CN216509183U - A move and carry locator for aircraft assembly - Google Patents
A move and carry locator for aircraft assembly Download PDFInfo
- Publication number
- CN216509183U CN216509183U CN202220011318.XU CN202220011318U CN216509183U CN 216509183 U CN216509183 U CN 216509183U CN 202220011318 U CN202220011318 U CN 202220011318U CN 216509183 U CN216509183 U CN 216509183U
- Authority
- CN
- China
- Prior art keywords
- positioner
- transfer
- mobile carrier
- axis
- aircraft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Automatic Assembly (AREA)
Abstract
The utility model discloses a transfer positioner for airplane assembly, which comprises a three-axis full-automatic positioner and a movable carrier, wherein the three-axis full-automatic positioner is used for bearing an airplane section to be assembled and is detachably arranged on the movable carrier. The portable carrier is provided with a plurality of gyro wheels by motor drive to, the motor receives the control of host computer or high in the clouds server can make the portable carrier carry out universal removal. The movable carrier of the transfer locator can realize logistics transfer of the aircraft section in a workshop, can accurately complete attitude adjusting and butt joint work of the aircraft section, and can be freely combined to adapt to different stations to complete aircraft assembly.
Description
Technical Field
The utility model relates to the field of manufacturing and assembling of airplanes, in particular to a shifting positioner for airplane assembly.
Background
The airplane is assembled by a plurality of large airplane sections (hereinafter, referred to as airplane sections) such as partial cylinder sections or components through accurate measurement system measurement positioning and attitude adjustment butt joint of high-precision attitude adjustment butt joint equipment. Before the aircraft sections are assembled, the aircraft sections to be assembled need to be erected, and logistics operation of the aircraft sections is carried out, so that the aircraft sections can be transported to an assembly station to carry out subsequent posture adjustment assembly work. And after the attitude adjusting assembly of the airplane section is finished, the airplane section is lifted off and transported to a subsequent assembly station.
However, because the shape of the aircraft section is huge, the aircraft section is mainly hoisted to be erected from top to bottom through a crane at present, and the logistics operation of the aircraft section is further completed, so that the aircraft has certain risk.
Moreover, the existing posture-adjusting butt joint equipment is a fixed positioner, and is fixedly installed, so that the equipment needs to be fixedly connected with the ground or even a foundation needs to be changed, and the problems of large floor area, low ground utilization rate and the like are caused. Meanwhile, as the fixed positioners are fixed on the ground and can not be evacuated, the whole life cycle of each positioner can only carry out posture adjustment butt joint work on fixed stations basically. Therefore, the positioners of each station cannot be moved and combined to be compatible and universal, so that the construction cost of the aircraft assembly production line is high, and the space utilization rate and the assembly efficiency are low.
SUMMERY OF THE UTILITY MODEL
Therefore, the technical problem to be solved by the utility model is to overcome the defects of low space utilization rate, low assembly efficiency, incapability of being freely combined to adapt to different stations and the like caused by fixed installation in the conventional positioner for airplane assembly, and provide a novel shifting positioner for airplane assembly.
In order to solve the above-mentioned technical problem, the present invention provides a transfer positioner for aircraft assembly, comprising:
a three-axis fully automatic positioner for carrying an aircraft section to be assembled;
the movable carrier, the full automatic positioning ware of triaxial can be installed on movable carrier with dismantling, and movable carrier is provided with a plurality of gyro wheels by motor drive, and aforementioned motor receives the control of upper server or high in the clouds server to make movable carrier can universal the removal.
The shifting locator disclosed by the utility model is correspondingly designed based on the full-automatic three-axis locator of the traditional fixed locator, so that the cost is greatly saved. In addition, this move and carry locator not only can realize the accurate appearance butt joint work of transferring of aircraft section, can also realize that aircraft section regional commodity circulation in the workshop is transported, but also can the independent assortment in order to adapt to different stations and accomplish the assembly work of aircraft, has improved the rate of utilization and the aircraft assembly efficiency of locator greatly.
According to an embodiment of the present invention, the mobile carrier further comprises a control unit electrically connected to the motor, the control unit being communicatively connected to the upper server or the cloud server and configured to receive an instruction from the upper server or the cloud server, so as to control the operation of the motor and thereby achieve the universal movement of the roller. The shifting locator can move together with the loaded section to be assembled through the universal movement of the roller, so that the logistics operation of the section to be assembled is realized.
According to another embodiment of the present invention, the roller includes two differential wheels and a universal driven wheel, and the control unit is configured to control the rotation speed and the rotation direction of the two differential wheels according to an instruction from the upper server or the cloud server, so as to drive the universal driven wheel to rotate to realize universal movement of the mobile carrier.
According to another embodiment of the utility model, the top of the mobile carrier is provided with a connecting mounting plate, and the three-axis full-automatic positioner is detachably mounted on the top of the mobile carrier through the connecting mounting plate.
According to another embodiment of the utility model, the bottom of the connection mounting plate is further provided with a lifting mechanism, the lifting mechanism is electrically connected with the control unit and is configured to move under the control of the control unit according to an instruction from the upper server or the cloud server, so as to adjust the position of the three-axis full-automatic positioner in the vertical direction of the mobile carrier. The position of the three-axis full-automatic positioner is adjusted through the lifting mechanism, so that the movement stroke of the three-axis full-automatic positioner in the vertical direction can be effectively compensated. In addition, the position of the three-axis full-automatic positioner in the vertical direction is adjusted, so that the overlong movement stroke of the three-axis full-automatic positioner in the vertical direction of the movable carrier can be avoided, and the rigidity of the whole transfer positioner is ensured.
According to another embodiment of the present invention, the elevating mechanism includes a ring-shaped rack and a gear engaged with each other, and is configured to rotate the gear under the control of the control unit, thereby moving the engaged rack up and down, thereby adjusting the position of the three-axis fully automatic positioner in the vertical direction of the movable carrier.
According to another embodiment of the utility model, the contact part of the three-axis full-automatic positioner and the aircraft section to be assembled is provided with a three-way force sensor, and the three-way force sensor is configured to dynamically adjust the position of each axis in response to the all-directional stress value fed back by the three-way force sensor. The pulling or extruding external force applied to the aircraft section is dynamically adjusted according to the force fed back by the sensor, the aircraft section to be installed can be ensured to be always in a low-stress transfer state, and possible deformation or damage of the aircraft section can be effectively avoided.
According to another embodiment of the present invention, a transfer positioner is communicatively coupled to an external measurement system and configured to adjust the position of the mobile carrier based on positional deviation feedback measured by the external measurement system. The transfer positioner can accurately move to the mounting position of each shaft of the three-shaft full-automatic positioner according to the fed back position deviation information, and the flexible mounting of the section of the airplane to be assembled is ensured.
On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the utility model.
The positive progress effects of the above embodiments of the present invention are:
the transfer locator does not need to be fixedly connected and installed on the ground, and the problems that the construction cost of the fixed locator on the foundation construction of a workshop foundation and the space effective utilization rate is low due to fixed installation can be effectively solved. In addition, the transfer positioner can also move universally, so that logistics transfer of the aircraft section can be realized. Meanwhile, the transfer positioner can be freely combined to adapt to different stations to carry out airplane assembly work on the basis of accurately finishing the posture-adjusting butt joint work of airplane sections, so that the airplane assembly efficiency and the utilization rate of the positioner are greatly improved.
Drawings
Fig. 1 is a schematic view of a transfer positioner for aircraft assembly according to a preferred embodiment of the present invention.
Fig. 2 is a schematic view of a transportable carrier according to a preferred embodiment of the present invention.
Fig. 3 is a schematic view of a three-axis fully automatic positioner according to a preferred embodiment of the present invention.
Description of reference numerals:
1: three-shaft full-automatic positioner
2: mobile carrier
3: connecting mounting plate
4: three-dimensional force sensor
5: reinforced support
6: drag chain
7: organ protective cover
Detailed Description
To make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings showing a plurality of embodiments according to the present application, and it should be understood that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments described herein without undue experimentation, shall fall within the scope of the present application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the application in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising," "including," "having," "containing," and the like in the description and claims of this application and in the description of the foregoing figures are open-ended terms. Thus, a method or apparatus that "comprises," "has," such as one or more steps or elements, has one or more steps or elements, but is not limited to having only those one or more elements.
In the description of the present application, it is to be understood that directional and positional terms, such as "upper", "lower", "top", "bottom", and the like, refer to orientations and positional relationships illustrated in the drawings for convenience in describing the present application and simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered limiting of the present application.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "attached" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
As noted above, it should be emphasized that the term "comprises/comprising" when used in this specification is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps, components or groups thereof. As used in this application, the singular forms "a", "an" and "the" include the plural forms as well, unless the context clearly indicates otherwise.
As mentioned above, an aircraft is assembled from a plurality of aircraft sections, such as multi-section barrel sections or assemblies, by means of a precision measurement system and high precision attitude adjustment docking equipment. When the barrel section is put on or taken off the shelf, the barrel section is hoisted by a traveling crane at present due to the huge appearance, so that certain risk is caused. In addition, most of the existing posture-adjusting butt-joint equipment is fixedly installed, cannot be evacuated, occupies a large area and has a low ground utilization rate.
The common posture-adjusting butt joint equipment is a fixed three-axis positioner, the movement of the positioner in the directions of an X axis, a Y axis and a Z axis is controlled by independent servo motors, and the positioner can accurately move to a target position in a coordinate space according to a racking instruction or a posture-adjusting butt joint instruction of a system. But the fixed locator needs to be fixedly connected with the ground, and even the foundation needs to be changed for realizing the fixed installation of the fixed locator. Moreover, the whole life cycle of each positioner is basically only the posture adjustment butt joint work at a fixed station, and the positioners of all stations cannot be perfectly compatible and universal, so that the construction cost of an airplane assembly production line is high, and the space utilization rate is low.
This utility model discloses a move and carry locator on the basis of traditional fixed triaxial locator, redesign its carrier structure in order to solve above-mentioned problem.
Referring to fig. 1, a transfer locator for aircraft assembly according to a preferred embodiment of the present invention includes a three-axis fully automatic locator 1 and a mobile carrier 2, wherein the three-axis fully automatic locator 1 is detachably mounted on the mobile carrier 2. Move and carry locator and be connected with the aircraft section of waiting to assemble through the full automatic locator of triaxial 1 in order to bear the aircraft section of waiting to assemble to can drive the aircraft section of waiting to assemble and move together through a plurality of gyro wheels by motor drive that set up in the portable carrier 2 under the control of upper server or high in the clouds server, thereby realize waiting to assemble the commodity circulation of aircraft section and transport.
Specifically, as shown in fig. 2, the top of the mobile carrier 2 is provided with a connection mounting plate 3, and the three-axis full-automatic positioner 1 can be detachably mounted on the top of the mobile carrier through the connection mounting plate 3. Preferably, the connecting and mounting plate 3 is provided with a threaded hole, and the lower base plate of the triaxial full-automatic positioner 1 is provided with a through hole, the threaded hole and the through hole are in one-to-one correspondence in position, and the sizes of the threaded hole and the through hole are matched with each other. Therefore, the three-axis full-automatic positioner 1 can be detachably mounted on the connecting mounting plate 3 through the fastener, so that the detachable mounting of the three-axis full-automatic positioner 1 on the movable carrier 2 is realized.
In addition, the mobile carrier 2 further comprises a control unit, which can be in communication connection with the upper server or the cloud server to receive instructions from the upper server or the cloud server, so that the mobile carrier 2 can be controlled to move universally. Preferably, the mobile carrier 2 and the upper server or the cloud server implement wireless network communication with each other through WIFI, and use TCP/IP (Transmission Control Protocol/Internet Protocol) communication to complete command issuing and data interaction. More preferably, the scheduling system in the software layer deployed by the upper server or the cloud server performs automatic optimal scheduling, so as to implement intelligent scheduling on the mobile carrier 2, thereby implementing universal movement of the mobile carrier 2.
Further, the mobile carrier 2 further comprises a lifting mechanism disposed at the bottom of the connection mounting plate 3 and electrically connected to the control unit. According to the instruction from the upper server or the cloud server, the lifting mechanism can move along the vertical direction of the mobile carrier 2 under the control of the control unit, so that the position of the three-axis full-automatic positioner in the vertical direction of the mobile carrier 2 is adjusted. When the movement stroke required by the electric cylinder of the three-axis full-automatic positioner along the vertical direction of the movable carrier 2 is long, the stroke compensation can be performed by the lifting mechanism, so that the rigidity of the whole transfer positioner can be effectively ensured on the premise of meeting the stroke in the vertical direction of the transfer positioner.
Illustratively, the lifting mechanism includes an annular rack and a gear that mesh with each other, and is powered by a power device that is electrically connected to the control unit to drive the lifting mechanism up and down. Under the control of the control unit, the power device can drive the gear to rotate, so as to drive the meshed rack to move up and down, and thus, the position of the three-axis full-automatic positioner 1 in the vertical direction of the movable carrier 2 is adjusted.
Meanwhile, the control unit is electrically connected with the motor in the mobile carrier 2, and the operation of the motor can be controlled according to the received command of the upper server or the cloud server. The motor is mechanically connected to the roller, and the roller is driven by the motor to perform a universal movement, thereby realizing a universal movement of the transfer positioner.
The roller wheels comprise, illustratively, two differential wheels and a driven universal wheel, both mounted on the base of the mobile carrier 2. Each differential wheel is mechanically connected to the corresponding motor through the corresponding connecting shaft. The control unit can control the operation of motor according to the instruction that comes from host computer server or high in the clouds server to realize the regulation and control of the slew velocity and the direction of rotation of two differential wheels, and then drive the universal rotation from the driving wheel, realize the universal removal of gyro wheel from this.
As can be seen from the above, the movable carrier 2 in the transfer positioner disclosed in the present invention is mainly a carrier of the three-axis full-automatic positioner 1, and can freely move in a universal direction, and is responsible for transporting the three-axis full-automatic positioner 1 to a certain point in the inter-vehicle level area. Thus, the three-axis fully automatic positioner 1 can perform safe universal movement in the workshop area.
Meanwhile, the transfer positioner is connected with the airplane section through the three-axis full-automatic positioner 1 arranged on the movable carrier 2. When the airplane section is automatically put on shelf, the transfer positioner can accurately find the putting-on position of each shaft of the three-shaft full-automatic positioner according to position deviation feedback given by external measurement after moving to the vicinity of the airplane section, so that flexible putting-on shelf is ensured, and the transfer positioner can also complete putting-on and putting-off of the airplane section, logistics transportation, posture adjustment butt joint and other work.
Illustratively, the three-axis fully-automatic positioner 1 is used for realizing connection and bearing of airplane sections through a ball-and-socket-and-ball-head combined structure. Specifically, a tool of a ball socket is arranged on the aircraft section, and the tool can be fixedly mounted on a side wall plate of the aircraft through a fastener. Meanwhile, the screw at the topmost end of the triaxial full-automatic positioner 1 is in threaded fit with the bottom of the ball head, so that the ball head can be directly screwed at the topmost end of the triaxial full-automatic positioner 1. Moreover, the ball head and the ball socket are matched and connected with each other, so that the connection of the three-axis full-automatic positioner 1 and the airplane section can be realized. Due to the action of gravity, the three-axis full-automatic positioner 1 can support the airplane section through the supporting point ball socket, so that the airplane section is borne.
Furthermore, in order to ensure that the aircraft section can safely operate under the driving of the transfer positioner, as shown in fig. 3, a three-way force sensor 4 is installed at the extreme end of the three-axis fully-automatic positioner 1 for bearing the aircraft section. Preferably, the three-way force sensor 4 is installed at the contact part of the three-axis full-automatic positioner 1 and the aircraft section so as to directly detect the stress at the connection part of the feedback aircraft section and the transfer positioner. Therefore, the three-axis fully-automatic positioner 1 can dynamically adjust the position of each axis in response to the force values fed back by the three-axis force sensor 4 in all directions, and reduce the external pulling or extruding force applied to the aircraft section.
And, three-way force sensor 4 sets up in the most terminal of triaxial full automatic locator 1, all is connected with the servo motor or the control unit electricity of triaxial full automatic locator 1, can detect and feed back the atress condition between bulb and the ball socket. The three-axis full-automatic positioner 1 can adjust the position of each axis according to the stress condition fed back, thereby dynamically adjusting the stress condition between the ball head and the ball socket. When the transfer positioner is used for logistics transportation, the three-axis full-automatic positioner 1 on the transfer positioner can dynamically adjust the positions of the three-axis full-automatic positioner 1 on the X axis, the Y axis and the Z axis respectively according to the stress conditions fed back by the three-way force sensor 4, so that the stress of the aircraft section is ensured to be small, and the low-stress transportation of the aircraft section is ensured.
Specifically, the movement of each shaft of the three-shaft full-automatic positioner 1 is realized through main power elements such as a slide rail, a slide block, a servo motor, a speed reducer, an electric cylinder and the like, so that the movement of each shaft can be realized according to the instruction of an upper server or a cloud server. Preferably, as shown in fig. 3, the shaft of the three-shaft fully automatic positioner 1 moving in the vertical direction of the mobile carrier is further provided with a reinforcing bracket 5 to reinforce the rigidity thereof. In order to prevent the power line and the communication cable of the three-axis full-automatic positioner 1 from interfering the movement of each axis, the three-axis full-automatic positioner is further provided with a drag chain 6, and various cables connected with the three-axis full-automatic positioner 1 can be collected and arranged through the drag chain 6. The triaxial full-automatic positioner 1 is also provided with an organ protective cover 7, so that non-dust can be prevented from entering a moving shaft of the triaxial full-automatic positioner 1.
Preferably, the stroke and the load capacity of each shaft of the three-shaft full-automatic positioner 1 can be determined by comprehensive calculation according to the aircraft assembly process requirements and the effective stroke and load capacity requirements compatible with all assembly occasions, so that the modular design of the three-shaft full-automatic positioner 1 is completed. The modular three-axis fully-automatic positioner 1 can meet the application requirements of different stations. And after the three-axis full-automatic positioner 1 is combined with the movable carrier 2, the three-axis full-automatic positioner can be freely combined to adapt to various assembly scenes.
The transfer positioner disclosed in the above embodiment of the present invention has both the attitude adjustment and docking functions of the fixed positioner and the function of performing logistics transportation of the aircraft section in the workshop area. The transfer positioner can be applied to large-section modularized flexible butt joint assembly of civil aircrafts. The large airplane components can be transferred to the area to be butted by the aid of the transfer positioners in a coordinated mode, and posture adjustment and butt joint work of the large airplane components are achieved by the aid of the three-axis full-automatic positioner 1 and a measurement system.
The method for adjusting the attitude and butting the aircraft section by adopting the transfer positioner disclosed by the utility model is basically as follows: and after the airplane section is safely put on the shelf, establishing a coordinate system of the laser tracker and the laser tracker. And then, the characteristic points of the airplane section are measured point by using the laser tracker, and the measured data is fed back to the upper server or the cloud server through the wireless communication network.
According to the fed-back measurement data, the upper server or the cloud server can calculate and obtain actual coordinate values of the aircraft section in the laser tracker coordinate system, and the actual coordinate values are compared and converted with theoretical coordinate values of the feature points through an algorithm, so that the spatial position deviation value of the aircraft section is obtained. Preferably, the transfer positioner is also configured to be able to communicate with the laser tracker to adjust the position of the mobile carrier 2 based on position offset feedback measured by the laser tracker.
And then, the upper server or the cloud server sends the position deviation value to the transfer positioner. The transfer locator can perform inverse solution operation according to the space position deviation value to obtain the motion stroke of each shaft of the three-shaft full-automatic locator 1, and each shaft of the three-shaft full-automatic locator 1 is driven to move to a target position according to the calculated motion stroke parameters, so that the actual attitude and the position of the airplane section are infinitely close to the theoretical ideal attitude.
In addition, when the transfer positioner carries out posture adjustment butt joint, whether the acting force borne by the aircraft component exceeds a preset threshold value can be judged according to the feedback value of the three-way force sensor 4 of the three-axis full-automatic positioner 1. If the feedback value indicates that the acting force borne by the aircraft component exceeds the preset threshold value, all the shafts of the three-shaft full-automatic positioner 1 stop moving immediately so as to ensure that the aircraft cylinder section is not subjected to larger pulling or extruding external force any more. Therefore, when the airplane sections are subjected to posture adjustment and butt joint, the posture of the airplane sections can be adjusted to the target posture more accurately and efficiently by adopting the three-axis full-automatic positioner 1.
The beneficial technical effects of the above embodiment of the utility model are as follows:
the transfer positioner can be used for achieving logistics transfer of the aircraft section in a workshop and accurately completing attitude adjustment and butt joint work of the aircraft section.
Through the structural design of the movable carrier, the transfer positioner can reduce the construction cost of the foundation construction of a workshop foundation and can effectively avoid the problem of low space effective utilization rate caused by fixed stations.
Meanwhile, the movable-type positioner can be freely combined to adapt to different stations for airplane assembly, and the airplane assembly efficiency and the equipment utilization rate are greatly improved.
While specific embodiments of the utility model have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the utility model is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the utility model, and these changes and modifications are within the scope of the utility model.
Claims (8)
1. A transfer positioner for aircraft assembly, the transfer positioner comprising:
a three-axis fully automatic positioner for carrying an aircraft section to be assembled;
the mobile carrier, the full automatic locator of triaxial can install with dismantling on the mobile carrier, the mobile carrier is provided with a plurality of gyro wheels by motor drive, the motor receives the control of upper server or high in the clouds server, thereby makes the mobile carrier can universal the removal.
2. The transfer positioner of claim 1, wherein the mobile carrier further comprises a control unit electrically connected to the motor, the control unit being communicatively connected to the upper server or cloud server and configured to receive instructions from the upper server or cloud server to control the operation of the motor and thereby effect the universal movement of the wheel.
3. A transfer positioner according to claim 2, wherein the wheels comprise two differential wheels and a universally driven wheel, and the control unit is configured to control the rotational speed and direction of the two differential wheels in accordance with instructions from the upper server or cloud server, and to rotate the universally driven wheel to effect universal movement of the mobile carrier.
4. A transfer positioner according to claim 2, wherein the top of the mobile carrier is provided with a connection mounting plate by which the three axis fully automatic positioner is removably mounted on the top of the mobile carrier.
5. The transfer positioner of claim 4, wherein the bottom of the connecting mounting plate is further provided with a lifting mechanism, the lifting mechanism is electrically connected with the control unit and is configured to move under the control of the control unit according to instructions from the upper server or the cloud server, so as to adjust the position of the three-axis fully-automatic positioner in the vertical direction of the mobile carrier.
6. The transfer positioner of claim 5, wherein the lifting mechanism comprises an annular rack and a gear engaged with each other, and is configured to be able to rotate the gear under the control of the control unit to move the engaged rack up and down, thereby adjusting the position of the three-axis fully-automatic positioner in the vertical direction of the mobile carrier.
7. The transfer positioner of claim 1, wherein the portion of the three-axis fully automatic positioner in contact with the aircraft section is provided with a three-way force sensor, and the three-axis fully automatic positioner is configured to be capable of dynamically adjusting the position of each axis of the three-axis fully automatic positioner in response to an isotropic force value fed back by the three-way force sensor.
8. The transfer positioner of claim 1, wherein the transfer positioner is communicatively coupled to an external measurement system and configured to adjust the position of the mobile carrier based on positional deviation feedback measured by the external measurement system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220011318.XU CN216509183U (en) | 2022-01-05 | 2022-01-05 | A move and carry locator for aircraft assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220011318.XU CN216509183U (en) | 2022-01-05 | 2022-01-05 | A move and carry locator for aircraft assembly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216509183U true CN216509183U (en) | 2022-05-13 |
Family
ID=81518465
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220011318.XU Active CN216509183U (en) | 2022-01-05 | 2022-01-05 | A move and carry locator for aircraft assembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216509183U (en) |
-
2022
- 2022-01-05 CN CN202220011318.XU patent/CN216509183U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106347709B (en) | A kind of multi-model aircarrier aircraft undercarriage dismounting vehicle | |
| EP2604524B1 (en) | Autonomous carrier system for moving aircraft structures | |
| CN105857116B (en) | The driving mechanism of homing guidance formula handling device | |
| CN106862908B (en) | A kind of full-automatic assembly interconnection method based on air flotation technology | |
| JP2015505763A (en) | Mobile robot | |
| CN103846649A (en) | Two-stage parallel robot device applied to precision assembly | |
| US8096380B2 (en) | Transfer robot | |
| CN113459068A (en) | Mechanical arm for space station load on-orbit maintenance | |
| CN112531318A (en) | Large phased array antenna assembling, transferring and near field testing tool system | |
| CN113752934B (en) | Layer-moving type large-stroke six-degree-of-freedom heavy-load installation vehicle | |
| CN114906744A (en) | Gantry crane used in special environment | |
| CN115256333A (en) | Photovoltaic engineering intelligent installation robot and working method thereof | |
| CN216509183U (en) | A move and carry locator for aircraft assembly | |
| CN206825466U (en) | A kind of automatically controlled head of multiple degrees of freedom for mobile platform | |
| CN110562688A (en) | quick switching system of positioning fixture | |
| CN215471105U (en) | Mechanical arm for space station load on-track maintenance | |
| CN111977576B (en) | Overhead line system cantilever installation intelligent arm operation vehicle set capable of operating at low position and operation method | |
| CN215398372U (en) | Heavy posture-adjusting multidirectional transferring and installing vehicle | |
| CN112520632A (en) | Large-scale ballast module interfacing apparatus | |
| CN215402790U (en) | Jacking device for aircraft maintenance | |
| CN220097769U (en) | Handling device, automatic handling system and automatic handling platform | |
| CN214670156U (en) | High-precision high-integration heavy intelligent jacking system for airplane | |
| CN214141418U (en) | Large-scale ballast module interfacing apparatus | |
| CN215160821U (en) | Transformer high altitude is erect and is used delivery and drive chassis | |
| CN219790531U (en) | Special mobile tool for autorotation gyroplane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |