019-08-27 | 西安飞机工业（集团）有限责任公司 | A kind of restructural positioning system and localization method |
| CN110271688A (en) * | 2019-05-17 | 2019-09-24 | 陕西飞机工业（集团）有限公司 | A kind of transporter large-scale antenna dome installation posture adjustment equipment |
| CN110385213A (en) * | 2018-04-18 | 2019-10-29 | 波音公司 | The device of airframe is supported in the case where no appearance face contact |
| CN112298600A (en) * | 2020-09-18 | 2021-02-02 | 成都飞机工业（集团）有限责任公司 | Multi-axis full-active attitude adjusting method and device for large airplane component with rotating center of gravity |
| CN112824228A (en) * | 2019-11-20 | 2021-05-21 | 中国商用飞机有限责任公司 | Variable-constraint airplane component posture adjusting, butting and positioning method |
-
2016
- 2016-10-10 CN CN201621112188.XU patent/CN206155819U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107352044A (en) * | 2017-07-07 | 2017-11-17 | 浙江大学 | The layout method of large aircraft trailing edge component posture adjusting system |
| CN107352044B (en) * | 2017-07-07 | 2019-11-19 | 浙江大学 | The layout method of large aircraft trailing edge component posture adjusting system |
| CN108001708A (en) * | 2017-12-20 | 2018-05-08 | 西北工业大学 | A kind of aircraft wing docks posture adjustment reconfigurable device |
| CN110385213A (en) * | 2018-04-18 | 2019-10-29 | 波音公司 | The device of airframe is supported in the case where no appearance face contact |
| CN110385213B (en) * | 2018-04-18 | 2022-10-14 | 波音公司 | Device for supporting an aircraft fuselage without external surface contact |
| CN110271688A (en) * | 2019-05-17 | 2019-09-24 | 陕西飞机工业（集团）有限公司 | A kind of transporter large-scale antenna dome installation posture adjustment equipment |
| CN110174082A (en) * | 2019-06-03 | 2019-08-27 | 西安飞机工业（集团）有限责任公司 | A kind of restructural positioning system and localization method |
| CN112824228A (en) * | 2019-11-20 | 2021-05-21 | 中国商用飞机有限责任公司 | Variable-constraint airplane component posture adjusting, butting and positioning method |
| CN112824228B (en) * | 2019-11-20 | 2024-03-12 | 中国商用飞机有限责任公司 | Variable constraint type airplane component gesture-adjusting butt-joint positioning method |
| CN112298600A (en) * | 2020-09-18 | 2021-02-02 | 成都飞机工业（集团）有限责任公司 | Multi-axis full-active attitude adjusting method and device for large airplane component with rotating center of gravity |
| CN112298600B (en) * | 2020-09-18 | 2022-05-06 | 成都飞机工业（集团）有限责任公司 | Multi-axis full-active attitude adjusting method and device for large airplane component with rotating center of gravity |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170510 Termination date: 20181010 |
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| CF01 | Termination of patent right due to non-payment of annual fee |